2021-02-17T18:05:21.859Z,1613585121.859 [CommandLine](IMPORTANT): got command restart logs 2021-02-17T18:05:43.427Z,1613585143.427 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T18:05:53.567Z,1613585153.567 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout 2021-02-17T18:05:53.567Z,1613585153.567 [RDI_PathfinderUp] Communications Fault, FailCount= 1 2021-02-17T18:05:53.567Z,1613585153.567 [RDI_PathfinderUp](ERROR): Communications Fault 2021-02-17T18:05:53.616Z,1613585153.616 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp 2021-02-17T18:05:53.959Z,1613585153.959 [RDI_PathfinderUp](INFO): Powering down 2021-02-17T18:05:54.712Z,1613585154.712 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp 2021-02-17T18:05:54.712Z,1613585154.712 [RDI_PathfinderUp] No Fault, FailCount= 1 2021-02-17T18:07:17.926Z,1613585237.926 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting. 2021-02-17T18:07:17.926Z,1613585237.926 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2021-02-17T18:07:17.926Z,1613585237.926 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2021-02-17T18:07:17.927Z,1613585237.927 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1 2021-02-17T18:07:18.394Z,1613585238.394 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped 2021-02-17T18:07:18.394Z,1613585238.394 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1 2021-02-17T18:07:18.746Z,1613585238.746 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 10.485711 min 2021-02-17T18:07:18.747Z,1613585238.747 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped 2021-02-17T18:07:18.747Z,1613585238.747 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn 2021-02-17T18:07:18.747Z,1613585238.747 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2021-02-17T18:07:18.747Z,1613585238.747 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-02-17T18:07:18.747Z,1613585238.747 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2 2021-02-17T18:07:18.747Z,1613585238.747 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2 2021-02-17T18:07:18.747Z,1613585238.747 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-02-17T18:07:18.748Z,1613585238.748 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2021-02-17T18:07:20.745Z,1613585240.745 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180721.00,A,4133.09986,N,07042.55995,W,0.525,182.12,170221,,,A*73 2021-02-17T18:07:20.748Z,1613585240.748 [NAL9602](INFO): GPS fix at 20210217T180721: (41.551664, -70.709333) 2021-02-17T18:07:20.758Z,1613585240.758 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2021-02-17T18:07:20.758Z,1613585240.758 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2021-02-17T18:07:24.334Z,1613585244.334 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210217T055104/Courier0117.lzma 2021-02-17T18:07:25.337Z,1613585245.337 [DataOverHttps](INFO): Moved sent file to Logs/20210217T055104/Courier0117.lzma.bak 2021-02-17T18:07:25.337Z,1613585245.337 [DataOverHttps](INFO): SBD MOMSN=82769 2021-02-17T18:07:34.375Z,1613585254.375 [DataOverHttps](INFO): Sending 253 bytes from file Logs/20210217T180521/Courier0000.lzma 2021-02-17T18:07:35.377Z,1613585255.377 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Courier0000.lzma.bak 2021-02-17T18:07:35.377Z,1613585255.377 [DataOverHttps](INFO): SBD MOMSN=82771 2021-02-17T18:07:35.791Z,1613585255.791 [NAL9602](INFO): SBD MO Status=0, MOMSN=13596, MT Status=0, MTMSN=0 2021-02-17T18:07:35.791Z,1613585255.791 [NAL9602](INFO): No messages in MT queue 2021-02-17T18:07:44.417Z,1613585264.417 [DataOverHttps](INFO): Sending 51 bytes from file Logs/20210217T180521/Courier0001.lzma 2021-02-17T18:07:45.417Z,1613585265.417 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Courier0001.lzma.bak 2021-02-17T18:07:45.417Z,1613585265.417 [DataOverHttps](INFO): SBD MOMSN=82775 2021-02-17T18:07:54.459Z,1613585274.459 [DataOverHttps](INFO): Sending 93 bytes from file Logs/20210217T055104/Express0118.lzma 2021-02-17T18:07:55.461Z,1613585275.461 [DataOverHttps](INFO): Moved sent file to Logs/20210217T055104/Express0118.lzma.bak 2021-02-17T18:07:55.461Z,1613585275.461 [DataOverHttps](INFO): SBD MOMSN=82777 2021-02-17T18:08:04.499Z,1613585284.499 [DataOverHttps](INFO): Sending 353 bytes from file Logs/20210217T180521/Express0001.lzma 2021-02-17T18:08:05.501Z,1613585285.501 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0001.lzma.bak 2021-02-17T18:08:05.501Z,1613585285.501 [DataOverHttps](INFO): SBD MOMSN=82781 2021-02-17T18:08:06.497Z,1613585286.497 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T18:08:06.911Z,1613585286.911 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2021-02-17T18:08:06.912Z,1613585286.912 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2021-02-17T18:08:06.912Z,1613585286.912 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2021-02-17T18:08:46.664Z,1613585326.664 [DataOverHttps](IMPORTANT): SBD MTMSN=20210217T180847 2021-02-17T18:08:50.683Z,1613585330.683 [DataOverHttps](INFO): Received command:configSet LineCapture.navigationGain 4 none persist 2021-02-17T18:08:50.813Z,1613585330.813 [CommandLine](IMPORTANT): got command configSet LineCapture.navigationGain 4.000000 none persist 2021-02-17T18:08:53.364Z,1613585333.364 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T18:12:47.660Z,1613585567.660 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.250755 2021-02-17T18:12:57.704Z,1613585577.704 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003780 2021-02-17T18:13:07.503Z,1613585587.503 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting. 2021-02-17T18:13:07.503Z,1613585587.503 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2021-02-17T18:13:07.503Z,1613585587.503 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2021-02-17T18:13:07.503Z,1613585587.503 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1 2021-02-17T18:13:07.910Z,1613585587.910 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped 2021-02-17T18:13:07.910Z,1613585587.910 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1 2021-02-17T18:13:08.334Z,1613585588.334 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 16.310965 min 2021-02-17T18:13:08.334Z,1613585588.334 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped 2021-02-17T18:13:08.334Z,1613585588.334 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn 2021-02-17T18:13:08.334Z,1613585588.334 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2021-02-17T18:13:08.335Z,1613585588.335 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-02-17T18:13:08.335Z,1613585588.335 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3 2021-02-17T18:13:08.335Z,1613585588.335 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3 2021-02-17T18:13:08.335Z,1613585588.335 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-02-17T18:13:08.335Z,1613585588.335 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2021-02-17T18:13:10.305Z,1613585590.305 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181310.00,A,4133.06683,N,07042.54554,W,0.505,180.23,170221,,,D*76 2021-02-17T18:13:10.308Z,1613585590.308 [NAL9602](INFO): GPS fix at 20210217T181310: (41.551114, -70.709092) 2021-02-17T18:13:10.338Z,1613585590.338 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2021-02-17T18:13:10.338Z,1613585590.338 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2021-02-17T18:13:13.766Z,1613585593.766 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210217T180521/Courier0004.lzma 2021-02-17T18:13:14.769Z,1613585594.769 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Courier0004.lzma.bak 2021-02-17T18:13:14.769Z,1613585594.769 [DataOverHttps](INFO): SBD MOMSN=82785 2021-02-17T18:13:22.427Z,1613585602.427 [NAL9602](INFO): SBD MO Status=0, MOMSN=13597, MT Status=0, MTMSN=0 2021-02-17T18:13:22.427Z,1613585602.427 [NAL9602](INFO): No messages in MT queue 2021-02-17T18:13:23.806Z,1613585603.806 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210217T180521/Courier0005.lzma 2021-02-17T18:13:24.810Z,1613585604.810 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Courier0005.lzma.bak 2021-02-17T18:13:24.810Z,1613585604.810 [DataOverHttps](IMPORTANT): SBD MOMSN=82789, MTMSN=20210217T181325 2021-02-17T18:13:28.827Z,1613585608.827 [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" 3wamc 1 2 2021-02-17T18:13:28.880Z,1613585608.880 [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" 3wamc 1 2.000000 2021-02-17T18:13:28.880Z,1613585608.880 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=3wamc 2021-02-17T18:13:28.881Z,1613585608.881 [CommandLine](IMPORTANT): Scheduled #7 (#1 of 2 with id='3wamc'): "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 2021-02-17T18:13:30.005Z,1613585610.005 [DataOverHttps](IMPORTANT): SBD MTMSN=20210217T181330 2021-02-17T18:13:33.847Z,1613585613.847 [DataOverHttps](INFO): Sending 260 bytes from file Logs/20210217T180521/Express0005.lzma 2021-02-17T18:13:33.850Z,1613585613.850 [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" 3wamc 2 2 2021-02-17T18:13:33.892Z,1613585613.892 [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" 3wamc 2 2.000000 2021-02-17T18:13:33.892Z,1613585613.892 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=3wamc 2021-02-17T18:13:33.893Z,1613585613.893 [CommandLine](IMPORTANT): Scheduled #8 (#2 of 2 with id='3wamc'): "set lineCaptureDepth.WaitOnDockTimeout 0.01 minute;set lineCaptureDepth.MinAltitude 3 meter;set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ASAP 2021-02-17T18:13:34.301Z,1613585614.301 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml 2021-02-17T18:13:34.301Z,1613585614.301 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml 2021-02-17T18:13:34.510Z,1613585614.510 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h 2021-02-17T18:13:34.512Z,1613585614.512 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min 2021-02-17T18:13:34.514Z,1613585614.514 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min 2021-02-17T18:13:34.517Z,1613585614.517 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count 2021-02-17T18:13:34.567Z,1613585614.567 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min 2021-02-17T18:13:34.581Z,1613585614.581 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count 2021-02-17T18:13:34.583Z,1613585614.583 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s 2021-02-17T18:13:34.593Z,1613585614.593 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count 2021-02-17T18:13:34.603Z,1613585614.603 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m 2021-02-17T18:13:34.605Z,1613585614.605 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m 2021-02-17T18:13:34.616Z,1613585614.616 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km 2021-02-17T18:13:34.618Z,1613585614.618 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count 2021-02-17T18:13:34.619Z,1613585614.619 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml 2021-02-17T18:13:35.269Z,1613585615.269 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool 2021-02-17T18:13:35.271Z,1613585615.271 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min 2021-02-17T18:13:35.272Z,1613585615.272 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool 2021-02-17T18:13:35.274Z,1613585615.274 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool 2021-02-17T18:13:35.325Z,1613585615.325 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count 2021-02-17T18:13:35.327Z,1613585615.327 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count 2021-02-17T18:13:35.329Z,1613585615.329 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 % 2021-02-17T18:13:35.331Z,1613585615.331 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool 2021-02-17T18:13:35.401Z,1613585615.401 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool 2021-02-17T18:13:35.403Z,1613585615.403 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool 2021-02-17T18:13:35.437Z,1613585615.437 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2021-02-17T18:13:35.467Z,1613585615.467 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool 2021-02-17T18:13:35.470Z,1613585615.470 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool 2021-02-17T18:13:35.493Z,1613585615.493 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 0.000000 bool 2021-02-17T18:13:35.508Z,1613585615.508 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool 2021-02-17T18:13:35.510Z,1613585615.510 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool 2021-02-17T18:13:35.534Z,1613585615.534 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool 2021-02-17T18:13:35.569Z,1613585615.569 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count 2021-02-17T18:13:35.591Z,1613585615.591 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count 2021-02-17T18:13:35.593Z,1613585615.593 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m 2021-02-17T18:13:35.628Z,1613585615.628 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m 2021-02-17T18:13:35.630Z,1613585615.630 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l 2021-02-17T18:13:35.640Z,1613585615.640 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m 2021-02-17T18:13:35.642Z,1613585615.642 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC 2021-02-17T18:13:35.673Z,1613585615.673 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg 2021-02-17T18:13:35.686Z,1613585615.686 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg 2021-02-17T18:13:35.709Z,1613585615.709 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l 2021-02-17T18:13:35.723Z,1613585615.723 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m 2021-02-17T18:13:35.726Z,1613585615.726 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg 2021-02-17T18:13:35.736Z,1613585615.736 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg 2021-02-17T18:13:35.738Z,1613585615.738 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 m 2021-02-17T18:13:35.781Z,1613585615.781 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m 2021-02-17T18:13:35.804Z,1613585615.804 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg 2021-02-17T18:13:35.808Z,1613585615.808 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg 2021-02-17T18:13:35.810Z,1613585615.810 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m 2021-02-17T18:13:35.829Z,1613585615.829 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3 2021-02-17T18:13:35.851Z,1613585615.851 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m 2021-02-17T18:13:35.854Z,1613585615.854 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg 2021-02-17T18:13:35.877Z,1613585615.877 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg 2021-02-17T18:13:35.911Z,1613585615.911 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb 2021-02-17T18:13:35.914Z,1613585615.914 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m 2021-02-17T18:13:35.907Z,1613585615.907 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0005.lzma.bak 2021-02-17T18:13:35.938Z,1613585615.938 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg 2021-02-17T18:13:35.919Z,1613585615.919 [DataOverHttps](INFO): SBD MOMSN=82793 2021-02-17T18:13:35.952Z,1613585615.952 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg 2021-02-17T18:13:35.954Z,1613585615.954 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m 2021-02-17T18:13:36.139Z,1613585616.139 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2021-02-17T18:13:36.239Z,1613585616.239 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2021-02-17T18:13:36.308Z,1613585616.308 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2021-02-17T18:13:36.356Z,1613585616.356 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2021-02-17T18:13:36.422Z,1613585616.422 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2021-02-17T18:13:36.475Z,1613585616.475 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml 2021-02-17T18:13:36.518Z,1613585616.518 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m 2021-02-17T18:13:36.529Z,1613585616.529 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m 2021-02-17T18:13:36.539Z,1613585616.539 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m 2021-02-17T18:13:36.540Z,1613585616.540 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2021-02-17T18:13:36.590Z,1613585616.590 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2021-02-17T18:13:36.624Z,1613585616.624 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2021-02-17T18:13:36.669Z,1613585616.669 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml 2021-02-17T18:13:36.790Z,1613585616.790 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h 2021-02-17T18:13:36.801Z,1613585616.801 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min 2021-02-17T18:13:36.811Z,1613585616.811 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg 2021-02-17T18:13:36.813Z,1613585616.813 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s 2021-02-17T18:13:36.824Z,1613585616.824 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s 2021-02-17T18:13:36.826Z,1613585616.826 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min 2021-02-17T18:13:36.836Z,1613585616.836 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min 2021-02-17T18:13:36.842Z,1613585616.842 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2021-02-17T18:13:36.913Z,1613585616.913 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml 2021-02-17T18:13:36.950Z,1613585616.950 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min 2021-02-17T18:13:37.027Z,1613585617.027 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min 2021-02-17T18:13:37.043Z,1613585617.043 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval 2021-02-17T18:13:37.126Z,1613585617.126 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml 2021-02-17T18:13:37.629Z,1613585617.629 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg 2021-02-17T18:13:37.632Z,1613585617.632 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg 2021-02-17T18:13:37.634Z,1613585617.634 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min 2021-02-17T18:13:37.641Z,1613585617.641 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m 2021-02-17T18:13:37.643Z,1613585617.643 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s 2021-02-17T18:13:37.645Z,1613585617.645 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h 2021-02-17T18:13:37.652Z,1613585617.652 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m 2021-02-17T18:13:37.655Z,1613585617.655 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min 2021-02-17T18:13:37.657Z,1613585617.657 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h 2021-02-17T18:13:37.664Z,1613585617.664 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m 2021-02-17T18:13:37.666Z,1613585617.666 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m 2021-02-17T18:13:37.692Z,1613585617.692 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool 2021-02-17T18:13:37.694Z,1613585617.694 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m 2021-02-17T18:13:37.705Z,1613585617.705 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg 2021-02-17T18:13:37.707Z,1613585617.707 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m 2021-02-17T18:13:37.717Z,1613585617.717 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m 2021-02-17T18:13:37.736Z,1613585617.736 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m 2021-02-17T18:13:37.738Z,1613585617.738 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count 2021-02-17T18:13:37.748Z,1613585617.748 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count 2021-02-17T18:13:37.751Z,1613585617.751 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count 2021-02-17T18:13:37.761Z,1613585617.761 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count 2021-02-17T18:13:37.772Z,1613585617.772 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count 2021-02-17T18:13:37.774Z,1613585617.774 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a 2021-02-17T18:13:37.821Z,1613585617.821 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m 2021-02-17T18:13:37.843Z,1613585617.843 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min 2021-02-17T18:13:37.845Z,1613585617.845 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m 2021-02-17T18:13:37.884Z,1613585617.884 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml 2021-02-17T18:13:38.131Z,1613585618.131 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m 2021-02-17T18:13:38.134Z,1613585618.134 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m 2021-02-17T18:13:38.144Z,1613585618.144 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m 2021-02-17T18:13:38.145Z,1613585618.145 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2021-02-17T18:13:38.169Z,1613585618.169 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2021-02-17T18:13:38.240Z,1613585618.240 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2021-02-17T18:13:38.312Z,1613585618.312 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct. 2021-02-17T18:13:38.327Z,1613585618.327 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy. 2021-02-17T18:13:38.350Z,1613585618.350 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct. 2021-02-17T18:13:38.350Z,1613585618.350 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2021-02-17T18:13:38.421Z,1613585618.421 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct. 2021-02-17T18:13:38.432Z,1613585618.432 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct. 2021-02-17T18:13:38.438Z,1613585618.438 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint. 2021-02-17T18:13:38.472Z,1613585618.472 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct. 2021-02-17T18:13:38.520Z,1613585618.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct. 2021-02-17T18:13:38.544Z,1613585618.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct. 2021-02-17T18:13:38.568Z,1613585618.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values. 2021-02-17T18:13:38.568Z,1613585618.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-02-17T18:13:38.580Z,1613585618.580 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait. 2021-02-17T18:13:38.591Z,1613585618.591 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml 2021-02-17T18:13:38.748Z,1613585618.748 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg 2021-02-17T18:13:38.750Z,1613585618.750 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg 2021-02-17T18:13:38.769Z,1613585618.769 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m 2021-02-17T18:13:38.780Z,1613585618.780 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min 2021-02-17T18:13:38.794Z,1613585618.794 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav. 2021-02-17T18:13:38.841Z,1613585618.841 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Construct. 2021-02-17T18:13:38.841Z,1613585618.841 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values. 2021-02-17T18:13:38.865Z,1613585618.865 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Construct. 2021-02-17T18:13:38.865Z,1613585618.865 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2021-02-17T18:13:39.049Z,1613585619.049 [MissionManager](DEBUG): Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data (4) Dock: final approach using fixed heading. Maximum length of mission 4 How often to surface for commumications 240 How often to trigger Umodem communications 5 Number of times the vehicle should try to cycle through the homing sequence. 1 Time duration to wait on the dock after a successful line capture. 5 Transponder Address. How long to wait between acoustic queries. 2.5 Number of pings requested each time. 1 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this variable to reflect the termination status of the LineCapture insert. -1 Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface. 0 -99 Mode 0 Waiting on dock for Breaking off. Range: . 2021-02-17T18:13:39.049Z,1613585619.049 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml 2021-02-17T18:13:44.027Z,1613585624.027 [DataOverHttps](INFO): Sending 51 bytes from file Logs/20210217T180521/Courier0010.lzma 2021-02-17T18:13:45.035Z,1613585625.035 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Courier0010.lzma.bak 2021-02-17T18:13:45.035Z,1613585625.035 [DataOverHttps](INFO): SBD MOMSN=82796 2021-02-17T18:13:52.902Z,1613585632.902 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T18:13:57.139Z,1613585637.139 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210217T180521/Courier0015.lzma 2021-02-17T18:13:57.246Z,1613585637.246 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 12.000000 hour 2021-02-17T18:13:57.246Z,1613585637.246 [CommandLine](IMPORTANT): got command set lineCaptureDepth.NeedCommsTime 90.000000 minute 2021-02-17T18:13:57.247Z,1613585637.247 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute 2021-02-17T18:13:57.248Z,1613585637.248 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 100.000000 count 2021-02-17T18:13:58.148Z,1613585638.148 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Courier0015.lzma.bak 2021-02-17T18:13:58.149Z,1613585638.149 [DataOverHttps](INFO): SBD MOMSN=82798 2021-02-17T18:14:07.215Z,1613585647.215 [DataOverHttps](INFO): Sending 322 bytes from file Logs/20210217T180521/Express0011.lzma 2021-02-17T18:14:08.221Z,1613585648.221 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0011.lzma.bak 2021-02-17T18:14:08.221Z,1613585648.221 [DataOverHttps](INFO): SBD MOMSN=82800 2021-02-17T18:14:13.393Z,1613585653.393 [CommandLine](IMPORTANT): got command set lineCaptureDepth.WaitOnDockTimeout 0.010000 minute 2021-02-17T18:14:13.394Z,1613585653.394 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter 2021-02-17T18:14:13.396Z,1613585653.396 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter 2021-02-17T18:14:13.396Z,1613585653.396 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 500.000000 meter 2021-02-17T18:14:13.397Z,1613585653.397 [CommandLine](IMPORTANT): got command run 2021-02-17T18:14:13.398Z,1613585653.398 [CommandLine](IMPORTANT): Running 2021-02-17T18:14:13.686Z,1613585653.686 [DefaultWithUndock] Stopped 2021-02-17T18:14:13.686Z,1613585653.686 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2021-02-17T18:14:13.686Z,1613585653.686 [DefaultWithUndock:SurfaceDefault] Stopped 2021-02-17T18:14:13.686Z,1613585653.686 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault 2021-02-17T18:14:13.686Z,1613585653.686 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped 2021-02-17T18:14:13.687Z,1613585653.687 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2021-02-17T18:14:13.687Z,1613585653.687 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2021-02-17T18:14:13.687Z,1613585653.687 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-02-17T18:14:13.687Z,1613585653.687 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2021-02-17T18:14:13.687Z,1613585653.687 [MissionManager](IMPORTANT): Started mission lineCaptureDepth 2021-02-17T18:14:13.687Z,1613585653.687 [lineCaptureDepth] Running Loop=1 2021-02-17T18:14:13.688Z,1613585653.688 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth 2021-02-17T18:14:13.688Z,1613585653.688 [lineCaptureDepth:Science] Running Loop=1 2021-02-17T18:14:13.688Z,1613585653.688 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science 2021-02-17T18:14:13.688Z,1613585653.688 [lineCaptureDepth:Science:A] Running Loop=1 2021-02-17T18:14:13.688Z,1613585653.688 [lineCaptureDepth:Science:B] Running Loop=1 2021-02-17T18:14:13.688Z,1613585653.688 [lineCaptureDepth:Science:C] Running Loop=1 2021-02-17T18:14:13.688Z,1613585653.688 [lineCaptureDepth:Science:D] Running Loop=1 2021-02-17T18:14:13.688Z,1613585653.688 [lineCaptureDepth:Science:E] Running Loop=1 2021-02-17T18:14:13.688Z,1613585653.688 [lineCaptureDepth:Science:F] Running Loop=1 2021-02-17T18:14:13.688Z,1613585653.688 [lineCaptureDepth:Science:Read_Oil] Running Loop=1 2021-02-17T18:14:13.688Z,1613585653.688 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1 2021-02-17T18:14:13.688Z,1613585653.688 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl 2021-02-17T18:14:13.689Z,1613585653.689 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1 2021-02-17T18:14:13.689Z,1613585653.689 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize. 2021-02-17T18:14:13.690Z,1613585653.690 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1 2021-02-17T18:14:13.690Z,1613585653.690 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport 2021-02-17T18:14:13.690Z,1613585653.690 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2021-02-17T18:14:13.690Z,1613585653.690 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2021-02-17T18:14:13.690Z,1613585653.690 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1 2021-02-17T18:14:13.691Z,1613585653.691 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3 2021-02-17T18:14:13.691Z,1613585653.691 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1 2021-02-17T18:14:13.691Z,1613585653.691 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize. 2021-02-17T18:14:13.692Z,1613585653.692 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1 2021-02-17T18:14:13.692Z,1613585653.692 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil 2021-02-17T18:14:13.692Z,1613585653.692 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1 2021-02-17T18:14:13.692Z,1613585653.692 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize. 2021-02-17T18:14:13.693Z,1613585653.693 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1 2021-02-17T18:14:13.694Z,1613585653.694 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM 2021-02-17T18:14:13.694Z,1613585653.694 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1 2021-02-17T18:14:13.694Z,1613585653.694 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize. 2021-02-17T18:14:13.695Z,1613585653.695 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1 2021-02-17T18:14:13.695Z,1613585653.695 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent 2021-02-17T18:14:13.695Z,1613585653.695 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1 2021-02-17T18:14:13.695Z,1613585653.695 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2021-02-17T18:14:13.695Z,1613585653.695 [lineCaptureDepth:StandardEnvelopes] Running Loop=1 2021-02-17T18:14:13.696Z,1613585653.696 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes 2021-02-17T18:14:13.696Z,1613585653.696 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-02-17T18:14:13.696Z,1613585653.696 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2021-02-17T18:14:13.696Z,1613585653.696 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-02-17T18:14:13.696Z,1613585653.696 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2021-02-17T18:14:13.696Z,1613585653.696 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-02-17T18:14:13.696Z,1613585653.696 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2021-02-17T18:14:13.696Z,1613585653.696 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T18:14:13.696Z,1613585653.696 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T18:14:13.696Z,1613585653.696 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T18:14:13.697Z,1613585653.697 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T18:14:13.697Z,1613585653.697 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T18:14:13.697Z,1613585653.697 [lineCaptureDepth:J.] Running Loop=1 2021-02-17T18:14:13.697Z,1613585653.697 [lineCaptureDepth:J.](INFO): Initializing TrackAcousticContact. 2021-02-17T18:14:13.698Z,1613585653.698 [lineCaptureDepth:C] Running Loop=1 2021-02-17T18:14:13.716Z,1613585653.716 [lineCaptureDepth:J.] Running Loop=1 2021-02-17T18:14:13.716Z,1613585653.716 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T18:14:13.717Z,1613585653.717 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2021-02-17T18:14:13.717Z,1613585653.717 [lineCaptureDepth:C] Stopped 2021-02-17T18:14:13.718Z,1613585653.718 [lineCaptureDepth:D] Running Loop=1 2021-02-17T18:14:13.718Z,1613585653.718 [lineCaptureDepth:StandardEnvelopes] Running Loop=1 2021-02-17T18:14:13.718Z,1613585653.718 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-02-17T18:14:13.718Z,1613585653.718 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-02-17T18:14:13.718Z,1613585653.718 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-02-17T18:14:13.723Z,1613585653.723 [lineCaptureDepth:Science] Running Loop=1 2021-02-17T18:14:13.724Z,1613585653.724 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped 2021-02-17T18:14:13.724Z,1613585653.724 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM 2021-02-17T18:14:13.724Z,1613585653.724 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped 2021-02-17T18:14:13.724Z,1613585653.724 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2021-02-17T18:14:13.724Z,1613585653.724 [lineCaptureDepth:Science:PeakDetectOil] Stopped 2021-02-17T18:14:13.724Z,1613585653.724 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil 2021-02-17T18:14:13.724Z,1613585653.724 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped 2021-02-17T18:14:13.724Z,1613585653.724 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2021-02-17T18:14:13.724Z,1613585653.724 [lineCaptureDepth:Science:PeakDetectNO3] Stopped 2021-02-17T18:14:13.725Z,1613585653.725 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3 2021-02-17T18:14:13.725Z,1613585653.725 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped 2021-02-17T18:14:13.725Z,1613585653.725 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2021-02-17T18:14:13.725Z,1613585653.725 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped 2021-02-17T18:14:13.725Z,1613585653.725 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport 2021-02-17T18:14:13.725Z,1613585653.725 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2021-02-17T18:14:13.725Z,1613585653.725 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2021-02-17T18:14:13.725Z,1613585653.725 [lineCaptureDepth:Science:PeakDetectChl] Stopped 2021-02-17T18:14:13.725Z,1613585653.725 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl 2021-02-17T18:14:13.725Z,1613585653.725 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped 2021-02-17T18:14:13.725Z,1613585653.725 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2021-02-17T18:14:13.725Z,1613585653.725 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1 2021-02-17T18:14:13.726Z,1613585653.726 [lineCaptureDepth:Science:Read_Oil] Running Loop=1 2021-02-17T18:14:13.728Z,1613585653.728 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water 2021-02-17T18:14:13.728Z,1613585653.728 [lineCaptureDepth:Science:F] Stopped 2021-02-17T18:14:13.728Z,1613585653.728 [lineCaptureDepth:Science:E] Stopped 2021-02-17T18:14:13.728Z,1613585653.728 [lineCaptureDepth:Science:D] Stopped 2021-02-17T18:14:13.728Z,1613585653.728 [lineCaptureDepth:Science:C] Stopped 2021-02-17T18:14:13.728Z,1613585653.728 [lineCaptureDepth:Science:B] Stopped 2021-02-17T18:14:13.728Z,1613585653.728 [lineCaptureDepth:Science:A] Stopped 2021-02-17T18:14:13.819Z,1613585653.819 [WetLabsSeaOWL_UV_A](INFO): Powering up 2021-02-17T18:14:14.121Z,1613585654.121 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T18:14:14.122Z,1613585654.122 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T18:14:14.122Z,1613585654.122 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T18:14:14.122Z,1613585654.122 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T18:14:14.122Z,1613585654.122 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T18:14:14.127Z,1613585654.127 [lineCaptureDepth:D] Stopped 2021-02-17T18:14:14.127Z,1613585654.127 [lineCaptureDepth:E] Running Loop=1 2021-02-17T18:14:14.506Z,1613585654.506 [lineCaptureDepth:E] Stopped 2021-02-17T18:14:14.506Z,1613585654.506 [lineCaptureDepth:G] Running Loop=1 2021-02-17T18:14:14.869Z,1613585654.869 [lineCaptureDepth:G] Stopped 2021-02-17T18:14:14.869Z,1613585654.869 [lineCaptureDepth:H] Running Loop=1 2021-02-17T18:14:15.351Z,1613585655.351 [lineCaptureDepth:H] Stopped 2021-02-17T18:14:15.351Z,1613585655.351 [lineCaptureDepth:L] Running Loop=1 2021-02-17T18:14:15.692Z,1613585655.692 [lineCaptureDepth:L] Stopped 2021-02-17T18:14:15.693Z,1613585655.693 [lineCaptureDepth:M] Running Loop=1 2021-02-17T18:14:16.163Z,1613585656.163 [lineCaptureDepth:M] Stopped 2021-02-17T18:14:16.163Z,1613585656.163 [lineCaptureDepth:N] Running Loop=1 2021-02-17T18:14:16.488Z,1613585656.488 [lineCaptureDepth:N] Stopped 2021-02-17T18:14:16.488Z,1613585656.488 [lineCaptureDepth:Lap] Running Loop=1 2021-02-17T18:14:16.488Z,1613585656.488 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap 2021-02-17T18:14:16.488Z,1613585656.488 [lineCaptureDepth:Lap:A] Running Loop=1 2021-02-17T18:14:16.488Z,1613585656.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:14:16.910Z,1613585656.910 [lineCaptureDepth:Lap:A] Stopped 2021-02-17T18:14:16.910Z,1613585656.910 [lineCaptureDepth:Lap:B] Running Loop=1 2021-02-17T18:14:16.910Z,1613585656.910 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B 2021-02-17T18:14:17.281Z,1613585657.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:14:17.328Z,1613585657.328 [DataOverHttps](INFO): Sending 327 bytes from file Logs/20210217T180521/Express0016.lzma 2021-02-17T18:14:17.401Z,1613585657.401 [lineCaptureDepth:LineCapture] Running Loop=1 2021-02-17T18:14:17.401Z,1613585657.401 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture 2021-02-17T18:14:17.401Z,1613585657.401 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1 2021-02-17T18:14:17.401Z,1613585657.401 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-02-17T18:14:17.401Z,1613585657.401 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-02-17T18:14:17.401Z,1613585657.401 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2021-02-17T18:14:17.401Z,1613585657.401 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-02-17T18:14:17.401Z,1613585657.401 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2021-02-17T18:14:17.402Z,1613585657.402 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-02-17T18:14:17.402Z,1613585657.402 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2021-02-17T18:14:17.402Z,1613585657.402 [lineCaptureDepth:LineCapture:G] Running Loop=1 2021-02-17T18:14:17.402Z,1613585657.402 [lineCaptureDepth:LineCapture:H] Running Loop=1 2021-02-17T18:14:17.402Z,1613585657.402 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-17T18:14:17.402Z,1613585657.402 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-17T18:14:17.402Z,1613585657.402 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-17T18:14:17.402Z,1613585657.402 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-17T18:14:17.402Z,1613585657.402 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-17T18:14:17.402Z,1613585657.402 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-17T18:14:17.402Z,1613585657.402 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-17T18:14:17.403Z,1613585657.403 [lineCaptureDepth:LineCapture:A] Running Loop=1 2021-02-17T18:14:17.407Z,1613585657.407 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-17T18:14:17.407Z,1613585657.407 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-17T18:14:17.407Z,1613585657.407 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-17T18:14:17.407Z,1613585657.407 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-17T18:14:17.407Z,1613585657.407 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-17T18:14:17.408Z,1613585657.408 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-17T18:14:17.408Z,1613585657.408 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-17T18:14:17.408Z,1613585657.408 [lineCaptureDepth:LineCapture:H] Running Loop=1 2021-02-17T18:14:17.408Z,1613585657.408 [lineCaptureDepth:LineCapture:G] Running Loop=1 2021-02-17T18:14:17.408Z,1613585657.408 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1 2021-02-17T18:14:17.408Z,1613585657.408 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-02-17T18:14:17.409Z,1613585657.409 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-02-17T18:14:17.409Z,1613585657.409 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-02-17T18:14:17.409Z,1613585657.409 [lineCaptureDepth:LineCapture:A] Stopped 2021-02-17T18:14:17.409Z,1613585657.409 [lineCaptureDepth:LineCapture:B] Running Loop=1 2021-02-17T18:14:17.683Z,1613585657.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:14:17.714Z,1613585657.714 [lineCaptureDepth:LineCapture:B] Stopped 2021-02-17T18:14:17.714Z,1613585657.714 [lineCaptureDepth:LineCapture:D] Running Loop=1 2021-02-17T18:14:18.166Z,1613585658.166 [lineCaptureDepth:LineCapture:D] Stopped 2021-02-17T18:14:18.166Z,1613585658.166 [lineCaptureDepth:LineCapture:E] Running Loop=1 2021-02-17T18:14:18.297Z,1613585658.297 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0016.lzma.bak 2021-02-17T18:14:18.297Z,1613585658.297 [DataOverHttps](INFO): SBD MOMSN=82802 2021-02-17T18:14:18.516Z,1613585658.516 [Micromodem](INFO): Nmea in: $SNTTA,0.100013,,,,181417.40*4D 2021-02-17T18:14:18.537Z,1613585658.537 [lineCaptureDepth:LineCapture:E] Stopped 2021-02-17T18:14:18.537Z,1613585658.537 [lineCaptureDepth:LineCapture:F] Running Loop=1 2021-02-17T18:14:18.937Z,1613585658.937 [lineCaptureDepth:LineCapture:F] Stopped 2021-02-17T18:14:18.937Z,1613585658.937 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1 2021-02-17T18:14:18.937Z,1613585658.937 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence 2021-02-17T18:14:18.937Z,1613585658.937 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2021-02-17T18:14:18.937Z,1613585658.937 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-02-17T18:14:18.937Z,1613585658.937 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2021-02-17T18:14:18.937Z,1613585658.937 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-02-17T18:14:18.938Z,1613585658.938 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2021-02-17T18:14:18.938Z,1613585658.938 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2021-02-17T18:14:18.938Z,1613585658.938 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2021-02-17T18:14:18.938Z,1613585658.938 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-02-17T18:14:18.938Z,1613585658.938 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-17T18:14:18.938Z,1613585658.938 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-02-17T18:14:18.938Z,1613585658.938 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-17T18:14:18.938Z,1613585658.938 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-02-17T18:14:18.939Z,1613585658.939 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-02-17T18:14:18.939Z,1613585658.939 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-02-17T18:14:18.939Z,1613585658.939 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-02-17T18:14:18.939Z,1613585658.939 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-02-17T18:14:18.939Z,1613585658.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-02-17T18:14:18.939Z,1613585658.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-17T18:14:18.940Z,1613585658.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-02-17T18:14:18.940Z,1613585658.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-17T18:14:18.940Z,1613585658.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-02-17T18:14:18.940Z,1613585658.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-02-17T18:14:18.940Z,1613585658.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-02-17T18:14:18.940Z,1613585658.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-02-17T18:14:18.940Z,1613585658.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-02-17T18:14:19.367Z,1613585659.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-02-17T18:14:19.367Z,1613585659.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-17T18:14:19.367Z,1613585659.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-02-17T18:14:19.367Z,1613585659.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-17T18:14:19.367Z,1613585659.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-02-17T18:14:19.367Z,1613585659.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-02-17T18:14:19.367Z,1613585659.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-02-17T18:14:19.368Z,1613585659.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-02-17T18:14:19.368Z,1613585659.368 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-02-17T18:14:19.368Z,1613585659.368 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-17T18:14:19.368Z,1613585659.368 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-02-17T18:14:19.368Z,1613585659.368 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-17T18:14:19.368Z,1613585659.368 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-02-17T18:14:19.368Z,1613585659.368 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-02-17T18:14:19.368Z,1613585659.368 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-02-17T18:14:19.368Z,1613585659.368 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-02-17T18:14:19.368Z,1613585659.368 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2021-02-17T18:14:19.368Z,1613585659.368 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-17T18:14:19.720Z,1613585659.720 [PowerOnly](INFO): Powering up loadControl 2021-02-17T18:14:19.768Z,1613585659.768 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-17T18:14:20.179Z,1613585660.179 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-17T18:14:20.549Z,1613585660.549 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-17T18:14:20.549Z,1613585660.549 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock. 2021-02-17T18:14:20.926Z,1613585660.926 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2021-02-17T18:14:20.928Z,1613585660.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:14:21.732Z,1613585661.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:14:22.151Z,1613585662.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:14:22.956Z,1613585662.956 [Micromodem](INFO): Nmea in: $SNTTA,0.100692,,,,181421.85*4E 2021-02-17T18:14:25.423Z,1613585665.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:14:26.167Z,1613585666.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:14:26.570Z,1613585666.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:14:27.396Z,1613585667.396 [Micromodem](INFO): Nmea in: $SNTTA,0.101245,,,,181426.29*40 2021-02-17T18:14:29.821Z,1613585669.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:14:30.609Z,1613585670.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:14:31.029Z,1613585671.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:14:31.836Z,1613585671.836 [Micromodem](INFO): Nmea in: $SNTTA,0.101864,,,,181430.73*41 2021-02-17T18:14:34.294Z,1613585674.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:14:35.099Z,1613585675.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:14:35.467Z,1613585675.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:14:36.276Z,1613585676.276 [Micromodem](INFO): Nmea in: $SNTTA,0.102417,,,,181435.22*4B 2021-02-17T18:14:39.142Z,1613585679.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:14:39.901Z,1613585679.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:14:40.331Z,1613585680.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:14:41.132Z,1613585681.132 [Micromodem](INFO): Nmea in: $SNTTA,0.103148,,,,181440.02*45 2021-02-17T18:14:41.182Z,1613585681.182 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 154.56 m. Transitioning DDM to standby. 2021-02-17T18:14:41.549Z,1613585681.549 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-17T18:14:41.549Z,1613585681.549 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby. 2021-02-17T18:14:41.994Z,1613585681.994 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2021-02-17T18:14:41.994Z,1613585681.994 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2021-02-17T18:14:41.994Z,1613585681.994 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2021-02-17T18:14:42.380Z,1613585682.380 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2021-02-17T18:14:42.380Z,1613585682.380 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2021-02-17T18:14:42.380Z,1613585682.380 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2021-02-17T18:14:42.772Z,1613585682.772 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2021-02-17T18:14:42.772Z,1613585682.772 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-02-17T18:14:42.772Z,1613585682.772 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2021-02-17T18:14:42.772Z,1613585682.772 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-02-17T18:14:42.773Z,1613585682.773 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-02-17T18:14:43.193Z,1613585683.193 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-02-17T18:14:43.193Z,1613585683.193 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-17T18:14:43.193Z,1613585683.193 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-02-17T18:14:43.194Z,1613585683.194 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-17T18:14:43.194Z,1613585683.194 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-02-17T18:14:43.194Z,1613585683.194 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-02-17T18:14:43.194Z,1613585683.194 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-02-17T18:14:43.194Z,1613585683.194 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-02-17T18:14:43.194Z,1613585683.194 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-02-17T18:14:43.194Z,1613585683.194 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-02-17T18:14:43.194Z,1613585683.194 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-02-17T18:14:43.195Z,1613585683.195 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-02-17T18:14:43.195Z,1613585683.195 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2021-02-17T18:14:43.195Z,1613585683.195 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-02-17T18:14:43.196Z,1613585683.196 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2021-02-17T18:14:43.196Z,1613585683.196 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 154.559998 m 2021-02-17T18:14:43.196Z,1613585683.196 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2021-02-17T18:14:43.196Z,1613585683.196 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2021-02-17T18:14:43.197Z,1613585683.197 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg ) 2021-02-17T18:14:43.197Z,1613585683.197 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-02-17T18:14:43.197Z,1613585683.197 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2021-02-17T18:14:43.197Z,1613585683.197 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2021-02-17T18:14:43.570Z,1613585683.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2021-02-17T18:14:43.570Z,1613585683.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-02-17T18:14:43.570Z,1613585683.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2021-02-17T18:14:43.570Z,1613585683.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-02-17T18:14:43.570Z,1613585683.570 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-17T18:14:43.570Z,1613585683.570 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-17T18:14:43.571Z,1613585683.571 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-17T18:14:43.571Z,1613585683.571 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-17T18:14:43.575Z,1613585683.575 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-17T18:14:43.575Z,1613585683.575 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-17T18:14:43.575Z,1613585683.575 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-17T18:14:43.575Z,1613585683.575 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-17T18:14:43.575Z,1613585683.575 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-17T18:14:43.576Z,1613585683.576 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-17T18:14:43.576Z,1613585683.576 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-17T18:14:43.578Z,1613585683.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:14:44.013Z,1613585684.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-02-17T18:14:44.013Z,1613585684.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-17T18:14:44.013Z,1613585684.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-02-17T18:14:44.014Z,1613585684.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-17T18:14:44.014Z,1613585684.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-02-17T18:14:44.014Z,1613585684.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-02-17T18:14:44.014Z,1613585684.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-02-17T18:14:44.014Z,1613585684.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-02-17T18:14:44.014Z,1613585684.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-02-17T18:14:44.014Z,1613585684.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-02-17T18:14:44.014Z,1613585684.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-02-17T18:14:44.015Z,1613585684.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-02-17T18:14:44.015Z,1613585684.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-02-17T18:14:44.015Z,1613585684.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2021-02-17T18:14:44.016Z,1613585684.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-02-17T18:14:44.016Z,1613585684.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1 2021-02-17T18:14:44.016Z,1613585684.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize. 2021-02-17T18:14:44.016Z,1613585684.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values. 2021-02-17T18:14:44.016Z,1613585684.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-02-17T18:14:44.017Z,1613585684.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec. 2021-02-17T18:14:44.017Z,1613585684.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T18:14:44.017Z,1613585684.017 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-02-17T18:14:44.017Z,1613585684.017 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-17T18:14:44.017Z,1613585684.017 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-02-17T18:14:44.018Z,1613585684.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-17T18:14:44.018Z,1613585684.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-02-17T18:14:44.018Z,1613585684.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-02-17T18:14:44.018Z,1613585684.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-02-17T18:14:44.018Z,1613585684.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2021-02-17T18:14:44.018Z,1613585684.018 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2021-02-17T18:14:44.353Z,1613585684.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:14:44.480Z,1613585684.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.559998 m, bearing: 14.251360 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T18:14:44.481Z,1613585684.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 14.251360deg and heading rate command to 0 deg/s. 2021-02-17T18:14:44.765Z,1613585684.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:14:45.580Z,1613585685.580 [Micromodem](INFO): Nmea in: $SNTTA,0.103681,,,,181444.47*42 2021-02-17T18:14:45.622Z,1613585685.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.340012 m, bearing: 12.283749 deg, deltaT: 4.490518 s, approachRate: 0.173702 m/s, LOS rate: -0.438170 deg/s, posRepo size: 2 2021-02-17T18:14:45.623Z,1613585685.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.438170 deg/s. Setting heading cmd to target bearing of 12.283749deg and heading rate command to 0 deg/s. 2021-02-17T18:14:48.023Z,1613585688.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:14:48.800Z,1613585688.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:14:49.205Z,1613585689.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:14:50.037Z,1613585690.037 [Micromodem](INFO): Nmea in: $SNTTA,0.103897,,,,181448.92*4F 2021-02-17T18:14:50.101Z,1613585690.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.759995 m, bearing: 335.990556 deg, deltaT: 4.426133 s, approachRate: 0.094887 m/s, LOS rate: -8.199750 deg/s, posRepo size: 3 2021-02-17T18:14:50.107Z,1613585690.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.759995 m, bearing: 335.990556 deg, approachRate: 0.094887 m/s, LOS rate: -8.199750 deg/s, cmd update: -12.000000 deg/s, cmd heading: 12.283749 deg, new cmd heading: 12.283749 deg. 2021-02-17T18:14:52.481Z,1613585692.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:14:53.249Z,1613585693.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:14:53.650Z,1613585693.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:14:54.476Z,1613585694.476 [Micromodem](INFO): Nmea in: $SNTTA,0.104183,,,,181453.37*41 2021-02-17T18:14:54.514Z,1613585694.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.119995 m, bearing: 348.162664 deg, deltaT: 4.492816 s, approachRate: 0.080128 m/s, LOS rate: 2.709238 deg/s, posRepo size: 4 2021-02-17T18:14:54.516Z,1613585694.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.119995 m, bearing: 348.162664 deg, approachRate: 0.080128 m/s, LOS rate: 2.709238 deg/s, cmd update: 10.836951 deg/s, cmd heading: 318.370123 deg, new cmd heading: 314.012503 deg. 2021-02-17T18:14:54.559Z,1613585694.559 [BuoyancyServo](FAULT): Overload Error 2021-02-17T18:14:54.559Z,1613585694.559 [BuoyancyServo] Hardware Fault, FailCount= 1 2021-02-17T18:14:54.559Z,1613585694.559 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T18:14:54.681Z,1613585694.681 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T18:14:56.539Z,1613585696.539 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T18:14:56.539Z,1613585696.539 [BuoyancyServo](INFO): Powering down 2021-02-17T18:14:56.904Z,1613585696.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:14:57.527Z,1613585697.527 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T18:14:57.530Z,1613585697.530 [BuoyancyServo] No Fault, FailCount= 1 2021-02-17T18:14:57.690Z,1613585697.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:14:57.799Z,1613585697.799 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T18:14:57.807Z,1613585697.807 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T18:14:58.114Z,1613585698.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:14:58.920Z,1613585698.920 [Micromodem](INFO): Nmea in: $SNTTA,0.104020,,,0.106539,181457.81*56 2021-02-17T18:14:58.962Z,1613585698.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.999985 m, bearing: 352.823831 deg, deltaT: 4.379505 s, approachRate: -0.027403 m/s, LOS rate: 1.064314 deg/s, posRepo size: 4 2021-02-17T18:14:58.968Z,1613585698.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.999985 m, bearing: 352.823831 deg, approachRate: -0.027403 m/s, LOS rate: 1.064314 deg/s, cmd update: 4.257255 deg/s, cmd heading: 5.699176 deg, new cmd heading: 10.506231 deg. 2021-02-17T18:15:01.380Z,1613585701.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:02.151Z,1613585702.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:02.538Z,1613585702.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:15:03.376Z,1613585703.376 [Micromodem](INFO): Nmea in: $SNTTA,0.103757,,,,181502.27*4D 2021-02-17T18:15:03.424Z,1613585703.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.999985 m, bearing: 25.470639 deg, deltaT: 4.503680 s, approachRate: 0.000000 m/s, LOS rate: 7.248921 deg/s, posRepo size: 4 2021-02-17T18:15:03.426Z,1613585703.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.999985 m, bearing: 25.470639 deg, approachRate: 0.000000 m/s, LOS rate: 7.248921 deg/s, cmd update: 12.000000 deg/s, cmd heading: 24.923606 deg, new cmd heading: 26.583403 deg. 2021-02-17T18:15:05.784Z,1613585705.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:06.576Z,1613585706.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:06.998Z,1613585706.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:15:07.804Z,1613585707.804 [Micromodem](INFO): Nmea in: $SNTTA,0.102905,,,,181506.70*43 2021-02-17T18:15:07.850Z,1613585707.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.139999 m, bearing: 20.247930 deg, deltaT: 4.396291 s, approachRate: -0.423081 m/s, LOS rate: -1.187981 deg/s, posRepo size: 4 2021-02-17T18:15:07.856Z,1613585707.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.139999 m, bearing: 20.247930 deg, approachRate: -0.423081 m/s, LOS rate: -1.187981 deg/s, cmd update: -4.751923 deg/s, cmd heading: 77.680324 deg, new cmd heading: 82.713964 deg. 2021-02-17T18:15:10.280Z,1613585710.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:11.053Z,1613585711.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:11.425Z,1613585711.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:15:12.260Z,1613585712.260 [Micromodem](INFO): Nmea in: $SNTTA,0.101711,,,,181511.17*4C 2021-02-17T18:15:12.315Z,1613585712.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.139999 m, bearing: 16.782700 deg, deltaT: 4.435138 s, approachRate: 0.000000 m/s, LOS rate: -0.781313 deg/s, posRepo size: 4 2021-02-17T18:15:12.317Z,1613585712.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.139999 m, bearing: 16.782700 deg, approachRate: 0.000000 m/s, LOS rate: -0.781313 deg/s, cmd update: -3.125251 deg/s, cmd heading: 56.666787 deg, new cmd heading: 54.471090 deg. 2021-02-17T18:15:14.672Z,1613585714.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:15.469Z,1613585715.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:15.870Z,1613585715.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:15:16.696Z,1613585716.696 [Micromodem](INFO): Nmea in: $SNTTA,0.100450,,,,181515.59*45 2021-02-17T18:15:16.733Z,1613585716.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.419998 m, bearing: 19.444090 deg, deltaT: 4.476906 s, approachRate: -0.830931 m/s, LOS rate: 0.594471 deg/s, posRepo size: 4 2021-02-17T18:15:16.735Z,1613585716.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.419998 m, bearing: 19.444090 deg, approachRate: -0.830931 m/s, LOS rate: 0.594471 deg/s, cmd update: 2.377883 deg/s, cmd heading: 42.634654 deg, new cmd heading: 41.413206 deg. 2021-02-17T18:15:19.156Z,1613585719.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:19.913Z,1613585719.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:20.319Z,1613585720.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:15:21.156Z,1613585721.156 [Micromodem](INFO): Nmea in: $SNTTA,0.098976,,,0.101451,181520.03*5B 2021-02-17T18:15:21.211Z,1613585721.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.259995 m, bearing: 19.720733 deg, deltaT: 4.388743 s, approachRate: -0.492169 m/s, LOS rate: 0.063035 deg/s, posRepo size: 4 2021-02-17T18:15:21.213Z,1613585721.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.259995 m, bearing: 19.720733 deg, approachRate: -0.492169 m/s, LOS rate: 0.063035 deg/s, cmd update: 0.252139 deg/s, cmd heading: 53.080187 deg, new cmd heading: 54.210963 deg. 2021-02-17T18:15:23.560Z,1613585723.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:24.356Z,1613585724.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:24.758Z,1613585724.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:15:25.596Z,1613585725.596 [Micromodem](INFO): Nmea in: $SNTTA,0.097405,,,,181524.48*48 2021-02-17T18:15:25.640Z,1613585725.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.860001 m, bearing: 19.010365 deg, deltaT: 4.458876 s, approachRate: -0.538251 m/s, LOS rate: -0.159316 deg/s, posRepo size: 4 2021-02-17T18:15:25.642Z,1613585725.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.860001 m, bearing: 19.010365 deg, approachRate: -0.538251 m/s, LOS rate: -0.159316 deg/s, cmd update: -0.637263 deg/s, cmd heading: 54.204443 deg, new cmd heading: 54.316926 deg. 2021-02-17T18:15:28.042Z,1613585728.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:28.808Z,1613585728.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:29.202Z,1613585729.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:15:30.039Z,1613585730.039 [Micromodem](INFO): Nmea in: $SNTTA,0.095948,,,,181528.93*44 2021-02-17T18:15:30.117Z,1613585730.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.639999 m, bearing: 16.048972 deg, deltaT: 4.432464 s, approachRate: -0.500850 m/s, LOS rate: -0.668114 deg/s, posRepo size: 4 2021-02-17T18:15:30.123Z,1613585730.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.639999 m, bearing: 16.048972 deg, approachRate: -0.500850 m/s, LOS rate: -0.668114 deg/s, cmd update: -2.672457 deg/s, cmd heading: 51.379937 deg, new cmd heading: 51.067380 deg. 2021-02-17T18:15:32.241Z,1613585732.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:32.836Z,1613585732.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:33.243Z,1613585733.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:15:34.100Z,1613585734.100 [Micromodem](INFO): Nmea in: $SNTTA,0.094993,,,,181532.96*4D 2021-02-17T18:15:34.155Z,1613585734.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.319992 m, bearing: 18.946041 deg, deltaT: 4.044537 s, approachRate: -0.326368 m/s, LOS rate: 0.716292 deg/s, posRepo size: 4 2021-02-17T18:15:34.157Z,1613585734.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.319992 m, bearing: 18.946041 deg, approachRate: -0.326368 m/s, LOS rate: 0.716292 deg/s, cmd update: 2.865168 deg/s, cmd heading: 40.570607 deg, new cmd heading: 39.288431 deg. 2021-02-17T18:15:36.194Z,1613585736.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:36.876Z,1613585736.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:37.311Z,1613585737.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:15:38.141Z,1613585738.141 [Micromodem](INFO): Nmea in: $SNTTA,0.094074,,,,181537.00*47 2021-02-17T18:15:38.232Z,1613585738.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.000000 m, bearing: 20.169132 deg, deltaT: 4.060394 s, approachRate: -0.325090 m/s, LOS rate: 0.301225 deg/s, posRepo size: 4 2021-02-17T18:15:38.234Z,1613585738.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.000000 m, bearing: 20.169132 deg, approachRate: -0.325090 m/s, LOS rate: 0.301225 deg/s, cmd update: 1.204898 deg/s, cmd heading: 52.192475 deg, new cmd heading: 53.580087 deg. 2021-02-17T18:15:40.589Z,1613585740.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:41.358Z,1613585741.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:41.750Z,1613585741.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:15:42.588Z,1613585742.588 [Micromodem](INFO): Nmea in: $SNTTA,0.093081,,,,181541.48*47 2021-02-17T18:15:42.606Z,1613585742.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.440002 m, bearing: 14.272403 deg, deltaT: 4.530849 s, approachRate: -0.344306 m/s, LOS rate: -1.301462 deg/s, posRepo size: 4 2021-02-17T18:15:42.613Z,1613585742.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.440002 m, bearing: 14.272403 deg, approachRate: -0.344306 m/s, LOS rate: -1.301462 deg/s, cmd update: -5.205849 deg/s, cmd heading: 57.646370 deg, new cmd heading: 58.070804 deg. 2021-02-17T18:15:45.020Z,1613585745.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:45.805Z,1613585745.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:46.195Z,1613585746.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:15:47.032Z,1613585747.032 [Micromodem](INFO): Nmea in: $SNTTA,0.091900,,,,181545.93*47 2021-02-17T18:15:47.134Z,1613585747.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.520004 m, bearing: 15.261341 deg, deltaT: 4.390363 s, approachRate: -0.437321 m/s, LOS rate: 0.225252 deg/s, posRepo size: 4 2021-02-17T18:15:47.144Z,1613585747.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.520004 m, bearing: 15.261341 deg, approachRate: -0.437321 m/s, LOS rate: 0.225252 deg/s, cmd update: 0.901008 deg/s, cmd heading: 34.768520 deg, new cmd heading: 32.240195 deg. 2021-02-17T18:15:49.118Z,1613585749.118 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -9.14 mm (3 active estimators). 2021-02-17T18:15:49.511Z,1613585749.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:50.240Z,1613585750.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:50.647Z,1613585750.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:15:51.108Z,1613585751.108 [PowerOnly](INFO): Powering down loadControl 2021-02-17T18:15:51.553Z,1613585751.553 [Micromodem](INFO): Nmea in: $SNTTA,0.090473,,,,181550.36*44 2021-02-17T18:15:51.572Z,1613585751.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.479996 m, bearing: 16.056409 deg, deltaT: 4.587818 s, approachRate: -0.444658 m/s, LOS rate: 0.173300 deg/s, posRepo size: 4 2021-02-17T18:15:51.574Z,1613585751.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.479996 m, bearing: 16.056409 deg, approachRate: -0.444658 m/s, LOS rate: 0.173300 deg/s, cmd update: 0.693199 deg/s, cmd heading: 38.890979 deg, new cmd heading: 39.204620 deg. 2021-02-17T18:15:53.976Z,1613585753.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:54.770Z,1613585754.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:55.413Z,1613585755.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:15:56.265Z,1613585756.265 [Micromodem](INFO): Nmea in: $SNTTA,0.089063,,,,181554.89*49 2021-02-17T18:15:56.381Z,1613585756.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.320007 m, bearing: 13.803711 deg, deltaT: 4.713110 s, approachRate: -0.458294 m/s, LOS rate: -0.477964 deg/s, posRepo size: 4 2021-02-17T18:15:56.382Z,1613585756.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.320007 m, bearing: 13.803711 deg, approachRate: -0.458294 m/s, LOS rate: -0.477964 deg/s, cmd update: -1.911857 deg/s, cmd heading: 42.147764 deg, new cmd heading: 42.465599 deg. 2021-02-17T18:15:58.700Z,1613585758.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:15:59.472Z,1613585759.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:15:59.888Z,1613585759.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:00.718Z,1613585760.718 [Micromodem](INFO): Nmea in: $SNTTA,0.087158,,,,181559.59*4E 2021-02-17T18:16:00.739Z,1613585760.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.500000 m, bearing: 15.716680 deg, deltaT: 4.381828 s, approachRate: -0.643569 m/s, LOS rate: 0.436569 deg/s, posRepo size: 4 2021-02-17T18:16:00.741Z,1613585760.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.500000 m, bearing: 15.716680 deg, approachRate: -0.643569 m/s, LOS rate: 0.436569 deg/s, cmd update: 1.746275 deg/s, cmd heading: 33.709794 deg, new cmd heading: 32.938855 deg. 2021-02-17T18:16:03.172Z,1613585763.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:16:03.928Z,1613585763.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:16:04.322Z,1613585764.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:05.173Z,1613585765.173 [Micromodem](INFO): Nmea in: $SNTTA,0.085708,,,,181604.05*4D 2021-02-17T18:16:05.225Z,1613585765.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.220001 m, bearing: 14.088845 deg, deltaT: 4.406607 s, approachRate: -0.517405 m/s, LOS rate: -0.369408 deg/s, posRepo size: 4 2021-02-17T18:16:05.227Z,1613585765.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.220001 m, bearing: 14.088845 deg, approachRate: -0.517405 m/s, LOS rate: -0.369408 deg/s, cmd update: -1.477631 deg/s, cmd heading: 41.404569 deg, new cmd heading: 42.248589 deg. 2021-02-17T18:16:07.569Z,1613585767.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:16:08.361Z,1613585768.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:16:08.793Z,1613585768.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:09.588Z,1613585769.588 [Micromodem](INFO): Nmea in: $SNTTA,0.083907,,,,181608.48*4F 2021-02-17T18:16:09.625Z,1613585769.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.760010 m, bearing: 9.921788 deg, deltaT: 4.498152 s, approachRate: -0.546889 m/s, LOS rate: -0.926393 deg/s, posRepo size: 4 2021-02-17T18:16:09.627Z,1613585769.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.760010 m, bearing: 9.921788 deg, approachRate: -0.546889 m/s, LOS rate: -0.926393 deg/s, cmd update: -3.705573 deg/s, cmd heading: 34.775479 deg, new cmd heading: 34.188827 deg. 2021-02-17T18:16:12.077Z,1613585772.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:16:12.804Z,1613585772.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:16:13.212Z,1613585773.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:14.040Z,1613585774.040 [Micromodem](INFO): Nmea in: $SNTTA,0.082462,,,,181612.93*4D 2021-02-17T18:16:14.130Z,1613585774.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.540001 m, bearing: 11.993260 deg, deltaT: 4.393510 s, approachRate: -0.505293 m/s, LOS rate: 0.471484 deg/s, posRepo size: 4 2021-02-17T18:16:14.143Z,1613585774.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.540001 m, bearing: 11.993260 deg, approachRate: -0.505293 m/s, LOS rate: 0.471484 deg/s, cmd update: 1.885938 deg/s, cmd heading: 18.450705 deg, new cmd heading: 16.639899 deg. 2021-02-17T18:16:16.464Z,1613585776.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:16:17.253Z,1613585777.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:16:17.666Z,1613585777.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:18.480Z,1613585778.480 [Micromodem](INFO): Nmea in: $SNTTA,0.080792,,,,181617.38*47 2021-02-17T18:16:18.502Z,1613585778.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.720001 m, bearing: 15.425605 deg, deltaT: 4.495567 s, approachRate: -0.627285 m/s, LOS rate: 0.763495 deg/s, posRepo size: 4 2021-02-17T18:16:18.504Z,1613585778.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.720001 m, bearing: 15.425605 deg, approachRate: -0.627285 m/s, LOS rate: 0.763495 deg/s, cmd update: 3.053982 deg/s, cmd heading: 26.929271 deg, new cmd heading: 27.631854 deg. 2021-02-17T18:16:20.906Z,1613585780.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:16:21.692Z,1613585781.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:16:22.115Z,1613585782.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:22.921Z,1613585782.921 [Micromodem](INFO): Nmea in: $SNTTA,0.078855,,,,181621.81*43 2021-02-17T18:16:23.007Z,1613585783.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.080002 m, bearing: 7.762396 deg, deltaT: 4.400535 s, approachRate: -0.599927 m/s, LOS rate: -1.741427 deg/s, posRepo size: 4 2021-02-17T18:16:23.009Z,1613585783.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.080002 m, bearing: 7.762396 deg, approachRate: -0.599927 m/s, LOS rate: -1.741427 deg/s, cmd update: -6.965707 deg/s, cmd heading: 40.356065 deg, new cmd heading: 41.791409 deg. 2021-02-17T18:16:25.377Z,1613585785.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:16:26.146Z,1613585786.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:16:26.547Z,1613585786.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:27.372Z,1613585787.372 [Micromodem](INFO): Nmea in: $SNTTA,0.077170,,,,181626.27*49 2021-02-17T18:16:27.434Z,1613585787.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.500000 m, bearing: 11.895902 deg, deltaT: 4.428523 s, approachRate: -0.582587 m/s, LOS rate: 0.933383 deg/s, posRepo size: 4 2021-02-17T18:16:27.440Z,1613585787.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.500000 m, bearing: 11.895902 deg, approachRate: -0.582587 m/s, LOS rate: 0.933383 deg/s, cmd update: 3.733531 deg/s, cmd heading: 9.480332 deg, new cmd heading: 6.169594 deg. 2021-02-17T18:16:28.856Z,1613585788.856 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.279106 2021-02-17T18:16:29.786Z,1613585789.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:16:30.585Z,1613585790.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:16:31.010Z,1613585791.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:31.831Z,1613585791.831 [Micromodem](INFO): Nmea in: $SNTTA,0.075498,,,,181630.71*4C 2021-02-17T18:16:31.855Z,1613585791.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.860001 m, bearing: 13.755116 deg, deltaT: 4.519829 s, approachRate: -0.584093 m/s, LOS rate: 0.411346 deg/s, posRepo size: 4 2021-02-17T18:16:31.857Z,1613585791.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.860001 m, bearing: 13.755116 deg, approachRate: -0.584093 m/s, LOS rate: 0.411346 deg/s, cmd update: 1.645385 deg/s, cmd heading: 26.339628 deg, new cmd heading: 27.761271 deg. 2021-02-17T18:16:34.272Z,1613585794.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:16:35.047Z,1613585795.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:16:35.435Z,1613585795.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:36.272Z,1613585796.272 [Micromodem](INFO): Nmea in: $SNTTA,0.073597,,,,181635.17*41 2021-02-17T18:16:36.326Z,1613585796.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.099998 m, bearing: 9.656527 deg, deltaT: 4.391045 s, approachRate: -0.628552 m/s, LOS rate: -0.933397 deg/s, posRepo size: 4 2021-02-17T18:16:36.332Z,1613585796.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.099998 m, bearing: 9.656527 deg, approachRate: -0.628552 m/s, LOS rate: -0.933397 deg/s, cmd update: -3.733590 deg/s, cmd heading: 33.564994 deg, new cmd heading: 34.322208 deg. 2021-02-17T18:16:38.680Z,1613585798.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:16:39.479Z,1613585799.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:16:39.886Z,1613585799.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:40.704Z,1613585800.704 [Micromodem](INFO): Nmea in: $SNTTA,0.071744,,0.081518,,181639.60*58 2021-02-17T18:16:40.750Z,1613585800.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.279999 m, bearing: 8.185245 deg, deltaT: 4.460130 s, approachRate: -0.632268 m/s, LOS rate: -0.329874 deg/s, posRepo size: 4 2021-02-17T18:16:40.758Z,1613585800.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.279999 m, bearing: 8.185245 deg, approachRate: -0.632268 m/s, LOS rate: -0.329874 deg/s, cmd update: -1.319497 deg/s, cmd heading: 16.913520 deg, new cmd heading: 15.327379 deg. 2021-02-17T18:16:43.161Z,1613585803.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:16:43.920Z,1613585803.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:16:44.323Z,1613585804.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:45.144Z,1613585805.144 [Micromodem](INFO): Nmea in: $SNTTA,0.070311,,,,181644.04*4E 2021-02-17T18:16:45.230Z,1613585805.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.880005 m, bearing: 10.751665 deg, deltaT: 4.404601 s, approachRate: -0.544883 m/s, LOS rate: 0.582668 deg/s, posRepo size: 4 2021-02-17T18:16:45.236Z,1613585805.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.880005 m, bearing: 10.751665 deg, approachRate: -0.544883 m/s, LOS rate: 0.582668 deg/s, cmd update: 2.330672 deg/s, cmd heading: 11.096413 deg, new cmd heading: 10.442022 deg. 2021-02-17T18:16:47.578Z,1613585807.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:16:48.365Z,1613585808.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:16:48.762Z,1613585808.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:49.400Z,1613585809.400 [Radio_Surface](INFO): Powering down 2021-02-17T18:16:49.588Z,1613585809.588 [Micromodem](INFO): Nmea in: $SNTTA,0.068204,,,,181648.49*47 2021-02-17T18:16:49.629Z,1613585809.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.120003 m, bearing: 10.191699 deg, deltaT: 4.490820 s, approachRate: -0.614588 m/s, LOS rate: -0.124691 deg/s, posRepo size: 4 2021-02-17T18:16:49.631Z,1613585809.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.120003 m, bearing: 10.191699 deg, approachRate: -0.614588 m/s, LOS rate: -0.124691 deg/s, cmd update: -0.498764 deg/s, cmd heading: 21.554274 deg, new cmd heading: 22.505899 deg. 2021-02-17T18:16:52.086Z,1613585812.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:16:52.805Z,1613585812.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:16:53.223Z,1613585813.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:54.064Z,1613585814.064 [Micromodem](INFO): Nmea in: $SNTTA,0.066288,,,,181652.93*41 2021-02-17T18:16:54.112Z,1613585814.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.060005 m, bearing: 8.433904 deg, deltaT: 4.420382 s, approachRate: -0.692247 m/s, LOS rate: -0.397657 deg/s, posRepo size: 4 2021-02-17T18:16:54.113Z,1613585814.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.060005 m, bearing: 8.433904 deg, approachRate: -0.692247 m/s, LOS rate: -0.397657 deg/s, cmd update: -1.590627 deg/s, cmd heading: 19.348573 deg, new cmd heading: 19.115077 deg. 2021-02-17T18:16:56.465Z,1613585816.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:16:57.249Z,1613585817.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:16:57.651Z,1613585817.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:16:58.483Z,1613585818.483 [Micromodem](INFO): Nmea in: $SNTTA,0.064461,,,,181657.37*49 2021-02-17T18:16:58.502Z,1613585818.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 6.805275 deg, deltaT: 4.479053 s, approachRate: -0.629597 m/s, LOS rate: -0.363610 deg/s, posRepo size: 4 2021-02-17T18:16:58.504Z,1613585818.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.240005 m, bearing: 6.805275 deg, approachRate: -0.629597 m/s, LOS rate: -0.363610 deg/s, cmd update: -1.454441 deg/s, cmd heading: 12.246238 deg, new cmd heading: 11.620216 deg. 2021-02-17T18:17:00.901Z,1613585820.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:01.689Z,1613585821.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:17:02.094Z,1613585822.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:17:02.916Z,1613585822.916 [Micromodem](INFO): Nmea in: $SNTTA,0.062622,,,,181701.81*45 2021-02-17T18:17:02.985Z,1613585822.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 8.978763 deg, deltaT: 4.385406 s, approachRate: -0.629361 m/s, LOS rate: 0.495619 deg/s, posRepo size: 4 2021-02-17T18:17:03.000Z,1613585823.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.480003 m, bearing: 8.978763 deg, approachRate: -0.629361 m/s, LOS rate: 0.495619 deg/s, cmd update: 1.982474 deg/s, cmd heading: 5.844862 deg, new cmd heading: 5.165433 deg. 2021-02-17T18:17:05.000Z,1613585825.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T18:17:05.400Z,1613585825.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:06.005Z,1613585826.005 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2021-02-17T18:17:06.133Z,1613585826.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:17:06.538Z,1613585826.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:17:07.364Z,1613585827.364 [Micromodem](INFO): Nmea in: $SNTTA,0.060553,,,,181706.25*4B 2021-02-17T18:17:07.420Z,1613585827.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.600006 m, bearing: 8.195937 deg, deltaT: 4.480757 s, approachRate: -0.642748 m/s, LOS rate: -0.174709 deg/s, posRepo size: 4 2021-02-17T18:17:07.423Z,1613585827.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.600006 m, bearing: 8.195937 deg, approachRate: -0.642748 m/s, LOS rate: -0.174709 deg/s, cmd update: -0.698834 deg/s, cmd heading: 14.663858 deg, new cmd heading: 15.574918 deg. 2021-02-17T18:17:09.813Z,1613585829.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:10.583Z,1613585830.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:17:11.015Z,1613585831.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:17:11.828Z,1613585831.828 [Micromodem](INFO): Nmea in: $SNTTA,0.058559,,,,181710.71*4C 2021-02-17T18:17:11.850Z,1613585831.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.600006 m, bearing: 7.077373 deg, deltaT: 4.446001 s, approachRate: -0.674764 m/s, LOS rate: -0.251589 deg/s, posRepo size: 4 2021-02-17T18:17:11.852Z,1613585831.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.600006 m, bearing: 7.077373 deg, approachRate: -0.674764 m/s, LOS rate: -0.251589 deg/s, cmd update: -1.006355 deg/s, cmd heading: 11.537123 deg, new cmd heading: 11.245305 deg. 2021-02-17T18:17:14.258Z,1613585834.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:15.044Z,1613585835.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:17:15.426Z,1613585835.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:17:16.264Z,1613585836.264 [Micromodem](INFO): Nmea in: $SNTTA,0.056441,,,,181715.17*4F 2021-02-17T18:17:16.318Z,1613585836.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.480003 m, bearing: 6.055203 deg, deltaT: 4.410537 s, approachRate: -0.707397 m/s, LOS rate: -0.231756 deg/s, posRepo size: 4 2021-02-17T18:17:16.320Z,1613585836.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.480003 m, bearing: 6.055203 deg, approachRate: -0.707397 m/s, LOS rate: -0.231756 deg/s, cmd update: -0.927025 deg/s, cmd heading: 7.094397 deg, new cmd heading: 6.620558 deg. 2021-02-17T18:17:18.671Z,1613585838.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:19.465Z,1613585839.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:17:19.882Z,1613585839.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:17:20.692Z,1613585840.692 [Micromodem](INFO): Nmea in: $SNTTA,0.054467,,,,181719.59*4F 2021-02-17T18:17:20.733Z,1613585840.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.540001 m, bearing: 7.304080 deg, deltaT: 4.486439 s, approachRate: -0.655309 m/s, LOS rate: 0.278367 deg/s, posRepo size: 4 2021-02-17T18:17:20.734Z,1613585840.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.540001 m, bearing: 7.304080 deg, approachRate: -0.655309 m/s, LOS rate: 0.278367 deg/s, cmd update: 1.113468 deg/s, cmd heading: 2.939168 deg, new cmd heading: 2.565281 deg. 2021-02-17T18:17:20.738Z,1613585840.738 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T18:17:20.738Z,1613585840.738 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T18:17:20.738Z,1613585840.738 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T18:17:20.739Z,1613585840.739 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T18:17:20.739Z,1613585840.739 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T18:17:21.256Z,1613585841.256 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60120000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D 2021-02-17T18:17:21.257Z,1613585841.257 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 9B611AD4AA2A8E62565A435B65ED29BA533C31029DE315B932807BB8148405D217887238FCF57FC0C2D19F7A453D07886F678EA003F89E633C7F338F6E1FBE1B 2021-02-17T18:17:21.258Z,1613585841.258 [Micromodem](INFO): Outgoing frame #3, 54 bytes: 44D0DB7278336145EA8BECC4F78723481E6AC3DF2762015264CF714B4B36807F5C6E9294FDA9DBC53BAE6017B027D3E67EF600440000 2021-02-17T18:17:21.258Z,1613585841.258 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-02-17T18:17:21.560Z,1613585841.560 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-02-17T18:17:21.978Z,1613585841.978 [Micromodem](INFO): Nmea in: $CADRQ,181721,1,10,0,64,1*7A 2021-02-17T18:17:21.980Z,1613585841.980 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60120000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D*39 2021-02-17T18:17:22.368Z,1613585842.368 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T18:17:22.776Z,1613585842.776 [Micromodem](INFO): Nmea in: $CADRQ,181722,1,10,0,64,2*7A 2021-02-17T18:17:22.777Z,1613585842.777 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,9B611AD4AA2A8E62565A435B65ED29BA533C31029DE315B932807BB8148405D217887238FCF57FC0C2D19F7A453D07886F678EA003F89E633C7F338F6E1FBE1B*3A 2021-02-17T18:17:23.011Z,1613585843.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:23.247Z,1613585843.247 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T18:17:23.648Z,1613585843.648 [Micromodem](INFO): Nmea in: $CADRQ,181722,1,10,0,64,3*7B 2021-02-17T18:17:23.648Z,1613585843.648 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,44D0DB7278336145EA8BECC4F78723481E6AC3DF2762015264CF714B4B36807F5C6E9294FDA9DBC53BAE6017B027D3E67EF600440000*4D 2021-02-17T18:17:24.066Z,1613585844.066 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,54*4A 2021-02-17T18:17:24.066Z,1613585844.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:17:24.451Z,1613585844.451 [Micromodem](INFO): Nmea in: $CATXP,182*49 2021-02-17T18:17:24.451Z,1613585844.451 [Micromodem](ERROR): Response from modem unexpected: $CATXP,182*49 2021-02-17T18:17:25.690Z,1613585845.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:28.095Z,1613585848.095 [Micromodem](INFO): Nmea in: $CATXF,182*5F 2021-02-17T18:17:28.095Z,1613585848.095 [Micromodem](ERROR): Response from modem unexpected: $CATXF,182*5F 2021-02-17T18:17:28.205Z,1613585848.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:28.489Z,1613585848.489 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,181723.808043,3,0,200,4000,14500,1,1,10,1,3,3,3,182*74 2021-02-17T18:17:28.489Z,1613585848.489 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,181723.808043,3,0,200,4000,14500,1,1,10,1,3,3,3,182*74 2021-02-17T18:17:30.933Z,1613585850.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:31.343Z,1613585851.343 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-17T18:17:31.720Z,1613585851.720 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-17T18:17:32.126Z,1613585852.126 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79 2021-02-17T18:17:32.126Z,1613585852.126 [Micromodem](INFO): Sent 174 bytes from file Logs/20210217T180521/Courier0018.lzma.parts 2021-02-17T18:17:32.127Z,1613585852.127 [Micromodem](INFO): Packets left to send: 0 2021-02-17T18:17:32.531Z,1613585852.531 [Micromodem](INFO): Nmea in: $CACST,6,0,20210217181730.398329,06,7511,38,0253,0150,07,01,01,00,02,1,010,001,0,4,1,0,150,18.5,5.00,14,-2.00,-01,1.50,29,14500,4000*53 2021-02-17T18:17:32.531Z,1613585852.531 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210217181730.398329,06,7511,38,0253,0150,07,01,01,00,02,1,010,001,0,4,1,0,150,18.5,5.00,14,-2.00,-01,1.50,29,14500,4000*53 2021-02-17T18:17:32.680Z,1613585852.680 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T18:17:32.680Z,1613585852.680 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T18:17:32.681Z,1613585852.681 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T18:17:32.681Z,1613585852.681 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T18:17:32.681Z,1613585852.681 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T18:17:33.775Z,1613585853.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:35.355Z,1613585855.355 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:17:35.761Z,1613585855.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:17:36.584Z,1613585856.584 [Micromodem](INFO): Nmea in: $SNTTA,0.047221,,,,181735.48*47 2021-02-17T18:17:36.626Z,1613585856.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.680008 m, bearing: 6.597323 deg, deltaT: 15.891599 s, approachRate: -0.683379 m/s, LOS rate: -0.044474 deg/s, posRepo size: 4 2021-02-17T18:17:36.628Z,1613585856.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.680008 m, bearing: 6.597323 deg, approachRate: -0.683379 m/s, LOS rate: -0.044474 deg/s, cmd update: -0.177894 deg/s, cmd heading: 20.634081 deg, new cmd heading: 21.085427 deg. 2021-02-17T18:17:39.093Z,1613585859.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:39.801Z,1613585859.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:17:40.205Z,1613585860.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:17:41.040Z,1613585861.040 [Micromodem](INFO): Nmea in: $SNTTA,0.045429,,,,181739.92*40 2021-02-17T18:17:41.094Z,1613585861.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.160004 m, bearing: 5.878182 deg, deltaT: 4.404941 s, approachRate: -0.572086 m/s, LOS rate: -0.163258 deg/s, posRepo size: 4 2021-02-17T18:17:41.096Z,1613585861.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.160004 m, bearing: 5.878182 deg, approachRate: -0.572086 m/s, LOS rate: -0.163258 deg/s, cmd update: -0.653031 deg/s, cmd heading: 19.849754 deg, new cmd heading: 19.767223 deg. 2021-02-17T18:17:43.451Z,1613585863.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:44.256Z,1613585864.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:17:44.652Z,1613585864.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:17:45.480Z,1613585865.480 [Micromodem](INFO): Nmea in: $SNTTA,0.043502,,,,181744.38*44 2021-02-17T18:17:45.526Z,1613585865.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.100006 m, bearing: 4.262753 deg, deltaT: 4.487773 s, approachRate: -0.681852 m/s, LOS rate: -0.359962 deg/s, posRepo size: 4 2021-02-17T18:17:45.532Z,1613585865.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.100006 m, bearing: 4.262753 deg, approachRate: -0.681852 m/s, LOS rate: -0.359962 deg/s, cmd update: -1.439849 deg/s, cmd heading: 16.919078 deg, new cmd heading: 16.652533 deg. 2021-02-17T18:17:47.901Z,1613585867.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:48.688Z,1613585868.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:17:49.102Z,1613585869.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:17:49.916Z,1613585869.916 [Micromodem](INFO): Nmea in: $SNTTA,0.041525,,,,181748.81*4D 2021-02-17T18:17:49.961Z,1613585869.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.160004 m, bearing: 4.016203 deg, deltaT: 4.408019 s, approachRate: -0.666967 m/s, LOS rate: -0.055932 deg/s, posRepo size: 4 2021-02-17T18:17:49.968Z,1613585869.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.160004 m, bearing: 4.016203 deg, approachRate: -0.666967 m/s, LOS rate: -0.055932 deg/s, cmd update: -0.223728 deg/s, cmd heading: 10.572348 deg, new cmd heading: 9.948780 deg. 2021-02-17T18:17:52.366Z,1613585872.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:53.137Z,1613585873.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:17:53.537Z,1613585873.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:17:54.369Z,1613585874.369 [Micromodem](INFO): Nmea in: $SNTTA,0.039706,,,0.042219,181753.26*54 2021-02-17T18:17:54.416Z,1613585874.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.340008 m, bearing: 3.113397 deg, deltaT: 4.483087 s, approachRate: -0.629030 m/s, LOS rate: -0.201380 deg/s, posRepo size: 4 2021-02-17T18:17:54.418Z,1613585874.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.340008 m, bearing: 3.113397 deg, approachRate: -0.629030 m/s, LOS rate: -0.201380 deg/s, cmd update: -0.805522 deg/s, cmd heading: 9.573230 deg, new cmd heading: 9.478342 deg. 2021-02-17T18:17:56.789Z,1613585876.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:17:57.582Z,1613585877.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:17:58.009Z,1613585878.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:17:58.812Z,1613585878.812 [Micromodem](INFO): Nmea in: $SNTTA,0.037739,,,,181757.70*43 2021-02-17T18:17:58.843Z,1613585878.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.459995 m, bearing: 2.221373 deg, deltaT: 4.411707 s, approachRate: -0.652811 m/s, LOS rate: -0.202195 deg/s, posRepo size: 4 2021-02-17T18:17:58.845Z,1613585878.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.459995 m, bearing: 2.221373 deg, approachRate: -0.652811 m/s, LOS rate: -0.202195 deg/s, cmd update: -0.808779 deg/s, cmd heading: 6.005556 deg, new cmd heading: 5.665601 deg. 2021-02-17T18:18:00.932Z,1613585880.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:18:01.697Z,1613585881.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:02.104Z,1613585882.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:18:02.931Z,1613585882.931 [Micromodem](INFO): Nmea in: $SNTTA,0.036075,,,,181801.82*4C 2021-02-17T18:18:02.955Z,1613585882.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.880001 m, bearing: 1.767684 deg, deltaT: 4.113728 s, approachRate: -0.627167 m/s, LOS rate: -0.110287 deg/s, posRepo size: 4 2021-02-17T18:18:02.962Z,1613585882.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.880001 m, bearing: 1.767684 deg, approachRate: -0.627167 m/s, LOS rate: -0.110287 deg/s, cmd update: -0.441147 deg/s, cmd heading: 2.679692 deg, new cmd heading: 2.339022 deg. 2021-02-17T18:18:03.728Z,1613585883.728 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T18:18:05.084Z,1613585885.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:18:05.746Z,1613585885.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:06.143Z,1613585886.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:18:06.989Z,1613585886.989 [Micromodem](INFO): Nmea in: $SNTTA,0.034119,,,,181805.87*44 2021-02-17T18:18:07.073Z,1613585887.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.939999 m, bearing: 2.752391 deg, deltaT: 4.027748 s, approachRate: -0.729937 m/s, LOS rate: 0.244481 deg/s, posRepo size: 4 2021-02-17T18:18:07.074Z,1613585887.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.939999 m, bearing: 2.752391 deg, approachRate: -0.729937 m/s, LOS rate: 0.244481 deg/s, cmd update: 0.977924 deg/s, cmd heading: 0.902158 deg, new cmd heading: 0.683275 deg. 2021-02-17T18:18:09.088Z,1613585889.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:18:09.775Z,1613585889.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:10.177Z,1613585890.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:18:11.030Z,1613585891.030 [Micromodem](INFO): Nmea in: $SNTTA,0.032249,,,,181809.90*4E 2021-02-17T18:18:11.106Z,1613585891.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.540005 m, bearing: 5.229578 deg, deltaT: 4.031852 s, approachRate: -0.595258 m/s, LOS rate: 0.614404 deg/s, posRepo size: 4 2021-02-17T18:18:11.108Z,1613585891.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.540005 m, bearing: 5.229578 deg, approachRate: -0.595258 m/s, LOS rate: 0.614404 deg/s, cmd update: 2.457617 deg/s, cmd heading: 4.845005 deg, new cmd heading: 5.345586 deg. 2021-02-17T18:18:13.463Z,1613585893.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:18:14.224Z,1613585894.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:14.635Z,1613585894.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:18:15.452Z,1613585895.452 [Micromodem](INFO): Nmea in: $SNTTA,0.030230,,0.043899,,181814.35*50 2021-02-17T18:18:15.492Z,1613585895.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.119999 m, bearing: 2.856147 deg, deltaT: 4.504284 s, approachRate: -0.759278 m/s, LOS rate: -0.526927 deg/s, posRepo size: 4 2021-02-17T18:18:15.494Z,1613585895.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.119999 m, bearing: 2.856147 deg, approachRate: -0.759278 m/s, LOS rate: -0.526927 deg/s, cmd update: -2.107710 deg/s, cmd heading: 15.904418 deg, new cmd heading: 16.881792 deg. 2021-02-17T18:18:17.867Z,1613585897.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:18:18.669Z,1613585898.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:19.085Z,1613585899.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:18:19.892Z,1613585899.892 [Micromodem](INFO): Nmea in: $SNTTA,0.028617,,,,181818.79*4D 2021-02-17T18:18:19.929Z,1613585899.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.719997 m, bearing: 2.398905 deg, deltaT: 4.401992 s, approachRate: -0.545208 m/s, LOS rate: -0.103872 deg/s, posRepo size: 4 2021-02-17T18:18:19.931Z,1613585899.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.719997 m, bearing: 2.398905 deg, approachRate: -0.545208 m/s, LOS rate: -0.103872 deg/s, cmd update: -0.415486 deg/s, cmd heading: 6.654773 deg, new cmd heading: 5.712842 deg. 2021-02-17T18:18:22.345Z,1613585902.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:18:23.105Z,1613585903.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:23.527Z,1613585903.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:18:24.336Z,1613585904.336 [Micromodem](INFO): Nmea in: $SNTTA,0.026334,,,,181823.23*40 2021-02-17T18:18:24.398Z,1613585904.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.299999 m, bearing: 0.332562 deg, deltaT: 4.426006 s, approachRate: -0.772705 m/s, LOS rate: -0.466864 deg/s, posRepo size: 4 2021-02-17T18:18:24.399Z,1613585904.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.30 m. 2021-02-17T18:18:24.404Z,1613585904.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.299999 m, bearing: 0.332562 deg, approachRate: -0.772705 m/s, LOS rate: -0.466864 deg/s, cmd update: -1.867457 deg/s, cmd heading: 4.808464 deg, new cmd heading: 4.612382 deg. 2021-02-17T18:18:24.733Z,1613585904.733 [PowerOnly](INFO): Powering up loadControl 2021-02-17T18:18:26.772Z,1613585906.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:18:27.565Z,1613585907.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:27.993Z,1613585907.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:18:28.784Z,1613585908.784 [Micromodem](INFO): Nmea in: $SNTTA,0.024589,,,,181827.69*48 2021-02-17T18:18:28.830Z,1613585908.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.719997 m, bearing: 0.546956 deg, deltaT: 4.470534 s, approachRate: -0.577113 m/s, LOS rate: 0.047957 deg/s, posRepo size: 4 2021-02-17T18:18:28.830Z,1613585908.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.72 m. 2021-02-17T18:18:28.836Z,1613585908.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.72 m. 2021-02-17T18:18:28.836Z,1613585908.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T18:18:28.844Z,1613585908.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.719997 m, bearing: 0.546956 deg, approachRate: -0.577113 m/s, LOS rate: 0.047957 deg/s, cmd update: 0.191828 deg/s, cmd heading: 356.489662 deg, new cmd heading: 355.650821 deg. 2021-02-17T18:18:31.245Z,1613585911.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:18:32.009Z,1613585912.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:32.400Z,1613585912.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:18:33.236Z,1613585913.236 [Micromodem](INFO): Nmea in: $SNTTA,0.022672,,,,181832.13*40 2021-02-17T18:18:33.291Z,1613585913.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.779999 m, bearing: 1.520643 deg, deltaT: 4.442481 s, approachRate: -0.661792 m/s, LOS rate: 0.219177 deg/s, posRepo size: 4 2021-02-17T18:18:33.303Z,1613585913.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.779999 m, bearing: 1.520643 deg, approachRate: -0.661792 m/s, LOS rate: 0.219177 deg/s, cmd update: 0.876706 deg/s, cmd heading: 357.344142 deg, new cmd heading: 357.431276 deg. 2021-02-17T18:18:35.650Z,1613585915.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:18:36.445Z,1613585916.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:36.842Z,1613585916.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:18:37.668Z,1613585917.668 [Micromodem](INFO): Nmea in: $SNTTA,0.020794,,,,181836.57*4F 2021-02-17T18:18:37.690Z,1613585917.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.020002 m, bearing: 2.483503 deg, deltaT: 4.455663 s, approachRate: -0.619436 m/s, LOS rate: 0.216098 deg/s, posRepo size: 4 2021-02-17T18:18:37.692Z,1613585917.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.020002 m, bearing: 2.483503 deg, approachRate: -0.619436 m/s, LOS rate: 0.216098 deg/s, cmd update: 0.864392 deg/s, cmd heading: 1.239959 deg, new cmd heading: 1.600568 deg. 2021-02-17T18:18:40.174Z,1613585920.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:18:40.881Z,1613585920.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:41.286Z,1613585921.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:18:42.112Z,1613585922.112 [Micromodem](INFO): Nmea in: $SNTTA,0.018993,,,,181841.00*4F 2021-02-17T18:18:42.176Z,1613585922.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.799999 m, bearing: 5.087005 deg, deltaT: 4.412741 s, approachRate: -0.503089 m/s, LOS rate: 0.589996 deg/s, posRepo size: 4 2021-02-17T18:18:42.178Z,1613585922.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.799999 m, bearing: 5.087005 deg, approachRate: -0.503089 m/s, LOS rate: 0.589996 deg/s, cmd update: 2.359986 deg/s, cmd heading: 5.068112 deg, new cmd heading: 5.472796 deg. 2021-02-17T18:18:44.537Z,1613585924.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:18:45.335Z,1613585925.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:45.735Z,1613585925.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:18:46.560Z,1613585926.560 [Micromodem](INFO): Nmea in: $SNTTA,0.017331,,,,181845.46*44 2021-02-17T18:18:46.606Z,1613585926.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.499998 m, bearing: 0.077657 deg, deltaT: 4.491759 s, approachRate: -0.734679 m/s, LOS rate: -1.115231 deg/s, posRepo size: 4 2021-02-17T18:18:46.615Z,1613585926.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.499998 m, bearing: 0.077657 deg, approachRate: -0.734679 m/s, LOS rate: -1.115231 deg/s, cmd update: -4.460923 deg/s, cmd heading: 15.659165 deg, new cmd heading: 16.628484 deg. 2021-02-17T18:18:49.040Z,1613585929.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:18:49.774Z,1613585929.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:50.191Z,1613585930.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:18:51.019Z,1613585931.019 [Micromodem](INFO): Nmea in: $SNTTA,0.015398,,,,181849.89*4A 2021-02-17T18:18:51.094Z,1613585931.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.799997 m, bearing: 355.981946 deg, deltaT: 4.392918 s, approachRate: -0.614626 m/s, LOS rate: -0.932341 deg/s, posRepo size: 4 2021-02-17T18:18:51.101Z,1613585931.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.799997 m, bearing: 355.981946 deg, approachRate: -0.614626 m/s, LOS rate: -0.932341 deg/s, cmd update: -3.729366 deg/s, cmd heading: 356.044746 deg, new cmd heading: 353.808061 deg. 2021-02-17T18:18:53.102Z,1613585933.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:18:53.808Z,1613585933.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:54.229Z,1613585934.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000CATXP,400*46 2021-02-17T18:18:54.229Z,1613585934.229 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000CATXP,400*46 expected 31 2021-02-17T18:18:54.229Z,1613585934.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:18:54.233Z,1613585934.233 [Micromodem](INFO): Nmea in: $CATXF,400*50 2021-02-17T18:18:54.234Z,1613585934.234 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50 2021-02-17T18:18:54.619Z,1613585934.619 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,181853.934510,3,0,40,4000,14500,1,0,0,0,2,0,3,0*7F 2021-02-17T18:18:54.619Z,1613585934.619 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,181853.934510,3,0,40,4000,14500,1,0,0,0,2,0,3,0*7F 2021-02-17T18:18:54.621Z,1613585934.621 [Micromodem](INFO): Nmea in: $CAERR,181854,NI ,29,Busy completing a previous request*7A 2021-02-17T18:18:54.621Z,1613585934.621 [Micromodem](ERROR): Got error from modem: $CAERR,181854,NI ,29,Busy completing a previous request*7A 2021-02-17T18:18:55.059Z,1613585935.059 [Micromodem](INFO): Nmea in: $SNTTA,0.013861,,,,181853.93*41 2021-02-17T18:18:55.060Z,1613585935.060 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.013861,,,,181853.93*41 2021-02-17T18:18:55.122Z,1613585935.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.519997 m, bearing: 0.140683 deg, deltaT: 4.042859 s, approachRate: -0.563958 m/s, LOS rate: 1.028660 deg/s, posRepo size: 4 2021-02-17T18:18:55.124Z,1613585935.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.519997 m, bearing: 0.140683 deg, approachRate: -0.563958 m/s, LOS rate: 1.028660 deg/s, cmd update: 4.114641 deg/s, cmd heading: 340.968707 deg, new cmd heading: 339.151390 deg. 2021-02-17T18:18:57.485Z,1613585937.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:00.317Z,1613585940.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:03.140Z,1613585943.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:05.523Z,1613585945.523 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:19:05.935Z,1613585945.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:19:06.025Z,1613585946.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:06.742Z,1613585946.742 [Micromodem](INFO): Nmea in: $SNTTA,0.009004,,,,181905.65*4A 2021-02-17T18:19:06.760Z,1613585946.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:19:07.548Z,1613585947.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:19:08.008Z,1613585948.008 [Micromodem](INFO): Nmea in: $SNTTA,0.008456,,,0.010924,181906.88*58 2021-02-17T18:19:08.092Z,1613585948.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.479998 m, bearing: 357.933714 deg, deltaT: 12.970320 s, approachRate: -0.619877 m/s, LOS rate: -0.170155 deg/s, posRepo size: 4 2021-02-17T18:19:08.093Z,1613585948.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.479998 m, bearing: 357.933714 deg, approachRate: -0.619877 m/s, LOS rate: -0.170155 deg/s, cmd update: -0.680619 deg/s, cmd heading: 34.338141 deg, new cmd heading: 36.319999 deg. 2021-02-17T18:19:10.423Z,1613585950.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:11.189Z,1613585951.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:19:11.586Z,1613585951.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:19:12.412Z,1613585952.412 [Micromodem](INFO): Nmea in: $SNTTA,0.006781,,,,181911.31*4B 2021-02-17T18:19:12.456Z,1613585952.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.960000 m, bearing: 357.114282 deg, deltaT: 4.483528 s, approachRate: -0.562057 m/s, LOS rate: -0.182765 deg/s, posRepo size: 4 2021-02-17T18:19:12.458Z,1613585952.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.960000 m, bearing: 357.114282 deg, approachRate: -0.562057 m/s, LOS rate: -0.182765 deg/s, cmd update: -0.731060 deg/s, cmd heading: 31.289352 deg, new cmd heading: 31.037580 deg. 2021-02-17T18:19:14.837Z,1613585954.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:15.624Z,1613585955.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:19:16.050Z,1613585956.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:19:16.852Z,1613585956.852 [Micromodem](INFO): Nmea in: $SNTTA,0.005457,,,,181915.75*44 2021-02-17T18:19:16.886Z,1613585956.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.100000 m, bearing: 352.480354 deg, deltaT: 4.376997 s, approachRate: -0.424949 m/s, LOS rate: -1.058700 deg/s, posRepo size: 4 2021-02-17T18:19:16.888Z,1613585956.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.100000 m, bearing: 352.480354 deg, approachRate: -0.424949 m/s, LOS rate: -1.058700 deg/s, cmd update: -4.234801 deg/s, cmd heading: 28.089436 deg, new cmd heading: 27.779433 deg. 2021-02-17T18:19:19.306Z,1613585959.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:20.081Z,1613585960.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:19:20.474Z,1613585960.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:19:21.304Z,1613585961.304 [Micromodem](INFO): Nmea in: $SNTTA,0.004711,,,,181920.20*42 2021-02-17T18:19:21.355Z,1613585961.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.960000 m, bearing: 354.449962 deg, deltaT: 4.424252 s, approachRate: -0.257671 m/s, LOS rate: 0.445184 deg/s, posRepo size: 4 2021-02-17T18:19:21.356Z,1613585961.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.960000 m, bearing: 354.449962 deg, approachRate: -0.257671 m/s, LOS rate: 0.445184 deg/s, cmd update: 1.780738 deg/s, cmd heading: 9.336736 deg, new cmd heading: 7.370764 deg. 2021-02-17T18:19:23.722Z,1613585963.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:24.517Z,1613585964.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:19:24.923Z,1613585964.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:19:25.744Z,1613585965.744 [Micromodem](INFO): Nmea in: $SNTTA,0.004118,,,,181924.64*49 2021-02-17T18:19:25.790Z,1613585965.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.999998 m, bearing: 341.649259 deg, deltaT: 4.490103 s, approachRate: -0.213804 m/s, LOS rate: -2.850871 deg/s, posRepo size: 4 2021-02-17T18:19:25.796Z,1613585965.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.999998 m, bearing: 341.649259 deg, approachRate: -0.213804 m/s, LOS rate: -2.850871 deg/s, cmd update: -11.403483 deg/s, cmd heading: 17.325454 deg, new cmd heading: 18.062103 deg. 2021-02-17T18:19:28.193Z,1613585968.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:29.006Z,1613585969.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:19:29.361Z,1613585969.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:19:30.209Z,1613585970.209 [Micromodem](INFO): Nmea in: $SNTTA,0.005351,,,,181929.13*4A 2021-02-17T18:19:30.268Z,1613585970.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.040000 m, bearing: 351.338538 deg, deltaT: 4.428192 s, approachRate: 0.460685 m/s, LOS rate: 2.188089 deg/s, posRepo size: 4 2021-02-17T18:19:30.269Z,1613585970.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.040000 m, bearing: 351.338538 deg, approachRate: 0.460685 m/s, LOS rate: 2.188089 deg/s, cmd update: 8.752356 deg/s, cmd heading: 326.830728 deg, new cmd heading: 321.598251 deg. 2021-02-17T18:19:32.624Z,1613585972.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:33.400Z,1613585973.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:19:33.807Z,1613585973.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:19:34.628Z,1613585974.628 [Micromodem](INFO): Nmea in: $SNTTA,0.006074,,0.030700,,181933.52*59 2021-02-17T18:19:34.667Z,1613585974.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.120000 m, bearing: 0.773139 deg, deltaT: 4.451522 s, approachRate: 0.242614 m/s, LOS rate: 2.119413 deg/s, posRepo size: 4 2021-02-17T18:19:34.669Z,1613585974.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.120000 m, bearing: 0.773139 deg, approachRate: 0.242614 m/s, LOS rate: 2.119413 deg/s, cmd update: 8.477650 deg/s, cmd heading: 5.826379 deg, new cmd heading: 9.386400 deg. 2021-02-17T18:19:37.125Z,1613585977.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:37.849Z,1613585977.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:19:38.255Z,1613585978.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:19:39.092Z,1613585979.092 [Micromodem](INFO): Nmea in: $SNTTA,0.006028,,,,181937.97*47 2021-02-17T18:19:39.154Z,1613585979.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.180000 m, bearing: 22.288091 deg, deltaT: 4.405865 s, approachRate: 0.013618 m/s, LOS rate: 4.883253 deg/s, posRepo size: 4 2021-02-17T18:19:39.160Z,1613585979.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.180000 m, bearing: 22.288091 deg, approachRate: 0.013618 m/s, LOS rate: 4.883253 deg/s, cmd update: 12.000000 deg/s, cmd heading: 43.179509 deg, new cmd heading: 47.317925 deg. 2021-02-17T18:19:41.538Z,1613585981.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:42.293Z,1613585982.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:19:42.696Z,1613585982.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:19:43.524Z,1613585983.524 [Micromodem](INFO): Nmea in: $SNTTA,0.007588,,,,181942.42*43 2021-02-17T18:19:43.546Z,1613585983.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.520001 m, bearing: 337.830910 deg, deltaT: 4.495478 s, approachRate: 0.520523 m/s, LOS rate: -9.889310 deg/s, posRepo size: 4 2021-02-17T18:19:43.548Z,1613585983.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.520001 m, bearing: 337.830910 deg, approachRate: 0.520523 m/s, LOS rate: -9.889310 deg/s, cmd update: -12.000000 deg/s, cmd heading: 96.981810 deg, new cmd heading: 101.740446 deg. 2021-02-17T18:19:45.949Z,1613585985.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:46.732Z,1613585986.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:19:47.140Z,1613585987.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:19:47.972Z,1613585987.972 [Micromodem](INFO): Nmea in: $SNTTA,0.009303,,,,181946.85*47 2021-02-17T18:19:48.061Z,1613585988.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.980000 m, bearing: 34.725764 deg, deltaT: 4.405177 s, approachRate: 0.558434 m/s, LOS rate: 12.915455 deg/s, posRepo size: 4 2021-02-17T18:19:48.067Z,1613585988.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.915455 deg/s. Setting heading cmd to target bearing of 34.725764deg and heading rate command to 0 deg/s. 2021-02-17T18:19:50.087Z,1613585990.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:50.777Z,1613585990.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:19:51.189Z,1613585991.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:19:52.035Z,1613585992.035 [Micromodem](INFO): Nmea in: $SNTTA,0.011563,,,,181950.90*4D 2021-02-17T18:19:52.091Z,1613585992.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.380001 m, bearing: 59.285168 deg, deltaT: 4.057710 s, approachRate: 0.591467 m/s, LOS rate: 6.052528 deg/s, posRepo size: 4 2021-02-17T18:19:52.093Z,1613585992.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.380001 m, bearing: 59.285168 deg, approachRate: 0.591467 m/s, LOS rate: 6.052528 deg/s, cmd update: 12.000000 deg/s, cmd heading: 34.725764 deg, new cmd heading: 34.725764 deg. 2021-02-17T18:19:54.446Z,1613585994.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:55.216Z,1613585995.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:19:55.627Z,1613585995.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:19:56.455Z,1613585996.455 [Micromodem](INFO): Nmea in: $SNTTA,0.013180,,,,181955.34*4D 2021-02-17T18:19:56.478Z,1613585996.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.560001 m, bearing: 45.382816 deg, deltaT: 4.492793 s, approachRate: 0.707800 m/s, LOS rate: -3.094367 deg/s, posRepo size: 4 2021-02-17T18:19:56.479Z,1613585996.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.56 m. Rolling out. 2021-02-17T18:19:56.479Z,1613585996.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T18:19:58.868Z,1613585998.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:19:59.269Z,1613585999.269 [PowerOnly](INFO): Powering down loadControl 2021-02-17T18:19:59.660Z,1613585999.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:00.078Z,1613586000.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:00.896Z,1613586000.896 [Micromodem](INFO): Nmea in: $SNTTA,0.014982,0.032425,,,181959.79*59 2021-02-17T18:20:00.918Z,1613586000.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.320000 m, bearing: 27.577862 deg, deltaT: 4.366090 s, approachRate: 0.632144 m/s, LOS rate: -4.078009 deg/s, posRepo size: 4 2021-02-17T18:20:03.382Z,1613586003.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:20:04.109Z,1613586004.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:04.512Z,1613586004.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:05.336Z,1613586005.336 [Micromodem](INFO): Nmea in: $SNTTA,0.016270,,,,182004.23*4C 2021-02-17T18:20:05.389Z,1613586005.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.059999 m, bearing: 56.621073 deg, deltaT: 4.469727 s, approachRate: 0.389285 m/s, LOS rate: 6.497760 deg/s, posRepo size: 4 2021-02-17T18:20:07.770Z,1613586007.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:20:08.566Z,1613586008.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:09.013Z,1613586009.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:09.082Z,1613586009.082 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T18:20:09.784Z,1613586009.784 [Micromodem](INFO): Nmea in: $SNTTA,0.017470,,,,182008.69*49 2021-02-17T18:20:09.830Z,1613586009.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.219999 m, bearing: 127.903420 deg, deltaT: 4.419205 s, approachRate: 0.488776 m/s, LOS rate: 16.130129 deg/s, posRepo size: 4 2021-02-17T18:20:12.239Z,1613586012.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:20:13.017Z,1613586013.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:13.415Z,1613586013.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:14.236Z,1613586014.236 [Micromodem](INFO): Nmea in: $SNTTA,0.018617,,,,182013.14*45 2021-02-17T18:20:14.257Z,1613586014.257 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T18:20:14.304Z,1613586014.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.559998 m, bearing: 128.791468 deg, deltaT: 4.447368 s, approachRate: 0.526154 m/s, LOS rate: 0.199679 deg/s, posRepo size: 4 2021-02-17T18:20:16.648Z,1613586016.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:20:17.447Z,1613586017.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:17.848Z,1613586017.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:18.676Z,1613586018.676 [Micromodem](INFO): Nmea in: $SNTTA,0.020736,,0.021873,,182017.57*5E 2021-02-17T18:20:18.718Z,1613586018.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.200001 m, bearing: 130.542783 deg, deltaT: 4.486453 s, approachRate: 0.588439 m/s, LOS rate: 0.390356 deg/s, posRepo size: 4 2021-02-17T18:20:19.104Z,1613586019.104 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T18:20:21.125Z,1613586021.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:20:21.886Z,1613586021.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:22.286Z,1613586022.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:23.112Z,1613586023.112 [Micromodem](INFO): Nmea in: $SNTTA,0.021692,,,,182022.01*44 2021-02-17T18:20:23.177Z,1613586023.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.639999 m, bearing: 132.412834 deg, deltaT: 4.396013 s, approachRate: 0.327569 m/s, LOS rate: 0.425397 deg/s, posRepo size: 4 2021-02-17T18:20:25.531Z,1613586025.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:20:26.329Z,1613586026.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:26.730Z,1613586026.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:27.556Z,1613586027.556 [Micromodem](INFO): Nmea in: $SNTTA,0.025552,,,,182026.45*4B 2021-02-17T18:20:27.594Z,1613586027.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.760002 m, bearing: 50.305815 deg, deltaT: 4.482762 s, approachRate: 0.696000 m/s, LOS rate: -18.316167 deg/s, posRepo size: 4 2021-02-17T18:20:30.026Z,1613586030.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:20:30.773Z,1613586030.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:31.174Z,1613586031.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:32.020Z,1613586032.020 [Micromodem](INFO): Nmea in: $SNTTA,0.024859,,,,182030.90*43 2021-02-17T18:20:32.091Z,1613586032.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.959999 m, bearing: 97.035015 deg, deltaT: 4.421529 s, approachRate: 0.271399 m/s, LOS rate: 10.568561 deg/s, posRepo size: 4 2021-02-17T18:20:34.108Z,1613586034.108 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T18:20:34.122Z,1613586034.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:20:34.808Z,1613586034.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:35.213Z,1613586035.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:36.044Z,1613586036.044 [Micromodem](INFO): Nmea in: $SNTTA,0.026877,,,,182034.93*4A 2021-02-17T18:20:36.102Z,1613586036.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.900002 m, bearing: 82.530070 deg, deltaT: 4.049778 s, approachRate: 0.725966 m/s, LOS rate: -3.581664 deg/s, posRepo size: 4 2021-02-17T18:20:38.466Z,1613586038.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:20:39.279Z,1613586039.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:39.658Z,1613586039.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:40.496Z,1613586040.496 [Micromodem](INFO): Nmea in: $SNTTA,0.028212,,,,182039.40*4E 2021-02-17T18:20:40.518Z,1613586040.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.879997 m, bearing: 82.259561 deg, deltaT: 4.485760 s, approachRate: 0.441396 m/s, LOS rate: -0.060304 deg/s, posRepo size: 4 2021-02-17T18:20:42.909Z,1613586042.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:20:43.696Z,1613586043.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:44.112Z,1613586044.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:44.924Z,1613586044.924 [Micromodem](INFO): Nmea in: $SNTTA,0.030113,,,,182043.82*46 2021-02-17T18:20:44.982Z,1613586044.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.000000 m, bearing: 152.305050 deg, deltaT: 4.400063 s, approachRate: 0.709081 m/s, LOS rate: 15.919202 deg/s, posRepo size: 4 2021-02-17T18:20:47.385Z,1613586047.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:20:48.140Z,1613586048.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:48.563Z,1613586048.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:49.368Z,1613586049.368 [Micromodem](INFO): Nmea in: $SNTTA,0.031825,,,,182048.26*4E 2021-02-17T18:20:49.443Z,1613586049.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.520004 m, bearing: 62.484469 deg, deltaT: 4.527005 s, approachRate: 0.556660 m/s, LOS rate: -19.841061 deg/s, posRepo size: 4 2021-02-17T18:20:51.809Z,1613586051.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:20:52.588Z,1613586052.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:53.017Z,1613586053.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:53.812Z,1613586053.812 [Micromodem](INFO): Nmea in: $SNTTA,0.033865,,,,182052.71*41 2021-02-17T18:20:53.846Z,1613586053.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.459995 m, bearing: 147.693320 deg, deltaT: 4.361696 s, approachRate: 0.674048 m/s, LOS rate: 19.535716 deg/s, posRepo size: 4 2021-02-17T18:20:56.256Z,1613586056.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:20:57.056Z,1613586057.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:20:57.434Z,1613586057.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:20:58.268Z,1613586058.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182057.18*5E 2021-02-17T18:20:58.329Z,1613586058.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.159996 m, bearing: 153.079293 deg, deltaT: 4.421810 s, approachRate: 0.610610 m/s, LOS rate: 1.218047 deg/s, posRepo size: 4 2021-02-17T18:21:00.679Z,1613586060.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:01.480Z,1613586061.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:01.879Z,1613586061.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:21:02.704Z,1613586062.704 [Micromodem](INFO): Nmea in: $SNTTA,0.037729,,,,182101.60*45 2021-02-17T18:21:02.726Z,1613586062.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.400005 m, bearing: 136.852894 deg, deltaT: 4.462257 s, approachRate: 0.726092 m/s, LOS rate: -3.636366 deg/s, posRepo size: 4 2021-02-17T18:21:05.162Z,1613586065.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:05.924Z,1613586065.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:06.322Z,1613586066.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:21:07.148Z,1613586067.148 [Micromodem](INFO): Nmea in: $SNTTA,0.039425,,,,182106.04*41 2021-02-17T18:21:07.202Z,1613586067.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.340008 m, bearing: 139.611102 deg, deltaT: 4.423775 s, approachRate: 0.664591 m/s, LOS rate: 0.623496 deg/s, posRepo size: 4 2021-02-17T18:21:09.177Z,1613586069.177 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T18:21:09.579Z,1613586069.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:10.363Z,1613586070.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:10.765Z,1613586070.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:21:11.592Z,1613586071.592 [Micromodem](INFO): Nmea in: $SNTTA,0.041528,,,,182110.48*4D 2021-02-17T18:21:11.634Z,1613586071.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.520000 m, bearing: 142.178297 deg, deltaT: 4.492606 s, approachRate: 0.707828 m/s, LOS rate: 0.571427 deg/s, posRepo size: 4 2021-02-17T18:21:14.127Z,1613586074.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:14.804Z,1613586074.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:15.218Z,1613586075.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:21:16.055Z,1613586076.055 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182114.92*5A 2021-02-17T18:21:16.117Z,1613586076.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.159996 m, bearing: 97.159393 deg, deltaT: 4.417335 s, approachRate: 0.597644 m/s, LOS rate: -10.191417 deg/s, posRepo size: 4 2021-02-17T18:21:18.461Z,1613586078.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:19.254Z,1613586079.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:19.662Z,1613586079.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:21:20.476Z,1613586080.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182119.38*57 2021-02-17T18:21:20.510Z,1613586080.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.160004 m, bearing: 128.272250 deg, deltaT: 4.466694 s, approachRate: 0.671639 m/s, LOS rate: 6.965523 deg/s, posRepo size: 4 2021-02-17T18:21:22.905Z,1613586082.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:23.692Z,1613586083.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:24.101Z,1613586084.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:21:24.931Z,1613586084.931 [Micromodem](INFO): Nmea in: $SNTTA,0.047318,,,,182123.81*4B 2021-02-17T18:21:24.955Z,1613586084.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.400002 m, bearing: 119.766602 deg, deltaT: 4.419368 s, approachRate: 0.733136 m/s, LOS rate: -1.924630 deg/s, posRepo size: 4 2021-02-17T18:21:27.365Z,1613586087.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:28.141Z,1613586088.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:28.547Z,1613586088.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:21:29.368Z,1613586089.368 [Micromodem](INFO): Nmea in: $SNTTA,0.049288,,,,182128.26*4B 2021-02-17T18:21:29.429Z,1613586089.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.100006 m, bearing: 133.980198 deg, deltaT: 4.546374 s, approachRate: 0.593881 m/s, LOS rate: 3.126359 deg/s, posRepo size: 4 2021-02-17T18:21:31.803Z,1613586091.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:32.580Z,1613586092.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:33.010Z,1613586093.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:21:33.815Z,1613586093.815 [Micromodem](INFO): Nmea in: $SNTTA,0.051183,,,,182132.70*42 2021-02-17T18:21:33.834Z,1613586093.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.099998 m, bearing: 120.047719 deg, deltaT: 4.345789 s, approachRate: 0.690322 m/s, LOS rate: -3.205972 deg/s, posRepo size: 4 2021-02-17T18:21:34.216Z,1613586094.216 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T18:21:36.275Z,1613586096.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:37.029Z,1613586097.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:37.431Z,1613586097.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:21:38.263Z,1613586098.263 [Micromodem](INFO): Nmea in: $SNTTA,0.053172,,,,182137.15*48 2021-02-17T18:21:38.297Z,1613586098.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.979996 m, bearing: 135.639852 deg, deltaT: 4.439457 s, approachRate: 0.648727 m/s, LOS rate: 3.512171 deg/s, posRepo size: 4 2021-02-17T18:21:40.681Z,1613586100.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:41.468Z,1613586101.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:41.881Z,1613586101.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:21:42.696Z,1613586102.696 [Micromodem](INFO): Nmea in: $SNTTA,0.055245,,,,182141.59*40 2021-02-17T18:21:42.711Z,1613586102.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.099998 m, bearing: 124.114209 deg, deltaT: 4.451835 s, approachRate: 0.700835 m/s, LOS rate: -2.588965 deg/s, posRepo size: 4 2021-02-17T18:21:45.158Z,1613586105.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:45.917Z,1613586105.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:46.323Z,1613586106.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:21:47.149Z,1613586107.149 [Micromodem](INFO): Nmea in: $SNTTA,0.057160,,,,182146.04*49 2021-02-17T18:21:47.210Z,1613586107.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.220001 m, bearing: 128.819799 deg, deltaT: 4.416721 s, approachRate: 0.706407 m/s, LOS rate: 1.065404 deg/s, posRepo size: 4 2021-02-17T18:21:49.584Z,1613586109.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:50.361Z,1613586110.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:50.762Z,1613586110.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:21:51.588Z,1613586111.588 [Micromodem](INFO): Nmea in: $SNTTA,0.059246,,,,182150.48*4F 2021-02-17T18:21:51.630Z,1613586111.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.279999 m, bearing: 122.550737 deg, deltaT: 4.486948 s, approachRate: 0.681978 m/s, LOS rate: -1.397177 deg/s, posRepo size: 4 2021-02-17T18:21:54.106Z,1613586114.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:54.801Z,1613586114.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:55.206Z,1613586115.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:21:56.036Z,1613586116.036 [Micromodem](INFO): Nmea in: $SNTTA,0.061441,,,,182154.92*46 2021-02-17T18:21:56.110Z,1613586116.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.400002 m, bearing: 114.479913 deg, deltaT: 4.449168 s, approachRate: 0.701255 m/s, LOS rate: -1.814008 deg/s, posRepo size: 4 2021-02-17T18:21:58.467Z,1613586118.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:21:59.246Z,1613586119.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:21:59.646Z,1613586119.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:22:00.476Z,1613586120.476 [Micromodem](INFO): Nmea in: $SNTTA,0.063364,,,,182159.37*46 2021-02-17T18:22:00.512Z,1613586120.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.279999 m, bearing: 109.686602 deg, deltaT: 4.484256 s, approachRate: 0.642246 m/s, LOS rate: -1.068920 deg/s, posRepo size: 4 2021-02-17T18:22:02.900Z,1613586122.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:03.690Z,1613586123.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:22:04.111Z,1613586124.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:22:04.916Z,1613586124.916 [Micromodem](INFO): Nmea in: $SNTTA,0.065678,,,,182203.81*49 2021-02-17T18:22:04.972Z,1613586124.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.759995 m, bearing: 115.152468 deg, deltaT: 4.351177 s, approachRate: 0.799783 m/s, LOS rate: 1.256181 deg/s, posRepo size: 4 2021-02-17T18:22:05.331Z,1613586125.331 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T18:22:07.362Z,1613586127.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:08.145Z,1613586128.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:22:08.535Z,1613586128.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:22:09.365Z,1613586129.365 [Micromodem](INFO): Nmea in: $SNTTA,0.067649,,,,182208.26*4F 2021-02-17T18:22:09.431Z,1613586129.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.699997 m, bearing: 100.103089 deg, deltaT: 4.456483 s, approachRate: 0.659714 m/s, LOS rate: -3.376963 deg/s, posRepo size: 4 2021-02-17T18:22:11.780Z,1613586131.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:12.578Z,1613586132.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:22:13.008Z,1613586133.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:22:13.804Z,1613586133.804 [Micromodem](INFO): Nmea in: $SNTTA,0.069636,,,,182212.70*41 2021-02-17T18:22:13.841Z,1613586133.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.880005 m, bearing: 107.773739 deg, deltaT: 4.472785 s, approachRate: 0.710968 m/s, LOS rate: 1.714961 deg/s, posRepo size: 4 2021-02-17T18:22:16.252Z,1613586136.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:17.022Z,1613586137.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:22:17.429Z,1613586137.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:22:18.236Z,1613586138.236 [Micromodem](INFO): Nmea in: $SNTTA,0.071835,,,,182217.14*42 2021-02-17T18:22:19.132Z,1613586139.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:20.652Z,1613586140.652 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:22:21.878Z,1613586141.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:22.672Z,1613586142.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:22:23.083Z,1613586143.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:22:23.904Z,1613586143.904 [Micromodem](INFO): Nmea in: $SNTTA,0.074628,,,,182222.79*48 2021-02-17T18:22:23.934Z,1613586143.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.320007 m, bearing: 82.046336 deg, deltaT: 10.073674 s, approachRate: 0.738559 m/s, LOS rate: -2.553924 deg/s, posRepo size: 4 2021-02-17T18:22:26.388Z,1613586146.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:27.116Z,1613586147.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:22:27.522Z,1613586147.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:22:28.344Z,1613586148.344 [Micromodem](INFO): Nmea in: $SNTTA,0.076626,,,,182227.24*49 2021-02-17T18:22:28.402Z,1613586148.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.139999 m, bearing: 109.876597 deg, deltaT: 4.477174 s, approachRate: 0.629860 m/s, LOS rate: 6.216033 deg/s, posRepo size: 4 2021-02-17T18:22:30.781Z,1613586150.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:31.566Z,1613586151.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:22:32.004Z,1613586152.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:22:32.794Z,1613586152.794 [Micromodem](INFO): Nmea in: $SNTTA,0.078596,,,,182231.69*41 2021-02-17T18:22:32.838Z,1613586152.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.139999 m, bearing: 106.457760 deg, deltaT: 4.430206 s, approachRate: 0.677169 m/s, LOS rate: -0.771711 deg/s, posRepo size: 4 2021-02-17T18:22:35.246Z,1613586155.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:36.018Z,1613586156.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:22:36.423Z,1613586156.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:22:37.240Z,1613586157.240 [Micromodem](INFO): Nmea in: $SNTTA,0.080885,,,,182236.14*44 2021-02-17T18:22:37.289Z,1613586157.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.439995 m, bearing: 109.714736 deg, deltaT: 4.410157 s, approachRate: 0.748272 m/s, LOS rate: 0.738517 deg/s, posRepo size: 4 2021-02-17T18:22:39.670Z,1613586159.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:40.448Z,1613586160.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:22:40.859Z,1613586160.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:22:41.665Z,1613586161.665 [Micromodem](INFO): Nmea in: $SNTTA,0.082841,,,,182240.57*48 2021-02-17T18:22:42.492Z,1613586162.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:44.107Z,1613586164.107 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:22:45.066Z,1613586165.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:45.705Z,1613586165.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:22:46.106Z,1613586166.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:22:46.928Z,1613586166.928 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182245.83*5D 2021-02-17T18:22:47.013Z,1613586167.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.160004 m, bearing: 105.085800 deg, deltaT: 9.712482 s, approachRate: 0.691894 m/s, LOS rate: -0.476597 deg/s, posRepo size: 4 2021-02-17T18:22:49.399Z,1613586169.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:50.156Z,1613586170.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:22:50.550Z,1613586170.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:22:51.380Z,1613586171.380 [Micromodem](INFO): Nmea in: $SNTTA,0.087549,,,,182250.28*41 2021-02-17T18:22:51.434Z,1613586171.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.520004 m, bearing: 107.595205 deg, deltaT: 4.475894 s, approachRate: 0.750688 m/s, LOS rate: 0.560649 deg/s, posRepo size: 4 2021-02-17T18:22:53.812Z,1613586173.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:54.590Z,1613586174.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:22:55.019Z,1613586175.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:22:55.816Z,1613586175.816 [Micromodem](INFO): Nmea in: $SNTTA,0.089251,,,,182254.71*49 2021-02-17T18:22:55.866Z,1613586175.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.160004 m, bearing: 82.704397 deg, deltaT: 4.425195 s, approachRate: 0.596584 m/s, LOS rate: -5.624794 deg/s, posRepo size: 4 2021-02-17T18:22:58.268Z,1613586178.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:22:59.044Z,1613586179.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:22:59.438Z,1613586179.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:00.268Z,1613586180.268 [Micromodem](INFO): Nmea in: $SNTTA,0.091466,,,,182259.16*4E 2021-02-17T18:23:00.317Z,1613586180.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.339996 m, bearing: 111.337240 deg, deltaT: 4.444020 s, approachRate: 0.715567 m/s, LOS rate: 6.443005 deg/s, posRepo size: 4 2021-02-17T18:23:02.703Z,1613586182.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:03.476Z,1613586183.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:23:03.890Z,1613586183.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:04.704Z,1613586184.704 [Micromodem](INFO): Nmea in: $SNTTA,0.093435,,,,182303.60*45 2021-02-17T18:23:04.746Z,1613586184.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.400009 m, bearing: 116.727004 deg, deltaT: 4.459362 s, approachRate: 0.686200 m/s, LOS rate: 1.208640 deg/s, posRepo size: 4 2021-02-17T18:23:07.158Z,1613586187.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:07.920Z,1613586187.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:23:08.333Z,1613586188.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:09.173Z,1613586189.173 [Micromodem](INFO): Nmea in: $SNTTA,0.095457,,,,182308.04*4E 2021-02-17T18:23:09.219Z,1613586189.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.400009 m, bearing: 102.487555 deg, deltaT: 4.411820 s, approachRate: 0.679991 m/s, LOS rate: -3.227568 deg/s, posRepo size: 4 2021-02-17T18:23:11.574Z,1613586191.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:12.364Z,1613586192.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:23:12.771Z,1613586192.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:13.592Z,1613586193.592 [Micromodem](INFO): Nmea in: $SNTTA,0.097560,,,,182312.48*4A 2021-02-17T18:23:13.635Z,1613586193.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.580002 m, bearing: 105.397441 deg, deltaT: 4.471680 s, approachRate: 0.711140 m/s, LOS rate: 0.650737 deg/s, posRepo size: 4 2021-02-17T18:23:16.082Z,1613586196.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:16.808Z,1613586196.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:23:17.220Z,1613586197.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:18.056Z,1613586198.056 [Micromodem](INFO): Nmea in: $SNTTA,0.099767,,,,182316.93*43 2021-02-17T18:23:18.111Z,1613586198.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.699997 m, bearing: 98.505220 deg, deltaT: 4.423130 s, approachRate: 0.705382 m/s, LOS rate: -1.558223 deg/s, posRepo size: 4 2021-02-17T18:23:20.461Z,1613586200.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:21.252Z,1613586201.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:23:21.663Z,1613586201.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:22.495Z,1613586202.495 [Micromodem](INFO): Nmea in: $SNTTA,0.101735,,,,182321.37*4E 2021-02-17T18:23:22.519Z,1613586202.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.759995 m, bearing: 103.607146 deg, deltaT: 4.463943 s, approachRate: 0.685492 m/s, LOS rate: 1.142919 deg/s, posRepo size: 4 2021-02-17T18:23:22.520Z,1613586202.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.76 m. Resuming terminal guidance. 2021-02-17T18:23:22.520Z,1613586202.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T18:23:24.913Z,1613586204.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:25.705Z,1613586205.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:23:26.102Z,1613586206.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:26.928Z,1613586206.928 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182325.83*5A 2021-02-17T18:23:26.954Z,1613586206.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.999985 m, bearing: 105.906331 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T18:23:26.955Z,1613586206.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 105.906331deg and heading rate command to 0 deg/s. 2021-02-17T18:23:29.399Z,1613586209.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:30.145Z,1613586210.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:23:30.547Z,1613586210.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:31.360Z,1613586211.360 [Micromodem](INFO): Nmea in: $SNTTA,0.105883,,,,182330.27*49 2021-02-17T18:23:32.196Z,1613586212.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:33.776Z,1613586213.776 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:23:35.090Z,1613586215.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:35.802Z,1613586215.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:23:36.201Z,1613586216.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:37.040Z,1613586217.040 [Micromodem](INFO): Nmea in: $SNTTA,0.108704,,,,182335.92*4F 2021-02-17T18:23:37.105Z,1613586217.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 105.062967 deg, deltaT: 10.100347 s, approachRate: 0.683146 m/s, LOS rate: -0.083499 deg/s, posRepo size: 2 2021-02-17T18:23:37.107Z,1613586217.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.899994 m, bearing: 105.062967 deg, approachRate: 0.683146 m/s, LOS rate: -0.083499 deg/s, cmd update: -0.333994 deg/s, cmd heading: 105.906331 deg, new cmd heading: 105.906331 deg. 2021-02-17T18:23:39.486Z,1613586219.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:40.245Z,1613586220.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:23:40.646Z,1613586220.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:41.488Z,1613586221.488 [Micromodem](INFO): Nmea in: $SNTTA,0.110738,,,,182340.37*44 2021-02-17T18:23:41.516Z,1613586221.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.840012 m, bearing: 72.189376 deg, deltaT: 4.498128 s, approachRate: 0.653609 m/s, LOS rate: -7.308283 deg/s, posRepo size: 3 2021-02-17T18:23:41.519Z,1613586221.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.840012 m, bearing: 72.189376 deg, approachRate: 0.653609 m/s, LOS rate: -7.308283 deg/s, cmd update: -12.000000 deg/s, cmd heading: 104.403649 deg, new cmd heading: 104.273976 deg. 2021-02-17T18:23:43.895Z,1613586223.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:44.684Z,1613586224.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:23:45.095Z,1613586225.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:45.912Z,1613586225.912 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182344.80*5E 2021-02-17T18:23:45.951Z,1613586225.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.679993 m, bearing: 104.575899 deg, deltaT: 4.407596 s, approachRate: 0.871219 m/s, LOS rate: 7.347888 deg/s, posRepo size: 4 2021-02-17T18:23:45.953Z,1613586225.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.679993 m, bearing: 104.575899 deg, approachRate: 0.871219 m/s, LOS rate: 7.347888 deg/s, cmd update: 12.000000 deg/s, cmd heading: 51.512508 deg, new cmd heading: 46.528416 deg. 2021-02-17T18:23:48.362Z,1613586228.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:49.148Z,1613586229.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:23:49.535Z,1613586229.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:50.356Z,1613586230.356 [Micromodem](INFO): Nmea in: $SNTTA,0.114617,,,,182349.27*44 2021-02-17T18:23:50.774Z,1613586230.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.020004 m, bearing: 78.159310 deg, deltaT: 4.891180 s, approachRate: 0.478415 m/s, LOS rate: -5.400862 deg/s, posRepo size: 4 2021-02-17T18:23:50.776Z,1613586230.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.020004 m, bearing: 78.159310 deg, approachRate: 0.478415 m/s, LOS rate: -5.400862 deg/s, cmd update: -12.000000 deg/s, cmd heading: 110.110297 deg, new cmd heading: 114.400789 deg. 2021-02-17T18:23:53.234Z,1613586233.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:54.006Z,1613586234.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:23:54.383Z,1613586234.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:55.208Z,1613586235.208 [Micromodem](INFO): Nmea in: $SNTTA,0.116586,,,,182354.13*46 2021-02-17T18:23:55.622Z,1613586235.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.080002 m, bearing: 47.893782 deg, deltaT: 4.840801 s, approachRate: 0.632126 m/s, LOS rate: -6.252173 deg/s, posRepo size: 4 2021-02-17T18:23:55.624Z,1613586235.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.080002 m, bearing: 47.893782 deg, approachRate: 0.632126 m/s, LOS rate: -6.252173 deg/s, cmd update: -12.000000 deg/s, cmd heading: 51.926748 deg, new cmd heading: 47.643444 deg. 2021-02-17T18:23:58.096Z,1613586238.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:23:58.830Z,1613586238.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:23:59.230Z,1613586239.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:23:59.250Z,1613586239.250 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T18:24:00.077Z,1613586240.077 [Micromodem](INFO): Nmea in: $SNTTA,0.118766,,,,182358.95*46 2021-02-17T18:24:00.112Z,1613586240.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.080002 m, bearing: 84.511003 deg, deltaT: 4.411417 s, approachRate: 0.000000 m/s, LOS rate: 8.300557 deg/s, posRepo size: 4 2021-02-17T18:24:00.113Z,1613586240.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.080002 m, bearing: 84.511003 deg, approachRate: 0.000000 m/s, LOS rate: 8.300557 deg/s, cmd update: 12.000000 deg/s, cmd heading: 359.098798 deg, new cmd heading: 353.773113 deg. 2021-02-17T18:24:02.495Z,1613586242.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:24:03.268Z,1613586243.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:24:03.677Z,1613586243.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:24:04.516Z,1613586244.516 [Micromodem](INFO): Nmea in: $SNTTA,0.120610,,,,182403.39*42 2021-02-17T18:24:04.538Z,1613586244.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.080002 m, bearing: 97.052391 deg, deltaT: 4.491559 s, approachRate: 0.000000 m/s, LOS rate: 2.792213 deg/s, posRepo size: 4 2021-02-17T18:24:04.540Z,1613586244.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.080002 m, bearing: 97.052391 deg, approachRate: 0.000000 m/s, LOS rate: 2.792213 deg/s, cmd update: 11.168851 deg/s, cmd heading: 52.677131 deg, new cmd heading: 57.544955 deg. 2021-02-17T18:24:07.030Z,1613586247.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:24:07.760Z,1613586247.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:24:08.166Z,1613586248.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:24:09.020Z,1613586249.020 [Micromodem](INFO): Nmea in: $SNTTA,0.122475,,,,182407.88*4F 2021-02-17T18:24:09.439Z,1613586249.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.839996 m, bearing: 15.815713 deg, deltaT: 4.925154 s, approachRate: 1.778623 m/s, LOS rate: -16.494241 deg/s, posRepo size: 4 2021-02-17T18:24:09.440Z,1613586249.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.494241 deg/s. Setting heading cmd to target bearing of 15.815713deg and heading rate command to 0 deg/s. 2021-02-17T18:24:11.820Z,1613586251.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:24:12.613Z,1613586252.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:24:13.026Z,1613586253.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:24:13.836Z,1613586253.836 [Micromodem](INFO): Nmea in: $SNTTA,0.124498,,0.125673,,182412.73*50 2021-02-17T18:24:14.276Z,1613586254.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.840012 m, bearing: 14.961808 deg, deltaT: 4.759733 s, approachRate: 0.630291 m/s, LOS rate: -0.179402 deg/s, posRepo size: 4 2021-02-17T18:24:14.278Z,1613586254.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.840012 m, bearing: 14.961808 deg, approachRate: 0.630291 m/s, LOS rate: -0.179402 deg/s, cmd update: -0.717608 deg/s, cmd heading: 15.815713 deg, new cmd heading: 15.815713 deg. 2021-02-17T18:24:16.683Z,1613586256.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:24:17.461Z,1613586257.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:24:17.870Z,1613586257.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:24:18.680Z,1613586258.680 [Micromodem](INFO): Nmea in: $SNTTA,0.126511,,,0.129042,182417.58*56 2021-02-17T18:24:19.141Z,1613586259.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.899994 m, bearing: 66.611973 deg, deltaT: 4.868885 s, approachRate: 0.628477 m/s, LOS rate: 10.608212 deg/s, posRepo size: 4 2021-02-17T18:24:19.144Z,1613586259.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.899994 m, bearing: 66.611973 deg, approachRate: 0.628477 m/s, LOS rate: 10.608212 deg/s, cmd update: 12.000000 deg/s, cmd heading: 12.324675 deg, new cmd heading: 12.020893 deg. 2021-02-17T18:24:21.527Z,1613586261.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:24:22.304Z,1613586262.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:24:22.711Z,1613586262.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:24:23.522Z,1613586263.522 [Micromodem](INFO): Nmea in: $SNTTA,0.128317,,,,182422.43*46 2021-02-17T18:24:24.006Z,1613586264.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.599991 m, bearing: 56.048775 deg, deltaT: 4.838816 s, approachRate: 0.557987 m/s, LOS rate: -2.183013 deg/s, posRepo size: 4 2021-02-17T18:24:24.022Z,1613586264.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.599991 m, bearing: 56.048775 deg, approachRate: 0.557987 m/s, LOS rate: -2.183013 deg/s, cmd update: -8.732052 deg/s, cmd heading: 70.148777 deg, new cmd heading: 75.778025 deg. 2021-02-17T18:24:26.402Z,1613586266.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:24:27.163Z,1613586267.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:24:27.558Z,1613586267.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:24:28.378Z,1613586268.378 [Micromodem](INFO): Nmea in: $SNTTA,0.129690,,,,182427.29*44 2021-02-17T18:24:28.794Z,1613586268.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.760010 m, bearing: 64.734006 deg, deltaT: 4.874384 s, approachRate: 0.443137 m/s, LOS rate: 1.781811 deg/s, posRepo size: 4 2021-02-17T18:24:28.796Z,1613586268.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.760010 m, bearing: 64.734006 deg, approachRate: 0.443137 m/s, LOS rate: 1.781811 deg/s, cmd update: 7.127244 deg/s, cmd heading: 27.409522 deg, new cmd heading: 24.245672 deg. 2021-02-17T18:24:31.260Z,1613586271.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:24:32.017Z,1613586272.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:24:32.413Z,1613586272.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:24:33.228Z,1613586273.228 [Micromodem](INFO): Nmea in: $SNTTA,0.131564,,,,182432.14*4F 2021-02-17T18:24:33.662Z,1613586273.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.519989 m, bearing: 8.003652 deg, deltaT: 4.846719 s, approachRate: 0.569453 m/s, LOS rate: -11.704899 deg/s, posRepo size: 4 2021-02-17T18:24:33.663Z,1613586273.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.704899 deg/s. Setting heading cmd to target bearing of 8.003652deg and heading rate command to 0 deg/s. 2021-02-17T18:24:36.113Z,1613586276.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:24:36.848Z,1613586276.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:24:37.259Z,1613586277.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:24:38.082Z,1613586278.082 [Micromodem](INFO): Nmea in: $SNTTA,0.133222,,,,182436.97*47 2021-02-17T18:24:38.505Z,1613586278.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.039993 m, bearing: 53.258359 deg, deltaT: 4.861332 s, approachRate: 0.518377 m/s, LOS rate: 9.309117 deg/s, posRepo size: 4 2021-02-17T18:24:38.507Z,1613586278.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.039993 m, bearing: 53.258359 deg, approachRate: 0.518377 m/s, LOS rate: 9.309117 deg/s, cmd update: 12.000000 deg/s, cmd heading: 8.003652 deg, new cmd heading: 8.003652 deg. 2021-02-17T18:24:40.936Z,1613586280.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:24:41.724Z,1613586281.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:24:42.130Z,1613586282.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:24:42.942Z,1613586282.942 [Micromodem](INFO): Nmea in: $SNTTA,0.134847,,,,182441.84*4B 2021-02-17T18:24:43.416Z,1613586283.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.439987 m, bearing: 35.703537 deg, deltaT: 4.878876 s, approachRate: 0.491915 m/s, LOS rate: -3.598128 deg/s, posRepo size: 4 2021-02-17T18:24:43.418Z,1613586283.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.439987 m, bearing: 35.703537 deg, approachRate: 0.491915 m/s, LOS rate: -3.598128 deg/s, cmd update: -12.000000 deg/s, cmd heading: 66.381806 deg, new cmd heading: 71.331326 deg. 2021-02-17T18:24:45.789Z,1613586285.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:24:46.572Z,1613586286.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:24:47.017Z,1613586287.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:24:47.793Z,1613586287.793 [Micromodem](INFO): Nmea in: $SNTTA,0.136259,,,,182446.69*48 2021-02-17T18:24:48.241Z,1613586288.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.659988 m, bearing: 50.424828 deg, deltaT: 4.785152 s, approachRate: 0.463935 m/s, LOS rate: 3.076452 deg/s, posRepo size: 4 2021-02-17T18:24:48.243Z,1613586288.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.659988 m, bearing: 50.424828 deg, approachRate: 0.463935 m/s, LOS rate: 3.076452 deg/s, cmd update: 12.000000 deg/s, cmd heading: 8.741005 deg, new cmd heading: 3.539640 deg. 2021-02-17T18:24:50.629Z,1613586290.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:24:51.422Z,1613586291.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:24:51.827Z,1613586291.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:24:52.639Z,1613586292.639 [Micromodem](INFO): Nmea in: $SNTTA,0.137594,,,,182451.54*47 2021-02-17T18:24:53.108Z,1613586293.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.639999 m, bearing: 50.389878 deg, deltaT: 4.877732 s, approachRate: 0.405929 m/s, LOS rate: -0.007165 deg/s, posRepo size: 4 2021-02-17T18:24:53.110Z,1613586293.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 206.639999 m, bearing: 50.389878 deg, approachRate: 0.405929 m/s, LOS rate: -0.007165 deg/s, cmd update: -0.028661 deg/s, cmd heading: 67.223270 deg, new cmd heading: 72.348470 deg. 2021-02-17T18:24:55.480Z,1613586295.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:24:56.270Z,1613586296.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:24:56.676Z,1613586296.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:24:57.488Z,1613586297.488 [Micromodem](INFO): Nmea in: $SNTTA,0.138941,,,,182456.39*40 2021-02-17T18:24:57.926Z,1613586297.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.619980 m, bearing: 54.480857 deg, deltaT: 4.816891 s, approachRate: 0.411049 m/s, LOS rate: 0.849299 deg/s, posRepo size: 4 2021-02-17T18:24:57.928Z,1613586297.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.619980 m, bearing: 54.480857 deg, approachRate: 0.411049 m/s, LOS rate: 0.849299 deg/s, cmd update: 3.397195 deg/s, cmd heading: 67.085094 deg, new cmd heading: 67.072937 deg. 2021-02-17T18:25:00.351Z,1613586300.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:01.116Z,1613586301.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:25:01.522Z,1613586301.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:25:02.335Z,1613586302.335 [Micromodem](INFO): Nmea in: $SNTTA,0.140453,,,,182501.24*4E 2021-02-17T18:25:02.762Z,1613586302.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.839996 m, bearing: 2.960521 deg, deltaT: 4.886486 s, approachRate: 0.454318 m/s, LOS rate: -10.543433 deg/s, posRepo size: 4 2021-02-17T18:25:02.764Z,1613586302.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.839996 m, bearing: 2.960521 deg, approachRate: 0.454318 m/s, LOS rate: -10.543433 deg/s, cmd update: -12.000000 deg/s, cmd heading: 83.617563 deg, new cmd heading: 84.955419 deg. 2021-02-17T18:25:05.236Z,1613586305.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:05.985Z,1613586305.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:25:06.375Z,1613586306.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:25:07.194Z,1613586307.194 [Micromodem](INFO): Nmea in: $SNTTA,0.142322,,,,182506.11*4C 2021-02-17T18:25:07.610Z,1613586307.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.720001 m, bearing: 42.062135 deg, deltaT: 4.864391 s, approachRate: 0.592059 m/s, LOS rate: 8.038337 deg/s, posRepo size: 4 2021-02-17T18:25:07.612Z,1613586307.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.720001 m, bearing: 42.062135 deg, approachRate: 0.592059 m/s, LOS rate: 8.038337 deg/s, cmd update: 12.000000 deg/s, cmd heading: 25.004917 deg, new cmd heading: 20.718457 deg. 2021-02-17T18:25:10.088Z,1613586310.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:10.812Z,1613586310.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:25:11.223Z,1613586311.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:25:12.032Z,1613586312.032 [Micromodem](INFO): Nmea in: $SNTTA,0.144188,,,,182510.93*45 2021-02-17T18:25:12.860Z,1613586312.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:14.446Z,1613586314.446 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:25:15.689Z,1613586315.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:16.468Z,1613586316.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:25:16.895Z,1613586316.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:25:17.686Z,1613586317.686 [Micromodem](INFO): Nmea in: $SNTTA,0.146253,,,,182516.59*42 2021-02-17T18:25:18.161Z,1613586318.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.599991 m, bearing: 54.958014 deg, deltaT: 10.452516 s, approachRate: 0.562543 m/s, LOS rate: 1.233758 deg/s, posRepo size: 4 2021-02-17T18:25:18.162Z,1613586318.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 219.599991 m, bearing: 54.958014 deg, approachRate: 0.562543 m/s, LOS rate: 1.233758 deg/s, cmd update: 4.935033 deg/s, cmd heading: 150.432856 deg, new cmd heading: 155.896900 deg. 2021-02-17T18:25:20.535Z,1613586320.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:21.322Z,1613586321.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:25:21.722Z,1613586321.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:25:22.536Z,1613586322.536 [Micromodem](INFO): Nmea in: $SNTTA,0.148154,,,,182521.44*40 2021-02-17T18:25:23.382Z,1613586323.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:24.954Z,1613586324.954 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:25:26.206Z,1613586326.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:27.014Z,1613586327.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:25:27.379Z,1613586327.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:25:28.216Z,1613586328.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182527.13*57 2021-02-17T18:25:28.632Z,1613586328.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.699982 m, bearing: 98.333366 deg, deltaT: 10.564041 s, approachRate: 0.766751 m/s, LOS rate: 4.105943 deg/s, posRepo size: 4 2021-02-17T18:25:28.634Z,1613586328.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 227.699982 m, bearing: 98.333366 deg, approachRate: 0.766751 m/s, LOS rate: 4.105943 deg/s, cmd update: 12.000000 deg/s, cmd heading: 202.567593 deg, new cmd heading: 204.354849 deg. 2021-02-17T18:25:31.100Z,1613586331.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:31.820Z,1613586331.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:25:32.231Z,1613586332.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:25:33.103Z,1613586333.103 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182531.94*5F 2021-02-17T18:25:33.466Z,1613586333.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.779999 m, bearing: 150.682811 deg, deltaT: 4.907942 s, approachRate: 0.220055 m/s, LOS rate: 10.666272 deg/s, posRepo size: 4 2021-02-17T18:25:33.484Z,1613586333.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 228.779999 m, bearing: 150.682811 deg, approachRate: 0.220055 m/s, LOS rate: 10.666272 deg/s, cmd update: 12.000000 deg/s, cmd heading: 261.207489 deg, new cmd heading: 264.928629 deg. 2021-02-17T18:25:35.875Z,1613586335.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:36.674Z,1613586336.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:25:37.088Z,1613586337.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:25:37.889Z,1613586337.889 [Micromodem](INFO): Nmea in: $SNTTA,0.154162,,,,182536.79*40 2021-02-17T18:25:38.349Z,1613586338.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.779984 m, bearing: 141.510127 deg, deltaT: 4.726203 s, approachRate: 0.634756 m/s, LOS rate: -1.940815 deg/s, posRepo size: 4 2021-02-17T18:25:38.355Z,1613586338.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 231.779984 m, bearing: 141.510127 deg, approachRate: 0.634756 m/s, LOS rate: -1.940815 deg/s, cmd update: -7.763259 deg/s, cmd heading: 318.177599 deg, new cmd heading: 323.522867 deg. 2021-02-17T18:25:40.732Z,1613586340.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:41.521Z,1613586341.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:25:41.923Z,1613586341.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:25:42.753Z,1613586342.753 [Micromodem](INFO): Nmea in: $SNTTA,0.155689,,,,182541.64*4F 2021-02-17T18:25:43.206Z,1613586343.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.220001 m, bearing: 128.796782 deg, deltaT: 4.863758 s, approachRate: 0.296071 m/s, LOS rate: -2.613894 deg/s, posRepo size: 4 2021-02-17T18:25:43.212Z,1613586343.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 233.220001 m, bearing: 128.796782 deg, approachRate: 0.296071 m/s, LOS rate: -2.613894 deg/s, cmd update: -10.455574 deg/s, cmd heading: 280.419305 deg, new cmd heading: 277.016358 deg. 2021-02-17T18:25:45.581Z,1613586345.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:46.364Z,1613586346.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:25:46.769Z,1613586346.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:25:47.588Z,1613586347.588 [Micromodem](INFO): Nmea in: $SNTTA,0.156888,,,,182546.48*4A 2021-02-17T18:25:48.089Z,1613586348.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.319992 m, bearing: 143.406406 deg, deltaT: 4.863890 s, approachRate: 0.431751 m/s, LOS rate: 3.003691 deg/s, posRepo size: 4 2021-02-17T18:25:48.091Z,1613586348.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 235.319992 m, bearing: 143.406406 deg, approachRate: 0.431751 m/s, LOS rate: 3.003691 deg/s, cmd update: 12.000000 deg/s, cmd heading: 229.809903 deg, new cmd heading: 224.774415 deg. 2021-02-17T18:25:50.283Z,1613586350.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:50.810Z,1613586350.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:25:51.218Z,1613586351.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:25:52.063Z,1613586352.063 [Micromodem](INFO): Nmea in: $SNTTA,0.158548,,,,182550.93*44 2021-02-17T18:25:52.480Z,1613586352.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.119995 m, bearing: 145.234957 deg, deltaT: 4.486040 s, approachRate: 0.401245 m/s, LOS rate: 0.407609 deg/s, posRepo size: 4 2021-02-17T18:25:52.481Z,1613586352.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 237.119995 m, bearing: 145.234957 deg, approachRate: 0.401245 m/s, LOS rate: 0.407609 deg/s, cmd update: 1.630437 deg/s, cmd heading: 283.920364 deg, new cmd heading: 288.268516 deg. 2021-02-17T18:25:54.880Z,1613586354.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:25:55.653Z,1613586355.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:25:56.087Z,1613586356.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:25:56.871Z,1613586356.871 [Micromodem](INFO): Nmea in: $SNTTA,0.158753,,,,182555.77*43 2021-02-17T18:25:57.341Z,1613586357.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.139999 m, bearing: 222.101564 deg, deltaT: 4.791911 s, approachRate: 0.212860 m/s, LOS rate: 16.040909 deg/s, posRepo size: 4 2021-02-17T18:25:57.341Z,1613586357.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.040909 deg/s. Setting heading cmd to target bearing of 222.101564deg and heading rate command to 0 deg/s. 2021-02-17T18:25:59.708Z,1613586359.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:00.500Z,1613586360.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:26:00.907Z,1613586360.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:26:01.718Z,1613586361.718 [Micromodem](INFO): Nmea in: $SNTTA,0.159213,,,,182600.62*44 2021-02-17T18:26:02.181Z,1613586362.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.859985 m, bearing: 145.574854 deg, deltaT: 4.847075 s, approachRate: 0.148540 m/s, LOS rate: -15.788225 deg/s, posRepo size: 4 2021-02-17T18:26:02.182Z,1613586362.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.788225 deg/s. Setting heading cmd to target bearing of 145.574854deg and heading rate command to 0 deg/s. 2021-02-17T18:26:04.590Z,1613586364.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:05.348Z,1613586365.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:26:05.759Z,1613586365.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:26:06.571Z,1613586366.571 [Micromodem](INFO): Nmea in: $SNTTA,0.158651,,,,182605.47*45 2021-02-17T18:26:07.078Z,1613586367.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.019989 m, bearing: 254.809004 deg, deltaT: 4.857039 s, approachRate: -0.172944 m/s, LOS rate: 22.489865 deg/s, posRepo size: 4 2021-02-17T18:26:07.085Z,1613586367.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.489865 deg/s. Setting heading cmd to target bearing of 254.809004deg and heading rate command to 0 deg/s. 2021-02-17T18:26:09.436Z,1613586369.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:10.201Z,1613586370.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:26:10.601Z,1613586370.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:26:11.417Z,1613586371.417 [Micromodem](INFO): Nmea in: $SNTTA,0.157864,,,,182610.32*44 2021-02-17T18:26:11.846Z,1613586371.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.639984 m, bearing: 244.601942 deg, deltaT: 4.851656 s, approachRate: -0.284440 m/s, LOS rate: -2.103831 deg/s, posRepo size: 4 2021-02-17T18:26:11.848Z,1613586371.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 236.639984 m, bearing: 244.601942 deg, approachRate: -0.284440 m/s, LOS rate: -2.103831 deg/s, cmd update: -8.415322 deg/s, cmd heading: 254.809004 deg, new cmd heading: 254.809004 deg. 2021-02-17T18:26:14.314Z,1613586374.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:15.078Z,1613586375.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:26:15.451Z,1613586375.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:26:16.285Z,1613586376.285 [Micromodem](INFO): Nmea in: $SNTTA,0.157261,,,,182615.20*4D 2021-02-17T18:26:16.705Z,1613586376.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.859985 m, bearing: 160.500143 deg, deltaT: 4.877322 s, approachRate: -0.159924 m/s, LOS rate: -17.243438 deg/s, posRepo size: 4 2021-02-17T18:26:16.706Z,1613586376.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.243438 deg/s. Setting heading cmd to target bearing of 160.500143deg and heading rate command to 0 deg/s. 2021-02-17T18:26:19.126Z,1613586379.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:19.892Z,1613586379.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:26:20.303Z,1613586380.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:26:21.111Z,1613586381.111 [Micromodem](INFO): Nmea in: $SNTTA,0.156565,,,,182620.01*4A 2021-02-17T18:26:21.954Z,1613586381.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:23.526Z,1613586383.526 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:26:24.775Z,1613586384.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:25.548Z,1613586385.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:26:25.957Z,1613586385.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:26:26.776Z,1613586386.776 [Micromodem](INFO): Nmea in: $SNTTA,0.155418,,,,182625.67*47 2021-02-17T18:26:27.605Z,1613586387.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:29.188Z,1613586389.188 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:26:30.428Z,1613586390.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:31.204Z,1613586391.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:26:31.610Z,1613586391.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:26:32.423Z,1613586392.423 [Micromodem](INFO): Nmea in: $SNTTA,0.154928,,,,182631.32*4D 2021-02-17T18:26:32.862Z,1613586392.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.439987 m, bearing: 233.390405 deg, deltaT: 16.105969 s, approachRate: -0.212344 m/s, LOS rate: 4.525668 deg/s, posRepo size: 4 2021-02-17T18:26:32.864Z,1613586392.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 232.439987 m, bearing: 233.390405 deg, approachRate: -0.212344 m/s, LOS rate: 4.525668 deg/s, cmd update: 12.000000 deg/s, cmd heading: 160.500143 deg, new cmd heading: 160.500143 deg. 2021-02-17T18:26:35.312Z,1613586395.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:36.080Z,1613586396.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:26:36.458Z,1613586396.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:26:37.287Z,1613586397.287 [Micromodem](INFO): Nmea in: $SNTTA,0.155388,,,,182636.20*48 2021-02-17T18:26:37.710Z,1613586397.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.039993 m, bearing: 205.123503 deg, deltaT: 4.900790 s, approachRate: 0.122430 m/s, LOS rate: -5.767825 deg/s, posRepo size: 4 2021-02-17T18:26:37.713Z,1613586397.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 233.039993 m, bearing: 205.123503 deg, approachRate: 0.122430 m/s, LOS rate: -5.767825 deg/s, cmd update: -12.000000 deg/s, cmd heading: 219.266460 deg, new cmd heading: 223.651956 deg. 2021-02-17T18:26:40.185Z,1613586400.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:40.930Z,1613586400.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:26:41.323Z,1613586401.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:26:42.137Z,1613586402.137 [Micromodem](INFO): Nmea in: $SNTTA,0.156429,,,,182641.05*40 2021-02-17T18:26:42.562Z,1613586402.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.720001 m, bearing: 226.146020 deg, deltaT: 4.849838 s, approachRate: 0.346405 m/s, LOS rate: 4.334684 deg/s, posRepo size: 4 2021-02-17T18:26:42.564Z,1613586402.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 234.720001 m, bearing: 226.146020 deg, approachRate: 0.346405 m/s, LOS rate: 4.334684 deg/s, cmd update: 12.000000 deg/s, cmd heading: 161.068307 deg, new cmd heading: 156.662506 deg. 2021-02-17T18:26:44.993Z,1613586404.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:45.749Z,1613586405.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:26:46.155Z,1613586406.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:26:46.994Z,1613586406.994 [Micromodem](INFO): Nmea in: $SNTTA,0.156140,,,,182645.87*44 2021-02-17T18:26:47.406Z,1613586407.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.179977 m, bearing: 144.011219 deg, deltaT: 4.887619 s, approachRate: -0.110488 m/s, LOS rate: -16.804664 deg/s, posRepo size: 4 2021-02-17T18:26:47.407Z,1613586407.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.804664 deg/s. Setting heading cmd to target bearing of 144.011219deg and heading rate command to 0 deg/s. 2021-02-17T18:26:49.812Z,1613586409.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:50.597Z,1613586410.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:26:51.021Z,1613586411.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:26:51.819Z,1613586411.819 [Micromodem](INFO): Nmea in: $SNTTA,0.156278,,,,182650.72*42 2021-02-17T18:26:52.285Z,1613586412.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.419998 m, bearing: 148.697439 deg, deltaT: 4.747487 s, approachRate: 0.050557 m/s, LOS rate: 0.987095 deg/s, posRepo size: 4 2021-02-17T18:26:52.287Z,1613586412.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 234.419998 m, bearing: 148.697439 deg, approachRate: 0.050557 m/s, LOS rate: 0.987095 deg/s, cmd update: 3.948380 deg/s, cmd heading: 144.011219 deg, new cmd heading: 144.011219 deg. 2021-02-17T18:26:54.372Z,1613586414.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:26:55.081Z,1613586415.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:26:55.446Z,1613586415.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:26:56.274Z,1613586416.274 [Micromodem](INFO): Nmea in: $SNTTA,0.156208,,,,182655.20*47 2021-02-17T18:26:56.697Z,1613586416.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.299988 m, bearing: 244.218987 deg, deltaT: 4.500173 s, approachRate: -0.026668 m/s, LOS rate: 21.226194 deg/s, posRepo size: 4 2021-02-17T18:26:56.698Z,1613586416.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.226194 deg/s. Setting heading cmd to target bearing of 244.218987deg and heading rate command to 0 deg/s. 2021-02-17T18:26:59.128Z,1613586419.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:27:00.034Z,1613586420.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:27:00.311Z,1613586420.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:27:01.524Z,1613586421.524 [Micromodem](INFO): Nmea in: $SNTTA,0.156716,,,,182700.17*48 2021-02-17T18:27:01.566Z,1613586421.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.080002 m, bearing: 208.184644 deg, deltaT: 4.824726 s, approachRate: 0.161670 m/s, LOS rate: -7.468682 deg/s, posRepo size: 4 2021-02-17T18:27:01.568Z,1613586421.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 235.080002 m, bearing: 208.184644 deg, approachRate: 0.161670 m/s, LOS rate: -7.468682 deg/s, cmd update: -12.000000 deg/s, cmd heading: 244.218987 deg, new cmd heading: 244.218987 deg. 2021-02-17T18:27:03.944Z,1613586423.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:27:04.737Z,1613586424.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:27:05.142Z,1613586425.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:27:06.093Z,1613586426.093 [Micromodem](INFO): Nmea in: $SNTTA,0.157778,,,,182704.86*4D 2021-02-17T18:27:06.406Z,1613586426.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.699982 m, bearing: 233.119329 deg, deltaT: 5.005620 s, approachRate: 0.323632 m/s, LOS rate: 4.981338 deg/s, posRepo size: 4 2021-02-17T18:27:06.412Z,1613586426.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 236.699982 m, bearing: 233.119329 deg, approachRate: 0.323632 m/s, LOS rate: 4.981338 deg/s, cmd update: 12.000000 deg/s, cmd heading: 184.294862 deg, new cmd heading: 181.259570 deg. 2021-02-17T18:27:08.824Z,1613586428.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:27:09.586Z,1613586429.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:27:10.018Z,1613586430.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:27:10.804Z,1613586430.804 [Micromodem](INFO): Nmea in: $SNTTA,0.157451,,,,182709.71*40 2021-02-17T18:27:11.253Z,1613586431.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.159988 m, bearing: 168.684758 deg, deltaT: 4.685870 s, approachRate: -0.115239 m/s, LOS rate: -13.750824 deg/s, posRepo size: 4 2021-02-17T18:27:11.254Z,1613586431.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.750824 deg/s. Setting heading cmd to target bearing of 168.684758deg and heading rate command to 0 deg/s. 2021-02-17T18:27:13.648Z,1613586433.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:27:14.439Z,1613586434.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:27:14.845Z,1613586434.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:27:15.654Z,1613586435.654 [Micromodem](INFO): Nmea in: $SNTTA,0.157104,,,,182714.56*4C 2021-02-17T18:27:16.128Z,1613586436.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.559998 m, bearing: 258.397285 deg, deltaT: 4.839025 s, approachRate: -0.123990 m/s, LOS rate: 18.539381 deg/s, posRepo size: 4 2021-02-17T18:27:16.128Z,1613586436.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.539381 deg/s. Setting heading cmd to target bearing of 258.397285deg and heading rate command to 0 deg/s. 2021-02-17T18:27:18.488Z,1613586438.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:27:19.286Z,1613586439.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:27:19.761Z,1613586439.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:27:20.523Z,1613586440.523 [Micromodem](INFO): Nmea in: $SNTTA,0.156884,,,,182719.41*47 2021-02-17T18:27:21.054Z,1613586441.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.599991 m, bearing: 243.788139 deg, deltaT: 4.848914 s, approachRate: -0.197984 m/s, LOS rate: -3.012870 deg/s, posRepo size: 4 2021-02-17T18:27:21.089Z,1613586441.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 234.599991 m, bearing: 243.788139 deg, approachRate: -0.197984 m/s, LOS rate: -3.012870 deg/s, cmd update: -12.000000 deg/s, cmd heading: 258.397285 deg, new cmd heading: 258.397285 deg. 2021-02-17T18:27:23.369Z,1613586443.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:27:24.129Z,1613586444.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:27:24.535Z,1613586444.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:27:25.349Z,1613586445.349 [Micromodem](INFO): Nmea in: $SNTTA,0.155888,,,,182724.25*44 2021-02-17T18:27:25.774Z,1613586445.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.699997 m, bearing: 166.318904 deg, deltaT: 4.868667 s, approachRate: -0.184854 m/s, LOS rate: -15.911797 deg/s, posRepo size: 4 2021-02-17T18:27:25.774Z,1613586445.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.911797 deg/s. Setting heading cmd to target bearing of 166.318904deg and heading rate command to 0 deg/s. 2021-02-17T18:27:28.233Z,1613586448.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:27:29.008Z,1613586449.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:27:29.392Z,1613586449.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:27:30.210Z,1613586450.210 [Micromodem](INFO): Nmea in: $SNTTA,0.155443,,,,182729.13*47 2021-02-17T18:27:30.638Z,1613586450.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.220001 m, bearing: 273.090415 deg, deltaT: 4.882824 s, approachRate: -0.098303 m/s, LOS rate: 21.866753 deg/s, posRepo size: 4 2021-02-17T18:27:30.638Z,1613586450.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.866753 deg/s. Setting heading cmd to target bearing of 273.090415deg and heading rate command to 0 deg/s. 2021-02-17T18:27:33.167Z,1613586453.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:27:33.847Z,1613586453.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:27:34.257Z,1613586454.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:27:35.158Z,1613586455.158 [Micromodem](INFO): Nmea in: $SNTTA,0.154846,,,,182733.97*48 2021-02-17T18:27:35.164Z,1613586455.164 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T18:27:35.498Z,1613586455.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.199997 m, bearing: 220.718191 deg, deltaT: 4.922639 s, approachRate: -0.207207 m/s, LOS rate: -10.639054 deg/s, posRepo size: 4 2021-02-17T18:27:35.500Z,1613586455.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 232.199997 m, bearing: 220.718191 deg, approachRate: -0.207207 m/s, LOS rate: -10.639054 deg/s, cmd update: -12.000000 deg/s, cmd heading: 273.090415 deg, new cmd heading: 273.090415 deg. 2021-02-17T18:27:37.892Z,1613586457.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:27:38.678Z,1613586458.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:27:39.094Z,1613586459.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:27:39.900Z,1613586459.900 [Micromodem](INFO): Nmea in: $SNTTA,0.154617,,,,182738.80*4F 2021-02-17T18:27:40.333Z,1613586460.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.959976 m, bearing: 155.303885 deg, deltaT: 4.736031 s, approachRate: -0.050680 m/s, LOS rate: -13.812052 deg/s, posRepo size: 4 2021-02-17T18:27:40.334Z,1613586460.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.812052 deg/s. Setting heading cmd to target bearing of 155.303885deg and heading rate command to 0 deg/s. 2021-02-17T18:27:42.729Z,1613586462.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:27:43.521Z,1613586463.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:27:43.938Z,1613586463.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:27:44.742Z,1613586464.742 [Micromodem](INFO): Nmea in: $SNTTA,0.154634,,,,182743.64*48 2021-02-17T18:27:45.225Z,1613586465.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.779984 m, bearing: 265.842410 deg, deltaT: 4.808294 s, approachRate: -0.037434 m/s, LOS rate: 22.989136 deg/s, posRepo size: 4 2021-02-17T18:27:45.226Z,1613586465.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.989136 deg/s. Setting heading cmd to target bearing of 265.842410deg and heading rate command to 0 deg/s. 2021-02-17T18:27:47.597Z,1613586467.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:27:48.386Z,1613586468.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:27:48.795Z,1613586468.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:27:49.594Z,1613586469.594 [Micromodem](INFO): Nmea in: $SNTTA,0.153813,,,,182748.50*48 2021-02-17T18:27:50.090Z,1613586470.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.699997 m, bearing: 170.178207 deg, deltaT: 4.872814 s, approachRate: -0.221635 m/s, LOS rate: -19.632230 deg/s, posRepo size: 4 2021-02-17T18:27:50.091Z,1613586470.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.632230 deg/s. Setting heading cmd to target bearing of 170.178207deg and heading rate command to 0 deg/s. 2021-02-17T18:27:52.446Z,1613586472.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:27:53.217Z,1613586473.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:27:53.633Z,1613586473.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:27:54.436Z,1613586474.436 [Micromodem](INFO): Nmea in: $SNTTA,0.153699,,,,182753.34*4C 2021-02-17T18:27:54.866Z,1613586474.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.579987 m, bearing: 156.319848 deg, deltaT: 4.851496 s, approachRate: -0.024737 m/s, LOS rate: -2.856512 deg/s, posRepo size: 4 2021-02-17T18:27:54.884Z,1613586474.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 230.579987 m, bearing: 156.319848 deg, approachRate: -0.024737 m/s, LOS rate: -2.856512 deg/s, cmd update: -11.426049 deg/s, cmd heading: 170.178207 deg, new cmd heading: 170.178207 deg. 2021-02-17T18:27:57.315Z,1613586477.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:27:58.083Z,1613586478.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:27:58.476Z,1613586478.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:27:59.294Z,1613586479.294 [Micromodem](INFO): Nmea in: $SNTTA,0.153807,,,,182758.20*4B 2021-02-17T18:27:59.778Z,1613586479.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.699997 m, bearing: 252.939008 deg, deltaT: 4.878330 s, approachRate: 0.024601 m/s, LOS rate: 19.805786 deg/s, posRepo size: 4 2021-02-17T18:27:59.779Z,1613586479.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.805786 deg/s. Setting heading cmd to target bearing of 252.939008deg and heading rate command to 0 deg/s. 2021-02-17T18:28:02.180Z,1613586482.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:02.912Z,1613586482.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:28:03.332Z,1613586483.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:28:04.133Z,1613586484.133 [Micromodem](INFO): Nmea in: $SNTTA,0.154365,,,,182803.03*43 2021-02-17T18:28:04.565Z,1613586484.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.599991 m, bearing: 214.372536 deg, deltaT: 4.807459 s, approachRate: 0.187208 m/s, LOS rate: -8.022215 deg/s, posRepo size: 4 2021-02-17T18:28:04.567Z,1613586484.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 231.599991 m, bearing: 214.372536 deg, approachRate: 0.187208 m/s, LOS rate: -8.022215 deg/s, cmd update: -12.000000 deg/s, cmd heading: 252.939008 deg, new cmd heading: 252.939008 deg. 2021-02-17T18:28:07.020Z,1613586487.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:07.760Z,1613586487.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:28:08.168Z,1613586488.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:28:09.009Z,1613586489.009 [Micromodem](INFO): Nmea in: $SNTTA,0.155711,,,,182807.88*42 2021-02-17T18:28:09.436Z,1613586489.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.579987 m, bearing: 187.554713 deg, deltaT: 4.911664 s, approachRate: 0.403121 m/s, LOS rate: -5.460028 deg/s, posRepo size: 4 2021-02-17T18:28:09.438Z,1613586489.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 233.579987 m, bearing: 187.554713 deg, approachRate: 0.403121 m/s, LOS rate: -5.460028 deg/s, cmd update: -12.000000 deg/s, cmd heading: 194.045321 deg, new cmd heading: 189.711389 deg. 2021-02-17T18:28:11.820Z,1613586491.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:12.673Z,1613586492.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:28:13.061Z,1613586493.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:28:13.847Z,1613586493.847 [Micromodem](INFO): Nmea in: $SNTTA,0.157264,,,,182812.79*4D 2021-02-17T18:28:14.313Z,1613586494.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.919998 m, bearing: 173.833697 deg, deltaT: 4.819061 s, approachRate: 0.485574 m/s, LOS rate: -2.847239 deg/s, posRepo size: 4 2021-02-17T18:28:14.315Z,1613586494.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 235.919998 m, bearing: 173.833697 deg, approachRate: 0.485574 m/s, LOS rate: -2.847239 deg/s, cmd update: -11.388955 deg/s, cmd heading: 136.264588 deg, new cmd heading: 131.182972 deg. 2021-02-17T18:28:16.668Z,1613586496.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:17.461Z,1613586497.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:28:17.867Z,1613586497.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:28:18.689Z,1613586498.689 [Micromodem](INFO): Nmea in: $SNTTA,0.158459,,,,182817.58*4C 2021-02-17T18:28:19.138Z,1613586499.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.659988 m, bearing: 214.445783 deg, deltaT: 4.805591 s, approachRate: 0.362076 m/s, LOS rate: 8.451008 deg/s, posRepo size: 4 2021-02-17T18:28:19.140Z,1613586499.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 237.659988 m, bearing: 214.445783 deg, approachRate: 0.362076 m/s, LOS rate: 8.451008 deg/s, cmd update: 12.000000 deg/s, cmd heading: 81.442181 deg, new cmd heading: 76.492644 deg. 2021-02-17T18:28:21.524Z,1613586501.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:22.313Z,1613586502.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:28:22.710Z,1613586502.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:28:23.527Z,1613586503.527 [Micromodem](INFO): Nmea in: $SNTTA,0.159902,,,,182822.43*42 2021-02-17T18:28:23.960Z,1613586503.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 239.939987 m, bearing: 167.024285 deg, deltaT: 4.838377 s, approachRate: 0.471232 m/s, LOS rate: -9.801117 deg/s, posRepo size: 4 2021-02-17T18:28:23.967Z,1613586503.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 239.939987 m, bearing: 167.024285 deg, approachRate: 0.471232 m/s, LOS rate: -9.801117 deg/s, cmd update: -12.000000 deg/s, cmd heading: 139.502263 deg, new cmd heading: 144.523975 deg. 2021-02-17T18:28:26.106Z,1613586506.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:26.770Z,1613586506.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:28:27.178Z,1613586507.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:28:28.100Z,1613586508.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182826.89*58 2021-02-17T18:28:28.414Z,1613586508.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.759995 m, bearing: 129.602170 deg, deltaT: 4.634762 s, approachRate: 0.608447 m/s, LOS rate: -8.074226 deg/s, posRepo size: 4 2021-02-17T18:28:28.416Z,1613586508.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 242.759995 m, bearing: 129.602170 deg, approachRate: 0.608447 m/s, LOS rate: -8.074226 deg/s, cmd update: -12.000000 deg/s, cmd heading: 84.133398 deg, new cmd heading: 81.030294 deg. 2021-02-17T18:28:30.832Z,1613586510.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:31.607Z,1613586511.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:28:32.026Z,1613586512.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:28:32.826Z,1613586512.826 [Micromodem](INFO): Nmea in: $SNTTA,0.164421,,,,182831.73*41 2021-02-17T18:28:33.652Z,1613586513.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:35.240Z,1613586515.240 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:28:36.471Z,1613586516.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:37.260Z,1613586517.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:28:37.669Z,1613586517.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:28:38.477Z,1613586518.477 [Micromodem](INFO): Nmea in: $SNTTA,0.166529,,,,182837.38*43 2021-02-17T18:28:39.417Z,1613586519.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:40.984Z,1613586520.984 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:28:42.169Z,1613586522.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:42.931Z,1613586522.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:28:43.328Z,1613586523.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:28:44.145Z,1613586524.145 [Micromodem](INFO): Nmea in: $SNTTA,0.168861,,,,182843.05*41 2021-02-17T18:28:44.574Z,1613586524.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.379990 m, bearing: 73.794819 deg, deltaT: 16.025774 s, approachRate: 0.662682 m/s, LOS rate: -3.482350 deg/s, posRepo size: 4 2021-02-17T18:28:44.576Z,1613586524.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 253.379990 m, bearing: 73.794819 deg, approachRate: 0.662682 m/s, LOS rate: -3.482350 deg/s, cmd update: -12.000000 deg/s, cmd heading: 251.575152 deg, new cmd heading: 247.110948 deg. 2021-02-17T18:28:47.021Z,1613586527.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:47.764Z,1613586527.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:28:48.177Z,1613586528.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:28:49.018Z,1613586529.018 [Micromodem](INFO): Nmea in: $SNTTA,0.170414,,,,182847.88*47 2021-02-17T18:28:49.454Z,1613586529.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.659988 m, bearing: 39.695311 deg, deltaT: 4.898795 s, approachRate: 0.465420 m/s, LOS rate: -6.960795 deg/s, posRepo size: 4 2021-02-17T18:28:49.456Z,1613586529.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 255.659988 m, bearing: 39.695311 deg, approachRate: 0.465420 m/s, LOS rate: -6.960795 deg/s, cmd update: -12.000000 deg/s, cmd heading: 192.836998 deg, new cmd heading: 188.548126 deg. 2021-02-17T18:28:51.824Z,1613586531.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:52.679Z,1613586532.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:28:53.074Z,1613586533.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:28:53.850Z,1613586533.850 [Micromodem](INFO): Nmea in: $SNTTA,0.171381,,,,182852.80*41 2021-02-17T18:28:54.337Z,1613586534.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 257.159973 m, bearing: 36.016424 deg, deltaT: 4.797081 s, approachRate: 0.312687 m/s, LOS rate: -0.766901 deg/s, posRepo size: 4 2021-02-17T18:28:54.339Z,1613586534.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 257.159973 m, bearing: 36.016424 deg, approachRate: 0.312687 m/s, LOS rate: -0.766901 deg/s, cmd update: -3.067604 deg/s, cmd heading: 135.492513 deg, new cmd heading: 129.954909 deg. 2021-02-17T18:28:56.668Z,1613586536.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:28:57.460Z,1613586537.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:28:57.871Z,1613586537.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:28:58.689Z,1613586538.689 [Micromodem](INFO): Nmea in: $SNTTA,0.172917,,,,182857.58*47 2021-02-17T18:28:59.136Z,1613586539.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 259.619995 m, bearing: 82.731459 deg, deltaT: 4.805292 s, approachRate: 0.511940 m/s, LOS rate: 9.721581 deg/s, posRepo size: 4 2021-02-17T18:28:59.138Z,1613586539.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 259.619995 m, bearing: 82.731459 deg, approachRate: 0.511940 m/s, LOS rate: 9.721581 deg/s, cmd update: 12.000000 deg/s, cmd heading: 120.683312 deg, new cmd heading: 119.357926 deg. 2021-02-17T18:29:01.520Z,1613586541.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:29:02.308Z,1613586542.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:29:02.723Z,1613586542.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:29:03.531Z,1613586543.531 [Micromodem](INFO): Nmea in: $SNTTA,0.174653,,,,182902.43*45 2021-02-17T18:29:03.993Z,1613586543.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.139984 m, bearing: 134.953186 deg, deltaT: 4.877373 s, approachRate: 0.516669 m/s, LOS rate: 10.706937 deg/s, posRepo size: 4 2021-02-17T18:29:04.002Z,1613586544.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 262.139984 m, bearing: 134.953186 deg, approachRate: 0.516669 m/s, LOS rate: 10.706937 deg/s, cmd update: 12.000000 deg/s, cmd heading: 179.041161 deg, new cmd heading: 184.122837 deg. 2021-02-17T18:29:06.121Z,1613586546.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:29:06.783Z,1613586546.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:29:07.191Z,1613586547.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:29:08.104Z,1613586548.104 [Micromodem](INFO): Nmea in: $SNTTA,0.177039,,,,182906.90*46 2021-02-17T18:29:08.422Z,1613586548.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.679993 m, bearing: 98.652903 deg, deltaT: 4.598120 s, approachRate: 0.769882 m/s, LOS rate: -7.894592 deg/s, posRepo size: 4 2021-02-17T18:29:08.428Z,1613586548.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 265.679993 m, bearing: 98.652903 deg, approachRate: 0.769882 m/s, LOS rate: -7.894592 deg/s, cmd update: -12.000000 deg/s, cmd heading: 234.391246 deg, new cmd heading: 237.310750 deg. 2021-02-17T18:29:10.820Z,1613586550.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:29:11.606Z,1613586551.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:29:12.025Z,1613586552.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:29:12.820Z,1613586552.820 [Micromodem](INFO): Nmea in: $SNTTA,0.184879,,,,182911.72*4C 2021-02-17T18:29:13.293Z,1613586553.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.739990 m, bearing: 167.340031 deg, deltaT: 4.655472 s, approachRate: 0.657291 m/s, LOS rate: 14.754062 deg/s, posRepo size: 4 2021-02-17T18:29:13.294Z,1613586553.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.754062 deg/s. Setting heading cmd to target bearing of 167.340031deg and heading rate command to 0 deg/s. 2021-02-17T18:29:15.665Z,1613586555.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:29:16.466Z,1613586556.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:29:16.861Z,1613586556.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:29:17.677Z,1613586557.677 [Micromodem](INFO): Nmea in: $SNTTA,0.181356,,,,182916.58*40 2021-02-17T18:29:18.136Z,1613586558.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 272.160004 m, bearing: 180.768210 deg, deltaT: 4.881907 s, approachRate: 0.700549 m/s, LOS rate: 2.750601 deg/s, posRepo size: 4 2021-02-17T18:29:18.138Z,1613586558.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 272.160004 m, bearing: 180.768210 deg, approachRate: 0.700549 m/s, LOS rate: 2.750601 deg/s, cmd update: 11.002405 deg/s, cmd heading: 167.340031 deg, new cmd heading: 167.340031 deg. 2021-02-17T18:29:20.542Z,1613586560.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:29:21.363Z,1613586561.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:29:21.721Z,1613586561.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:29:22.551Z,1613586562.551 [Micromodem](INFO): Nmea in: $SNTTA,0.183343,,,,182921.48*43 2021-02-17T18:29:22.942Z,1613586562.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.099976 m, bearing: 173.333863 deg, deltaT: 4.880328 s, approachRate: 0.602413 m/s, LOS rate: -1.523329 deg/s, posRepo size: 4 2021-02-17T18:29:22.944Z,1613586562.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 275.099976 m, bearing: 173.333863 deg, approachRate: 0.602413 m/s, LOS rate: -1.523329 deg/s, cmd update: -6.093317 deg/s, cmd heading: 220.994051 deg, new cmd heading: 224.840459 deg. 2021-02-17T18:29:25.370Z,1613586565.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:29:26.146Z,1613586566.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:29:26.551Z,1613586566.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:29:27.363Z,1613586567.363 [Micromodem](INFO): Nmea in: $SNTTA,0.184513,,,,182926.27*49 2021-02-17T18:29:27.790Z,1613586567.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.839996 m, bearing: 179.778133 deg, deltaT: 4.826835 s, approachRate: 0.360489 m/s, LOS rate: 1.335092 deg/s, posRepo size: 4 2021-02-17T18:29:27.792Z,1613586567.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 276.839996 m, bearing: 179.778133 deg, approachRate: 0.360489 m/s, LOS rate: 1.335092 deg/s, cmd update: 5.340369 deg/s, cmd heading: 191.557553 deg, new cmd heading: 189.321762 deg. 2021-02-17T18:29:30.244Z,1613586570.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:29:31.018Z,1613586571.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:29:31.407Z,1613586571.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:29:32.238Z,1613586572.238 [Micromodem](INFO): Nmea in: $SNTTA,0.185364,,,,182931.14*48 2021-02-17T18:29:32.705Z,1613586572.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.040009 m, bearing: 244.931540 deg, deltaT: 4.848521 s, approachRate: 0.247501 m/s, LOS rate: 13.437790 deg/s, posRepo size: 4 2021-02-17T18:29:32.705Z,1613586572.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.437790 deg/s. Setting heading cmd to target bearing of 244.931540deg and heading rate command to 0 deg/s. 2021-02-17T18:29:35.140Z,1613586575.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:29:35.862Z,1613586575.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:29:36.246Z,1613586576.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:29:37.081Z,1613586577.081 [Micromodem](INFO): Nmea in: $SNTTA,0.185635,,,0.188148,182935.98*5B 2021-02-17T18:29:37.508Z,1613586577.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.459991 m, bearing: 171.639976 deg, deltaT: 4.871768 s, approachRate: 0.086207 m/s, LOS rate: -15.044141 deg/s, posRepo size: 4 2021-02-17T18:29:37.509Z,1613586577.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.044141 deg/s. Setting heading cmd to target bearing of 171.639976deg and heading rate command to 0 deg/s. 2021-02-17T18:29:39.897Z,1613586579.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:29:40.690Z,1613586580.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:29:41.094Z,1613586581.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:29:41.909Z,1613586581.909 [Micromodem](INFO): Nmea in: $SNTTA,0.185578,,,,182940.81*49 2021-02-17T18:29:42.362Z,1613586582.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.279999 m, bearing: 263.389306 deg, deltaT: 4.780575 s, approachRate: -0.037651 m/s, LOS rate: 19.192113 deg/s, posRepo size: 4 2021-02-17T18:29:42.362Z,1613586582.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.192113 deg/s. Setting heading cmd to target bearing of 263.389306deg and heading rate command to 0 deg/s. 2021-02-17T18:29:44.760Z,1613586584.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:29:45.546Z,1613586585.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:29:46.082Z,1613586586.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:29:46.794Z,1613586586.794 [Micromodem](INFO): Nmea in: $SNTTA,0.185099,,0.186249,,182945.66*51 2021-02-17T18:29:47.232Z,1613586587.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.619995 m, bearing: 191.700911 deg, deltaT: 4.889566 s, approachRate: -0.134982 m/s, LOS rate: -14.661505 deg/s, posRepo size: 4 2021-02-17T18:29:47.233Z,1613586587.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.661505 deg/s. Setting heading cmd to target bearing of 191.700911deg and heading rate command to 0 deg/s. 2021-02-17T18:29:49.621Z,1613586589.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:29:50.406Z,1613586590.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:29:50.795Z,1613586590.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:29:51.616Z,1613586591.616 [Micromodem](INFO): Nmea in: $SNTTA,0.184869,,,,182950.52*4A 2021-02-17T18:29:52.090Z,1613586592.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.259979 m, bearing: 176.073411 deg, deltaT: 4.841416 s, approachRate: -0.074362 m/s, LOS rate: -3.227878 deg/s, posRepo size: 4 2021-02-17T18:29:52.092Z,1613586592.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 277.259979 m, bearing: 176.073411 deg, approachRate: -0.074362 m/s, LOS rate: -3.227878 deg/s, cmd update: -12.000000 deg/s, cmd heading: 191.700911 deg, new cmd heading: 191.700911 deg. 2021-02-17T18:29:54.481Z,1613586594.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:29:55.234Z,1613586595.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:29:55.638Z,1613586595.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:29:56.455Z,1613586596.455 [Micromodem](INFO): Nmea in: $SNTTA,0.184724,,,,182955.35*48 2021-02-17T18:29:56.886Z,1613586596.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.139984 m, bearing: 265.519561 deg, deltaT: 4.814991 s, approachRate: -0.024921 m/s, LOS rate: 18.576598 deg/s, posRepo size: 4 2021-02-17T18:29:56.887Z,1613586596.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.576598 deg/s. Setting heading cmd to target bearing of 265.519561deg and heading rate command to 0 deg/s. 2021-02-17T18:29:59.007Z,1613586599.007 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:29:59.698Z,1613586599.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:30:00.111Z,1613586600.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:30:00.907Z,1613586600.907 [Micromodem](INFO): Nmea in: $SNTTA,0.185342,,,,182959.82*4D 2021-02-17T18:30:01.365Z,1613586601.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.979980 m, bearing: 232.973354 deg, deltaT: 4.451336 s, approachRate: 0.188707 m/s, LOS rate: -7.311560 deg/s, posRepo size: 4 2021-02-17T18:30:01.371Z,1613586601.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 277.979980 m, bearing: 232.973354 deg, approachRate: 0.188707 m/s, LOS rate: -7.311560 deg/s, cmd update: -12.000000 deg/s, cmd heading: 265.519561 deg, new cmd heading: 265.519561 deg. 2021-02-17T18:30:03.740Z,1613586603.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:30:04.529Z,1613586604.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:30:04.938Z,1613586604.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:30:05.751Z,1613586605.751 [Micromodem](INFO): Nmea in: $SNTTA,0.186446,,,,183004.65*44 2021-02-17T18:30:06.213Z,1613586606.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 279.720001 m, bearing: 199.484800 deg, deltaT: 4.871912 s, approachRate: 0.357154 m/s, LOS rate: -6.873801 deg/s, posRepo size: 4 2021-02-17T18:30:06.215Z,1613586606.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 279.720001 m, bearing: 199.484800 deg, approachRate: 0.357154 m/s, LOS rate: -6.873801 deg/s, cmd update: -12.000000 deg/s, cmd heading: 207.103222 deg, new cmd heading: 202.022842 deg. 2021-02-17T18:30:08.596Z,1613586608.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:30:09.372Z,1613586609.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:30:09.778Z,1613586609.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:30:10.595Z,1613586610.595 [Micromodem](INFO): Nmea in: $SNTTA,0.187967,,,,183009.49*48 2021-02-17T18:30:11.092Z,1613586611.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.059998 m, bearing: 194.101272 deg, deltaT: 4.816079 s, approachRate: 0.485872 m/s, LOS rate: -1.117824 deg/s, posRepo size: 4 2021-02-17T18:30:11.094Z,1613586611.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 282.059998 m, bearing: 194.101272 deg, approachRate: 0.485872 m/s, LOS rate: -1.117824 deg/s, cmd update: -4.471295 deg/s, cmd heading: 149.263965 deg, new cmd heading: 143.466453 deg. 2021-02-17T18:30:13.120Z,1613586613.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:30:13.834Z,1613586613.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:30:14.233Z,1613586614.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:30:15.134Z,1613586615.134 [Micromodem](INFO): Nmea in: $SNTTA,0.188843,,,,183013.95*4A 2021-02-17T18:30:15.470Z,1613586615.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 283.320007 m, bearing: 234.805675 deg, deltaT: 4.609087 s, approachRate: 0.273375 m/s, LOS rate: 8.831337 deg/s, posRepo size: 4 2021-02-17T18:30:15.488Z,1613586615.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 283.320007 m, bearing: 234.805675 deg, approachRate: 0.273375 m/s, LOS rate: 8.831337 deg/s, cmd update: 12.000000 deg/s, cmd heading: 128.675362 deg, new cmd heading: 127.529606 deg. 2021-02-17T18:30:17.880Z,1613586617.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:30:18.664Z,1613586618.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:30:19.089Z,1613586619.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:30:19.891Z,1613586619.891 [Micromodem](INFO): Nmea in: $SNTTA,0.190297,,,,183018.78*48 2021-02-17T18:30:20.348Z,1613586620.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 285.480011 m, bearing: 197.075150 deg, deltaT: 4.730530 s, approachRate: 0.456609 m/s, LOS rate: -7.975961 deg/s, posRepo size: 4 2021-02-17T18:30:20.350Z,1613586620.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 285.480011 m, bearing: 197.075150 deg, approachRate: 0.456609 m/s, LOS rate: -7.975961 deg/s, cmd update: -12.000000 deg/s, cmd heading: 185.358216 deg, new cmd heading: 190.289472 deg. 2021-02-17T18:30:22.737Z,1613586622.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:30:23.517Z,1613586623.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:30:23.919Z,1613586623.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:30:24.739Z,1613586624.739 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183023.64*57 2021-02-17T18:30:25.209Z,1613586625.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 288.359985 m, bearing: 202.641495 deg, deltaT: 4.820472 s, approachRate: 0.597447 m/s, LOS rate: 1.154730 deg/s, posRepo size: 4 2021-02-17T18:30:25.211Z,1613586625.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 288.359985 m, bearing: 202.641495 deg, approachRate: 0.597447 m/s, LOS rate: 1.154730 deg/s, cmd update: 4.618921 deg/s, cmd heading: 127.566574 deg, new cmd heading: 122.101858 deg. 2021-02-17T18:30:27.572Z,1613586627.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:30:28.362Z,1613586628.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:30:28.831Z,1613586628.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:30:29.599Z,1613586629.599 [Micromodem](INFO): Nmea in: $SNTTA,0.194233,,,,183028.48*42 2021-02-17T18:30:30.269Z,1613586630.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 291.359985 m, bearing: 153.276098 deg, deltaT: 4.844412 s, approachRate: 0.619270 m/s, LOS rate: -10.190174 deg/s, posRepo size: 4 2021-02-17T18:30:30.271Z,1613586630.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 291.359985 m, bearing: 153.276098 deg, approachRate: 0.619270 m/s, LOS rate: -10.190174 deg/s, cmd update: -12.000000 deg/s, cmd heading: 150.015574 deg, new cmd heading: 153.043535 deg. 2021-02-17T18:30:32.470Z,1613586632.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:30:33.241Z,1613586633.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:30:33.644Z,1613586633.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:30:34.478Z,1613586634.478 [Micromodem](INFO): Nmea in: $SNTTA,0.196272,,,,183033.36*46 2021-02-17T18:30:34.882Z,1613586634.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 294.539978 m, bearing: 140.325540 deg, deltaT: 4.907049 s, approachRate: 0.648046 m/s, LOS rate: -2.639174 deg/s, posRepo size: 4 2021-02-17T18:30:34.884Z,1613586634.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 294.539978 m, bearing: 140.325540 deg, approachRate: 0.648046 m/s, LOS rate: -2.639174 deg/s, cmd update: -10.556698 deg/s, cmd heading: 91.175780 deg, new cmd heading: 86.792408 deg. 2021-02-17T18:30:37.336Z,1613586637.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:30:38.087Z,1613586638.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:30:38.488Z,1613586638.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:30:39.330Z,1613586639.330 [Micromodem](INFO): Nmea in: $SNTTA,0.198788,,,,183038.21*45 2021-02-17T18:30:39.746Z,1613586639.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 298.319977 m, bearing: 120.654732 deg, deltaT: 4.861567 s, approachRate: 0.777527 m/s, LOS rate: -4.046187 deg/s, posRepo size: 4 2021-02-17T18:30:39.748Z,1613586639.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 298.319977 m, bearing: 120.654732 deg, approachRate: 0.777527 m/s, LOS rate: -4.046187 deg/s, cmd update: -12.000000 deg/s, cmd heading: 39.853655 deg, new cmd heading: 35.973024 deg. 2021-02-17T18:30:42.223Z,1613586642.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:30:42.953Z,1613586642.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:30:43.364Z,1613586643.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:30:44.164Z,1613586644.164 [Micromodem](INFO): Nmea in: $SNTTA,0.201193,,,,183043.07*42 2021-02-17T18:30:45.003Z,1613586645.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:30:46.568Z,1613586646.568 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:30:47.796Z,1613586647.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:30:48.592Z,1613586648.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:30:49.019Z,1613586649.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:30:49.808Z,1613586649.808 [Micromodem](INFO): Nmea in: $SNTTA,0.203406,,,,183048.71*43 2021-02-17T18:30:50.256Z,1613586650.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.279999 m, bearing: 77.748979 deg, deltaT: 10.440654 s, approachRate: 0.666627 m/s, LOS rate: -4.109489 deg/s, posRepo size: 4 2021-02-17T18:30:50.258Z,1613586650.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 305.279999 m, bearing: 77.748979 deg, approachRate: 0.666627 m/s, LOS rate: -4.109489 deg/s, cmd update: -12.000000 deg/s, cmd heading: 274.519184 deg, new cmd heading: 269.326328 deg. 2021-02-17T18:30:52.344Z,1613586652.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:30:53.070Z,1613586653.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:30:53.456Z,1613586653.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:30:54.258Z,1613586654.258 [Micromodem](INFO): Nmea in: $SNTTA,0.204987,,,,183053.19*44 2021-02-17T18:30:54.693Z,1613586654.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.500000 m, bearing: 52.459992 deg, deltaT: 4.506762 s, approachRate: 0.492593 m/s, LOS rate: -5.611343 deg/s, posRepo size: 4 2021-02-17T18:30:54.694Z,1613586654.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 307.500000 m, bearing: 52.459992 deg, approachRate: 0.492593 m/s, LOS rate: -5.611343 deg/s, cmd update: -12.000000 deg/s, cmd heading: 220.437318 deg, new cmd heading: 216.084426 deg. 2021-02-17T18:30:57.131Z,1613586657.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:30:57.884Z,1613586657.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:30:58.287Z,1613586658.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:30:59.102Z,1613586659.102 [Micromodem](INFO): Nmea in: $SNTTA,0.205823,,,,183058.00*49 2021-02-17T18:30:59.546Z,1613586659.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.820007 m, bearing: 47.727996 deg, deltaT: 4.829379 s, approachRate: 0.273329 m/s, LOS rate: -0.979835 deg/s, posRepo size: 4 2021-02-17T18:30:59.548Z,1613586659.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 308.820007 m, bearing: 47.727996 deg, approachRate: 0.273329 m/s, LOS rate: -0.979835 deg/s, cmd update: -3.919341 deg/s, cmd heading: 162.532289 deg, new cmd heading: 157.840409 deg. 2021-02-17T18:31:01.941Z,1613586661.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:31:02.724Z,1613586662.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:31:03.132Z,1613586663.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:31:03.942Z,1613586663.942 [Micromodem](INFO): Nmea in: $SNTTA,0.207463,,,,183102.84*41 2021-02-17T18:31:04.414Z,1613586664.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 311.459991 m, bearing: 94.328771 deg, deltaT: 4.858320 s, approachRate: 0.543394 m/s, LOS rate: 9.591953 deg/s, posRepo size: 4 2021-02-17T18:31:04.420Z,1613586664.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 311.459991 m, bearing: 94.328771 deg, approachRate: 0.543394 m/s, LOS rate: 9.591953 deg/s, cmd update: 12.000000 deg/s, cmd heading: 143.548810 deg, new cmd heading: 141.920955 deg. 2021-02-17T18:31:06.811Z,1613586666.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:31:07.574Z,1613586667.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:31:08.009Z,1613586668.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:31:08.854Z,1613586668.854 [Micromodem](INFO): Nmea in: $SNTTA,0.209287,,,,183107.69*45 2021-02-17T18:31:09.269Z,1613586669.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 314.160004 m, bearing: 145.705721 deg, deltaT: 4.875706 s, approachRate: 0.553768 m/s, LOS rate: 10.537335 deg/s, posRepo size: 4 2021-02-17T18:31:09.275Z,1613586669.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 314.160004 m, bearing: 145.705721 deg, approachRate: 0.553768 m/s, LOS rate: 10.537335 deg/s, cmd update: 12.000000 deg/s, cmd heading: 202.234536 deg, new cmd heading: 206.787900 deg. 2021-02-17T18:31:11.628Z,1613586671.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:31:12.420Z,1613586672.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:31:12.835Z,1613586672.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:31:13.638Z,1613586673.638 [Micromodem](INFO): Nmea in: $SNTTA,0.211615,,,,183112.54*49 2021-02-17T18:31:14.110Z,1613586674.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 317.579987 m, bearing: 131.215597 deg, deltaT: 4.787063 s, approachRate: 0.714422 m/s, LOS rate: -3.026934 deg/s, posRepo size: 4 2021-02-17T18:31:14.112Z,1613586674.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 317.579987 m, bearing: 131.215597 deg, approachRate: 0.714422 m/s, LOS rate: -3.026934 deg/s, cmd update: -12.000000 deg/s, cmd heading: 259.675333 deg, new cmd heading: 264.880970 deg. 2021-02-17T18:31:16.492Z,1613586676.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:31:17.277Z,1613586677.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:31:17.674Z,1613586677.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:31:18.489Z,1613586678.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183117.40*57 2021-02-17T18:31:18.914Z,1613586678.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 320.940002 m, bearing: 198.785552 deg, deltaT: 4.847815 s, approachRate: 0.693099 m/s, LOS rate: 13.938229 deg/s, posRepo size: 4 2021-02-17T18:31:18.915Z,1613586678.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.938229 deg/s. Setting heading cmd to target bearing of 198.785552deg and heading rate command to 0 deg/s. 2021-02-17T18:31:21.364Z,1613586681.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:31:22.125Z,1613586682.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:31:22.587Z,1613586682.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:31:23.375Z,1613586683.375 [Micromodem](INFO): Nmea in: $SNTTA,0.215912,,,,183122.24*41 2021-02-17T18:31:23.797Z,1613586683.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 324.179993 m, bearing: 165.366557 deg, deltaT: 4.914996 s, approachRate: 0.659205 m/s, LOS rate: -6.799394 deg/s, posRepo size: 4 2021-02-17T18:31:23.798Z,1613586683.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 324.179993 m, bearing: 165.366557 deg, approachRate: 0.659205 m/s, LOS rate: -6.799394 deg/s, cmd update: -12.000000 deg/s, cmd heading: 198.785552 deg, new cmd heading: 198.785552 deg. 2021-02-17T18:31:26.205Z,1613586686.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:31:26.982Z,1613586686.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:31:27.387Z,1613586687.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:31:28.193Z,1613586688.193 [Micromodem](INFO): Nmea in: $SNTTA,0.217809,,,,183127.10*4A 2021-02-17T18:31:28.633Z,1613586688.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 326.820007 m, bearing: 185.051039 deg, deltaT: 4.820257 s, approachRate: 0.547692 m/s, LOS rate: 4.083700 deg/s, posRepo size: 4 2021-02-17T18:31:28.639Z,1613586688.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 326.820007 m, bearing: 185.051039 deg, approachRate: 0.547692 m/s, LOS rate: 4.083700 deg/s, cmd update: 12.000000 deg/s, cmd heading: 141.086275 deg, new cmd heading: 136.509403 deg. 2021-02-17T18:31:31.104Z,1613586691.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:31:31.818Z,1613586691.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:31:32.232Z,1613586692.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:31:33.084Z,1613586693.084 [Micromodem](INFO): Nmea in: $SNTTA,0.219264,,,,183131.94*4E 2021-02-17T18:31:33.486Z,1613586693.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 328.980011 m, bearing: 184.065142 deg, deltaT: 4.886842 s, approachRate: 0.442004 m/s, LOS rate: -0.201745 deg/s, posRepo size: 4 2021-02-17T18:31:33.488Z,1613586693.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 328.980011 m, bearing: 184.065142 deg, approachRate: 0.442004 m/s, LOS rate: -0.201745 deg/s, cmd update: -0.806981 deg/s, cmd heading: 199.824068 deg, new cmd heading: 203.902796 deg. 2021-02-17T18:31:35.942Z,1613586695.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:31:36.674Z,1613586696.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:31:37.103Z,1613586697.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:31:37.884Z,1613586697.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183136.79*5E 2021-02-17T18:31:38.330Z,1613586698.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 331.919983 m, bearing: 182.899297 deg, deltaT: 4.747923 s, approachRate: 0.619212 m/s, LOS rate: -0.245548 deg/s, posRepo size: 4 2021-02-17T18:31:38.332Z,1613586698.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 331.919983 m, bearing: 182.899297 deg, approachRate: 0.619212 m/s, LOS rate: -0.245548 deg/s, cmd update: -0.982194 deg/s, cmd heading: 195.989380 deg, new cmd heading: 195.640618 deg. 2021-02-17T18:31:40.409Z,1613586700.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:31:41.148Z,1613586701.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:31:41.561Z,1613586701.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:31:42.366Z,1613586702.366 [Micromodem](INFO): Nmea in: $SNTTA,0.223038,,,,183141.27*43 2021-02-17T18:31:42.798Z,1613586702.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 334.739990 m, bearing: 193.868335 deg, deltaT: 4.528048 s, approachRate: 0.622787 m/s, LOS rate: 2.422465 deg/s, posRepo size: 4 2021-02-17T18:31:42.820Z,1613586702.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 334.739990 m, bearing: 193.868335 deg, approachRate: 0.622787 m/s, LOS rate: 2.422465 deg/s, cmd update: 9.689860 deg/s, cmd heading: 191.541937 deg, new cmd heading: 191.176776 deg. 2021-02-17T18:31:45.240Z,1613586705.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:31:46.021Z,1613586706.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:31:46.473Z,1613586706.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:31:47.247Z,1613586707.247 [Micromodem](INFO): Nmea in: $SNTTA,0.224323,,,,183146.14*4A 2021-02-17T18:31:47.666Z,1613586707.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 336.539978 m, bearing: 225.524268 deg, deltaT: 4.877405 s, approachRate: 0.369046 m/s, LOS rate: 6.490323 deg/s, posRepo size: 4 2021-02-17T18:31:47.668Z,1613586707.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 336.539978 m, bearing: 225.524268 deg, approachRate: 0.369046 m/s, LOS rate: 6.490323 deg/s, cmd update: 12.000000 deg/s, cmd heading: 238.803359 deg, new cmd heading: 242.315595 deg. 2021-02-17T18:31:50.114Z,1613586710.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:31:50.844Z,1613586710.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:31:51.269Z,1613586711.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:31:52.081Z,1613586712.081 [Micromodem](INFO): Nmea in: $SNTTA,0.225166,,,,183150.96*45 2021-02-17T18:31:52.490Z,1613586712.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 337.739990 m, bearing: 263.822942 deg, deltaT: 4.847193 s, approachRate: 0.247568 m/s, LOS rate: 7.901206 deg/s, posRepo size: 4 2021-02-17T18:31:52.492Z,1613586712.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 337.739990 m, bearing: 263.822942 deg, approachRate: 0.247568 m/s, LOS rate: 7.901206 deg/s, cmd update: 12.000000 deg/s, cmd heading: 296.921570 deg, new cmd heading: 301.040246 deg. 2021-02-17T18:31:54.904Z,1613586714.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:31:55.692Z,1613586715.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:31:56.104Z,1613586716.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:31:56.910Z,1613586716.910 [Micromodem](INFO): Nmea in: $SNTTA,0.225413,,,,183155.81*41 2021-02-17T18:31:57.371Z,1613586717.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 338.100006 m, bearing: 195.793014 deg, deltaT: 4.804611 s, approachRate: 0.074931 m/s, LOS rate: -14.159300 deg/s, posRepo size: 4 2021-02-17T18:31:57.372Z,1613586717.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.159300 deg/s. Setting heading cmd to target bearing of 195.793014deg and heading rate command to 0 deg/s. 2021-02-17T18:31:59.817Z,1613586719.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:32:00.561Z,1613586720.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:32:00.947Z,1613586720.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:32:01.775Z,1613586721.775 [Micromodem](INFO): Nmea in: $SNTTA,0.224782,,,,183200.68*4F 2021-02-17T18:32:02.228Z,1613586722.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 337.019989 m, bearing: 252.788006 deg, deltaT: 4.834458 s, approachRate: -0.223400 m/s, LOS rate: 11.789324 deg/s, posRepo size: 4 2021-02-17T18:32:02.229Z,1613586722.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.789324 deg/s. Setting heading cmd to target bearing of 252.788006deg and heading rate command to 0 deg/s. 2021-02-17T18:32:04.595Z,1613586724.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:32:05.388Z,1613586725.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:32:05.804Z,1613586725.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:32:06.606Z,1613586726.606 [Micromodem](INFO): Nmea in: $SNTTA,0.223690,,,,183205.51*45 2021-02-17T18:32:07.105Z,1613586727.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 335.339996 m, bearing: 307.251033 deg, deltaT: 4.855346 s, approachRate: -0.346009 m/s, LOS rate: 11.217126 deg/s, posRepo size: 4 2021-02-17T18:32:07.114Z,1613586727.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 335.339996 m, bearing: 307.251033 deg, approachRate: -0.346009 m/s, LOS rate: 11.217126 deg/s, cmd update: 12.000000 deg/s, cmd heading: 252.788006 deg, new cmd heading: 252.788006 deg. 2021-02-17T18:32:09.462Z,1613586729.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:32:10.238Z,1613586730.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:32:10.650Z,1613586730.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:32:11.455Z,1613586731.455 [Micromodem](INFO): Nmea in: $SNTTA,0.222302,,,,183210.36*4F 2021-02-17T18:32:11.882Z,1613586731.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 333.239990 m, bearing: 304.917321 deg, deltaT: 4.848036 s, approachRate: -0.433166 m/s, LOS rate: -0.481373 deg/s, posRepo size: 4 2021-02-17T18:32:11.884Z,1613586731.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 333.239990 m, bearing: 304.917321 deg, approachRate: -0.433166 m/s, LOS rate: -0.481373 deg/s, cmd update: -1.925491 deg/s, cmd heading: 310.675671 deg, new cmd heading: 315.630016 deg. 2021-02-17T18:32:14.344Z,1613586734.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:32:15.093Z,1613586735.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:32:15.497Z,1613586735.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:32:16.315Z,1613586736.315 [Micromodem](INFO): Nmea in: $SNTTA,0.220595,,,,183215.21*46 2021-02-17T18:32:16.803Z,1613586736.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 330.720001 m, bearing: 304.666462 deg, deltaT: 4.912132 s, approachRate: -0.513013 m/s, LOS rate: -0.051069 deg/s, posRepo size: 4 2021-02-17T18:32:16.805Z,1613586736.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 330.720001 m, bearing: 304.666462 deg, approachRate: -0.513013 m/s, LOS rate: -0.051069 deg/s, cmd update: -0.204277 deg/s, cmd heading: 301.178715 deg, new cmd heading: 300.406237 deg. 2021-02-17T18:32:19.166Z,1613586739.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:32:19.932Z,1613586739.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:32:20.356Z,1613586740.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:32:21.150Z,1613586741.150 [Micromodem](INFO): Nmea in: $SNTTA,0.218732,,,,183220.05*42 2021-02-17T18:32:21.578Z,1613586741.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 327.839996 m, bearing: 307.000447 deg, deltaT: 4.804409 s, approachRate: -0.599450 m/s, LOS rate: 0.485801 deg/s, posRepo size: 4 2021-02-17T18:32:21.596Z,1613586741.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 327.839996 m, bearing: 307.000447 deg, approachRate: -0.599450 m/s, LOS rate: 0.485801 deg/s, cmd update: 1.943202 deg/s, cmd heading: 300.196471 deg, new cmd heading: 300.121241 deg. 2021-02-17T18:32:24.077Z,1613586744.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:32:24.780Z,1613586744.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:32:25.194Z,1613586745.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:32:26.026Z,1613586746.026 [Micromodem](INFO): Nmea in: $SNTTA,0.216635,,,,183224.90*42 2021-02-17T18:32:26.482Z,1613586746.482 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T18:32:26.502Z,1613586746.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 324.719971 m, bearing: 308.267638 deg, deltaT: 4.887423 s, approachRate: -0.638379 m/s, LOS rate: 0.259276 deg/s, posRepo size: 4 2021-02-17T18:32:26.504Z,1613586746.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 324.719971 m, bearing: 308.267638 deg, approachRate: -0.638379 m/s, LOS rate: 0.259276 deg/s, cmd update: 1.037104 deg/s, cmd heading: 309.693682 deg, new cmd heading: 310.480104 deg. 2021-02-17T18:32:28.836Z,1613586748.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:32:29.633Z,1613586749.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:32:30.051Z,1613586750.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:32:30.859Z,1613586750.859 [Micromodem](INFO): Nmea in: $SNTTA,0.214419,,,,183229.75*4A 2021-02-17T18:32:31.312Z,1613586751.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 321.419983 m, bearing: 309.662773 deg, deltaT: 4.776640 s, approachRate: -0.690860 m/s, LOS rate: 0.292074 deg/s, posRepo size: 4 2021-02-17T18:32:31.314Z,1613586751.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 321.419983 m, bearing: 309.662773 deg, approachRate: -0.690860 m/s, LOS rate: 0.292074 deg/s, cmd update: 1.168298 deg/s, cmd heading: 314.647603 deg, new cmd heading: 315.101707 deg. 2021-02-17T18:32:33.715Z,1613586753.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:32:34.498Z,1613586754.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:32:34.887Z,1613586754.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:32:35.712Z,1613586755.712 [Micromodem](INFO): Nmea in: $SNTTA,0.212188,,,,183234.62*4B 2021-02-17T18:32:36.153Z,1613586756.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 318.059998 m, bearing: 309.254491 deg, deltaT: 4.852431 s, approachRate: -0.692433 m/s, LOS rate: -0.084140 deg/s, posRepo size: 4 2021-02-17T18:32:36.155Z,1613586756.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 318.059998 m, bearing: 309.254491 deg, approachRate: -0.692433 m/s, LOS rate: -0.084140 deg/s, cmd update: -0.336558 deg/s, cmd heading: 320.316637 deg, new cmd heading: 320.814641 deg. 2021-02-17T18:32:38.542Z,1613586758.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:32:39.329Z,1613586759.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:32:39.795Z,1613586759.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:32:40.565Z,1613586760.565 [Micromodem](INFO): Nmea in: $SNTTA,0.209819,,,,183239.45*48 2021-02-17T18:32:41.021Z,1613586761.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 314.459991 m, bearing: 308.500056 deg, deltaT: 4.852918 s, approachRate: -0.741823 m/s, LOS rate: -0.155460 deg/s, posRepo size: 4 2021-02-17T18:32:41.023Z,1613586761.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 314.459991 m, bearing: 308.500056 deg, approachRate: -0.741823 m/s, LOS rate: -0.155460 deg/s, cmd update: -0.621841 deg/s, cmd heading: 318.683346 deg, new cmd heading: 318.534769 deg. 2021-02-17T18:32:43.406Z,1613586763.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:32:44.237Z,1613586764.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:32:44.610Z,1613586764.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:32:45.415Z,1613586765.415 [Micromodem](INFO): Nmea in: $SNTTA,0.207448,,,,183244.36*40 2021-02-17T18:32:45.838Z,1613586765.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 310.979980 m, bearing: 308.643654 deg, deltaT: 4.897181 s, approachRate: -0.710615 m/s, LOS rate: 0.029323 deg/s, posRepo size: 4 2021-02-17T18:32:45.840Z,1613586765.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 310.979980 m, bearing: 308.643654 deg, approachRate: -0.710615 m/s, LOS rate: 0.029323 deg/s, cmd update: 0.117290 deg/s, cmd heading: 315.640527 deg, new cmd heading: 315.413031 deg. 2021-02-17T18:32:48.248Z,1613586768.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:32:49.025Z,1613586769.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:32:49.435Z,1613586769.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:32:50.260Z,1613586770.260 [Micromodem](INFO): Nmea in: $SNTTA,0.205100,,,,183249.14*46 2021-02-17T18:32:50.666Z,1613586770.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.380005 m, bearing: 308.355638 deg, deltaT: 4.844366 s, approachRate: -0.743126 m/s, LOS rate: -0.059454 deg/s, posRepo size: 4 2021-02-17T18:32:50.684Z,1613586770.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 307.380005 m, bearing: 308.355638 deg, approachRate: -0.743126 m/s, LOS rate: -0.059454 deg/s, cmd update: -0.237815 deg/s, cmd heading: 316.209166 deg, new cmd heading: 316.249680 deg. 2021-02-17T18:32:53.124Z,1613586773.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:32:53.873Z,1613586773.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:32:54.289Z,1613586774.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:32:55.097Z,1613586775.097 [Micromodem](INFO): Nmea in: $SNTTA,0.202772,,,,183253.99*4C 2021-02-17T18:32:55.517Z,1613586775.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 303.959991 m, bearing: 309.152557 deg, deltaT: 4.837946 s, approachRate: -0.706914 m/s, LOS rate: 0.164723 deg/s, posRepo size: 4 2021-02-17T18:32:55.519Z,1613586775.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 303.959991 m, bearing: 309.152557 deg, approachRate: -0.706914 m/s, LOS rate: 0.164723 deg/s, cmd update: 0.658890 deg/s, cmd heading: 315.059544 deg, new cmd heading: 314.973310 deg. 2021-02-17T18:32:57.508Z,1613586777.508 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-02-17T18:32:57.510Z,1613586777.510 [BPC1](INFO): Received data from all battery sticks. 2021-02-17T18:32:57.928Z,1613586777.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:32:58.723Z,1613586778.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:32:59.129Z,1613586779.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:32:59.937Z,1613586779.937 [Micromodem](INFO): Nmea in: $SNTTA,0.200543,,,,183258.84*49 2021-02-17T18:33:00.400Z,1613586780.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.600006 m, bearing: 309.457184 deg, deltaT: 4.797455 s, approachRate: -0.700368 m/s, LOS rate: 0.063498 deg/s, posRepo size: 4 2021-02-17T18:33:00.402Z,1613586780.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 300.600006 m, bearing: 309.457184 deg, approachRate: -0.700368 m/s, LOS rate: 0.063498 deg/s, cmd update: 0.253990 deg/s, cmd heading: 318.223028 deg, new cmd heading: 318.515842 deg. 2021-02-17T18:33:02.782Z,1613586782.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:33:03.569Z,1613586783.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:33:04.013Z,1613586784.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:33:04.785Z,1613586784.785 [Micromodem](INFO): Nmea in: $SNTTA,0.198135,,,,183303.69*42 2021-02-17T18:33:05.224Z,1613586785.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 297.000000 m, bearing: 309.299215 deg, deltaT: 4.843764 s, approachRate: -0.743225 m/s, LOS rate: -0.032613 deg/s, posRepo size: 4 2021-02-17T18:33:05.226Z,1613586785.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 297.000000 m, bearing: 309.299215 deg, approachRate: -0.743225 m/s, LOS rate: -0.032613 deg/s, cmd update: -0.130451 deg/s, cmd heading: 319.453310 deg, new cmd heading: 319.561123 deg. 2021-02-17T18:33:07.652Z,1613586787.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:33:08.413Z,1613586788.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:33:08.836Z,1613586788.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:33:09.648Z,1613586789.648 [Micromodem](INFO): Nmea in: $SNTTA,0.195851,,,,183308.53*46 2021-02-17T18:33:10.113Z,1613586790.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 293.579987 m, bearing: 309.433278 deg, deltaT: 4.862466 s, approachRate: -0.703350 m/s, LOS rate: 0.027571 deg/s, posRepo size: 4 2021-02-17T18:33:10.115Z,1613586790.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 293.579987 m, bearing: 309.433278 deg, approachRate: -0.703350 m/s, LOS rate: 0.027571 deg/s, cmd update: 0.110284 deg/s, cmd heading: 318.818973 deg, new cmd heading: 318.760175 deg. 2021-02-17T18:33:12.467Z,1613586792.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:33:13.265Z,1613586793.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:33:13.674Z,1613586793.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:33:14.481Z,1613586794.481 [Micromodem](INFO): Nmea in: $SNTTA,0.193455,,,,183313.39*4E 2021-02-17T18:33:14.906Z,1613586794.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.040009 m, bearing: 309.328148 deg, deltaT: 4.856908 s, approachRate: -0.728854 m/s, LOS rate: -0.021646 deg/s, posRepo size: 4 2021-02-17T18:33:14.908Z,1613586794.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 290.040009 m, bearing: 309.328148 deg, approachRate: -0.728854 m/s, LOS rate: -0.021646 deg/s, cmd update: -0.086582 deg/s, cmd heading: 319.351961 deg, new cmd heading: 319.397258 deg. 2021-02-17T18:33:17.341Z,1613586797.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:33:18.113Z,1613586798.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:33:18.514Z,1613586798.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:33:19.329Z,1613586799.329 [Micromodem](INFO): Nmea in: $SNTTA,0.191076,,,,183318.23*49 2021-02-17T18:33:19.781Z,1613586799.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.380005 m, bearing: 308.943936 deg, deltaT: 4.888540 s, approachRate: -0.748691 m/s, LOS rate: -0.078594 deg/s, posRepo size: 4 2021-02-17T18:33:19.783Z,1613586799.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 286.380005 m, bearing: 308.943936 deg, approachRate: -0.748691 m/s, LOS rate: -0.078594 deg/s, cmd update: -0.314378 deg/s, cmd heading: 318.927436 deg, new cmd heading: 318.894294 deg. 2021-02-17T18:33:22.195Z,1613586802.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:33:22.964Z,1613586802.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:33:23.362Z,1613586803.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:33:24.189Z,1613586804.189 [Micromodem](INFO): Nmea in: $SNTTA,0.188851,,,,183323.08*4D 2021-02-17T18:33:24.640Z,1613586804.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 283.079987 m, bearing: 309.113844 deg, deltaT: 4.814671 s, approachRate: -0.685409 m/s, LOS rate: 0.035290 deg/s, posRepo size: 4 2021-02-17T18:33:24.642Z,1613586804.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 283.079987 m, bearing: 309.113844 deg, approachRate: -0.685409 m/s, LOS rate: 0.035290 deg/s, cmd update: 0.141158 deg/s, cmd heading: 317.410849 deg, new cmd heading: 317.281029 deg. 2021-02-17T18:33:27.090Z,1613586807.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:33:27.851Z,1613586807.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:33:28.227Z,1613586808.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:33:29.060Z,1613586809.060 [Micromodem](INFO): Nmea in: $SNTTA,0.186409,,,,183327.97*40 2021-02-17T18:33:29.468Z,1613586809.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 279.419983 m, bearing: 308.980027 deg, deltaT: 4.913545 s, approachRate: -0.744880 m/s, LOS rate: -0.027234 deg/s, posRepo size: 4 2021-02-17T18:33:29.471Z,1613586809.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 279.419983 m, bearing: 308.980027 deg, approachRate: -0.744880 m/s, LOS rate: -0.027234 deg/s, cmd update: -0.108937 deg/s, cmd heading: 318.102157 deg, new cmd heading: 318.151147 deg. 2021-02-17T18:33:31.865Z,1613586811.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:33:32.658Z,1613586812.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:33:33.080Z,1613586813.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:33:33.884Z,1613586813.884 [Micromodem](INFO): Nmea in: $SNTTA,0.184207,,,,183332.78*4F 2021-02-17T18:33:34.328Z,1613586814.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.119995 m, bearing: 309.447949 deg, deltaT: 4.762236 s, approachRate: -0.692949 m/s, LOS rate: 0.098257 deg/s, posRepo size: 4 2021-02-17T18:33:34.330Z,1613586814.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 276.119995 m, bearing: 309.447949 deg, approachRate: -0.692949 m/s, LOS rate: 0.098257 deg/s, cmd update: 0.393028 deg/s, cmd heading: 317.581611 deg, new cmd heading: 317.534806 deg. 2021-02-17T18:33:36.725Z,1613586816.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:33:37.500Z,1613586817.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:33:37.915Z,1613586817.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:33:38.718Z,1613586818.718 [Micromodem](INFO): Nmea in: $SNTTA,0.181905,,,,183337.62*4D 2021-02-17T18:33:39.192Z,1613586819.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 272.699982 m, bearing: 309.363993 deg, deltaT: 4.854576 s, approachRate: -0.704493 m/s, LOS rate: -0.017294 deg/s, posRepo size: 4 2021-02-17T18:33:39.194Z,1613586819.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 272.699982 m, bearing: 309.363993 deg, approachRate: -0.704493 m/s, LOS rate: -0.017294 deg/s, cmd update: -0.069177 deg/s, cmd heading: 319.481682 deg, new cmd heading: 319.660529 deg. 2021-02-17T18:33:41.566Z,1613586821.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:33:42.365Z,1613586822.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:33:42.775Z,1613586822.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:33:43.578Z,1613586823.578 [Micromodem](INFO): Nmea in: $SNTTA,0.179616,,,,183342.49*4C 2021-02-17T18:33:44.077Z,1613586824.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 269.220001 m, bearing: 309.421667 deg, deltaT: 4.868049 s, approachRate: -0.714861 m/s, LOS rate: 0.011847 deg/s, posRepo size: 4 2021-02-17T18:33:44.078Z,1613586824.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 269.220001 m, bearing: 309.421667 deg, approachRate: -0.714861 m/s, LOS rate: 0.011847 deg/s, cmd update: 0.047390 deg/s, cmd heading: 319.143810 deg, new cmd heading: 319.112020 deg. 2021-02-17T18:33:46.438Z,1613586826.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:33:47.198Z,1613586827.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:33:47.604Z,1613586827.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:33:48.414Z,1613586828.414 [Micromodem](INFO): Nmea in: $SNTTA,0.177385,,,,183347.32*44 2021-02-17T18:33:48.854Z,1613586828.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.859985 m, bearing: 309.188266 deg, deltaT: 4.845604 s, approachRate: -0.693415 m/s, LOS rate: -0.048168 deg/s, posRepo size: 4 2021-02-17T18:33:48.856Z,1613586828.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 265.859985 m, bearing: 309.188266 deg, approachRate: -0.693415 m/s, LOS rate: -0.048168 deg/s, cmd update: -0.192670 deg/s, cmd heading: 319.372306 deg, new cmd heading: 319.391994 deg. 2021-02-17T18:33:51.289Z,1613586831.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:33:52.075Z,1613586832.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:33:52.450Z,1613586832.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:33:53.277Z,1613586833.277 [Micromodem](INFO): Nmea in: $SNTTA,0.175091,,,,183352.19*4D 2021-02-17T18:33:53.697Z,1613586833.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.439972 m, bearing: 309.736812 deg, deltaT: 4.865109 s, approachRate: -0.702967 m/s, LOS rate: 0.112751 deg/s, posRepo size: 4 2021-02-17T18:33:53.699Z,1613586833.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 262.439972 m, bearing: 309.736812 deg, approachRate: -0.702967 m/s, LOS rate: 0.112751 deg/s, cmd update: 0.451004 deg/s, cmd heading: 318.429563 deg, new cmd heading: 318.359106 deg. 2021-02-17T18:33:56.122Z,1613586836.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:33:56.892Z,1613586836.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:33:57.297Z,1613586837.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:33:58.112Z,1613586838.112 [Micromodem](INFO): Nmea in: $SNTTA,0.172685,,,,183357.01*45 2021-02-17T18:33:58.550Z,1613586838.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.779999 m, bearing: 308.399188 deg, deltaT: 4.834079 s, approachRate: -0.757119 m/s, LOS rate: -0.276707 deg/s, posRepo size: 4 2021-02-17T18:33:58.552Z,1613586838.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 258.779999 m, bearing: 308.399188 deg, approachRate: -0.757119 m/s, LOS rate: -0.276707 deg/s, cmd update: -1.106829 deg/s, cmd heading: 320.600704 deg, new cmd heading: 320.783108 deg. 2021-02-17T18:34:00.951Z,1613586840.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:01.740Z,1613586841.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:34:02.146Z,1613586842.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:34:02.989Z,1613586842.989 [Micromodem](INFO): Nmea in: $SNTTA,0.170347,,,,183401.86*47 2021-02-17T18:34:03.405Z,1613586843.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.299988 m, bearing: 309.186954 deg, deltaT: 4.918697 s, approachRate: -0.707507 m/s, LOS rate: 0.160158 deg/s, posRepo size: 4 2021-02-17T18:34:03.407Z,1613586843.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 255.299988 m, bearing: 309.186954 deg, approachRate: -0.707507 m/s, LOS rate: 0.160158 deg/s, cmd update: 0.640630 deg/s, cmd heading: 315.138621 deg, new cmd heading: 314.779444 deg. 2021-02-17T18:34:05.805Z,1613586845.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:06.593Z,1613586846.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:34:07.020Z,1613586847.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:34:07.809Z,1613586847.809 [Micromodem](INFO): Nmea in: $SNTTA,0.168219,,,,183406.71*4B 2021-02-17T18:34:08.272Z,1613586848.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.119980 m, bearing: 309.642337 deg, deltaT: 4.739743 s, approachRate: -0.670924 m/s, LOS rate: 0.096077 deg/s, posRepo size: 4 2021-02-17T18:34:08.274Z,1613586848.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 252.119980 m, bearing: 309.642337 deg, approachRate: -0.670924 m/s, LOS rate: 0.096077 deg/s, cmd update: 0.384310 deg/s, cmd heading: 318.177329 deg, new cmd heading: 318.464453 deg. 2021-02-17T18:34:10.642Z,1613586850.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:11.441Z,1613586851.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:34:11.849Z,1613586851.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:34:12.657Z,1613586852.657 [Micromodem](INFO): Nmea in: $SNTTA,0.165986,,,,183411.56*48 2021-02-17T18:34:13.137Z,1613586853.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.759995 m, bearing: 310.694869 deg, deltaT: 4.847927 s, approachRate: -0.693077 m/s, LOS rate: 0.217110 deg/s, posRepo size: 4 2021-02-17T18:34:13.139Z,1613586853.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 248.759995 m, bearing: 310.694869 deg, approachRate: -0.693077 m/s, LOS rate: 0.217110 deg/s, cmd update: 0.868439 deg/s, cmd heading: 320.040476 deg, new cmd heading: 320.219160 deg. 2021-02-17T18:34:15.490Z,1613586855.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:16.284Z,1613586856.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:34:16.714Z,1613586856.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:34:17.507Z,1613586857.507 [Micromodem](INFO): Nmea in: $SNTTA,0.163564,,,,183416.40*4E 2021-02-17T18:34:17.934Z,1613586857.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.159988 m, bearing: 309.585892 deg, deltaT: 4.850789 s, approachRate: -0.742149 m/s, LOS rate: -0.228618 deg/s, posRepo size: 4 2021-02-17T18:34:17.936Z,1613586857.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 245.159988 m, bearing: 309.585892 deg, approachRate: -0.742149 m/s, LOS rate: -0.228618 deg/s, cmd update: -0.914471 deg/s, cmd heading: 324.253307 deg, new cmd heading: 324.610649 deg. 2021-02-17T18:34:20.366Z,1613586860.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:21.134Z,1613586861.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:34:21.544Z,1613586861.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:34:22.350Z,1613586862.350 [Micromodem](INFO): Nmea in: $SNTTA,0.161293,,,,183421.25*44 2021-02-17T18:34:22.778Z,1613586862.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 241.679993 m, bearing: 309.872705 deg, deltaT: 4.917787 s, approachRate: -0.707635 m/s, LOS rate: 0.058322 deg/s, posRepo size: 4 2021-02-17T18:34:22.796Z,1613586862.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 241.679993 m, bearing: 309.872705 deg, approachRate: -0.707635 m/s, LOS rate: 0.058322 deg/s, cmd update: 0.233286 deg/s, cmd heading: 319.764991 deg, new cmd heading: 319.447670 deg. 2021-02-17T18:34:25.214Z,1613586865.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:26.009Z,1613586866.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:34:26.392Z,1613586866.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:34:27.208Z,1613586867.208 [Micromodem](INFO): Nmea in: $SNTTA,0.159385,,,,183426.13*4B 2021-02-17T18:34:28.093Z,1613586868.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:29.616Z,1613586869.616 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:34:30.842Z,1613586870.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:31.636Z,1613586871.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:34:32.078Z,1613586872.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:34:32.861Z,1613586872.861 [Micromodem](INFO): Nmea in: $SNTTA,0.156408,,,,183431.75*40 2021-02-17T18:34:33.304Z,1613586873.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.360001 m, bearing: 310.394340 deg, deltaT: 10.435499 s, approachRate: -0.701451 m/s, LOS rate: 0.049987 deg/s, posRepo size: 4 2021-02-17T18:34:33.306Z,1613586873.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 234.360001 m, bearing: 310.394340 deg, approachRate: -0.701451 m/s, LOS rate: 0.049987 deg/s, cmd update: 0.199946 deg/s, cmd heading: 322.201670 deg, new cmd heading: 322.301398 deg. 2021-02-17T18:34:35.707Z,1613586875.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:36.485Z,1613586876.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:34:36.890Z,1613586876.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:34:37.704Z,1613586877.704 [Micromodem](INFO): Nmea in: $SNTTA,0.154017,,,,183436.61*4A 2021-02-17T18:34:38.148Z,1613586878.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.820007 m, bearing: 309.448714 deg, deltaT: 4.842857 s, approachRate: -0.730972 m/s, LOS rate: -0.195262 deg/s, posRepo size: 4 2021-02-17T18:34:38.150Z,1613586878.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 230.820007 m, bearing: 309.448714 deg, approachRate: -0.730972 m/s, LOS rate: -0.195262 deg/s, cmd update: -0.781048 deg/s, cmd heading: 323.170018 deg, new cmd heading: 323.255737 deg. 2021-02-17T18:34:40.539Z,1613586880.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:41.332Z,1613586881.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:34:41.739Z,1613586881.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:34:42.552Z,1613586882.552 [Micromodem](INFO): Nmea in: $SNTTA,0.151569,,,,183441.45*45 2021-02-17T18:34:43.393Z,1613586883.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:46.237Z,1613586886.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:49.096Z,1613586889.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:49.817Z,1613586889.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:34:50.222Z,1613586890.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:34:51.072Z,1613586891.072 [Micromodem](INFO): Nmea in: $SNTTA,0.147653,,,,183449.94*4C 2021-02-17T18:34:51.862Z,1613586891.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:53.463Z,1613586893.463 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:34:54.720Z,1613586894.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:34:55.472Z,1613586895.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:34:55.883Z,1613586895.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:34:56.709Z,1613586896.709 [Micromodem](INFO): Nmea in: $SNTTA,0.144870,,,,183455.59*4C 2021-02-17T18:34:57.146Z,1613586897.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.139999 m, bearing: 311.501214 deg, deltaT: 19.003704 s, approachRate: -0.719860 m/s, LOS rate: 0.108005 deg/s, posRepo size: 4 2021-02-17T18:34:57.148Z,1613586897.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.139999 m, bearing: 311.501214 deg, approachRate: -0.719860 m/s, LOS rate: 0.108005 deg/s, cmd update: 0.432021 deg/s, cmd heading: 308.327211 deg, new cmd heading: 307.996575 deg. 2021-02-17T18:34:59.538Z,1613586899.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:00.322Z,1613586900.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:35:00.728Z,1613586900.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:35:01.538Z,1613586901.538 [Micromodem](INFO): Nmea in: $SNTTA,0.142612,,,,183500.44*4D 2021-02-17T18:35:01.991Z,1613586901.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.659988 m, bearing: 309.681487 deg, deltaT: 4.859683 s, approachRate: -0.716098 m/s, LOS rate: -0.374454 deg/s, posRepo size: 4 2021-02-17T18:35:02.006Z,1613586902.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.659988 m, bearing: 309.681487 deg, approachRate: -0.716098 m/s, LOS rate: -0.374454 deg/s, cmd update: -1.497815 deg/s, cmd heading: 310.424176 deg, new cmd heading: 310.592825 deg. 2021-02-17T18:35:04.404Z,1613586904.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:05.173Z,1613586905.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:35:05.580Z,1613586905.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:35:06.388Z,1613586906.388 [Micromodem](INFO): Nmea in: $SNTTA,0.140189,,,,183505.29*44 2021-02-17T18:35:06.814Z,1613586906.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.059998 m, bearing: 310.238366 deg, deltaT: 4.862179 s, approachRate: -0.740407 m/s, LOS rate: 0.114533 deg/s, posRepo size: 4 2021-02-17T18:35:06.816Z,1613586906.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.059998 m, bearing: 310.238366 deg, approachRate: -0.740407 m/s, LOS rate: 0.114533 deg/s, cmd update: 0.458131 deg/s, cmd heading: 303.139153 deg, new cmd heading: 302.579384 deg. 2021-02-17T18:35:09.265Z,1613586909.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:10.040Z,1613586910.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:35:10.421Z,1613586910.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:35:11.247Z,1613586911.247 [Micromodem](INFO): Nmea in: $SNTTA,0.137844,,,,183510.16*44 2021-02-17T18:35:11.674Z,1613586911.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.519989 m, bearing: 311.121264 deg, deltaT: 4.868034 s, approachRate: -0.727195 m/s, LOS rate: 0.181366 deg/s, posRepo size: 4 2021-02-17T18:35:11.676Z,1613586911.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 206.519989 m, bearing: 311.121264 deg, approachRate: -0.727195 m/s, LOS rate: 0.181366 deg/s, cmd update: 0.725465 deg/s, cmd heading: 305.369394 deg, new cmd heading: 305.536882 deg. 2021-02-17T18:35:14.122Z,1613586914.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:14.872Z,1613586914.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:35:15.275Z,1613586915.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:35:16.090Z,1613586916.090 [Micromodem](INFO): Nmea in: $SNTTA,0.135527,,,,183514.99*4D 2021-02-17T18:35:16.514Z,1613586916.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.039978 m, bearing: 312.199751 deg, deltaT: 4.842255 s, approachRate: -0.718676 m/s, LOS rate: 0.222724 deg/s, posRepo size: 4 2021-02-17T18:35:16.516Z,1613586916.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.039978 m, bearing: 312.199751 deg, approachRate: -0.718676 m/s, LOS rate: 0.222724 deg/s, cmd update: 0.890896 deg/s, cmd heading: 308.882223 deg, new cmd heading: 309.145821 deg. 2021-02-17T18:35:18.921Z,1613586918.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:19.728Z,1613586919.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:35:20.119Z,1613586920.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:35:20.938Z,1613586920.938 [Micromodem](INFO): Nmea in: $SNTTA,0.133311,,,,183519.85*48 2021-02-17T18:35:21.376Z,1613586921.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.739990 m, bearing: 313.040820 deg, deltaT: 4.862712 s, approachRate: -0.678631 m/s, LOS rate: 0.172963 deg/s, posRepo size: 4 2021-02-17T18:35:21.378Z,1613586921.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.739990 m, bearing: 313.040820 deg, approachRate: -0.678631 m/s, LOS rate: 0.172963 deg/s, cmd update: 0.691852 deg/s, cmd heading: 313.189264 deg, new cmd heading: 313.537394 deg. 2021-02-17T18:35:23.780Z,1613586923.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:24.560Z,1613586924.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:35:24.995Z,1613586924.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:35:25.793Z,1613586925.793 [Micromodem](INFO): Nmea in: $SNTTA,0.130999,,,,183524.68*4C 2021-02-17T18:35:26.614Z,1613586926.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:29.438Z,1613586929.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:32.270Z,1613586932.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:33.074Z,1613586933.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:35:33.450Z,1613586933.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:35:34.283Z,1613586934.283 [Micromodem](INFO): Nmea in: $SNTTA,0.127058,,,,183533.19*4E 2021-02-17T18:35:34.728Z,1613586934.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.439987 m, bearing: 312.706414 deg, deltaT: 13.318577 s, approachRate: -0.698273 m/s, LOS rate: -0.025108 deg/s, posRepo size: 4 2021-02-17T18:35:34.730Z,1613586934.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.439987 m, bearing: 312.706414 deg, approachRate: -0.698273 m/s, LOS rate: -0.025108 deg/s, cmd update: -0.100433 deg/s, cmd heading: 322.412128 deg, new cmd heading: 322.696947 deg. 2021-02-17T18:35:37.122Z,1613586937.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:37.897Z,1613586937.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:35:38.298Z,1613586938.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:35:39.117Z,1613586939.117 [Micromodem](INFO): Nmea in: $SNTTA,0.124749,,,,183538.02*4B 2021-02-17T18:35:39.550Z,1613586939.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.899994 m, bearing: 312.202100 deg, deltaT: 4.814250 s, approachRate: -0.735316 m/s, LOS rate: -0.104754 deg/s, posRepo size: 4 2021-02-17T18:35:39.552Z,1613586939.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.899994 m, bearing: 312.202100 deg, approachRate: -0.735316 m/s, LOS rate: -0.104754 deg/s, cmd update: -0.419018 deg/s, cmd heading: 321.926573 deg, new cmd heading: 321.886495 deg. 2021-02-17T18:35:41.950Z,1613586941.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:42.740Z,1613586942.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:35:43.147Z,1613586943.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:35:43.992Z,1613586943.992 [Micromodem](INFO): Nmea in: $SNTTA,0.122551,,,,183542.86*47 2021-02-17T18:35:44.071Z,1613586944.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.899994 m, bearing: 311.984299 deg, deltaT: 4.437695 s, approachRate: 0.000000 m/s, LOS rate: -0.049080 deg/s, posRepo size: 4 2021-02-17T18:35:44.073Z,1613586944.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.899994 m, bearing: 311.984299 deg, approachRate: 0.000000 m/s, LOS rate: -0.049080 deg/s, cmd update: -0.196319 deg/s, cmd heading: 320.067666 deg, new cmd heading: 319.864939 deg. 2021-02-17T18:35:46.091Z,1613586946.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:46.781Z,1613586946.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:35:47.199Z,1613586947.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:35:48.036Z,1613586948.036 [Micromodem](INFO): Nmea in: $SNTTA,0.120642,,,,183546.90*47 2021-02-17T18:35:48.094Z,1613586948.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.899994 m, bearing: 311.203964 deg, deltaT: 4.040533 s, approachRate: 0.000000 m/s, LOS rate: -0.193127 deg/s, posRepo size: 4 2021-02-17T18:35:48.096Z,1613586948.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.899994 m, bearing: 311.203964 deg, approachRate: 0.000000 m/s, LOS rate: -0.193127 deg/s, cmd update: -0.772507 deg/s, cmd heading: 319.276018 deg, new cmd heading: 319.182924 deg. 2021-02-17T18:35:50.432Z,1613586950.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:51.230Z,1613586951.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:35:51.629Z,1613586951.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:35:52.461Z,1613586952.461 [Micromodem](INFO): Nmea in: $SNTTA,0.118585,,,,183551.35*4D 2021-02-17T18:35:52.502Z,1613586952.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.659988 m, bearing: 313.833914 deg, deltaT: 4.490358 s, approachRate: -2.057744 m/s, LOS rate: 0.585688 deg/s, posRepo size: 4 2021-02-17T18:35:52.504Z,1613586952.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.659988 m, bearing: 313.833914 deg, approachRate: -2.057744 m/s, LOS rate: 0.585688 deg/s, cmd update: 2.342754 deg/s, cmd heading: 315.812247 deg, new cmd heading: 315.504395 deg. 2021-02-17T18:35:55.020Z,1613586955.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:35:55.677Z,1613586955.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:35:56.084Z,1613586956.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:35:56.900Z,1613586956.900 [Micromodem](INFO): Nmea in: $SNTTA,0.116387,,,,183555.79*4B 2021-02-17T18:35:56.948Z,1613586956.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.659988 m, bearing: 312.744035 deg, deltaT: 4.378774 s, approachRate: 0.000000 m/s, LOS rate: -0.248901 deg/s, posRepo size: 4 2021-02-17T18:35:56.955Z,1613586956.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.659988 m, bearing: 312.744035 deg, approachRate: 0.000000 m/s, LOS rate: -0.248901 deg/s, cmd update: -0.995603 deg/s, cmd heading: 326.104990 deg, new cmd heading: 327.101853 deg. 2021-02-17T18:35:59.358Z,1613586959.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:00.113Z,1613586960.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:00.531Z,1613586960.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:01.344Z,1613586961.344 [Micromodem](INFO): Nmea in: $SNTTA,0.114436,,,,183600.23*48 2021-02-17T18:36:01.396Z,1613586961.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.480011 m, bearing: 312.762832 deg, deltaT: 4.519553 s, approachRate: -1.367387 m/s, LOS rate: 0.004159 deg/s, posRepo size: 4 2021-02-17T18:36:01.398Z,1613586961.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.480011 m, bearing: 312.762832 deg, approachRate: -1.367387 m/s, LOS rate: 0.004159 deg/s, cmd update: 0.016636 deg/s, cmd heading: 321.622924 deg, new cmd heading: 321.227066 deg. 2021-02-17T18:36:03.789Z,1613586963.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:04.561Z,1613586964.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:04.987Z,1613586964.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:05.788Z,1613586965.788 [Micromodem](INFO): Nmea in: $SNTTA,0.112363,,,0.204126,183604.68*5F 2021-02-17T18:36:05.825Z,1613586965.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.480011 m, bearing: 314.261894 deg, deltaT: 4.405550 s, approachRate: 0.000000 m/s, LOS rate: 0.340267 deg/s, posRepo size: 4 2021-02-17T18:36:05.827Z,1613586965.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.480011 m, bearing: 314.261894 deg, approachRate: 0.000000 m/s, LOS rate: 0.340267 deg/s, cmd update: 1.361067 deg/s, cmd heading: 321.696463 deg, new cmd heading: 321.703216 deg. 2021-02-17T18:36:08.234Z,1613586968.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:09.021Z,1613586969.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:09.414Z,1613586969.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:10.244Z,1613586970.244 [Micromodem](INFO): Nmea in: $SNTTA,0.110269,,,,183609.14*4D 2021-02-17T18:36:10.302Z,1613586970.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.480011 m, bearing: 314.102232 deg, deltaT: 4.418114 s, approachRate: 0.000000 m/s, LOS rate: -0.036138 deg/s, posRepo size: 4 2021-02-17T18:36:10.308Z,1613586970.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.480011 m, bearing: 314.102232 deg, approachRate: 0.000000 m/s, LOS rate: -0.036138 deg/s, cmd update: -0.144553 deg/s, cmd heading: 327.712978 deg, new cmd heading: 328.342426 deg. 2021-02-17T18:36:12.657Z,1613586972.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:13.444Z,1613586973.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:13.861Z,1613586973.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:14.674Z,1613586974.674 [Micromodem](INFO): Nmea in: $SNTTA,0.108216,,,,183613.56*41 2021-02-17T18:36:14.725Z,1613586974.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.180008 m, bearing: 312.805807 deg, deltaT: 4.463381 s, approachRate: -2.083623 m/s, LOS rate: -0.290458 deg/s, posRepo size: 4 2021-02-17T18:36:14.727Z,1613586974.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.180008 m, bearing: 312.805807 deg, approachRate: -2.083623 m/s, LOS rate: -0.290458 deg/s, cmd update: -1.161832 deg/s, cmd heading: 327.067536 deg, new cmd heading: 327.006997 deg. 2021-02-17T18:36:17.126Z,1613586977.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:17.894Z,1613586977.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:18.309Z,1613586978.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:19.120Z,1613586979.120 [Micromodem](INFO): Nmea in: $SNTTA,0.106079,,,,183618.01*4D 2021-02-17T18:36:19.173Z,1613586979.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.940002 m, bearing: 313.921450 deg, deltaT: 4.429572 s, approachRate: -0.731449 m/s, LOS rate: 0.251863 deg/s, posRepo size: 4 2021-02-17T18:36:19.175Z,1613586979.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.940002 m, bearing: 313.921450 deg, approachRate: -0.731449 m/s, LOS rate: 0.251863 deg/s, cmd update: 1.007450 deg/s, cmd heading: 321.940745 deg, new cmd heading: 321.410643 deg. 2021-02-17T18:36:21.554Z,1613586981.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:22.332Z,1613586982.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:22.737Z,1613586982.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:23.560Z,1613586983.560 [Micromodem](INFO): Nmea in: $SNTTA,0.104029,,,,183622.45*43 2021-02-17T18:36:23.602Z,1613586983.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.880005 m, bearing: 313.290231 deg, deltaT: 4.498478 s, approachRate: -0.680230 m/s, LOS rate: -0.140318 deg/s, posRepo size: 4 2021-02-17T18:36:23.608Z,1613586983.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.880005 m, bearing: 313.290231 deg, approachRate: -0.680230 m/s, LOS rate: -0.140318 deg/s, cmd update: -0.561273 deg/s, cmd heading: 326.485539 deg, new cmd heading: 326.862159 deg. 2021-02-17T18:36:26.082Z,1613586986.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:26.776Z,1613586986.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:27.184Z,1613586987.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:28.036Z,1613586988.036 [Micromodem](INFO): Nmea in: $SNTTA,0.101935,,,,183626.89*46 2021-02-17T18:36:28.105Z,1613586988.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.640015 m, bearing: 312.865558 deg, deltaT: 4.387156 s, approachRate: -0.738517 m/s, LOS rate: -0.096799 deg/s, posRepo size: 4 2021-02-17T18:36:28.111Z,1613586988.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.640015 m, bearing: 312.865558 deg, approachRate: -0.738517 m/s, LOS rate: -0.096799 deg/s, cmd update: -0.387197 deg/s, cmd heading: 324.020906 deg, new cmd heading: 323.748426 deg. 2021-02-17T18:36:30.380Z,1613586990.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:30.908Z,1613586990.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:31.313Z,1613586991.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:32.136Z,1613586992.136 [Micromodem](INFO): Nmea in: $SNTTA,0.099902,,,,183631.03*46 2021-02-17T18:36:32.198Z,1613586992.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.639999 m, bearing: 313.776677 deg, deltaT: 4.115242 s, approachRate: -0.729001 m/s, LOS rate: 0.221401 deg/s, posRepo size: 4 2021-02-17T18:36:32.204Z,1613586992.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.639999 m, bearing: 313.776677 deg, approachRate: -0.729001 m/s, LOS rate: 0.221401 deg/s, cmd update: 0.885605 deg/s, cmd heading: 322.427564 deg, new cmd heading: 322.248194 deg. 2021-02-17T18:36:34.580Z,1613586994.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:35.357Z,1613586995.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:35.758Z,1613586995.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:36.584Z,1613586996.584 [Micromodem](INFO): Nmea in: $SNTTA,0.097935,,,,183635.47*48 2021-02-17T18:36:36.626Z,1613586996.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.760010 m, bearing: 314.982889 deg, deltaT: 4.485288 s, approachRate: -0.642097 m/s, LOS rate: 0.268926 deg/s, posRepo size: 4 2021-02-17T18:36:36.628Z,1613586996.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.760010 m, bearing: 314.982889 deg, approachRate: -0.642097 m/s, LOS rate: 0.268926 deg/s, cmd update: 1.075705 deg/s, cmd heading: 326.399576 deg, new cmd heading: 326.759724 deg. 2021-02-17T18:36:39.099Z,1613586999.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:39.806Z,1613586999.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:40.207Z,1613587000.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:41.039Z,1613587001.039 [Micromodem](INFO): Nmea in: $SNTTA,0.095815,,,,183639.92*4D 2021-02-17T18:36:41.106Z,1613587001.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.520004 m, bearing: 314.900216 deg, deltaT: 4.402406 s, approachRate: -0.735962 m/s, LOS rate: -0.018779 deg/s, posRepo size: 4 2021-02-17T18:36:41.114Z,1613587001.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.520004 m, bearing: 314.900216 deg, approachRate: -0.735962 m/s, LOS rate: -0.018779 deg/s, cmd update: -0.075116 deg/s, cmd heading: 331.135807 deg, new cmd heading: 331.655666 deg. 2021-02-17T18:36:43.464Z,1613587003.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:44.240Z,1613587004.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:44.652Z,1613587004.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:45.483Z,1613587005.483 [Micromodem](INFO): Nmea in: $SNTTA,0.093646,,,,183644.36*47 2021-02-17T18:36:45.502Z,1613587005.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.220001 m, bearing: 313.333070 deg, deltaT: 4.566191 s, approachRate: -0.722704 m/s, LOS rate: -0.343206 deg/s, posRepo size: 4 2021-02-17T18:36:45.504Z,1613587005.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.220001 m, bearing: 313.333070 deg, approachRate: -0.722704 m/s, LOS rate: -0.343206 deg/s, cmd update: -1.372826 deg/s, cmd heading: 330.792804 deg, new cmd heading: 330.769266 deg. 2021-02-17T18:36:47.913Z,1613587007.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:48.689Z,1613587008.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:49.090Z,1613587009.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:49.916Z,1613587009.916 [Micromodem](INFO): Nmea in: $SNTTA,0.091680,,,,183648.81*4F 2021-02-17T18:36:49.957Z,1613587009.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.339996 m, bearing: 313.258976 deg, deltaT: 4.335247 s, approachRate: -0.664323 m/s, LOS rate: -0.017091 deg/s, posRepo size: 4 2021-02-17T18:36:49.958Z,1613587009.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.339996 m, bearing: 313.258976 deg, approachRate: -0.664323 m/s, LOS rate: -0.017091 deg/s, cmd update: -0.068364 deg/s, cmd heading: 324.863420 deg, new cmd heading: 324.247497 deg. 2021-02-17T18:36:52.362Z,1613587012.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:53.128Z,1613587013.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:53.545Z,1613587013.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:54.356Z,1613587014.356 [Micromodem](INFO): Nmea in: $SNTTA,0.089586,,,,183653.24*46 2021-02-17T18:36:54.414Z,1613587014.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.160004 m, bearing: 314.190587 deg, deltaT: 4.492523 s, approachRate: -0.707841 m/s, LOS rate: 0.207369 deg/s, posRepo size: 4 2021-02-17T18:36:54.427Z,1613587014.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.160004 m, bearing: 314.190587 deg, approachRate: -0.707841 m/s, LOS rate: 0.207369 deg/s, cmd update: 0.829476 deg/s, cmd heading: 324.556654 deg, new cmd heading: 324.528008 deg. 2021-02-17T18:36:56.780Z,1613587016.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:36:57.573Z,1613587017.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:36:58.009Z,1613587018.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:36:58.804Z,1613587018.804 [Micromodem](INFO): Nmea in: $SNTTA,0.087575,,,,183657.69*49 2021-02-17T18:36:58.826Z,1613587018.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.160004 m, bearing: 314.749133 deg, deltaT: 4.412174 s, approachRate: -0.679937 m/s, LOS rate: 0.126592 deg/s, posRepo size: 4 2021-02-17T18:36:58.828Z,1613587018.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.160004 m, bearing: 314.749133 deg, approachRate: -0.679937 m/s, LOS rate: 0.126592 deg/s, cmd update: 0.506368 deg/s, cmd heading: 328.230826 deg, new cmd heading: 328.563729 deg. 2021-02-17T18:37:01.249Z,1613587021.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:02.027Z,1613587022.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:37:02.425Z,1613587022.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:37:03.268Z,1613587023.268 [Micromodem](INFO): Nmea in: $SNTTA,0.085364,,,,183702.14*46 2021-02-17T18:37:03.316Z,1613587023.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.860001 m, bearing: 314.018712 deg, deltaT: 4.412498 s, approachRate: -0.747876 m/s, LOS rate: -0.165534 deg/s, posRepo size: 4 2021-02-17T18:37:03.318Z,1613587023.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.860001 m, bearing: 314.018712 deg, approachRate: -0.747876 m/s, LOS rate: -0.165534 deg/s, cmd update: -0.662138 deg/s, cmd heading: 330.467212 deg, new cmd heading: 330.707351 deg. 2021-02-17T18:37:05.672Z,1613587025.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:06.460Z,1613587026.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:37:06.866Z,1613587026.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:37:07.695Z,1613587027.695 [Micromodem](INFO): Nmea in: $SNTTA,0.083348,,,,183706.58*42 2021-02-17T18:37:07.718Z,1613587027.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.800003 m, bearing: 313.462653 deg, deltaT: 4.468130 s, approachRate: -0.684850 m/s, LOS rate: -0.124450 deg/s, posRepo size: 4 2021-02-17T18:37:07.720Z,1613587027.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.800003 m, bearing: 313.462653 deg, approachRate: -0.684850 m/s, LOS rate: -0.124450 deg/s, cmd update: -0.497801 deg/s, cmd heading: 327.508662 deg, new cmd heading: 327.238081 deg. 2021-02-17T18:37:10.156Z,1613587030.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:10.904Z,1613587030.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:37:11.317Z,1613587031.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:37:12.132Z,1613587032.132 [Micromodem](INFO): Nmea in: $SNTTA,0.081169,,,,183711.02*48 2021-02-17T18:37:12.180Z,1613587032.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.560005 m, bearing: 312.866869 deg, deltaT: 4.432947 s, approachRate: -0.730890 m/s, LOS rate: -0.134399 deg/s, posRepo size: 4 2021-02-17T18:37:12.181Z,1613587032.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.560005 m, bearing: 312.866869 deg, approachRate: -0.730890 m/s, LOS rate: -0.134399 deg/s, cmd update: -0.537596 deg/s, cmd heading: 325.301977 deg, new cmd heading: 325.084367 deg. 2021-02-17T18:37:14.554Z,1613587034.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:15.348Z,1613587035.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:37:15.771Z,1613587035.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:37:16.576Z,1613587036.576 [Micromodem](INFO): Nmea in: $SNTTA,0.079121,,,,183715.46*47 2021-02-17T18:37:16.594Z,1613587036.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.440002 m, bearing: 313.741161 deg, deltaT: 4.500911 s, approachRate: -0.693194 m/s, LOS rate: 0.194248 deg/s, posRepo size: 4 2021-02-17T18:37:16.596Z,1613587036.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.440002 m, bearing: 313.741161 deg, approachRate: -0.693194 m/s, LOS rate: 0.194248 deg/s, cmd update: 0.776991 deg/s, cmd heading: 322.884441 deg, new cmd heading: 322.693710 deg. 2021-02-17T18:37:19.088Z,1613587039.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:19.823Z,1613587039.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:37:20.203Z,1613587040.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:37:21.051Z,1613587041.051 [Micromodem](INFO): Nmea in: $SNTTA,0.077175,,,,183719.94*4B 2021-02-17T18:37:21.116Z,1613587041.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.620003 m, bearing: 314.668236 deg, deltaT: 4.385098 s, approachRate: -0.643087 m/s, LOS rate: 0.211415 deg/s, posRepo size: 4 2021-02-17T18:37:21.118Z,1613587041.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.620003 m, bearing: 314.668236 deg, approachRate: -0.643087 m/s, LOS rate: 0.211415 deg/s, cmd update: 0.845660 deg/s, cmd heading: 326.294709 deg, new cmd heading: 326.673098 deg. 2021-02-17T18:37:23.469Z,1613587043.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:24.237Z,1613587044.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:37:24.650Z,1613587044.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:37:25.464Z,1613587045.464 [Micromodem](INFO): Nmea in: $SNTTA,0.074950,,,,183724.35*42 2021-02-17T18:37:25.496Z,1613587045.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.199997 m, bearing: 313.722555 deg, deltaT: 4.500611 s, approachRate: -0.759898 m/s, LOS rate: -0.210123 deg/s, posRepo size: 4 2021-02-17T18:37:25.498Z,1613587045.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.199997 m, bearing: 313.722555 deg, approachRate: -0.759898 m/s, LOS rate: -0.210123 deg/s, cmd update: -0.840491 deg/s, cmd heading: 330.097366 deg, new cmd heading: 330.411212 deg. 2021-02-17T18:37:27.894Z,1613587047.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:28.680Z,1613587048.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:37:29.088Z,1613587049.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:37:29.917Z,1613587049.917 [Micromodem](INFO): Nmea in: $SNTTA,0.072903,,,,183728.80*40 2021-02-17T18:37:29.974Z,1613587049.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.260010 m, bearing: 312.780426 deg, deltaT: 4.373333 s, approachRate: -0.672253 m/s, LOS rate: -0.215426 deg/s, posRepo size: 4 2021-02-17T18:37:30.001Z,1613587050.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.260010 m, bearing: 312.780426 deg, approachRate: -0.672253 m/s, LOS rate: -0.215426 deg/s, cmd update: -0.861703 deg/s, cmd heading: 326.418286 deg, new cmd heading: 326.024749 deg. 2021-02-17T18:37:32.366Z,1613587052.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:33.137Z,1613587053.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:37:33.529Z,1613587053.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:37:34.368Z,1613587054.368 [Micromodem](INFO): Nmea in: $SNTTA,0.070748,,,,183733.25*46 2021-02-17T18:37:34.430Z,1613587054.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.840004 m, bearing: 313.933854 deg, deltaT: 4.452091 s, approachRate: -0.768180 m/s, LOS rate: 0.259076 deg/s, posRepo size: 4 2021-02-17T18:37:34.437Z,1613587054.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.840004 m, bearing: 313.933854 deg, approachRate: -0.768180 m/s, LOS rate: 0.259076 deg/s, cmd update: 1.036302 deg/s, cmd heading: 322.588290 deg, new cmd heading: 322.171678 deg. 2021-02-17T18:37:36.797Z,1613587056.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:37.573Z,1613587057.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:37:38.002Z,1613587058.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:37:38.800Z,1613587058.800 [Micromodem](INFO): Nmea in: $SNTTA,0.068740,,,,183737.69*4B 2021-02-17T18:37:38.837Z,1613587058.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.959999 m, bearing: 314.119225 deg, deltaT: 4.485388 s, approachRate: -0.642086 m/s, LOS rate: 0.041328 deg/s, posRepo size: 4 2021-02-17T18:37:38.839Z,1613587058.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.959999 m, bearing: 314.119225 deg, approachRate: -0.642086 m/s, LOS rate: 0.041328 deg/s, cmd update: 0.165311 deg/s, cmd heading: 327.244213 deg, new cmd heading: 327.656206 deg. 2021-02-17T18:37:41.245Z,1613587061.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:42.025Z,1613587062.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:37:42.426Z,1613587062.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:37:43.255Z,1613587063.255 [Micromodem](INFO): Nmea in: $SNTTA,0.066525,,,,183742.14*4C 2021-02-17T18:37:43.289Z,1613587063.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.660004 m, bearing: 313.872082 deg, deltaT: 4.410629 s, approachRate: -0.748192 m/s, LOS rate: -0.056034 deg/s, posRepo size: 4 2021-02-17T18:37:43.291Z,1613587063.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.660004 m, bearing: 313.872082 deg, approachRate: -0.748192 m/s, LOS rate: -0.056034 deg/s, cmd update: -0.224135 deg/s, cmd heading: 327.973305 deg, new cmd heading: 328.045821 deg. 2021-02-17T18:37:45.689Z,1613587065.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:46.457Z,1613587066.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:37:46.872Z,1613587066.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:37:47.684Z,1613587067.684 [Micromodem](INFO): Nmea in: $SNTTA,0.064540,,,,183746.58*41 2021-02-17T18:37:47.718Z,1613587067.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.660004 m, bearing: 313.536938 deg, deltaT: 4.464362 s, approachRate: -0.671989 m/s, LOS rate: -0.075071 deg/s, posRepo size: 4 2021-02-17T18:37:47.720Z,1613587067.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.660004 m, bearing: 313.536938 deg, approachRate: -0.671989 m/s, LOS rate: -0.075071 deg/s, cmd update: -0.300284 deg/s, cmd heading: 326.972639 deg, new cmd heading: 326.882269 deg. 2021-02-17T18:37:50.142Z,1613587070.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:50.901Z,1613587070.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:37:51.305Z,1613587071.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:37:52.130Z,1613587072.130 [Micromodem](INFO): Nmea in: $SNTTA,0.062381,,,,183751.02*45 2021-02-17T18:37:52.208Z,1613587072.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.360008 m, bearing: 313.152562 deg, deltaT: 4.432730 s, approachRate: -0.744461 m/s, LOS rate: -0.086713 deg/s, posRepo size: 4 2021-02-17T18:37:52.210Z,1613587072.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.360008 m, bearing: 313.152562 deg, approachRate: -0.744461 m/s, LOS rate: -0.086713 deg/s, cmd update: -0.346852 deg/s, cmd heading: 325.642764 deg, new cmd heading: 325.503143 deg. 2021-02-17T18:37:54.552Z,1613587074.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:55.350Z,1613587075.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:37:55.758Z,1613587075.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:37:56.576Z,1613587076.576 [Micromodem](INFO): Nmea in: $SNTTA,0.060230,,,,183755.47*49 2021-02-17T18:37:56.610Z,1613587076.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.180000 m, bearing: 314.443577 deg, deltaT: 4.469917 s, approachRate: -0.711424 m/s, LOS rate: 0.288823 deg/s, posRepo size: 4 2021-02-17T18:37:56.612Z,1613587076.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.180000 m, bearing: 314.443577 deg, approachRate: -0.711424 m/s, LOS rate: 0.288823 deg/s, cmd update: 1.155292 deg/s, cmd heading: 324.092406 deg, new cmd heading: 323.954757 deg. 2021-02-17T18:37:59.093Z,1613587079.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:37:59.788Z,1613587079.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:00.202Z,1613587080.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:38:01.040Z,1613587081.040 [Micromodem](INFO): Nmea in: $SNTTA,0.058064,,,,183759.90*47 2021-02-17T18:38:01.106Z,1613587081.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.000000 m, bearing: 314.160124 deg, deltaT: 4.427742 s, approachRate: -0.718199 m/s, LOS rate: -0.064017 deg/s, posRepo size: 4 2021-02-17T18:38:01.108Z,1613587081.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.000000 m, bearing: 314.160124 deg, approachRate: -0.718199 m/s, LOS rate: -0.064017 deg/s, cmd update: -0.256070 deg/s, cmd heading: 329.201068 deg, new cmd heading: 329.744492 deg. 2021-02-17T18:38:03.450Z,1613587083.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:04.237Z,1613587084.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:04.644Z,1613587084.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:38:05.464Z,1613587085.464 [Micromodem](INFO): Nmea in: $SNTTA,0.056097,,,,183804.36*4E 2021-02-17T18:38:05.503Z,1613587085.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.940002 m, bearing: 314.451364 deg, deltaT: 4.488287 s, approachRate: -0.681774 m/s, LOS rate: 0.064889 deg/s, posRepo size: 4 2021-02-17T18:38:05.505Z,1613587085.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.940002 m, bearing: 314.451364 deg, approachRate: -0.681774 m/s, LOS rate: 0.064889 deg/s, cmd update: 0.259555 deg/s, cmd heading: 328.050302 deg, new cmd heading: 327.954670 deg. 2021-02-17T18:38:07.893Z,1613587087.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:08.676Z,1613587088.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:09.101Z,1613587089.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:38:09.912Z,1613587089.912 [Micromodem](INFO): Nmea in: $SNTTA,0.053910,,,,183808.80*4C 2021-02-17T18:38:09.945Z,1613587089.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.700005 m, bearing: 314.084992 deg, deltaT: 4.382615 s, approachRate: -0.739284 m/s, LOS rate: -0.083597 deg/s, posRepo size: 4 2021-02-17T18:38:09.947Z,1613587089.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.700005 m, bearing: 314.084992 deg, approachRate: -0.739284 m/s, LOS rate: -0.083597 deg/s, cmd update: -0.334386 deg/s, cmd heading: 329.188883 deg, new cmd heading: 329.300358 deg. 2021-02-17T18:38:12.360Z,1613587092.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:13.120Z,1613587093.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:13.529Z,1613587093.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:38:14.348Z,1613587094.348 [Micromodem](INFO): Nmea in: $SNTTA,0.051798,,,,183813.24*44 2021-02-17T18:38:14.431Z,1613587094.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.580002 m, bearing: 313.697775 deg, deltaT: 4.473310 s, approachRate: -0.697471 m/s, LOS rate: -0.086562 deg/s, posRepo size: 4 2021-02-17T18:38:14.434Z,1613587094.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.580002 m, bearing: 313.697775 deg, approachRate: -0.697471 m/s, LOS rate: -0.086562 deg/s, cmd update: -0.346247 deg/s, cmd heading: 327.701907 deg, new cmd heading: 327.546900 deg. 2021-02-17T18:38:16.782Z,1613587096.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:17.570Z,1613587097.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:17.995Z,1613587097.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:38:18.800Z,1613587098.800 [Micromodem](INFO): Nmea in: $SNTTA,0.049748,,,,183817.69*4D 2021-02-17T18:38:18.818Z,1613587098.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.400009 m, bearing: 313.354954 deg, deltaT: 4.418876 s, approachRate: -0.719638 m/s, LOS rate: -0.077581 deg/s, posRepo size: 4 2021-02-17T18:38:18.820Z,1613587098.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.400009 m, bearing: 313.354954 deg, approachRate: -0.719638 m/s, LOS rate: -0.077581 deg/s, cmd update: -0.310324 deg/s, cmd heading: 326.162746 deg, new cmd heading: 326.020761 deg. 2021-02-17T18:38:21.248Z,1613587101.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:22.024Z,1613587102.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:22.420Z,1613587102.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:38:23.244Z,1613587103.244 [Micromodem](INFO): Nmea in: $SNTTA,0.047721,,,,183822.14*40 2021-02-17T18:38:23.296Z,1613587103.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.580002 m, bearing: 314.335961 deg, deltaT: 4.427998 s, approachRate: -0.636858 m/s, LOS rate: 0.221546 deg/s, posRepo size: 4 2021-02-17T18:38:23.298Z,1613587103.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.580002 m, bearing: 314.335961 deg, approachRate: -0.636858 m/s, LOS rate: 0.221546 deg/s, cmd update: 0.886185 deg/s, cmd heading: 324.788656 deg, new cmd heading: 324.646037 deg. 2021-02-17T18:38:25.658Z,1613587105.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:26.453Z,1613587106.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:26.858Z,1613587106.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:38:27.680Z,1613587107.680 [Micromodem](INFO): Nmea in: $SNTTA,0.045560,,,,183826.57*46 2021-02-17T18:38:27.726Z,1613587107.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.160004 m, bearing: 314.249518 deg, deltaT: 4.480275 s, approachRate: -0.763346 m/s, LOS rate: -0.019294 deg/s, posRepo size: 4 2021-02-17T18:38:27.732Z,1613587107.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.160004 m, bearing: 314.249518 deg, approachRate: -0.763346 m/s, LOS rate: -0.019294 deg/s, cmd update: -0.077176 deg/s, cmd heading: 328.759123 deg, new cmd heading: 329.122316 deg. 2021-02-17T18:38:30.152Z,1613587110.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:30.897Z,1613587110.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:31.320Z,1613587111.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:38:32.124Z,1613587112.124 [Micromodem](INFO): Nmea in: $SNTTA,0.043512,,,,183831.01*40 2021-02-17T18:38:32.171Z,1613587112.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.040001 m, bearing: 314.272686 deg, deltaT: 4.422037 s, approachRate: -0.705558 m/s, LOS rate: 0.005239 deg/s, posRepo size: 4 2021-02-17T18:38:32.173Z,1613587112.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.040001 m, bearing: 314.272686 deg, approachRate: -0.705558 m/s, LOS rate: 0.005239 deg/s, cmd update: 0.020957 deg/s, cmd heading: 328.417865 deg, new cmd heading: 328.384454 deg. 2021-02-17T18:38:34.573Z,1613587114.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:35.357Z,1613587115.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:35.746Z,1613587115.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:38:36.576Z,1613587116.576 [Micromodem](INFO): Nmea in: $SNTTA,0.041598,,0.074842,,183835.47*55 2021-02-17T18:38:36.610Z,1613587116.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.920002 m, bearing: 313.502842 deg, deltaT: 4.470907 s, approachRate: -0.697845 m/s, LOS rate: -0.172190 deg/s, posRepo size: 4 2021-02-17T18:38:36.612Z,1613587116.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.920002 m, bearing: 313.502842 deg, approachRate: -0.697845 m/s, LOS rate: -0.172190 deg/s, cmd update: -0.688759 deg/s, cmd heading: 328.511486 deg, new cmd heading: 328.519967 deg. 2021-02-17T18:38:39.086Z,1613587119.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:39.790Z,1613587119.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:40.189Z,1613587120.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:38:41.033Z,1613587121.033 [Micromodem](INFO): Nmea in: $SNTTA,0.039670,,,,183839.91*4B 2021-02-17T18:38:41.106Z,1613587121.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.040001 m, bearing: 314.438550 deg, deltaT: 4.396618 s, approachRate: -0.655049 m/s, LOS rate: 0.212825 deg/s, posRepo size: 4 2021-02-17T18:38:41.108Z,1613587121.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.040001 m, bearing: 314.438550 deg, approachRate: -0.655049 m/s, LOS rate: 0.212825 deg/s, cmd update: 0.851299 deg/s, cmd heading: 325.480532 deg, new cmd heading: 325.136140 deg. 2021-02-17T18:38:43.464Z,1613587123.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:44.234Z,1613587124.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:44.645Z,1613587124.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:38:45.472Z,1613587125.472 [Micromodem](INFO): Nmea in: $SNTTA,0.037302,,,,183844.35*41 2021-02-17T18:38:45.494Z,1613587125.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.740002 m, bearing: 314.123651 deg, deltaT: 4.537272 s, approachRate: -0.727309 m/s, LOS rate: -0.069403 deg/s, posRepo size: 4 2021-02-17T18:38:45.496Z,1613587125.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.740002 m, bearing: 314.123651 deg, approachRate: -0.727309 m/s, LOS rate: -0.069403 deg/s, cmd update: -0.277611 deg/s, cmd heading: 329.335648 deg, new cmd heading: 329.641680 deg. 2021-02-17T18:38:47.888Z,1613587127.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:48.672Z,1613587128.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:49.087Z,1613587129.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:38:49.915Z,1613587129.915 [Micromodem](INFO): Nmea in: $SNTTA,0.035467,,,,183848.79*43 2021-02-17T18:38:50.713Z,1613587130.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:52.308Z,1613587132.308 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:38:53.540Z,1613587133.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:54.328Z,1613587134.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:54.739Z,1613587134.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:38:55.556Z,1613587135.556 [Micromodem](INFO): Nmea in: $SNTTA,0.032626,,,,183854.44*40 2021-02-17T18:38:55.598Z,1613587135.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.480000 m, bearing: 313.369926 deg, deltaT: 10.052956 s, approachRate: -0.722176 m/s, LOS rate: -0.074975 deg/s, posRepo size: 4 2021-02-17T18:38:55.604Z,1613587135.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.480000 m, bearing: 313.369926 deg, approachRate: -0.722176 m/s, LOS rate: -0.074975 deg/s, cmd update: -0.299902 deg/s, cmd heading: 326.542416 deg, new cmd heading: 326.430844 deg. 2021-02-17T18:38:58.066Z,1613587138.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:38:58.772Z,1613587138.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:38:59.179Z,1613587139.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:00.032Z,1613587140.032 [Micromodem](INFO): Nmea in: $SNTTA,0.030615,,,0.044978,183858.89*57 2021-02-17T18:39:00.092Z,1613587140.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.419998 m, bearing: 313.654745 deg, deltaT: 4.410606 s, approachRate: -0.693783 m/s, LOS rate: 0.064576 deg/s, posRepo size: 4 2021-02-17T18:39:00.094Z,1613587140.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.419998 m, bearing: 313.654745 deg, approachRate: -0.693783 m/s, LOS rate: 0.064576 deg/s, cmd update: 0.258304 deg/s, cmd heading: 325.219658 deg, new cmd heading: 325.074287 deg. 2021-02-17T18:39:02.118Z,1613587142.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:39:02.812Z,1613587142.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:39:03.217Z,1613587143.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:04.064Z,1613587144.064 [Micromodem](INFO): Nmea in: $SNTTA,0.028875,,,,183902.93*4B 2021-02-17T18:39:04.113Z,1613587144.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.780003 m, bearing: 313.346430 deg, deltaT: 4.026828 s, approachRate: -0.655602 m/s, LOS rate: -0.076565 deg/s, posRepo size: 4 2021-02-17T18:39:04.115Z,1613587144.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.780003 m, bearing: 313.346430 deg, approachRate: -0.655602 m/s, LOS rate: -0.076565 deg/s, cmd update: -0.306261 deg/s, cmd heading: 326.259809 deg, new cmd heading: 326.383704 deg. 2021-02-17T18:39:06.465Z,1613587146.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:39:07.256Z,1613587147.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:39:07.667Z,1613587147.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:08.492Z,1613587148.492 [Micromodem](INFO): Nmea in: $SNTTA,0.026757,,,,183907.37*41 2021-02-17T18:39:08.511Z,1613587148.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.660000 m, bearing: 314.106166 deg, deltaT: 4.480033 s, approachRate: -0.696424 m/s, LOS rate: 0.169583 deg/s, posRepo size: 4 2021-02-17T18:39:08.511Z,1613587148.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.66 m. 2021-02-17T18:39:08.513Z,1613587148.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.660000 m, bearing: 314.106166 deg, approachRate: -0.696424 m/s, LOS rate: 0.169583 deg/s, cmd update: 0.678330 deg/s, cmd heading: 324.887753 deg, new cmd heading: 324.766197 deg. 2021-02-17T18:39:08.889Z,1613587148.889 [PowerOnly](INFO): Powering up loadControl 2021-02-17T18:39:10.925Z,1613587150.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:39:11.717Z,1613587151.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:39:12.106Z,1613587152.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:12.940Z,1613587152.940 [Micromodem](INFO): Nmea in: $SNTTA,0.024456,,0.053074,,183911.83*52 2021-02-17T18:39:13.021Z,1613587153.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.480000 m, bearing: 312.981780 deg, deltaT: 4.435332 s, approachRate: -0.716970 m/s, LOS rate: -0.253507 deg/s, posRepo size: 4 2021-02-17T18:39:13.022Z,1613587153.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.48 m. 2021-02-17T18:39:13.022Z,1613587153.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.48 m. 2021-02-17T18:39:13.027Z,1613587153.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T18:39:13.043Z,1613587153.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.480000 m, bearing: 312.981780 deg, approachRate: -0.716970 m/s, LOS rate: -0.253507 deg/s, cmd update: -1.014026 deg/s, cmd heading: 327.893597 deg, new cmd heading: 328.216735 deg. 2021-02-17T18:39:15.385Z,1613587155.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:39:16.150Z,1613587156.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:39:16.555Z,1613587156.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:17.384Z,1613587157.384 [Micromodem](INFO): Nmea in: $SNTTA,0.022485,,0.038122,,183916.27*5C 2021-02-17T18:39:17.451Z,1613587157.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.239998 m, bearing: 313.773508 deg, deltaT: 4.469195 s, approachRate: -0.724963 m/s, LOS rate: 0.177152 deg/s, posRepo size: 4 2021-02-17T18:39:17.453Z,1613587157.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.239998 m, bearing: 313.773508 deg, approachRate: -0.724963 m/s, LOS rate: 0.177152 deg/s, cmd update: 0.708609 deg/s, cmd heading: 323.358008 deg, new cmd heading: 322.922825 deg. 2021-02-17T18:39:19.801Z,1613587159.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:39:20.599Z,1613587160.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:39:21.021Z,1613587161.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:21.824Z,1613587161.824 [Micromodem](INFO): Nmea in: $SNTTA,0.020515,,,,183920.72*47 2021-02-17T18:39:21.846Z,1613587161.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.880001 m, bearing: 313.899566 deg, deltaT: 4.407761 s, approachRate: -0.762291 m/s, LOS rate: 0.028599 deg/s, posRepo size: 4 2021-02-17T18:39:21.868Z,1613587161.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.880001 m, bearing: 313.899566 deg, approachRate: -0.762291 m/s, LOS rate: 0.028599 deg/s, cmd update: 0.114396 deg/s, cmd heading: 326.481625 deg, new cmd heading: 326.779337 deg. 2021-02-17T18:39:24.260Z,1613587164.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:39:25.054Z,1613587165.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:39:25.444Z,1613587165.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:26.272Z,1613587166.272 [Micromodem](INFO): Nmea in: $SNTTA,0.018202,,,,183925.17*4B 2021-02-17T18:39:26.326Z,1613587166.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.819998 m, bearing: 313.481531 deg, deltaT: 4.430330 s, approachRate: -0.690694 m/s, LOS rate: -0.094358 deg/s, posRepo size: 4 2021-02-17T18:39:26.333Z,1613587166.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.819998 m, bearing: 313.481531 deg, approachRate: -0.690694 m/s, LOS rate: -0.094358 deg/s, cmd update: -0.377430 deg/s, cmd heading: 326.988449 deg, new cmd heading: 327.042222 deg. 2021-02-17T18:39:28.683Z,1613587168.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:39:29.484Z,1613587169.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:39:30.093Z,1613587170.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:30.737Z,1613587170.737 [Micromodem](INFO): Nmea in: $SNTTA,0.016183,,,,183929.60*43 2021-02-17T18:39:30.753Z,1613587170.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.819998 m, bearing: 314.909806 deg, deltaT: 4.474507 s, approachRate: -0.670465 m/s, LOS rate: 0.319203 deg/s, posRepo size: 4 2021-02-17T18:39:30.755Z,1613587170.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.819998 m, bearing: 314.909806 deg, approachRate: -0.670465 m/s, LOS rate: 0.319203 deg/s, cmd update: 1.276811 deg/s, cmd heading: 325.299651 deg, new cmd heading: 325.140363 deg. 2021-02-17T18:39:33.197Z,1613587173.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:39:33.957Z,1613587173.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:39:34.373Z,1613587174.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:35.180Z,1613587175.180 [Micromodem](INFO): Nmea in: $SNTTA,0.013819,,,,183934.07*41 2021-02-17T18:39:35.234Z,1613587175.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.519997 m, bearing: 315.238338 deg, deltaT: 4.439623 s, approachRate: -0.743307 m/s, LOS rate: 0.074000 deg/s, posRepo size: 4 2021-02-17T18:39:35.240Z,1613587175.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.519997 m, bearing: 315.238338 deg, approachRate: -0.743307 m/s, LOS rate: 0.074000 deg/s, cmd update: 0.296000 deg/s, cmd heading: 330.968215 deg, new cmd heading: 331.559742 deg. 2021-02-17T18:39:37.599Z,1613587177.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:39:38.439Z,1613587178.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:39:38.813Z,1613587178.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:39.630Z,1613587179.630 [Micromodem](INFO): Nmea in: $SNTTA,0.011867,,0.127685,,183938.56*53 2021-02-17T18:39:39.677Z,1613587179.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.459999 m, bearing: 312.883234 deg, deltaT: 4.516226 s, approachRate: -0.677556 m/s, LOS rate: -0.521476 deg/s, posRepo size: 4 2021-02-17T18:39:39.678Z,1613587179.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.459999 m, bearing: 312.883234 deg, approachRate: -0.677556 m/s, LOS rate: -0.521476 deg/s, cmd update: -2.085904 deg/s, cmd heading: 332.301433 deg, new cmd heading: 332.420452 deg. 2021-02-17T18:39:42.117Z,1613587182.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:39:42.842Z,1613587182.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:39:43.247Z,1613587183.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:44.092Z,1613587184.092 [Micromodem](INFO): Nmea in: $SNTTA,0.009983,,,0.116620,183942.96*5D 2021-02-17T18:39:44.131Z,1613587184.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.639997 m, bearing: 314.250447 deg, deltaT: 4.446192 s, approachRate: -0.634251 m/s, LOS rate: 0.307502 deg/s, posRepo size: 4 2021-02-17T18:39:44.133Z,1613587184.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.639997 m, bearing: 314.250447 deg, approachRate: -0.634251 m/s, LOS rate: 0.307502 deg/s, cmd update: 1.230008 deg/s, cmd heading: 323.001768 deg, new cmd heading: 322.172292 deg. 2021-02-17T18:39:46.499Z,1613587186.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:39:47.285Z,1613587187.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:39:47.705Z,1613587187.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:48.528Z,1613587188.528 [Micromodem](INFO): Nmea in: $SNTTA,0.008861,,,,183947.40*43 2021-02-17T18:39:48.550Z,1613587188.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 317.323923 deg, deltaT: 4.427786 s, approachRate: -0.663988 m/s, LOS rate: 0.694134 deg/s, posRepo size: 4 2021-02-17T18:39:48.552Z,1613587188.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.700000 m, bearing: 317.323923 deg, approachRate: -0.663988 m/s, LOS rate: 0.694134 deg/s, cmd update: 2.776535 deg/s, cmd heading: 328.443102 deg, new cmd heading: 328.926933 deg. 2021-02-17T18:39:50.932Z,1613587190.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:39:51.724Z,1613587191.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:39:52.131Z,1613587192.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:52.966Z,1613587192.966 [Micromodem](INFO): Nmea in: $SNTTA,0.006016,,,,183951.84*4A 2021-02-17T18:39:53.067Z,1613587193.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.699999 m, bearing: 313.408448 deg, deltaT: 4.406039 s, approachRate: -0.680884 m/s, LOS rate: -0.888661 deg/s, posRepo size: 4 2021-02-17T18:39:53.069Z,1613587193.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.699999 m, bearing: 313.408448 deg, approachRate: -0.680884 m/s, LOS rate: -0.888661 deg/s, cmd update: -3.554643 deg/s, cmd heading: 340.676185 deg, new cmd heading: 342.019107 deg. 2021-02-17T18:39:55.418Z,1613587195.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:39:56.174Z,1613587196.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:39:56.579Z,1613587196.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:39:57.400Z,1613587197.400 [Micromodem](INFO): Nmea in: $SNTTA,0.004108,,,,183956.29*46 2021-02-17T18:39:57.425Z,1613587197.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.999998 m, bearing: 317.735783 deg, deltaT: 4.508708 s, approachRate: -0.598841 m/s, LOS rate: 0.959773 deg/s, posRepo size: 4 2021-02-17T18:39:57.427Z,1613587197.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.999998 m, bearing: 317.735783 deg, approachRate: -0.598841 m/s, LOS rate: 0.959773 deg/s, cmd update: 3.839091 deg/s, cmd heading: 324.634606 deg, new cmd heading: 323.391956 deg. 2021-02-17T18:39:59.819Z,1613587199.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:00.620Z,1613587200.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:01.026Z,1613587201.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:01.848Z,1613587201.848 [Micromodem](INFO): Nmea in: $SNTTA,0.003043,,,,184000.74*4A 2021-02-17T18:40:01.892Z,1613587201.892 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T18:40:01.892Z,1613587201.892 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T18:40:01.892Z,1613587201.892 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T18:40:01.892Z,1613587201.892 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T18:40:01.893Z,1613587201.893 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T18:40:01.893Z,1613587201.893 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.559999 m 2021-02-17T18:40:01.893Z,1613587201.893 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T18:40:01.894Z,1613587201.894 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T18:40:01.894Z,1613587201.894 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T18:40:01.897Z,1613587201.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 339.314208 deg, deltaT: 4.409610 s, approachRate: -0.326559 m/s, LOS rate: 4.893500 deg/s, posRepo size: 4 2021-02-17T18:40:01.898Z,1613587201.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.559999 m, bearing: 339.314208 deg, approachRate: -0.326559 m/s, LOS rate: 4.893500 deg/s, cmd update: 12.000000 deg/s, cmd heading: 341.548069 deg, new cmd heading: 343.143368 deg. 2021-02-17T18:40:02.288Z,1613587202.288 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T184002: (41.552319, -70.708603) 2021-02-17T18:40:02.288Z,1613587202.288 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T18:40:02.288Z,1613587202.288 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T18:40:02.288Z,1613587202.288 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T18:40:02.288Z,1613587202.288 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T18:40:02.289Z,1613587202.289 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T18:40:02.289Z,1613587202.289 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T18:40:02.289Z,1613587202.289 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T18:40:02.289Z,1613587202.289 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T18:40:02.676Z,1613587202.676 [UniversalFixResidualReporter](INFO): Fix residual: 3.3 %DT, over the last 1027.7 m. Residual distance 33.7 m at bearing 165.2 degrees. Fix at (41.5511, -70.7091) with 140.0 m made good. 2021-02-17T18:40:04.287Z,1613587204.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:05.073Z,1613587205.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:05.462Z,1613587205.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:06.292Z,1613587206.292 [Micromodem](INFO): Nmea in: $SNTTA,0.002874,,,,184005.19*49 2021-02-17T18:40:06.343Z,1613587206.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 322.518746 deg, deltaT: 4.408683 s, approachRate: -0.081657 m/s, LOS rate: -3.809633 deg/s, posRepo size: 4 2021-02-17T18:40:06.345Z,1613587206.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.199998 m, bearing: 322.518746 deg, approachRate: -0.081657 m/s, LOS rate: -3.809633 deg/s, cmd update: -12.000000 deg/s, cmd heading: 34.308770 deg, new cmd heading: 39.891806 deg. 2021-02-17T18:40:08.707Z,1613587208.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:09.506Z,1613587209.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:09.925Z,1613587209.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:10.732Z,1613587210.732 [Micromodem](INFO): Nmea in: $SNTTA,0.003348,,,,184009.62*4C 2021-02-17T18:40:10.778Z,1613587210.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.039999 m, bearing: 324.127665 deg, deltaT: 4.475527 s, approachRate: 0.187688 m/s, LOS rate: 0.359493 deg/s, posRepo size: 4 2021-02-17T18:40:10.780Z,1613587210.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.039999 m, bearing: 324.127665 deg, approachRate: 0.187688 m/s, LOS rate: 0.359493 deg/s, cmd update: 1.437971 deg/s, cmd heading: 340.459273 deg, new cmd heading: 335.506284 deg. 2021-02-17T18:40:13.196Z,1613587213.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:13.953Z,1613587213.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:14.350Z,1613587214.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:15.182Z,1613587215.182 [Micromodem](INFO): Nmea in: $SNTTA,0.005197,,0.016191,,184014.07*55 2021-02-17T18:40:15.261Z,1613587215.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.859998 m, bearing: 315.026684 deg, deltaT: 4.402993 s, approachRate: 0.640473 m/s, LOS rate: -2.066999 deg/s, posRepo size: 4 2021-02-17T18:40:15.267Z,1613587215.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.859998 m, bearing: 315.026684 deg, approachRate: 0.640473 m/s, LOS rate: -2.066999 deg/s, cmd update: -8.267995 deg/s, cmd heading: 346.796127 deg, new cmd heading: 347.499248 deg. 2021-02-17T18:40:17.601Z,1613587217.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:18.394Z,1613587218.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:18.806Z,1613587218.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:19.620Z,1613587219.620 [Micromodem](INFO): Nmea in: $SNTTA,0.007290,,,,184018.51*4C 2021-02-17T18:40:19.661Z,1613587219.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.479997 m, bearing: 330.537661 deg, deltaT: 4.482138 s, approachRate: 0.361434 m/s, LOS rate: 3.460620 deg/s, posRepo size: 4 2021-02-17T18:40:19.663Z,1613587219.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.479997 m, bearing: 330.537661 deg, approachRate: 0.361434 m/s, LOS rate: 3.460620 deg/s, cmd update: 12.000000 deg/s, cmd heading: 309.737095 deg, new cmd heading: 306.371236 deg. 2021-02-17T18:40:22.109Z,1613587222.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:22.834Z,1613587222.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:23.251Z,1613587223.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:24.088Z,1613587224.088 [Micromodem](INFO): Nmea in: $SNTTA,0.007850,,,,184022.95*4B 2021-02-17T18:40:24.122Z,1613587224.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 342.660400 deg, deltaT: 4.435107 s, approachRate: 0.500552 m/s, LOS rate: 2.733359 deg/s, posRepo size: 4 2021-02-17T18:40:24.124Z,1613587224.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.700000 m, bearing: 342.660400 deg, approachRate: 0.500552 m/s, LOS rate: 2.733359 deg/s, cmd update: 10.933436 deg/s, cmd heading: 2.836749 deg, new cmd heading: 8.148357 deg. 2021-02-17T18:40:26.488Z,1613587226.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:27.277Z,1613587227.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:27.693Z,1613587227.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:28.508Z,1613587228.508 [Micromodem](INFO): Nmea in: $SNTTA,0.010454,,,,184027.40*48 2021-02-17T18:40:28.545Z,1613587228.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.459998 m, bearing: 320.432342 deg, deltaT: 4.447332 s, approachRate: 0.620596 m/s, LOS rate: -4.998066 deg/s, posRepo size: 4 2021-02-17T18:40:28.546Z,1613587228.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.46 m. Rolling out. 2021-02-17T18:40:28.546Z,1613587228.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T18:40:30.927Z,1613587230.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:31.722Z,1613587231.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:32.146Z,1613587232.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:32.948Z,1613587232.948 [Micromodem](INFO): Nmea in: $SNTTA,0.012180,,,,184031.84*49 2021-02-17T18:40:33.052Z,1613587233.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.520002 m, bearing: 5.939309 deg, deltaT: 4.426905 s, approachRate: 0.691229 m/s, LOS rate: 10.279636 deg/s, posRepo size: 4 2021-02-17T18:40:35.024Z,1613587235.024 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T18:40:35.081Z,1613587235.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:35.761Z,1613587235.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:36.165Z,1613587236.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:37.017Z,1613587237.017 [Micromodem](INFO): Nmea in: $SNTTA,0.012833,,,,184035.88*40 2021-02-17T18:40:37.091Z,1613587237.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 327.091257 deg, deltaT: 4.018248 s, approachRate: 0.358365 m/s, LOS rate: -9.667909 deg/s, posRepo size: 4 2021-02-17T18:40:39.093Z,1613587239.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:39.800Z,1613587239.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:40.223Z,1613587240.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:40.241Z,1613587240.241 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T18:40:41.048Z,1613587241.048 [Micromodem](INFO): Nmea in: $SNTTA,0.014133,,,,184039.92*48 2021-02-17T18:40:41.117Z,1613587241.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.900000 m, bearing: 38.509372 deg, deltaT: 4.082915 s, approachRate: 0.720073 m/s, LOS rate: 17.491942 deg/s, posRepo size: 4 2021-02-17T18:40:43.442Z,1613587243.442 [PowerOnly](INFO): Powering down loadControl 2021-02-17T18:40:43.458Z,1613587243.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:44.249Z,1613587244.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:44.651Z,1613587244.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:45.097Z,1613587245.097 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T18:40:45.484Z,1613587245.484 [Micromodem](INFO): Nmea in: $SNTTA,0.015446,0.028946,0.022065,,184044.37*49 2021-02-17T18:40:45.502Z,1613587245.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.219997 m, bearing: 38.626871 deg, deltaT: 4.460813 s, approachRate: 0.295910 m/s, LOS rate: 0.026340 deg/s, posRepo size: 4 2021-02-17T18:40:47.900Z,1613587247.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:48.688Z,1613587248.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:49.106Z,1613587249.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:49.916Z,1613587249.916 [Micromodem](INFO): Nmea in: $SNTTA,0.016421,,,,184048.80*49 2021-02-17T18:40:49.950Z,1613587249.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.720001 m, bearing: 45.781385 deg, deltaT: 4.400288 s, approachRate: 0.340888 m/s, LOS rate: 1.625919 deg/s, posRepo size: 4 2021-02-17T18:40:52.389Z,1613587252.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:53.132Z,1613587253.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:53.555Z,1613587253.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:54.360Z,1613587254.360 [Micromodem](INFO): Nmea in: $SNTTA,0.017200,,,,184053.25*48 2021-02-17T18:40:54.445Z,1613587254.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.799997 m, bearing: 92.701458 deg, deltaT: 4.487274 s, approachRate: 0.240680 m/s, LOS rate: 10.456253 deg/s, posRepo size: 4 2021-02-17T18:40:55.186Z,1613587255.186 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T18:40:56.794Z,1613587256.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:40:57.587Z,1613587257.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:40:58.016Z,1613587258.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:40:58.819Z,1613587258.819 [Micromodem](INFO): Nmea in: $SNTTA,0.017932,,,,184057.70*46 2021-02-17T18:40:58.838Z,1613587258.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.939999 m, bearing: 89.718640 deg, deltaT: 4.411336 s, approachRate: 0.258425 m/s, LOS rate: -0.676171 deg/s, posRepo size: 4 2021-02-17T18:41:00.092Z,1613587260.092 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T18:41:01.222Z,1613587261.222 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T18:41:01.246Z,1613587261.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:02.033Z,1613587262.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:41:02.426Z,1613587262.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:41:03.256Z,1613587263.256 [Micromodem](INFO): Nmea in: $SNTTA,0.018928,,,,184102.15*40 2021-02-17T18:41:03.304Z,1613587263.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.099998 m, bearing: 56.851035 deg, deltaT: 4.417313 s, approachRate: 0.488985 m/s, LOS rate: -7.440633 deg/s, posRepo size: 4 2021-02-17T18:41:05.670Z,1613587265.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:06.466Z,1613587266.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:41:06.870Z,1613587266.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:41:07.692Z,1613587267.692 [Micromodem](INFO): Nmea in: $SNTTA,0.020076,,,,184106.58*44 2021-02-17T18:41:07.707Z,1613587267.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.180000 m, bearing: 47.736831 deg, deltaT: 4.471682 s, approachRate: 0.241520 m/s, LOS rate: -2.038205 deg/s, posRepo size: 4 2021-02-17T18:41:10.122Z,1613587270.122 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T18:41:10.160Z,1613587270.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:10.908Z,1613587270.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:41:11.314Z,1613587271.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:41:12.136Z,1613587272.136 [Micromodem](INFO): Nmea in: $SNTTA,0.021459,,,,184111.02*45 2021-02-17T18:41:12.169Z,1613587272.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.160004 m, bearing: 41.025914 deg, deltaT: 4.418980 s, approachRate: 0.448068 m/s, LOS rate: -1.518657 deg/s, posRepo size: 4 2021-02-17T18:41:14.572Z,1613587274.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:15.352Z,1613587275.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:41:15.430Z,1613587275.430 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T18:41:15.758Z,1613587275.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:41:16.580Z,1613587276.580 [Micromodem](INFO): Nmea in: $SNTTA,0.022370,,,,184115.47*4F 2021-02-17T18:41:16.605Z,1613587276.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.660000 m, bearing: 60.573321 deg, deltaT: 4.470121 s, approachRate: 0.335561 m/s, LOS rate: 4.372904 deg/s, posRepo size: 4 2021-02-17T18:41:19.087Z,1613587279.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:19.796Z,1613587279.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:41:20.208Z,1613587280.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:41:20.248Z,1613587280.248 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T18:41:21.040Z,1613587281.040 [Micromodem](INFO): Nmea in: $SNTTA,0.023571,,,,184119.91*4E 2021-02-17T18:41:21.108Z,1613587281.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.060001 m, bearing: 7.586875 deg, deltaT: 4.414802 s, approachRate: 0.543626 m/s, LOS rate: -12.001998 deg/s, posRepo size: 4 2021-02-17T18:41:23.446Z,1613587283.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:24.257Z,1613587284.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:41:24.652Z,1613587284.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:41:25.092Z,1613587285.092 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T18:41:25.483Z,1613587285.483 [Micromodem](INFO): Nmea in: $SNTTA,0.025725,,,,184124.37*49 2021-02-17T18:41:25.502Z,1613587285.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.159996 m, bearing: 61.508162 deg, deltaT: 4.486515 s, approachRate: 0.468068 m/s, LOS rate: 12.018524 deg/s, posRepo size: 4 2021-02-17T18:41:27.902Z,1613587287.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:28.689Z,1613587288.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:41:29.102Z,1613587289.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:41:29.921Z,1613587289.921 [Micromodem](INFO): Nmea in: $SNTTA,0.026878,0.044358,,,184128.81*5C 2021-02-17T18:41:29.954Z,1613587289.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.620003 m, bearing: 51.163304 deg, deltaT: 4.417770 s, approachRate: 0.556844 m/s, LOS rate: -2.341647 deg/s, posRepo size: 4 2021-02-17T18:41:32.377Z,1613587292.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:33.130Z,1613587293.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:41:33.539Z,1613587293.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:41:34.360Z,1613587294.360 [Micromodem](INFO): Nmea in: $SNTTA,0.030967,,,,184133.25*40 2021-02-17T18:41:34.394Z,1613587294.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.840000 m, bearing: 47.474562 deg, deltaT: 4.441444 s, approachRate: 0.499837 m/s, LOS rate: -0.830528 deg/s, posRepo size: 4 2021-02-17T18:41:35.182Z,1613587295.182 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T18:41:36.779Z,1613587296.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:37.572Z,1613587297.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:41:38.019Z,1613587298.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:41:38.799Z,1613587298.799 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184137.69*59 2021-02-17T18:41:38.818Z,1613587298.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.640003 m, bearing: 35.363284 deg, deltaT: 4.446051 s, approachRate: 0.404854 m/s, LOS rate: -2.724053 deg/s, posRepo size: 4 2021-02-17T18:41:41.276Z,1613587301.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:42.038Z,1613587302.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:41:42.422Z,1613587302.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:41:43.256Z,1613587303.256 [Micromodem](INFO): Nmea in: $SNTTA,0.030836,,,,184142.16*43 2021-02-17T18:41:43.309Z,1613587303.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.860001 m, bearing: 39.167546 deg, deltaT: 4.428598 s, approachRate: 0.501287 m/s, LOS rate: 0.859022 deg/s, posRepo size: 4 2021-02-17T18:41:45.666Z,1613587305.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:46.466Z,1613587306.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:41:46.866Z,1613587306.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:41:47.692Z,1613587307.692 [Micromodem](INFO): Nmea in: $SNTTA,0.032676,,0.041875,,184146.58*54 2021-02-17T18:41:47.729Z,1613587307.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.140003 m, bearing: 33.049161 deg, deltaT: 4.486649 s, approachRate: 0.508175 m/s, LOS rate: -1.363687 deg/s, posRepo size: 4 2021-02-17T18:41:50.142Z,1613587310.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:50.909Z,1613587310.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:41:51.309Z,1613587311.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:41:52.136Z,1613587312.136 [Micromodem](INFO): Nmea in: $SNTTA,0.033995,,,,184151.03*4E 2021-02-17T18:41:52.202Z,1613587312.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.059994 m, bearing: 34.369689 deg, deltaT: 4.402109 s, approachRate: 0.436152 m/s, LOS rate: 0.299976 deg/s, posRepo size: 4 2021-02-17T18:41:54.570Z,1613587314.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:55.349Z,1613587315.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:41:55.762Z,1613587315.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:41:56.584Z,1613587316.584 [Micromodem](INFO): Nmea in: $SNTTA,0.035774,,,,184155.47*4D 2021-02-17T18:41:56.630Z,1613587316.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.820000 m, bearing: 32.924719 deg, deltaT: 4.482250 s, approachRate: 0.615763 m/s, LOS rate: -0.322376 deg/s, posRepo size: 4 2021-02-17T18:41:59.093Z,1613587319.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:41:59.793Z,1613587319.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:00.206Z,1613587320.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:01.051Z,1613587321.051 [Micromodem](INFO): Nmea in: $SNTTA,0.037705,,,,184159.91*4E 2021-02-17T18:42:01.112Z,1613587321.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.400005 m, bearing: 89.546410 deg, deltaT: 4.420508 s, approachRate: 0.583645 m/s, LOS rate: 12.808865 deg/s, posRepo size: 4 2021-02-17T18:42:03.443Z,1613587323.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:42:04.241Z,1613587324.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:04.649Z,1613587324.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:05.481Z,1613587325.481 [Micromodem](INFO): Nmea in: $SNTTA,0.039191,,,,184204.36*4D 2021-02-17T18:42:05.502Z,1613587325.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.920006 m, bearing: 29.564552 deg, deltaT: 4.517069 s, approachRate: 0.557884 m/s, LOS rate: -13.278934 deg/s, posRepo size: 4 2021-02-17T18:42:07.892Z,1613587327.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:42:08.680Z,1613587328.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:09.089Z,1613587329.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:09.908Z,1613587329.908 [Micromodem](INFO): Nmea in: $SNTTA,0.040800,,,,184208.80*43 2021-02-17T18:42:09.945Z,1613587329.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.320004 m, bearing: 25.956245 deg, deltaT: 4.371542 s, approachRate: 0.549005 m/s, LOS rate: -0.825408 deg/s, posRepo size: 4 2021-02-17T18:42:12.362Z,1613587332.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:42:13.124Z,1613587333.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:13.538Z,1613587333.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:14.352Z,1613587334.352 [Micromodem](INFO): Nmea in: $SNTTA,0.042362,,,,184213.24*4A 2021-02-17T18:42:14.404Z,1613587334.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.719997 m, bearing: 17.474704 deg, deltaT: 4.507241 s, approachRate: 0.532475 m/s, LOS rate: -1.881759 deg/s, posRepo size: 4 2021-02-17T18:42:15.172Z,1613587335.172 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T18:42:16.781Z,1613587336.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:42:17.573Z,1613587337.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:17.999Z,1613587337.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:18.796Z,1613587338.796 [Micromodem](INFO): Nmea in: $SNTTA,0.098867,,,,184217.69*4E 2021-02-17T18:42:18.833Z,1613587338.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.239998 m, bearing: 32.036692 deg, deltaT: 4.402491 s, approachRate: 0.572403 m/s, LOS rate: 3.307670 deg/s, posRepo size: 4 2021-02-17T18:42:21.243Z,1613587341.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:42:22.025Z,1613587342.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:22.436Z,1613587342.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:23.244Z,1613587343.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184222.14*54 2021-02-17T18:42:23.293Z,1613587343.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.120003 m, bearing: 90.927296 deg, deltaT: 4.406244 s, approachRate: 0.653619 m/s, LOS rate: 13.365261 deg/s, posRepo size: 4 2021-02-17T18:42:25.672Z,1613587345.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:42:26.456Z,1613587346.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:26.862Z,1613587346.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:27.693Z,1613587347.693 [Micromodem](INFO): Nmea in: $SNTTA,0.048018,,0.066318,,184226.57*58 2021-02-17T18:42:27.743Z,1613587347.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.640007 m, bearing: 24.136649 deg, deltaT: 4.490727 s, approachRate: 0.561157 m/s, LOS rate: -14.873014 deg/s, posRepo size: 4 2021-02-17T18:42:30.166Z,1613587350.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:42:30.909Z,1613587350.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:31.323Z,1613587351.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:32.136Z,1613587352.136 [Micromodem](INFO): Nmea in: $SNTTA,0.049387,,,,184231.03*4F 2021-02-17T18:42:32.194Z,1613587352.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.100006 m, bearing: 358.805137 deg, deltaT: 4.398694 s, approachRate: 0.559257 m/s, LOS rate: -5.758874 deg/s, posRepo size: 4 2021-02-17T18:42:34.550Z,1613587354.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:42:35.352Z,1613587355.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:35.750Z,1613587355.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:36.576Z,1613587356.576 [Micromodem](INFO): Nmea in: $SNTTA,0.051084,,,,184235.47*42 2021-02-17T18:42:36.627Z,1613587356.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.620003 m, bearing: 352.609691 deg, deltaT: 4.513128 s, approachRate: 0.558370 m/s, LOS rate: -1.372761 deg/s, posRepo size: 4 2021-02-17T18:42:39.085Z,1613587359.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:42:39.793Z,1613587359.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:40.200Z,1613587360.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:41.040Z,1613587361.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184239.91*53 2021-02-17T18:42:41.100Z,1613587361.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.500008 m, bearing: 95.547994 deg, deltaT: 4.379230 s, approachRate: 0.657651 m/s, LOS rate: 23.506024 deg/s, posRepo size: 4 2021-02-17T18:42:43.449Z,1613587363.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:42:44.233Z,1613587364.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:44.644Z,1613587364.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:45.460Z,1613587365.460 [Micromodem](INFO): Nmea in: $SNTTA,0.054496,,,,184244.35*43 2021-02-17T18:42:45.494Z,1613587365.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.020004 m, bearing: 92.682341 deg, deltaT: 4.513883 s, approachRate: 0.558277 m/s, LOS rate: -0.634853 deg/s, posRepo size: 4 2021-02-17T18:42:47.893Z,1613587367.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:42:48.676Z,1613587368.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:49.088Z,1613587369.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:49.904Z,1613587369.904 [Micromodem](INFO): Nmea in: $SNTTA,0.056170,,,,184248.79*48 2021-02-17T18:42:49.942Z,1613587369.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.180000 m, bearing: 46.010818 deg, deltaT: 4.382803 s, approachRate: 0.492834 m/s, LOS rate: -10.648784 deg/s, posRepo size: 4 2021-02-17T18:42:52.367Z,1613587372.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:42:53.126Z,1613587373.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:53.526Z,1613587373.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:54.352Z,1613587374.352 [Micromodem](INFO): Nmea in: $SNTTA,0.058209,,,,184253.24*49 2021-02-17T18:42:54.401Z,1613587374.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.000000 m, bearing: 97.467797 deg, deltaT: 4.451595 s, approachRate: 0.633481 m/s, LOS rate: 11.559223 deg/s, posRepo size: 4 2021-02-17T18:42:56.778Z,1613587376.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:42:57.564Z,1613587377.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:42:57.995Z,1613587377.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:42:58.799Z,1613587378.799 [Micromodem](INFO): Nmea in: $SNTTA,0.059764,,,,184257.68*4A 2021-02-17T18:42:58.818Z,1613587378.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.820007 m, bearing: 87.427746 deg, deltaT: 4.444876 s, approachRate: 0.634440 m/s, LOS rate: -2.258792 deg/s, posRepo size: 4 2021-02-17T18:43:01.239Z,1613587381.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:02.063Z,1613587382.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:43:02.414Z,1613587382.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:43:03.238Z,1613587383.238 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T18:43:03.261Z,1613587383.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.820007 m, bearing: 86.862849 deg, deltaT: 4.429507 s, approachRate: 0.000000 m/s, LOS rate: -0.127531 deg/s, posRepo size: 4 2021-02-17T18:43:03.643Z,1613587383.643 [Micromodem](INFO): Nmea in: $SNTTA,0.061527,,,,184302.24*4D 2021-02-17T18:43:05.661Z,1613587385.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:06.454Z,1613587386.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:43:06.858Z,1613587386.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:43:07.680Z,1613587387.680 [Micromodem](INFO): Nmea in: $SNTTA,0.063449,,,,184306.57*46 2021-02-17T18:43:07.723Z,1613587387.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.980003 m, bearing: 87.329460 deg, deltaT: 4.490869 s, approachRate: 1.148997 m/s, LOS rate: 0.103902 deg/s, posRepo size: 4 2021-02-17T18:43:10.181Z,1613587390.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:10.896Z,1613587390.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:43:11.301Z,1613587391.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:43:12.124Z,1613587392.124 [Micromodem](INFO): Nmea in: $SNTTA,0.104440,,,,184311.01*4A 2021-02-17T18:43:12.186Z,1613587392.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.559998 m, bearing: 105.844525 deg, deltaT: 4.390184 s, approachRate: 0.587673 m/s, LOS rate: 4.217378 deg/s, posRepo size: 4 2021-02-17T18:43:14.553Z,1613587394.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:15.346Z,1613587395.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:43:15.746Z,1613587395.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:43:16.572Z,1613587396.572 [Micromodem](INFO): Nmea in: $SNTTA,0.066820,,,,184315.46*42 2021-02-17T18:43:16.609Z,1613587396.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.199997 m, bearing: 48.306397 deg, deltaT: 4.480514 s, approachRate: 0.589218 m/s, LOS rate: -12.841859 deg/s, posRepo size: 4 2021-02-17T18:43:19.074Z,1613587399.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:19.784Z,1613587399.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:43:20.196Z,1613587400.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:43:21.036Z,1613587401.036 [Micromodem](INFO): Nmea in: $SNTTA,0.068447,,,,184319.90*46 2021-02-17T18:43:21.093Z,1613587401.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.780006 m, bearing: 41.749275 deg, deltaT: 4.426223 s, approachRate: 0.582892 m/s, LOS rate: -1.481426 deg/s, posRepo size: 4 2021-02-17T18:43:23.446Z,1613587403.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:24.233Z,1613587404.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:43:24.634Z,1613587404.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:43:25.456Z,1613587405.456 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184324.35*50 2021-02-17T18:43:25.478Z,1613587405.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.779999 m, bearing: 96.659464 deg, deltaT: 4.531022 s, approachRate: 0.662101 m/s, LOS rate: 12.118720 deg/s, posRepo size: 4 2021-02-17T18:43:27.878Z,1613587407.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:28.677Z,1613587408.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:43:29.085Z,1613587409.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:43:29.904Z,1613587409.904 [Micromodem](INFO): Nmea in: $SNTTA,0.072087,,,,184328.80*46 2021-02-17T18:43:29.919Z,1613587409.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.239998 m, bearing: 97.358199 deg, deltaT: 4.337129 s, approachRate: 0.567195 m/s, LOS rate: 0.161105 deg/s, posRepo size: 4 2021-02-17T18:43:32.388Z,1613587412.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:33.122Z,1613587413.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:43:33.522Z,1613587413.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:43:34.348Z,1613587414.348 [Micromodem](INFO): Nmea in: $SNTTA,0.073950,,,,184333.24*40 2021-02-17T18:43:34.398Z,1613587414.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.119995 m, bearing: 89.721986 deg, deltaT: 4.482508 s, approachRate: 0.642497 m/s, LOS rate: -1.703558 deg/s, posRepo size: 4 2021-02-17T18:43:36.775Z,1613587416.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:37.560Z,1613587417.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:43:37.981Z,1613587417.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:43:38.788Z,1613587418.788 [Micromodem](INFO): Nmea in: $SNTTA,0.075557,,,,184337.68*41 2021-02-17T18:43:38.822Z,1613587418.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.459999 m, bearing: 50.783358 deg, deltaT: 4.429316 s, approachRate: 0.528299 m/s, LOS rate: -8.791115 deg/s, posRepo size: 4 2021-02-17T18:43:41.232Z,1613587421.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:42.042Z,1613587422.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:43:42.412Z,1613587422.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:43:43.250Z,1613587423.250 [Micromodem](INFO): Nmea in: $SNTTA,0.077480,,,,184342.16*43 2021-02-17T18:43:43.304Z,1613587423.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.400002 m, bearing: 45.976110 deg, deltaT: 4.446506 s, approachRate: 0.661194 m/s, LOS rate: -1.081129 deg/s, posRepo size: 4 2021-02-17T18:43:45.656Z,1613587425.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:46.463Z,1613587426.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:43:46.854Z,1613587426.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:43:47.704Z,1613587427.704 [Micromodem](INFO): Nmea in: $SNTTA,0.079322,,,,184346.58*4C 2021-02-17T18:43:47.734Z,1613587427.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.160011 m, bearing: 93.918837 deg, deltaT: 4.470368 s, approachRate: 0.617401 m/s, LOS rate: 10.724559 deg/s, posRepo size: 4 2021-02-17T18:43:50.184Z,1613587430.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:50.900Z,1613587430.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:43:51.304Z,1613587431.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:43:52.128Z,1613587432.128 [Micromodem](INFO): Nmea in: $SNTTA,0.081039,,,,184351.02*4B 2021-02-17T18:43:52.192Z,1613587432.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.919998 m, bearing: 91.568754 deg, deltaT: 4.393281 s, approachRate: 0.628229 m/s, LOS rate: -0.534927 deg/s, posRepo size: 4 2021-02-17T18:43:54.543Z,1613587434.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:55.341Z,1613587435.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:43:55.751Z,1613587435.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:43:56.572Z,1613587436.572 [Micromodem](INFO): Nmea in: $SNTTA,0.082849,,,,184355.46*43 2021-02-17T18:43:56.594Z,1613587436.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.379997 m, bearing: 47.901322 deg, deltaT: 4.474710 s, approachRate: 0.549756 m/s, LOS rate: -9.758717 deg/s, posRepo size: 4 2021-02-17T18:43:59.062Z,1613587439.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:43:59.780Z,1613587439.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:44:00.191Z,1613587440.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:44:01.035Z,1613587441.035 [Micromodem](INFO): Nmea in: $SNTTA,0.084662,,,,184359.90*45 2021-02-17T18:44:01.093Z,1613587441.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.140007 m, bearing: 42.974427 deg, deltaT: 4.416705 s, approachRate: 0.624902 m/s, LOS rate: -1.115514 deg/s, posRepo size: 4 2021-02-17T18:44:03.114Z,1613587443.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:03.821Z,1613587443.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:44:04.227Z,1613587444.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:44:05.084Z,1613587445.084 [Micromodem](INFO): Nmea in: $SNTTA,0.086186,,,,184403.94*46 2021-02-17T18:44:05.169Z,1613587445.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.419998 m, bearing: 90.831503 deg, deltaT: 4.053698 s, approachRate: 0.562447 m/s, LOS rate: 11.805782 deg/s, posRepo size: 4 2021-02-17T18:44:07.473Z,1613587447.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:08.264Z,1613587448.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:44:08.673Z,1613587448.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:44:09.505Z,1613587449.505 [Micromodem](INFO): Nmea in: $SNTTA,0.087956,,,,184408.38*4F 2021-02-17T18:44:09.526Z,1613587449.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.120010 m, bearing: 86.631824 deg, deltaT: 4.463289 s, approachRate: 0.604938 m/s, LOS rate: -0.940938 deg/s, posRepo size: 4 2021-02-17T18:44:11.916Z,1613587451.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:12.708Z,1613587452.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:44:13.114Z,1613587453.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:44:13.936Z,1613587453.936 [Micromodem](INFO): Nmea in: $SNTTA,0.089736,,,,184412.82*43 2021-02-17T18:44:14.018Z,1613587454.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.760010 m, bearing: 47.832624 deg, deltaT: 4.405742 s, approachRate: 0.599218 m/s, LOS rate: -8.806508 deg/s, posRepo size: 4 2021-02-17T18:44:16.050Z,1613587456.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:16.748Z,1613587456.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:44:17.155Z,1613587457.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:44:17.000Z,1613587458.000 [Micromodem](INFO): Nmea in: $SNTTA,0.091475,,,,184416.86*4E 2021-02-17T18:44:18.088Z,1613587458.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.339996 m, bearing: 91.111069 deg, deltaT: 4.043413 s, approachRate: 0.638071 m/s, LOS rate: 10.703444 deg/s, posRepo size: 4 2021-02-17T18:44:20.089Z,1613587460.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:20.788Z,1613587460.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:44:21.194Z,1613587461.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:44:22.040Z,1613587462.040 [Micromodem](INFO): Nmea in: $SNTTA,0.093168,,,,184420.91*46 2021-02-17T18:44:22.096Z,1613587462.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.980011 m, bearing: 95.958933 deg, deltaT: 4.045055 s, approachRate: 0.652652 m/s, LOS rate: 1.198467 deg/s, posRepo size: 4 2021-02-17T18:44:24.439Z,1613587464.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:25.233Z,1613587465.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:44:25.653Z,1613587465.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:44:26.464Z,1613587466.464 [Micromodem](INFO): Nmea in: $SNTTA,0.094893,,,,184425.35*47 2021-02-17T18:44:26.500Z,1613587466.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.559998 m, bearing: 86.900203 deg, deltaT: 4.484761 s, approachRate: 0.575279 m/s, LOS rate: -2.019891 deg/s, posRepo size: 4 2021-02-17T18:44:28.898Z,1613587468.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:29.676Z,1613587469.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:44:30.099Z,1613587470.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:44:30.904Z,1613587470.904 [Micromodem](INFO): Nmea in: $SNTTA,0.096857,,,,184429.79*49 2021-02-17T18:44:30.941Z,1613587470.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.320007 m, bearing: 89.370799 deg, deltaT: 4.421976 s, approachRate: 0.624158 m/s, LOS rate: 0.558709 deg/s, posRepo size: 4 2021-02-17T18:44:33.347Z,1613587473.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:34.137Z,1613587474.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:44:34.526Z,1613587474.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:44:35.349Z,1613587475.349 [Micromodem](INFO): Nmea in: $SNTTA,0.098483,,,,184434.26*44 2021-02-17T18:44:36.190Z,1613587476.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:37.755Z,1613587477.755 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:44:39.065Z,1613587479.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:39.776Z,1613587479.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:44:40.200Z,1613587480.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:44:41.017Z,1613587481.017 [Micromodem](INFO): Nmea in: $SNTTA,0.100850,,,,184439.89*4E 2021-02-17T18:44:41.811Z,1613587481.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:43.416Z,1613587483.416 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:44:44.652Z,1613587484.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:45.450Z,1613587485.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:44:45.837Z,1613587485.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:44:46.656Z,1613587486.656 [Micromodem](INFO): Nmea in: $SNTTA,0.103839,,,,184445.57*4A 2021-02-17T18:44:47.482Z,1613587487.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:49.096Z,1613587489.096 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:44:50.320Z,1613587490.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:51.093Z,1613587491.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:44:51.501Z,1613587491.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:44:52.332Z,1613587492.332 [Micromodem](INFO): Nmea in: $SNTTA,0.105763,,,,184451.21*48 2021-02-17T18:44:52.370Z,1613587492.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.879990 m, bearing: 82.380722 deg, deltaT: 21.415192 s, approachRate: 0.633195 m/s, LOS rate: -0.326407 deg/s, posRepo size: 4 2021-02-17T18:44:52.370Z,1613587492.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 158.88 m. Resuming terminal guidance. 2021-02-17T18:44:52.370Z,1613587492.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T18:44:54.754Z,1613587494.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:44:55.549Z,1613587495.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:44:55.945Z,1613587495.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:44:56.772Z,1613587496.772 [Micromodem](INFO): Nmea in: $SNTTA,0.107468,,,,184455.67*44 2021-02-17T18:44:56.794Z,1613587496.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.460007 m, bearing: 74.175909 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T18:44:56.794Z,1613587496.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 74.175909deg and heading rate command to 0 deg/s. 2021-02-17T18:44:59.204Z,1613587499.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:00.019Z,1613587500.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:00.392Z,1613587500.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:01.215Z,1613587501.215 [Micromodem](INFO): Nmea in: $SNTTA,0.109935,,,,184500.14*4A 2021-02-17T18:45:01.629Z,1613587501.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.919998 m, bearing: 97.073401 deg, deltaT: 4.885011 s, approachRate: 0.503579 m/s, LOS rate: 4.687296 deg/s, posRepo size: 2 2021-02-17T18:45:01.631Z,1613587501.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.919998 m, bearing: 97.073401 deg, approachRate: 0.503579 m/s, LOS rate: 4.687296 deg/s, cmd update: 12.000000 deg/s, cmd heading: 74.175909 deg, new cmd heading: 74.175909 deg. 2021-02-17T18:45:04.092Z,1613587504.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:04.824Z,1613587504.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:05.235Z,1613587505.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:06.084Z,1613587506.084 [Micromodem](INFO): Nmea in: $SNTTA,0.110978,,,,184504.94*47 2021-02-17T18:45:06.132Z,1613587506.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.560013 m, bearing: 114.066276 deg, deltaT: 4.386847 s, approachRate: 0.601802 m/s, LOS rate: 3.873597 deg/s, posRepo size: 3 2021-02-17T18:45:06.134Z,1613587506.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.560013 m, bearing: 114.066276 deg, approachRate: 0.601802 m/s, LOS rate: 3.873597 deg/s, cmd update: 12.000000 deg/s, cmd heading: 126.842003 deg, new cmd heading: 132.441695 deg. 2021-02-17T18:45:08.481Z,1613587508.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:09.273Z,1613587509.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:09.674Z,1613587509.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:10.504Z,1613587510.504 [Micromodem](INFO): Nmea in: $SNTTA,0.112193,,,,184509.39*42 2021-02-17T18:45:10.526Z,1613587510.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.479996 m, bearing: 101.543637 deg, deltaT: 4.487130 s, approachRate: 0.427887 m/s, LOS rate: -2.790791 deg/s, posRepo size: 4 2021-02-17T18:45:10.528Z,1613587510.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.479996 m, bearing: 101.543637 deg, approachRate: 0.427887 m/s, LOS rate: -2.790791 deg/s, cmd update: -11.163162 deg/s, cmd heading: 180.663038 deg, new cmd heading: 185.168882 deg. 2021-02-17T18:45:12.919Z,1613587512.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:13.712Z,1613587513.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:14.129Z,1613587514.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:14.943Z,1613587514.943 [Micromodem](INFO): Nmea in: $SNTTA,0.113157,,,,184513.83*41 2021-02-17T18:45:14.966Z,1613587514.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.860001 m, bearing: 108.751488 deg, deltaT: 4.393304 s, approachRate: 0.314115 m/s, LOS rate: 1.640645 deg/s, posRepo size: 4 2021-02-17T18:45:14.972Z,1613587514.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.860001 m, bearing: 108.751488 deg, approachRate: 0.314115 m/s, LOS rate: 1.640645 deg/s, cmd update: 6.562579 deg/s, cmd heading: 131.591340 deg, new cmd heading: 126.908159 deg. 2021-02-17T18:45:17.388Z,1613587517.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:18.156Z,1613587518.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:18.570Z,1613587518.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:19.384Z,1613587519.384 [Micromodem](INFO): Nmea in: $SNTTA,0.113506,,,,184518.27*44 2021-02-17T18:45:19.468Z,1613587519.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.860001 m, bearing: 174.741101 deg, deltaT: 4.514329 s, approachRate: 0.000000 m/s, LOS rate: 14.617812 deg/s, posRepo size: 4 2021-02-17T18:45:19.469Z,1613587519.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.617812 deg/s. Setting heading cmd to target bearing of 174.741101deg and heading rate command to 0 deg/s. 2021-02-17T18:45:21.819Z,1613587521.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:22.607Z,1613587522.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:23.057Z,1613587523.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:23.832Z,1613587523.832 [Micromodem](INFO): Nmea in: $SNTTA,0.113602,,,,184522.72*4A 2021-02-17T18:45:23.854Z,1613587523.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.860001 m, bearing: 98.445190 deg, deltaT: 4.367654 s, approachRate: 0.000000 m/s, LOS rate: -17.468397 deg/s, posRepo size: 4 2021-02-17T18:45:23.876Z,1613587523.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.468397 deg/s. Setting heading cmd to target bearing of 98.445190deg and heading rate command to 0 deg/s. 2021-02-17T18:45:26.294Z,1613587526.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:27.072Z,1613587527.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:27.455Z,1613587527.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:28.277Z,1613587528.277 [Micromodem](INFO): Nmea in: $SNTTA,0.112824,,,,184527.19*49 2021-02-17T18:45:28.694Z,1613587528.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 195.449237 deg, deltaT: 4.921563 s, approachRate: -0.134104 m/s, LOS rate: 19.710008 deg/s, posRepo size: 4 2021-02-17T18:45:28.695Z,1613587528.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.710008 deg/s. Setting heading cmd to target bearing of 195.449237deg and heading rate command to 0 deg/s. 2021-02-17T18:45:31.202Z,1613587531.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:31.966Z,1613587531.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:32.366Z,1613587532.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:33.193Z,1613587533.193 [Micromodem](INFO): Nmea in: $SNTTA,0.111926,,,,184532.08*4D 2021-02-17T18:45:33.271Z,1613587533.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 118.926366 deg, deltaT: 4.439239 s, approachRate: 0.000000 m/s, LOS rate: -17.237835 deg/s, posRepo size: 4 2021-02-17T18:45:33.272Z,1613587533.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.237835 deg/s. Setting heading cmd to target bearing of 118.926366deg and heading rate command to 0 deg/s. 2021-02-17T18:45:35.610Z,1613587535.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:36.413Z,1613587536.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:36.810Z,1613587536.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:37.636Z,1613587537.636 [Micromodem](INFO): Nmea in: $SNTTA,0.111412,,,,184536.53*4D 2021-02-17T18:45:37.672Z,1613587537.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 95.890194 deg, deltaT: 4.484930 s, approachRate: 0.000000 m/s, LOS rate: -5.136350 deg/s, posRepo size: 4 2021-02-17T18:45:37.674Z,1613587537.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.199997 m, bearing: 95.890194 deg, approachRate: 0.000000 m/s, LOS rate: -5.136350 deg/s, cmd update: -12.000000 deg/s, cmd heading: 118.926366 deg, new cmd heading: 118.926366 deg. 2021-02-17T18:45:40.133Z,1613587540.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:40.849Z,1613587540.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:41.256Z,1613587541.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:42.092Z,1613587542.092 [Micromodem](INFO): Nmea in: $SNTTA,0.110884,,,,184540.96*47 2021-02-17T18:45:42.140Z,1613587542.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 197.508649 deg, deltaT: 4.424841 s, approachRate: 0.000000 m/s, LOS rate: 22.965447 deg/s, posRepo size: 4 2021-02-17T18:45:42.141Z,1613587542.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.965447 deg/s. Setting heading cmd to target bearing of 197.508649deg and heading rate command to 0 deg/s. 2021-02-17T18:45:44.500Z,1613587544.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:45.304Z,1613587545.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:45.698Z,1613587545.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:46.528Z,1613587546.528 [Micromodem](INFO): Nmea in: $SNTTA,0.111052,,,,184545.42*49 2021-02-17T18:45:46.574Z,1613587546.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 157.197091 deg, deltaT: 4.469027 s, approachRate: 0.000000 m/s, LOS rate: -9.020209 deg/s, posRepo size: 4 2021-02-17T18:45:46.582Z,1613587546.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.199997 m, bearing: 157.197091 deg, approachRate: 0.000000 m/s, LOS rate: -9.020209 deg/s, cmd update: -12.000000 deg/s, cmd heading: 197.508649 deg, new cmd heading: 197.508649 deg. 2021-02-17T18:45:48.942Z,1613587548.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:49.736Z,1613587549.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:50.161Z,1613587550.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:50.964Z,1613587550.964 [Micromodem](INFO): Nmea in: $SNTTA,0.111819,,,,184549.85*49 2021-02-17T18:45:51.055Z,1613587551.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.760010 m, bearing: 124.031946 deg, deltaT: 4.419599 s, approachRate: -0.325819 m/s, LOS rate: -7.504107 deg/s, posRepo size: 4 2021-02-17T18:45:51.071Z,1613587551.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.760010 m, bearing: 124.031946 deg, approachRate: -0.325819 m/s, LOS rate: -7.504107 deg/s, cmd update: -12.000000 deg/s, cmd heading: 144.470927 deg, new cmd heading: 138.985283 deg. 2021-02-17T18:45:53.413Z,1613587553.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:54.185Z,1613587554.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:54.586Z,1613587554.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:55.412Z,1613587555.412 [Micromodem](INFO): Nmea in: $SNTTA,0.112744,,,,184554.30*4F 2021-02-17T18:45:55.467Z,1613587555.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 116.986893 deg, deltaT: 4.509173 s, approachRate: 0.319346 m/s, LOS rate: -1.562383 deg/s, posRepo size: 4 2021-02-17T18:45:55.469Z,1613587555.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.199997 m, bearing: 116.986893 deg, approachRate: 0.319346 m/s, LOS rate: -1.562383 deg/s, cmd update: -6.249530 deg/s, cmd heading: 90.361510 deg, new cmd heading: 85.897498 deg. 2021-02-17T18:45:57.848Z,1613587557.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:45:58.639Z,1613587558.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:45:59.064Z,1613587559.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:45:59.864Z,1613587559.864 [Micromodem](INFO): Nmea in: $SNTTA,0.113155,,,,184558.75*45 2021-02-17T18:45:59.879Z,1613587559.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 172.400477 deg, deltaT: 4.366313 s, approachRate: 0.000000 m/s, LOS rate: 12.691162 deg/s, posRepo size: 4 2021-02-17T18:45:59.879Z,1613587559.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.691162 deg/s. Setting heading cmd to target bearing of 172.400477deg and heading rate command to 0 deg/s. 2021-02-17T18:46:02.296Z,1613587562.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:46:03.081Z,1613587563.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:46:03.475Z,1613587563.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:46:04.311Z,1613587564.311 [Micromodem](INFO): Nmea in: $SNTTA,0.113729,,,,184603.20*45 2021-02-17T18:46:04.345Z,1613587564.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 156.476861 deg, deltaT: 4.466177 s, approachRate: 0.000000 m/s, LOS rate: -3.565379 deg/s, posRepo size: 4 2021-02-17T18:46:04.346Z,1613587564.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.199997 m, bearing: 156.476861 deg, approachRate: 0.000000 m/s, LOS rate: -3.565379 deg/s, cmd update: -12.000000 deg/s, cmd heading: 172.400477 deg, new cmd heading: 172.400477 deg. 2021-02-17T18:46:06.740Z,1613587566.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:46:07.514Z,1613587567.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:46:07.918Z,1613587567.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:46:08.740Z,1613587568.740 [Micromodem](INFO): Nmea in: $SNTTA,0.115046,,,,184607.63*4E 2021-02-17T18:46:08.786Z,1613587568.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 128.775731 deg, deltaT: 4.448125 s, approachRate: 0.000000 m/s, LOS rate: -6.227597 deg/s, posRepo size: 4 2021-02-17T18:46:08.792Z,1613587568.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.199997 m, bearing: 128.775731 deg, approachRate: 0.000000 m/s, LOS rate: -6.227597 deg/s, cmd update: -12.000000 deg/s, cmd heading: 118.897780 deg, new cmd heading: 114.005235 deg. 2021-02-17T18:46:11.205Z,1613587571.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:46:11.965Z,1613587571.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:46:12.367Z,1613587572.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:46:13.188Z,1613587573.188 [Micromodem](INFO): Nmea in: $SNTTA,0.116027,,,,184612.08*43 2021-02-17T18:46:13.242Z,1613587573.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 125.286447 deg, deltaT: 4.408779 s, approachRate: 0.000000 m/s, LOS rate: -0.791440 deg/s, posRepo size: 4 2021-02-17T18:46:13.244Z,1613587573.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.199997 m, bearing: 125.286447 deg, approachRate: 0.000000 m/s, LOS rate: -0.791440 deg/s, cmd update: -3.165760 deg/s, cmd heading: 66.008522 deg, new cmd heading: 60.539653 deg. 2021-02-17T18:46:15.648Z,1613587575.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:46:16.400Z,1613587576.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:46:16.807Z,1613587576.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:46:17.632Z,1613587577.632 [Micromodem](INFO): Nmea in: $SNTTA,0.117178,,,,184616.52*42 2021-02-17T18:46:17.647Z,1613587577.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 102.224634 deg, deltaT: 4.485468 s, approachRate: 0.000000 m/s, LOS rate: -5.141451 deg/s, posRepo size: 4 2021-02-17T18:46:17.649Z,1613587577.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.199997 m, bearing: 102.224634 deg, approachRate: 0.000000 m/s, LOS rate: -5.141451 deg/s, cmd update: -12.000000 deg/s, cmd heading: 51.854428 deg, new cmd heading: 50.620487 deg. 2021-02-17T18:46:20.111Z,1613587580.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:46:20.844Z,1613587580.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:46:21.269Z,1613587581.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:46:22.092Z,1613587582.092 [Micromodem](INFO): Nmea in: $SNTTA,0.118242,,,,184620.96*4A 2021-02-17T18:46:22.141Z,1613587582.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 91.054775 deg, deltaT: 4.400500 s, approachRate: 0.000000 m/s, LOS rate: -2.538316 deg/s, posRepo size: 4 2021-02-17T18:46:22.144Z,1613587582.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.199997 m, bearing: 91.054775 deg, approachRate: 0.000000 m/s, LOS rate: -2.538316 deg/s, cmd update: -10.153264 deg/s, cmd heading: 358.867286 deg, new cmd heading: 353.240090 deg. 2021-02-17T18:46:24.513Z,1613587584.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:46:25.305Z,1613587585.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:46:25.693Z,1613587585.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:46:26.518Z,1613587586.518 [Micromodem](INFO): Nmea in: $SNTTA,0.119889,,,,184625.42*4A 2021-02-17T18:46:26.938Z,1613587586.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.000000 m, bearing: 70.025900 deg, deltaT: 4.858297 s, approachRate: 2.223002 m/s, LOS rate: -4.328446 deg/s, posRepo size: 4 2021-02-17T18:46:26.940Z,1613587586.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.000000 m, bearing: 70.025900 deg, approachRate: 2.223002 m/s, LOS rate: -4.328446 deg/s, cmd update: -12.000000 deg/s, cmd heading: 309.530059 deg, new cmd heading: 305.402198 deg. 2021-02-17T18:46:29.365Z,1613587589.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:46:30.136Z,1613587590.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:46:30.543Z,1613587590.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:46:31.385Z,1613587591.385 [Micromodem](INFO): Nmea in: $SNTTA,0.121695,,,0.124189,184630.25*5E 2021-02-17T18:46:31.417Z,1613587591.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.000000 m, bearing: 52.745149 deg, deltaT: 4.489401 s, approachRate: 0.000000 m/s, LOS rate: -3.849233 deg/s, posRepo size: 4 2021-02-17T18:46:31.419Z,1613587591.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.000000 m, bearing: 52.745149 deg, approachRate: 0.000000 m/s, LOS rate: -3.849233 deg/s, cmd update: -12.000000 deg/s, cmd heading: 255.768437 deg, new cmd heading: 250.902113 deg. 2021-02-17T18:46:33.791Z,1613587593.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:46:34.581Z,1613587594.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:46:35.028Z,1613587595.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:46:35.812Z,1613587595.812 [Micromodem](INFO): Nmea in: $SNTTA,0.123183,,,,184634.70*41 2021-02-17T18:46:35.834Z,1613587595.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.000000 m, bearing: 46.066737 deg, deltaT: 4.408333 s, approachRate: 0.000000 m/s, LOS rate: -1.514952 deg/s, posRepo size: 4 2021-02-17T18:46:35.836Z,1613587595.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.000000 m, bearing: 46.066737 deg, approachRate: 0.000000 m/s, LOS rate: -1.514952 deg/s, cmd update: -6.059807 deg/s, cmd heading: 202.777732 deg, new cmd heading: 197.903656 deg. 2021-02-17T18:46:38.256Z,1613587598.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:46:39.040Z,1613587599.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:46:39.435Z,1613587599.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:46:40.289Z,1613587600.289 [Micromodem](INFO): Nmea in: $SNTTA,0.124904,,,,184639.16*4C 2021-02-17T18:46:40.674Z,1613587600.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.500000 m, bearing: 345.805893 deg, deltaT: 4.913817 s, approachRate: 1.526308 m/s, LOS rate: -12.263549 deg/s, posRepo size: 4 2021-02-17T18:46:40.675Z,1613587600.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.263549 deg/s. Setting heading cmd to target bearing of 345.805893deg and heading rate command to 0 deg/s. 2021-02-17T18:46:43.118Z,1613587603.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:46:43.882Z,1613587603.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:46:44.283Z,1613587604.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:46:45.146Z,1613587605.146 [Micromodem](INFO): Nmea in: $SNTTA,0.126401,,,,184644.00*4B 2021-02-17T18:46:45.522Z,1613587605.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.779984 m, bearing: 67.588164 deg, deltaT: 4.868323 s, approachRate: 0.468330 m/s, LOS rate: 16.798859 deg/s, posRepo size: 4 2021-02-17T18:46:45.523Z,1613587605.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.798859 deg/s. Setting heading cmd to target bearing of 67.588164deg and heading rate command to 0 deg/s. 2021-02-17T18:46:47.926Z,1613587607.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:46:48.720Z,1613587608.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:46:49.126Z,1613587609.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:46:49.959Z,1613587609.959 [Micromodem](INFO): Nmea in: $SNTTA,0.128228,,,,184648.84*48 2021-02-17T18:46:50.397Z,1613587610.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.479996 m, bearing: 90.775229 deg, deltaT: 4.809712 s, approachRate: 0.561367 m/s, LOS rate: 4.820884 deg/s, posRepo size: 4 2021-02-17T18:46:50.398Z,1613587610.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.479996 m, bearing: 90.775229 deg, approachRate: 0.561367 m/s, LOS rate: 4.820884 deg/s, cmd update: 12.000000 deg/s, cmd heading: 67.588164 deg, new cmd heading: 67.588164 deg. 2021-02-17T18:46:52.781Z,1613587612.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:46:53.568Z,1613587613.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:46:54.002Z,1613587614.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:46:54.784Z,1613587614.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184653.68*5D 2021-02-17T18:46:55.253Z,1613587615.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.119995 m, bearing: 131.745784 deg, deltaT: 4.777180 s, approachRate: 0.552627 m/s, LOS rate: 8.576306 deg/s, posRepo size: 4 2021-02-17T18:46:55.254Z,1613587615.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.119995 m, bearing: 131.745784 deg, approachRate: 0.552627 m/s, LOS rate: 8.576306 deg/s, cmd update: 12.000000 deg/s, cmd heading: 125.339066 deg, new cmd heading: 130.790822 deg. 2021-02-17T18:46:57.623Z,1613587617.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:46:58.434Z,1613587618.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:46:58.830Z,1613587618.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:46:59.642Z,1613587619.642 [Micromodem](INFO): Nmea in: $SNTTA,0.131364,,,,184658.55*44 2021-02-17T18:47:00.107Z,1613587620.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.279984 m, bearing: 105.858363 deg, deltaT: 4.887009 s, approachRate: 0.441986 m/s, LOS rate: -5.297191 deg/s, posRepo size: 4 2021-02-17T18:47:00.109Z,1613587620.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.279984 m, bearing: 105.858363 deg, approachRate: 0.441986 m/s, LOS rate: -5.297191 deg/s, cmd update: -12.000000 deg/s, cmd heading: 183.934934 deg, new cmd heading: 189.042999 deg. 2021-02-17T18:47:02.487Z,1613587622.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:03.270Z,1613587623.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:47:03.670Z,1613587623.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:47:04.485Z,1613587624.485 [Micromodem](INFO): Nmea in: $SNTTA,0.132728,,,,184703.39*4E 2021-02-17T18:47:04.919Z,1613587624.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.199997 m, bearing: 121.935037 deg, deltaT: 4.816321 s, approachRate: 0.398647 m/s, LOS rate: 3.337957 deg/s, posRepo size: 4 2021-02-17T18:47:04.921Z,1613587624.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.199997 m, bearing: 121.935037 deg, approachRate: 0.398647 m/s, LOS rate: 3.337957 deg/s, cmd update: 12.000000 deg/s, cmd heading: 126.103177 deg, new cmd heading: 121.083889 deg. 2021-02-17T18:47:07.350Z,1613587627.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:08.117Z,1613587628.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:47:08.530Z,1613587628.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:47:09.333Z,1613587629.333 [Micromodem](INFO): Nmea in: $SNTTA,0.133316,,,,184708.23*46 2021-02-17T18:47:09.766Z,1613587629.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.979980 m, bearing: 177.734090 deg, deltaT: 4.893399 s, approachRate: 0.159395 m/s, LOS rate: 11.402923 deg/s, posRepo size: 4 2021-02-17T18:47:09.768Z,1613587629.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.979980 m, bearing: 177.734090 deg, approachRate: 0.159395 m/s, LOS rate: 11.402923 deg/s, cmd update: 12.000000 deg/s, cmd heading: 184.790835 deg, new cmd heading: 189.289131 deg. 2021-02-17T18:47:12.199Z,1613587632.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:12.967Z,1613587632.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:47:13.366Z,1613587633.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:47:14.185Z,1613587634.185 [Micromodem](INFO): Nmea in: $SNTTA,0.133555,,,0.136061,184713.08*59 2021-02-17T18:47:14.610Z,1613587634.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.339981 m, bearing: 116.396559 deg, deltaT: 4.847596 s, approachRate: 0.074264 m/s, LOS rate: -12.653185 deg/s, posRepo size: 4 2021-02-17T18:47:14.611Z,1613587634.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.653185 deg/s. Setting heading cmd to target bearing of 116.396559deg and heading rate command to 0 deg/s. 2021-02-17T18:47:17.116Z,1613587637.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:17.817Z,1613587637.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:47:18.214Z,1613587638.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:47:19.076Z,1613587639.076 [Micromodem](INFO): Nmea in: $SNTTA,0.133049,,,0.135563,184717.93*53 2021-02-17T18:47:19.454Z,1613587639.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.500000 m, bearing: 206.609220 deg, deltaT: 4.882602 s, approachRate: -0.172036 m/s, LOS rate: 18.476350 deg/s, posRepo size: 4 2021-02-17T18:47:19.455Z,1613587639.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.476350 deg/s. Setting heading cmd to target bearing of 206.609220deg and heading rate command to 0 deg/s. 2021-02-17T18:47:21.863Z,1613587641.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:22.658Z,1613587642.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:47:23.078Z,1613587643.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:47:23.874Z,1613587643.874 [Micromodem](INFO): Nmea in: $SNTTA,0.132194,,,,184722.77*46 2021-02-17T18:47:24.336Z,1613587644.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.119980 m, bearing: 244.349280 deg, deltaT: 4.763180 s, approachRate: -0.289727 m/s, LOS rate: 7.923291 deg/s, posRepo size: 4 2021-02-17T18:47:24.338Z,1613587644.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.119980 m, bearing: 244.349280 deg, approachRate: -0.289727 m/s, LOS rate: 7.923291 deg/s, cmd update: 12.000000 deg/s, cmd heading: 206.609220 deg, new cmd heading: 206.609220 deg. 2021-02-17T18:47:26.711Z,1613587646.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:27.507Z,1613587647.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:47:27.928Z,1613587647.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:47:28.725Z,1613587648.725 [Micromodem](INFO): Nmea in: $SNTTA,0.130496,,,,184727.62*42 2021-02-17T18:47:29.165Z,1613587649.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.599976 m, bearing: 235.886839 deg, deltaT: 4.874907 s, approachRate: -0.516934 m/s, LOS rate: -1.735918 deg/s, posRepo size: 4 2021-02-17T18:47:29.166Z,1613587649.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.599976 m, bearing: 235.886839 deg, approachRate: -0.516934 m/s, LOS rate: -1.735918 deg/s, cmd update: -6.943673 deg/s, cmd heading: 264.889069 deg, new cmd heading: 269.921113 deg. 2021-02-17T18:47:31.560Z,1613587651.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:32.352Z,1613587652.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:47:32.758Z,1613587652.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:47:32.798Z,1613587652.798 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T18:47:32.798Z,1613587652.798 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T18:47:32.798Z,1613587652.798 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T18:47:32.798Z,1613587652.798 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T18:47:32.798Z,1613587652.798 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T18:47:33.282Z,1613587653.282 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60150001005D000004008F0100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895 2021-02-17T18:47:33.282Z,1613587653.282 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C 2021-02-17T18:47:33.283Z,1613587653.283 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F67460F14A05729D1910FCA1CFCAC0570E407DEBC1D2C58F2DD8C5E3E0200505B6C665C560E007B9648F8476A4D662BFF 2021-02-17T18:47:33.297Z,1613587653.297 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-02-17T18:47:33.600Z,1613587653.600 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-02-17T18:47:33.629Z,1613587653.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.599976 m, bearing: 236.292962 deg, deltaT: 4.612196 s, approachRate: 0.000000 m/s, LOS rate: 0.088054 deg/s, posRepo size: 4 2021-02-17T18:47:33.630Z,1613587653.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.599976 m, bearing: 236.292962 deg, approachRate: 0.000000 m/s, LOS rate: 0.088054 deg/s, cmd update: 0.352217 deg/s, cmd heading: 232.738307 deg, new cmd heading: 230.979905 deg. 2021-02-17T18:47:34.044Z,1613587654.044 [Micromodem](INFO): Nmea in: $CADRQ,184733,1,10,0,64,1*7C 2021-02-17T18:47:34.045Z,1613587654.045 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60150001005D000004008F0100000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*4B 2021-02-17T18:47:34.420Z,1613587654.420 [Micromodem](INFO): Nmea in: $SNTTA,0.128286,,,,184732.47*4F 2021-02-17T18:47:34.421Z,1613587654.421 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.128286,,,,184732.47*4F 2021-02-17T18:47:35.620Z,1613587655.620 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T18:47:36.026Z,1613587656.026 [Micromodem](INFO): Nmea in: $CADRQ,184734,1,10,0,64,2*78 2021-02-17T18:47:36.026Z,1613587656.026 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*46 2021-02-17T18:47:36.198Z,1613587656.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:36.444Z,1613587656.444 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T18:47:36.816Z,1613587656.816 [Micromodem](INFO): Nmea in: $CADRQ,184736,1,10,0,64,3*7B 2021-02-17T18:47:36.816Z,1613587656.816 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,91CA7DCF49E3E747344986DCDE5C1D3F67460F14A05729D1910FCA1CFCAC0570E407DEBC1D2C58F2DD8C5E3E0200505B6C665C560E007B9648F8476A4D662BFF*32 2021-02-17T18:47:37.226Z,1613587657.226 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T18:47:37.226Z,1613587657.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:47:37.625Z,1613587657.625 [Micromodem](INFO): Nmea in: $CATXP,192*48 2021-02-17T18:47:37.625Z,1613587657.625 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48 2021-02-17T18:47:38.884Z,1613587658.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:41.260Z,1613587661.260 [Micromodem](INFO): Nmea in: $CATXF,192*5E 2021-02-17T18:47:41.260Z,1613587661.260 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E 2021-02-17T18:47:41.408Z,1613587661.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:41.670Z,1613587661.670 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,184736.978767,3,0,200,4000,14500,1,1,10,1,3,3,3,192*73 2021-02-17T18:47:41.670Z,1613587661.670 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,184736.978767,3,0,200,4000,14500,1,1,10,1,3,3,3,192*73 2021-02-17T18:47:44.129Z,1613587664.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:44.902Z,1613587664.902 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-17T18:47:45.300Z,1613587665.300 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-17T18:47:45.713Z,1613587665.713 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79 2021-02-17T18:47:45.715Z,1613587665.715 [Micromodem](INFO): Sent 184 bytes from file Logs/20210217T180521/Courier0021.lzma.parts 2021-02-17T18:47:45.715Z,1613587665.715 [Micromodem](INFO): Packets left to send: 1 2021-02-17T18:47:46.118Z,1613587666.118 [Micromodem](INFO): Nmea in: $CACST,6,0,20210217184743.727243,06,12629,41,0417,0150,29,02,02,00,02,1,010,001,0,4,1,0,150,16.6,9.00,20,-6.00,-01,1.96,33,14500,4000*64 2021-02-17T18:47:46.118Z,1613587666.118 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210217184743.727243,06,12629,41,0417,0150,29,02,02,00,02,1,010,001,0,4,1,0,150,16.6,9.00,20,-6.00,-01,1.96,33,14500,4000*64 2021-02-17T18:47:46.234Z,1613587666.234 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D6015000000A511F2EB94C9796499EB0F2E9CB58068C3CAB500544F151900620CC25B5C148FEB817B7E3A614DD7B3D2B0F5555B139A4E382CACA235DC42 2021-02-17T18:47:46.234Z,1613587666.234 [Micromodem](INFO): Outgoing frame #2, 13 bytes: C7418BE6013E9EC2E1A6744300 2021-02-17T18:47:46.981Z,1613587666.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:48.537Z,1613587668.537 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:47:48.944Z,1613587668.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:47:48.955Z,1613587668.955 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T18:47:49.344Z,1613587669.344 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T18:47:49.760Z,1613587669.760 [Micromodem](INFO): Nmea in: $CADRQ,184749,1,10,0,64,1*71 2021-02-17T18:47:49.761Z,1613587669.761 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D6015000000A511F2EB94C9796499EB0F2E9CB58068C3CAB500544F151900620CC25B5C148FEB817B7E3A614DD7B3D2B0F5555B139A4E382CACA235DC42*43 2021-02-17T18:47:49.869Z,1613587669.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.599976 m, bearing: 237.820575 deg, deltaT: 16.032606 s, approachRate: 0.000000 m/s, LOS rate: 0.095282 deg/s, posRepo size: 4 2021-02-17T18:47:49.887Z,1613587669.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.599976 m, bearing: 237.820575 deg, approachRate: 0.000000 m/s, LOS rate: 0.095282 deg/s, cmd update: 0.381127 deg/s, cmd heading: 238.383916 deg, new cmd heading: 238.547607 deg. 2021-02-17T18:47:50.161Z,1613587670.161 [Micromodem](INFO): Nmea in: $SNTTA,0.119443,,,,184748.65*4F 2021-02-17T18:47:50.161Z,1613587670.161 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.119443,,,,184748.65*4F 2021-02-17T18:47:51.372Z,1613587671.372 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T18:47:51.776Z,1613587671.776 [Micromodem](INFO): Nmea in: $CADRQ,184749,1,10,0,64,2*72 2021-02-17T18:47:51.777Z,1613587671.777 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,C7418BE6013E9EC2E1A6744300*4C 2021-02-17T18:47:52.173Z,1613587672.173 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,13*49 2021-02-17T18:47:52.320Z,1613587672.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:52.575Z,1613587672.575 [Micromodem](INFO): Nmea in: $CATXP,77*72 2021-02-17T18:47:52.999Z,1613587672.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:47:55.022Z,1613587675.022 [Micromodem](INFO): Nmea in: $CATXF,77*64 2021-02-17T18:47:55.023Z,1613587675.023 [Micromodem](ERROR): Response from modem unexpected: $CATXF,77*64 2021-02-17T18:47:55.112Z,1613587675.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:55.418Z,1613587675.418 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,184751.877353,3,0,200,4000,14500,1,1,10,1,2,2,3,77*45 2021-02-17T18:47:55.419Z,1613587675.419 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,184751.877353,3,0,200,4000,14500,1,1,10,1,2,2,3,77*45 2021-02-17T18:47:57.825Z,1613587677.825 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-17T18:47:57.842Z,1613587677.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:47:58.228Z,1613587678.228 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-17T18:47:58.229Z,1613587678.229 [Micromodem](INFO): Sent 69 bytes from file Logs/20210217T180521/Courier0021.lzma.parts 2021-02-17T18:47:58.229Z,1613587678.229 [Micromodem](INFO): Packets left to send: 0 2021-02-17T18:47:58.659Z,1613587678.659 [Micromodem](INFO): Nmea in: $CACST,6,0,20210217184756.704282,06,12689,41,0418,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,16.0,9.00,17,-6.00,-01,1.48,32,14500,4000*68 2021-02-17T18:47:58.659Z,1613587678.659 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210217184756.704282,06,12689,41,0418,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,16.0,9.00,17,-6.00,-01,1.48,32,14500,4000*68 2021-02-17T18:47:58.925Z,1613587678.925 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T18:47:58.925Z,1613587678.925 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T18:47:58.925Z,1613587678.925 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T18:47:58.926Z,1613587678.926 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T18:47:58.926Z,1613587678.926 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T18:48:00.708Z,1613587680.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:03.528Z,1613587683.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:04.313Z,1613587684.313 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:48:04.714Z,1613587684.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:48:05.548Z,1613587685.548 [Micromodem](INFO): Nmea in: $SNTTA,0.110323,,,,184804.43*44 2021-02-17T18:48:05.570Z,1613587685.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.840012 m, bearing: 236.623953 deg, deltaT: 15.976862 s, approachRate: -1.862691 m/s, LOS rate: -0.074897 deg/s, posRepo size: 4 2021-02-17T18:48:05.572Z,1613587685.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.840012 m, bearing: 236.623953 deg, approachRate: -1.862691 m/s, LOS rate: -0.074897 deg/s, cmd update: -0.299589 deg/s, cmd heading: 244.468564 deg, new cmd heading: 244.545071 deg. 2021-02-17T18:48:08.021Z,1613587688.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:08.774Z,1613587688.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:48:09.163Z,1613587689.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:48:10.024Z,1613587690.024 [Micromodem](INFO): Nmea in: $SNTTA,0.107729,,,,184808.89*46 2021-02-17T18:48:10.112Z,1613587690.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.840012 m, bearing: 234.876272 deg, deltaT: 4.235305 s, approachRate: 0.000000 m/s, LOS rate: -0.412646 deg/s, posRepo size: 4 2021-02-17T18:48:10.114Z,1613587690.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.840012 m, bearing: 234.876272 deg, approachRate: 0.000000 m/s, LOS rate: -0.412646 deg/s, cmd update: -1.650584 deg/s, cmd heading: 243.196135 deg, new cmd heading: 243.049271 deg. 2021-02-17T18:48:12.424Z,1613587692.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:13.201Z,1613587693.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:48:13.612Z,1613587693.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:48:14.045Z,1613587694.045 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,06C,000,00CAD,186,,FF 0,BE,FF 2021-02-17T18:48:14.090Z,1613587694.090 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T18:48:14.416Z,1613587694.416 [Micromodem](INFO): Nmea in: $SNTTA,0.104949,,,,184813.32*47 2021-02-17T18:48:15.253Z,1613587695.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:18.118Z,1613587698.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:20.907Z,1613587700.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:21.693Z,1613587701.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:48:22.090Z,1613587702.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:48:22.916Z,1613587702.916 [Micromodem](INFO): Nmea in: $SNTTA,0.100153,,,,184821.81*49 2021-02-17T18:48:22.962Z,1613587702.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.820007 m, bearing: 236.454155 deg, deltaT: 12.919758 s, approachRate: -1.239962 m/s, LOS rate: 0.122129 deg/s, posRepo size: 4 2021-02-17T18:48:22.964Z,1613587702.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.820007 m, bearing: 236.454155 deg, approachRate: -1.239962 m/s, LOS rate: 0.122129 deg/s, cmd update: 0.488518 deg/s, cmd heading: 221.878308 deg, new cmd heading: 221.168625 deg. 2021-02-17T18:48:25.412Z,1613587705.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:26.135Z,1613587706.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:48:26.533Z,1613587706.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:48:27.360Z,1613587707.360 [Micromodem](INFO): Nmea in: $SNTTA,0.097617,,,,184826.25*48 2021-02-17T18:48:27.417Z,1613587707.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.220001 m, bearing: 238.162549 deg, deltaT: 4.455444 s, approachRate: -0.808002 m/s, LOS rate: 0.383440 deg/s, posRepo size: 4 2021-02-17T18:48:27.419Z,1613587707.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.220001 m, bearing: 238.162549 deg, approachRate: -0.808002 m/s, LOS rate: 0.383440 deg/s, cmd update: 1.533759 deg/s, cmd heading: 224.041557 deg, new cmd heading: 224.264991 deg. 2021-02-17T18:48:29.372Z,1613587709.372 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T18:48:29.791Z,1613587709.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:30.574Z,1613587710.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:48:31.003Z,1613587711.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:48:31.804Z,1613587711.804 [Micromodem](INFO): Nmea in: $SNTTA,0.095110,,,,184830.69*45 2021-02-17T18:48:31.841Z,1613587711.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.440002 m, bearing: 238.506900 deg, deltaT: 4.426871 s, approachRate: -0.853876 m/s, LOS rate: 0.077787 deg/s, posRepo size: 4 2021-02-17T18:48:31.843Z,1613587711.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.440002 m, bearing: 238.506900 deg, approachRate: -0.853876 m/s, LOS rate: 0.077787 deg/s, cmd update: 0.311146 deg/s, cmd heading: 230.879735 deg, new cmd heading: 231.528277 deg. 2021-02-17T18:48:34.250Z,1613587714.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:35.027Z,1613587715.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:48:35.431Z,1613587715.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:48:36.260Z,1613587716.260 [Micromodem](INFO): Nmea in: $SNTTA,0.092757,,0.105720,,184835.15*56 2021-02-17T18:48:36.294Z,1613587716.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.900009 m, bearing: 239.719013 deg, deltaT: 4.444212 s, approachRate: -0.796540 m/s, LOS rate: 0.272740 deg/s, posRepo size: 4 2021-02-17T18:48:36.296Z,1613587716.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.900009 m, bearing: 239.719013 deg, approachRate: -0.796540 m/s, LOS rate: 0.272740 deg/s, cmd update: 1.090958 deg/s, cmd heading: 232.262318 deg, new cmd heading: 232.396749 deg. 2021-02-17T18:48:38.668Z,1613587718.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:39.460Z,1613587719.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:48:39.865Z,1613587719.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:48:40.688Z,1613587720.688 [Micromodem](INFO): Nmea in: $SNTTA,0.090185,,,,184839.58*47 2021-02-17T18:48:40.734Z,1613587720.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.059998 m, bearing: 239.348434 deg, deltaT: 4.463526 s, approachRate: -0.860309 m/s, LOS rate: -0.083024 deg/s, posRepo size: 4 2021-02-17T18:48:40.736Z,1613587720.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.059998 m, bearing: 239.348434 deg, approachRate: -0.860309 m/s, LOS rate: -0.083024 deg/s, cmd update: -0.332095 deg/s, cmd heading: 237.133465 deg, new cmd heading: 237.572897 deg. 2021-02-17T18:48:43.168Z,1613587723.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:43.906Z,1613587723.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:48:44.331Z,1613587724.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:48:45.144Z,1613587725.144 [Micromodem](INFO): Nmea in: $SNTTA,0.087573,,0.107998,,184844.02*59 2021-02-17T18:48:45.213Z,1613587725.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.100006 m, bearing: 239.100908 deg, deltaT: 4.402710 s, approachRate: -0.899444 m/s, LOS rate: -0.056221 deg/s, posRepo size: 4 2021-02-17T18:48:45.219Z,1613587725.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.100006 m, bearing: 239.100908 deg, approachRate: -0.899444 m/s, LOS rate: -0.056221 deg/s, cmd update: -0.224885 deg/s, cmd heading: 235.670293 deg, new cmd heading: 235.510739 deg. 2021-02-17T18:48:47.575Z,1613587727.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:48.349Z,1613587728.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:48:48.766Z,1613587728.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:48:49.576Z,1613587729.576 [Micromodem](INFO): Nmea in: $SNTTA,0.085064,,,,184848.46*44 2021-02-17T18:48:49.614Z,1613587729.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.439995 m, bearing: 240.464569 deg, deltaT: 4.474011 s, approachRate: -0.818060 m/s, LOS rate: 0.304796 deg/s, posRepo size: 4 2021-02-17T18:48:49.616Z,1613587729.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.439995 m, bearing: 240.464569 deg, approachRate: -0.818060 m/s, LOS rate: 0.304796 deg/s, cmd update: 1.219184 deg/s, cmd heading: 234.664158 deg, new cmd heading: 234.572516 deg. 2021-02-17T18:48:52.085Z,1613587732.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:52.792Z,1613587732.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:48:53.206Z,1613587733.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:48:54.048Z,1613587734.048 [Micromodem](INFO): Nmea in: $SNTTA,0.082384,,,,184852.91*4F 2021-02-17T18:48:54.109Z,1613587734.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.420006 m, bearing: 239.970664 deg, deltaT: 4.423070 s, approachRate: -0.908868 m/s, LOS rate: -0.111666 deg/s, posRepo size: 4 2021-02-17T18:48:54.110Z,1613587734.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.420006 m, bearing: 239.970664 deg, approachRate: -0.908868 m/s, LOS rate: -0.111666 deg/s, cmd update: -0.446662 deg/s, cmd heading: 240.052025 deg, new cmd heading: 240.640293 deg. 2021-02-17T18:48:56.464Z,1613587736.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:48:57.242Z,1613587737.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:48:57.642Z,1613587737.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:48:58.468Z,1613587738.468 [Micromodem](INFO): Nmea in: $SNTTA,0.079902,,,,184857.36*47 2021-02-17T18:48:58.505Z,1613587738.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.579994 m, bearing: 239.731116 deg, deltaT: 4.474919 s, approachRate: -0.858119 m/s, LOS rate: -0.053531 deg/s, posRepo size: 4 2021-02-17T18:48:58.507Z,1613587738.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.579994 m, bearing: 239.731116 deg, approachRate: -0.858119 m/s, LOS rate: -0.053531 deg/s, cmd update: -0.214125 deg/s, cmd heading: 238.051454 deg, new cmd heading: 237.872640 deg. 2021-02-17T18:49:00.903Z,1613587740.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:01.680Z,1613587741.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:02.092Z,1613587742.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:49:02.911Z,1613587742.911 [Micromodem](INFO): Nmea in: $SNTTA,0.077104,,,,184901.80*48 2021-02-17T18:49:02.930Z,1613587742.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.380005 m, bearing: 240.919268 deg, deltaT: 4.404652 s, approachRate: -0.953535 m/s, LOS rate: 0.269749 deg/s, posRepo size: 4 2021-02-17T18:49:02.932Z,1613587742.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.380005 m, bearing: 240.919268 deg, approachRate: -0.953535 m/s, LOS rate: 0.269749 deg/s, cmd update: 1.078998 deg/s, cmd heading: 237.108344 deg, new cmd heading: 237.018284 deg. 2021-02-17T18:49:05.405Z,1613587745.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:06.124Z,1613587746.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:06.530Z,1613587746.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:49:07.372Z,1613587747.372 [Micromodem](INFO): Nmea in: $SNTTA,0.074829,,,0.077354,184906.24*58 2021-02-17T18:49:07.429Z,1613587747.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.080002 m, bearing: 241.863064 deg, deltaT: 4.439809 s, approachRate: -0.743276 m/s, LOS rate: 0.212576 deg/s, posRepo size: 4 2021-02-17T18:49:07.436Z,1613587747.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.080002 m, bearing: 241.863064 deg, approachRate: -0.743276 m/s, LOS rate: 0.212576 deg/s, cmd update: 0.850303 deg/s, cmd heading: 241.898737 deg, new cmd heading: 242.417009 deg. 2021-02-17T18:49:09.780Z,1613587749.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:10.568Z,1613587750.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:11.012Z,1613587751.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:49:11.803Z,1613587751.803 [Micromodem](INFO): Nmea in: $SNTTA,0.072249,,,,184910.68*41 2021-02-17T18:49:11.822Z,1613587751.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.180008 m, bearing: 241.968413 deg, deltaT: 4.463692 s, approachRate: -0.873715 m/s, LOS rate: 0.023601 deg/s, posRepo size: 4 2021-02-17T18:49:11.824Z,1613587751.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.180008 m, bearing: 241.968413 deg, approachRate: -0.873715 m/s, LOS rate: 0.023601 deg/s, cmd update: 0.094405 deg/s, cmd heading: 245.694509 deg, new cmd heading: 246.042138 deg. 2021-02-17T18:49:14.253Z,1613587754.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:15.036Z,1613587755.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:15.423Z,1613587755.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:49:16.252Z,1613587756.252 [Micromodem](INFO): Nmea in: $SNTTA,0.069395,,,,184915.15*44 2021-02-17T18:49:16.310Z,1613587756.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.980003 m, bearing: 241.558027 deg, deltaT: 4.459652 s, approachRate: -0.941779 m/s, LOS rate: -0.092022 deg/s, posRepo size: 4 2021-02-17T18:49:16.312Z,1613587756.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.980003 m, bearing: 241.558027 deg, approachRate: -0.941779 m/s, LOS rate: -0.092022 deg/s, cmd update: -0.368087 deg/s, cmd heading: 246.114480 deg, new cmd heading: 246.156786 deg. 2021-02-17T18:49:18.668Z,1613587758.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:19.470Z,1613587759.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:19.867Z,1613587759.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:49:20.712Z,1613587760.712 [Micromodem](INFO): Nmea in: $SNTTA,0.066926,,,,184919.59*4D 2021-02-17T18:49:20.742Z,1613587760.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.199997 m, bearing: 240.056643 deg, deltaT: 4.450738 s, approachRate: -0.849299 m/s, LOS rate: -0.337334 deg/s, posRepo size: 4 2021-02-17T18:49:20.744Z,1613587760.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.199997 m, bearing: 240.056643 deg, approachRate: -0.849299 m/s, LOS rate: -0.337334 deg/s, cmd update: -1.349336 deg/s, cmd heading: 244.472150 deg, new cmd heading: 244.318171 deg. 2021-02-17T18:49:23.139Z,1613587763.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:23.902Z,1613587763.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:24.315Z,1613587764.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:49:25.132Z,1613587765.132 [Micromodem](INFO): Nmea in: $SNTTA,0.064204,,,,184924.02*44 2021-02-17T18:49:25.166Z,1613587765.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.120003 m, bearing: 240.833672 deg, deltaT: 4.405619 s, approachRate: -0.926089 m/s, LOS rate: 0.176372 deg/s, posRepo size: 4 2021-02-17T18:49:25.168Z,1613587765.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.120003 m, bearing: 240.833672 deg, approachRate: -0.926089 m/s, LOS rate: 0.176372 deg/s, cmd update: 0.705490 deg/s, cmd heading: 238.527492 deg, new cmd heading: 237.937819 deg. 2021-02-17T18:49:27.551Z,1613587767.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:28.345Z,1613587768.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:28.750Z,1613587768.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:49:29.577Z,1613587769.577 [Micromodem](INFO): Nmea in: $SNTTA,0.061687,,,,184928.46*42 2021-02-17T18:49:29.624Z,1613587769.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.459999 m, bearing: 242.616871 deg, deltaT: 4.484651 s, approachRate: -0.816118 m/s, LOS rate: 0.397623 deg/s, posRepo size: 4 2021-02-17T18:49:29.625Z,1613587769.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.459999 m, bearing: 242.616871 deg, approachRate: -0.816118 m/s, LOS rate: 0.397623 deg/s, cmd update: 1.590490 deg/s, cmd heading: 241.691287 deg, new cmd heading: 241.980287 deg. 2021-02-17T18:49:32.081Z,1613587772.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:32.798Z,1613587772.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:33.205Z,1613587773.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:49:34.048Z,1613587774.048 [Micromodem](INFO): Nmea in: $SNTTA,0.059294,,,,184932.91*4E 2021-02-17T18:49:34.103Z,1613587774.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.740005 m, bearing: 241.699166 deg, deltaT: 4.412473 s, approachRate: -0.843063 m/s, LOS rate: -0.207980 deg/s, posRepo size: 4 2021-02-17T18:49:34.105Z,1613587774.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.740005 m, bearing: 241.699166 deg, approachRate: -0.843063 m/s, LOS rate: -0.207980 deg/s, cmd update: -0.831918 deg/s, cmd heading: 248.683983 deg, new cmd heading: 249.467923 deg. 2021-02-17T18:49:36.456Z,1613587776.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:37.233Z,1613587777.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:37.649Z,1613587777.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:49:38.460Z,1613587778.460 [Micromodem](INFO): Nmea in: $SNTTA,0.056696,,,,184937.35*4C 2021-02-17T18:49:38.498Z,1613587778.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.900009 m, bearing: 240.760972 deg, deltaT: 4.512942 s, approachRate: -0.850885 m/s, LOS rate: -0.207890 deg/s, posRepo size: 4 2021-02-17T18:49:38.500Z,1613587778.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.900009 m, bearing: 240.760972 deg, approachRate: -0.850885 m/s, LOS rate: -0.207890 deg/s, cmd update: -0.831559 deg/s, cmd heading: 244.919679 deg, new cmd heading: 244.618170 deg. 2021-02-17T18:49:40.902Z,1613587780.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:41.676Z,1613587781.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:42.082Z,1613587782.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:49:42.904Z,1613587782.904 [Micromodem](INFO): Nmea in: $SNTTA,0.054196,,,,184941.79*40 2021-02-17T18:49:42.950Z,1613587782.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.120003 m, bearing: 241.396043 deg, deltaT: 4.358574 s, approachRate: -0.867258 m/s, LOS rate: 0.145706 deg/s, posRepo size: 4 2021-02-17T18:49:42.966Z,1613587782.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.120003 m, bearing: 241.396043 deg, approachRate: -0.867258 m/s, LOS rate: 0.145706 deg/s, cmd update: 0.582825 deg/s, cmd heading: 241.291830 deg, new cmd heading: 240.915770 deg. 2021-02-17T18:49:45.352Z,1613587785.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:46.137Z,1613587786.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:46.533Z,1613587786.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:49:47.372Z,1613587787.372 [Micromodem](INFO): Nmea in: $SNTTA,0.051612,,,,184946.25*40 2021-02-17T18:49:47.405Z,1613587787.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.220001 m, bearing: 241.783697 deg, deltaT: 4.514909 s, approachRate: -0.863805 m/s, LOS rate: 0.085861 deg/s, posRepo size: 4 2021-02-17T18:49:47.410Z,1613587787.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.220001 m, bearing: 241.783697 deg, approachRate: -0.863805 m/s, LOS rate: 0.085861 deg/s, cmd update: 0.343444 deg/s, cmd heading: 243.907616 deg, new cmd heading: 244.152132 deg. 2021-02-17T18:49:49.780Z,1613587789.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:50.570Z,1613587790.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:51.013Z,1613587791.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:49:51.796Z,1613587791.796 [Micromodem](INFO): Nmea in: $SNTTA,0.048925,,,,184950.69*4C 2021-02-17T18:49:51.848Z,1613587791.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.199997 m, bearing: 241.685615 deg, deltaT: 4.406532 s, approachRate: -0.912283 m/s, LOS rate: -0.022258 deg/s, posRepo size: 4 2021-02-17T18:49:51.850Z,1613587791.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.199997 m, bearing: 241.685615 deg, approachRate: -0.912283 m/s, LOS rate: -0.022258 deg/s, cmd update: -0.089033 deg/s, cmd heading: 245.430207 deg, new cmd heading: 245.576784 deg. 2021-02-17T18:49:54.249Z,1613587794.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:55.056Z,1613587795.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:55.441Z,1613587795.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:49:56.250Z,1613587796.250 [Micromodem](INFO): Nmea in: $SNTTA,0.046720,,,,184955.17*45 2021-02-17T18:49:56.313Z,1613587796.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.959999 m, bearing: 241.488141 deg, deltaT: 4.430840 s, approachRate: -0.731238 m/s, LOS rate: -0.044568 deg/s, posRepo size: 4 2021-02-17T18:49:56.315Z,1613587796.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.959999 m, bearing: 241.488141 deg, approachRate: -0.731238 m/s, LOS rate: -0.044568 deg/s, cmd update: -0.178273 deg/s, cmd heading: 245.036088 deg, new cmd heading: 244.994515 deg. 2021-02-17T18:49:58.664Z,1613587798.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:49:59.452Z,1613587799.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:49:59.863Z,1613587799.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:00.285Z,1613587800.285 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T18:50:00.696Z,1613587800.696 [Micromodem](INFO): Nmea in: $SNTTA,0.043825,,0.049201,,184959.57*52 2021-02-17T18:50:00.718Z,1613587800.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.580002 m, bearing: 243.039933 deg, deltaT: 4.450508 s, approachRate: -0.984157 m/s, LOS rate: 0.348677 deg/s, posRepo size: 4 2021-02-17T18:50:00.720Z,1613587800.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.580002 m, bearing: 243.039933 deg, approachRate: -0.984157 m/s, LOS rate: 0.348677 deg/s, cmd update: 1.394710 deg/s, cmd heading: 244.242491 deg, new cmd heading: 244.167483 deg. 2021-02-17T18:50:03.127Z,1613587803.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:50:03.896Z,1613587803.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:50:04.302Z,1613587804.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:05.127Z,1613587805.127 [Micromodem](INFO): Nmea in: $SNTTA,0.041319,,,,185004.01*47 2021-02-17T18:50:05.161Z,1613587805.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.860001 m, bearing: 244.035720 deg, deltaT: 4.422749 s, approachRate: -0.841106 m/s, LOS rate: 0.225151 deg/s, posRepo size: 4 2021-02-17T18:50:05.163Z,1613587805.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.860001 m, bearing: 244.035720 deg, approachRate: -0.841106 m/s, LOS rate: 0.225151 deg/s, cmd update: 0.900605 deg/s, cmd heading: 250.415219 deg, new cmd heading: 251.026208 deg. 2021-02-17T18:50:07.547Z,1613587807.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:50:08.340Z,1613587808.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:50:08.747Z,1613587808.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:09.572Z,1613587809.572 [Micromodem](INFO): Nmea in: $SNTTA,0.038581,,,,185008.46*41 2021-02-17T18:50:09.594Z,1613587809.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.660007 m, bearing: 242.616843 deg, deltaT: 4.465813 s, approachRate: -0.940477 m/s, LOS rate: -0.317720 deg/s, posRepo size: 4 2021-02-17T18:50:09.596Z,1613587809.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.660007 m, bearing: 242.616843 deg, approachRate: -0.940477 m/s, LOS rate: -0.317720 deg/s, cmd update: -1.270878 deg/s, cmd heading: 254.437162 deg, new cmd heading: 254.801686 deg. 2021-02-17T18:50:12.086Z,1613587812.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:50:12.789Z,1613587812.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:50:13.195Z,1613587813.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:14.040Z,1613587814.040 [Micromodem](INFO): Nmea in: $SNTTA,0.036093,,,,185012.90*49 2021-02-17T18:50:14.131Z,1613587814.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.939995 m, bearing: 240.853972 deg, deltaT: 4.420047 s, approachRate: -0.841623 m/s, LOS rate: -0.398836 deg/s, posRepo size: 4 2021-02-17T18:50:14.134Z,1613587814.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.939995 m, bearing: 240.853972 deg, approachRate: -0.841623 m/s, LOS rate: -0.398836 deg/s, cmd update: -1.595342 deg/s, cmd heading: 248.819840 deg, new cmd heading: 248.162847 deg. 2021-02-17T18:50:16.460Z,1613587816.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:50:17.240Z,1613587817.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:50:17.634Z,1613587817.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:18.464Z,1613587818.464 [Micromodem](INFO): Nmea in: $SNTTA,0.033606,,,,185017.36*4F 2021-02-17T18:50:18.509Z,1613587818.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.219994 m, bearing: 242.347106 deg, deltaT: 4.502232 s, approachRate: -0.826257 m/s, LOS rate: 0.331643 deg/s, posRepo size: 4 2021-02-17T18:50:18.511Z,1613587818.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.219994 m, bearing: 242.347106 deg, approachRate: -0.826257 m/s, LOS rate: 0.331643 deg/s, cmd update: 1.326572 deg/s, cmd heading: 241.637246 deg, new cmd heading: 241.003046 deg. 2021-02-17T18:50:20.899Z,1613587820.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:50:21.677Z,1613587821.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:50:22.093Z,1613587822.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:22.904Z,1613587822.904 [Micromodem](INFO): Nmea in: $SNTTA,0.031020,,,,185021.79*41 2021-02-17T18:50:22.944Z,1613587822.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.320000 m, bearing: 242.761343 deg, deltaT: 4.382456 s, approachRate: -0.889911 m/s, LOS rate: 0.094522 deg/s, posRepo size: 4 2021-02-17T18:50:22.949Z,1613587822.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.320000 m, bearing: 242.761343 deg, approachRate: -0.889911 m/s, LOS rate: 0.094522 deg/s, cmd update: 0.378087 deg/s, cmd heading: 247.450910 deg, new cmd heading: 248.045777 deg. 2021-02-17T18:50:25.369Z,1613587825.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:50:26.118Z,1613587826.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:50:26.544Z,1613587826.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:27.348Z,1613587827.348 [Micromodem](INFO): Nmea in: $SNTTA,0.028623,,,,185026.23*44 2021-02-17T18:50:27.401Z,1613587827.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.719997 m, bearing: 244.895777 deg, deltaT: 4.468732 s, approachRate: -0.805598 m/s, LOS rate: 0.477638 deg/s, posRepo size: 4 2021-02-17T18:50:27.403Z,1613587827.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.719997 m, bearing: 244.895777 deg, approachRate: -0.805598 m/s, LOS rate: 0.477638 deg/s, cmd update: 1.910550 deg/s, cmd heading: 249.133026 deg, new cmd heading: 249.306362 deg. 2021-02-17T18:50:29.783Z,1613587829.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:50:30.566Z,1613587830.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:50:30.989Z,1613587830.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:31.792Z,1613587831.792 [Micromodem](INFO): Nmea in: $SNTTA,0.026125,,,,185030.68*43 2021-02-17T18:50:31.829Z,1613587831.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.060001 m, bearing: 243.827891 deg, deltaT: 4.449106 s, approachRate: -0.822636 m/s, LOS rate: -0.240023 deg/s, posRepo size: 4 2021-02-17T18:50:31.829Z,1613587831.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.06 m. 2021-02-17T18:50:31.831Z,1613587831.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.060001 m, bearing: 243.827891 deg, approachRate: -0.822636 m/s, LOS rate: -0.240023 deg/s, cmd update: -0.960091 deg/s, cmd heading: 257.663200 deg, new cmd heading: 258.468270 deg. 2021-02-17T18:50:32.193Z,1613587832.193 [PowerOnly](INFO): Powering up loadControl 2021-02-17T18:50:34.269Z,1613587834.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:50:35.024Z,1613587835.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:50:35.422Z,1613587835.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:36.244Z,1613587836.244 [Micromodem](INFO): Nmea in: $SNTTA,0.023622,,0.050734,,185035.14*53 2021-02-17T18:50:36.294Z,1613587836.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.040001 m, bearing: 243.479688 deg, deltaT: 4.435863 s, approachRate: -0.906250 m/s, LOS rate: -0.078497 deg/s, posRepo size: 4 2021-02-17T18:50:36.294Z,1613587836.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.04 m. 2021-02-17T18:50:36.294Z,1613587836.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.04 m. 2021-02-17T18:50:36.295Z,1613587836.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T18:50:36.297Z,1613587836.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.040001 m, bearing: 243.479688 deg, approachRate: -0.906250 m/s, LOS rate: -0.078497 deg/s, cmd update: -0.313989 deg/s, cmd heading: 253.415876 deg, new cmd heading: 252.972279 deg. 2021-02-17T18:50:38.671Z,1613587838.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:50:39.449Z,1613587839.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:50:39.861Z,1613587839.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:40.676Z,1613587840.676 [Micromodem](INFO): Nmea in: $SNTTA,0.021297,,,,185039.57*4B 2021-02-17T18:50:40.713Z,1613587840.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.139997 m, bearing: 243.733989 deg, deltaT: 4.542427 s, approachRate: -0.858573 m/s, LOS rate: 0.055984 deg/s, posRepo size: 4 2021-02-17T18:50:40.714Z,1613587840.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.139997 m, bearing: 243.733989 deg, approachRate: -0.858573 m/s, LOS rate: 0.055984 deg/s, cmd update: 0.223935 deg/s, cmd heading: 251.989631 deg, new cmd heading: 251.883252 deg. 2021-02-17T18:50:43.144Z,1613587843.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:50:43.904Z,1613587843.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:50:44.298Z,1613587844.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:45.128Z,1613587845.128 [Micromodem](INFO): Nmea in: $SNTTA,0.018327,,,,185044.02*41 2021-02-17T18:50:45.191Z,1613587845.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.300001 m, bearing: 243.663775 deg, deltaT: 4.330191 s, approachRate: -0.886796 m/s, LOS rate: -0.016215 deg/s, posRepo size: 4 2021-02-17T18:50:45.193Z,1613587845.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.300001 m, bearing: 243.663775 deg, approachRate: -0.886796 m/s, LOS rate: -0.016215 deg/s, cmd update: -0.064860 deg/s, cmd heading: 252.962840 deg, new cmd heading: 253.068297 deg. 2021-02-17T18:50:47.549Z,1613587847.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:50:48.336Z,1613587848.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:50:48.759Z,1613587848.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:49.564Z,1613587849.564 [Micromodem](INFO): Nmea in: $SNTTA,0.016087,,,,185048.45*49 2021-02-17T18:50:49.610Z,1613587849.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.639997 m, bearing: 241.744464 deg, deltaT: 4.489432 s, approachRate: -0.815249 m/s, LOS rate: -0.427517 deg/s, posRepo size: 4 2021-02-17T18:50:49.616Z,1613587849.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.639997 m, bearing: 241.744464 deg, approachRate: -0.815249 m/s, LOS rate: -0.427517 deg/s, cmd update: -1.710070 deg/s, cmd heading: 252.671892 deg, new cmd heading: 252.645662 deg. 2021-02-17T18:50:52.097Z,1613587852.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:50:52.791Z,1613587852.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:50:53.192Z,1613587853.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:54.048Z,1613587854.048 [Micromodem](INFO): Nmea in: $SNTTA,0.013228,,,,185052.91*49 2021-02-17T18:50:54.119Z,1613587854.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.619999 m, bearing: 243.133697 deg, deltaT: 4.398066 s, approachRate: -0.914038 m/s, LOS rate: 0.315874 deg/s, posRepo size: 4 2021-02-17T18:50:54.121Z,1613587854.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.619999 m, bearing: 243.133697 deg, approachRate: -0.914038 m/s, LOS rate: 0.315874 deg/s, cmd update: 1.263495 deg/s, cmd heading: 245.144069 deg, new cmd heading: 244.269459 deg. 2021-02-17T18:50:56.116Z,1613587856.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:50:56.827Z,1613587856.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:50:57.227Z,1613587857.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:50:58.076Z,1613587858.076 [Micromodem](INFO): Nmea in: $SNTTA,0.011584,,,,185056.94*4B 2021-02-17T18:50:58.130Z,1613587858.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.160000 m, bearing: 245.355285 deg, deltaT: 4.034669 s, approachRate: -0.609715 m/s, LOS rate: 0.550624 deg/s, posRepo size: 4 2021-02-17T18:50:58.132Z,1613587858.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.160000 m, bearing: 245.355285 deg, approachRate: -0.609715 m/s, LOS rate: 0.550624 deg/s, cmd update: 2.202498 deg/s, cmd heading: 250.241871 deg, new cmd heading: 250.857711 deg. 2021-02-17T18:51:00.524Z,1613587860.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:01.270Z,1613587861.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:01.669Z,1613587861.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:51:02.516Z,1613587862.516 [Micromodem](INFO): Nmea in: $SNTTA,0.008586,,,,185101.38*44 2021-02-17T18:51:02.538Z,1613587862.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.660002 m, bearing: 244.234669 deg, deltaT: 4.493675 s, approachRate: -1.001407 m/s, LOS rate: -0.249376 deg/s, posRepo size: 4 2021-02-17T18:51:02.540Z,1613587862.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.660002 m, bearing: 244.234669 deg, approachRate: -1.001407 m/s, LOS rate: -0.249376 deg/s, cmd update: -0.997505 deg/s, cmd heading: 260.138773 deg, new cmd heading: 261.024338 deg. 2021-02-17T18:51:04.931Z,1613587864.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:05.718Z,1613587865.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:06.114Z,1613587866.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:51:06.944Z,1613587866.944 [Micromodem](INFO): Nmea in: $SNTTA,0.006295,,,,185105.83*4B 2021-02-17T18:51:07.019Z,1613587867.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.240001 m, bearing: 240.138933 deg, deltaT: 4.394605 s, approachRate: -0.778227 m/s, LOS rate: -0.931992 deg/s, posRepo size: 4 2021-02-17T18:51:07.021Z,1613587867.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.240001 m, bearing: 240.138933 deg, approachRate: -0.778227 m/s, LOS rate: -0.931992 deg/s, cmd update: -3.727968 deg/s, cmd heading: 255.754955 deg, new cmd heading: 255.300082 deg. 2021-02-17T18:51:09.398Z,1613587869.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:10.160Z,1613587870.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:10.563Z,1613587870.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:51:11.388Z,1613587871.388 [Micromodem](INFO): Nmea in: $SNTTA,0.004116,,,,185110.27*4B 2021-02-17T18:51:11.439Z,1613587871.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.999998 m, bearing: 243.057199 deg, deltaT: 4.487992 s, approachRate: -0.721927 m/s, LOS rate: 0.650239 deg/s, posRepo size: 4 2021-02-17T18:51:11.441Z,1613587871.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.999998 m, bearing: 243.057199 deg, approachRate: -0.721927 m/s, LOS rate: 0.650239 deg/s, cmd update: 2.600955 deg/s, cmd heading: 239.024785 deg, new cmd heading: 237.457532 deg. 2021-02-17T18:51:13.803Z,1613587873.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:14.604Z,1613587874.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:15.027Z,1613587875.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:51:15.832Z,1613587875.832 [Micromodem](INFO): Nmea in: $SNTTA,0.002697,,,,185114.72*47 2021-02-17T18:51:15.852Z,1613587875.852 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T18:51:15.852Z,1613587875.852 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T18:51:15.852Z,1613587875.852 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T18:51:15.852Z,1613587875.852 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T18:51:15.853Z,1613587875.853 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T18:51:15.853Z,1613587875.853 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.899999 m 2021-02-17T18:51:15.853Z,1613587875.853 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T18:51:15.853Z,1613587875.853 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T18:51:15.853Z,1613587875.853 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T18:51:15.856Z,1613587875.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 260.198570 deg, deltaT: 4.429787 s, approachRate: -0.474063 m/s, LOS rate: 3.869570 deg/s, posRepo size: 4 2021-02-17T18:51:15.857Z,1613587875.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.899999 m, bearing: 260.198570 deg, approachRate: -0.474063 m/s, LOS rate: 3.869570 deg/s, cmd update: 12.000000 deg/s, cmd heading: 250.536746 deg, new cmd heading: 251.605894 deg. 2021-02-17T18:51:16.269Z,1613587876.269 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T185116: (41.552319, -70.708603) 2021-02-17T18:51:16.269Z,1613587876.269 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T18:51:16.269Z,1613587876.269 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T18:51:16.269Z,1613587876.269 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T18:51:16.269Z,1613587876.269 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T18:51:16.269Z,1613587876.269 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T18:51:16.269Z,1613587876.269 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T18:51:16.269Z,1613587876.269 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T18:51:16.270Z,1613587876.270 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T18:51:18.282Z,1613587878.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:19.071Z,1613587879.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:19.446Z,1613587879.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:51:20.296Z,1613587880.296 [Micromodem](INFO): Nmea in: $SNTTA,0.002823,,,,185119.19*46 2021-02-17T18:51:20.338Z,1613587880.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 229.744259 deg, deltaT: 4.511408 s, approachRate: 0.066498 m/s, LOS rate: -6.750511 deg/s, posRepo size: 4 2021-02-17T18:51:20.341Z,1613587880.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.199998 m, bearing: 229.744259 deg, approachRate: 0.066498 m/s, LOS rate: -6.750511 deg/s, cmd update: -12.000000 deg/s, cmd heading: 304.710159 deg, new cmd heading: 309.263775 deg. 2021-02-17T18:51:22.693Z,1613587882.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:23.484Z,1613587883.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:23.891Z,1613587883.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:51:24.724Z,1613587884.724 [Micromodem](INFO): Nmea in: $SNTTA,0.003858,,0.039482,,185123.60*56 2021-02-17T18:51:24.746Z,1613587884.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.820000 m, bearing: 207.777128 deg, deltaT: 4.380504 s, approachRate: 0.369821 m/s, LOS rate: -5.014750 deg/s, posRepo size: 4 2021-02-17T18:51:24.748Z,1613587884.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.820000 m, bearing: 207.777128 deg, approachRate: 0.369821 m/s, LOS rate: -5.014750 deg/s, cmd update: -12.000000 deg/s, cmd heading: 252.138134 deg, new cmd heading: 247.264490 deg. 2021-02-17T18:51:27.160Z,1613587887.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:27.928Z,1613587887.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:28.344Z,1613587888.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:51:29.163Z,1613587889.163 [Micromodem](INFO): Nmea in: $SNTTA,0.005828,,,,185128.04*44 2021-02-17T18:51:29.197Z,1613587889.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.759999 m, bearing: 222.199618 deg, deltaT: 4.434423 s, approachRate: 0.662995 m/s, LOS rate: 3.252394 deg/s, posRepo size: 4 2021-02-17T18:51:29.199Z,1613587889.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.759999 m, bearing: 222.199618 deg, approachRate: 0.662995 m/s, LOS rate: 3.252394 deg/s, cmd update: 12.000000 deg/s, cmd heading: 198.919873 deg, new cmd heading: 193.851769 deg. 2021-02-17T18:51:31.580Z,1613587891.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:32.375Z,1613587892.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:32.791Z,1613587892.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:51:33.613Z,1613587893.613 [Micromodem](INFO): Nmea in: $SNTTA,0.008643,,0.036149,,185132.49*5F 2021-02-17T18:51:33.657Z,1613587893.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.879998 m, bearing: 233.011357 deg, deltaT: 4.476963 s, approachRate: 0.696901 m/s, LOS rate: 2.414972 deg/s, posRepo size: 4 2021-02-17T18:51:33.658Z,1613587893.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.879998 m, bearing: 233.011357 deg, approachRate: 0.696901 m/s, LOS rate: 2.414972 deg/s, cmd update: 9.659886 deg/s, cmd heading: 252.593654 deg, new cmd heading: 257.501103 deg. 2021-02-17T18:51:36.105Z,1613587896.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:36.826Z,1613587896.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:37.226Z,1613587897.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:51:38.084Z,1613587898.084 [Micromodem](INFO): Nmea in: $SNTTA,0.010396,,,,185136.94*48 2021-02-17T18:51:38.138Z,1613587898.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.660002 m, bearing: 224.699850 deg, deltaT: 4.390138 s, approachRate: 0.861022 m/s, LOS rate: -1.893222 deg/s, posRepo size: 4 2021-02-17T18:51:38.138Z,1613587898.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.66 m. Rolling out. 2021-02-17T18:51:38.138Z,1613587898.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T18:51:40.487Z,1613587900.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:41.260Z,1613587901.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:41.674Z,1613587901.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:51:42.488Z,1613587902.488 [Micromodem](INFO): Nmea in: $SNTTA,0.013489,,,,185141.38*44 2021-02-17T18:51:42.525Z,1613587902.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.560001 m, bearing: 257.456440 deg, deltaT: 4.505398 s, approachRate: 0.865628 m/s, LOS rate: 7.270521 deg/s, posRepo size: 4 2021-02-17T18:51:44.913Z,1613587904.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:45.710Z,1613587905.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:46.118Z,1613587906.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:51:46.937Z,1613587906.937 [Micromodem](INFO): Nmea in: $SNTTA,0.015754,,,,185145.83*45 2021-02-17T18:51:46.978Z,1613587906.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.039999 m, bearing: 291.450292 deg, deltaT: 4.402376 s, approachRate: 0.790482 m/s, LOS rate: 7.721706 deg/s, posRepo size: 4 2021-02-17T18:51:49.382Z,1613587909.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:50.165Z,1613587910.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:50.570Z,1613587910.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:51:51.384Z,1613587911.384 [Micromodem](INFO): Nmea in: $SNTTA,0.017467,,,,185150.28*41 2021-02-17T18:51:51.418Z,1613587911.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.460001 m, bearing: 266.994635 deg, deltaT: 4.508600 s, approachRate: 0.758551 m/s, LOS rate: -5.424224 deg/s, posRepo size: 4 2021-02-17T18:51:53.809Z,1613587913.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:54.592Z,1613587914.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:55.028Z,1613587915.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:51:55.824Z,1613587915.824 [Micromodem](INFO): Nmea in: $SNTTA,0.019407,,,,185154.71*41 2021-02-17T18:51:55.873Z,1613587915.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.699997 m, bearing: 307.571287 deg, deltaT: 4.375995 s, approachRate: 0.740402 m/s, LOS rate: 9.272555 deg/s, posRepo size: 4 2021-02-17T18:51:58.273Z,1613587918.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:51:59.076Z,1613587919.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:51:59.449Z,1613587919.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:00.278Z,1613587920.278 [Micromodem](INFO): Nmea in: $SNTTA,0.021137,,,,185159.19*4F 2021-02-17T18:52:00.330Z,1613587920.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.799999 m, bearing: 297.895996 deg, deltaT: 4.464146 s, approachRate: 0.470415 m/s, LOS rate: -2.167333 deg/s, posRepo size: 4 2021-02-17T18:52:02.704Z,1613587922.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:03.481Z,1613587923.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:52:03.894Z,1613587923.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:04.708Z,1613587924.708 [Micromodem](INFO): Nmea in: $SNTTA,0.022665,,,,185203.60*4E 2021-02-17T18:52:04.749Z,1613587924.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.740002 m, bearing: 324.443521 deg, deltaT: 4.471189 s, approachRate: 0.657544 m/s, LOS rate: 5.937464 deg/s, posRepo size: 4 2021-02-17T18:52:06.724Z,1613587926.724 [PowerOnly](INFO): Powering down loadControl 2021-02-17T18:52:07.151Z,1613587927.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:07.924Z,1613587927.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:52:08.335Z,1613587928.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:09.162Z,1613587929.162 [Micromodem](INFO): Nmea in: $SNTTA,0.024533,,,,185208.04*41 2021-02-17T18:52:09.196Z,1613587929.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.840000 m, bearing: 311.315979 deg, deltaT: 4.396293 s, approachRate: 0.477675 m/s, LOS rate: -2.986048 deg/s, posRepo size: 4 2021-02-17T18:52:11.580Z,1613587931.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:12.374Z,1613587932.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:52:12.774Z,1613587932.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:13.604Z,1613587933.604 [Micromodem](INFO): Nmea in: $SNTTA,0.026673,,0.047092,,185212.49*50 2021-02-17T18:52:13.626Z,1613587933.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.019997 m, bearing: 310.167742 deg, deltaT: 4.459590 s, approachRate: 0.713069 m/s, LOS rate: -0.257476 deg/s, posRepo size: 4 2021-02-17T18:52:16.107Z,1613587936.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:16.813Z,1613587936.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:52:17.218Z,1613587937.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:18.068Z,1613587938.068 [Micromodem](INFO): Nmea in: $SNTTA,0.028535,,,,185216.93*4A 2021-02-17T18:52:18.141Z,1613587938.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.899998 m, bearing: 308.819244 deg, deltaT: 4.429646 s, approachRate: 0.650165 m/s, LOS rate: -0.304426 deg/s, posRepo size: 4 2021-02-17T18:52:20.479Z,1613587940.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:21.262Z,1613587941.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:52:21.662Z,1613587941.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:22.488Z,1613587942.488 [Micromodem](INFO): Nmea in: $SNTTA,0.031033,,,,185221.38*44 2021-02-17T18:52:22.530Z,1613587942.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.680000 m, bearing: 354.524985 deg, deltaT: 4.469378 s, approachRate: 0.845756 m/s, LOS rate: 10.226421 deg/s, posRepo size: 4 2021-02-17T18:52:24.922Z,1613587944.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:25.706Z,1613587945.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:52:26.106Z,1613587946.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:26.932Z,1613587946.932 [Micromodem](INFO): Nmea in: $SNTTA,0.033106,,,,185225.82*44 2021-02-17T18:52:26.978Z,1613587946.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.560001 m, bearing: 304.029342 deg, deltaT: 4.423301 s, approachRate: 0.651098 m/s, LOS rate: -11.415828 deg/s, posRepo size: 4 2021-02-17T18:52:29.380Z,1613587949.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:30.149Z,1613587950.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:52:30.608Z,1613587950.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:31.372Z,1613587951.372 [Micromodem](INFO): Nmea in: $SNTTA,0.034930,,,,185230.26*44 2021-02-17T18:52:31.422Z,1613587951.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.319996 m, bearing: 291.151703 deg, deltaT: 4.494648 s, approachRate: 0.614062 m/s, LOS rate: -2.865105 deg/s, posRepo size: 4 2021-02-17T18:52:33.797Z,1613587953.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:34.588Z,1613587954.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:52:35.050Z,1613587955.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:35.833Z,1613587955.833 [Micromodem](INFO): Nmea in: $SNTTA,0.036884,,,,185234.70*4F 2021-02-17T18:52:35.854Z,1613587955.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.439999 m, bearing: 311.310925 deg, deltaT: 4.382783 s, approachRate: 0.711877 m/s, LOS rate: 4.599639 deg/s, posRepo size: 4 2021-02-17T18:52:38.308Z,1613587958.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:39.066Z,1613587959.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:52:39.438Z,1613587959.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:40.276Z,1613587960.276 [Micromodem](INFO): Nmea in: $SNTTA,0.070528,,,,185239.18*45 2021-02-17T18:52:40.335Z,1613587960.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.260006 m, bearing: 311.092987 deg, deltaT: 4.431449 s, approachRate: 0.636362 m/s, LOS rate: -0.049180 deg/s, posRepo size: 4 2021-02-17T18:52:42.683Z,1613587962.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:43.476Z,1613587963.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:52:43.888Z,1613587963.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:44.719Z,1613587964.719 [Micromodem](INFO): Nmea in: $SNTTA,0.041117,,,,185243.59*47 2021-02-17T18:52:44.738Z,1613587964.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.740002 m, bearing: 288.358101 deg, deltaT: 4.477306 s, approachRate: 0.777252 m/s, LOS rate: -5.077805 deg/s, posRepo size: 4 2021-02-17T18:52:47.153Z,1613587967.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:47.920Z,1613587967.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:52:48.327Z,1613587968.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:49.152Z,1613587969.152 [Micromodem](INFO): Nmea in: $SNTTA,0.043665,,,,185248.03*43 2021-02-17T18:52:49.186Z,1613587969.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.400002 m, bearing: 326.959981 deg, deltaT: 4.415770 s, approachRate: 0.828847 m/s, LOS rate: 8.741823 deg/s, posRepo size: 4 2021-02-17T18:52:51.571Z,1613587971.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:52.364Z,1613587972.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:52:52.770Z,1613587972.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:53.582Z,1613587973.582 [Micromodem](INFO): Nmea in: $SNTTA,0.045553,,,,185252.48*47 2021-02-17T18:52:54.080Z,1613587974.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:56.040Z,1613587976.040 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:52:56.824Z,1613587976.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:52:57.622Z,1613587977.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:52:58.058Z,1613587978.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:52:58.848Z,1613587978.848 [Micromodem](INFO): Nmea in: $SNTTA,0.047987,,,,185257.74*4A 2021-02-17T18:52:58.890Z,1613587978.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.360001 m, bearing: 279.708705 deg, deltaT: 9.720004 s, approachRate: 0.716049 m/s, LOS rate: -4.861240 deg/s, posRepo size: 4 2021-02-17T18:53:01.294Z,1613587981.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:02.078Z,1613587982.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:02.474Z,1613587982.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:53:03.303Z,1613587983.303 [Micromodem](INFO): Nmea in: $SNTTA,0.050447,,,,185302.19*47 2021-02-17T18:53:03.337Z,1613587983.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.780006 m, bearing: 284.720616 deg, deltaT: 4.428197 s, approachRate: 0.772325 m/s, LOS rate: 1.131818 deg/s, posRepo size: 4 2021-02-17T18:53:05.721Z,1613587985.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:06.509Z,1613587986.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:06.919Z,1613587986.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:53:07.732Z,1613587987.732 [Micromodem](INFO): Nmea in: $SNTTA,0.052575,,,,185306.62*4D 2021-02-17T18:53:07.770Z,1613587987.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.959999 m, bearing: 283.897960 deg, deltaT: 4.479071 s, approachRate: 0.709967 m/s, LOS rate: -0.183667 deg/s, posRepo size: 4 2021-02-17T18:53:10.181Z,1613587990.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:10.948Z,1613587990.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:11.371Z,1613587991.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:53:12.187Z,1613587992.187 [Micromodem](INFO): Nmea in: $SNTTA,0.054780,,0.056048,,185311.06*56 2021-02-17T18:53:12.256Z,1613587992.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.200005 m, bearing: 287.533369 deg, deltaT: 4.406414 s, approachRate: 0.735293 m/s, LOS rate: 0.825027 deg/s, posRepo size: 4 2021-02-17T18:53:14.600Z,1613587994.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:15.398Z,1613587995.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:15.806Z,1613587995.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:53:16.624Z,1613587996.624 [Micromodem](INFO): Nmea in: $SNTTA,0.057088,,,,185315.51*4D 2021-02-17T18:53:16.666Z,1613587996.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.740005 m, bearing: 282.553205 deg, deltaT: 4.473323 s, approachRate: 0.791358 m/s, LOS rate: -1.113303 deg/s, posRepo size: 4 2021-02-17T18:53:19.113Z,1613587999.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:19.840Z,1613587999.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:20.250Z,1613588000.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:53:21.097Z,1613588001.097 [Micromodem](INFO): Nmea in: $SNTTA,0.059410,,0.069028,0.074523,185319.95*40 2021-02-17T18:53:21.154Z,1613588001.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.220009 m, bearing: 275.676134 deg, deltaT: 4.435536 s, approachRate: 0.784573 m/s, LOS rate: -1.550449 deg/s, posRepo size: 4 2021-02-17T18:53:23.494Z,1613588003.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:24.285Z,1613588004.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:24.685Z,1613588004.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:53:25.516Z,1613588005.516 [Micromodem](INFO): Nmea in: $SNTTA,0.061714,,,,185324.40*48 2021-02-17T18:53:25.550Z,1613588005.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.700005 m, bearing: 283.775809 deg, deltaT: 4.447948 s, approachRate: 0.782382 m/s, LOS rate: 1.820991 deg/s, posRepo size: 4 2021-02-17T18:53:27.945Z,1613588007.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:28.724Z,1613588008.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:29.134Z,1613588009.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:53:29.955Z,1613588009.955 [Micromodem](INFO): Nmea in: $SNTTA,0.063942,,,,185328.84*43 2021-02-17T18:53:30.026Z,1613588010.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 279.000059 deg, deltaT: 4.405408 s, approachRate: 0.803558 m/s, LOS rate: -1.084065 deg/s, posRepo size: 4 2021-02-17T18:53:32.070Z,1613588012.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:32.764Z,1613588012.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:33.185Z,1613588013.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:53:34.020Z,1613588014.020 [Micromodem](INFO): Nmea in: $SNTTA,0.066151,,,,185332.88*4B 2021-02-17T18:53:34.094Z,1613588014.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.239998 m, bearing: 277.390047 deg, deltaT: 4.048728 s, approachRate: 0.740972 m/s, LOS rate: -0.397659 deg/s, posRepo size: 4 2021-02-17T18:53:36.424Z,1613588016.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:37.208Z,1613588017.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:37.621Z,1613588017.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:53:38.440Z,1613588018.440 [Micromodem](INFO): Nmea in: $SNTTA,0.068418,,,,185337.32*49 2021-02-17T18:53:38.484Z,1613588018.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.720001 m, bearing: 280.504695 deg, deltaT: 4.515912 s, approachRate: 0.770609 m/s, LOS rate: 0.689705 deg/s, posRepo size: 4 2021-02-17T18:53:40.880Z,1613588020.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:41.657Z,1613588021.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:42.081Z,1613588022.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:53:42.884Z,1613588022.884 [Micromodem](INFO): Nmea in: $SNTTA,0.070596,,,,185341.77*47 2021-02-17T18:53:42.942Z,1613588022.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.900002 m, bearing: 283.532163 deg, deltaT: 4.392766 s, approachRate: 0.723918 m/s, LOS rate: 0.689194 deg/s, posRepo size: 4 2021-02-17T18:53:45.337Z,1613588025.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:46.105Z,1613588026.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:46.507Z,1613588026.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:53:47.332Z,1613588027.332 [Micromodem](INFO): Nmea in: $SNTTA,0.073002,,,,185346.22*4B 2021-02-17T18:53:47.389Z,1613588027.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.560005 m, bearing: 283.359168 deg, deltaT: 4.436933 s, approachRate: 0.824895 m/s, LOS rate: -0.038990 deg/s, posRepo size: 4 2021-02-17T18:53:49.747Z,1613588029.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:50.541Z,1613588030.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:50.946Z,1613588030.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:53:51.769Z,1613588031.769 [Micromodem](INFO): Nmea in: $SNTTA,0.075477,,,,185350.66*4C 2021-02-17T18:53:51.809Z,1613588031.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.340004 m, bearing: 278.967984 deg, deltaT: 4.503827 s, approachRate: 0.839286 m/s, LOS rate: -0.974989 deg/s, posRepo size: 4 2021-02-17T18:53:54.236Z,1613588034.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:55.018Z,1613588035.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:55.391Z,1613588035.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:53:56.236Z,1613588036.236 [Micromodem](INFO): Nmea in: $SNTTA,0.077688,,,,185355.13*4B 2021-02-17T18:53:56.297Z,1613588036.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.699997 m, bearing: 278.082000 deg, deltaT: 4.370348 s, approachRate: 0.768816 m/s, LOS rate: -0.202726 deg/s, posRepo size: 4 2021-02-17T18:53:58.635Z,1613588038.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:53:59.433Z,1613588039.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:53:59.839Z,1613588039.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:00.671Z,1613588040.671 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185359.55*5D 2021-02-17T18:54:00.690Z,1613588040.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.000000 m, bearing: 280.395576 deg, deltaT: 4.475251 s, approachRate: 0.737390 m/s, LOS rate: 0.516971 deg/s, posRepo size: 4 2021-02-17T18:54:03.135Z,1613588043.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:54:03.874Z,1613588043.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:54:04.278Z,1613588044.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:05.100Z,1613588045.100 [Micromodem](INFO): Nmea in: $SNTTA,0.082446,,,,185403.99*47 2021-02-17T18:54:05.154Z,1613588045.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.720001 m, bearing: 279.574505 deg, deltaT: 4.404532 s, approachRate: 0.844585 m/s, LOS rate: -0.186415 deg/s, posRepo size: 4 2021-02-17T18:54:07.534Z,1613588047.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:54:08.321Z,1613588048.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:54:08.721Z,1613588048.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:09.548Z,1613588049.548 [Micromodem](INFO): Nmea in: $SNTTA,0.084650,,,,185408.44*4F 2021-02-17T18:54:09.594Z,1613588049.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.080002 m, bearing: 280.701159 deg, deltaT: 4.487410 s, approachRate: 0.748762 m/s, LOS rate: 0.251070 deg/s, posRepo size: 4 2021-02-17T18:54:12.034Z,1613588052.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:54:12.760Z,1613588052.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:54:13.174Z,1613588053.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:14.009Z,1613588054.009 [Micromodem](INFO): Nmea in: $SNTTA,0.087013,,,,185412.87*49 2021-02-17T18:54:14.083Z,1613588054.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.619995 m, bearing: 276.374917 deg, deltaT: 4.417723 s, approachRate: 0.801316 m/s, LOS rate: -0.979292 deg/s, posRepo size: 4 2021-02-17T18:54:16.426Z,1613588056.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:54:17.210Z,1613588057.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:54:17.610Z,1613588057.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:18.432Z,1613588058.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185417.33*50 2021-02-17T18:54:18.456Z,1613588058.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.039993 m, bearing: 280.899726 deg, deltaT: 4.493646 s, approachRate: 0.761074 m/s, LOS rate: 1.006935 deg/s, posRepo size: 4 2021-02-17T18:54:20.855Z,1613588060.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:54:21.655Z,1613588061.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:54:22.076Z,1613588062.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:22.880Z,1613588062.880 [Micromodem](INFO): Nmea in: $SNTTA,0.091569,,,,185421.77*49 2021-02-17T18:54:22.902Z,1613588062.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.460007 m, bearing: 276.934118 deg, deltaT: 4.380197 s, approachRate: 0.780790 m/s, LOS rate: -0.905349 deg/s, posRepo size: 4 2021-02-17T18:54:25.363Z,1613588065.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:54:26.094Z,1613588066.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:54:26.498Z,1613588066.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:27.324Z,1613588067.324 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185426.21*51 2021-02-17T18:54:27.377Z,1613588067.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.940002 m, bearing: 278.725595 deg, deltaT: 4.466022 s, approachRate: 0.779216 m/s, LOS rate: 0.401135 deg/s, posRepo size: 4 2021-02-17T18:54:29.743Z,1613588069.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:54:30.538Z,1613588070.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:54:30.950Z,1613588070.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:31.764Z,1613588071.764 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185430.65*56 2021-02-17T18:54:31.802Z,1613588071.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.600006 m, bearing: 282.416738 deg, deltaT: 4.459419 s, approachRate: 0.820736 m/s, LOS rate: 0.827719 deg/s, posRepo size: 4 2021-02-17T18:54:34.222Z,1613588074.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:54:35.004Z,1613588075.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:54:35.387Z,1613588075.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:36.219Z,1613588076.219 [Micromodem](INFO): Nmea in: $SNTTA,0.113770,,,,185435.12*4E 2021-02-17T18:54:36.253Z,1613588076.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.259995 m, bearing: 280.524120 deg, deltaT: 4.428031 s, approachRate: 0.826550 m/s, LOS rate: -0.427418 deg/s, posRepo size: 4 2021-02-17T18:54:38.644Z,1613588078.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:54:39.424Z,1613588079.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:54:39.831Z,1613588079.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:40.655Z,1613588080.655 [Micromodem](INFO): Nmea in: $SNTTA,,,0.113816,,185439.54*4F 2021-02-17T18:54:40.686Z,1613588080.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.620010 m, bearing: 280.799923 deg, deltaT: 4.458703 s, approachRate: 0.753586 m/s, LOS rate: 0.061857 deg/s, posRepo size: 4 2021-02-17T18:54:40.687Z,1613588080.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.62 m. Resuming terminal guidance. 2021-02-17T18:54:40.687Z,1613588080.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T18:54:43.126Z,1613588083.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:54:43.874Z,1613588083.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:54:44.274Z,1613588084.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:45.096Z,1613588085.096 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185443.99*51 2021-02-17T18:54:45.150Z,1613588085.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.400009 m, bearing: 288.119236 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T18:54:45.150Z,1613588085.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 288.119236deg and heading rate command to 0 deg/s. 2021-02-17T18:54:47.542Z,1613588087.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:54:48.312Z,1613588088.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:54:48.725Z,1613588088.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:49.540Z,1613588089.540 [Micromodem](INFO): Nmea in: $SNTTA,0.105742,,,,185448.43*46 2021-02-17T18:54:49.573Z,1613588089.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.760010 m, bearing: 295.216813 deg, deltaT: 4.458879 s, approachRate: 0.753553 m/s, LOS rate: 1.591785 deg/s, posRepo size: 2 2021-02-17T18:54:49.575Z,1613588089.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.760010 m, bearing: 295.216813 deg, approachRate: 0.753553 m/s, LOS rate: 1.591785 deg/s, cmd update: 6.367141 deg/s, cmd heading: 288.119236 deg, new cmd heading: 288.119236 deg. 2021-02-17T18:54:52.002Z,1613588092.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:54:52.773Z,1613588092.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:54:53.170Z,1613588093.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:54.032Z,1613588094.032 [Micromodem](INFO): Nmea in: $SNTTA,0.108057,,,,185452.89*45 2021-02-17T18:54:54.086Z,1613588094.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.760010 m, bearing: 289.525982 deg, deltaT: 4.437483 s, approachRate: 0.000000 m/s, LOS rate: -1.282446 deg/s, posRepo size: 3 2021-02-17T18:54:54.088Z,1613588094.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.760010 m, bearing: 289.525982 deg, approachRate: 0.000000 m/s, LOS rate: -1.282446 deg/s, cmd update: -5.129783 deg/s, cmd heading: 316.349031 deg, new cmd heading: 319.411371 deg. 2021-02-17T18:54:56.422Z,1613588096.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:54:57.206Z,1613588097.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:54:57.611Z,1613588097.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:54:58.432Z,1613588098.432 [Micromodem](INFO): Nmea in: $SNTTA,0.110534,,,,185457.32*49 2021-02-17T18:54:58.462Z,1613588098.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.720001 m, bearing: 296.822181 deg, deltaT: 4.484479 s, approachRate: 1.552018 m/s, LOS rate: 1.626989 deg/s, posRepo size: 4 2021-02-17T18:54:58.464Z,1613588098.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.720001 m, bearing: 296.822181 deg, approachRate: 1.552018 m/s, LOS rate: 1.626989 deg/s, cmd update: 6.507957 deg/s, cmd heading: 293.324049 deg, new cmd heading: 291.437341 deg. 2021-02-17T18:55:00.858Z,1613588100.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:55:01.653Z,1613588101.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:55:02.075Z,1613588102.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:55:02.880Z,1613588102.880 [Micromodem](INFO): Nmea in: $SNTTA,0.112548,,,,185501.77*43 2021-02-17T18:55:02.926Z,1613588102.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.560013 m, bearing: 306.354010 deg, deltaT: 4.407983 s, approachRate: 0.871149 m/s, LOS rate: 2.162402 deg/s, posRepo size: 4 2021-02-17T18:55:02.935Z,1613588102.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.560013 m, bearing: 306.354010 deg, approachRate: 0.871149 m/s, LOS rate: 2.162402 deg/s, cmd update: 8.649606 deg/s, cmd heading: 321.983908 deg, new cmd heading: 324.773433 deg. 2021-02-17T18:55:05.331Z,1613588105.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:55:06.088Z,1613588106.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:55:06.499Z,1613588106.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:55:07.316Z,1613588107.316 [Micromodem](INFO): Nmea in: $SNTTA,0.114628,,,,185506.20*45 2021-02-17T18:55:07.364Z,1613588107.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.560013 m, bearing: 284.821484 deg, deltaT: 4.443357 s, approachRate: 0.000000 m/s, LOS rate: -4.846004 deg/s, posRepo size: 4 2021-02-17T18:55:07.366Z,1613588107.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.560013 m, bearing: 284.821484 deg, approachRate: 0.000000 m/s, LOS rate: -4.846004 deg/s, cmd update: -12.000000 deg/s, cmd heading: 0.418105 deg, new cmd heading: 4.073861 deg. 2021-02-17T18:55:09.739Z,1613588109.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:55:10.538Z,1613588110.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:55:10.945Z,1613588110.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:55:11.768Z,1613588111.768 [Micromodem](INFO): Nmea in: $SNTTA,0.116740,,0.122315,,185510.65*56 2021-02-17T18:55:11.810Z,1613588111.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.560013 m, bearing: 324.261127 deg, deltaT: 4.467227 s, approachRate: 0.000000 m/s, LOS rate: 8.828663 deg/s, posRepo size: 4 2021-02-17T18:55:11.816Z,1613588111.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.560013 m, bearing: 324.261127 deg, approachRate: 0.000000 m/s, LOS rate: 8.828663 deg/s, cmd update: 12.000000 deg/s, cmd heading: 306.816215 deg, new cmd heading: 301.993703 deg. 2021-02-17T18:55:14.207Z,1613588114.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:55:14.993Z,1613588114.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:55:15.387Z,1613588115.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:55:16.207Z,1613588116.207 [Micromodem](INFO): Nmea in: $SNTTA,0.118394,,,,185515.11*4B 2021-02-17T18:55:16.638Z,1613588116.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 330.622274 deg, deltaT: 4.866841 s, approachRate: 1.676650 m/s, LOS rate: 1.307038 deg/s, posRepo size: 4 2021-02-17T18:55:16.640Z,1613588116.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.720001 m, bearing: 330.622274 deg, approachRate: 1.676650 m/s, LOS rate: 1.307038 deg/s, cmd update: 5.228152 deg/s, cmd heading: 5.175925 deg, new cmd heading: 9.572858 deg. 2021-02-17T18:55:19.095Z,1613588119.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:55:19.825Z,1613588119.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:55:20.247Z,1613588120.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:55:21.080Z,1613588121.080 [Micromodem](INFO): Nmea in: $SNTTA,0.120211,,,,185519.94*4D 2021-02-17T18:55:21.114Z,1613588121.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 336.720840 deg, deltaT: 4.426475 s, approachRate: 0.000000 m/s, LOS rate: 1.377748 deg/s, posRepo size: 4 2021-02-17T18:55:21.116Z,1613588121.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.720001 m, bearing: 336.720840 deg, approachRate: 0.000000 m/s, LOS rate: 1.377748 deg/s, cmd update: 5.510991 deg/s, cmd heading: 28.338458 deg, new cmd heading: 30.493471 deg. 2021-02-17T18:55:23.489Z,1613588123.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:55:24.285Z,1613588124.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:55:24.684Z,1613588124.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:55:25.508Z,1613588125.508 [Micromodem](INFO): Nmea in: $SNTTA,0.121414,,,,185524.40*48 2021-02-17T18:55:25.934Z,1613588125.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.039993 m, bearing: 44.932328 deg, deltaT: 4.816941 s, approachRate: 0.896833 m/s, LOS rate: 14.160746 deg/s, posRepo size: 4 2021-02-17T18:55:25.941Z,1613588125.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.160746 deg/s. Setting heading cmd to target bearing of 44.932328deg and heading rate command to 0 deg/s. 2021-02-17T18:55:28.343Z,1613588128.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:55:29.121Z,1613588129.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:55:29.521Z,1613588129.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:55:30.359Z,1613588130.359 [Micromodem](INFO): Nmea in: $SNTTA,0.122090,0.127960,,,185529.24*59 2021-02-17T18:55:30.774Z,1613588130.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.180008 m, bearing: 342.811211 deg, deltaT: 4.910615 s, approachRate: 0.232153 m/s, LOS rate: -12.650372 deg/s, posRepo size: 4 2021-02-17T18:55:30.774Z,1613588130.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.650372 deg/s. Setting heading cmd to target bearing of 342.811211deg and heading rate command to 0 deg/s. 2021-02-17T18:55:33.237Z,1613588133.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:55:33.968Z,1613588133.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:55:34.390Z,1613588134.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:55:35.193Z,1613588135.193 [Micromodem](INFO): Nmea in: $SNTTA,0.122252,,,,185534.08*42 2021-02-17T18:55:35.619Z,1613588135.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.239990 m, bearing: 79.993700 deg, deltaT: 4.816792 s, approachRate: 0.012453 m/s, LOS rate: 20.175771 deg/s, posRepo size: 4 2021-02-17T18:55:35.620Z,1613588135.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.175771 deg/s. Setting heading cmd to target bearing of 79.993700deg and heading rate command to 0 deg/s. 2021-02-17T18:55:38.089Z,1613588138.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:55:38.812Z,1613588138.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:55:39.223Z,1613588139.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:55:40.076Z,1613588140.076 [Micromodem](INFO): Nmea in: $SNTTA,0.122137,,,,185538.93*4C 2021-02-17T18:55:40.121Z,1613588140.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.239990 m, bearing: 71.530679 deg, deltaT: 4.410385 s, approachRate: 0.000000 m/s, LOS rate: -1.918885 deg/s, posRepo size: 4 2021-02-17T18:55:40.123Z,1613588140.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.239990 m, bearing: 71.530679 deg, approachRate: 0.000000 m/s, LOS rate: -1.918885 deg/s, cmd update: -7.675539 deg/s, cmd heading: 79.993700 deg, new cmd heading: 79.993700 deg. 2021-02-17T18:55:42.481Z,1613588142.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:55:43.262Z,1613588143.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:55:43.662Z,1613588143.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:55:44.488Z,1613588144.488 [Micromodem](INFO): Nmea in: $SNTTA,0.122441,,,,185543.38*45 2021-02-17T18:55:44.510Z,1613588144.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.239990 m, bearing: 61.228070 deg, deltaT: 4.491600 s, approachRate: 0.000000 m/s, LOS rate: -2.293750 deg/s, posRepo size: 4 2021-02-17T18:55:44.512Z,1613588144.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.239990 m, bearing: 61.228070 deg, approachRate: 0.000000 m/s, LOS rate: -2.293750 deg/s, cmd update: -9.175002 deg/s, cmd heading: 45.572782 deg, new cmd heading: 42.763013 deg. 2021-02-17T18:55:46.908Z,1613588146.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:55:47.700Z,1613588147.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:55:48.111Z,1613588148.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:55:48.917Z,1613588148.917 [Micromodem](INFO): Nmea in: $SNTTA,0.122630,,,,185547.81*47 2021-02-17T18:55:49.378Z,1613588149.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.899994 m, bearing: 2.546019 deg, deltaT: 4.810568 s, approachRate: 0.137199 m/s, LOS rate: -12.198569 deg/s, posRepo size: 4 2021-02-17T18:55:49.379Z,1613588149.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.198569 deg/s. Setting heading cmd to target bearing of 2.546019deg and heading rate command to 0 deg/s. 2021-02-17T18:55:51.760Z,1613588151.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:55:52.549Z,1613588152.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:55:52.953Z,1613588152.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:55:53.768Z,1613588153.768 [Micromodem](INFO): Nmea in: $SNTTA,0.122546,,,,185552.66*48 2021-02-17T18:55:54.229Z,1613588154.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.720001 m, bearing: 353.740688 deg, deltaT: 4.819529 s, approachRate: -0.037347 m/s, LOS rate: -1.827011 deg/s, posRepo size: 4 2021-02-17T18:55:54.230Z,1613588154.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.720001 m, bearing: 353.740688 deg, approachRate: -0.037347 m/s, LOS rate: -1.827011 deg/s, cmd update: -7.308045 deg/s, cmd heading: 2.546019 deg, new cmd heading: 2.546019 deg. 2021-02-17T18:55:56.625Z,1613588156.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:55:57.401Z,1613588157.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:55:57.801Z,1613588157.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:55:58.620Z,1613588158.620 [Micromodem](INFO): Nmea in: $SNTTA,0.122790,,,,185557.52*43 2021-02-17T18:55:59.102Z,1613588159.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.199997 m, bearing: 63.319474 deg, deltaT: 4.885943 s, approachRate: 0.098240 m/s, LOS rate: 14.240602 deg/s, posRepo size: 4 2021-02-17T18:55:59.102Z,1613588159.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.240602 deg/s. Setting heading cmd to target bearing of 63.319474deg and heading rate command to 0 deg/s. 2021-02-17T18:56:01.467Z,1613588161.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:56:02.249Z,1613588162.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:56:02.649Z,1613588162.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:56:03.492Z,1613588163.492 [Micromodem](INFO): Nmea in: $SNTTA,0.123905,,,,185602.36*41 2021-02-17T18:56:03.530Z,1613588163.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.199997 m, bearing: 35.669761 deg, deltaT: 4.483044 s, approachRate: 0.000000 m/s, LOS rate: -6.167620 deg/s, posRepo size: 4 2021-02-17T18:56:03.532Z,1613588163.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.199997 m, bearing: 35.669761 deg, approachRate: 0.000000 m/s, LOS rate: -6.167620 deg/s, cmd update: -12.000000 deg/s, cmd heading: 63.319474 deg, new cmd heading: 63.319474 deg. 2021-02-17T18:56:05.894Z,1613588165.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:56:06.690Z,1613588166.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:56:07.110Z,1613588167.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:56:07.908Z,1613588167.908 [Micromodem](INFO): Nmea in: $SNTTA,0.125336,,,,185606.80*44 2021-02-17T18:56:08.373Z,1613588168.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.039993 m, bearing: 350.801740 deg, deltaT: 4.814092 s, approachRate: 0.797657 m/s, LOS rate: -9.320142 deg/s, posRepo size: 4 2021-02-17T18:56:08.375Z,1613588168.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.039993 m, bearing: 350.801740 deg, approachRate: 0.797657 m/s, LOS rate: -9.320142 deg/s, cmd update: -12.000000 deg/s, cmd heading: 5.956724 deg, new cmd heading: 0.611011 deg. 2021-02-17T18:56:10.772Z,1613588170.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:56:11.536Z,1613588171.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:56:11.949Z,1613588171.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:56:12.754Z,1613588172.754 [Micromodem](INFO): Nmea in: $SNTTA,0.126749,,,,185611.65*46 2021-02-17T18:56:13.217Z,1613588173.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.019974 m, bearing: 53.795796 deg, deltaT: 4.803365 s, approachRate: 0.412207 m/s, LOS rate: 13.114569 deg/s, posRepo size: 4 2021-02-17T18:56:13.218Z,1613588173.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.114569 deg/s. Setting heading cmd to target bearing of 53.795796deg and heading rate command to 0 deg/s. 2021-02-17T18:56:15.611Z,1613588175.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:56:16.385Z,1613588176.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:56:16.791Z,1613588176.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:56:17.602Z,1613588177.602 [Micromodem](INFO): Nmea in: $SNTTA,0.127617,,,,185616.50*4C 2021-02-17T18:56:18.093Z,1613588178.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.459991 m, bearing: 38.201439 deg, deltaT: 4.910912 s, approachRate: 0.293228 m/s, LOS rate: -3.175450 deg/s, posRepo size: 4 2021-02-17T18:56:18.094Z,1613588178.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.459991 m, bearing: 38.201439 deg, approachRate: 0.293228 m/s, LOS rate: -3.175450 deg/s, cmd update: -12.000000 deg/s, cmd heading: 53.795796 deg, new cmd heading: 53.795796 deg. 2021-02-17T18:56:20.467Z,1613588180.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:56:21.240Z,1613588181.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:56:21.643Z,1613588181.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:56:22.483Z,1613588182.483 [Micromodem](INFO): Nmea in: $SNTTA,0.129127,,,,185621.35*41 2021-02-17T18:56:22.502Z,1613588182.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.459991 m, bearing: 6.151824 deg, deltaT: 4.457881 s, approachRate: 0.000000 m/s, LOS rate: -7.189428 deg/s, posRepo size: 4 2021-02-17T18:56:22.504Z,1613588182.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.459991 m, bearing: 6.151824 deg, approachRate: 0.000000 m/s, LOS rate: -7.189428 deg/s, cmd update: -12.000000 deg/s, cmd heading: 0.327634 deg, new cmd heading: 355.901266 deg. 2021-02-17T18:56:24.904Z,1613588184.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:56:25.682Z,1613588185.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:56:26.095Z,1613588186.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:56:26.897Z,1613588186.897 [Micromodem](INFO): Nmea in: $SNTTA,0.130260,,,,185625.80*43 2021-02-17T18:56:27.356Z,1613588187.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.419983 m, bearing: 51.992435 deg, deltaT: 4.774911 s, approachRate: 0.829333 m/s, LOS rate: 9.600306 deg/s, posRepo size: 4 2021-02-17T18:56:27.358Z,1613588187.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.419983 m, bearing: 51.992435 deg, approachRate: 0.829333 m/s, LOS rate: 9.600306 deg/s, cmd update: 12.000000 deg/s, cmd heading: 302.983184 deg, new cmd heading: 297.652220 deg. 2021-02-17T18:56:29.731Z,1613588189.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:56:30.530Z,1613588190.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:56:30.941Z,1613588190.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:56:31.745Z,1613588191.745 [Micromodem](INFO): Nmea in: $SNTTA,0.131525,,,,185630.65*4B 2021-02-17T18:56:32.200Z,1613588192.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.339996 m, bearing: 38.998229 deg, deltaT: 4.871971 s, approachRate: 0.394094 m/s, LOS rate: -2.667135 deg/s, posRepo size: 4 2021-02-17T18:56:32.202Z,1613588192.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.339996 m, bearing: 38.998229 deg, approachRate: 0.394094 m/s, LOS rate: -2.667135 deg/s, cmd update: -10.668541 deg/s, cmd heading: 1.158790 deg, new cmd heading: 6.442450 deg. 2021-02-17T18:56:34.599Z,1613588194.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:56:35.373Z,1613588195.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:56:35.779Z,1613588195.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:56:36.591Z,1613588196.591 [Micromodem](INFO): Nmea in: $SNTTA,0.133016,,,,185635.49*47 2021-02-17T18:56:37.098Z,1613588197.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.559998 m, bearing: 355.223713 deg, deltaT: 4.821372 s, approachRate: 0.460450 m/s, LOS rate: -9.079264 deg/s, posRepo size: 4 2021-02-17T18:56:37.108Z,1613588197.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.559998 m, bearing: 355.223713 deg, approachRate: 0.460450 m/s, LOS rate: -9.079264 deg/s, cmd update: -12.000000 deg/s, cmd heading: 309.465152 deg, new cmd heading: 304.211952 deg. 2021-02-17T18:56:39.438Z,1613588199.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:56:40.238Z,1613588200.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:56:40.632Z,1613588200.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:56:41.463Z,1613588201.463 [Micromodem](INFO): Nmea in: $SNTTA,0.134799,,,,185640.35*49 2021-02-17T18:56:41.886Z,1613588201.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.259995 m, bearing: 352.777058 deg, deltaT: 4.899636 s, approachRate: 0.551061 m/s, LOS rate: -0.499355 deg/s, posRepo size: 4 2021-02-17T18:56:41.888Z,1613588201.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.259995 m, bearing: 352.777058 deg, approachRate: 0.551061 m/s, LOS rate: -0.499355 deg/s, cmd update: -1.997418 deg/s, cmd heading: 250.763659 deg, new cmd heading: 246.100339 deg. 2021-02-17T18:56:44.306Z,1613588204.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:56:45.082Z,1613588205.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:56:45.474Z,1613588205.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:56:46.296Z,1613588206.296 [Micromodem](INFO): Nmea in: $SNTTA,0.137359,,,,185645.20*43 2021-02-17T18:56:46.714Z,1613588206.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.679993 m, bearing: 309.823063 deg, deltaT: 4.848211 s, approachRate: 0.705414 m/s, LOS rate: -8.859762 deg/s, posRepo size: 4 2021-02-17T18:56:46.716Z,1613588206.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.679993 m, bearing: 309.823063 deg, approachRate: 0.705414 m/s, LOS rate: -8.859762 deg/s, cmd update: -12.000000 deg/s, cmd heading: 241.064167 deg, new cmd heading: 240.343664 deg. 2021-02-17T18:56:49.155Z,1613588209.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:56:49.918Z,1613588209.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:56:50.322Z,1613588210.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:56:51.136Z,1613588211.136 [Micromodem](INFO): Nmea in: $SNTTA,0.139254,,,,185650.03*44 2021-02-17T18:56:51.567Z,1613588211.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.039993 m, bearing: 314.524938 deg, deltaT: 4.840301 s, approachRate: 0.694172 m/s, LOS rate: 0.971401 deg/s, posRepo size: 4 2021-02-17T18:56:51.570Z,1613588211.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 209.039993 m, bearing: 314.524938 deg, approachRate: 0.694172 m/s, LOS rate: 0.971401 deg/s, cmd update: 3.885605 deg/s, cmd heading: 183.267677 deg, new cmd heading: 178.507601 deg. 2021-02-17T18:56:53.981Z,1613588213.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:56:54.786Z,1613588214.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:56:55.170Z,1613588215.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:56:56.017Z,1613588216.017 [Micromodem](INFO): Nmea in: $SNTTA,0.141837,,,,185654.90*4A 2021-02-17T18:56:56.422Z,1613588216.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.939987 m, bearing: 294.735995 deg, deltaT: 4.902835 s, approachRate: 0.795457 m/s, LOS rate: -4.036225 deg/s, posRepo size: 4 2021-02-17T18:56:56.424Z,1613588216.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.939987 m, bearing: 294.735995 deg, approachRate: 0.795457 m/s, LOS rate: -4.036225 deg/s, cmd update: -12.000000 deg/s, cmd heading: 202.396369 deg, new cmd heading: 203.677340 deg. 2021-02-17T18:56:58.833Z,1613588218.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:56:59.612Z,1613588219.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:57:00.063Z,1613588220.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:57:00.830Z,1613588220.830 [Micromodem](INFO): Nmea in: $SNTTA,0.143874,,,,185659.73*4F 2021-02-17T18:57:01.285Z,1613588221.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.999985 m, bearing: 267.770463 deg, deltaT: 4.778167 s, approachRate: 0.640412 m/s, LOS rate: -5.643489 deg/s, posRepo size: 4 2021-02-17T18:57:01.287Z,1613588221.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.999985 m, bearing: 267.770463 deg, approachRate: 0.640412 m/s, LOS rate: -5.643489 deg/s, cmd update: -12.000000 deg/s, cmd heading: 145.059251 deg, new cmd heading: 140.088347 deg. 2021-02-17T18:57:03.678Z,1613588223.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:57:04.474Z,1613588224.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:57:04.932Z,1613588224.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:57:05.684Z,1613588225.684 [Micromodem](INFO): Nmea in: $SNTTA,0.145705,,,,185704.59*41 2021-02-17T18:57:06.141Z,1613588226.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.639999 m, bearing: 227.989420 deg, deltaT: 4.852291 s, approachRate: 0.544076 m/s, LOS rate: -8.198404 deg/s, posRepo size: 4 2021-02-17T18:57:06.143Z,1613588226.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.639999 m, bearing: 227.989420 deg, approachRate: 0.544076 m/s, LOS rate: -8.198404 deg/s, cmd update: -12.000000 deg/s, cmd heading: 86.831361 deg, new cmd heading: 81.816381 deg. 2021-02-17T18:57:08.523Z,1613588228.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:57:09.308Z,1613588229.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:57:09.714Z,1613588229.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:57:10.528Z,1613588230.528 [Micromodem](INFO): Nmea in: $SNTTA,0.147056,,,,185709.42*45 2021-02-17T18:57:10.972Z,1613588230.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.559998 m, bearing: 193.100089 deg, deltaT: 4.815418 s, approachRate: 0.398719 m/s, LOS rate: -7.245337 deg/s, posRepo size: 4 2021-02-17T18:57:10.995Z,1613588230.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 220.559998 m, bearing: 193.100089 deg, approachRate: 0.398719 m/s, LOS rate: -7.245337 deg/s, cmd update: -12.000000 deg/s, cmd heading: 28.999292 deg, new cmd heading: 23.843599 deg. 2021-02-17T18:57:13.392Z,1613588233.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:57:14.174Z,1613588234.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:57:14.564Z,1613588234.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:57:15.382Z,1613588235.382 [Micromodem](INFO): Nmea in: $SNTTA,0.147936,,,,185714.29*4B 2021-02-17T18:57:15.824Z,1613588235.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.939987 m, bearing: 158.118073 deg, deltaT: 4.912704 s, approachRate: 0.280902 m/s, LOS rate: -7.120725 deg/s, posRepo size: 4 2021-02-17T18:57:15.826Z,1613588235.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.939987 m, bearing: 158.118073 deg, approachRate: 0.280902 m/s, LOS rate: -7.120725 deg/s, cmd update: -12.000000 deg/s, cmd heading: 330.093966 deg, new cmd heading: 325.621806 deg. 2021-02-17T18:57:18.241Z,1613588238.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:57:19.055Z,1613588239.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:57:19.411Z,1613588239.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:57:20.248Z,1613588240.248 [Micromodem](INFO): Nmea in: $SNTTA,0.148863,,,,185719.17*45 2021-02-17T18:57:20.666Z,1613588240.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.380005 m, bearing: 184.978544 deg, deltaT: 4.851592 s, approachRate: 0.296813 m/s, LOS rate: 5.536424 deg/s, posRepo size: 4 2021-02-17T18:57:20.668Z,1613588240.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.380005 m, bearing: 184.978544 deg, approachRate: 0.296813 m/s, LOS rate: 5.536424 deg/s, cmd update: 12.000000 deg/s, cmd heading: 271.826716 deg, new cmd heading: 267.513472 deg. 2021-02-17T18:57:23.118Z,1613588243.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:57:23.858Z,1613588243.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:57:24.260Z,1613588244.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:57:25.080Z,1613588245.080 [Micromodem](INFO): Nmea in: $SNTTA,0.150387,,,,185723.97*4C 2021-02-17T18:57:25.522Z,1613588245.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.779999 m, bearing: 218.949323 deg, deltaT: 4.806874 s, approachRate: 0.499284 m/s, LOS rate: 7.067125 deg/s, posRepo size: 4 2021-02-17T18:57:25.525Z,1613588245.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.779999 m, bearing: 218.949323 deg, approachRate: 0.499284 m/s, LOS rate: 7.067125 deg/s, cmd update: 12.000000 deg/s, cmd heading: 329.509710 deg, new cmd heading: 334.406166 deg. 2021-02-17T18:57:27.908Z,1613588247.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:57:28.706Z,1613588248.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:57:29.112Z,1613588249.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:57:29.924Z,1613588249.924 [Micromodem](INFO): Nmea in: $SNTTA,0.152228,,,,185728.82*45 2021-02-17T18:57:30.368Z,1613588250.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.479996 m, bearing: 285.038902 deg, deltaT: 4.825239 s, approachRate: 0.559557 m/s, LOS rate: 13.696644 deg/s, posRepo size: 4 2021-02-17T18:57:30.368Z,1613588250.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.696644 deg/s. Setting heading cmd to target bearing of 285.038902deg and heading rate command to 0 deg/s. 2021-02-17T18:57:32.768Z,1613588252.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:57:33.550Z,1613588253.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:57:33.967Z,1613588253.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:57:34.771Z,1613588254.771 [Micromodem](INFO): Nmea in: $SNTTA,0.154670,,,,185733.66*4A 2021-02-17T18:57:35.220Z,1613588255.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.139984 m, bearing: 261.742794 deg, deltaT: 4.846787 s, approachRate: 0.755137 m/s, LOS rate: -4.806506 deg/s, posRepo size: 4 2021-02-17T18:57:35.221Z,1613588255.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 232.139984 m, bearing: 261.742794 deg, approachRate: 0.755137 m/s, LOS rate: -4.806506 deg/s, cmd update: -12.000000 deg/s, cmd heading: 285.038902 deg, new cmd heading: 285.038902 deg. 2021-02-17T18:57:37.624Z,1613588257.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:57:38.402Z,1613588258.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:57:38.802Z,1613588258.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:57:39.614Z,1613588259.614 [Micromodem](INFO): Nmea in: $SNTTA,0.157308,,,,185738.52*4F 2021-02-17T18:57:40.454Z,1613588260.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:57:42.058Z,1613588262.058 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:57:43.284Z,1613588263.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:57:44.080Z,1613588264.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:57:44.458Z,1613588264.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:57:45.288Z,1613588265.288 [Micromodem](INFO): Nmea in: $SNTTA,0.160811,,,,185744.20*46 2021-02-17T18:57:45.713Z,1613588265.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.719986 m, bearing: 343.942399 deg, deltaT: 10.563649 s, approachRate: 0.812220 m/s, LOS rate: 7.781365 deg/s, posRepo size: 4 2021-02-17T18:57:45.715Z,1613588265.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 240.719986 m, bearing: 343.942399 deg, approachRate: 0.812220 m/s, LOS rate: 7.781365 deg/s, cmd update: 12.000000 deg/s, cmd heading: 158.611170 deg, new cmd heading: 153.908814 deg. 2021-02-17T18:57:48.147Z,1613588268.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:57:48.900Z,1613588268.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:57:49.305Z,1613588269.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:57:50.120Z,1613588270.120 [Micromodem](INFO): Nmea in: $SNTTA,0.162260,,,,185749.01*46 2021-02-17T18:57:50.554Z,1613588270.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.479980 m, bearing: 268.943370 deg, deltaT: 4.833132 s, approachRate: 0.571057 m/s, LOS rate: -15.517686 deg/s, posRepo size: 4 2021-02-17T18:57:50.555Z,1613588270.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.517686 deg/s. Setting heading cmd to target bearing of 268.943370deg and heading rate command to 0 deg/s. 2021-02-17T18:57:52.958Z,1613588272.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:57:53.748Z,1613588273.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:57:54.157Z,1613588274.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:57:54.992Z,1613588274.992 [Micromodem](INFO): Nmea in: $SNTTA,0.164641,,,,185753.86*43 2021-02-17T18:57:55.418Z,1613588275.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.559998 m, bearing: 224.383503 deg, deltaT: 4.892785 s, approachRate: 0.833884 m/s, LOS rate: -9.107261 deg/s, posRepo size: 4 2021-02-17T18:57:55.420Z,1613588275.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 247.559998 m, bearing: 224.383503 deg, approachRate: 0.833884 m/s, LOS rate: -9.107261 deg/s, cmd update: -12.000000 deg/s, cmd heading: 268.943370 deg, new cmd heading: 268.943370 deg. 2021-02-17T18:57:57.819Z,1613588277.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:57:58.601Z,1613588278.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:57:59.026Z,1613588279.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:57:59.816Z,1613588279.816 [Micromodem](INFO): Nmea in: $SNTTA,0.166847,,,,185758.71*4A 2021-02-17T18:58:00.272Z,1613588280.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.440002 m, bearing: 247.852129 deg, deltaT: 4.779682 s, approachRate: 0.602552 m/s, LOS rate: 4.910081 deg/s, posRepo size: 4 2021-02-17T18:58:00.274Z,1613588280.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 250.440002 m, bearing: 247.852129 deg, approachRate: 0.602552 m/s, LOS rate: 4.910081 deg/s, cmd update: 12.000000 deg/s, cmd heading: 211.484584 deg, new cmd heading: 206.433556 deg. 2021-02-17T18:58:02.666Z,1613588282.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:58:03.449Z,1613588283.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:58:03.855Z,1613588283.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:58:04.664Z,1613588284.664 [Micromodem](INFO): Nmea in: $SNTTA,0.168947,,,,185803.56*41 2021-02-17T18:58:05.132Z,1613588285.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.559998 m, bearing: 237.341670 deg, deltaT: 4.859550 s, approachRate: 0.642034 m/s, LOS rate: -2.162846 deg/s, posRepo size: 4 2021-02-17T18:58:05.134Z,1613588285.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 253.559998 m, bearing: 237.341670 deg, approachRate: 0.642034 m/s, LOS rate: -2.162846 deg/s, cmd update: -8.651385 deg/s, cmd heading: 269.619846 deg, new cmd heading: 274.854186 deg. 2021-02-17T18:58:07.508Z,1613588287.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:58:08.297Z,1613588288.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:58:08.715Z,1613588288.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:58:09.512Z,1613588289.512 [Micromodem](INFO): Nmea in: $SNTTA,0.170646,,,,185808.41*4B 2021-02-17T18:58:09.942Z,1613588289.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.259979 m, bearing: 254.161885 deg, deltaT: 4.819796 s, approachRate: 0.560186 m/s, LOS rate: 3.489819 deg/s, posRepo size: 4 2021-02-17T18:58:09.961Z,1613588289.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 256.259979 m, bearing: 254.161885 deg, approachRate: 0.560186 m/s, LOS rate: 3.489819 deg/s, cmd update: 12.000000 deg/s, cmd heading: 227.827385 deg, new cmd heading: 224.228461 deg. 2021-02-17T18:58:12.387Z,1613588292.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:58:13.148Z,1613588293.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:58:13.551Z,1613588293.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:58:14.363Z,1613588294.363 [Micromodem](INFO): Nmea in: $SNTTA,0.172667,,,,185813.26*41 2021-02-17T18:58:14.798Z,1613588294.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 259.139984 m, bearing: 247.568184 deg, deltaT: 4.886537 s, approachRate: 0.589375 m/s, LOS rate: -1.349361 deg/s, posRepo size: 4 2021-02-17T18:58:14.800Z,1613588294.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 259.139984 m, bearing: 247.568184 deg, approachRate: 0.589375 m/s, LOS rate: -1.349361 deg/s, cmd update: -5.397443 deg/s, cmd heading: 286.272342 deg, new cmd heading: 291.089754 deg. 2021-02-17T18:58:17.244Z,1613588297.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:58:18.020Z,1613588298.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:58:18.394Z,1613588298.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:58:19.233Z,1613588299.233 [Micromodem](INFO): Nmea in: $SNTTA,0.175300,,0.178951,,185818.13*52 2021-02-17T18:58:19.650Z,1613588299.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 263.039978 m, bearing: 261.924887 deg, deltaT: 4.868294 s, approachRate: 0.801101 m/s, LOS rate: 2.949021 deg/s, posRepo size: 4 2021-02-17T18:58:19.652Z,1613588299.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 263.039978 m, bearing: 261.924887 deg, approachRate: 0.801101 m/s, LOS rate: 2.949021 deg/s, cmd update: 11.796085 deg/s, cmd heading: 259.865467 deg, new cmd heading: 257.917433 deg. 2021-02-17T18:58:22.115Z,1613588302.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:58:22.836Z,1613588302.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:58:23.247Z,1613588303.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:58:24.080Z,1613588304.080 [Micromodem](INFO): Nmea in: $SNTTA,0.177282,,,,185822.95*41 2021-02-17T18:58:24.506Z,1613588304.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 266.040009 m, bearing: 259.168659 deg, deltaT: 4.824528 s, approachRate: 0.621829 m/s, LOS rate: -0.571295 deg/s, posRepo size: 4 2021-02-17T18:58:24.508Z,1613588304.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 266.040009 m, bearing: 259.168659 deg, approachRate: 0.621829 m/s, LOS rate: -0.571295 deg/s, cmd update: -2.285179 deg/s, cmd heading: 316.776481 deg, new cmd heading: 321.406657 deg. 2021-02-17T18:58:26.899Z,1613588306.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:58:27.684Z,1613588307.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:58:28.090Z,1613588308.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:58:28.901Z,1613588308.901 [Micromodem](INFO): Nmea in: $SNTTA,0.180225,,,,185827.80*45 2021-02-17T18:58:29.369Z,1613588309.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.479980 m, bearing: 248.399063 deg, deltaT: 4.802075 s, approachRate: 0.924594 m/s, LOS rate: -2.242696 deg/s, posRepo size: 4 2021-02-17T18:58:29.371Z,1613588309.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 270.479980 m, bearing: 248.399063 deg, approachRate: 0.924594 m/s, LOS rate: -2.242696 deg/s, cmd update: -8.970786 deg/s, cmd heading: 305.802998 deg, new cmd heading: 304.767387 deg. 2021-02-17T18:58:31.757Z,1613588311.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:58:32.533Z,1613588312.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:58:32.938Z,1613588312.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:58:33.753Z,1613588313.753 [Micromodem](INFO): Nmea in: $SNTTA,0.182175,,,,185832.65*4E 2021-02-17T18:58:34.575Z,1613588314.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:58:36.172Z,1613588316.172 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T18:58:37.414Z,1613588317.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:58:38.194Z,1613588318.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:58:38.601Z,1613588318.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:58:39.410Z,1613588319.410 [Micromodem](INFO): Nmea in: $SNTTA,0.185344,,,,185838.31*42 2021-02-17T18:58:39.850Z,1613588319.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.159973 m, bearing: 255.708240 deg, deltaT: 10.537757 s, approachRate: 0.728807 m/s, LOS rate: 0.693618 deg/s, posRepo size: 4 2021-02-17T18:58:39.852Z,1613588319.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 278.159973 m, bearing: 255.708240 deg, approachRate: 0.728807 m/s, LOS rate: 0.693618 deg/s, cmd update: 2.774472 deg/s, cmd heading: 211.270840 deg, new cmd heading: 207.718346 deg. 2021-02-17T18:58:42.263Z,1613588322.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:58:43.069Z,1613588323.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:58:43.441Z,1613588323.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:58:44.273Z,1613588324.273 [Micromodem](INFO): Nmea in: $SNTTA,0.187683,,,,185843.18*49 2021-02-17T18:58:44.698Z,1613588324.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.119995 m, bearing: 277.624350 deg, deltaT: 4.877077 s, approachRate: 0.811966 m/s, LOS rate: 4.493698 deg/s, posRepo size: 4 2021-02-17T18:58:44.700Z,1613588324.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 282.119995 m, bearing: 277.624350 deg, approachRate: 0.811966 m/s, LOS rate: 4.493698 deg/s, cmd update: 12.000000 deg/s, cmd heading: 224.735394 deg, new cmd heading: 225.821014 deg. 2021-02-17T18:58:47.162Z,1613588327.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:58:47.884Z,1613588327.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:58:48.295Z,1613588328.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:58:49.113Z,1613588329.113 [Micromodem](INFO): Nmea in: $SNTTA,0.190287,,,,185848.00*4D 2021-02-17T18:58:49.534Z,1613588329.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 285.599976 m, bearing: 233.405268 deg, deltaT: 4.815735 s, approachRate: 0.722627 m/s, LOS rate: -9.182208 deg/s, posRepo size: 4 2021-02-17T18:58:49.540Z,1613588329.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 285.599976 m, bearing: 233.405268 deg, approachRate: 0.722627 m/s, LOS rate: -9.182208 deg/s, cmd update: -12.000000 deg/s, cmd heading: 282.812983 deg, new cmd heading: 287.470579 deg. 2021-02-17T18:58:51.945Z,1613588331.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:58:52.732Z,1613588332.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:58:53.137Z,1613588333.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:58:53.950Z,1613588333.950 [Micromodem](INFO): Nmea in: $SNTTA,0.191901,,,,185852.85*4F 2021-02-17T18:58:54.397Z,1613588334.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 288.059998 m, bearing: 246.216435 deg, deltaT: 4.826188 s, approachRate: 0.509724 m/s, LOS rate: 2.654511 deg/s, posRepo size: 4 2021-02-17T18:58:54.399Z,1613588334.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 288.059998 m, bearing: 246.216435 deg, approachRate: 0.509724 m/s, LOS rate: 2.654511 deg/s, cmd update: 10.618042 deg/s, cmd heading: 224.938518 deg, new cmd heading: 219.807102 deg. 2021-02-17T18:58:56.787Z,1613588336.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:58:57.585Z,1613588337.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:58:58.017Z,1613588338.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:58:58.804Z,1613588338.804 [Micromodem](INFO): Nmea in: $SNTTA,0.194465,,,,185857.70*4A 2021-02-17T18:58:59.261Z,1613588339.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 291.839996 m, bearing: 229.148052 deg, deltaT: 4.872179 s, approachRate: 0.775833 m/s, LOS rate: -3.503234 deg/s, posRepo size: 4 2021-02-17T18:58:59.263Z,1613588339.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 291.839996 m, bearing: 229.148052 deg, approachRate: 0.775833 m/s, LOS rate: -3.503234 deg/s, cmd update: -12.000000 deg/s, cmd heading: 276.451504 deg, new cmd heading: 281.125311 deg. 2021-02-17T18:59:01.641Z,1613588341.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:59:02.435Z,1613588342.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:59:02.833Z,1613588342.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:59:03.650Z,1613588343.650 [Micromodem](INFO): Nmea in: $SNTTA,0.196872,,,,185902.55*44 2021-02-17T18:59:04.130Z,1613588344.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 295.439972 m, bearing: 196.074992 deg, deltaT: 4.819515 s, approachRate: 0.746958 m/s, LOS rate: -6.862321 deg/s, posRepo size: 4 2021-02-17T18:59:04.132Z,1613588344.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 295.439972 m, bearing: 196.074992 deg, approachRate: 0.746958 m/s, LOS rate: -6.862321 deg/s, cmd update: -12.000000 deg/s, cmd heading: 218.331687 deg, new cmd heading: 212.743802 deg. 2021-02-17T18:59:06.483Z,1613588346.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:59:07.291Z,1613588347.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:59:07.687Z,1613588347.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:59:08.502Z,1613588348.502 [Micromodem](INFO): Nmea in: $SNTTA,0.198992,,,,185907.40*44 2021-02-17T18:59:08.925Z,1613588348.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 298.559998 m, bearing: 209.943869 deg, deltaT: 4.903050 s, approachRate: 0.636344 m/s, LOS rate: 2.828622 deg/s, posRepo size: 4 2021-02-17T18:59:08.927Z,1613588348.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 298.559998 m, bearing: 209.943869 deg, approachRate: 0.636344 m/s, LOS rate: 2.828622 deg/s, cmd update: 11.314489 deg/s, cmd heading: 159.492517 deg, new cmd heading: 155.196829 deg. 2021-02-17T18:59:11.356Z,1613588351.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:59:12.124Z,1613588352.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:59:12.541Z,1613588352.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:59:13.342Z,1613588353.342 [Micromodem](INFO): Nmea in: $SNTTA,0.201182,,,,185912.24*48 2021-02-17T18:59:13.792Z,1613588353.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 301.919983 m, bearing: 219.346061 deg, deltaT: 4.828437 s, approachRate: 0.695874 m/s, LOS rate: 1.947254 deg/s, posRepo size: 4 2021-02-17T18:59:13.794Z,1613588353.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 301.919983 m, bearing: 219.346061 deg, approachRate: 0.695874 m/s, LOS rate: 1.947254 deg/s, cmd update: 7.789015 deg/s, cmd heading: 214.122968 deg, new cmd heading: 218.607216 deg. 2021-02-17T18:59:16.214Z,1613588356.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:59:16.976Z,1613588356.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:59:17.395Z,1613588357.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:59:18.195Z,1613588358.195 [Micromodem](INFO): Nmea in: $SNTTA,0.202781,,,,185917.09*44 2021-02-17T18:59:18.618Z,1613588358.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.199982 m, bearing: 192.145775 deg, deltaT: 4.858022 s, approachRate: 0.469327 m/s, LOS rate: -5.599045 deg/s, posRepo size: 4 2021-02-17T18:59:18.620Z,1613588358.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 304.199982 m, bearing: 192.145775 deg, approachRate: 0.469327 m/s, LOS rate: -5.599045 deg/s, cmd update: -12.000000 deg/s, cmd heading: 251.963009 deg, new cmd heading: 254.800649 deg. 2021-02-17T18:59:21.119Z,1613588361.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:59:21.821Z,1613588361.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:59:22.238Z,1613588362.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:59:23.077Z,1613588363.077 [Micromodem](INFO): Nmea in: $SNTTA,0.204120,,,,185921.94*4E 2021-02-17T18:59:23.470Z,1613588363.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.239990 m, bearing: 187.153030 deg, deltaT: 4.879662 s, approachRate: 0.418063 m/s, LOS rate: -1.023174 deg/s, posRepo size: 4 2021-02-17T18:59:23.472Z,1613588363.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 306.239990 m, bearing: 187.153030 deg, approachRate: 0.418063 m/s, LOS rate: -1.023174 deg/s, cmd update: -4.092698 deg/s, cmd heading: 193.677184 deg, new cmd heading: 189.367732 deg. 2021-02-17T18:59:25.923Z,1613588365.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:59:26.668Z,1613588366.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:59:27.080Z,1613588367.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:59:27.897Z,1613588367.897 [Micromodem](INFO): Nmea in: $SNTTA,0.206160,,,,185926.78*4D 2021-02-17T18:59:28.345Z,1613588368.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 309.419983 m, bearing: 247.986274 deg, deltaT: 4.777947 s, approachRate: 0.665556 m/s, LOS rate: 12.732088 deg/s, posRepo size: 4 2021-02-17T18:59:28.346Z,1613588368.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.732088 deg/s. Setting heading cmd to target bearing of 247.986274deg and heading rate command to 0 deg/s. 2021-02-17T18:59:30.724Z,1613588370.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:59:31.521Z,1613588371.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:59:31.931Z,1613588371.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:59:32.738Z,1613588372.738 [Micromodem](INFO): Nmea in: $SNTTA,0.207576,,,,185931.64*44 2021-02-17T18:59:33.194Z,1613588373.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 311.459991 m, bearing: 192.074495 deg, deltaT: 4.865964 s, approachRate: 0.419240 m/s, LOS rate: -11.490380 deg/s, posRepo size: 4 2021-02-17T18:59:33.199Z,1613588373.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.490380 deg/s. Setting heading cmd to target bearing of 192.074495deg and heading rate command to 0 deg/s. 2021-02-17T18:59:35.592Z,1613588375.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:59:36.364Z,1613588376.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:59:36.769Z,1613588376.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:59:37.584Z,1613588377.584 [Micromodem](INFO): Nmea in: $SNTTA,0.208792,,,,185936.48*4A 2021-02-17T18:59:38.085Z,1613588378.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.260010 m, bearing: 152.031815 deg, deltaT: 4.821440 s, approachRate: 0.373336 m/s, LOS rate: -8.305129 deg/s, posRepo size: 4 2021-02-17T18:59:38.087Z,1613588378.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 313.260010 m, bearing: 152.031815 deg, approachRate: 0.373336 m/s, LOS rate: -8.305129 deg/s, cmd update: -12.000000 deg/s, cmd heading: 192.074495 deg, new cmd heading: 192.074495 deg. 2021-02-17T18:59:40.110Z,1613588380.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:59:40.820Z,1613588380.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:59:41.216Z,1613588381.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:59:42.065Z,1613588382.065 [Micromodem](INFO): Nmea in: $SNTTA,0.209914,,,,185940.93*4C 2021-02-17T18:59:42.462Z,1613588382.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 314.879974 m, bearing: 166.642040 deg, deltaT: 4.520365 s, approachRate: 0.358370 m/s, LOS rate: 3.232090 deg/s, posRepo size: 4 2021-02-17T18:59:42.464Z,1613588382.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 314.879974 m, bearing: 166.642040 deg, approachRate: 0.358370 m/s, LOS rate: 3.232090 deg/s, cmd update: 12.000000 deg/s, cmd heading: 137.828794 deg, new cmd heading: 133.713214 deg. 2021-02-17T18:59:44.865Z,1613588384.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:59:45.662Z,1613588385.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:59:46.082Z,1613588386.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:59:46.876Z,1613588386.876 [Micromodem](INFO): Nmea in: $SNTTA,0.210743,,,,185945.78*48 2021-02-17T18:59:47.336Z,1613588387.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.139984 m, bearing: 154.319272 deg, deltaT: 4.771713 s, approachRate: 0.264058 m/s, LOS rate: -2.582462 deg/s, posRepo size: 4 2021-02-17T18:59:47.338Z,1613588387.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 316.139984 m, bearing: 154.319272 deg, approachRate: 0.264058 m/s, LOS rate: -2.582462 deg/s, cmd update: -10.329848 deg/s, cmd heading: 195.088704 deg, new cmd heading: 200.384604 deg. 2021-02-17T18:59:49.725Z,1613588389.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:59:50.510Z,1613588390.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:59:50.937Z,1613588390.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:59:51.725Z,1613588391.725 [Micromodem](INFO): Nmea in: $SNTTA,0.211039,,,,185950.62*4C 2021-02-17T18:59:52.189Z,1613588392.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.559998 m, bearing: 182.672016 deg, deltaT: 4.870902 s, approachRate: 0.086229 m/s, LOS rate: 5.820840 deg/s, posRepo size: 4 2021-02-17T18:59:52.190Z,1613588392.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 316.559998 m, bearing: 182.672016 deg, approachRate: 0.086229 m/s, LOS rate: 5.820840 deg/s, cmd update: 12.000000 deg/s, cmd heading: 145.001376 deg, new cmd heading: 140.361508 deg. 2021-02-17T18:59:54.559Z,1613588394.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:59:55.354Z,1613588395.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T18:59:55.771Z,1613588395.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T18:59:56.572Z,1613588396.572 [Micromodem](INFO): Nmea in: $SNTTA,0.210880,,,,185955.47*45 2021-02-17T18:59:57.053Z,1613588397.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.259979 m, bearing: 164.382327 deg, deltaT: 4.825037 s, approachRate: -0.062179 m/s, LOS rate: -3.790580 deg/s, posRepo size: 4 2021-02-17T18:59:57.061Z,1613588397.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 316.259979 m, bearing: 164.382327 deg, approachRate: -0.062179 m/s, LOS rate: -3.790580 deg/s, cmd update: -12.000000 deg/s, cmd heading: 203.167513 deg, new cmd heading: 208.699766 deg. 2021-02-17T18:59:59.111Z,1613588399.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T18:59:59.801Z,1613588399.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:00:00.215Z,1613588400.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:00:01.069Z,1613588401.069 [Micromodem](INFO): Nmea in: $SNTTA,0.210424,,,,185959.92*43 2021-02-17T19:00:01.446Z,1613588401.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 315.539978 m, bearing: 94.777276 deg, deltaT: 4.543378 s, approachRate: -0.158473 m/s, LOS rate: -15.320109 deg/s, posRepo size: 4 2021-02-17T19:00:01.447Z,1613588401.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.320109 deg/s. Setting heading cmd to target bearing of 94.777276deg and heading rate command to 0 deg/s. 2021-02-17T19:00:03.853Z,1613588403.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:00:04.644Z,1613588404.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:00:05.074Z,1613588405.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:00:05.861Z,1613588405.861 [Micromodem](INFO): Nmea in: $SNTTA,0.209936,,,,190004.76*4A 2021-02-17T19:00:06.337Z,1613588406.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 314.940002 m, bearing: 131.927576 deg, deltaT: 4.762142 s, approachRate: -0.125989 m/s, LOS rate: 7.801175 deg/s, posRepo size: 4 2021-02-17T19:00:06.339Z,1613588406.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 314.940002 m, bearing: 131.927576 deg, approachRate: -0.125989 m/s, LOS rate: 7.801175 deg/s, cmd update: 12.000000 deg/s, cmd heading: 94.777276 deg, new cmd heading: 94.777276 deg. 2021-02-17T19:00:08.706Z,1613588408.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:00:09.495Z,1613588409.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:00:10.020Z,1613588410.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:00:10.711Z,1613588410.711 [Micromodem](INFO): Nmea in: $SNTTA,0.209778,,,,190009.61*45 2021-02-17T19:00:11.166Z,1613588411.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 314.519989 m, bearing: 91.021874 deg, deltaT: 4.858152 s, approachRate: -0.086455 m/s, LOS rate: -8.420013 deg/s, posRepo size: 4 2021-02-17T19:00:11.168Z,1613588411.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 314.519989 m, bearing: 91.021874 deg, approachRate: -0.086455 m/s, LOS rate: -8.420013 deg/s, cmd update: -12.000000 deg/s, cmd heading: 153.221297 deg, new cmd heading: 158.255598 deg. 2021-02-17T19:00:13.555Z,1613588413.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:00:14.340Z,1613588414.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:00:14.751Z,1613588414.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:00:15.557Z,1613588415.557 [Micromodem](INFO): Nmea in: $SNTTA,0.208856,,,,190014.45*4D 2021-02-17T19:00:16.052Z,1613588416.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.139984 m, bearing: 92.257079 deg, deltaT: 4.849450 s, approachRate: -0.284569 m/s, LOS rate: 0.254710 deg/s, posRepo size: 4 2021-02-17T19:00:16.068Z,1613588416.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 313.139984 m, bearing: 92.257079 deg, approachRate: -0.284569 m/s, LOS rate: 0.254710 deg/s, cmd update: 1.018842 deg/s, cmd heading: 95.027704 deg, new cmd heading: 89.701708 deg. 2021-02-17T19:00:18.425Z,1613588418.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:00:19.193Z,1613588419.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:00:19.608Z,1613588419.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:00:20.416Z,1613588420.416 [Micromodem](INFO): Nmea in: $SNTTA,0.207544,,,,190019.31*42 2021-02-17T19:00:20.856Z,1613588420.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 311.159973 m, bearing: 89.484651 deg, deltaT: 4.865748 s, approachRate: -0.406928 m/s, LOS rate: -0.569785 deg/s, posRepo size: 4 2021-02-17T19:00:20.858Z,1613588420.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 311.159973 m, bearing: 89.484651 deg, approachRate: -0.406928 m/s, LOS rate: -0.569785 deg/s, cmd update: -2.279139 deg/s, cmd heading: 99.985095 deg, new cmd heading: 100.387476 deg. 2021-02-17T19:00:21.239Z,1613588421.239 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:00:23.281Z,1613588423.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:00:24.070Z,1613588424.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:00:24.446Z,1613588424.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:00:25.274Z,1613588425.274 [Micromodem](INFO): Nmea in: $SNTTA,0.205749,,,,190024.19*4B 2021-02-17T19:00:25.691Z,1613588425.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.279999 m, bearing: 88.671442 deg, deltaT: 4.875469 s, approachRate: -0.590707 m/s, LOS rate: -0.166796 deg/s, posRepo size: 4 2021-02-17T19:00:25.694Z,1613588425.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 308.279999 m, bearing: 88.671442 deg, approachRate: -0.590707 m/s, LOS rate: -0.166796 deg/s, cmd update: -0.667184 deg/s, cmd heading: 88.873419 deg, new cmd heading: 88.067794 deg. 2021-02-17T19:00:28.135Z,1613588428.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:00:28.903Z,1613588428.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:00:29.314Z,1613588429.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:00:30.114Z,1613588430.114 [Micromodem](INFO): Nmea in: $SNTTA,0.203841,,,,190029.02*4D 2021-02-17T19:00:30.538Z,1613588430.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.579987 m, bearing: 90.843128 deg, deltaT: 4.834016 s, approachRate: -0.558544 m/s, LOS rate: 0.449251 deg/s, posRepo size: 4 2021-02-17T19:00:30.540Z,1613588430.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 305.579987 m, bearing: 90.843128 deg, approachRate: -0.558544 m/s, LOS rate: 0.449251 deg/s, cmd update: 1.797004 deg/s, cmd heading: 85.664137 deg, new cmd heading: 85.403380 deg. 2021-02-17T19:00:32.944Z,1613588432.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:00:33.741Z,1613588433.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:00:34.149Z,1613588434.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:00:34.960Z,1613588434.960 [Micromodem](INFO): Nmea in: $SNTTA,0.201874,,,0.204386,190033.86*5B 2021-02-17T19:00:35.421Z,1613588435.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.639984 m, bearing: 92.033739 deg, deltaT: 4.886710 s, approachRate: -0.601632 m/s, LOS rate: 0.243643 deg/s, posRepo size: 4 2021-02-17T19:00:35.428Z,1613588435.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 302.639984 m, bearing: 92.033739 deg, approachRate: -0.601632 m/s, LOS rate: 0.243643 deg/s, cmd update: 0.974571 deg/s, cmd heading: 94.423731 deg, new cmd heading: 95.141573 deg. 2021-02-17T19:00:37.811Z,1613588437.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:00:38.584Z,1613588438.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:00:39.030Z,1613588439.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:00:39.807Z,1613588439.807 [Micromodem](INFO): Nmea in: $SNTTA,0.199922,,,,190038.70*4C 2021-02-17T19:00:40.264Z,1613588440.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 299.639984 m, bearing: 92.212424 deg, deltaT: 4.787945 s, approachRate: -0.626574 m/s, LOS rate: 0.037320 deg/s, posRepo size: 4 2021-02-17T19:00:40.266Z,1613588440.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 299.639984 m, bearing: 92.212424 deg, approachRate: -0.626574 m/s, LOS rate: 0.037320 deg/s, cmd update: 0.149279 deg/s, cmd heading: 99.125043 deg, new cmd heading: 99.533260 deg. 2021-02-17T19:00:42.671Z,1613588442.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:00:43.434Z,1613588443.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:00:43.837Z,1613588443.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:00:44.650Z,1613588444.650 [Micromodem](INFO): Nmea in: $SNTTA,0.198108,,,,190043.55*46 2021-02-17T19:00:45.125Z,1613588445.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 297.000000 m, bearing: 91.089008 deg, deltaT: 4.815346 s, approachRate: -0.548244 m/s, LOS rate: -0.233299 deg/s, posRepo size: 4 2021-02-17T19:00:45.127Z,1613588445.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 297.000000 m, bearing: 91.089008 deg, approachRate: -0.548244 m/s, LOS rate: -0.233299 deg/s, cmd update: -0.933196 deg/s, cmd heading: 99.844480 deg, new cmd heading: 99.913162 deg. 2021-02-17T19:00:47.488Z,1613588447.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:00:48.282Z,1613588448.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:00:48.691Z,1613588448.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:00:49.499Z,1613588449.499 [Micromodem](INFO): Nmea in: $SNTTA,0.195869,,,,190048.40*4A 2021-02-17T19:00:49.946Z,1613588449.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 293.579987 m, bearing: 91.414876 deg, deltaT: 4.872678 s, approachRate: -0.701876 m/s, LOS rate: 0.066877 deg/s, posRepo size: 4 2021-02-17T19:00:49.953Z,1613588449.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 293.579987 m, bearing: 91.414876 deg, approachRate: -0.701876 m/s, LOS rate: 0.066877 deg/s, cmd update: 0.267507 deg/s, cmd heading: 95.301038 deg, new cmd heading: 94.916402 deg. 2021-02-17T19:00:52.369Z,1613588452.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:00:53.128Z,1613588453.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:00:53.539Z,1613588453.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:00:54.352Z,1613588454.352 [Micromodem](INFO): Nmea in: $SNTTA,0.194032,,,,190053.24*45 2021-02-17T19:00:54.774Z,1613588454.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.819977 m, bearing: 90.894580 deg, deltaT: 4.891698 s, approachRate: -0.564223 m/s, LOS rate: -0.106363 deg/s, posRepo size: 4 2021-02-17T19:00:54.776Z,1613588454.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 290.819977 m, bearing: 90.894580 deg, approachRate: -0.564223 m/s, LOS rate: -0.106363 deg/s, cmd update: -0.425453 deg/s, cmd heading: 96.609602 deg, new cmd heading: 96.702866 deg. 2021-02-17T19:00:57.317Z,1613588457.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:00:58.001Z,1613588458.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:00:58.382Z,1613588458.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:00:59.208Z,1613588459.208 [Micromodem](INFO): Nmea in: $SNTTA,0.192010,,,,190058.12*4D 2021-02-17T19:00:59.647Z,1613588459.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 287.819977 m, bearing: 91.252461 deg, deltaT: 4.832466 s, approachRate: -0.620801 m/s, LOS rate: 0.074058 deg/s, posRepo size: 4 2021-02-17T19:00:59.650Z,1613588459.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 287.819977 m, bearing: 91.252461 deg, approachRate: -0.620801 m/s, LOS rate: 0.074058 deg/s, cmd update: 0.296231 deg/s, cmd heading: 94.560454 deg, new cmd heading: 94.388397 deg. 2021-02-17T19:01:01.255Z,1613588461.255 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T19:01:02.093Z,1613588462.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:01:02.830Z,1613588462.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:01:03.247Z,1613588463.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:01:04.077Z,1613588464.077 [Micromodem](INFO): Nmea in: $SNTTA,0.190060,,,,190102.95*49 2021-02-17T19:01:04.470Z,1613588464.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.880005 m, bearing: 91.826627 deg, deltaT: 4.869139 s, approachRate: -0.603797 m/s, LOS rate: 0.117919 deg/s, posRepo size: 4 2021-02-17T19:01:04.488Z,1613588464.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 284.880005 m, bearing: 91.826627 deg, approachRate: -0.603797 m/s, LOS rate: 0.117919 deg/s, cmd update: 0.471678 deg/s, cmd heading: 96.002838 deg, new cmd heading: 96.109176 deg. 2021-02-17T19:01:06.878Z,1613588466.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:01:07.673Z,1613588467.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:01:08.096Z,1613588468.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:01:08.890Z,1613588468.890 [Micromodem](INFO): Nmea in: $SNTTA,0.187986,,,,190107.79*49 2021-02-17T19:01:09.357Z,1613588469.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 281.819977 m, bearing: 92.183751 deg, deltaT: 4.774058 s, approachRate: -0.640970 m/s, LOS rate: 0.074805 deg/s, posRepo size: 4 2021-02-17T19:01:09.363Z,1613588469.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 281.819977 m, bearing: 92.183751 deg, approachRate: -0.640970 m/s, LOS rate: 0.074805 deg/s, cmd update: 0.299220 deg/s, cmd heading: 98.264052 deg, new cmd heading: 98.477293 deg. 2021-02-17T19:01:11.727Z,1613588471.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:01:12.522Z,1613588472.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:01:12.926Z,1613588472.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:01:13.739Z,1613588473.739 [Micromodem](INFO): Nmea in: $SNTTA,0.185917,,,,190112.64*4B 2021-02-17T19:01:14.213Z,1613588474.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.759979 m, bearing: 91.166339 deg, deltaT: 4.852671 s, approachRate: -0.630580 m/s, LOS rate: -0.209660 deg/s, posRepo size: 4 2021-02-17T19:01:14.219Z,1613588474.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 278.759979 m, bearing: 91.166339 deg, approachRate: -0.630580 m/s, LOS rate: -0.209660 deg/s, cmd update: -0.838640 deg/s, cmd heading: 99.714806 deg, new cmd heading: 99.852439 deg. 2021-02-17T19:01:16.606Z,1613588476.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:01:17.371Z,1613588477.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:01:17.774Z,1613588477.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:01:18.586Z,1613588478.586 [Micromodem](INFO): Nmea in: $SNTTA,0.183723,,,,190117.48*4F 2021-02-17T19:01:19.084Z,1613588479.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.459991 m, bearing: 90.955075 deg, deltaT: 4.863539 s, approachRate: -0.678516 m/s, LOS rate: -0.043438 deg/s, posRepo size: 4 2021-02-17T19:01:19.085Z,1613588479.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 275.459991 m, bearing: 90.955075 deg, approachRate: -0.678516 m/s, LOS rate: -0.043438 deg/s, cmd update: -0.173754 deg/s, cmd heading: 95.632375 deg, new cmd heading: 95.244976 deg. 2021-02-17T19:01:21.428Z,1613588481.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:01:22.216Z,1613588482.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:01:22.627Z,1613588482.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:01:23.434Z,1613588483.434 [Micromodem](INFO): Nmea in: $SNTTA,0.181849,,,,190122.33*44 2021-02-17T19:01:23.878Z,1613588483.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 272.579987 m, bearing: 90.834290 deg, deltaT: 4.857374 s, approachRate: -0.592914 m/s, LOS rate: -0.024866 deg/s, posRepo size: 4 2021-02-17T19:01:23.884Z,1613588483.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 272.579987 m, bearing: 90.834290 deg, approachRate: -0.592914 m/s, LOS rate: -0.024866 deg/s, cmd update: -0.099465 deg/s, cmd heading: 94.788394 deg, new cmd heading: 94.719016 deg. 2021-02-17T19:01:26.303Z,1613588486.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:01:27.081Z,1613588487.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:01:27.469Z,1613588487.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:01:28.292Z,1613588488.292 [Micromodem](INFO): Nmea in: $SNTTA,0.179728,,,,190127.19*46 2021-02-17T19:01:28.710Z,1613588488.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 269.399994 m, bearing: 90.389487 deg, deltaT: 4.887196 s, approachRate: -0.650678 m/s, LOS rate: -0.091014 deg/s, posRepo size: 4 2021-02-17T19:01:28.712Z,1613588488.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 269.399994 m, bearing: 90.389487 deg, approachRate: -0.650678 m/s, LOS rate: -0.091014 deg/s, cmd update: -0.364055 deg/s, cmd heading: 94.302685 deg, new cmd heading: 94.268043 deg. 2021-02-17T19:01:31.152Z,1613588491.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:01:31.913Z,1613588491.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:01:32.317Z,1613588492.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:01:33.133Z,1613588493.133 [Micromodem](INFO): Nmea in: $SNTTA,0.178030,,,,190132.03*46 2021-02-17T19:01:33.576Z,1613588493.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 266.819977 m, bearing: 90.174316 deg, deltaT: 4.801076 s, approachRate: -0.537383 m/s, LOS rate: -0.044817 deg/s, posRepo size: 4 2021-02-17T19:01:33.578Z,1613588493.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 266.819977 m, bearing: 90.174316 deg, approachRate: -0.537383 m/s, LOS rate: -0.044817 deg/s, cmd update: -0.179269 deg/s, cmd heading: 92.553371 deg, new cmd heading: 92.404968 deg. 2021-02-17T19:01:35.972Z,1613588495.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:01:36.408Z,1613588496.408 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T19:01:36.766Z,1613588496.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:01:37.173Z,1613588497.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:01:38.017Z,1613588498.017 [Micromodem](INFO): Nmea in: $SNTTA,0.176000,,,,190136.88*4C 2021-02-17T19:01:38.428Z,1613588498.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 263.820007 m, bearing: 90.627232 deg, deltaT: 4.949372 s, approachRate: -0.606131 m/s, LOS rate: 0.091510 deg/s, posRepo size: 4 2021-02-17T19:01:38.430Z,1613588498.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 263.820007 m, bearing: 90.627232 deg, approachRate: -0.606131 m/s, LOS rate: 0.091510 deg/s, cmd update: 0.366040 deg/s, cmd heading: 91.668114 deg, new cmd heading: 91.613186 deg. 2021-02-17T19:01:40.820Z,1613588500.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:01:41.608Z,1613588501.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:01:42.066Z,1613588502.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:01:42.843Z,1613588502.843 [Micromodem](INFO): Nmea in: $SNTTA,0.173654,,,,190141.72*4B 2021-02-17T19:01:43.277Z,1613588503.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 260.279999 m, bearing: 90.429860 deg, deltaT: 4.759797 s, approachRate: -0.743731 m/s, LOS rate: -0.041466 deg/s, posRepo size: 4 2021-02-17T19:01:43.279Z,1613588503.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 260.279999 m, bearing: 90.429860 deg, approachRate: -0.743731 m/s, LOS rate: -0.041466 deg/s, cmd update: -0.165866 deg/s, cmd heading: 93.412944 deg, new cmd heading: 93.561232 deg. 2021-02-17T19:01:45.663Z,1613588505.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:01:46.456Z,1613588506.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:01:46.861Z,1613588506.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:01:47.691Z,1613588507.691 [Micromodem](INFO): Nmea in: $SNTTA,0.171866,,,,190146.57*46 2021-02-17T19:01:48.134Z,1613588508.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 257.579987 m, bearing: 90.890126 deg, deltaT: 4.834450 s, approachRate: -0.558494 m/s, LOS rate: 0.095205 deg/s, posRepo size: 4 2021-02-17T19:01:48.136Z,1613588508.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 257.579987 m, bearing: 90.890126 deg, approachRate: -0.558494 m/s, LOS rate: 0.095205 deg/s, cmd update: 0.380822 deg/s, cmd heading: 92.610369 deg, new cmd heading: 92.540168 deg. 2021-02-17T19:01:50.534Z,1613588510.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:01:51.315Z,1613588511.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:01:51.349Z,1613588511.349 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items 2021-02-17T19:01:51.710Z,1613588511.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:01:52.529Z,1613588512.529 [Micromodem](INFO): Nmea in: $SNTTA,0.169510,,,,190151.43*40 2021-02-17T19:01:52.966Z,1613588512.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.039993 m, bearing: 90.052848 deg, deltaT: 4.833708 s, approachRate: -0.732356 m/s, LOS rate: -0.173217 deg/s, posRepo size: 4 2021-02-17T19:01:52.968Z,1613588512.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 254.039993 m, bearing: 90.052848 deg, approachRate: -0.732356 m/s, LOS rate: -0.173217 deg/s, cmd update: -0.692867 deg/s, cmd heading: 94.451025 deg, new cmd heading: 94.611874 deg. 2021-02-17T19:01:55.394Z,1613588515.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:01:56.157Z,1613588516.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:01:56.558Z,1613588516.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:01:57.372Z,1613588517.372 [Micromodem](INFO): Nmea in: $SNTTA,0.167592,,,,190156.27*41 2021-02-17T19:01:57.414Z,1613588517.414 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items 2021-02-17T19:01:57.812Z,1613588517.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.159988 m, bearing: 89.993152 deg, deltaT: 4.893966 s, approachRate: -0.588481 m/s, LOS rate: -0.012198 deg/s, posRepo size: 4 2021-02-17T19:01:57.814Z,1613588517.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 251.159988 m, bearing: 89.993152 deg, approachRate: -0.588481 m/s, LOS rate: -0.012198 deg/s, cmd update: -0.048791 deg/s, cmd heading: 91.068396 deg, new cmd heading: 90.800767 deg. 2021-02-17T19:02:00.232Z,1613588520.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:01.070Z,1613588521.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:02:01.405Z,1613588521.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:02:02.632Z,1613588522.632 [Micromodem](INFO): Nmea in: $SNTTA,0.165529,,,,190201.18*4E 2021-02-17T19:02:02.673Z,1613588522.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.979996 m, bearing: 89.804372 deg, deltaT: 4.869083 s, approachRate: -0.653099 m/s, LOS rate: -0.038771 deg/s, posRepo size: 4 2021-02-17T19:02:02.675Z,1613588522.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 247.979996 m, bearing: 89.804372 deg, approachRate: -0.653099 m/s, LOS rate: -0.038771 deg/s, cmd update: -0.155084 deg/s, cmd heading: 90.830232 deg, new cmd heading: 90.812378 deg. 2021-02-17T19:02:05.116Z,1613588525.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:05.849Z,1613588525.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:02:06.255Z,1613588526.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:02:07.076Z,1613588527.076 [Micromodem](INFO): Nmea in: $SNTTA,0.163752,,,,190205.96*44 2021-02-17T19:02:07.908Z,1613588527.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:09.482Z,1613588529.482 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:02:10.718Z,1613588530.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:11.504Z,1613588531.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:02:11.927Z,1613588531.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:02:12.721Z,1613588532.721 [Micromodem](INFO): Nmea in: $SNTTA,0.161126,,,,190211.62*4D 2021-02-17T19:02:13.185Z,1613588533.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 241.439987 m, bearing: 89.969021 deg, deltaT: 10.428038 s, approachRate: -0.627156 m/s, LOS rate: 0.015789 deg/s, posRepo size: 4 2021-02-17T19:02:13.191Z,1613588533.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 241.439987 m, bearing: 89.969021 deg, approachRate: -0.627156 m/s, LOS rate: 0.015789 deg/s, cmd update: 0.063156 deg/s, cmd heading: 89.213004 deg, new cmd heading: 89.143244 deg. 2021-02-17T19:02:15.558Z,1613588535.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:16.358Z,1613588536.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:02:16.759Z,1613588536.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:02:17.572Z,1613588537.572 [Micromodem](INFO): Nmea in: $SNTTA,0.159081,,,,190216.47*4A 2021-02-17T19:02:18.079Z,1613588538.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.379990 m, bearing: 89.400216 deg, deltaT: 4.875689 s, approachRate: -0.627603 m/s, LOS rate: -0.116661 deg/s, posRepo size: 4 2021-02-17T19:02:18.082Z,1613588538.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 238.379990 m, bearing: 89.400216 deg, approachRate: -0.627603 m/s, LOS rate: -0.116661 deg/s, cmd update: -0.466645 deg/s, cmd heading: 89.520681 deg, new cmd heading: 89.550479 deg. 2021-02-17T19:02:20.118Z,1613588540.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:20.796Z,1613588540.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:02:21.213Z,1613588541.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:02:22.064Z,1613588542.064 [Micromodem](INFO): Nmea in: $SNTTA,0.157189,,,,190220.91*43 2021-02-17T19:02:22.446Z,1613588542.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.559998 m, bearing: 90.769218 deg, deltaT: 4.523635 s, approachRate: -0.623391 m/s, LOS rate: 0.302633 deg/s, posRepo size: 4 2021-02-17T19:02:22.448Z,1613588542.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 235.559998 m, bearing: 90.769218 deg, approachRate: -0.623391 m/s, LOS rate: 0.302633 deg/s, cmd update: 1.210533 deg/s, cmd heading: 87.409754 deg, new cmd heading: 87.262697 deg. 2021-02-17T19:02:24.876Z,1613588544.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:25.648Z,1613588545.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:02:26.103Z,1613588546.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:02:26.121Z,1613588546.121 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:02:26.864Z,1613588546.864 [Micromodem](INFO): Nmea in: $SNTTA,0.155313,,,,190225.76*4C 2021-02-17T19:02:27.329Z,1613588547.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.799988 m, bearing: 90.953538 deg, deltaT: 4.744428 s, approachRate: -0.581737 m/s, LOS rate: 0.038850 deg/s, posRepo size: 4 2021-02-17T19:02:27.335Z,1613588547.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 232.799988 m, bearing: 90.953538 deg, approachRate: -0.581737 m/s, LOS rate: 0.038850 deg/s, cmd update: 0.155399 deg/s, cmd heading: 93.157912 deg, new cmd heading: 93.702410 deg. 2021-02-17T19:02:29.717Z,1613588549.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:30.493Z,1613588550.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:02:30.900Z,1613588550.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:02:31.310Z,1613588551.310 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T19:02:31.711Z,1613588551.711 [Micromodem](INFO): Nmea in: $SNTTA,0.153161,,,,190230.61*4F 2021-02-17T19:02:32.153Z,1613588552.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.559982 m, bearing: 90.774225 deg, deltaT: 4.846766 s, approachRate: -0.668488 m/s, LOS rate: -0.036996 deg/s, posRepo size: 4 2021-02-17T19:02:32.155Z,1613588552.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 229.559982 m, bearing: 90.774225 deg, approachRate: -0.668488 m/s, LOS rate: -0.036996 deg/s, cmd update: -0.147986 deg/s, cmd heading: 93.911096 deg, new cmd heading: 93.977488 deg. 2021-02-17T19:02:34.554Z,1613588554.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:35.340Z,1613588555.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:02:35.747Z,1613588555.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:02:36.558Z,1613588556.558 [Micromodem](INFO): Nmea in: $SNTTA,0.151271,,,,190235.45*4C 2021-02-17T19:02:37.037Z,1613588557.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.739975 m, bearing: 89.054984 deg, deltaT: 4.846737 s, approachRate: -0.581836 m/s, LOS rate: -0.354721 deg/s, posRepo size: 4 2021-02-17T19:02:37.052Z,1613588557.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 226.739975 m, bearing: 89.054984 deg, approachRate: -0.581836 m/s, LOS rate: -0.354721 deg/s, cmd update: -1.418885 deg/s, cmd heading: 93.193844 deg, new cmd heading: 93.126309 deg. 2021-02-17T19:02:39.080Z,1613588559.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:39.790Z,1613588559.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:02:40.189Z,1613588560.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:02:41.027Z,1613588561.027 [Micromodem](INFO): Nmea in: $SNTTA,0.149453,,,,190239.90*47 2021-02-17T19:02:41.466Z,1613588561.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.979980 m, bearing: 88.793142 deg, deltaT: 4.575598 s, approachRate: -0.603199 m/s, LOS rate: -0.057226 deg/s, posRepo size: 4 2021-02-17T19:02:41.468Z,1613588561.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.979980 m, bearing: 88.793142 deg, approachRate: -0.603199 m/s, LOS rate: -0.057226 deg/s, cmd update: -0.228903 deg/s, cmd heading: 86.713291 deg, new cmd heading: 86.250912 deg. 2021-02-17T19:02:43.865Z,1613588563.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:44.637Z,1613588564.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:02:45.071Z,1613588565.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:02:45.859Z,1613588565.859 [Micromodem](INFO): Nmea in: $SNTTA,0.147437,,,,190244.75*4A 2021-02-17T19:02:46.313Z,1613588566.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.919983 m, bearing: 90.571566 deg, deltaT: 4.749519 s, approachRate: -0.644275 m/s, LOS rate: 0.374443 deg/s, posRepo size: 4 2021-02-17T19:02:46.315Z,1613588566.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 220.919983 m, bearing: 90.571566 deg, approachRate: -0.644275 m/s, LOS rate: 0.374443 deg/s, cmd update: 1.497772 deg/s, cmd heading: 85.625154 deg, new cmd heading: 85.529214 deg. 2021-02-17T19:02:48.703Z,1613588568.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:49.480Z,1613588569.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:02:49.904Z,1613588569.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:02:50.700Z,1613588570.700 [Micromodem](INFO): Nmea in: $SNTTA,0.145505,,,,190249.59*4B 2021-02-17T19:02:51.121Z,1613588571.121 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:02:51.156Z,1613588571.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.099976 m, bearing: 90.412771 deg, deltaT: 4.816425 s, approachRate: -0.585498 m/s, LOS rate: -0.032969 deg/s, posRepo size: 4 2021-02-17T19:02:51.157Z,1613588571.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.099976 m, bearing: 90.412771 deg, approachRate: -0.585498 m/s, LOS rate: -0.032969 deg/s, cmd update: -0.131878 deg/s, cmd heading: 92.845076 deg, new cmd heading: 93.487710 deg. 2021-02-17T19:02:53.551Z,1613588573.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:54.333Z,1613588574.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:02:54.733Z,1613588574.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:02:55.548Z,1613588575.548 [Micromodem](INFO): Nmea in: $SNTTA,0.143433,,,,190254.45*48 2021-02-17T19:02:56.068Z,1613588576.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.979996 m, bearing: 89.960196 deg, deltaT: 4.848304 s, approachRate: -0.643520 m/s, LOS rate: -0.093347 deg/s, posRepo size: 4 2021-02-17T19:02:56.080Z,1613588576.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.979996 m, bearing: 89.960196 deg, approachRate: -0.643520 m/s, LOS rate: -0.093347 deg/s, cmd update: -0.373388 deg/s, cmd heading: 92.205692 deg, new cmd heading: 92.143897 deg. 2021-02-17T19:02:56.369Z,1613588576.369 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:02:58.441Z,1613588578.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:02:59.181Z,1613588579.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:02:59.586Z,1613588579.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:03:00.396Z,1613588580.396 [Micromodem](INFO): Nmea in: $SNTTA,0.141863,,,,190259.29*44 2021-02-17T19:03:00.822Z,1613588580.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.099991 m, bearing: 90.228746 deg, deltaT: 4.882539 s, approachRate: -0.589858 m/s, LOS rate: 0.055002 deg/s, posRepo size: 4 2021-02-17T19:03:00.824Z,1613588580.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.099991 m, bearing: 90.228746 deg, approachRate: -0.589858 m/s, LOS rate: 0.055002 deg/s, cmd update: 0.220008 deg/s, cmd heading: 90.391740 deg, new cmd heading: 90.241766 deg. 2021-02-17T19:03:03.276Z,1613588583.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:03:04.057Z,1613588584.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:03:04.430Z,1613588584.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:03:05.258Z,1613588585.258 [Micromodem](INFO): Nmea in: $SNTTA,0.139427,,,,190304.17*43 2021-02-17T19:03:05.681Z,1613588585.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.979996 m, bearing: 90.039754 deg, deltaT: 4.876069 s, approachRate: -0.639859 m/s, LOS rate: -0.038759 deg/s, posRepo size: 4 2021-02-17T19:03:05.683Z,1613588585.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.979996 m, bearing: 90.039754 deg, approachRate: -0.639859 m/s, LOS rate: -0.038759 deg/s, cmd update: -0.155036 deg/s, cmd heading: 91.469012 deg, new cmd heading: 91.549170 deg. 2021-02-17T19:03:08.131Z,1613588588.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:03:08.872Z,1613588588.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:03:09.278Z,1613588589.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:03:10.101Z,1613588590.101 [Micromodem](INFO): Nmea in: $SNTTA,0.137467,,,,190308.98*42 2021-02-17T19:03:10.534Z,1613588590.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.100006 m, bearing: 89.725443 deg, deltaT: 4.813769 s, approachRate: -0.598282 m/s, LOS rate: -0.065294 deg/s, posRepo size: 4 2021-02-17T19:03:10.536Z,1613588590.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 206.100006 m, bearing: 89.725443 deg, approachRate: -0.598282 m/s, LOS rate: -0.065294 deg/s, cmd update: -0.261177 deg/s, cmd heading: 90.722083 deg, new cmd heading: 90.660149 deg. 2021-02-17T19:03:11.324Z,1613588591.324 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:03:12.950Z,1613588592.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:03:13.725Z,1613588593.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:03:14.127Z,1613588594.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:03:15.022Z,1613588595.022 [Micromodem](INFO): Nmea in: $SNTTA,0.135369,,,,190313.84*4E 2021-02-17T19:03:15.395Z,1613588595.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.859985 m, bearing: 89.264985 deg, deltaT: 4.963901 s, approachRate: -0.652717 m/s, LOS rate: -0.092761 deg/s, posRepo size: 4 2021-02-17T19:03:15.397Z,1613588595.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.859985 m, bearing: 89.264985 deg, approachRate: -0.652717 m/s, LOS rate: -0.092761 deg/s, cmd update: -0.371045 deg/s, cmd heading: 89.428792 deg, new cmd heading: 89.348205 deg. 2021-02-17T19:03:17.797Z,1613588597.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:03:18.573Z,1613588598.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:03:18.999Z,1613588598.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:03:19.789Z,1613588599.789 [Micromodem](INFO): Nmea in: $SNTTA,0.133415,,,,190318.69*4C 2021-02-17T19:03:20.257Z,1613588600.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.919998 m, bearing: 89.937144 deg, deltaT: 4.705511 s, approachRate: -0.624797 m/s, LOS rate: 0.142845 deg/s, posRepo size: 4 2021-02-17T19:03:20.258Z,1613588600.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.919998 m, bearing: 89.937144 deg, approachRate: -0.624797 m/s, LOS rate: 0.142845 deg/s, cmd update: 0.571380 deg/s, cmd heading: 87.678417 deg, new cmd heading: 87.510454 deg. 2021-02-17T19:03:22.626Z,1613588602.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:03:23.416Z,1613588603.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:03:23.828Z,1613588603.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:03:24.637Z,1613588604.637 [Micromodem](INFO): Nmea in: $SNTTA,0.131338,,,0.133856,190323.53*53 2021-02-17T19:03:25.108Z,1613588605.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.860001 m, bearing: 89.999845 deg, deltaT: 4.870957 s, approachRate: -0.628213 m/s, LOS rate: 0.012872 deg/s, posRepo size: 4 2021-02-17T19:03:25.109Z,1613588605.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.860001 m, bearing: 89.999845 deg, approachRate: -0.628213 m/s, LOS rate: 0.012872 deg/s, cmd update: 0.051490 deg/s, cmd heading: 90.461660 deg, new cmd heading: 90.708659 deg. 2021-02-17T19:03:27.477Z,1613588607.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:03:28.281Z,1613588608.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:03:28.670Z,1613588608.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:03:29.492Z,1613588609.492 [Micromodem](INFO): Nmea in: $SNTTA,0.129329,,,,190328.40*47 2021-02-17T19:03:30.080Z,1613588610.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.799988 m, bearing: 89.343437 deg, deltaT: 4.849845 s, approachRate: -0.630951 m/s, LOS rate: -0.135346 deg/s, posRepo size: 4 2021-02-17T19:03:30.082Z,1613588610.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 193.799988 m, bearing: 89.343437 deg, approachRate: -0.630951 m/s, LOS rate: -0.135346 deg/s, cmd update: -0.541385 deg/s, cmd heading: 90.710413 deg, new cmd heading: 90.739742 deg. 2021-02-17T19:03:32.373Z,1613588612.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:03:33.118Z,1613588613.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:03:33.534Z,1613588613.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:03:34.333Z,1613588614.333 [Micromodem](INFO): Nmea in: $SNTTA,0.127425,,,,190333.23*4D 2021-02-17T19:03:34.762Z,1613588614.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.919998 m, bearing: 89.921114 deg, deltaT: 4.892036 s, approachRate: -0.588710 m/s, LOS rate: 0.118085 deg/s, posRepo size: 4 2021-02-17T19:03:34.764Z,1613588614.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.919998 m, bearing: 89.921114 deg, approachRate: -0.588710 m/s, LOS rate: 0.118085 deg/s, cmd update: 0.472341 deg/s, cmd heading: 88.065505 deg, new cmd heading: 87.864931 deg. 2021-02-17T19:03:37.203Z,1613588617.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:03:37.960Z,1613588617.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:03:38.366Z,1613588618.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:03:39.188Z,1613588619.188 [Micromodem](INFO): Nmea in: $SNTTA,0.125477,,,,190338.07*45 2021-02-17T19:03:39.222Z,1613588619.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.919998 m, bearing: 87.485106 deg, deltaT: 4.379400 s, approachRate: 0.000000 m/s, LOS rate: -0.556242 deg/s, posRepo size: 4 2021-02-17T19:03:39.244Z,1613588619.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.919998 m, bearing: 87.485106 deg, approachRate: 0.000000 m/s, LOS rate: -0.556242 deg/s, cmd update: -2.224969 deg/s, cmd heading: 90.145506 deg, new cmd heading: 90.346856 deg. 2021-02-17T19:03:41.611Z,1613588621.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:03:42.404Z,1613588622.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:03:42.811Z,1613588622.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:03:43.624Z,1613588623.624 [Micromodem](INFO): Nmea in: $SNTTA,0.123592,0.128961,,,190342.52*5F 2021-02-17T19:03:44.111Z,1613588624.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.220001 m, bearing: 88.436647 deg, deltaT: 4.869616 s, approachRate: -1.170523 m/s, LOS rate: 0.195404 deg/s, posRepo size: 4 2021-02-17T19:03:44.113Z,1613588624.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.220001 m, bearing: 88.436647 deg, approachRate: -1.170523 m/s, LOS rate: 0.195404 deg/s, cmd update: 0.781615 deg/s, cmd heading: 79.317050 deg, new cmd heading: 78.317921 deg. 2021-02-17T19:03:46.465Z,1613588626.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:03:47.257Z,1613588627.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:03:47.658Z,1613588627.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:03:48.484Z,1613588628.484 [Micromodem](INFO): Nmea in: $SNTTA,0.121689,,,,190347.37*49 2021-02-17T19:03:48.520Z,1613588628.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.220001 m, bearing: 88.611657 deg, deltaT: 4.485316 s, approachRate: 0.000000 m/s, LOS rate: 0.039018 deg/s, posRepo size: 4 2021-02-17T19:03:48.522Z,1613588628.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.220001 m, bearing: 88.611657 deg, approachRate: 0.000000 m/s, LOS rate: 0.039018 deg/s, cmd update: 0.156074 deg/s, cmd heading: 82.821839 deg, new cmd heading: 83.113850 deg. 2021-02-17T19:03:50.916Z,1613588630.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:03:51.702Z,1613588631.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:03:52.102Z,1613588632.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:03:52.928Z,1613588632.928 [Micromodem](INFO): Nmea in: $SNTTA,0.120024,,,,190351.82*40 2021-02-17T19:03:52.980Z,1613588632.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.220001 m, bearing: 89.599398 deg, deltaT: 4.397814 s, approachRate: 0.000000 m/s, LOS rate: 0.224598 deg/s, posRepo size: 4 2021-02-17T19:03:52.988Z,1613588632.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.220001 m, bearing: 89.599398 deg, approachRate: 0.000000 m/s, LOS rate: 0.224598 deg/s, cmd update: 0.898393 deg/s, cmd heading: 83.505737 deg, new cmd heading: 83.575562 deg. 2021-02-17T19:03:55.374Z,1613588635.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:03:56.145Z,1613588636.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:03:56.545Z,1613588636.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:03:57.372Z,1613588637.372 [Micromodem](INFO): Nmea in: $SNTTA,0.118102,,,,190356.26*47 2021-02-17T19:03:57.414Z,1613588637.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.220001 m, bearing: 90.081172 deg, deltaT: 4.515424 s, approachRate: 0.000000 m/s, LOS rate: 0.106695 deg/s, posRepo size: 4 2021-02-17T19:03:57.420Z,1613588637.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.220001 m, bearing: 90.081172 deg, approachRate: 0.000000 m/s, LOS rate: 0.106695 deg/s, cmd update: 0.426781 deg/s, cmd heading: 87.578624 deg, new cmd heading: 87.895464 deg. 2021-02-17T19:03:59.819Z,1613588639.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:00.584Z,1613588640.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:01.022Z,1613588641.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:04:01.812Z,1613588641.812 [Micromodem](INFO): Nmea in: $SNTTA,0.116058,,,,190400.70*40 2021-02-17T19:04:01.844Z,1613588641.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.220001 m, bearing: 89.577692 deg, deltaT: 4.373251 s, approachRate: 0.000000 m/s, LOS rate: -0.115127 deg/s, posRepo size: 4 2021-02-17T19:04:01.846Z,1613588641.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.220001 m, bearing: 89.577692 deg, approachRate: 0.000000 m/s, LOS rate: -0.115127 deg/s, cmd update: -0.460509 deg/s, cmd heading: 89.444675 deg, new cmd heading: 89.619669 deg. 2021-02-17T19:04:04.267Z,1613588644.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:05.051Z,1613588645.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:05.435Z,1613588645.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:04:06.269Z,1613588646.269 [Micromodem](INFO): Nmea in: $SNTTA,0.114245,,,,190405.17*48 2021-02-17T19:04:06.693Z,1613588646.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.179993 m, bearing: 90.253122 deg, deltaT: 4.887213 s, approachRate: -2.872805 m/s, LOS rate: 0.138204 deg/s, posRepo size: 4 2021-02-17T19:04:06.695Z,1613588646.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.179993 m, bearing: 90.253122 deg, approachRate: -2.872805 m/s, LOS rate: 0.138204 deg/s, cmd update: 0.552815 deg/s, cmd heading: 87.192284 deg, new cmd heading: 87.022758 deg. 2021-02-17T19:04:09.118Z,1613588649.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:09.876Z,1613588649.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:10.290Z,1613588650.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:04:11.126Z,1613588651.126 [Micromodem](INFO): Nmea in: $SNTTA,0.112423,,,,190409.99*42 2021-02-17T19:04:11.188Z,1613588651.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.300003 m, bearing: 88.880295 deg, deltaT: 4.403379 s, approachRate: -0.654041 m/s, LOS rate: -0.311767 deg/s, posRepo size: 4 2021-02-17T19:04:11.189Z,1613588651.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.300003 m, bearing: 88.880295 deg, approachRate: -0.654041 m/s, LOS rate: -0.311767 deg/s, cmd update: -1.247067 deg/s, cmd heading: 89.624411 deg, new cmd heading: 89.880294 deg. 2021-02-17T19:04:13.533Z,1613588653.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:14.325Z,1613588654.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:14.732Z,1613588654.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:04:15.552Z,1613588655.552 [Micromodem](INFO): Nmea in: $SNTTA,0.110445,,,,190414.44*4C 2021-02-17T19:04:15.586Z,1613588655.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.479996 m, bearing: 88.536532 deg, deltaT: 4.459307 s, approachRate: -0.632387 m/s, LOS rate: -0.077089 deg/s, posRepo size: 4 2021-02-17T19:04:15.588Z,1613588655.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.479996 m, bearing: 88.536532 deg, approachRate: -0.632387 m/s, LOS rate: -0.077089 deg/s, cmd update: -0.308356 deg/s, cmd heading: 84.058406 deg, new cmd heading: 83.561875 deg. 2021-02-17T19:04:18.046Z,1613588658.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:18.764Z,1613588658.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:19.178Z,1613588659.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:04:20.019Z,1613588660.019 [Micromodem](INFO): Nmea in: $SNTTA,0.108674,,,,190418.88*49 2021-02-17T19:04:20.086Z,1613588660.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.780014 m, bearing: 88.707341 deg, deltaT: 4.428453 s, approachRate: -0.609690 m/s, LOS rate: 0.038571 deg/s, posRepo size: 4 2021-02-17T19:04:20.088Z,1613588660.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.780014 m, bearing: 88.707341 deg, approachRate: -0.609690 m/s, LOS rate: 0.038571 deg/s, cmd update: 0.154284 deg/s, cmd heading: 82.695453 deg, new cmd heading: 82.547893 deg. 2021-02-17T19:04:22.441Z,1613588662.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:23.216Z,1613588663.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:23.620Z,1613588663.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:04:24.440Z,1613588664.440 [Micromodem](INFO): Nmea in: $SNTTA,0.106911,,,,190423.33*43 2021-02-17T19:04:24.482Z,1613588664.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.080017 m, bearing: 88.360033 deg, deltaT: 4.507527 s, approachRate: -0.598997 m/s, LOS rate: -0.077051 deg/s, posRepo size: 4 2021-02-17T19:04:24.484Z,1613588664.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.080017 m, bearing: 88.360033 deg, approachRate: -0.598997 m/s, LOS rate: -0.077051 deg/s, cmd update: -0.308203 deg/s, cmd heading: 83.391566 deg, new cmd heading: 83.447514 deg. 2021-02-17T19:04:26.875Z,1613588666.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:27.652Z,1613588667.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:28.077Z,1613588668.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:04:28.892Z,1613588668.892 [Micromodem](INFO): Nmea in: $SNTTA,0.104996,0.149426,,,190427.76*59 2021-02-17T19:04:28.910Z,1613588668.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.260010 m, bearing: 89.299307 deg, deltaT: 4.371089 s, approachRate: -0.645150 m/s, LOS rate: 0.214883 deg/s, posRepo size: 4 2021-02-17T19:04:28.912Z,1613588668.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.260010 m, bearing: 89.299307 deg, approachRate: -0.645150 m/s, LOS rate: 0.214883 deg/s, cmd update: 0.859533 deg/s, cmd heading: 82.043193 deg, new cmd heading: 81.915159 deg. 2021-02-17T19:04:31.328Z,1613588671.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:32.101Z,1613588672.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:32.501Z,1613588672.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:04:33.339Z,1613588673.339 [Micromodem](INFO): Nmea in: $SNTTA,0.103184,,,,190432.21*41 2021-02-17T19:04:33.373Z,1613588673.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.559998 m, bearing: 89.745803 deg, deltaT: 4.449375 s, approachRate: -0.606830 m/s, LOS rate: 0.100350 deg/s, posRepo size: 4 2021-02-17T19:04:33.375Z,1613588673.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.559998 m, bearing: 89.745803 deg, approachRate: -0.606830 m/s, LOS rate: 0.100350 deg/s, cmd update: 0.401401 deg/s, cmd heading: 85.860552 deg, new cmd heading: 86.236029 deg. 2021-02-17T19:04:35.761Z,1613588675.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:36.540Z,1613588676.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:36.965Z,1613588676.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:04:37.768Z,1613588677.768 [Micromodem](INFO): Nmea in: $SNTTA,0.101405,,,,190436.65*4B 2021-02-17T19:04:37.814Z,1613588677.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.919998 m, bearing: 89.932370 deg, deltaT: 4.479932 s, approachRate: -0.589294 m/s, LOS rate: 0.041645 deg/s, posRepo size: 4 2021-02-17T19:04:37.820Z,1613588677.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.919998 m, bearing: 89.932370 deg, approachRate: -0.589294 m/s, LOS rate: 0.041645 deg/s, cmd update: 0.166580 deg/s, cmd heading: 87.660732 deg, new cmd heading: 87.818621 deg. 2021-02-17T19:04:40.229Z,1613588680.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:41.017Z,1613588681.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:41.395Z,1613588681.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:04:42.237Z,1613588682.237 [Micromodem](INFO): Nmea in: $SNTTA,0.099631,,,,190441.13*4F 2021-02-17T19:04:42.293Z,1613588682.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.040009 m, bearing: 89.082066 deg, deltaT: 4.448893 s, approachRate: -0.647350 m/s, LOS rate: -0.191127 deg/s, posRepo size: 4 2021-02-17T19:04:42.295Z,1613588682.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.040009 m, bearing: 89.082066 deg, approachRate: -0.647350 m/s, LOS rate: -0.191127 deg/s, cmd update: -0.764508 deg/s, cmd heading: 88.402414 deg, new cmd heading: 88.472344 deg. 2021-02-17T19:04:44.635Z,1613588684.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:45.434Z,1613588685.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:45.833Z,1613588685.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:04:46.664Z,1613588686.664 [Micromodem](INFO): Nmea in: $SNTTA,0.097687,,,0.100186,190445.55*5A 2021-02-17T19:04:46.710Z,1613588686.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.340012 m, bearing: 88.903313 deg, deltaT: 4.432874 s, approachRate: -0.609085 m/s, LOS rate: -0.040324 deg/s, posRepo size: 4 2021-02-17T19:04:46.718Z,1613588686.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.340012 m, bearing: 88.903313 deg, approachRate: -0.609085 m/s, LOS rate: -0.040324 deg/s, cmd update: -0.161298 deg/s, cmd heading: 85.013454 deg, new cmd heading: 84.704565 deg. 2021-02-17T19:04:49.118Z,1613588689.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:49.872Z,1613588689.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:50.286Z,1613588690.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:04:51.120Z,1613588691.120 [Micromodem](INFO): Nmea in: $SNTTA,0.095921,,,,190450.02*4D 2021-02-17T19:04:51.205Z,1613588691.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.340012 m, bearing: 87.957359 deg, deltaT: 4.429369 s, approachRate: 0.000000 m/s, LOS rate: -0.213564 deg/s, posRepo size: 4 2021-02-17T19:04:51.207Z,1613588691.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.340012 m, bearing: 87.957359 deg, approachRate: 0.000000 m/s, LOS rate: -0.213564 deg/s, cmd update: -0.854256 deg/s, cmd heading: 84.299332 deg, new cmd heading: 84.223274 deg. 2021-02-17T19:04:53.537Z,1613588693.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:54.321Z,1613588694.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:54.727Z,1613588694.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:04:55.555Z,1613588695.555 [Micromodem](INFO): Nmea in: $SNTTA,0.094084,,,,190454.43*4B 2021-02-17T19:04:55.574Z,1613588695.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.880005 m, bearing: 89.258777 deg, deltaT: 4.443372 s, approachRate: -1.228798 m/s, LOS rate: 0.292890 deg/s, posRepo size: 4 2021-02-17T19:04:55.576Z,1613588695.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.880005 m, bearing: 89.258777 deg, approachRate: -1.228798 m/s, LOS rate: 0.292890 deg/s, cmd update: 1.171558 deg/s, cmd heading: 80.501855 deg, new cmd heading: 80.164016 deg. 2021-02-17T19:04:57.999Z,1613588697.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:04:58.760Z,1613588698.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:04:59.175Z,1613588699.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:00.009Z,1613588700.009 [Micromodem](INFO): Nmea in: $SNTTA,0.092184,,,,190458.87*48 2021-02-17T19:05:00.081Z,1613588700.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.059998 m, bearing: 89.704460 deg, deltaT: 4.424927 s, approachRate: -0.637300 m/s, LOS rate: 0.100721 deg/s, posRepo size: 4 2021-02-17T19:05:00.083Z,1613588700.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.059998 m, bearing: 89.704460 deg, approachRate: -0.637300 m/s, LOS rate: 0.100721 deg/s, cmd update: 0.402884 deg/s, cmd heading: 85.685952 deg, new cmd heading: 86.245511 deg. 2021-02-17T19:05:02.442Z,1613588702.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:05:03.213Z,1613588703.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:05:03.610Z,1613588703.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:04.436Z,1613588704.436 [Micromodem](INFO): Nmea in: $SNTTA,0.090153,,,,190503.32*41 2021-02-17T19:05:04.489Z,1613588704.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.059998 m, bearing: 89.602766 deg, deltaT: 4.511642 s, approachRate: -0.664946 m/s, LOS rate: -0.022541 deg/s, posRepo size: 4 2021-02-17T19:05:04.497Z,1613588704.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.059998 m, bearing: 89.602766 deg, approachRate: -0.664946 m/s, LOS rate: -0.022541 deg/s, cmd update: -0.090162 deg/s, cmd heading: 87.503622 deg, new cmd heading: 87.654184 deg. 2021-02-17T19:05:06.881Z,1613588706.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:05:07.657Z,1613588707.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:05:08.076Z,1613588708.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:08.884Z,1613588708.884 [Micromodem](INFO): Nmea in: $SNTTA,0.088534,,,,190507.77*48 2021-02-17T19:05:08.926Z,1613588708.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.599991 m, bearing: 89.205952 deg, deltaT: 4.356942 s, approachRate: -0.564618 m/s, LOS rate: -0.091076 deg/s, posRepo size: 4 2021-02-17T19:05:08.933Z,1613588708.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.599991 m, bearing: 89.205952 deg, approachRate: -0.564618 m/s, LOS rate: -0.091076 deg/s, cmd update: -0.364305 deg/s, cmd heading: 87.110812 deg, new cmd heading: 87.069882 deg. 2021-02-17T19:05:11.349Z,1613588711.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:05:12.109Z,1613588712.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:05:12.497Z,1613588712.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:13.332Z,1613588713.332 [Micromodem](INFO): Nmea in: $SNTTA,0.086655,,,,190512.22*46 2021-02-17T19:05:13.393Z,1613588713.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.720001 m, bearing: 88.542474 deg, deltaT: 4.446531 s, approachRate: -0.647694 m/s, LOS rate: -0.149212 deg/s, posRepo size: 4 2021-02-17T19:05:13.395Z,1613588713.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.720001 m, bearing: 88.542474 deg, approachRate: -0.647694 m/s, LOS rate: -0.149212 deg/s, cmd update: -0.596850 deg/s, cmd heading: 85.491570 deg, new cmd heading: 85.318060 deg. 2021-02-17T19:05:15.764Z,1613588715.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:05:16.538Z,1613588716.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:05:16.942Z,1613588716.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:17.764Z,1613588717.764 [Micromodem](INFO): Nmea in: $SNTTA,0.084926,,,,190516.65*48 2021-02-17T19:05:17.806Z,1613588717.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.200005 m, bearing: 88.037498 deg, deltaT: 4.494398 s, approachRate: -0.560697 m/s, LOS rate: -0.112357 deg/s, posRepo size: 4 2021-02-17T19:05:17.812Z,1613588717.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.200005 m, bearing: 88.037498 deg, approachRate: -0.560697 m/s, LOS rate: -0.112357 deg/s, cmd update: -0.449427 deg/s, cmd heading: 82.810308 deg, new cmd heading: 82.573428 deg. 2021-02-17T19:05:20.206Z,1613588720.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:05:21.009Z,1613588721.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:05:21.386Z,1613588721.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:22.220Z,1613588722.220 [Micromodem](INFO): Nmea in: $SNTTA,0.083024,,,,190521.12*40 2021-02-17T19:05:22.285Z,1613588722.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.260002 m, bearing: 88.671305 deg, deltaT: 4.393680 s, approachRate: -0.669143 m/s, LOS rate: 0.144254 deg/s, posRepo size: 4 2021-02-17T19:05:22.291Z,1613588722.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.260002 m, bearing: 88.671305 deg, approachRate: -0.669143 m/s, LOS rate: 0.144254 deg/s, cmd update: 0.577017 deg/s, cmd heading: 80.833850 deg, new cmd heading: 80.618951 deg. 2021-02-17T19:05:24.664Z,1613588724.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:05:25.429Z,1613588725.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:05:25.829Z,1613588725.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:26.656Z,1613588726.656 [Micromodem](INFO): Nmea in: $SNTTA,0.081384,,,,190525.54*4D 2021-02-17T19:05:26.692Z,1613588726.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.919998 m, bearing: 87.963657 deg, deltaT: 4.482839 s, approachRate: -0.521992 m/s, LOS rate: -0.157857 deg/s, posRepo size: 4 2021-02-17T19:05:26.693Z,1613588726.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.919998 m, bearing: 87.963657 deg, approachRate: -0.521992 m/s, LOS rate: -0.157857 deg/s, cmd update: -0.631429 deg/s, cmd heading: 83.420548 deg, new cmd heading: 83.652350 deg. 2021-02-17T19:05:29.117Z,1613588729.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:05:29.870Z,1613588729.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:05:30.274Z,1613588730.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:31.096Z,1613588731.096 [Micromodem](INFO): Nmea in: $SNTTA,0.079483,,,,190529.98*46 2021-02-17T19:05:31.167Z,1613588731.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.040001 m, bearing: 89.314101 deg, deltaT: 4.400785 s, approachRate: -0.654428 m/s, LOS rate: 0.306864 deg/s, posRepo size: 4 2021-02-17T19:05:31.195Z,1613588731.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.040001 m, bearing: 89.314101 deg, approachRate: -0.654428 m/s, LOS rate: 0.306864 deg/s, cmd update: 1.227458 deg/s, cmd heading: 80.641972 deg, new cmd heading: 80.343572 deg. 2021-02-17T19:05:33.519Z,1613588733.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:05:34.317Z,1613588734.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:05:34.729Z,1613588734.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:35.548Z,1613588735.548 [Micromodem](INFO): Nmea in: $SNTTA,0.077563,,,,190534.43*4D 2021-02-17T19:05:35.582Z,1613588735.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.099998 m, bearing: 89.720819 deg, deltaT: 4.482238 s, approachRate: -0.655923 m/s, LOS rate: 0.090740 deg/s, posRepo size: 4 2021-02-17T19:05:35.584Z,1613588735.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.099998 m, bearing: 89.720819 deg, approachRate: -0.655923 m/s, LOS rate: 0.090740 deg/s, cmd update: 0.362959 deg/s, cmd heading: 86.143146 deg, new cmd heading: 86.646507 deg. 2021-02-17T19:05:37.992Z,1613588737.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:05:38.762Z,1613588738.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:05:39.164Z,1613588739.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:39.992Z,1613588739.992 [Micromodem](INFO): Nmea in: $SNTTA,0.076034,,,,190538.87*4F 2021-02-17T19:05:40.085Z,1613588740.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.879997 m, bearing: 88.716644 deg, deltaT: 4.405781 s, approachRate: -0.503884 m/s, LOS rate: -0.227922 deg/s, posRepo size: 4 2021-02-17T19:05:40.087Z,1613588740.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.879997 m, bearing: 88.716644 deg, approachRate: -0.503884 m/s, LOS rate: -0.227922 deg/s, cmd update: -0.911688 deg/s, cmd heading: 87.742541 deg, new cmd heading: 87.926468 deg. 2021-02-17T19:05:42.089Z,1613588742.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:05:42.813Z,1613588742.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:05:43.201Z,1613588743.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:44.056Z,1613588744.056 [Micromodem](INFO): Nmea in: $SNTTA,0.074090,,,,190542.93*4B 2021-02-17T19:05:44.116Z,1613588744.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.820000 m, bearing: 89.426478 deg, deltaT: 4.039423 s, approachRate: -0.757533 m/s, LOS rate: 0.175727 deg/s, posRepo size: 4 2021-02-17T19:05:44.118Z,1613588744.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.820000 m, bearing: 89.426478 deg, approachRate: -0.757533 m/s, LOS rate: 0.175727 deg/s, cmd update: 0.702907 deg/s, cmd heading: 84.059829 deg, new cmd heading: 83.605834 deg. 2021-02-17T19:05:46.465Z,1613588746.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:05:47.240Z,1613588747.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:05:47.662Z,1613588747.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:48.485Z,1613588748.485 [Micromodem](INFO): Nmea in: $SNTTA,0.072371,,,,190547.35*48 2021-02-17T19:05:48.506Z,1613588748.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.360001 m, bearing: 89.517989 deg, deltaT: 4.489727 s, approachRate: -0.547917 m/s, LOS rate: 0.020382 deg/s, posRepo size: 4 2021-02-17T19:05:48.508Z,1613588748.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.360001 m, bearing: 89.517989 deg, approachRate: -0.547917 m/s, LOS rate: 0.020382 deg/s, cmd update: 0.081529 deg/s, cmd heading: 87.215620 deg, new cmd heading: 87.495638 deg. 2021-02-17T19:05:50.891Z,1613588750.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:05:51.685Z,1613588751.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:05:52.107Z,1613588752.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:52.912Z,1613588752.912 [Micromodem](INFO): Nmea in: $SNTTA,0.070495,,,,190551.80*4E 2021-02-17T19:05:52.953Z,1613588752.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.540009 m, bearing: 87.776148 deg, deltaT: 4.406917 s, approachRate: -0.639901 m/s, LOS rate: -0.395252 deg/s, posRepo size: 4 2021-02-17T19:05:52.955Z,1613588752.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.540009 m, bearing: 87.776148 deg, approachRate: -0.639901 m/s, LOS rate: -0.395252 deg/s, cmd update: -1.581007 deg/s, cmd heading: 87.574865 deg, new cmd heading: 87.610685 deg. 2021-02-17T19:05:55.395Z,1613588755.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:05:56.133Z,1613588756.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:05:56.533Z,1613588756.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:05:57.360Z,1613588757.360 [Micromodem](INFO): Nmea in: $SNTTA,0.068453,,,,190556.25*45 2021-02-17T19:05:57.414Z,1613588757.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.479996 m, bearing: 88.940913 deg, deltaT: 4.441052 s, approachRate: -0.689029 m/s, LOS rate: 0.262273 deg/s, posRepo size: 4 2021-02-17T19:05:57.420Z,1613588757.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.479996 m, bearing: 88.940913 deg, approachRate: -0.689029 m/s, LOS rate: 0.262273 deg/s, cmd update: 1.049090 deg/s, cmd heading: 80.552490 deg, new cmd heading: 79.827899 deg. 2021-02-17T19:05:59.784Z,1613588759.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:00.580Z,1613588760.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:01.016Z,1613588761.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:01.812Z,1613588761.812 [Micromodem](INFO): Nmea in: $SNTTA,0.066666,,,,190600.69*47 2021-02-17T19:06:01.834Z,1613588761.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.840004 m, bearing: 89.278816 deg, deltaT: 4.450029 s, approachRate: -0.593253 m/s, LOS rate: 0.075933 deg/s, posRepo size: 4 2021-02-17T19:06:01.836Z,1613588761.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.840004 m, bearing: 89.278816 deg, approachRate: -0.593253 m/s, LOS rate: 0.075933 deg/s, cmd update: 0.303731 deg/s, cmd heading: 85.220476 deg, new cmd heading: 85.670403 deg. 2021-02-17T19:06:04.260Z,1613588764.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:05.068Z,1613588765.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:05.428Z,1613588765.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:06.280Z,1613588766.280 [Micromodem](INFO): Nmea in: $SNTTA,0.064757,,,,190605.18*45 2021-02-17T19:06:06.353Z,1613588766.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.899994 m, bearing: 88.065427 deg, deltaT: 4.449497 s, approachRate: -0.660751 m/s, LOS rate: -0.272703 deg/s, posRepo size: 4 2021-02-17T19:06:06.360Z,1613588766.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.899994 m, bearing: 88.065427 deg, approachRate: -0.660751 m/s, LOS rate: -0.272703 deg/s, cmd update: -1.090811 deg/s, cmd heading: 86.572021 deg, new cmd heading: 86.723444 deg. 2021-02-17T19:06:08.673Z,1613588768.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:09.477Z,1613588769.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:09.929Z,1613588769.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:10.703Z,1613588770.703 [Micromodem](INFO): Nmea in: $SNTTA,0.063037,,,,190609.59*4A 2021-02-17T19:06:10.722Z,1613588770.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.439995 m, bearing: 89.063249 deg, deltaT: 4.461963 s, approachRate: -0.551327 m/s, LOS rate: 0.223629 deg/s, posRepo size: 4 2021-02-17T19:06:10.724Z,1613588770.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.439995 m, bearing: 89.063249 deg, approachRate: -0.551327 m/s, LOS rate: 0.223629 deg/s, cmd update: 0.894514 deg/s, cmd heading: 81.704683 deg, new cmd heading: 81.262618 deg. 2021-02-17T19:06:13.146Z,1613588773.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:13.904Z,1613588773.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:14.327Z,1613588774.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:15.140Z,1613588775.140 [Micromodem](INFO): Nmea in: $SNTTA,0.061198,,0.067760,,190614.02*50 2021-02-17T19:06:15.194Z,1613588775.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.559998 m, bearing: 89.008457 deg, deltaT: 4.409730 s, approachRate: -0.653101 m/s, LOS rate: -0.012425 deg/s, posRepo size: 4 2021-02-17T19:06:15.200Z,1613588775.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.559998 m, bearing: 89.008457 deg, approachRate: -0.653101 m/s, LOS rate: -0.012425 deg/s, cmd update: -0.049701 deg/s, cmd heading: 85.649242 deg, new cmd heading: 86.066819 deg. 2021-02-17T19:06:17.554Z,1613588777.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:18.366Z,1613588778.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:18.754Z,1613588778.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:19.607Z,1613588779.607 [Micromodem](INFO): Nmea in: $SNTTA,0.059367,,,0.061833,190618.48*54 2021-02-17T19:06:19.626Z,1613588779.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.919998 m, bearing: 89.041508 deg, deltaT: 4.495479 s, approachRate: -0.587257 m/s, LOS rate: 0.007352 deg/s, posRepo size: 4 2021-02-17T19:06:19.628Z,1613588779.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.919998 m, bearing: 89.041508 deg, approachRate: -0.587257 m/s, LOS rate: 0.007352 deg/s, cmd update: 0.029408 deg/s, cmd heading: 85.426206 deg, new cmd heading: 85.405738 deg. 2021-02-17T19:06:22.086Z,1613588782.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:22.799Z,1613588782.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:23.209Z,1613588783.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:24.064Z,1613588784.064 [Micromodem](INFO): Nmea in: $SNTTA,0.057533,,,,190622.91*41 2021-02-17T19:06:24.118Z,1613588784.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.040001 m, bearing: 87.861170 deg, deltaT: 4.417341 s, approachRate: -0.651975 m/s, LOS rate: -0.267206 deg/s, posRepo size: 4 2021-02-17T19:06:24.120Z,1613588784.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.040001 m, bearing: 87.861170 deg, approachRate: -0.651975 m/s, LOS rate: -0.267206 deg/s, cmd update: -1.068823 deg/s, cmd heading: 85.556345 deg, new cmd heading: 85.570407 deg. 2021-02-17T19:06:26.145Z,1613588786.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:26.832Z,1613588786.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:27.245Z,1613588787.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:28.104Z,1613588788.104 [Micromodem](INFO): Nmea in: $SNTTA,0.055960,,,,190626.95*49 2021-02-17T19:06:28.154Z,1613588788.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.760002 m, bearing: 88.625079 deg, deltaT: 4.026541 s, approachRate: -0.566243 m/s, LOS rate: 0.189718 deg/s, posRepo size: 4 2021-02-17T19:06:28.156Z,1613588788.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.760002 m, bearing: 88.625079 deg, approachRate: -0.566243 m/s, LOS rate: 0.189718 deg/s, cmd update: 0.758874 deg/s, cmd heading: 81.252794 deg, new cmd heading: 80.731628 deg. 2021-02-17T19:06:30.483Z,1613588790.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:31.277Z,1613588791.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:31.682Z,1613588791.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:32.520Z,1613588792.520 [Micromodem](INFO): Nmea in: $SNTTA,0.054054,,,,190631.39*46 2021-02-17T19:06:32.562Z,1613588792.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.880005 m, bearing: 88.452842 deg, deltaT: 4.451941 s, approachRate: -0.646908 m/s, LOS rate: -0.038688 deg/s, posRepo size: 4 2021-02-17T19:06:32.568Z,1613588792.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.880005 m, bearing: 88.452842 deg, approachRate: -0.646908 m/s, LOS rate: -0.038688 deg/s, cmd update: -0.154752 deg/s, cmd heading: 84.631338 deg, new cmd heading: 84.968159 deg. 2021-02-17T19:06:34.933Z,1613588794.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:35.720Z,1613588795.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:36.138Z,1613588796.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:36.948Z,1613588796.948 [Micromodem](INFO): Nmea in: $SNTTA,0.052374,,,,190635.83*44 2021-02-17T19:06:36.974Z,1613588796.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.360001 m, bearing: 89.132275 deg, deltaT: 4.424225 s, approachRate: -0.569592 m/s, LOS rate: 0.153571 deg/s, posRepo size: 4 2021-02-17T19:06:36.981Z,1613588796.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.360001 m, bearing: 89.132275 deg, approachRate: -0.569592 m/s, LOS rate: 0.153571 deg/s, cmd update: 0.614284 deg/s, cmd heading: 83.946682 deg, new cmd heading: 83.879839 deg. 2021-02-17T19:06:39.062Z,1613588799.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:39.760Z,1613588799.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:40.172Z,1613588800.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:41.027Z,1613588801.027 [Micromodem](INFO): Nmea in: $SNTTA,0.050471,,,,190639.87*4C 2021-02-17T19:06:41.085Z,1613588801.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.479996 m, bearing: 88.715237 deg, deltaT: 4.063598 s, approachRate: -0.708733 m/s, LOS rate: -0.102628 deg/s, posRepo size: 4 2021-02-17T19:06:41.087Z,1613588801.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.479996 m, bearing: 88.715237 deg, approachRate: -0.708733 m/s, LOS rate: -0.102628 deg/s, cmd update: -0.410511 deg/s, cmd heading: 86.437967 deg, new cmd heading: 86.737345 deg. 2021-02-17T19:06:43.426Z,1613588803.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:44.210Z,1613588804.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:44.615Z,1613588804.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:45.440Z,1613588805.440 [Micromodem](INFO): Nmea in: $SNTTA,0.048835,,,,190644.32*4D 2021-02-17T19:06:45.462Z,1613588805.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.959999 m, bearing: 89.290271 deg, deltaT: 4.503218 s, approachRate: -0.559599 m/s, LOS rate: 0.127694 deg/s, posRepo size: 4 2021-02-17T19:06:45.464Z,1613588805.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.959999 m, bearing: 89.290271 deg, approachRate: -0.559599 m/s, LOS rate: 0.127694 deg/s, cmd update: 0.510776 deg/s, cmd heading: 84.586048 deg, new cmd heading: 84.441173 deg. 2021-02-17T19:06:47.856Z,1613588807.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:48.648Z,1613588808.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:49.075Z,1613588809.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:49.883Z,1613588809.883 [Micromodem](INFO): Nmea in: $SNTTA,0.047062,,,,190648.76*44 2021-02-17T19:06:49.902Z,1613588809.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.380005 m, bearing: 88.547815 deg, deltaT: 4.375136 s, approachRate: -0.589695 m/s, LOS rate: -0.169699 deg/s, posRepo size: 4 2021-02-17T19:06:49.904Z,1613588809.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.380005 m, bearing: 88.547815 deg, approachRate: -0.589695 m/s, LOS rate: -0.169699 deg/s, cmd update: -0.678795 deg/s, cmd heading: 86.820634 deg, new cmd heading: 87.034097 deg. 2021-02-17T19:06:52.320Z,1613588812.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:53.092Z,1613588813.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:53.498Z,1613588813.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:54.324Z,1613588814.324 [Micromodem](INFO): Nmea in: $SNTTA,0.045184,,,,190653.20*46 2021-02-17T19:06:54.378Z,1613588814.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.560005 m, bearing: 88.305897 deg, deltaT: 4.437568 s, approachRate: -0.635483 m/s, LOS rate: -0.054516 deg/s, posRepo size: 4 2021-02-17T19:06:54.380Z,1613588814.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.560005 m, bearing: 88.305897 deg, approachRate: -0.635483 m/s, LOS rate: -0.054516 deg/s, cmd update: -0.218064 deg/s, cmd heading: 83.813675 deg, new cmd heading: 83.498716 deg. 2021-02-17T19:06:56.757Z,1613588816.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:06:57.544Z,1613588817.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:06:57.954Z,1613588817.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:06:58.768Z,1613588818.768 [Micromodem](INFO): Nmea in: $SNTTA,0.043204,,,,190657.66*4D 2021-02-17T19:06:58.805Z,1613588818.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.559998 m, bearing: 88.884571 deg, deltaT: 4.474711 s, approachRate: -0.670436 m/s, LOS rate: 0.129321 deg/s, posRepo size: 4 2021-02-17T19:06:58.807Z,1613588818.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.559998 m, bearing: 88.884571 deg, approachRate: -0.670436 m/s, LOS rate: 0.129321 deg/s, cmd update: 0.517284 deg/s, cmd heading: 82.836157 deg, new cmd heading: 82.747056 deg. 2021-02-17T19:07:01.220Z,1613588821.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:02.002Z,1613588822.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:02.394Z,1613588822.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:07:03.227Z,1613588823.227 [Micromodem](INFO): Nmea in: $SNTTA,0.041536,,0.054886,,190702.12*52 2021-02-17T19:07:03.287Z,1613588823.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.100002 m, bearing: 89.031994 deg, deltaT: 4.421863 s, approachRate: -0.556326 m/s, LOS rate: 0.033340 deg/s, posRepo size: 4 2021-02-17T19:07:03.289Z,1613588823.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.100002 m, bearing: 89.031994 deg, approachRate: -0.556326 m/s, LOS rate: 0.033340 deg/s, cmd update: 0.133358 deg/s, cmd heading: 85.123487 deg, new cmd heading: 85.355368 deg. 2021-02-17T19:07:05.634Z,1613588825.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:06.430Z,1613588826.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:06.837Z,1613588826.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:07:07.656Z,1613588827.656 [Micromodem](INFO): Nmea in: $SNTTA,0.039596,,,,190706.54*48 2021-02-17T19:07:07.690Z,1613588827.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.220001 m, bearing: 87.903121 deg, deltaT: 4.461276 s, approachRate: -0.645555 m/s, LOS rate: -0.253038 deg/s, posRepo size: 4 2021-02-17T19:07:07.692Z,1613588827.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.220001 m, bearing: 87.903121 deg, approachRate: -0.645555 m/s, LOS rate: -0.253038 deg/s, cmd update: -1.012153 deg/s, cmd heading: 85.718439 deg, new cmd heading: 85.773159 deg. 2021-02-17T19:07:10.126Z,1613588830.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:10.873Z,1613588830.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:11.296Z,1613588831.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:07:12.100Z,1613588832.100 [Micromodem](INFO): Nmea in: $SNTTA,0.037834,,,,190710.99*45 2021-02-17T19:07:12.148Z,1613588832.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.580002 m, bearing: 89.006060 deg, deltaT: 4.447979 s, approachRate: -0.593528 m/s, LOS rate: 0.247964 deg/s, posRepo size: 4 2021-02-17T19:07:12.150Z,1613588832.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.580002 m, bearing: 89.006060 deg, approachRate: -0.593528 m/s, LOS rate: 0.247964 deg/s, cmd update: 0.991856 deg/s, cmd heading: 81.222230 deg, new cmd heading: 80.791377 deg. 2021-02-17T19:07:14.524Z,1613588834.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:15.314Z,1613588835.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:15.723Z,1613588835.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:07:16.544Z,1613588836.544 [Micromodem](INFO): Nmea in: $SNTTA,0.036118,,,,190715.43*41 2021-02-17T19:07:16.566Z,1613588836.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.999996 m, bearing: 88.367970 deg, deltaT: 4.459422 s, approachRate: -0.578552 m/s, LOS rate: -0.143088 deg/s, posRepo size: 4 2021-02-17T19:07:16.592Z,1613588836.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.999996 m, bearing: 88.367970 deg, approachRate: -0.578552 m/s, LOS rate: -0.143088 deg/s, cmd update: -0.572352 deg/s, cmd heading: 85.647067 deg, new cmd heading: 86.026964 deg. 2021-02-17T19:07:18.970Z,1613588838.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:19.756Z,1613588839.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:20.189Z,1613588840.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:07:21.009Z,1613588841.009 [Micromodem](INFO): Nmea in: $SNTTA,0.034287,,,,190719.87*42 2021-02-17T19:07:21.083Z,1613588841.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.299995 m, bearing: 88.925463 deg, deltaT: 4.411495 s, approachRate: -0.612038 m/s, LOS rate: 0.126373 deg/s, posRepo size: 4 2021-02-17T19:07:21.085Z,1613588841.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.299995 m, bearing: 88.925463 deg, approachRate: -0.612038 m/s, LOS rate: 0.126373 deg/s, cmd update: 0.505492 deg/s, cmd heading: 83.122245 deg, new cmd heading: 82.842881 deg. 2021-02-17T19:07:23.106Z,1613588843.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:23.796Z,1613588843.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:24.207Z,1613588844.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:07:25.064Z,1613588845.064 [Micromodem](INFO): Nmea in: $SNTTA,0.032443,,,,190723.91*44 2021-02-17T19:07:25.122Z,1613588845.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.419998 m, bearing: 88.385264 deg, deltaT: 4.020056 s, approachRate: -0.716407 m/s, LOS rate: -0.134376 deg/s, posRepo size: 4 2021-02-17T19:07:25.124Z,1613588845.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.419998 m, bearing: 88.385264 deg, approachRate: -0.716407 m/s, LOS rate: -0.134376 deg/s, cmd update: -0.537505 deg/s, cmd heading: 85.156438 deg, new cmd heading: 85.410673 deg. 2021-02-17T19:07:27.457Z,1613588847.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:28.240Z,1613588848.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:28.657Z,1613588848.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:07:29.480Z,1613588849.480 [Micromodem](INFO): Nmea in: $SNTTA,0.030759,,,,190728.35*4B 2021-02-17T19:07:29.502Z,1613588849.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.259998 m, bearing: 89.212659 deg, deltaT: 4.514544 s, approachRate: -0.478454 m/s, LOS rate: 0.183273 deg/s, posRepo size: 4 2021-02-17T19:07:29.504Z,1613588849.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.259998 m, bearing: 89.212659 deg, approachRate: -0.478454 m/s, LOS rate: 0.183273 deg/s, cmd update: 0.733093 deg/s, cmd heading: 82.731980 deg, new cmd heading: 82.531541 deg. 2021-02-17T19:07:31.900Z,1613588851.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:32.686Z,1613588852.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:33.095Z,1613588853.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:07:33.912Z,1613588853.912 [Micromodem](INFO): Nmea in: $SNTTA,0.028797,,,,190732.80*45 2021-02-17T19:07:33.956Z,1613588853.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.959999 m, bearing: 88.694719 deg, deltaT: 4.389244 s, approachRate: -0.751838 m/s, LOS rate: -0.118002 deg/s, posRepo size: 4 2021-02-17T19:07:33.958Z,1613588853.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.959999 m, bearing: 88.694719 deg, approachRate: -0.751838 m/s, LOS rate: -0.118002 deg/s, cmd update: -0.472008 deg/s, cmd heading: 85.952535 deg, new cmd heading: 86.269490 deg. 2021-02-17T19:07:36.372Z,1613588856.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:37.135Z,1613588857.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:37.536Z,1613588857.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:07:38.360Z,1613588858.360 [Micromodem](INFO): Nmea in: $SNTTA,0.027107,,,,190737.25*4F 2021-02-17T19:07:38.409Z,1613588858.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.439999 m, bearing: 87.661926 deg, deltaT: 4.465176 s, approachRate: -0.564368 m/s, LOS rate: -0.231299 deg/s, posRepo size: 4 2021-02-17T19:07:38.411Z,1613588858.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.439999 m, bearing: 87.661926 deg, approachRate: -0.564368 m/s, LOS rate: -0.231299 deg/s, cmd update: -0.925198 deg/s, cmd heading: 83.851255 deg, new cmd heading: 83.645931 deg. 2021-02-17T19:07:40.791Z,1613588860.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:41.579Z,1613588861.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:42.020Z,1613588862.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:07:42.804Z,1613588862.804 [Micromodem](INFO): Nmea in: $SNTTA,0.025281,,,,190741.69*49 2021-02-17T19:07:42.826Z,1613588862.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.739998 m, bearing: 87.822593 deg, deltaT: 4.434272 s, approachRate: -0.608894 m/s, LOS rate: 0.036233 deg/s, posRepo size: 4 2021-02-17T19:07:42.826Z,1613588862.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.74 m. 2021-02-17T19:07:42.848Z,1613588862.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.739998 m, bearing: 87.822593 deg, approachRate: -0.608894 m/s, LOS rate: 0.036233 deg/s, cmd update: 0.144932 deg/s, cmd heading: 79.753230 deg, new cmd heading: 79.362315 deg. 2021-02-17T19:07:43.213Z,1613588863.213 [PowerOnly](INFO): Powering up loadControl 2021-02-17T19:07:45.258Z,1613588865.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:46.049Z,1613588866.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:46.427Z,1613588866.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:07:47.258Z,1613588867.258 [Micromodem](INFO): Nmea in: $SNTTA,0.023804,,0.028365,,190746.16*53 2021-02-17T19:07:47.311Z,1613588867.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.460003 m, bearing: 87.921569 deg, deltaT: 4.417192 s, approachRate: -0.516164 m/s, LOS rate: 0.022407 deg/s, posRepo size: 4 2021-02-17T19:07:47.312Z,1613588867.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.46 m. 2021-02-17T19:07:47.312Z,1613588867.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.46 m. 2021-02-17T19:07:47.312Z,1613588867.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T19:07:47.314Z,1613588867.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.460003 m, bearing: 87.921569 deg, approachRate: -0.516164 m/s, LOS rate: 0.022407 deg/s, cmd update: 0.089628 deg/s, cmd heading: 80.396092 deg, new cmd heading: 80.464484 deg. 2021-02-17T19:07:49.673Z,1613588869.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:50.462Z,1613588870.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:50.866Z,1613588870.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:07:51.692Z,1613588871.692 [Micromodem](INFO): Nmea in: $SNTTA,0.021707,,,,190750.58*44 2021-02-17T19:07:51.738Z,1613588871.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.340000 m, bearing: 86.786385 deg, deltaT: 4.519636 s, approachRate: -0.690322 m/s, LOS rate: -0.251167 deg/s, posRepo size: 4 2021-02-17T19:07:51.744Z,1613588871.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.340000 m, bearing: 86.786385 deg, approachRate: -0.690322 m/s, LOS rate: -0.251167 deg/s, cmd update: -1.004669 deg/s, cmd heading: 80.800823 deg, new cmd heading: 80.835181 deg. 2021-02-17T19:07:54.157Z,1613588874.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:54.909Z,1613588874.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:55.309Z,1613588875.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:07:56.152Z,1613588876.152 [Micromodem](INFO): Nmea in: $SNTTA,0.019905,,,,190755.02*49 2021-02-17T19:07:56.214Z,1613588876.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.639999 m, bearing: 86.632364 deg, deltaT: 4.368955 s, approachRate: -0.617997 m/s, LOS rate: -0.035253 deg/s, posRepo size: 4 2021-02-17T19:07:56.217Z,1613588876.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.639999 m, bearing: 86.632364 deg, approachRate: -0.617997 m/s, LOS rate: -0.035253 deg/s, cmd update: -0.141014 deg/s, cmd heading: 76.407462 deg, new cmd heading: 75.920269 deg. 2021-02-17T19:07:58.555Z,1613588878.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:07:59.353Z,1613588879.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:07:59.754Z,1613588879.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:00.580Z,1613588880.580 [Micromodem](INFO): Nmea in: $SNTTA,0.018167,,,,190759.47*49 2021-02-17T19:08:00.629Z,1613588880.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.119997 m, bearing: 87.310561 deg, deltaT: 4.492474 s, approachRate: -0.560939 m/s, LOS rate: 0.150963 deg/s, posRepo size: 4 2021-02-17T19:08:00.631Z,1613588880.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.119997 m, bearing: 87.310561 deg, approachRate: -0.560939 m/s, LOS rate: 0.150963 deg/s, cmd update: 0.603852 deg/s, cmd heading: 75.775424 deg, new cmd heading: 75.716241 deg. 2021-02-17T19:08:03.089Z,1613588883.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:08:03.792Z,1613588883.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:08:04.203Z,1613588884.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:05.072Z,1613588885.072 [Micromodem](INFO): Nmea in: $SNTTA,0.016390,,,,190803.90*47 2021-02-17T19:08:05.106Z,1613588885.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.359999 m, bearing: 86.706560 deg, deltaT: 4.398658 s, approachRate: -0.627464 m/s, LOS rate: -0.137315 deg/s, posRepo size: 4 2021-02-17T19:08:05.128Z,1613588885.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.359999 m, bearing: 86.706560 deg, approachRate: -0.627464 m/s, LOS rate: -0.137315 deg/s, cmd update: -0.549259 deg/s, cmd heading: 78.437838 deg, new cmd heading: 78.732139 deg. 2021-02-17T19:08:07.465Z,1613588887.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:08:08.237Z,1613588888.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:08:08.642Z,1613588888.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:09.464Z,1613588889.464 [Micromodem](INFO): Nmea in: $SNTTA,0.014584,,,,190808.35*42 2021-02-17T19:08:09.486Z,1613588889.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.659998 m, bearing: 88.714185 deg, deltaT: 4.496791 s, approachRate: -0.600428 m/s, LOS rate: 0.446457 deg/s, posRepo size: 4 2021-02-17T19:08:09.488Z,1613588889.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.659998 m, bearing: 88.714185 deg, approachRate: -0.600428 m/s, LOS rate: 0.446457 deg/s, cmd update: 1.785829 deg/s, cmd heading: 75.967932 deg, new cmd heading: 75.764497 deg. 2021-02-17T19:08:11.893Z,1613588891.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:08:12.685Z,1613588892.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:08:13.086Z,1613588893.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:13.924Z,1613588893.924 [Micromodem](INFO): Nmea in: $SNTTA,0.012771,,,,190812.80*49 2021-02-17T19:08:13.946Z,1613588893.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.899998 m, bearing: 90.963612 deg, deltaT: 4.395208 s, approachRate: -0.627957 m/s, LOS rate: 0.511791 deg/s, posRepo size: 4 2021-02-17T19:08:13.948Z,1613588893.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.899998 m, bearing: 90.963612 deg, approachRate: -0.627957 m/s, LOS rate: 0.511791 deg/s, cmd update: 2.047163 deg/s, cmd heading: 83.817064 deg, new cmd heading: 84.594128 deg. 2021-02-17T19:08:16.409Z,1613588896.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:08:17.124Z,1613588897.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:08:17.538Z,1613588897.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:18.352Z,1613588898.352 [Micromodem](INFO): Nmea in: $SNTTA,0.010888,,,,190817.24*49 2021-02-17T19:08:18.402Z,1613588898.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.139999 m, bearing: 89.509889 deg, deltaT: 4.443731 s, approachRate: -0.621099 m/s, LOS rate: -0.327140 deg/s, posRepo size: 4 2021-02-17T19:08:18.404Z,1613588898.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.139999 m, bearing: 89.509889 deg, approachRate: -0.621099 m/s, LOS rate: -0.327140 deg/s, cmd update: -1.308561 deg/s, cmd heading: 92.913966 deg, new cmd heading: 93.830542 deg. 2021-02-17T19:08:20.787Z,1613588900.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:08:21.569Z,1613588901.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:08:21.978Z,1613588901.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:22.796Z,1613588902.796 [Micromodem](INFO): Nmea in: $SNTTA,0.009161,,,,190821.68*42 2021-02-17T19:08:22.835Z,1613588902.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.500002 m, bearing: 86.950890 deg, deltaT: 4.473203 s, approachRate: -0.590181 m/s, LOS rate: -0.572073 deg/s, posRepo size: 4 2021-02-17T19:08:22.837Z,1613588902.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.500002 m, bearing: 86.950890 deg, approachRate: -0.590181 m/s, LOS rate: -0.572073 deg/s, cmd update: -2.288292 deg/s, cmd heading: 87.060569 deg, new cmd heading: 86.528097 deg. 2021-02-17T19:08:25.250Z,1613588905.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:08:26.067Z,1613588906.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:08:26.419Z,1613588906.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:27.246Z,1613588907.246 [Micromodem](INFO): Nmea in: $SNTTA,0.007599,0.029193,,,190826.18*51 2021-02-17T19:08:27.314Z,1613588907.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.159998 m, bearing: 88.773471 deg, deltaT: 4.414934 s, approachRate: -0.530020 m/s, LOS rate: 0.412822 deg/s, posRepo size: 4 2021-02-17T19:08:27.316Z,1613588907.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.159998 m, bearing: 88.773471 deg, approachRate: -0.530020 m/s, LOS rate: 0.412822 deg/s, cmd update: 1.651288 deg/s, cmd heading: 76.957931 deg, new cmd heading: 75.879901 deg. 2021-02-17T19:08:29.665Z,1613588909.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:08:30.456Z,1613588910.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:08:30.870Z,1613588910.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:31.700Z,1613588911.700 [Micromodem](INFO): Nmea in: $SNTTA,0.005910,,,,190830.57*4C 2021-02-17T19:08:31.715Z,1613588911.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.639998 m, bearing: 88.381316 deg, deltaT: 4.522739 s, approachRate: -0.557184 m/s, LOS rate: -0.086707 deg/s, posRepo size: 4 2021-02-17T19:08:31.717Z,1613588911.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.639998 m, bearing: 88.381316 deg, approachRate: -0.557184 m/s, LOS rate: -0.086707 deg/s, cmd update: -0.346830 deg/s, cmd heading: 84.351588 deg, new cmd heading: 85.003902 deg. 2021-02-17T19:08:34.147Z,1613588914.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:08:34.909Z,1613588914.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:08:35.306Z,1613588915.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:36.140Z,1613588916.140 [Micromodem](INFO): Nmea in: $SNTTA,0.004470,,,,190835.02*43 2021-02-17T19:08:36.215Z,1613588916.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.539999 m, bearing: 79.582386 deg, deltaT: 4.362852 s, approachRate: -0.481336 m/s, LOS rate: -2.016784 deg/s, posRepo size: 4 2021-02-17T19:08:36.217Z,1613588916.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.539999 m, bearing: 79.582386 deg, approachRate: -0.481336 m/s, LOS rate: -2.016784 deg/s, cmd update: -8.067136 deg/s, cmd heading: 82.822810 deg, new cmd heading: 82.655341 deg. 2021-02-17T19:08:38.561Z,1613588918.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:08:39.348Z,1613588919.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:08:39.757Z,1613588919.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:40.576Z,1613588920.576 [Micromodem](INFO): Nmea in: $SNTTA,0.003343,,,,190839.46*4F 2021-02-17T19:08:40.615Z,1613588920.615 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T19:08:40.615Z,1613588920.615 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T19:08:40.616Z,1613588920.616 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T19:08:40.616Z,1613588920.616 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:08:40.616Z,1613588920.616 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T19:08:40.616Z,1613588920.616 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 2021-02-17T19:08:40.616Z,1613588920.616 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T19:08:40.616Z,1613588920.616 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T19:08:40.617Z,1613588920.617 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T19:08:40.619Z,1613588920.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.679999 m, bearing: 83.752408 deg, deltaT: 4.501656 s, approachRate: -0.413181 m/s, LOS rate: 0.926331 deg/s, posRepo size: 4 2021-02-17T19:08:40.621Z,1613588920.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.679999 m, bearing: 83.752408 deg, approachRate: -0.413181 m/s, LOS rate: 0.926331 deg/s, cmd update: 3.705323 deg/s, cmd heading: 46.633656 deg, new cmd heading: 43.367756 deg. 2021-02-17T19:08:41.029Z,1613588921.029 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T190841: (41.552319, -70.708603) 2021-02-17T19:08:41.029Z,1613588921.029 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T19:08:41.029Z,1613588921.029 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T19:08:41.030Z,1613588921.030 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:08:41.030Z,1613588921.030 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T19:08:41.035Z,1613588921.035 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:08:41.036Z,1613588921.036 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T19:08:41.036Z,1613588921.036 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T19:08:41.036Z,1613588921.036 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T19:08:41.431Z,1613588921.431 [UniversalFixResidualReporter](INFO): Fix residual: 4.7 %DT, over the last 690.9 m. Residual distance 32.2 m at bearing 170.0 degrees. Fix at (41.5511, -70.7091) with 0.0 m made good. 2021-02-17T19:08:43.096Z,1613588923.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:08:43.790Z,1613588923.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:08:44.196Z,1613588924.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:45.048Z,1613588925.048 [Micromodem](INFO): Nmea in: $SNTTA,0.003046,,,,190843.90*4F 2021-02-17T19:08:45.109Z,1613588925.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 39.732081 deg, deltaT: 4.396055 s, approachRate: -0.122837 m/s, LOS rate: -10.013598 deg/s, posRepo size: 4 2021-02-17T19:08:45.111Z,1613588925.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 39.732081 deg, approachRate: -0.122837 m/s, LOS rate: -10.013598 deg/s, cmd update: -12.000000 deg/s, cmd heading: 62.922395 deg, new cmd heading: 64.771380 deg. 2021-02-17T19:08:47.151Z,1613588927.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:08:47.828Z,1613588927.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:08:48.234Z,1613588928.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:49.084Z,1613588929.084 [Micromodem](INFO): Nmea in: $SNTTA,0.004729,,,,190847.94*46 2021-02-17T19:08:49.139Z,1613588929.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.919998 m, bearing: 52.101622 deg, deltaT: 4.027588 s, approachRate: 0.193664 m/s, LOS rate: 3.071203 deg/s, posRepo size: 4 2021-02-17T19:08:49.141Z,1613588929.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.919998 m, bearing: 52.101622 deg, approachRate: 0.193664 m/s, LOS rate: 3.071203 deg/s, cmd update: 12.000000 deg/s, cmd heading: 14.398990 deg, new cmd heading: 8.574694 deg. 2021-02-17T19:08:51.481Z,1613588931.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:08:52.272Z,1613588932.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:08:52.698Z,1613588932.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:53.533Z,1613588933.533 [Micromodem](INFO): Nmea in: $SNTTA,0.004347,,0.059134,,190852.38*5C 2021-02-17T19:08:53.554Z,1613588933.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.660000 m, bearing: 46.127597 deg, deltaT: 4.485405 s, approachRate: 0.387925 m/s, LOS rate: -1.331881 deg/s, posRepo size: 4 2021-02-17T19:08:53.556Z,1613588933.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.660000 m, bearing: 46.127597 deg, approachRate: 0.387925 m/s, LOS rate: -1.331881 deg/s, cmd update: -5.327523 deg/s, cmd heading: 68.223396 deg, new cmd heading: 73.204032 deg. 2021-02-17T19:08:55.953Z,1613588935.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:08:56.741Z,1613588936.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:08:57.154Z,1613588937.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:08:57.968Z,1613588937.968 [Micromodem](INFO): Nmea in: $SNTTA,0.006698,,,,190856.85*4F 2021-02-17T19:08:58.076Z,1613588938.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.139999 m, bearing: 39.755570 deg, deltaT: 4.449179 s, approachRate: 0.782167 m/s, LOS rate: -1.432180 deg/s, posRepo size: 4 2021-02-17T19:08:58.077Z,1613588938.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.139999 m, bearing: 39.755570 deg, approachRate: 0.782167 m/s, LOS rate: -1.432180 deg/s, cmd update: -5.728722 deg/s, cmd heading: 44.563897 deg, new cmd heading: 41.945669 deg. 2021-02-17T19:09:00.422Z,1613588940.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:01.185Z,1613588941.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:09:01.594Z,1613588941.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:09:02.412Z,1613588942.412 [Micromodem](INFO): Nmea in: $SNTTA,0.007070,,,,190901.30*43 2021-02-17T19:09:02.453Z,1613588942.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.680000 m, bearing: 54.393424 deg, deltaT: 4.520746 s, approachRate: 0.119450 m/s, LOS rate: 3.237929 deg/s, posRepo size: 4 2021-02-17T19:09:02.455Z,1613588942.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.680000 m, bearing: 54.393424 deg, approachRate: 0.119450 m/s, LOS rate: 3.237929 deg/s, cmd update: 12.000000 deg/s, cmd heading: 18.686865 deg, new cmd heading: 16.646999 deg. 2021-02-17T19:09:04.843Z,1613588944.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:05.642Z,1613588945.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:09:06.060Z,1613588946.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:09:06.867Z,1613588946.867 [Micromodem](INFO): Nmea in: $SNTTA,0.008868,,,,190905.76*4B 2021-02-17T19:09:06.890Z,1613588946.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.520001 m, bearing: 20.981243 deg, deltaT: 4.358518 s, approachRate: 0.881034 m/s, LOS rate: -7.665950 deg/s, posRepo size: 4 2021-02-17T19:09:06.892Z,1613588946.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.520001 m, bearing: 20.981243 deg, approachRate: 0.881034 m/s, LOS rate: -7.665950 deg/s, cmd update: -12.000000 deg/s, cmd heading: 71.131151 deg, new cmd heading: 76.203011 deg. 2021-02-17T19:09:09.320Z,1613588949.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:10.082Z,1613588950.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:09:10.479Z,1613588950.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:09:11.312Z,1613588951.312 [Micromodem](INFO): Nmea in: $SNTTA,0.010309,,,,190910.20*49 2021-02-17T19:09:11.403Z,1613588951.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.599998 m, bearing: 15.449862 deg, deltaT: 4.449255 s, approachRate: 0.242737 m/s, LOS rate: -1.243215 deg/s, posRepo size: 4 2021-02-17T19:09:11.405Z,1613588951.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.599998 m, bearing: 15.449862 deg, approachRate: 0.242737 m/s, LOS rate: -1.243215 deg/s, cmd update: -4.972860 deg/s, cmd heading: 17.931105 deg, new cmd heading: 11.951769 deg. 2021-02-17T19:09:13.720Z,1613588953.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:14.513Z,1613588954.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:09:14.917Z,1613588954.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:09:15.745Z,1613588955.745 [Micromodem](INFO): Nmea in: $SNTTA,0.011742,,,,190914.62*41 2021-02-17T19:09:15.784Z,1613588955.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.479998 m, bearing: 40.696781 deg, deltaT: 4.478192 s, approachRate: 0.643116 m/s, LOS rate: 5.637748 deg/s, posRepo size: 4 2021-02-17T19:09:15.785Z,1613588955.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.479998 m, bearing: 40.696781 deg, approachRate: 0.643116 m/s, LOS rate: 5.637748 deg/s, cmd update: 12.000000 deg/s, cmd heading: 355.602362 deg, new cmd heading: 353.651479 deg. 2021-02-17T19:09:17.756Z,1613588957.756 [PowerOnly](INFO): Powering down loadControl 2021-02-17T19:09:18.198Z,1613588958.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:18.970Z,1613588958.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:09:19.370Z,1613588959.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:09:20.199Z,1613588960.199 [Micromodem](INFO): Nmea in: $SNTTA,0.013322,,,,190919.08*40 2021-02-17T19:09:20.233Z,1613588960.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.100002 m, bearing: 23.729009 deg, deltaT: 4.402975 s, approachRate: 0.367934 m/s, LOS rate: -3.853706 deg/s, posRepo size: 4 2021-02-17T19:09:20.233Z,1613588960.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.10 m. Rolling out. 2021-02-17T19:09:20.233Z,1613588960.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T19:09:22.624Z,1613588962.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:23.405Z,1613588963.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:09:23.812Z,1613588963.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:09:24.639Z,1613588964.639 [Micromodem](INFO): Nmea in: $SNTTA,0.015005,,,,190923.52*46 2021-02-17T19:09:24.658Z,1613588964.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.679996 m, bearing: 349.498020 deg, deltaT: 4.483040 s, approachRate: 0.575501 m/s, LOS rate: -7.635664 deg/s, posRepo size: 4 2021-02-17T19:09:27.114Z,1613588967.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:27.849Z,1613588967.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:09:28.251Z,1613588968.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:09:29.088Z,1613588969.088 [Micromodem](INFO): Nmea in: $SNTTA,0.016467,,,,190927.96*49 2021-02-17T19:09:29.150Z,1613588969.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.840002 m, bearing: 41.216083 deg, deltaT: 4.387861 s, approachRate: 0.492268 m/s, LOS rate: 11.786625 deg/s, posRepo size: 4 2021-02-17T19:09:31.501Z,1613588971.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:32.301Z,1613588972.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:09:32.716Z,1613588972.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:09:33.512Z,1613588973.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190932.41*5B 2021-02-17T19:09:34.365Z,1613588974.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:35.923Z,1613588975.923 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:09:37.190Z,1613588977.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:37.946Z,1613588977.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:09:38.371Z,1613588978.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:09:39.184Z,1613588979.184 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190938.06*52 2021-02-17T19:09:39.217Z,1613588979.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.959999 m, bearing: 64.034622 deg, deltaT: 10.118832 s, approachRate: 0.604813 m/s, LOS rate: 2.255057 deg/s, posRepo size: 4 2021-02-17T19:09:41.600Z,1613588981.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:42.388Z,1613588982.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:09:42.795Z,1613588982.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:09:43.636Z,1613588983.636 [Micromodem](INFO): Nmea in: $SNTTA,0.113475,,,,190942.50*47 2021-02-17T19:09:43.658Z,1613588983.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.360001 m, bearing: 59.541464 deg, deltaT: 4.463507 s, approachRate: 0.537694 m/s, LOS rate: -1.006643 deg/s, posRepo size: 4 2021-02-17T19:09:46.170Z,1613588986.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:46.837Z,1613588986.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:09:47.242Z,1613588987.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:09:48.074Z,1613588988.074 [Micromodem](INFO): Nmea in: $SNTTA,0.098423,,,,190946.95*4B 2021-02-17T19:09:48.866Z,1613588988.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:50.466Z,1613588990.466 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:09:51.709Z,1613588991.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:52.488Z,1613588992.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:09:52.901Z,1613588992.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:09:53.716Z,1613588993.716 [Micromodem](INFO): Nmea in: $SNTTA,0.037633,,,,190952.60*42 2021-02-17T19:09:53.749Z,1613588993.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.939999 m, bearing: 45.545648 deg, deltaT: 10.096690 s, approachRate: 0.552656 m/s, LOS rate: -1.386179 deg/s, posRepo size: 4 2021-02-17T19:09:56.159Z,1613588996.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:09:56.932Z,1613588996.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:09:57.343Z,1613588997.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:09:58.172Z,1613588998.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190957.04*59 2021-02-17T19:09:58.221Z,1613588998.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.459999 m, bearing: 53.878335 deg, deltaT: 4.411603 s, approachRate: 0.571221 m/s, LOS rate: 1.888812 deg/s, posRepo size: 4 2021-02-17T19:10:00.588Z,1613589000.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:01.376Z,1613589001.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:01.781Z,1613589001.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:02.604Z,1613589002.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191001.49*5B 2021-02-17T19:10:02.618Z,1613589002.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.980000 m, bearing: 56.070618 deg, deltaT: 4.463417 s, approachRate: 0.564590 m/s, LOS rate: 0.491167 deg/s, posRepo size: 4 2021-02-17T19:10:05.103Z,1613589005.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:05.821Z,1613589005.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:06.226Z,1613589006.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:07.080Z,1613589007.080 [Micromodem](INFO): Nmea in: $SNTTA,0.030974,,,,191005.93*4F 2021-02-17T19:10:07.113Z,1613589007.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.860001 m, bearing: 45.771959 deg, deltaT: 4.448468 s, approachRate: 0.647414 m/s, LOS rate: -2.315102 deg/s, posRepo size: 4 2021-02-17T19:10:09.487Z,1613589009.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:10.269Z,1613589010.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:10.670Z,1613589010.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:11.496Z,1613589011.496 [Micromodem](INFO): Nmea in: $SNTTA,0.032343,,,,191010.38*46 2021-02-17T19:10:11.532Z,1613589011.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.960003 m, bearing: 44.775445 deg, deltaT: 4.457711 s, approachRate: 0.471094 m/s, LOS rate: -0.223548 deg/s, posRepo size: 4 2021-02-17T19:10:13.923Z,1613589013.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:14.708Z,1613589014.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:15.121Z,1613589015.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:15.936Z,1613589015.936 [Micromodem](INFO): Nmea in: $SNTTA,0.034114,,,,191014.82*45 2021-02-17T19:10:16.014Z,1613589016.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.539997 m, bearing: 56.521919 deg, deltaT: 4.406607 s, approachRate: 0.585483 m/s, LOS rate: 2.665650 deg/s, posRepo size: 4 2021-02-17T19:10:18.044Z,1613589018.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:18.748Z,1613589018.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:19.159Z,1613589019.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:20.003Z,1613589020.003 [Micromodem](INFO): Nmea in: $SNTTA,0.035480,,,,191018.86*44 2021-02-17T19:10:20.078Z,1613589020.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.579998 m, bearing: 55.446632 deg, deltaT: 4.057259 s, approachRate: 0.502803 m/s, LOS rate: -0.265028 deg/s, posRepo size: 4 2021-02-17T19:10:22.410Z,1613589022.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:23.192Z,1613589023.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:23.610Z,1613589023.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:24.420Z,1613589024.420 [Micromodem](INFO): Nmea in: $SNTTA,0.037381,,,,191023.31*44 2021-02-17T19:10:24.460Z,1613589024.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.459995 m, bearing: 59.481160 deg, deltaT: 4.504428 s, approachRate: 0.639370 m/s, LOS rate: 0.895680 deg/s, posRepo size: 4 2021-02-17T19:10:26.853Z,1613589026.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:27.636Z,1613589027.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:28.073Z,1613589028.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:28.869Z,1613589028.869 [Micromodem](INFO): Nmea in: $SNTTA,0.038880,,,,191027.75*45 2021-02-17T19:10:28.913Z,1613589028.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.739998 m, bearing: 54.356889 deg, deltaT: 4.360360 s, approachRate: 0.522893 m/s, LOS rate: -1.175194 deg/s, posRepo size: 4 2021-02-17T19:10:31.321Z,1613589031.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:32.088Z,1613589032.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:32.488Z,1613589032.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:33.312Z,1613589033.312 [Micromodem](INFO): Nmea in: $SNTTA,0.040693,,,,191032.20*42 2021-02-17T19:10:33.360Z,1613589033.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.380005 m, bearing: 56.659045 deg, deltaT: 4.444621 s, approachRate: 0.593978 m/s, LOS rate: 0.517965 deg/s, posRepo size: 4 2021-02-17T19:10:35.748Z,1613589035.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:36.524Z,1613589036.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:36.930Z,1613589036.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:37.768Z,1613589037.768 [Micromodem](INFO): Nmea in: $SNTTA,0.042307,,,,191036.64*4C 2021-02-17T19:10:37.790Z,1613589037.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.840004 m, bearing: 54.734954 deg, deltaT: 4.520602 s, approachRate: 0.544175 m/s, LOS rate: -0.425627 deg/s, posRepo size: 4 2021-02-17T19:10:40.208Z,1613589040.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:40.972Z,1613589040.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:41.373Z,1613589041.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:42.200Z,1613589042.200 [Micromodem](INFO): Nmea in: $SNTTA,0.044209,,,,191041.08*4F 2021-02-17T19:10:42.264Z,1613589042.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.720009 m, bearing: 57.246541 deg, deltaT: 4.372850 s, approachRate: 0.658610 m/s, LOS rate: 0.574359 deg/s, posRepo size: 4 2021-02-17T19:10:44.648Z,1613589044.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:45.417Z,1613589045.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:45.829Z,1613589045.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:46.644Z,1613589046.644 [Micromodem](INFO): Nmea in: $SNTTA,0.045965,,,,191045.53*45 2021-02-17T19:10:46.678Z,1613589046.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.180008 m, bearing: 70.887378 deg, deltaT: 4.476537 s, approachRate: 0.549532 m/s, LOS rate: 3.047185 deg/s, posRepo size: 4 2021-02-17T19:10:49.127Z,1613589049.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:49.856Z,1613589049.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:50.262Z,1613589050.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:51.111Z,1613589051.111 [Micromodem](INFO): Nmea in: $SNTTA,0.047566,,,,191049.97*4C 2021-02-17T19:10:51.181Z,1613589051.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.580002 m, bearing: 62.712980 deg, deltaT: 4.405605 s, approachRate: 0.544759 m/s, LOS rate: -1.855454 deg/s, posRepo size: 4 2021-02-17T19:10:53.522Z,1613589053.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:54.312Z,1613589054.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:54.717Z,1613589054.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:55.536Z,1613589055.536 [Micromodem](INFO): Nmea in: $SNTTA,0.049248,,,,191054.42*4D 2021-02-17T19:10:55.574Z,1613589055.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.160004 m, bearing: 61.829324 deg, deltaT: 4.480227 s, approachRate: 0.575864 m/s, LOS rate: -0.197235 deg/s, posRepo size: 4 2021-02-17T19:10:57.970Z,1613589057.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:10:58.744Z,1613589058.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:10:59.155Z,1613589059.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:10:59.964Z,1613589059.964 [Micromodem](INFO): Nmea in: $SNTTA,0.051094,,,,191058.86*43 2021-02-17T19:11:00.788Z,1613589060.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:02.378Z,1613589062.378 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:11:03.608Z,1613589063.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:04.402Z,1613589064.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:11:04.811Z,1613589064.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:11:05.636Z,1613589065.636 [Micromodem](INFO): Nmea in: $SNTTA,0.053267,,,,191104.51*4D 2021-02-17T19:11:05.658Z,1613589065.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.979996 m, bearing: 64.889741 deg, deltaT: 10.095317 s, approachRate: 0.576504 m/s, LOS rate: 0.303152 deg/s, posRepo size: 4 2021-02-17T19:11:08.146Z,1613589068.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:08.850Z,1613589068.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:11:09.250Z,1613589069.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:11:10.088Z,1613589070.088 [Micromodem](INFO): Nmea in: $SNTTA,0.054818,,,,191108.96*4F 2021-02-17T19:11:10.141Z,1613589070.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.620003 m, bearing: 51.882694 deg, deltaT: 4.413026 s, approachRate: 0.598231 m/s, LOS rate: -2.947421 deg/s, posRepo size: 4 2021-02-17T19:11:12.494Z,1613589072.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:13.289Z,1613589073.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:11:13.701Z,1613589073.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:11:14.516Z,1613589074.516 [Micromodem](INFO): Nmea in: $SNTTA,0.056515,,,,191113.40*4C 2021-02-17T19:11:14.553Z,1613589074.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.080002 m, bearing: 55.951130 deg, deltaT: 4.478715 s, approachRate: 0.549264 m/s, LOS rate: 0.908394 deg/s, posRepo size: 4 2021-02-17T19:11:16.945Z,1613589076.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:17.732Z,1613589077.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:11:18.145Z,1613589078.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:11:18.960Z,1613589078.960 [Micromodem](INFO): Nmea in: $SNTTA,0.058397,,,,191117.84*42 2021-02-17T19:11:19.065Z,1613589079.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.839996 m, bearing: 62.528510 deg, deltaT: 4.424589 s, approachRate: 0.623785 m/s, LOS rate: 1.486552 deg/s, posRepo size: 4 2021-02-17T19:11:21.410Z,1613589081.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:22.181Z,1613589082.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:11:22.582Z,1613589082.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:11:23.408Z,1613589083.408 [Micromodem](INFO): Nmea in: $SNTTA,0.060013,,,,191122.29*47 2021-02-17T19:11:23.459Z,1613589083.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.240005 m, bearing: 51.014820 deg, deltaT: 4.522801 s, approachRate: 0.530647 m/s, LOS rate: -2.545699 deg/s, posRepo size: 4 2021-02-17T19:11:25.826Z,1613589085.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:26.622Z,1613589086.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:11:27.070Z,1613589087.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:11:27.852Z,1613589087.852 [Micromodem](INFO): Nmea in: $SNTTA,0.061853,,,,191126.73*41 2021-02-17T19:11:27.889Z,1613589087.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.820000 m, bearing: 62.173778 deg, deltaT: 4.376576 s, approachRate: 0.589501 m/s, LOS rate: 2.549700 deg/s, posRepo size: 4 2021-02-17T19:11:30.298Z,1613589090.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:31.076Z,1613589091.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:11:31.513Z,1613589091.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:11:32.300Z,1613589092.300 [Micromodem](INFO): Nmea in: $SNTTA,0.063404,,0.070779,,191131.19*57 2021-02-17T19:11:32.349Z,1613589092.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.340004 m, bearing: 56.895466 deg, deltaT: 4.432928 s, approachRate: 0.568474 m/s, LOS rate: -1.190706 deg/s, posRepo size: 4 2021-02-17T19:11:34.723Z,1613589094.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:35.508Z,1613589095.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:11:35.915Z,1613589095.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:11:36.741Z,1613589096.741 [Micromodem](INFO): Nmea in: $SNTTA,0.065242,,,,191135.62*4D 2021-02-17T19:11:36.778Z,1613589096.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.040001 m, bearing: 66.249673 deg, deltaT: 4.465292 s, approachRate: 0.604663 m/s, LOS rate: 2.094870 deg/s, posRepo size: 4 2021-02-17T19:11:39.193Z,1613589099.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:39.952Z,1613589099.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:11:40.364Z,1613589100.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:11:41.191Z,1613589101.191 [Micromodem](INFO): Nmea in: $SNTTA,0.066928,,,,191140.06*49 2021-02-17T19:11:41.225Z,1613589101.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.440002 m, bearing: 66.248552 deg, deltaT: 4.422821 s, approachRate: 0.542640 m/s, LOS rate: -0.000253 deg/s, posRepo size: 4 2021-02-17T19:11:43.605Z,1613589103.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:44.396Z,1613589104.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:11:44.810Z,1613589104.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:11:45.624Z,1613589105.624 [Micromodem](INFO): Nmea in: $SNTTA,0.068667,,,,191144.51*45 2021-02-17T19:11:45.661Z,1613589105.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.200005 m, bearing: 68.187548 deg, deltaT: 4.470274 s, approachRate: 0.617412 m/s, LOS rate: 0.433753 deg/s, posRepo size: 4 2021-02-17T19:11:48.114Z,1613589108.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:48.845Z,1613589108.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:11:49.263Z,1613589109.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:11:50.091Z,1613589110.091 [Micromodem](INFO): Nmea in: $SNTTA,0.070287,,,,191148.96*41 2021-02-17T19:11:50.125Z,1613589110.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.599998 m, bearing: 60.673916 deg, deltaT: 4.401581 s, approachRate: 0.545257 m/s, LOS rate: -1.707030 deg/s, posRepo size: 4 2021-02-17T19:11:52.502Z,1613589112.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:53.284Z,1613589113.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:11:53.700Z,1613589113.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:11:54.523Z,1613589114.523 [Micromodem](INFO): Nmea in: $SNTTA,0.072012,,,,191153.40*4C 2021-02-17T19:11:54.542Z,1613589114.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.239998 m, bearing: 57.316755 deg, deltaT: 4.483581 s, approachRate: 0.588815 m/s, LOS rate: -0.748768 deg/s, posRepo size: 4 2021-02-17T19:11:56.936Z,1613589116.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:11:57.728Z,1613589117.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:11:58.145Z,1613589118.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:11:58.957Z,1613589118.957 [Micromodem](INFO): Nmea in: $SNTTA,0.073710,,,,191157.84*44 2021-02-17T19:11:59.069Z,1613589119.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.820000 m, bearing: 66.154596 deg, deltaT: 4.420188 s, approachRate: 0.583686 m/s, LOS rate: 1.999426 deg/s, posRepo size: 4 2021-02-17T19:12:01.417Z,1613589121.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:02.186Z,1613589122.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:02.597Z,1613589122.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:12:03.412Z,1613589123.412 [Micromodem](INFO): Nmea in: $SNTTA,0.075401,,,,191202.30*4D 2021-02-17T19:12:03.456Z,1613589123.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.520004 m, bearing: 56.515044 deg, deltaT: 4.523619 s, approachRate: 0.596868 m/s, LOS rate: -2.130938 deg/s, posRepo size: 4 2021-02-17T19:12:05.822Z,1613589125.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:06.621Z,1613589126.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:07.065Z,1613589127.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:12:07.848Z,1613589127.848 [Micromodem](INFO): Nmea in: $SNTTA,0.077073,,,,191206.73*4D 2021-02-17T19:12:07.880Z,1613589127.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.860008 m, bearing: 53.670937 deg, deltaT: 4.378269 s, approachRate: 0.534459 m/s, LOS rate: -0.649596 deg/s, posRepo size: 4 2021-02-17T19:12:10.006Z,1613589130.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:10.662Z,1613589130.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:11.076Z,1613589131.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:12:11.888Z,1613589131.888 [Micromodem](INFO): Nmea in: $SNTTA,0.078557,,,,191210.77*42 2021-02-17T19:12:11.910Z,1613589131.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.959999 m, bearing: 55.012345 deg, deltaT: 4.010578 s, approachRate: 0.523613 m/s, LOS rate: 0.334468 deg/s, posRepo size: 4 2021-02-17T19:12:14.341Z,1613589134.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:15.106Z,1613589135.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:15.505Z,1613589135.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:12:16.332Z,1613589136.332 [Micromodem](INFO): Nmea in: $SNTTA,0.080960,,,,191215.22*48 2021-02-17T19:12:16.385Z,1613589136.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.720001 m, bearing: 58.952831 deg, deltaT: 4.492341 s, approachRate: 0.614379 m/s, LOS rate: 0.877157 deg/s, posRepo size: 4 2021-02-17T19:12:18.772Z,1613589138.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:19.546Z,1613589139.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:19.957Z,1613589139.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:12:20.772Z,1613589140.772 [Micromodem](INFO): Nmea in: $SNTTA,0.082201,,,,191219.66*4A 2021-02-17T19:12:20.814Z,1613589140.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.240005 m, bearing: 58.256029 deg, deltaT: 4.446759 s, approachRate: 0.566706 m/s, LOS rate: -0.156699 deg/s, posRepo size: 4 2021-02-17T19:12:23.230Z,1613589143.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:24.011Z,1613589144.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:24.397Z,1613589144.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:12:25.320Z,1613589145.320 [Micromodem](INFO): Nmea in: $SNTTA,0.083729,,,,191224.12*49 2021-02-17T19:12:25.384Z,1613589145.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.760010 m, bearing: 61.880558 deg, deltaT: 4.395263 s, approachRate: 0.573345 m/s, LOS rate: 0.824644 deg/s, posRepo size: 4 2021-02-17T19:12:27.663Z,1613589147.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:28.441Z,1613589148.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:28.838Z,1613589148.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:12:29.664Z,1613589149.664 [Micromodem](INFO): Nmea in: $SNTTA,0.085495,,,,191228.55*44 2021-02-17T19:12:29.708Z,1613589149.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.400009 m, bearing: 60.073003 deg, deltaT: 4.483712 s, approachRate: 0.588798 m/s, LOS rate: -0.403138 deg/s, posRepo size: 4 2021-02-17T19:12:32.112Z,1613589152.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:32.880Z,1613589152.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:33.282Z,1613589153.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:12:34.112Z,1613589154.112 [Micromodem](INFO): Nmea in: $SNTTA,0.087112,,,,191232.99*47 2021-02-17T19:12:34.170Z,1613589154.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.800003 m, bearing: 60.860148 deg, deltaT: 4.402747 s, approachRate: 0.545113 m/s, LOS rate: 0.178785 deg/s, posRepo size: 4 2021-02-17T19:12:36.567Z,1613589156.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:37.325Z,1613589157.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:37.731Z,1613589157.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:12:38.552Z,1613589158.552 [Micromodem](INFO): Nmea in: $SNTTA,0.088733,,,,191237.44*48 2021-02-17T19:12:38.574Z,1613589158.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.259995 m, bearing: 65.998970 deg, deltaT: 4.466449 s, approachRate: 0.550771 m/s, LOS rate: 1.150539 deg/s, posRepo size: 4 2021-02-17T19:12:40.981Z,1613589160.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:41.769Z,1613589161.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:42.170Z,1613589162.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:12:43.016Z,1613589163.016 [Micromodem](INFO): Nmea in: $SNTTA,0.090388,,,,191241.88*44 2021-02-17T19:12:43.099Z,1613589163.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.779999 m, bearing: 60.609159 deg, deltaT: 4.424184 s, approachRate: 0.569598 m/s, LOS rate: -1.218261 deg/s, posRepo size: 4 2021-02-17T19:12:45.424Z,1613589165.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:46.219Z,1613589166.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:46.619Z,1613589166.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:12:47.444Z,1613589167.444 [Micromodem](INFO): Nmea in: $SNTTA,0.092064,,,,191246.33*40 2021-02-17T19:12:47.486Z,1613589167.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.300003 m, bearing: 60.302818 deg, deltaT: 4.525309 s, approachRate: 0.556869 m/s, LOS rate: -0.067695 deg/s, posRepo size: 4 2021-02-17T19:12:49.942Z,1613589169.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:50.652Z,1613589170.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:51.076Z,1613589171.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:12:51.887Z,1613589171.887 [Micromodem](INFO): Nmea in: $SNTTA,0.093812,,,,191250.76*4E 2021-02-17T19:12:51.906Z,1613589171.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.940002 m, bearing: 61.406665 deg, deltaT: 4.370634 s, approachRate: 0.604031 m/s, LOS rate: 0.252560 deg/s, posRepo size: 4 2021-02-17T19:12:54.352Z,1613589174.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:55.096Z,1613589175.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:55.508Z,1613589175.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:12:56.335Z,1613589176.335 [Micromodem](INFO): Nmea in: $SNTTA,0.095415,,,,191255.21*44 2021-02-17T19:12:56.369Z,1613589176.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.400009 m, bearing: 66.721133 deg, deltaT: 4.447824 s, approachRate: 0.553081 m/s, LOS rate: 1.194847 deg/s, posRepo size: 4 2021-02-17T19:12:58.748Z,1613589178.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:12:59.540Z,1613589179.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:12:59.951Z,1613589179.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:00.784Z,1613589180.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191259.65*5A 2021-02-17T19:13:00.826Z,1613589180.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.979996 m, bearing: 64.226325 deg, deltaT: 4.472986 s, approachRate: 0.576793 m/s, LOS rate: -0.557750 deg/s, posRepo size: 4 2021-02-17T19:13:03.234Z,1613589183.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:13:04.009Z,1613589184.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:13:04.405Z,1613589184.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:05.224Z,1613589185.224 [Micromodem](INFO): Nmea in: $SNTTA,0.098816,,,,191304.12*43 2021-02-17T19:13:05.280Z,1613589185.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.380005 m, bearing: 57.406545 deg, deltaT: 4.423031 s, approachRate: 0.542616 m/s, LOS rate: -1.541879 deg/s, posRepo size: 4 2021-02-17T19:13:07.651Z,1613589187.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:13:08.428Z,1613589188.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:13:08.834Z,1613589188.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:09.657Z,1613589189.657 [Micromodem](INFO): Nmea in: $SNTTA,0.100541,,,,191308.54*42 2021-02-17T19:13:09.692Z,1613589189.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.020004 m, bearing: 62.242168 deg, deltaT: 4.479390 s, approachRate: 0.589366 m/s, LOS rate: 1.079527 deg/s, posRepo size: 4 2021-02-17T19:13:09.693Z,1613589189.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.02 m. Resuming terminal guidance. 2021-02-17T19:13:09.693Z,1613589189.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T19:13:12.146Z,1613589192.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:13:12.872Z,1613589192.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:13:13.279Z,1613589193.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:14.100Z,1613589194.100 [Micromodem](INFO): Nmea in: $SNTTA,0.102058,,,,191312.98*46 2021-02-17T19:13:14.148Z,1613589194.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.180008 m, bearing: 57.884767 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T19:13:14.149Z,1613589194.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 57.884767deg and heading rate command to 0 deg/s. 2021-02-17T19:13:16.524Z,1613589196.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:13:17.318Z,1613589197.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:13:17.729Z,1613589197.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:18.544Z,1613589198.544 [Micromodem](INFO): Nmea in: $SNTTA,0.103855,,,,191317.43*41 2021-02-17T19:13:18.582Z,1613589198.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.940002 m, bearing: 59.984367 deg, deltaT: 4.453568 s, approachRate: 0.619727 m/s, LOS rate: 0.471442 deg/s, posRepo size: 2 2021-02-17T19:13:18.584Z,1613589198.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.940002 m, bearing: 59.984367 deg, approachRate: 0.619727 m/s, LOS rate: 0.471442 deg/s, cmd update: 1.885769 deg/s, cmd heading: 57.884767 deg, new cmd heading: 57.884767 deg. 2021-02-17T19:13:21.002Z,1613589201.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:13:21.765Z,1613589201.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:13:22.178Z,1613589202.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:22.997Z,1613589202.997 [Micromodem](INFO): Nmea in: $SNTTA,0.106242,,,,191321.88*4A 2021-02-17T19:13:23.084Z,1613589203.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.819992 m, bearing: 109.647158 deg, deltaT: 4.436004 s, approachRate: 0.649231 m/s, LOS rate: 11.195389 deg/s, posRepo size: 3 2021-02-17T19:13:23.085Z,1613589203.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.819992 m, bearing: 109.647158 deg, approachRate: 0.649231 m/s, LOS rate: 11.195389 deg/s, cmd update: 12.000000 deg/s, cmd heading: 66.235281 deg, new cmd heading: 67.139166 deg. 2021-02-17T19:13:25.416Z,1613589205.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:13:26.206Z,1613589206.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:13:26.615Z,1613589206.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:27.435Z,1613589207.435 [Micromodem](INFO): Nmea in: $SNTTA,0.107244,,,,191326.32*4B 2021-02-17T19:13:27.454Z,1613589207.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.980011 m, bearing: 51.988507 deg, deltaT: 4.497597 s, approachRate: 0.480261 m/s, LOS rate: -12.819880 deg/s, posRepo size: 4 2021-02-17T19:13:27.455Z,1613589207.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.819880 deg/s. Setting heading cmd to target bearing of 51.988507deg and heading rate command to 0 deg/s. 2021-02-17T19:13:29.857Z,1613589209.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:13:30.654Z,1613589210.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:13:31.075Z,1613589211.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:31.892Z,1613589211.892 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191330.76*56 2021-02-17T19:13:31.922Z,1613589211.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.840012 m, bearing: 90.502575 deg, deltaT: 4.384059 s, approachRate: 0.424264 m/s, LOS rate: 8.785025 deg/s, posRepo size: 4 2021-02-17T19:13:31.924Z,1613589211.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.840012 m, bearing: 90.502575 deg, approachRate: 0.424264 m/s, LOS rate: 8.785025 deg/s, cmd update: 12.000000 deg/s, cmd heading: 51.988507 deg, new cmd heading: 51.988507 deg. 2021-02-17T19:13:34.404Z,1613589214.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:13:35.097Z,1613589215.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:13:35.499Z,1613589215.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:36.340Z,1613589216.340 [Micromodem](INFO): Nmea in: $SNTTA,0.109541,,,,191335.21*47 2021-02-17T19:13:36.387Z,1613589216.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.759995 m, bearing: 106.820962 deg, deltaT: 4.474819 s, approachRate: 0.429064 m/s, LOS rate: 3.646714 deg/s, posRepo size: 4 2021-02-17T19:13:36.389Z,1613589216.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.759995 m, bearing: 106.820962 deg, approachRate: 0.429064 m/s, LOS rate: 3.646714 deg/s, cmd update: 12.000000 deg/s, cmd heading: 105.790149 deg, new cmd heading: 110.908821 deg. 2021-02-17T19:13:38.748Z,1613589218.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:13:39.536Z,1613589219.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:13:39.943Z,1613589219.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:40.769Z,1613589220.769 [Micromodem](INFO): Nmea in: $SNTTA,0.110659,,,,191339.65*49 2021-02-17T19:13:40.814Z,1613589220.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.720001 m, bearing: 127.448256 deg, deltaT: 4.449502 s, approachRate: 0.215756 m/s, LOS rate: 4.635866 deg/s, posRepo size: 4 2021-02-17T19:13:40.816Z,1613589220.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.720001 m, bearing: 127.448256 deg, approachRate: 0.215756 m/s, LOS rate: 4.635866 deg/s, cmd update: 12.000000 deg/s, cmd heading: 159.232090 deg, new cmd heading: 164.033050 deg. 2021-02-17T19:13:42.413Z,1613589222.413 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T19:13:43.236Z,1613589223.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:13:44.007Z,1613589224.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:13:44.386Z,1613589224.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:45.220Z,1613589225.220 [Micromodem](INFO): Nmea in: $SNTTA,0.111724,,,,191344.12*49 2021-02-17T19:13:45.638Z,1613589225.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.760010 m, bearing: 122.141937 deg, deltaT: 4.878099 s, approachRate: 0.418197 m/s, LOS rate: -1.087784 deg/s, posRepo size: 4 2021-02-17T19:13:45.640Z,1613589225.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.760010 m, bearing: 122.141937 deg, approachRate: 0.418197 m/s, LOS rate: -1.087784 deg/s, cmd update: -4.351137 deg/s, cmd heading: 217.719995 deg, new cmd heading: 221.921640 deg. 2021-02-17T19:13:48.114Z,1613589228.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:13:48.837Z,1613589228.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:13:49.241Z,1613589229.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:50.084Z,1613589230.084 [Micromodem](INFO): Nmea in: $SNTTA,0.112661,,,,191348.95*49 2021-02-17T19:13:50.118Z,1613589230.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.760010 m, bearing: 137.464674 deg, deltaT: 4.372865 s, approachRate: 0.000000 m/s, LOS rate: 3.504050 deg/s, posRepo size: 4 2021-02-17T19:13:50.120Z,1613589230.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.760010 m, bearing: 137.464674 deg, approachRate: 0.000000 m/s, LOS rate: 3.504050 deg/s, cmd update: 12.000000 deg/s, cmd heading: 198.715212 deg, new cmd heading: 196.705200 deg. 2021-02-17T19:13:52.478Z,1613589232.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:13:53.273Z,1613589233.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:13:53.691Z,1613589233.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:54.501Z,1613589234.501 [Micromodem](INFO): Nmea in: $SNTTA,0.112798,,,,191353.38*43 2021-02-17T19:13:54.553Z,1613589234.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.760010 m, bearing: 183.822589 deg, deltaT: 4.473586 s, approachRate: 0.000000 m/s, LOS rate: 10.362585 deg/s, posRepo size: 4 2021-02-17T19:13:54.556Z,1613589234.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.760010 m, bearing: 183.822589 deg, approachRate: 0.000000 m/s, LOS rate: 10.362585 deg/s, cmd update: 12.000000 deg/s, cmd heading: 252.557906 deg, new cmd heading: 257.459234 deg. 2021-02-17T19:13:56.948Z,1613589236.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:13:57.726Z,1613589237.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:13:58.123Z,1613589238.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:13:58.948Z,1613589238.948 [Micromodem](INFO): Nmea in: $SNTTA,0.112553,,,,191357.84*45 2021-02-17T19:13:59.036Z,1613589239.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.760010 m, bearing: 113.269699 deg, deltaT: 4.422293 s, approachRate: 0.000000 m/s, LOS rate: -15.953915 deg/s, posRepo size: 4 2021-02-17T19:13:59.038Z,1613589239.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.953915 deg/s. Setting heading cmd to target bearing of 113.269699deg and heading rate command to 0 deg/s. 2021-02-17T19:14:01.394Z,1613589241.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:02.162Z,1613589242.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:14:02.578Z,1613589242.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:14:03.392Z,1613589243.392 [Micromodem](INFO): Nmea in: $SNTTA,0.111778,,,,191402.27*43 2021-02-17T19:14:03.442Z,1613589243.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.760010 m, bearing: 215.418415 deg, deltaT: 4.508262 s, approachRate: 0.000000 m/s, LOS rate: 22.658114 deg/s, posRepo size: 4 2021-02-17T19:14:03.443Z,1613589243.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.658114 deg/s. Setting heading cmd to target bearing of 215.418415deg and heading rate command to 0 deg/s. 2021-02-17T19:14:05.824Z,1613589245.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:06.627Z,1613589246.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:14:07.053Z,1613589247.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:14:07.843Z,1613589247.843 [Micromodem](INFO): Nmea in: $SNTTA,0.110477,,,,191406.74*4C 2021-02-17T19:14:07.862Z,1613589247.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.760010 m, bearing: 228.806542 deg, deltaT: 4.378275 s, approachRate: 0.000000 m/s, LOS rate: 3.057854 deg/s, posRepo size: 4 2021-02-17T19:14:07.864Z,1613589247.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.760010 m, bearing: 228.806542 deg, approachRate: 0.000000 m/s, LOS rate: 3.057854 deg/s, cmd update: 12.000000 deg/s, cmd heading: 215.418415 deg, new cmd heading: 215.418415 deg. 2021-02-17T19:14:10.282Z,1613589250.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:11.070Z,1613589251.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:14:11.454Z,1613589251.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:14:12.289Z,1613589252.289 [Micromodem](INFO): Nmea in: $SNTTA,0.108795,,,,191411.18*46 2021-02-17T19:14:12.359Z,1613589252.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.760010 m, bearing: 243.810515 deg, deltaT: 4.425040 s, approachRate: 0.000000 m/s, LOS rate: 3.390698 deg/s, posRepo size: 4 2021-02-17T19:14:12.361Z,1613589252.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.760010 m, bearing: 243.810515 deg, approachRate: 0.000000 m/s, LOS rate: 3.390698 deg/s, cmd update: 12.000000 deg/s, cmd heading: 268.517841 deg, new cmd heading: 274.274157 deg. 2021-02-17T19:14:14.729Z,1613589254.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:15.514Z,1613589255.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:14:15.910Z,1613589255.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:14:16.732Z,1613589256.732 [Micromodem](INFO): Nmea in: $SNTTA,0.106476,,,,191415.63*4E 2021-02-17T19:14:16.771Z,1613589256.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.760010 m, bearing: 229.875044 deg, deltaT: 4.502488 s, approachRate: 0.000000 m/s, LOS rate: -3.095060 deg/s, posRepo size: 4 2021-02-17T19:14:16.773Z,1613589256.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.760010 m, bearing: 229.875044 deg, approachRate: 0.000000 m/s, LOS rate: -3.095060 deg/s, cmd update: -12.000000 deg/s, cmd heading: 322.508147 deg, new cmd heading: 327.257315 deg. 2021-02-17T19:14:19.182Z,1613589259.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:19.942Z,1613589259.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:14:20.347Z,1613589260.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:14:21.176Z,1613589261.176 [Micromodem](INFO): Nmea in: $SNTTA,0.104404,,,,191420.05*4F 2021-02-17T19:14:21.209Z,1613589261.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.419998 m, bearing: 229.594705 deg, deltaT: 4.398003 s, approachRate: -2.578446 m/s, LOS rate: -0.063742 deg/s, posRepo size: 4 2021-02-17T19:14:21.211Z,1613589261.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.419998 m, bearing: 229.594705 deg, approachRate: -2.578446 m/s, LOS rate: -0.063742 deg/s, cmd update: -0.254969 deg/s, cmd heading: 269.682465 deg, new cmd heading: 264.495429 deg. 2021-02-17T19:14:23.602Z,1613589263.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:24.381Z,1613589264.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:14:24.792Z,1613589264.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:14:25.612Z,1613589265.612 [Micromodem](INFO): Nmea in: $SNTTA,0.101727,,,,191424.49*44 2021-02-17T19:14:25.645Z,1613589265.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.460007 m, bearing: 229.461271 deg, deltaT: 4.468381 s, approachRate: -0.886225 m/s, LOS rate: -0.029862 deg/s, posRepo size: 4 2021-02-17T19:14:25.647Z,1613589265.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.460007 m, bearing: 229.461271 deg, approachRate: -0.886225 m/s, LOS rate: -0.029862 deg/s, cmd update: -0.119448 deg/s, cmd heading: 268.543706 deg, new cmd heading: 268.441117 deg. 2021-02-17T19:14:28.104Z,1613589268.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:28.824Z,1613589268.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:14:29.232Z,1613589269.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:14:30.080Z,1613589270.080 [Micromodem](INFO): Nmea in: $SNTTA,0.099035,,,,191428.93*4B 2021-02-17T19:14:30.114Z,1613589270.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.500000 m, bearing: 229.569625 deg, deltaT: 4.420180 s, approachRate: -0.895893 m/s, LOS rate: 0.024514 deg/s, posRepo size: 4 2021-02-17T19:14:30.116Z,1613589270.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.500000 m, bearing: 229.569625 deg, approachRate: -0.895893 m/s, LOS rate: 0.024514 deg/s, cmd update: 0.098054 deg/s, cmd heading: 268.017353 deg, new cmd heading: 267.961888 deg. 2021-02-17T19:14:32.475Z,1613589272.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:33.273Z,1613589273.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:14:33.677Z,1613589273.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:14:34.507Z,1613589274.507 [Micromodem](INFO): Nmea in: $SNTTA,0.096639,,,,191433.39*44 2021-02-17T19:14:34.526Z,1613589274.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.779999 m, bearing: 223.519389 deg, deltaT: 4.464301 s, approachRate: -0.833277 m/s, LOS rate: -1.355248 deg/s, posRepo size: 4 2021-02-17T19:14:34.528Z,1613589274.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.779999 m, bearing: 223.519389 deg, approachRate: -0.833277 m/s, LOS rate: -1.355248 deg/s, cmd update: -5.420993 deg/s, cmd heading: 268.456666 deg, new cmd heading: 268.495507 deg. 2021-02-17T19:14:36.929Z,1613589276.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:37.712Z,1613589277.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:14:38.118Z,1613589278.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:14:38.944Z,1613589278.944 [Micromodem](INFO): Nmea in: $SNTTA,0.094757,,,,191437.82*4B 2021-02-17T19:14:38.962Z,1613589278.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.899994 m, bearing: 227.642378 deg, deltaT: 4.446724 s, approachRate: -0.647669 m/s, LOS rate: 0.927197 deg/s, posRepo size: 4 2021-02-17T19:14:38.968Z,1613589278.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.899994 m, bearing: 227.642378 deg, approachRate: -0.647669 m/s, LOS rate: 0.927197 deg/s, cmd update: 3.708788 deg/s, cmd heading: 244.482270 deg, new cmd heading: 242.261197 deg. 2021-02-17T19:14:41.401Z,1613589281.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:42.166Z,1613589282.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:14:42.567Z,1613589282.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:14:43.392Z,1613589283.392 [Micromodem](INFO): Nmea in: $SNTTA,0.092406,,,,191442.28*48 2021-02-17T19:14:43.446Z,1613589283.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.300003 m, bearing: 225.651091 deg, deltaT: 4.446359 s, approachRate: -0.809649 m/s, LOS rate: -0.447847 deg/s, posRepo size: 4 2021-02-17T19:14:43.452Z,1613589283.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.300003 m, bearing: 225.651091 deg, approachRate: -0.809649 m/s, LOS rate: -0.447847 deg/s, cmd update: -1.791387 deg/s, cmd heading: 260.956461 deg, new cmd heading: 262.633015 deg. 2021-02-17T19:14:45.807Z,1613589285.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:46.601Z,1613589286.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:14:47.053Z,1613589287.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:14:47.832Z,1613589287.832 [Micromodem](INFO): Nmea in: $SNTTA,0.090083,,,,191446.72*48 2021-02-17T19:14:47.854Z,1613589287.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.820007 m, bearing: 221.398547 deg, deltaT: 4.402355 s, approachRate: -0.790485 m/s, LOS rate: -0.965970 deg/s, posRepo size: 4 2021-02-17T19:14:47.877Z,1613589287.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.820007 m, bearing: 221.398547 deg, approachRate: -0.790485 m/s, LOS rate: -0.965970 deg/s, cmd update: -3.863881 deg/s, cmd heading: 253.020287 deg, new cmd heading: 252.250576 deg. 2021-02-17T19:14:50.290Z,1613589290.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:51.078Z,1613589291.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:14:51.474Z,1613589291.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:14:52.292Z,1613589292.292 [Micromodem](INFO): Nmea in: $SNTTA,0.088228,,,,191451.19*49 2021-02-17T19:14:52.339Z,1613589292.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.000000 m, bearing: 223.106968 deg, deltaT: 4.467748 s, approachRate: -0.631192 m/s, LOS rate: 0.382390 deg/s, posRepo size: 4 2021-02-17T19:14:52.341Z,1613589292.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.000000 m, bearing: 223.106968 deg, approachRate: -0.631192 m/s, LOS rate: 0.382390 deg/s, cmd update: 1.529559 deg/s, cmd heading: 235.815989 deg, new cmd heading: 234.031935 deg. 2021-02-17T19:14:54.701Z,1613589294.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:55.488Z,1613589295.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:14:55.894Z,1613589295.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:14:56.725Z,1613589296.725 [Micromodem](INFO): Nmea in: $SNTTA,0.085420,,,,191455.60*40 2021-02-17T19:14:56.746Z,1613589296.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.800003 m, bearing: 223.941139 deg, deltaT: 4.443382 s, approachRate: -0.945225 m/s, LOS rate: 0.187733 deg/s, posRepo size: 4 2021-02-17T19:14:56.748Z,1613589296.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.800003 m, bearing: 223.941139 deg, approachRate: -0.945225 m/s, LOS rate: 0.187733 deg/s, cmd update: 0.750933 deg/s, cmd heading: 242.636862 deg, new cmd heading: 243.263258 deg. 2021-02-17T19:14:59.190Z,1613589299.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:14:59.933Z,1613589299.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:00.338Z,1613589300.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:01.160Z,1613589301.160 [Micromodem](INFO): Nmea in: $SNTTA,0.083003,,,,191500.05*41 2021-02-17T19:15:01.194Z,1613589301.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.200005 m, bearing: 223.191895 deg, deltaT: 4.419261 s, approachRate: -0.814615 m/s, LOS rate: -0.169541 deg/s, posRepo size: 4 2021-02-17T19:15:01.196Z,1613589301.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.200005 m, bearing: 223.191895 deg, approachRate: -0.814615 m/s, LOS rate: -0.169541 deg/s, cmd update: -0.678163 deg/s, cmd heading: 245.955432 deg, new cmd heading: 246.284425 deg. 2021-02-17T19:15:03.582Z,1613589303.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:04.381Z,1613589304.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:04.782Z,1613589304.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:05.597Z,1613589305.597 [Micromodem](INFO): Nmea in: $SNTTA,0.080438,,,,191504.49*42 2021-02-17T19:15:06.086Z,1613589306.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:08.041Z,1613589308.041 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:15:08.835Z,1613589308.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:09.639Z,1613589309.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:10.075Z,1613589310.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:10.869Z,1613589310.869 [Micromodem](INFO): Nmea in: $SNTTA,0.077352,,,,191509.75*43 2021-02-17T19:15:10.911Z,1613589310.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.739998 m, bearing: 220.533039 deg, deltaT: 9.699862 s, approachRate: -0.872178 m/s, LOS rate: -0.274113 deg/s, posRepo size: 4 2021-02-17T19:15:10.913Z,1613589310.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.739998 m, bearing: 220.533039 deg, approachRate: -0.872178 m/s, LOS rate: -0.274113 deg/s, cmd update: -1.096451 deg/s, cmd heading: 239.377349 deg, new cmd heading: 239.068723 deg. 2021-02-17T19:15:13.317Z,1613589313.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:14.085Z,1613589314.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:14.495Z,1613589314.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:15.308Z,1613589315.308 [Micromodem](INFO): Nmea in: $SNTTA,0.074716,,,,191514.20*48 2021-02-17T19:15:15.356Z,1613589315.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.720009 m, bearing: 221.162495 deg, deltaT: 4.455967 s, approachRate: -0.902159 m/s, LOS rate: 0.141261 deg/s, posRepo size: 4 2021-02-17T19:15:15.358Z,1613589315.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.720009 m, bearing: 221.162495 deg, approachRate: -0.902159 m/s, LOS rate: 0.141261 deg/s, cmd update: 0.565046 deg/s, cmd heading: 234.509125 deg, new cmd heading: 234.004317 deg. 2021-02-17T19:15:17.723Z,1613589317.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:18.516Z,1613589318.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:18.927Z,1613589318.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:19.748Z,1613589319.748 [Micromodem](INFO): Nmea in: $SNTTA,0.072194,,,,191518.63*49 2021-02-17T19:15:19.770Z,1613589319.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.059998 m, bearing: 219.742444 deg, deltaT: 4.493254 s, approachRate: -0.814557 m/s, LOS rate: -0.316041 deg/s, posRepo size: 4 2021-02-17T19:15:19.772Z,1613589319.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.059998 m, bearing: 219.742444 deg, approachRate: -0.814557 m/s, LOS rate: -0.316041 deg/s, cmd update: -1.264163 deg/s, cmd heading: 237.054809 deg, new cmd heading: 237.263367 deg. 2021-02-17T19:15:22.189Z,1613589322.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:22.964Z,1613589322.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:23.383Z,1613589323.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:24.192Z,1613589324.192 [Micromodem](INFO): Nmea in: $SNTTA,0.069511,,,,191523.08*4F 2021-02-17T19:15:24.253Z,1613589324.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.860008 m, bearing: 218.959746 deg, deltaT: 4.383042 s, approachRate: -0.958236 m/s, LOS rate: -0.178574 deg/s, posRepo size: 4 2021-02-17T19:15:24.259Z,1613589324.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.860008 m, bearing: 218.959746 deg, approachRate: -0.958236 m/s, LOS rate: -0.178574 deg/s, cmd update: -0.714297 deg/s, cmd heading: 231.508907 deg, new cmd heading: 230.920553 deg. 2021-02-17T19:15:26.616Z,1613589326.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:27.421Z,1613589327.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:27.825Z,1613589327.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:28.640Z,1613589328.640 [Micromodem](INFO): Nmea in: $SNTTA,0.066988,,,,191527.53*46 2021-02-17T19:15:28.655Z,1613589328.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.080002 m, bearing: 218.140437 deg, deltaT: 4.469435 s, approachRate: -0.845746 m/s, LOS rate: -0.183314 deg/s, posRepo size: 4 2021-02-17T19:15:28.657Z,1613589328.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.080002 m, bearing: 218.140437 deg, approachRate: -0.845746 m/s, LOS rate: -0.183314 deg/s, cmd update: -0.733255 deg/s, cmd heading: 228.316412 deg, new cmd heading: 228.032216 deg. 2021-02-17T19:15:31.127Z,1613589331.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:31.854Z,1613589331.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:32.256Z,1613589332.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:33.094Z,1613589333.094 [Micromodem](INFO): Nmea in: $SNTTA,0.064325,,,,191531.96*47 2021-02-17T19:15:33.175Z,1613589333.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.060005 m, bearing: 218.753091 deg, deltaT: 4.412529 s, approachRate: -0.911041 m/s, LOS rate: 0.138844 deg/s, posRepo size: 4 2021-02-17T19:15:33.181Z,1613589333.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.060005 m, bearing: 218.753091 deg, approachRate: -0.911041 m/s, LOS rate: 0.138844 deg/s, cmd update: 0.555377 deg/s, cmd heading: 225.080896 deg, new cmd heading: 224.710723 deg. 2021-02-17T19:15:35.511Z,1613589335.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:36.298Z,1613589336.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:36.712Z,1613589336.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:37.528Z,1613589337.528 [Micromodem](INFO): Nmea in: $SNTTA,0.061571,,,,191536.41*48 2021-02-17T19:15:37.555Z,1613589337.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.100006 m, bearing: 219.020862 deg, deltaT: 4.475941 s, approachRate: -0.884730 m/s, LOS rate: 0.059824 deg/s, posRepo size: 4 2021-02-17T19:15:37.557Z,1613589337.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.100006 m, bearing: 219.020862 deg, approachRate: -0.884730 m/s, LOS rate: 0.059824 deg/s, cmd update: 0.239298 deg/s, cmd heading: 227.566744 deg, new cmd heading: 227.794052 deg. 2021-02-17T19:15:39.958Z,1613589339.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:40.754Z,1613589340.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:41.145Z,1613589341.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:41.978Z,1613589341.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191540.86*58 2021-02-17T19:15:42.068Z,1613589342.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.140007 m, bearing: 216.880158 deg, deltaT: 4.444829 s, approachRate: -0.890923 m/s, LOS rate: -0.481617 deg/s, posRepo size: 4 2021-02-17T19:15:42.070Z,1613589342.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.140007 m, bearing: 216.880158 deg, approachRate: -0.890923 m/s, LOS rate: -0.481617 deg/s, cmd update: -1.926467 deg/s, cmd heading: 228.627821 deg, new cmd heading: 228.743349 deg. 2021-02-17T19:15:44.414Z,1613589344.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:45.198Z,1613589345.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:45.586Z,1613589345.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:46.421Z,1613589346.421 [Micromodem](INFO): Nmea in: $SNTTA,0.056212,0.097525,0.102403,,191545.31*45 2021-02-17T19:15:46.465Z,1613589346.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.119995 m, bearing: 218.300291 deg, deltaT: 4.494695 s, approachRate: -0.894390 m/s, LOS rate: 0.315958 deg/s, posRepo size: 4 2021-02-17T19:15:46.467Z,1613589346.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.119995 m, bearing: 218.300291 deg, approachRate: -0.894390 m/s, LOS rate: 0.315958 deg/s, cmd update: 1.263830 deg/s, cmd heading: 219.948376 deg, new cmd heading: 219.217236 deg. 2021-02-17T19:15:48.853Z,1613589348.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:49.625Z,1613589349.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:50.069Z,1613589350.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:50.852Z,1613589350.852 [Micromodem](INFO): Nmea in: $SNTTA,0.053611,,,,191549.74*42 2021-02-17T19:15:50.888Z,1613589350.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.340004 m, bearing: 219.094437 deg, deltaT: 4.384862 s, approachRate: -0.862055 m/s, LOS rate: 0.181111 deg/s, posRepo size: 4 2021-02-17T19:15:50.890Z,1613589350.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.340004 m, bearing: 219.094437 deg, approachRate: -0.862055 m/s, LOS rate: 0.181111 deg/s, cmd update: 0.724443 deg/s, cmd heading: 225.484886 deg, new cmd heading: 226.018207 deg. 2021-02-17T19:15:53.325Z,1613589353.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:54.078Z,1613589354.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:54.476Z,1613589354.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:55.300Z,1613589355.300 [Micromodem](INFO): Nmea in: $SNTTA,0.050724,,,,191554.19*41 2021-02-17T19:15:55.361Z,1613589355.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.020004 m, bearing: 216.677533 deg, deltaT: 4.448024 s, approachRate: -0.971218 m/s, LOS rate: -0.543366 deg/s, posRepo size: 4 2021-02-17T19:15:55.364Z,1613589355.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.020004 m, bearing: 216.677533 deg, approachRate: -0.971218 m/s, LOS rate: -0.543366 deg/s, cmd update: -2.173463 deg/s, cmd heading: 228.710215 deg, new cmd heading: 229.030879 deg. 2021-02-17T19:15:57.720Z,1613589357.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:15:58.512Z,1613589358.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:15:58.917Z,1613589358.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:15:59.752Z,1613589359.752 [Micromodem](INFO): Nmea in: $SNTTA,0.048201,,,,191558.62*4A 2021-02-17T19:15:59.788Z,1613589359.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.880005 m, bearing: 213.583417 deg, deltaT: 4.451501 s, approachRate: -0.930023 m/s, LOS rate: -0.695073 deg/s, posRepo size: 4 2021-02-17T19:15:59.789Z,1613589359.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.880005 m, bearing: 213.583417 deg, approachRate: -0.930023 m/s, LOS rate: -0.695073 deg/s, cmd update: -2.780291 deg/s, cmd heading: 219.035330 deg, new cmd heading: 218.136277 deg. 2021-02-17T19:16:02.189Z,1613589362.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:02.961Z,1613589362.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:16:03.363Z,1613589363.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:16:04.208Z,1613589364.208 [Micromodem](INFO): Nmea in: $SNTTA,0.045302,,,,191603.07*4B 2021-02-17T19:16:04.241Z,1613589364.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.740005 m, bearing: 216.879693 deg, deltaT: 4.432418 s, approachRate: -0.934027 m/s, LOS rate: 0.743675 deg/s, posRepo size: 4 2021-02-17T19:16:04.261Z,1613589364.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.740005 m, bearing: 216.879693 deg, approachRate: -0.934027 m/s, LOS rate: 0.743675 deg/s, cmd update: 2.974698 deg/s, cmd heading: 206.732936 deg, new cmd heading: 205.490110 deg. 2021-02-17T19:16:06.608Z,1613589366.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:07.406Z,1613589367.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:16:07.806Z,1613589367.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:16:08.632Z,1613589368.632 [Micromodem](INFO): Nmea in: $SNTTA,0.042386,,0.048923,,191607.52*5E 2021-02-17T19:16:08.670Z,1613589368.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.600002 m, bearing: 219.332988 deg, deltaT: 4.459078 s, approachRate: -0.928444 m/s, LOS rate: 0.550180 deg/s, posRepo size: 4 2021-02-17T19:16:08.672Z,1613589368.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.600002 m, bearing: 219.332988 deg, approachRate: -0.928444 m/s, LOS rate: 0.550180 deg/s, cmd update: 2.200719 deg/s, cmd heading: 220.020310 deg, new cmd heading: 221.235072 deg. 2021-02-17T19:16:11.125Z,1613589371.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:11.850Z,1613589371.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:16:12.250Z,1613589372.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:16:13.084Z,1613589373.084 [Micromodem](INFO): Nmea in: $SNTTA,0.039751,,,,191611.96*49 2021-02-17T19:16:13.135Z,1613589373.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.400002 m, bearing: 218.284253 deg, deltaT: 4.426200 s, approachRate: -0.948895 m/s, LOS rate: -0.236938 deg/s, posRepo size: 4 2021-02-17T19:16:13.137Z,1613589373.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.400002 m, bearing: 218.284253 deg, approachRate: -0.948895 m/s, LOS rate: -0.236938 deg/s, cmd update: -0.947752 deg/s, cmd heading: 229.725673 deg, new cmd heading: 230.745222 deg. 2021-02-17T19:16:15.498Z,1613589375.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:16.293Z,1613589376.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:16:16.694Z,1613589376.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:16:17.520Z,1613589377.520 [Micromodem](INFO): Nmea in: $SNTTA,0.037131,,,,191616.40*4B 2021-02-17T19:16:17.562Z,1613589377.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.259998 m, bearing: 213.576914 deg, deltaT: 4.465653 s, approachRate: -0.927077 m/s, LOS rate: -1.054121 deg/s, posRepo size: 4 2021-02-17T19:16:17.564Z,1613589377.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.259998 m, bearing: 213.576914 deg, approachRate: -0.927077 m/s, LOS rate: -1.054121 deg/s, cmd update: -4.216485 deg/s, cmd heading: 225.478093 deg, new cmd heading: 225.090578 deg. 2021-02-17T19:16:19.945Z,1613589379.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:20.732Z,1613589380.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:16:21.140Z,1613589381.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:16:21.984Z,1613589381.984 [Micromodem](INFO): Nmea in: $SNTTA,0.034528,,,,191620.84*49 2021-02-17T19:16:22.076Z,1613589382.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.420002 m, bearing: 214.301625 deg, deltaT: 4.403150 s, approachRate: -0.872102 m/s, LOS rate: 0.164589 deg/s, posRepo size: 4 2021-02-17T19:16:22.078Z,1613589382.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.420002 m, bearing: 214.301625 deg, approachRate: -0.872102 m/s, LOS rate: 0.164589 deg/s, cmd update: 0.658356 deg/s, cmd heading: 206.913649 deg, new cmd heading: 204.719159 deg. 2021-02-17T19:16:24.075Z,1613589384.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:24.789Z,1613589384.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:16:25.186Z,1613589385.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:16:26.044Z,1613589386.044 [Micromodem](INFO): Nmea in: $SNTTA,0.031985,,,,191624.90*46 2021-02-17T19:16:26.103Z,1613589386.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.759995 m, bearing: 218.492561 deg, deltaT: 4.053903 s, approachRate: -0.902835 m/s, LOS rate: 1.033803 deg/s, posRepo size: 4 2021-02-17T19:16:26.106Z,1613589386.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.759995 m, bearing: 218.492561 deg, approachRate: -0.902835 m/s, LOS rate: 1.033803 deg/s, cmd update: 4.135211 deg/s, cmd heading: 209.580139 deg, new cmd heading: 209.907242 deg. 2021-02-17T19:16:28.114Z,1613589388.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:28.812Z,1613589388.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:16:29.223Z,1613589389.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:16:30.076Z,1613589390.076 [Micromodem](INFO): Nmea in: $SNTTA,0.029701,,,,191628.92*43 2021-02-17T19:16:30.130Z,1613589390.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.339996 m, bearing: 218.516425 deg, deltaT: 4.041707 s, approachRate: -0.846177 m/s, LOS rate: 0.005905 deg/s, posRepo size: 4 2021-02-17T19:16:30.132Z,1613589390.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.339996 m, bearing: 218.516425 deg, approachRate: -0.846177 m/s, LOS rate: 0.005905 deg/s, cmd update: 0.023618 deg/s, cmd heading: 226.310002 deg, new cmd heading: 228.287803 deg. 2021-02-17T19:16:32.473Z,1613589392.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:33.258Z,1613589393.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:16:33.673Z,1613589393.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:16:34.484Z,1613589394.484 [Micromodem](INFO): Nmea in: $SNTTA,0.026918,,,,191633.37*4F 2021-02-17T19:16:34.520Z,1613589394.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.139999 m, bearing: 212.806975 deg, deltaT: 4.474692 s, approachRate: -0.938611 m/s, LOS rate: -1.275943 deg/s, posRepo size: 4 2021-02-17T19:16:34.522Z,1613589394.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.139999 m, bearing: 212.806975 deg, approachRate: -0.938611 m/s, LOS rate: -1.275943 deg/s, cmd update: -5.103771 deg/s, cmd heading: 226.415687 deg, new cmd heading: 226.424975 deg. 2021-02-17T19:16:36.922Z,1613589396.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:37.701Z,1613589397.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:16:38.117Z,1613589398.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:16:38.932Z,1613589398.932 [Micromodem](INFO): Nmea in: $SNTTA,0.024378,,0.127021,,191637.81*51 2021-02-17T19:16:38.974Z,1613589398.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.180000 m, bearing: 211.421648 deg, deltaT: 4.411932 s, approachRate: -0.897566 m/s, LOS rate: -0.313995 deg/s, posRepo size: 4 2021-02-17T19:16:38.974Z,1613589398.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.18 m. 2021-02-17T19:16:38.976Z,1613589398.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.180000 m, bearing: 211.421648 deg, approachRate: -0.897566 m/s, LOS rate: -0.313995 deg/s, cmd update: -1.255982 deg/s, cmd heading: 203.980924 deg, new cmd heading: 201.688458 deg. 2021-02-17T19:16:39.329Z,1613589399.329 [PowerOnly](INFO): Powering up loadControl 2021-02-17T19:16:41.387Z,1613589401.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:42.145Z,1613589402.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:16:42.556Z,1613589402.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:16:43.372Z,1613589403.372 [Micromodem](INFO): Nmea in: $SNTTA,0.021701,,,,191642.26*48 2021-02-17T19:16:43.425Z,1613589403.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.340000 m, bearing: 215.218127 deg, deltaT: 4.481022 s, approachRate: -0.856947 m/s, LOS rate: 0.847235 deg/s, posRepo size: 4 2021-02-17T19:16:43.425Z,1613589403.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.34 m. 2021-02-17T19:16:43.426Z,1613589403.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 32.34 m. 2021-02-17T19:16:43.426Z,1613589403.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T19:16:43.428Z,1613589403.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.340000 m, bearing: 215.218127 deg, approachRate: -0.856947 m/s, LOS rate: 0.847235 deg/s, cmd update: 3.388940 deg/s, cmd heading: 198.368008 deg, new cmd heading: 197.823026 deg. 2021-02-17T19:16:45.816Z,1613589405.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:46.593Z,1613589406.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:16:47.033Z,1613589407.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:16:47.820Z,1613589407.820 [Micromodem](INFO): Nmea in: $SNTTA,0.019425,,,,191646.70*41 2021-02-17T19:16:47.853Z,1613589407.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.379997 m, bearing: 216.218326 deg, deltaT: 4.418935 s, approachRate: -0.896144 m/s, LOS rate: 0.226344 deg/s, posRepo size: 4 2021-02-17T19:16:47.855Z,1613589407.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.379997 m, bearing: 216.218326 deg, approachRate: -0.896144 m/s, LOS rate: 0.226344 deg/s, cmd update: 0.905376 deg/s, cmd heading: 213.439407 deg, new cmd heading: 214.846197 deg. 2021-02-17T19:16:50.273Z,1613589410.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:51.072Z,1613589411.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:16:51.444Z,1613589411.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:16:52.280Z,1613589412.280 [Micromodem](INFO): Nmea in: $SNTTA,0.016579,,,,191651.18*4E 2021-02-17T19:16:52.314Z,1613589412.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.659998 m, bearing: 218.458095 deg, deltaT: 4.449828 s, approachRate: -0.835987 m/s, LOS rate: 0.503338 deg/s, posRepo size: 4 2021-02-17T19:16:52.316Z,1613589412.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.659998 m, bearing: 218.458095 deg, approachRate: -0.835987 m/s, LOS rate: 0.503338 deg/s, cmd update: 2.013354 deg/s, cmd heading: 217.464258 deg, new cmd heading: 217.853683 deg. 2021-02-17T19:16:54.699Z,1613589414.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:55.482Z,1613589415.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:16:55.882Z,1613589415.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:16:56.708Z,1613589416.708 [Micromodem](INFO): Nmea in: $SNTTA,0.013928,,,,191655.59*42 2021-02-17T19:16:56.730Z,1613589416.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.639997 m, bearing: 215.671679 deg, deltaT: 4.462636 s, approachRate: -0.900813 m/s, LOS rate: -0.624388 deg/s, posRepo size: 4 2021-02-17T19:16:56.765Z,1613589416.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.639997 m, bearing: 215.671679 deg, approachRate: -0.900813 m/s, LOS rate: -0.624388 deg/s, cmd update: -2.497552 deg/s, cmd heading: 226.449733 deg, new cmd heading: 227.221880 deg. 2021-02-17T19:16:59.163Z,1613589419.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:16:59.920Z,1613589419.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:00.331Z,1613589420.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:01.159Z,1613589421.159 [Micromodem](INFO): Nmea in: $SNTTA,0.011929,,0.027855,,191700.03*5C 2021-02-17T19:17:01.193Z,1613589421.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.619999 m, bearing: 213.031688 deg, deltaT: 4.411275 s, approachRate: -0.911301 m/s, LOS rate: -0.598464 deg/s, posRepo size: 4 2021-02-17T19:17:01.195Z,1613589421.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.619999 m, bearing: 213.031688 deg, approachRate: -0.911301 m/s, LOS rate: -0.598464 deg/s, cmd update: -2.393858 deg/s, cmd heading: 215.432253 deg, new cmd heading: 214.345628 deg. 2021-02-17T19:17:03.577Z,1613589423.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:17:04.364Z,1613589424.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:04.406Z,1613589424.406 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:17:04.776Z,1613589424.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:05.599Z,1613589425.599 [Micromodem](INFO): Nmea in: $SNTTA,0.009483,0.025939,,,191704.47*55 2021-02-17T19:17:05.618Z,1613589425.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.840000 m, bearing: 216.465101 deg, deltaT: 4.488486 s, approachRate: -0.842155 m/s, LOS rate: 0.764938 deg/s, posRepo size: 4 2021-02-17T19:17:05.625Z,1613589425.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.840000 m, bearing: 216.465101 deg, approachRate: -0.842155 m/s, LOS rate: 0.764938 deg/s, cmd update: 3.059752 deg/s, cmd heading: 204.687862 deg, new cmd heading: 203.798060 deg. 2021-02-17T19:17:08.098Z,1613589428.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:17:08.810Z,1613589428.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:09.217Z,1613589429.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:10.084Z,1613589430.084 [Micromodem](INFO): Nmea in: $SNTTA,0.006156,,0.025768,,191708.92*59 2021-02-17T19:17:10.142Z,1613589430.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.939999 m, bearing: 216.612087 deg, deltaT: 4.411679 s, approachRate: -0.884018 m/s, LOS rate: 0.033317 deg/s, posRepo size: 4 2021-02-17T19:17:10.144Z,1613589430.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.939999 m, bearing: 216.612087 deg, approachRate: -0.884018 m/s, LOS rate: 0.033317 deg/s, cmd update: 0.133270 deg/s, cmd heading: 218.186275 deg, new cmd heading: 219.668262 deg. 2021-02-17T19:17:12.460Z,1613589432.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:17:13.257Z,1613589433.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:13.658Z,1613589433.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:14.484Z,1613589434.484 [Micromodem](INFO): Nmea in: $SNTTA,0.003908,,,,191713.37*4A 2021-02-17T19:17:14.526Z,1613589434.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.699999 m, bearing: 210.277209 deg, deltaT: 4.464836 s, approachRate: -0.725671 m/s, LOS rate: -1.418838 deg/s, posRepo size: 4 2021-02-17T19:17:14.528Z,1613589434.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.699999 m, bearing: 210.277209 deg, approachRate: -0.725671 m/s, LOS rate: -1.418838 deg/s, cmd update: -5.675351 deg/s, cmd heading: 218.781847 deg, new cmd heading: 218.835019 deg. 2021-02-17T19:17:16.927Z,1613589436.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:17:17.696Z,1613589437.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:18.109Z,1613589438.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:18.936Z,1613589438.936 [Micromodem](INFO): Nmea in: $SNTTA,0.002768,,0.005536,,191717.81*51 2021-02-17T19:17:18.956Z,1613589438.956 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T19:17:18.956Z,1613589438.956 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T19:17:18.956Z,1613589438.956 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T19:17:18.956Z,1613589438.956 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:17:18.956Z,1613589438.956 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T19:17:18.957Z,1613589438.957 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.959999 m 2021-02-17T19:17:18.957Z,1613589438.957 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T19:17:18.957Z,1613589438.957 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T19:17:18.957Z,1613589438.957 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T19:17:18.960Z,1613589438.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 197.372509 deg, deltaT: 4.397603 s, approachRate: -0.395670 m/s, LOS rate: -2.934485 deg/s, posRepo size: 4 2021-02-17T19:17:18.961Z,1613589438.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.959999 m, bearing: 197.372509 deg, approachRate: -0.395670 m/s, LOS rate: -2.934485 deg/s, cmd update: -11.737940 deg/s, cmd heading: 193.822994 deg, new cmd heading: 191.356055 deg. 2021-02-17T19:17:19.364Z,1613589439.364 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T191719: (41.552319, -70.708603) 2021-02-17T19:17:19.364Z,1613589439.364 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T19:17:19.364Z,1613589439.364 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T19:17:19.364Z,1613589439.364 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:17:19.364Z,1613589439.364 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T19:17:19.364Z,1613589439.364 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:17:19.364Z,1613589439.364 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T19:17:19.364Z,1613589439.364 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T19:17:19.365Z,1613589439.365 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T19:17:21.390Z,1613589441.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:17:22.142Z,1613589442.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:22.551Z,1613589442.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:23.377Z,1613589443.377 [Micromodem](INFO): Nmea in: $SNTTA,0.003752,,,,191722.25*4A 2021-02-17T19:17:23.454Z,1613589443.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.639998 m, bearing: 198.783421 deg, deltaT: 4.437141 s, approachRate: 0.378622 m/s, LOS rate: 0.317978 deg/s, posRepo size: 4 2021-02-17T19:17:23.460Z,1613589443.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.639998 m, bearing: 198.783421 deg, approachRate: 0.378622 m/s, LOS rate: 0.317978 deg/s, cmd update: 1.271911 deg/s, cmd heading: 141.740136 deg, new cmd heading: 135.962018 deg. 2021-02-17T19:17:25.791Z,1613589445.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:17:26.592Z,1613589446.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:27.024Z,1613589447.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:27.816Z,1613589447.816 [Micromodem](INFO): Nmea in: $SNTTA,0.006104,,,,191726.70*4E 2021-02-17T19:17:27.853Z,1613589447.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.240001 m, bearing: 189.815725 deg, deltaT: 4.483878 s, approachRate: 0.802877 m/s, LOS rate: -1.999987 deg/s, posRepo size: 4 2021-02-17T19:17:27.855Z,1613589447.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.240001 m, bearing: 189.815725 deg, approachRate: 0.802877 m/s, LOS rate: -1.999987 deg/s, cmd update: -7.999947 deg/s, cmd heading: 147.438151 deg, new cmd heading: 147.961702 deg. 2021-02-17T19:17:30.276Z,1613589450.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:17:31.070Z,1613589451.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:31.434Z,1613589451.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:32.270Z,1613589452.270 [Micromodem](INFO): Nmea in: $SNTTA,0.008265,,,,191731.18*4C 2021-02-17T19:17:32.336Z,1613589452.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.479998 m, bearing: 197.198777 deg, deltaT: 4.444270 s, approachRate: 0.729028 m/s, LOS rate: 1.661252 deg/s, posRepo size: 4 2021-02-17T19:17:32.338Z,1613589452.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.479998 m, bearing: 197.198777 deg, approachRate: 0.729028 m/s, LOS rate: 1.661252 deg/s, cmd update: 6.645008 deg/s, cmd heading: 111.986850 deg, new cmd heading: 108.286291 deg. 2021-02-17T19:17:34.679Z,1613589454.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:17:35.475Z,1613589455.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:35.877Z,1613589455.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:36.700Z,1613589456.700 [Micromodem](INFO): Nmea in: $SNTTA,0.010305,,,,191735.58*42 2021-02-17T19:17:36.746Z,1613589456.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.439999 m, bearing: 141.980426 deg, deltaT: 4.455115 s, approachRate: 0.888866 m/s, LOS rate: -12.394371 deg/s, posRepo size: 4 2021-02-17T19:17:36.746Z,1613589456.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.44 m. Rolling out. 2021-02-17T19:17:36.747Z,1613589456.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T19:17:39.167Z,1613589459.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:17:39.921Z,1613589459.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:40.342Z,1613589460.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:41.153Z,1613589461.153 [Micromodem](INFO): Nmea in: $SNTTA,0.012112,,0.020981,,191740.04*53 2021-02-17T19:17:41.206Z,1613589461.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 169.574309 deg, deltaT: 4.418171 s, approachRate: 0.420989 m/s, LOS rate: 6.245544 deg/s, posRepo size: 4 2021-02-17T19:17:43.583Z,1613589463.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:17:44.365Z,1613589464.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:44.770Z,1613589464.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:45.592Z,1613589465.592 [Micromodem](INFO): Nmea in: $SNTTA,0.014032,,,,191744.48*46 2021-02-17T19:17:45.653Z,1613589465.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.239996 m, bearing: 148.973597 deg, deltaT: 4.463811 s, approachRate: 0.658629 m/s, LOS rate: -4.615050 deg/s, posRepo size: 4 2021-02-17T19:17:48.090Z,1613589468.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:17:48.812Z,1613589468.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:49.210Z,1613589469.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:50.072Z,1613589470.072 [Micromodem](INFO): Nmea in: $SNTTA,0.015945,,,,191748.92*45 2021-02-17T19:17:50.106Z,1613589470.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.059999 m, bearing: 158.477136 deg, deltaT: 4.398916 s, approachRate: 0.641068 m/s, LOS rate: 2.160427 deg/s, posRepo size: 4 2021-02-17T19:17:52.455Z,1613589472.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:17:53.253Z,1613589473.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:53.653Z,1613589473.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:54.480Z,1613589474.480 [Micromodem](INFO): Nmea in: $SNTTA,0.018262,,,,191753.36*42 2021-02-17T19:17:54.517Z,1613589474.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.539997 m, bearing: 159.052949 deg, deltaT: 4.521857 s, approachRate: 0.769595 m/s, LOS rate: 0.127340 deg/s, posRepo size: 4 2021-02-17T19:17:56.906Z,1613589476.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:17:57.692Z,1613589477.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:17:58.106Z,1613589478.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:17:58.920Z,1613589478.920 [Micromodem](INFO): Nmea in: $SNTTA,0.020448,,,,191757.80*4E 2021-02-17T19:17:58.961Z,1613589478.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.839998 m, bearing: 159.431068 deg, deltaT: 4.390064 s, approachRate: 0.751698 m/s, LOS rate: 0.086131 deg/s, posRepo size: 4 2021-02-17T19:17:58.965Z,1613589478.965 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T19:17:58.965Z,1613589478.965 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T19:17:58.965Z,1613589478.965 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T19:17:58.965Z,1613589478.965 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T19:17:58.965Z,1613589478.965 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T19:17:59.410Z,1613589479.410 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60180000005D000004003E0000000000000000151D80030C5669BF92F9E59131AF1E1092373CACA27A3473C8C0DE239D81672C9FE27D3834CF963FEF92 2021-02-17T19:17:59.411Z,1613589479.411 [Micromodem](INFO): Outgoing frame #2, 18 bytes: F9B8CD0A9C39649AD13ED5AC53A8B74EEA00 2021-02-17T19:17:59.412Z,1613589479.412 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T19:17:59.728Z,1613589479.728 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T19:18:00.140Z,1613589480.140 [Micromodem](INFO): Nmea in: $CADRQ,191759,1,10,0,64,1*74 2021-02-17T19:18:00.140Z,1613589480.140 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60180000005D000004003E0000000000000000151D80030C5669BF92F9E59131AF1E1092373CACA27A3473C8C0DE239D81672C9FE27D3834CF963FEF92*39 2021-02-17T19:18:00.536Z,1613589480.536 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T19:18:00.940Z,1613589480.940 [Micromodem](INFO): Nmea in: $CADRQ,191800,1,10,0,64,2*74 2021-02-17T19:18:00.941Z,1613589480.941 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,F9B8CD0A9C39649AD13ED5AC53A8B74EEA00*3F 2021-02-17T19:18:01.179Z,1613589481.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:01.337Z,1613589481.337 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,18*42 2021-02-17T19:18:01.736Z,1613589481.736 [Micromodem](INFO): Nmea in: $CATXP,82*78 2021-02-17T19:18:01.736Z,1613589481.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:18:03.781Z,1613589483.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:04.161Z,1613589484.161 [Micromodem](INFO): Nmea in: $CATXF,82*6E 2021-02-17T19:18:04.161Z,1613589484.161 [Micromodem](ERROR): Response from modem unexpected: $CATXF,82*6E 2021-02-17T19:18:04.565Z,1613589484.565 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,191801.040043,3,0,200,4000,14500,1,1,10,1,2,2,3,82*4F 2021-02-17T19:18:04.565Z,1613589484.565 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,191801.040043,3,0,200,4000,14500,1,1,10,1,2,2,3,82*4F 2021-02-17T19:18:06.602Z,1613589486.602 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-17T19:18:06.686Z,1613589486.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:07.041Z,1613589487.041 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-17T19:18:07.045Z,1613589487.045 [Micromodem](INFO): Sent 74 bytes from file Logs/20210217T180521/Courier0024.lzma.parts 2021-02-17T19:18:07.045Z,1613589487.045 [Micromodem](INFO): Packets left to send: 0 2021-02-17T19:18:07.408Z,1613589487.408 [Micromodem](INFO): Nmea in: $CACST,6,0,20210217191805.688291,06,6991,38,0251,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,17.5,5.00,14,-2.00,-01,-1.47,34,14500,4000*73 2021-02-17T19:18:07.408Z,1613589487.408 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210217191805.688291,06,6991,38,0251,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,17.5,5.00,14,-2.00,-01,-1.47,34,14500,4000*73 2021-02-17T19:18:07.676Z,1613589487.676 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T19:18:07.676Z,1613589487.676 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T19:18:07.676Z,1613589487.676 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T19:18:07.676Z,1613589487.676 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T19:18:07.676Z,1613589487.676 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T19:18:09.458Z,1613589489.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:12.284Z,1613589492.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:13.078Z,1613589493.078 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:18:13.462Z,1613589493.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:18:13.871Z,1613589493.871 [PowerOnly](INFO): Powering down loadControl 2021-02-17T19:18:14.301Z,1613589494.301 [Micromodem](INFO): Nmea in: $SNTTA,0.028563,,,,191813.19*41 2021-02-17T19:18:14.304Z,1613589494.304 [PowerOnly](FAULT): loadControl LCB fault: LCB Watchdog Reset. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated. 2021-02-17T19:18:14.305Z,1613589494.305 [PowerOnly] Hardware Fault, FailCount= 1 2021-02-17T19:18:14.305Z,1613589494.305 [PowerOnly](ERROR): Hardware Fault 2021-02-17T19:18:14.375Z,1613589494.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.959999 m, bearing: 117.198437 deg, deltaT: 15.346505 s, approachRate: 0.789756 m/s, LOS rate: -2.751938 deg/s, posRepo size: 4 2021-02-17T19:18:14.491Z,1613589494.491 [CBIT](ERROR): Hardware Fault in component: PowerOnly 2021-02-17T19:18:14.700Z,1613589494.700 [PowerOnly](INFO): Powering down loadControl 2021-02-17T19:18:15.643Z,1613589495.643 [CBIT](INFO): Clearing failed state for component PowerOnly 2021-02-17T19:18:15.643Z,1613589495.643 [PowerOnly] No Fault, FailCount= 1 2021-02-17T19:18:16.723Z,1613589496.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:17.107Z,1613589497.107 [PowerOnly](INFO): Powering down loadControl 2021-02-17T19:18:17.506Z,1613589497.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:18:17.918Z,1613589497.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:18:18.748Z,1613589498.748 [Micromodem](INFO): Nmea in: $SNTTA,0.030828,,,,191817.62*42 2021-02-17T19:18:18.770Z,1613589498.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.739998 m, bearing: 109.188920 deg, deltaT: 4.490477 s, approachRate: 0.841781 m/s, LOS rate: -1.783667 deg/s, posRepo size: 4 2021-02-17T19:18:21.184Z,1613589501.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:21.949Z,1613589501.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:18:22.352Z,1613589502.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:18:23.183Z,1613589503.183 [Micromodem](INFO): Nmea in: $SNTTA,0.033200,,,,191822.06*45 2021-02-17T19:18:23.217Z,1613589503.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.920002 m, bearing: 123.969409 deg, deltaT: 4.412965 s, approachRate: 0.720605 m/s, LOS rate: 3.349333 deg/s, posRepo size: 4 2021-02-17T19:18:25.417Z,1613589505.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:26.002Z,1613589506.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:18:26.400Z,1613589506.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:18:27.224Z,1613589507.224 [Micromodem](INFO): Nmea in: $SNTTA,0.035248,,,0.037772,191826.11*55 2021-02-17T19:18:27.257Z,1613589507.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.040001 m, bearing: 117.771217 deg, deltaT: 4.064663 s, approachRate: 0.767591 m/s, LOS rate: -1.524897 deg/s, posRepo size: 4 2021-02-17T19:18:29.640Z,1613589509.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:30.430Z,1613589510.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:18:30.833Z,1613589510.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:18:31.656Z,1613589511.656 [Micromodem](INFO): Nmea in: $SNTTA,0.037610,,,,191830.54*40 2021-02-17T19:18:31.698Z,1613589511.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.879997 m, bearing: 107.469174 deg, deltaT: 4.442743 s, approachRate: 0.864330 m/s, LOS rate: -2.318847 deg/s, posRepo size: 4 2021-02-17T19:18:34.114Z,1613589514.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:34.877Z,1613589514.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:18:35.293Z,1613589515.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:18:36.123Z,1613589516.123 [Micromodem](INFO): Nmea in: $SNTTA,0.040107,,,,191834.99*44 2021-02-17T19:18:36.157Z,1613589516.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.300003 m, bearing: 133.541372 deg, deltaT: 4.400216 s, approachRate: 0.777236 m/s, LOS rate: 5.925209 deg/s, posRepo size: 4 2021-02-17T19:18:38.116Z,1613589518.116 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T19:18:38.543Z,1613589518.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:39.321Z,1613589519.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:18:39.729Z,1613589519.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:18:40.555Z,1613589520.555 [Micromodem](INFO): Nmea in: $SNTTA,0.042232,,,,191839.43*49 2021-02-17T19:18:40.574Z,1613589520.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.479996 m, bearing: 137.698991 deg, deltaT: 4.501574 s, approachRate: 0.706418 m/s, LOS rate: 0.923592 deg/s, posRepo size: 4 2021-02-17T19:18:42.979Z,1613589522.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:43.760Z,1613589523.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:18:44.168Z,1613589524.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:18:45.004Z,1613589525.004 [Micromodem](INFO): Nmea in: $SNTTA,0.044528,,,,191843.87*46 2021-02-17T19:18:45.086Z,1613589525.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.199997 m, bearing: 164.753493 deg, deltaT: 4.385419 s, approachRate: 0.848266 m/s, LOS rate: 6.169194 deg/s, posRepo size: 4 2021-02-17T19:18:47.117Z,1613589527.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:47.800Z,1613589527.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:18:48.212Z,1613589528.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:18:49.068Z,1613589529.068 [Micromodem](INFO): Nmea in: $SNTTA,0.046651,,,,191847.91*4A 2021-02-17T19:18:49.116Z,1613589529.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.380005 m, bearing: 161.452790 deg, deltaT: 4.062822 s, approachRate: 0.782709 m/s, LOS rate: -0.812416 deg/s, posRepo size: 4 2021-02-17T19:18:51.462Z,1613589531.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:52.247Z,1613589532.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:18:52.649Z,1613589532.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:18:53.497Z,1613589533.497 [Micromodem](INFO): Nmea in: $SNTTA,0.049065,,,,191852.36*4D 2021-02-17T19:18:53.518Z,1613589533.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.980011 m, bearing: 107.751855 deg, deltaT: 4.468195 s, approachRate: 0.805696 m/s, LOS rate: -12.018485 deg/s, posRepo size: 4 2021-02-17T19:18:55.912Z,1613589535.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:18:56.690Z,1613589536.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:18:57.094Z,1613589537.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:18:57.916Z,1613589537.916 [Micromodem](INFO): Nmea in: $SNTTA,0.051655,,,,191856.80*48 2021-02-17T19:18:57.956Z,1613589537.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.640007 m, bearing: 136.579919 deg, deltaT: 4.416678 s, approachRate: 0.828676 m/s, LOS rate: 6.527092 deg/s, posRepo size: 4 2021-02-17T19:19:00.379Z,1613589540.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:01.149Z,1613589541.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:01.549Z,1613589541.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:02.368Z,1613589542.368 [Micromodem](INFO): Nmea in: $SNTTA,0.054027,,,,191901.26*41 2021-02-17T19:19:02.421Z,1613589542.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.180008 m, bearing: 141.784222 deg, deltaT: 4.472673 s, approachRate: 0.791473 m/s, LOS rate: 1.163578 deg/s, posRepo size: 4 2021-02-17T19:19:04.798Z,1613589544.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:05.576Z,1613589545.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:06.006Z,1613589546.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:06.816Z,1613589546.816 [Micromodem](INFO): Nmea in: $SNTTA,0.056444,,,0.058932,191905.69*56 2021-02-17T19:19:06.834Z,1613589546.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.779999 m, bearing: 132.037406 deg, deltaT: 4.432460 s, approachRate: 0.812188 m/s, LOS rate: -2.198963 deg/s, posRepo size: 4 2021-02-17T19:19:09.251Z,1613589549.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:10.065Z,1613589550.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:10.435Z,1613589550.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:11.268Z,1613589551.268 [Micromodem](INFO): Nmea in: $SNTTA,0.058641,,,,191910.17*49 2021-02-17T19:19:11.302Z,1613589551.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.320000 m, bearing: 119.466306 deg, deltaT: 4.422433 s, approachRate: 0.800465 m/s, LOS rate: -2.842576 deg/s, posRepo size: 4 2021-02-17T19:19:13.692Z,1613589553.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:14.464Z,1613589554.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:14.936Z,1613589554.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:15.692Z,1613589555.692 [Micromodem](INFO): Nmea in: $SNTTA,0.060907,,,,191914.57*4F 2021-02-17T19:19:15.742Z,1613589555.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.680008 m, bearing: 109.726313 deg, deltaT: 4.460516 s, approachRate: 0.753278 m/s, LOS rate: -2.183602 deg/s, posRepo size: 4 2021-02-17T19:19:18.139Z,1613589558.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:18.915Z,1613589558.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:19.332Z,1613589559.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:20.156Z,1613589560.156 [Micromodem](INFO): Nmea in: $SNTTA,0.063342,,,,191919.02*4A 2021-02-17T19:19:20.194Z,1613589560.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.160004 m, bearing: 140.594062 deg, deltaT: 4.411995 s, approachRate: 0.788758 m/s, LOS rate: 6.996325 deg/s, posRepo size: 4 2021-02-17T19:19:22.567Z,1613589562.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:23.352Z,1613589563.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:23.758Z,1613589563.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:24.584Z,1613589564.584 [Micromodem](INFO): Nmea in: $SNTTA,0.065795,,,,191923.46*4B 2021-02-17T19:19:24.622Z,1613589564.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.820000 m, bearing: 147.072633 deg, deltaT: 4.511470 s, approachRate: 0.811265 m/s, LOS rate: 1.436022 deg/s, posRepo size: 4 2021-02-17T19:19:27.096Z,1613589567.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:27.796Z,1613589567.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:28.204Z,1613589568.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:29.065Z,1613589569.065 [Micromodem](INFO): Nmea in: $SNTTA,0.068189,,0.075831,,191927.91*55 2021-02-17T19:19:29.116Z,1613589569.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.780006 m, bearing: 162.754857 deg, deltaT: 4.392753 s, approachRate: 0.901486 m/s, LOS rate: 3.570022 deg/s, posRepo size: 4 2021-02-17T19:19:31.448Z,1613589571.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:32.240Z,1613589572.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:32.648Z,1613589572.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:33.468Z,1613589573.468 [Micromodem](INFO): Nmea in: $SNTTA,0.070543,,,,191932.35*42 2021-02-17T19:19:33.509Z,1613589573.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.019997 m, bearing: 164.898730 deg, deltaT: 4.488565 s, approachRate: 0.721832 m/s, LOS rate: 0.477630 deg/s, posRepo size: 4 2021-02-17T19:19:35.948Z,1613589575.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:36.690Z,1613589576.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:37.095Z,1613589577.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:37.920Z,1613589577.920 [Micromodem](INFO): Nmea in: $SNTTA,0.072956,,,,191936.80*42 2021-02-17T19:19:37.942Z,1613589577.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.739998 m, bearing: 114.880558 deg, deltaT: 4.384143 s, approachRate: 0.848513 m/s, LOS rate: -11.408882 deg/s, posRepo size: 4 2021-02-17T19:19:40.096Z,1613589580.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:40.730Z,1613589580.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:41.130Z,1613589581.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:41.960Z,1613589581.960 [Micromodem](INFO): Nmea in: $SNTTA,0.075107,,,,191940.84*4C 2021-02-17T19:19:42.061Z,1613589582.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.920006 m, bearing: 150.960199 deg, deltaT: 4.038789 s, approachRate: 0.787367 m/s, LOS rate: 8.933282 deg/s, posRepo size: 4 2021-02-17T19:19:44.059Z,1613589584.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:44.764Z,1613589584.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:45.176Z,1613589585.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:46.013Z,1613589586.013 [Micromodem](INFO): Nmea in: $SNTTA,0.077348,,,,191944.87*40 2021-02-17T19:19:46.084Z,1613589586.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.220001 m, bearing: 151.795408 deg, deltaT: 4.056499 s, approachRate: 0.813508 m/s, LOS rate: 0.205894 deg/s, posRepo size: 4 2021-02-17T19:19:48.136Z,1613589588.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:48.804Z,1613589588.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:49.211Z,1613589589.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:50.072Z,1613589590.072 [Micromodem](INFO): Nmea in: $SNTTA,0.079664,,,,191948.92*4D 2021-02-17T19:19:50.133Z,1613589590.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.459999 m, bearing: 144.458911 deg, deltaT: 4.071736 s, approachRate: 0.795729 m/s, LOS rate: -1.801811 deg/s, posRepo size: 4 2021-02-17T19:19:52.458Z,1613589592.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:53.254Z,1613589593.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:53.654Z,1613589593.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:54.480Z,1613589594.480 [Micromodem](INFO): Nmea in: $SNTTA,0.081967,,,,191953.36*42 2021-02-17T19:19:54.522Z,1613589594.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.119995 m, bearing: 151.346514 deg, deltaT: 4.448987 s, approachRate: 0.822658 m/s, LOS rate: 1.548129 deg/s, posRepo size: 4 2021-02-17T19:19:56.939Z,1613589596.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:19:57.692Z,1613589597.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:19:58.117Z,1613589598.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:19:58.948Z,1613589598.948 [Micromodem](INFO): Nmea in: $SNTTA,0.084392,,,,191957.84*4A 2021-02-17T19:19:59.011Z,1613589599.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.720001 m, bearing: 157.013044 deg, deltaT: 4.416218 s, approachRate: 0.815179 m/s, LOS rate: 1.283118 deg/s, posRepo size: 4 2021-02-17T19:20:01.389Z,1613589601.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:02.142Z,1613589602.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:20:02.548Z,1613589602.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:20:03.376Z,1613589603.376 [Micromodem](INFO): Nmea in: $SNTTA,0.086605,,,,192002.25*42 2021-02-17T19:20:03.416Z,1613589603.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.199997 m, bearing: 117.359357 deg, deltaT: 4.439589 s, approachRate: 0.783855 m/s, LOS rate: -8.931838 deg/s, posRepo size: 4 2021-02-17T19:20:05.790Z,1613589605.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:06.580Z,1613589606.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:20:07.037Z,1613589607.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:20:07.808Z,1613589607.808 [Micromodem](INFO): Nmea in: $SNTTA,0.089088,,,,192006.69*42 2021-02-17T19:20:07.844Z,1613589607.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.740005 m, bearing: 153.309183 deg, deltaT: 4.439733 s, approachRate: 0.797347 m/s, LOS rate: 8.097294 deg/s, posRepo size: 4 2021-02-17T19:20:10.257Z,1613589610.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:11.066Z,1613589611.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:20:11.431Z,1613589611.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:20:12.260Z,1613589612.260 [Micromodem](INFO): Nmea in: $SNTTA,0.091426,,,,192011.18*4B 2021-02-17T19:20:13.120Z,1613589613.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:14.660Z,1613589614.660 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:20:15.886Z,1613589615.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:16.683Z,1613589616.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:20:17.085Z,1613589617.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:20:17.908Z,1613589617.908 [Micromodem](INFO): Nmea in: $SNTTA,0.094457,,,,192016.79*48 2021-02-17T19:20:17.954Z,1613589617.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.840012 m, bearing: 139.791815 deg, deltaT: 10.098345 s, approachRate: 0.802112 m/s, LOS rate: -1.338573 deg/s, posRepo size: 4 2021-02-17T19:20:20.368Z,1613589620.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:21.126Z,1613589621.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:20:21.530Z,1613589621.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:20:22.356Z,1613589622.356 [Micromodem](INFO): Nmea in: $SNTTA,0.096816,,,,192021.24*4F 2021-02-17T19:20:22.419Z,1613589622.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.100006 m, bearing: 119.434873 deg, deltaT: 4.508793 s, approachRate: 0.944819 m/s, LOS rate: -4.514942 deg/s, posRepo size: 4 2021-02-17T19:20:24.774Z,1613589624.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:25.569Z,1613589625.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:20:26.002Z,1613589626.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:20:26.800Z,1613589626.800 [Micromodem](INFO): Nmea in: $SNTTA,0.099272,,,,192025.68*44 2021-02-17T19:20:26.837Z,1613589626.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.040009 m, bearing: 150.483397 deg, deltaT: 4.401808 s, approachRate: 0.667908 m/s, LOS rate: 7.053584 deg/s, posRepo size: 4 2021-02-17T19:20:29.257Z,1613589629.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:30.068Z,1613589630.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:20:30.423Z,1613589630.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:20:31.640Z,1613589631.640 [Micromodem](INFO): Nmea in: $SNTTA,0.101852,,,,192030.18*4F 2021-02-17T19:20:31.682Z,1613589631.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.000015 m, bearing: 106.341230 deg, deltaT: 4.891046 s, approachRate: 0.809644 m/s, LOS rate: -9.025098 deg/s, posRepo size: 4 2021-02-17T19:20:31.682Z,1613589631.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.00 m. Resuming terminal guidance. 2021-02-17T19:20:31.682Z,1613589631.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T19:20:34.108Z,1613589634.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:34.861Z,1613589634.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:20:35.281Z,1613589635.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:20:36.092Z,1613589636.092 [Micromodem](INFO): Nmea in: $SNTTA,0.104228,,,,192034.97*4E 2021-02-17T19:20:36.141Z,1613589636.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.540009 m, bearing: 121.807654 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T19:20:36.142Z,1613589636.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 121.807654deg and heading rate command to 0 deg/s. 2021-02-17T19:20:38.522Z,1613589638.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:39.304Z,1613589639.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:20:39.715Z,1613589639.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:20:40.545Z,1613589640.545 [Micromodem](INFO): Nmea in: $SNTTA,0.106751,,,,192039.41*41 2021-02-17T19:20:40.579Z,1613589640.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.260010 m, bearing: 144.017762 deg, deltaT: 4.459289 s, approachRate: 0.834214 m/s, LOS rate: 4.980639 deg/s, posRepo size: 2 2021-02-17T19:20:40.581Z,1613589640.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.260010 m, bearing: 144.017762 deg, approachRate: 0.834214 m/s, LOS rate: 4.980639 deg/s, cmd update: 12.000000 deg/s, cmd heading: 121.807654 deg, new cmd heading: 121.807654 deg. 2021-02-17T19:20:42.962Z,1613589642.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:43.761Z,1613589643.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:20:44.168Z,1613589644.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:20:45.008Z,1613589645.008 [Micromodem](INFO): Nmea in: $SNTTA,0.108958,,,,192043.87*4F 2021-02-17T19:20:45.084Z,1613589645.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.260010 m, bearing: 141.599684 deg, deltaT: 4.434436 s, approachRate: 0.000000 m/s, LOS rate: -0.545296 deg/s, posRepo size: 3 2021-02-17T19:20:45.086Z,1613589645.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.260010 m, bearing: 141.599684 deg, approachRate: 0.000000 m/s, LOS rate: -0.545296 deg/s, cmd update: -2.181182 deg/s, cmd heading: 174.964595 deg, new cmd heading: 180.854687 deg. 2021-02-17T19:20:47.410Z,1613589647.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:48.198Z,1613589648.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:20:48.599Z,1613589648.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:20:49.424Z,1613589649.424 [Micromodem](INFO): Nmea in: $SNTTA,0.111116,,,,192048.31*43 2021-02-17T19:20:49.446Z,1613589649.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.800003 m, bearing: 172.167458 deg, deltaT: 4.517774 s, approachRate: 1.447614 m/s, LOS rate: 6.766114 deg/s, posRepo size: 4 2021-02-17T19:20:49.448Z,1613589649.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.800003 m, bearing: 172.167458 deg, approachRate: 1.447614 m/s, LOS rate: 6.766114 deg/s, cmd update: 12.000000 deg/s, cmd heading: 165.135542 deg, new cmd heading: 164.380536 deg. 2021-02-17T19:20:51.843Z,1613589651.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:52.636Z,1613589652.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:20:53.072Z,1613589653.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:20:53.864Z,1613589653.864 [Micromodem](INFO): Nmea in: $SNTTA,0.113440,,,,192052.74*4D 2021-02-17T19:20:53.886Z,1613589653.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.800003 m, bearing: 134.395173 deg, deltaT: 4.351207 s, approachRate: 0.000000 m/s, LOS rate: -8.680875 deg/s, posRepo size: 4 2021-02-17T19:20:53.888Z,1613589653.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.800003 m, bearing: 134.395173 deg, approachRate: 0.000000 m/s, LOS rate: -8.680875 deg/s, cmd update: -12.000000 deg/s, cmd heading: 217.522732 deg, new cmd heading: 222.567340 deg. 2021-02-17T19:20:56.335Z,1613589656.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:20:57.091Z,1613589657.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:20:57.494Z,1613589657.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:20:58.301Z,1613589658.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192057.20*54 2021-02-17T19:20:59.149Z,1613589659.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:00.724Z,1613589660.724 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:21:02.000Z,1613589662.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:02.736Z,1613589662.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:21:03.143Z,1613589663.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:21:03.964Z,1613589663.964 [Micromodem](INFO): Nmea in: $SNTTA,0.118631,,,,192102.85*48 2021-02-17T19:21:04.074Z,1613589664.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.319992 m, bearing: 167.041511 deg, deltaT: 10.113223 s, approachRate: 1.139102 m/s, LOS rate: 3.228084 deg/s, posRepo size: 4 2021-02-17T19:21:04.080Z,1613589664.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.319992 m, bearing: 167.041511 deg, approachRate: 1.139102 m/s, LOS rate: 3.228084 deg/s, cmd update: 12.000000 deg/s, cmd heading: 96.157968 deg, new cmd heading: 90.225816 deg. 2021-02-17T19:21:06.424Z,1613589666.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:07.186Z,1613589667.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:21:07.592Z,1613589667.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:21:08.403Z,1613589668.403 [Micromodem](INFO): Nmea in: $SNTTA,0.120937,,,,192107.30*41 2021-02-17T19:21:09.206Z,1613589669.206 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:21:09.246Z,1613589669.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:10.816Z,1613589670.816 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:21:12.112Z,1613589672.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:12.836Z,1613589672.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:21:13.247Z,1613589673.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:21:14.079Z,1613589674.079 [Micromodem](INFO): Nmea in: $SNTTA,0.123964,,,,192112.95*4F 2021-02-17T19:21:14.504Z,1613589674.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.119995 m, bearing: 137.179527 deg, deltaT: 10.532613 s, approachRate: 0.740557 m/s, LOS rate: -2.835192 deg/s, posRepo size: 4 2021-02-17T19:21:14.506Z,1613589674.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.119995 m, bearing: 137.179527 deg, approachRate: 0.740557 m/s, LOS rate: -2.835192 deg/s, cmd update: -11.340769 deg/s, cmd heading: 222.564208 deg, new cmd heading: 227.259400 deg. 2021-02-17T19:21:16.906Z,1613589676.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:17.686Z,1613589677.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:21:18.090Z,1613589678.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:21:18.902Z,1613589678.902 [Micromodem](INFO): Nmea in: $SNTTA,0.126402,,,,192117.80*46 2021-02-17T19:21:19.368Z,1613589679.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.659988 m, bearing: 175.296983 deg, deltaT: 4.803923 s, approachRate: 0.736896 m/s, LOS rate: 7.934651 deg/s, posRepo size: 4 2021-02-17T19:21:19.370Z,1613589679.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.659988 m, bearing: 175.296983 deg, approachRate: 0.736896 m/s, LOS rate: 7.934651 deg/s, cmd update: 12.000000 deg/s, cmd heading: 168.083992 deg, new cmd heading: 163.014770 deg. 2021-02-17T19:21:21.744Z,1613589681.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:22.173Z,1613589682.173 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T19:21:22.532Z,1613589682.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:21:22.948Z,1613589682.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:21:23.748Z,1613589683.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192122.64*57 2021-02-17T19:21:24.210Z,1613589684.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.379990 m, bearing: 223.854013 deg, deltaT: 4.866344 s, approachRate: 0.764435 m/s, LOS rate: 9.978134 deg/s, posRepo size: 4 2021-02-17T19:21:24.212Z,1613589684.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 193.379990 m, bearing: 223.854013 deg, approachRate: 0.764435 m/s, LOS rate: 9.978134 deg/s, cmd update: 12.000000 deg/s, cmd heading: 226.477410 deg, new cmd heading: 231.595506 deg. 2021-02-17T19:21:26.594Z,1613589686.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:27.097Z,1613589687.097 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:21:27.380Z,1613589687.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:21:27.787Z,1613589687.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:21:28.598Z,1613589688.598 [Micromodem](INFO): Nmea in: $SNTTA,0.131421,,,,192127.49*47 2021-02-17T19:21:29.096Z,1613589689.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.339996 m, bearing: 227.618718 deg, deltaT: 4.849692 s, approachRate: 0.816548 m/s, LOS rate: 0.776277 deg/s, posRepo size: 4 2021-02-17T19:21:29.098Z,1613589689.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.339996 m, bearing: 227.618718 deg, approachRate: 0.816548 m/s, LOS rate: 0.776277 deg/s, cmd update: 3.105108 deg/s, cmd heading: 284.624912 deg, new cmd heading: 290.227220 deg. 2021-02-17T19:21:31.475Z,1613589691.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:32.230Z,1613589692.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:21:32.634Z,1613589692.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:21:33.456Z,1613589693.456 [Micromodem](INFO): Nmea in: $SNTTA,0.133614,,,,192132.34*4F 2021-02-17T19:21:33.471Z,1613589693.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.339996 m, bearing: 212.325979 deg, deltaT: 4.492819 s, approachRate: 0.000000 m/s, LOS rate: -3.403818 deg/s, posRepo size: 4 2021-02-17T19:21:33.473Z,1613589693.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.339996 m, bearing: 212.325979 deg, approachRate: 0.000000 m/s, LOS rate: -3.403818 deg/s, cmd update: -12.000000 deg/s, cmd heading: 298.587770 deg, new cmd heading: 299.659240 deg. 2021-02-17T19:21:35.895Z,1613589695.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:36.674Z,1613589696.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:21:37.092Z,1613589697.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:21:37.119Z,1613589697.119 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T19:21:37.891Z,1613589697.891 [Micromodem](INFO): Nmea in: $SNTTA,0.135186,,,,192136.78*49 2021-02-17T19:21:38.353Z,1613589698.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.799988 m, bearing: 227.755404 deg, deltaT: 4.780257 s, approachRate: 1.142196 m/s, LOS rate: 3.227740 deg/s, posRepo size: 4 2021-02-17T19:21:38.359Z,1613589698.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.799988 m, bearing: 227.755404 deg, approachRate: 1.142196 m/s, LOS rate: 3.227740 deg/s, cmd update: 12.000000 deg/s, cmd heading: 241.223988 deg, new cmd heading: 235.856076 deg. 2021-02-17T19:21:40.780Z,1613589700.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:41.529Z,1613589701.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:21:41.938Z,1613589701.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:21:42.339Z,1613589702.339 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T19:21:42.744Z,1613589702.744 [Micromodem](INFO): Nmea in: $SNTTA,0.136677,,,,192141.64*4E 2021-02-17T19:21:43.215Z,1613589703.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.959991 m, bearing: 298.361022 deg, deltaT: 4.852028 s, approachRate: 0.445175 m/s, LOS rate: 14.551774 deg/s, posRepo size: 4 2021-02-17T19:21:43.216Z,1613589703.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.551774 deg/s. Setting heading cmd to target bearing of 298.361022deg and heading rate command to 0 deg/s. 2021-02-17T19:21:45.580Z,1613589705.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:46.377Z,1613589706.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:21:46.773Z,1613589706.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:21:47.592Z,1613589707.592 [Micromodem](INFO): Nmea in: $SNTTA,0.137410,,,,192146.49*44 2021-02-17T19:21:48.082Z,1613589708.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.979996 m, bearing: 219.969179 deg, deltaT: 4.848446 s, approachRate: 0.210378 m/s, LOS rate: -16.168448 deg/s, posRepo size: 4 2021-02-17T19:21:48.082Z,1613589708.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.168448 deg/s. Setting heading cmd to target bearing of 219.969179deg and heading rate command to 0 deg/s. 2021-02-17T19:21:50.450Z,1613589710.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:51.219Z,1613589711.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:21:51.634Z,1613589711.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:21:52.434Z,1613589712.434 [Micromodem](INFO): Nmea in: $SNTTA,0.137516,,,,192151.33*48 2021-02-17T19:21:53.283Z,1613589713.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:54.852Z,1613589714.852 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:21:56.116Z,1613589716.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:21:56.878Z,1613589716.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:21:57.278Z,1613589717.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:21:58.093Z,1613589718.093 [Micromodem](INFO): Nmea in: $SNTTA,0.137250,,,,192156.99*4A 2021-02-17T19:21:58.522Z,1613589718.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.800003 m, bearing: 247.426034 deg, deltaT: 10.547451 s, approachRate: -0.017065 m/s, LOS rate: 2.603174 deg/s, posRepo size: 4 2021-02-17T19:21:58.524Z,1613589718.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.800003 m, bearing: 247.426034 deg, approachRate: -0.017065 m/s, LOS rate: 2.603174 deg/s, cmd update: 10.412698 deg/s, cmd heading: 219.969179 deg, new cmd heading: 219.969179 deg. 2021-02-17T19:22:00.943Z,1613589720.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:01.725Z,1613589721.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:22:02.147Z,1613589722.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:22:02.940Z,1613589722.940 [Micromodem](INFO): Nmea in: $SNTTA,0.137526,,,,192201.83*46 2021-02-17T19:22:03.385Z,1613589723.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.339996 m, bearing: 310.535999 deg, deltaT: 4.800486 s, approachRate: 0.112487 m/s, LOS rate: 13.146578 deg/s, posRepo size: 4 2021-02-17T19:22:03.386Z,1613589723.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.146578 deg/s. Setting heading cmd to target bearing of 310.535999deg and heading rate command to 0 deg/s. 2021-02-17T19:22:05.781Z,1613589725.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:06.568Z,1613589726.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:22:06.979Z,1613589726.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:22:07.785Z,1613589727.785 [Micromodem](INFO): Nmea in: $SNTTA,0.138341,,,,192206.68*4C 2021-02-17T19:22:08.251Z,1613589728.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.479996 m, bearing: 314.613321 deg, deltaT: 4.844684 s, approachRate: 0.235309 m/s, LOS rate: 0.841607 deg/s, posRepo size: 4 2021-02-17T19:22:08.253Z,1613589728.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.479996 m, bearing: 314.613321 deg, approachRate: 0.235309 m/s, LOS rate: 0.841607 deg/s, cmd update: 3.366430 deg/s, cmd heading: 310.535999 deg, new cmd heading: 310.535999 deg. 2021-02-17T19:22:10.651Z,1613589730.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:11.416Z,1613589731.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:22:11.823Z,1613589731.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:22:12.246Z,1613589732.246 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T19:22:12.645Z,1613589732.645 [Micromodem](INFO): Nmea in: $SNTTA,0.138896,,,,192211.53*43 2021-02-17T19:22:13.135Z,1613589733.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.319992 m, bearing: 241.449537 deg, deltaT: 4.865148 s, approachRate: 0.172656 m/s, LOS rate: -15.038347 deg/s, posRepo size: 4 2021-02-17T19:22:13.136Z,1613589733.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.038347 deg/s. Setting heading cmd to target bearing of 241.449537deg and heading rate command to 0 deg/s. 2021-02-17T19:22:15.489Z,1613589735.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:16.268Z,1613589736.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:22:16.676Z,1613589736.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:22:17.484Z,1613589737.484 [Micromodem](INFO): Nmea in: $SNTTA,0.138721,,,,192216.38*4A 2021-02-17T19:22:17.926Z,1613589737.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.960007 m, bearing: 352.068303 deg, deltaT: 4.853655 s, approachRate: -0.074168 m/s, LOS rate: 22.790818 deg/s, posRepo size: 4 2021-02-17T19:22:17.931Z,1613589737.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.790818 deg/s. Setting heading cmd to target bearing of 352.068303deg and heading rate command to 0 deg/s. 2021-02-17T19:22:20.350Z,1613589740.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:21.112Z,1613589741.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:22:21.517Z,1613589741.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:22:22.331Z,1613589742.331 [Micromodem](INFO): Nmea in: $SNTTA,0.138105,,,,192221.22*45 2021-02-17T19:22:22.350Z,1613589742.350 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:22:22.777Z,1613589742.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.000000 m, bearing: 303.869652 deg, deltaT: 4.845152 s, approachRate: -0.198138 m/s, LOS rate: -9.947809 deg/s, posRepo size: 4 2021-02-17T19:22:22.779Z,1613589742.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.000000 m, bearing: 303.869652 deg, approachRate: -0.198138 m/s, LOS rate: -9.947809 deg/s, cmd update: -12.000000 deg/s, cmd heading: 352.068303 deg, new cmd heading: 352.068303 deg. 2021-02-17T19:22:25.224Z,1613589745.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:25.972Z,1613589745.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:22:26.366Z,1613589746.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:22:27.192Z,1613589747.192 [Micromodem](INFO): Nmea in: $SNTTA,0.137493,,,,192226.08*4F 2021-02-17T19:22:27.205Z,1613589747.205 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T19:22:27.626Z,1613589747.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.039993 m, bearing: 2.832166 deg, deltaT: 4.878581 s, approachRate: -0.196780 m/s, LOS rate: 12.085999 deg/s, posRepo size: 4 2021-02-17T19:22:27.627Z,1613589747.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.085999 deg/s. Setting heading cmd to target bearing of 2.832166deg and heading rate command to 0 deg/s. 2021-02-17T19:22:30.110Z,1613589750.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:30.808Z,1613589750.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:22:31.231Z,1613589751.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:22:32.092Z,1613589752.092 [Micromodem](INFO): Nmea in: $SNTTA,0.136513,,,,192230.92*43 2021-02-17T19:22:32.111Z,1613589752.111 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:22:32.465Z,1613589752.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.600006 m, bearing: 354.294207 deg, deltaT: 4.881706 s, approachRate: -0.294976 m/s, LOS rate: -1.748973 deg/s, posRepo size: 4 2021-02-17T19:22:32.467Z,1613589752.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.600006 m, bearing: 354.294207 deg, approachRate: -0.294976 m/s, LOS rate: -1.748973 deg/s, cmd update: -6.995892 deg/s, cmd heading: 2.832166 deg, new cmd heading: 2.832166 deg. 2021-02-17T19:22:34.869Z,1613589754.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:35.656Z,1613589755.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:22:36.084Z,1613589756.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:22:36.879Z,1613589756.879 [Micromodem](INFO): Nmea in: $SNTTA,0.135102,,,,192235.76*4B 2021-02-17T19:22:37.304Z,1613589757.304 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:22:37.328Z,1613589757.328 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:22:37.340Z,1613589757.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.439987 m, bearing: 358.740988 deg, deltaT: 4.797996 s, approachRate: -0.450192 m/s, LOS rate: 0.926800 deg/s, posRepo size: 4 2021-02-17T19:22:37.342Z,1613589757.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.439987 m, bearing: 358.740988 deg, approachRate: -0.450192 m/s, LOS rate: 0.926800 deg/s, cmd update: 3.707199 deg/s, cmd heading: 329.294076 deg, new cmd heading: 326.339354 deg. 2021-02-17T19:22:39.711Z,1613589759.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:40.506Z,1613589760.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:22:40.910Z,1613589760.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:22:41.726Z,1613589761.726 [Micromodem](INFO): Nmea in: $SNTTA,0.133620,,0.136410,,192240.61*51 2021-02-17T19:22:42.140Z,1613589762.140 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:22:42.162Z,1613589762.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.159988 m, bearing: 359.575719 deg, deltaT: 4.818707 s, approachRate: -0.473156 m/s, LOS rate: 0.173227 deg/s, posRepo size: 4 2021-02-17T19:22:42.164Z,1613589762.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.159988 m, bearing: 359.575719 deg, approachRate: -0.473156 m/s, LOS rate: 0.173227 deg/s, cmd update: 0.692909 deg/s, cmd heading: 347.172264 deg, new cmd heading: 348.735356 deg. 2021-02-17T19:22:44.583Z,1613589764.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:45.369Z,1613589765.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:22:45.757Z,1613589765.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:22:46.595Z,1613589766.595 [Micromodem](INFO): Nmea in: $SNTTA,0.131876,,,,192245.48*4F 2021-02-17T19:22:47.375Z,1613589767.375 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:22:47.421Z,1613589767.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:50.257Z,1613589770.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:53.128Z,1613589773.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:53.837Z,1613589773.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:22:54.242Z,1613589774.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:22:55.072Z,1613589775.072 [Micromodem](INFO): Nmea in: $SNTTA,0.128431,,,,192253.95*4F 2021-02-17T19:22:55.482Z,1613589775.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.419998 m, bearing: 2.561042 deg, deltaT: 13.426171 s, approachRate: -0.576485 m/s, LOS rate: 0.222351 deg/s, posRepo size: 4 2021-02-17T19:22:55.484Z,1613589775.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.419998 m, bearing: 2.561042 deg, approachRate: -0.576485 m/s, LOS rate: 0.222351 deg/s, cmd update: 0.889406 deg/s, cmd heading: 356.472715 deg, new cmd heading: 356.694198 deg. 2021-02-17T19:22:57.891Z,1613589777.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:22:58.692Z,1613589778.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:22:59.090Z,1613589779.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:22:59.906Z,1613589779.906 [Micromodem](INFO): Nmea in: $SNTTA,0.126528,,,,192258.80*47 2021-02-17T19:23:00.373Z,1613589780.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.539993 m, bearing: 2.271998 deg, deltaT: 4.753811 s, approachRate: -0.605831 m/s, LOS rate: -0.060803 deg/s, posRepo size: 4 2021-02-17T19:23:00.379Z,1613589780.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.539993 m, bearing: 2.271998 deg, approachRate: -0.605831 m/s, LOS rate: -0.060803 deg/s, cmd update: -0.243211 deg/s, cmd heading: 0.704204 deg, new cmd heading: 1.107127 deg. 2021-02-17T19:23:02.342Z,1613589782.342 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T19:23:02.764Z,1613589782.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:23:03.538Z,1613589783.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:23:03.938Z,1613589783.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:23:04.752Z,1613589784.752 [Micromodem](INFO): Nmea in: $SNTTA,0.124598,,,,192303.65*4A 2021-02-17T19:23:05.220Z,1613589785.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.720001 m, bearing: 1.634400 deg, deltaT: 4.846123 s, approachRate: -0.581907 m/s, LOS rate: -0.131569 deg/s, posRepo size: 4 2021-02-17T19:23:05.222Z,1613589785.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.720001 m, bearing: 1.634400 deg, approachRate: -0.581907 m/s, LOS rate: -0.131569 deg/s, cmd update: -0.526275 deg/s, cmd heading: 359.525525 deg, new cmd heading: 359.415285 deg. 2021-02-17T19:23:07.588Z,1613589787.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:23:08.385Z,1613589788.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:23:08.799Z,1613589788.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:23:09.601Z,1613589789.601 [Micromodem](INFO): Nmea in: $SNTTA,0.122767,,,,192308.50*43 2021-02-17T19:23:10.117Z,1613589790.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.960007 m, bearing: 2.518264 deg, deltaT: 4.848311 s, approachRate: -0.569269 m/s, LOS rate: 0.182303 deg/s, posRepo size: 4 2021-02-17T19:23:10.119Z,1613589790.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.960007 m, bearing: 2.518264 deg, approachRate: -0.569269 m/s, LOS rate: 0.182303 deg/s, cmd update: 0.729214 deg/s, cmd heading: 356.973973 deg, new cmd heading: 356.709626 deg. 2021-02-17T19:23:12.109Z,1613589792.109 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T19:23:12.161Z,1613589792.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:23:12.824Z,1613589792.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:23:13.247Z,1613589793.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:23:14.080Z,1613589794.080 [Micromodem](INFO): Nmea in: $SNTTA,0.120862,,,,192312.93*4F 2021-02-17T19:23:14.142Z,1613589794.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.960007 m, bearing: 2.627337 deg, deltaT: 4.046056 s, approachRate: 0.000000 m/s, LOS rate: 0.026958 deg/s, posRepo size: 4 2021-02-17T19:23:14.150Z,1613589794.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.960007 m, bearing: 2.627337 deg, approachRate: 0.000000 m/s, LOS rate: 0.026958 deg/s, cmd update: 0.107832 deg/s, cmd heading: 359.923270 deg, new cmd heading: 0.275205 deg. 2021-02-17T19:23:16.480Z,1613589796.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:23:17.274Z,1613589797.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:23:17.326Z,1613589797.326 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T19:23:17.681Z,1613589797.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:23:18.500Z,1613589798.500 [Micromodem](INFO): Nmea in: $SNTTA,0.119181,,,,192317.38*45 2021-02-17T19:23:18.538Z,1613589798.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.960007 m, bearing: 2.492904 deg, deltaT: 4.474806 s, approachRate: 0.000000 m/s, LOS rate: -0.030042 deg/s, posRepo size: 4 2021-02-17T19:23:18.544Z,1613589798.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.960007 m, bearing: 2.492904 deg, approachRate: 0.000000 m/s, LOS rate: -0.030042 deg/s, cmd update: -0.120170 deg/s, cmd heading: 0.405968 deg, new cmd heading: 0.449368 deg. 2021-02-17T19:23:20.922Z,1613589800.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:23:21.713Z,1613589801.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:23:22.131Z,1613589802.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:23:22.940Z,1613589802.940 [Micromodem](INFO): Nmea in: $SNTTA,0.117359,,,,192321.82*48 2021-02-17T19:23:22.981Z,1613589802.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.960007 m, bearing: 3.384207 deg, deltaT: 4.429832 s, approachRate: 0.000000 m/s, LOS rate: 0.201205 deg/s, posRepo size: 4 2021-02-17T19:23:22.983Z,1613589802.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.960007 m, bearing: 3.384207 deg, approachRate: 0.000000 m/s, LOS rate: 0.201205 deg/s, cmd update: 0.804820 deg/s, cmd heading: 359.874164 deg, new cmd heading: 359.823628 deg. 2021-02-17T19:23:25.395Z,1613589805.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:23:26.161Z,1613589806.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:23:26.564Z,1613589806.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:23:27.388Z,1613589807.388 [Micromodem](INFO): Nmea in: $SNTTA,0.115507,,,,192326.27*4F 2021-02-17T19:23:27.436Z,1613589807.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.960007 m, bearing: 3.489025 deg, deltaT: 4.517728 s, approachRate: 0.000000 m/s, LOS rate: 0.023201 deg/s, posRepo size: 4 2021-02-17T19:23:27.438Z,1613589807.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.960007 m, bearing: 3.489025 deg, approachRate: 0.000000 m/s, LOS rate: 0.023201 deg/s, cmd update: 0.092806 deg/s, cmd heading: 3.486782 deg, new cmd heading: 3.797792 deg. 2021-02-17T19:23:29.832Z,1613589809.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:23:30.603Z,1613589810.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:23:31.057Z,1613589811.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:23:31.828Z,1613589811.828 [Micromodem](INFO): Nmea in: $SNTTA,0.113675,,,,192330.71*4B 2021-02-17T19:23:31.870Z,1613589811.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.960007 m, bearing: 3.484046 deg, deltaT: 4.361586 s, approachRate: 0.000000 m/s, LOS rate: -0.001142 deg/s, posRepo size: 4 2021-02-17T19:23:31.876Z,1613589811.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.960007 m, bearing: 3.484046 deg, approachRate: 0.000000 m/s, LOS rate: -0.001142 deg/s, cmd update: -0.004566 deg/s, cmd heading: 3.894319 deg, new cmd heading: 3.934155 deg. 2021-02-17T19:23:34.280Z,1613589814.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:23:35.069Z,1613589815.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:23:35.453Z,1613589815.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:23:36.274Z,1613589816.274 [Micromodem](INFO): Nmea in: $SNTTA,0.111885,,,,192335.18*42 2021-02-17T19:23:36.693Z,1613589816.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.639999 m, bearing: 2.583236 deg, deltaT: 4.890167 s, approachRate: -3.337311 m/s, LOS rate: -0.184208 deg/s, posRepo size: 4 2021-02-17T19:23:36.695Z,1613589816.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.639999 m, bearing: 2.583236 deg, approachRate: -3.337311 m/s, LOS rate: -0.184208 deg/s, cmd update: -0.736834 deg/s, cmd heading: 3.871972 deg, new cmd heading: 3.870335 deg. 2021-02-17T19:23:39.134Z,1613589819.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:23:39.892Z,1613589819.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:23:40.297Z,1613589820.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:23:41.128Z,1613589821.128 [Micromodem](INFO): Nmea in: $SNTTA,0.110128,,,,192340.00*46 2021-02-17T19:23:41.189Z,1613589821.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.000015 m, bearing: 2.155141 deg, deltaT: 4.413532 s, approachRate: -0.598157 m/s, LOS rate: -0.096996 deg/s, posRepo size: 4 2021-02-17T19:23:41.195Z,1613589821.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.000015 m, bearing: 2.155141 deg, approachRate: -0.598157 m/s, LOS rate: -0.096996 deg/s, cmd update: -0.387984 deg/s, cmd heading: 0.633620 deg, new cmd heading: 0.294915 deg. 2021-02-17T19:23:43.552Z,1613589823.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:23:44.336Z,1613589824.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:23:44.747Z,1613589824.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:23:45.580Z,1613589825.580 [Micromodem](INFO): Nmea in: $SNTTA,0.108411,,,,192344.45*45 2021-02-17T19:23:45.602Z,1613589825.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.419998 m, bearing: 2.818233 deg, deltaT: 4.444432 s, approachRate: -0.580505 m/s, LOS rate: 0.149196 deg/s, posRepo size: 4 2021-02-17T19:23:45.604Z,1613589825.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.419998 m, bearing: 2.818233 deg, approachRate: -0.580505 m/s, LOS rate: 0.149196 deg/s, cmd update: 0.596785 deg/s, cmd heading: 358.902022 deg, new cmd heading: 358.743241 deg. 2021-02-17T19:23:48.071Z,1613589828.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:23:48.786Z,1613589828.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:23:49.196Z,1613589829.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:23:50.048Z,1613589830.048 [Micromodem](INFO): Nmea in: $SNTTA,0.106583,,,,192348.89*4D 2021-02-17T19:23:50.111Z,1613589830.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.719986 m, bearing: 3.802509 deg, deltaT: 4.434499 s, approachRate: -0.608865 m/s, LOS rate: 0.221959 deg/s, posRepo size: 4 2021-02-17T19:23:50.113Z,1613589830.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.719986 m, bearing: 3.802509 deg, approachRate: -0.608865 m/s, LOS rate: 0.221959 deg/s, cmd update: 0.887835 deg/s, cmd heading: 1.545936 deg, new cmd heading: 1.837170 deg. 2021-02-17T19:23:52.140Z,1613589832.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:23:52.820Z,1613589832.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:23:53.231Z,1613589833.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:23:54.084Z,1613589834.084 [Micromodem](INFO): Nmea in: $SNTTA,0.105030,,,,192352.93*43 2021-02-17T19:23:54.137Z,1613589834.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.380005 m, bearing: 2.734799 deg, deltaT: 4.043146 s, approachRate: -0.578753 m/s, LOS rate: -0.264079 deg/s, posRepo size: 4 2021-02-17T19:23:54.138Z,1613589834.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.380005 m, bearing: 2.734799 deg, approachRate: -0.578753 m/s, LOS rate: -0.264079 deg/s, cmd update: -1.056316 deg/s, cmd heading: 5.135745 deg, new cmd heading: 5.553453 deg. 2021-02-17T19:23:56.477Z,1613589836.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:23:57.264Z,1613589837.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:23:57.685Z,1613589837.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:23:58.500Z,1613589838.500 [Micromodem](INFO): Nmea in: $SNTTA,0.103232,,,,192357.37*4E 2021-02-17T19:23:58.522Z,1613589838.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.619995 m, bearing: 3.227908 deg, deltaT: 4.451287 s, approachRate: -0.620048 m/s, LOS rate: 0.110779 deg/s, posRepo size: 4 2021-02-17T19:23:58.524Z,1613589838.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.619995 m, bearing: 3.227908 deg, approachRate: -0.620048 m/s, LOS rate: 0.110779 deg/s, cmd update: 0.443116 deg/s, cmd heading: 0.429622 deg, new cmd heading: 0.006593 deg. 2021-02-17T19:24:00.931Z,1613589840.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:01.708Z,1613589841.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:02.131Z,1613589842.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:24:02.951Z,1613589842.951 [Micromodem](INFO): Nmea in: $SNTTA,0.101276,,,,192401.82*46 2021-02-17T19:24:02.983Z,1613589842.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.739990 m, bearing: 4.704772 deg, deltaT: 4.425103 s, approachRate: -0.650833 m/s, LOS rate: 0.333747 deg/s, posRepo size: 4 2021-02-17T19:24:02.990Z,1613589842.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.739990 m, bearing: 4.704772 deg, approachRate: -0.650833 m/s, LOS rate: 0.333747 deg/s, cmd update: 1.334987 deg/s, cmd heading: 2.390481 deg, new cmd heading: 2.583448 deg. 2021-02-17T19:24:05.393Z,1613589845.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:06.158Z,1613589846.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:06.572Z,1613589846.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:24:07.388Z,1613589847.388 [Micromodem](INFO): Nmea in: $SNTTA,0.099593,,,,192406.27*42 2021-02-17T19:24:07.440Z,1613589847.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.220001 m, bearing: 4.996751 deg, deltaT: 4.493888 s, approachRate: -0.560759 m/s, LOS rate: 0.064972 deg/s, posRepo size: 4 2021-02-17T19:24:07.441Z,1613589847.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.220001 m, bearing: 4.996751 deg, approachRate: -0.560759 m/s, LOS rate: 0.064972 deg/s, cmd update: 0.259890 deg/s, cmd heading: 8.356626 deg, new cmd heading: 8.922044 deg. 2021-02-17T19:24:09.803Z,1613589849.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:10.598Z,1613589850.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:11.046Z,1613589851.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:24:11.824Z,1613589851.824 [Micromodem](INFO): Nmea in: $SNTTA,0.097715,,,,192410.71*44 2021-02-17T19:24:11.869Z,1613589851.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.340012 m, bearing: 4.743930 deg, deltaT: 4.412137 s, approachRate: -0.652743 m/s, LOS rate: -0.057301 deg/s, posRepo size: 4 2021-02-17T19:24:11.871Z,1613589851.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.340012 m, bearing: 4.743930 deg, approachRate: -0.652743 m/s, LOS rate: -0.057301 deg/s, cmd update: -0.229205 deg/s, cmd heading: 9.507197 deg, new cmd heading: 9.617953 deg. 2021-02-17T19:24:14.276Z,1613589854.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:15.078Z,1613589855.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:15.447Z,1613589855.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:24:16.292Z,1613589856.292 [Micromodem](INFO): Nmea in: $SNTTA,0.095822,,,,192415.19*46 2021-02-17T19:24:16.348Z,1613589856.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.460007 m, bearing: 4.696026 deg, deltaT: 4.425969 s, approachRate: -0.650706 m/s, LOS rate: -0.010823 deg/s, posRepo size: 4 2021-02-17T19:24:16.350Z,1613589856.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.460007 m, bearing: 4.696026 deg, approachRate: -0.650706 m/s, LOS rate: -0.010823 deg/s, cmd update: -0.043294 deg/s, cmd heading: 8.490708 deg, new cmd heading: 8.382992 deg. 2021-02-17T19:24:18.692Z,1613589858.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:19.484Z,1613589859.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:19.898Z,1613589859.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:24:20.732Z,1613589860.732 [Micromodem](INFO): Nmea in: $SNTTA,0.094114,,,,192419.59*43 2021-02-17T19:24:20.754Z,1613589860.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.940002 m, bearing: 3.547074 deg, deltaT: 4.468409 s, approachRate: -0.563960 m/s, LOS rate: -0.257128 deg/s, posRepo size: 4 2021-02-17T19:24:20.756Z,1613589860.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.940002 m, bearing: 3.547074 deg, approachRate: -0.563960 m/s, LOS rate: -0.257128 deg/s, cmd update: -1.028511 deg/s, cmd heading: 8.297214 deg, new cmd heading: 8.279608 deg. 2021-02-17T19:24:23.176Z,1613589863.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:23.928Z,1613589863.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:24.334Z,1613589864.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:24:25.156Z,1613589865.156 [Micromodem](INFO): Nmea in: $SNTTA,0.092351,,,,192424.04*40 2021-02-17T19:24:25.194Z,1613589865.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.300003 m, bearing: 4.845207 deg, deltaT: 4.405411 s, approachRate: -0.599263 m/s, LOS rate: 0.294668 deg/s, posRepo size: 4 2021-02-17T19:24:25.197Z,1613589865.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.300003 m, bearing: 4.845207 deg, approachRate: -0.599263 m/s, LOS rate: 0.294668 deg/s, cmd update: 1.178671 deg/s, cmd heading: 3.766210 deg, new cmd heading: 3.312092 deg. 2021-02-17T19:24:27.604Z,1613589867.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:28.376Z,1613589868.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:28.780Z,1613589868.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:24:29.607Z,1613589869.607 [Micromodem](INFO): Nmea in: $SNTTA,0.090708,,,,192428.49*4F 2021-02-17T19:24:29.630Z,1613589869.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.840012 m, bearing: 5.097637 deg, deltaT: 4.495744 s, approachRate: -0.547182 m/s, LOS rate: 0.056149 deg/s, posRepo size: 4 2021-02-17T19:24:29.632Z,1613589869.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.840012 m, bearing: 5.097637 deg, approachRate: -0.547182 m/s, LOS rate: 0.056149 deg/s, cmd update: 0.224594 deg/s, cmd heading: 9.046044 deg, new cmd heading: 9.515184 deg. 2021-02-17T19:24:32.156Z,1613589872.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:32.821Z,1613589872.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:33.228Z,1613589873.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:24:34.092Z,1613589874.092 [Micromodem](INFO): Nmea in: $SNTTA,0.089113,,,,192432.93*47 2021-02-17T19:24:34.134Z,1613589874.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.500000 m, bearing: 5.452140 deg, deltaT: 4.412326 s, approachRate: -0.530335 m/s, LOS rate: 0.080344 deg/s, posRepo size: 4 2021-02-17T19:24:34.136Z,1613589874.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.500000 m, bearing: 5.452140 deg, approachRate: -0.530335 m/s, LOS rate: 0.080344 deg/s, cmd update: 0.321375 deg/s, cmd heading: 10.039747 deg, new cmd heading: 10.146999 deg. 2021-02-17T19:24:36.492Z,1613589876.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:37.282Z,1613589877.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:37.686Z,1613589877.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:24:38.512Z,1613589878.512 [Micromodem](INFO): Nmea in: $SNTTA,0.087401,,,,192437.39*4A 2021-02-17T19:24:38.546Z,1613589878.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.860001 m, bearing: 5.406509 deg, deltaT: 4.479049 s, approachRate: -0.589411 m/s, LOS rate: -0.010188 deg/s, posRepo size: 4 2021-02-17T19:24:38.548Z,1613589878.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.860001 m, bearing: 5.406509 deg, approachRate: -0.589411 m/s, LOS rate: -0.010188 deg/s, cmd update: -0.040750 deg/s, cmd heading: 11.480461 deg, new cmd heading: 11.611171 deg. 2021-02-17T19:24:40.947Z,1613589880.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:41.729Z,1613589881.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:42.162Z,1613589882.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:24:42.956Z,1613589882.956 [Micromodem](INFO): Nmea in: $SNTTA,0.085598,,,,192441.84*4E 2021-02-17T19:24:43.062Z,1613589883.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.220001 m, bearing: 4.422978 deg, deltaT: 4.418647 s, approachRate: -0.597468 m/s, LOS rate: -0.222586 deg/s, posRepo size: 4 2021-02-17T19:24:43.070Z,1613589883.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.220001 m, bearing: 4.422978 deg, approachRate: -0.597468 m/s, LOS rate: -0.222586 deg/s, cmd update: -0.890345 deg/s, cmd heading: 11.300888 deg, new cmd heading: 11.280198 deg. 2021-02-17T19:24:45.075Z,1613589885.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:45.764Z,1613589885.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:46.175Z,1613589886.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:24:47.012Z,1613589887.012 [Micromodem](INFO): Nmea in: $SNTTA,0.084032,,,,192445.88*42 2021-02-17T19:24:47.088Z,1613589887.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.880005 m, bearing: 4.902705 deg, deltaT: 4.043410 s, approachRate: -0.578719 m/s, LOS rate: 0.118644 deg/s, posRepo size: 4 2021-02-17T19:24:47.090Z,1613589887.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.880005 m, bearing: 4.902705 deg, approachRate: -0.578719 m/s, LOS rate: 0.118644 deg/s, cmd update: 0.474577 deg/s, cmd heading: 7.693611 deg, new cmd heading: 7.257262 deg. 2021-02-17T19:24:49.440Z,1613589889.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:50.208Z,1613589890.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:50.626Z,1613589890.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:24:51.436Z,1613589891.436 [Micromodem](INFO): Nmea in: $SNTTA,0.082406,,,,192450.32*42 2021-02-17T19:24:51.472Z,1613589891.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.420006 m, bearing: 5.695577 deg, deltaT: 4.528022 s, approachRate: -0.543283 m/s, LOS rate: 0.175103 deg/s, posRepo size: 4 2021-02-17T19:24:51.474Z,1613589891.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.420006 m, bearing: 5.695577 deg, approachRate: -0.543283 m/s, LOS rate: 0.175103 deg/s, cmd update: 0.700413 deg/s, cmd heading: 9.842337 deg, new cmd heading: 10.006822 deg. 2021-02-17T19:24:53.885Z,1613589893.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:54.658Z,1613589894.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:55.076Z,1613589895.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:24:55.884Z,1613589895.884 [Micromodem](INFO): Nmea in: $SNTTA,0.080574,,,,192454.77*41 2021-02-17T19:24:55.920Z,1613589895.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.720001 m, bearing: 5.562744 deg, deltaT: 4.344568 s, approachRate: -0.621467 m/s, LOS rate: -0.030574 deg/s, posRepo size: 4 2021-02-17T19:24:55.922Z,1613589895.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.720001 m, bearing: 5.562744 deg, approachRate: -0.621467 m/s, LOS rate: -0.030574 deg/s, cmd update: -0.122297 deg/s, cmd heading: 12.888300 deg, new cmd heading: 13.200569 deg. 2021-02-17T19:24:58.340Z,1613589898.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:24:59.097Z,1613589899.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:24:59.502Z,1613589899.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:00.328Z,1613589900.328 [Micromodem](INFO): Nmea in: $SNTTA,0.078838,,,,192459.21*4D 2021-02-17T19:25:00.411Z,1613589900.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.020004 m, bearing: 4.837771 deg, deltaT: 4.443567 s, approachRate: -0.607619 m/s, LOS rate: -0.163151 deg/s, posRepo size: 4 2021-02-17T19:25:00.413Z,1613589900.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.020004 m, bearing: 4.837771 deg, approachRate: -0.607619 m/s, LOS rate: -0.163151 deg/s, cmd update: -0.652605 deg/s, cmd heading: 12.344863 deg, new cmd heading: 12.284937 deg. 2021-02-17T19:25:02.765Z,1613589902.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:25:03.545Z,1613589903.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:25:03.946Z,1613589903.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:04.776Z,1613589904.776 [Micromodem](INFO): Nmea in: $SNTTA,0.077028,,,,192503.65*45 2021-02-17T19:25:04.798Z,1613589904.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.320000 m, bearing: 4.836705 deg, deltaT: 4.490303 s, approachRate: -0.601297 m/s, LOS rate: -0.000237 deg/s, posRepo size: 4 2021-02-17T19:25:04.800Z,1613589904.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.320000 m, bearing: 4.836705 deg, approachRate: -0.601297 m/s, LOS rate: -0.000237 deg/s, cmd update: -0.000950 deg/s, cmd heading: 9.428246 deg, new cmd heading: 9.159987 deg. 2021-02-17T19:25:07.232Z,1613589907.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:25:08.001Z,1613589908.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:25:08.390Z,1613589908.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:09.224Z,1613589909.224 [Micromodem](INFO): Nmea in: $SNTTA,0.075170,,,,192508.11*43 2021-02-17T19:25:09.276Z,1613589909.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.500008 m, bearing: 5.354599 deg, deltaT: 4.398530 s, approachRate: -0.641122 m/s, LOS rate: 0.117743 deg/s, posRepo size: 4 2021-02-17T19:25:09.278Z,1613589909.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.500008 m, bearing: 5.354599 deg, approachRate: -0.641122 m/s, LOS rate: 0.117743 deg/s, cmd update: 0.470971 deg/s, cmd heading: 9.424047 deg, new cmd heading: 9.423602 deg. 2021-02-17T19:25:11.635Z,1613589911.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:25:12.431Z,1613589912.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:25:12.834Z,1613589912.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:13.656Z,1613589913.656 [Micromodem](INFO): Nmea in: $SNTTA,0.073425,,,,192512.54*4A 2021-02-17T19:25:13.698Z,1613589913.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.919998 m, bearing: 5.319308 deg, deltaT: 4.485992 s, approachRate: -0.575126 m/s, LOS rate: -0.007867 deg/s, posRepo size: 4 2021-02-17T19:25:13.704Z,1613589913.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.919998 m, bearing: 5.319308 deg, approachRate: -0.575126 m/s, LOS rate: -0.007867 deg/s, cmd update: -0.031468 deg/s, cmd heading: 11.535106 deg, new cmd heading: 11.727877 deg. 2021-02-17T19:25:16.150Z,1613589916.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:25:16.872Z,1613589916.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:25:17.290Z,1613589917.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:18.100Z,1613589918.100 [Micromodem](INFO): Nmea in: $SNTTA,0.071740,,,,192516.98*4C 2021-02-17T19:25:18.154Z,1613589918.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.459999 m, bearing: 6.043870 deg, deltaT: 4.401216 s, approachRate: -0.558936 m/s, LOS rate: 0.164628 deg/s, posRepo size: 4 2021-02-17T19:25:18.156Z,1613589918.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.459999 m, bearing: 6.043870 deg, approachRate: -0.558936 m/s, LOS rate: 0.164628 deg/s, cmd update: 0.658511 deg/s, cmd heading: 11.396490 deg, new cmd heading: 11.381998 deg. 2021-02-17T19:25:20.522Z,1613589920.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:25:21.328Z,1613589921.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:25:21.722Z,1613589921.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:22.552Z,1613589922.552 [Micromodem](INFO): Nmea in: $SNTTA,0.070057,,,,192521.44*49 2021-02-17T19:25:22.594Z,1613589922.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.880005 m, bearing: 6.333348 deg, deltaT: 4.526896 s, approachRate: -0.569926 m/s, LOS rate: 0.063946 deg/s, posRepo size: 4 2021-02-17T19:25:22.600Z,1613589922.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.880005 m, bearing: 6.333348 deg, approachRate: -0.569926 m/s, LOS rate: 0.063946 deg/s, cmd update: 0.255785 deg/s, cmd heading: 14.375003 deg, new cmd heading: 14.623286 deg. 2021-02-17T19:25:24.968Z,1613589924.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:25:25.760Z,1613589925.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:25:26.167Z,1613589926.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:27.005Z,1613589927.005 [Micromodem](INFO): Nmea in: $SNTTA,0.068220,,,,192525.87*49 2021-02-17T19:25:27.091Z,1613589927.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.180008 m, bearing: 4.700844 deg, deltaT: 4.362783 s, approachRate: -0.618870 m/s, LOS rate: -0.374189 deg/s, posRepo size: 4 2021-02-17T19:25:27.093Z,1613589927.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.180008 m, bearing: 4.700844 deg, approachRate: -0.618870 m/s, LOS rate: -0.374189 deg/s, cmd update: -1.496754 deg/s, cmd heading: 15.491870 deg, new cmd heading: 15.619688 deg. 2021-02-17T19:25:29.426Z,1613589929.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:25:30.209Z,1613589930.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:25:30.613Z,1613589930.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:31.436Z,1613589931.436 [Micromodem](INFO): Nmea in: $SNTTA,0.066401,,,,192530.32*48 2021-02-17T19:25:31.473Z,1613589931.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.419998 m, bearing: 5.542996 deg, deltaT: 4.533839 s, approachRate: -0.608758 m/s, LOS rate: 0.185748 deg/s, posRepo size: 4 2021-02-17T19:25:31.475Z,1613589931.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.419998 m, bearing: 5.542996 deg, approachRate: -0.608758 m/s, LOS rate: 0.185748 deg/s, cmd update: 0.742992 deg/s, cmd heading: 8.705633 deg, new cmd heading: 8.172947 deg. 2021-02-17T19:25:33.870Z,1613589933.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:25:34.648Z,1613589934.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:25:35.076Z,1613589935.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:35.884Z,1613589935.884 [Micromodem](INFO): Nmea in: $SNTTA,0.064767,,0.065917,,192534.76*5F 2021-02-17T19:25:35.921Z,1613589935.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.020004 m, bearing: 6.556896 deg, deltaT: 4.352882 s, approachRate: -0.551357 m/s, LOS rate: 0.232926 deg/s, posRepo size: 4 2021-02-17T19:25:35.923Z,1613589935.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.020004 m, bearing: 6.556896 deg, approachRate: -0.551357 m/s, LOS rate: 0.232926 deg/s, cmd update: 0.931705 deg/s, cmd heading: 11.939919 deg, new cmd heading: 12.275033 deg. 2021-02-17T19:25:38.349Z,1613589938.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:25:39.118Z,1613589939.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:25:39.502Z,1613589939.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:40.336Z,1613589940.336 [Micromodem](INFO): Nmea in: $SNTTA,0.062904,,,,192539.23*4D 2021-02-17T19:25:40.390Z,1613589940.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.140007 m, bearing: 5.935300 deg, deltaT: 4.447158 s, approachRate: -0.647604 m/s, LOS rate: -0.139774 deg/s, posRepo size: 4 2021-02-17T19:25:40.392Z,1613589940.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.140007 m, bearing: 5.935300 deg, approachRate: -0.647604 m/s, LOS rate: -0.139774 deg/s, cmd update: -0.559095 deg/s, cmd heading: 16.083162 deg, new cmd heading: 16.523377 deg. 2021-02-17T19:25:42.765Z,1613589942.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:25:43.541Z,1613589943.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:25:43.941Z,1613589943.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:44.768Z,1613589944.768 [Micromodem](INFO): Nmea in: $SNTTA,0.061234,,,,192543.65*49 2021-02-17T19:25:44.804Z,1613589944.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.739998 m, bearing: 5.124388 deg, deltaT: 4.490973 s, approachRate: -0.534407 m/s, LOS rate: -0.180565 deg/s, posRepo size: 4 2021-02-17T19:25:44.806Z,1613589944.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.739998 m, bearing: 5.124388 deg, approachRate: -0.534407 m/s, LOS rate: -0.180565 deg/s, cmd update: -0.722260 deg/s, cmd heading: 13.574373 deg, new cmd heading: 13.350970 deg. 2021-02-17T19:25:47.250Z,1613589947.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:25:48.020Z,1613589948.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:25:48.388Z,1613589948.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:49.226Z,1613589949.226 [Micromodem](INFO): Nmea in: $SNTTA,0.059259,,,,192548.13*43 2021-02-17T19:25:49.292Z,1613589949.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.740005 m, bearing: 5.263184 deg, deltaT: 4.395963 s, approachRate: -0.682443 m/s, LOS rate: 0.031573 deg/s, posRepo size: 4 2021-02-17T19:25:49.294Z,1613589949.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.740005 m, bearing: 5.263184 deg, approachRate: -0.682443 m/s, LOS rate: 0.031573 deg/s, cmd update: 0.126294 deg/s, cmd heading: 10.396582 deg, new cmd heading: 10.047463 deg. 2021-02-17T19:25:51.643Z,1613589951.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:25:52.442Z,1613589952.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:25:52.830Z,1613589952.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:53.660Z,1613589953.660 [Micromodem](INFO): Nmea in: $SNTTA,0.057629,,,,192552.55*47 2021-02-17T19:25:53.696Z,1613589953.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.280006 m, bearing: 5.529479 deg, deltaT: 4.479396 s, approachRate: -0.549181 m/s, LOS rate: 0.059449 deg/s, posRepo size: 4 2021-02-17T19:25:53.698Z,1613589953.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.280006 m, bearing: 5.529479 deg, approachRate: -0.549181 m/s, LOS rate: 0.059449 deg/s, cmd update: 0.237795 deg/s, cmd heading: 10.962322 deg, new cmd heading: 11.014376 deg. 2021-02-17T19:25:56.110Z,1613589956.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:25:56.873Z,1613589956.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:25:57.295Z,1613589957.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:25:58.107Z,1613589958.107 [Micromodem](INFO): Nmea in: $SNTTA,0.055916,,,,192556.98*43 2021-02-17T19:25:58.140Z,1613589958.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.760002 m, bearing: 6.673073 deg, deltaT: 4.422359 s, approachRate: -0.569833 m/s, LOS rate: 0.258594 deg/s, posRepo size: 4 2021-02-17T19:25:58.142Z,1613589958.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.760002 m, bearing: 6.673073 deg, approachRate: -0.569833 m/s, LOS rate: 0.258594 deg/s, cmd update: 1.034375 deg/s, cmd heading: 12.012959 deg, new cmd heading: 12.117219 deg. 2021-02-17T19:26:00.518Z,1613589960.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:01.314Z,1613589961.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:01.724Z,1613589961.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:02.540Z,1613589962.540 [Micromodem](INFO): Nmea in: $SNTTA,0.054360,,,,192601.42*4F 2021-02-17T19:26:02.597Z,1613589962.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.360008 m, bearing: 5.138950 deg, deltaT: 4.500377 s, approachRate: -0.533287 m/s, LOS rate: -0.340888 deg/s, posRepo size: 4 2021-02-17T19:26:02.599Z,1613589962.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.360008 m, bearing: 5.138950 deg, approachRate: -0.533287 m/s, LOS rate: -0.340888 deg/s, cmd update: -1.363551 deg/s, cmd heading: 16.639928 deg, new cmd heading: 17.076312 deg. 2021-02-17T19:26:04.977Z,1613589964.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:05.774Z,1613589965.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:06.167Z,1613589966.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:07.003Z,1613589967.003 [Micromodem](INFO): Nmea in: $SNTTA,0.052655,,,,192605.88*48 2021-02-17T19:26:07.099Z,1613589967.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.720009 m, bearing: 5.129455 deg, deltaT: 4.376900 s, approachRate: -0.603166 m/s, LOS rate: -0.002169 deg/s, posRepo size: 4 2021-02-17T19:26:07.101Z,1613589967.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.720009 m, bearing: 5.129455 deg, approachRate: -0.603166 m/s, LOS rate: -0.002169 deg/s, cmd update: -0.008678 deg/s, cmd heading: 10.629306 deg, new cmd heading: 9.926360 deg. 2021-02-17T19:26:09.088Z,1613589969.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:09.802Z,1613589969.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:10.207Z,1613589970.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:11.068Z,1613589971.068 [Micromodem](INFO): Nmea in: $SNTTA,0.051112,,,,192609.91*4B 2021-02-17T19:26:11.121Z,1613589971.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.440010 m, bearing: 6.499193 deg, deltaT: 4.052892 s, approachRate: -0.562561 m/s, LOS rate: 0.337966 deg/s, posRepo size: 4 2021-02-17T19:26:11.122Z,1613589971.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.440010 m, bearing: 6.499193 deg, approachRate: -0.562561 m/s, LOS rate: 0.337966 deg/s, cmd update: 1.351862 deg/s, cmd heading: 10.594221 deg, new cmd heading: 10.589930 deg. 2021-02-17T19:26:13.453Z,1613589973.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:14.246Z,1613589974.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:14.649Z,1613589974.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:15.488Z,1613589975.488 [Micromodem](INFO): Nmea in: $SNTTA,0.049377,,,,192614.35*41 2021-02-17T19:26:15.510Z,1613589975.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.980011 m, bearing: 7.901153 deg, deltaT: 4.468624 s, approachRate: -0.550505 m/s, LOS rate: 0.313734 deg/s, posRepo size: 4 2021-02-17T19:26:15.512Z,1613589975.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.980011 m, bearing: 7.901153 deg, approachRate: -0.550505 m/s, LOS rate: 0.313734 deg/s, cmd update: 1.254937 deg/s, cmd heading: 16.648240 deg, new cmd heading: 17.196181 deg. 2021-02-17T19:26:17.894Z,1613589977.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:18.687Z,1613589978.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:19.091Z,1613589979.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:19.928Z,1613589979.928 [Micromodem](INFO): Nmea in: $SNTTA,0.047733,,,0.050234,192618.80*57 2021-02-17T19:26:19.950Z,1613589979.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.460007 m, bearing: 6.139757 deg, deltaT: 4.408312 s, approachRate: -0.571648 m/s, LOS rate: -0.399562 deg/s, posRepo size: 4 2021-02-17T19:26:19.952Z,1613589979.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.460007 m, bearing: 6.139757 deg, approachRate: -0.571648 m/s, LOS rate: -0.399562 deg/s, cmd update: -1.598250 deg/s, cmd heading: 22.180678 deg, new cmd heading: 22.728719 deg. 2021-02-17T19:26:22.368Z,1613589982.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:23.145Z,1613589983.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:23.539Z,1613589983.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:24.367Z,1613589984.367 [Micromodem](INFO): Nmea in: $SNTTA,0.045940,,,,192623.26*45 2021-02-17T19:26:24.402Z,1613589984.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.639999 m, bearing: 4.903302 deg, deltaT: 4.465175 s, approachRate: -0.631556 m/s, LOS rate: -0.276911 deg/s, posRepo size: 4 2021-02-17T19:26:24.404Z,1613589984.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.639999 m, bearing: 4.903302 deg, approachRate: -0.631556 m/s, LOS rate: -0.276911 deg/s, cmd update: -1.107643 deg/s, cmd heading: 15.045123 deg, new cmd heading: 14.367673 deg. 2021-02-17T19:26:26.795Z,1613589986.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:27.574Z,1613589987.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:27.986Z,1613589987.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:28.800Z,1613589988.800 [Micromodem](INFO): Nmea in: $SNTTA,0.044258,,,,192627.68*48 2021-02-17T19:26:28.838Z,1613589988.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.120003 m, bearing: 5.506358 deg, deltaT: 4.453746 s, approachRate: -0.565815 m/s, LOS rate: 0.135404 deg/s, posRepo size: 4 2021-02-17T19:26:28.840Z,1613589988.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.120003 m, bearing: 5.506358 deg, approachRate: -0.565815 m/s, LOS rate: 0.135404 deg/s, cmd update: 0.541617 deg/s, cmd heading: 10.111493 deg, new cmd heading: 9.662148 deg. 2021-02-17T19:26:31.282Z,1613589991.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:32.064Z,1613589992.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:32.433Z,1613589992.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:33.264Z,1613589993.264 [Micromodem](INFO): Nmea in: $SNTTA,0.042607,,,,192632.17*4C 2021-02-17T19:26:33.320Z,1613589993.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.719997 m, bearing: 5.049745 deg, deltaT: 4.421718 s, approachRate: -0.542777 m/s, LOS rate: -0.103266 deg/s, posRepo size: 4 2021-02-17T19:26:33.321Z,1613589993.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.719997 m, bearing: 5.049745 deg, approachRate: -0.542777 m/s, LOS rate: -0.103266 deg/s, cmd update: -0.413065 deg/s, cmd heading: 12.504303 deg, new cmd heading: 12.747737 deg. 2021-02-17T19:26:35.676Z,1613589995.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:36.460Z,1613589996.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:36.866Z,1613589996.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:37.693Z,1613589997.693 [Micromodem](INFO): Nmea in: $SNTTA,0.040812,,0.057062,,192636.57*5C 2021-02-17T19:26:37.720Z,1613589997.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.080002 m, bearing: 6.181808 deg, deltaT: 4.457205 s, approachRate: -0.592298 m/s, LOS rate: 0.253985 deg/s, posRepo size: 4 2021-02-17T19:26:37.723Z,1613589997.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.080002 m, bearing: 6.181808 deg, approachRate: -0.592298 m/s, LOS rate: 0.253985 deg/s, cmd update: 1.015940 deg/s, cmd heading: 10.661517 deg, new cmd heading: 10.492845 deg. 2021-02-17T19:26:40.144Z,1613590000.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:40.912Z,1613590000.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:41.311Z,1613590001.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:42.148Z,1613590002.148 [Micromodem](INFO): Nmea in: $SNTTA,0.039071,,,,192641.02*47 2021-02-17T19:26:42.207Z,1613590002.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.380001 m, bearing: 6.043778 deg, deltaT: 4.423129 s, approachRate: -0.610428 m/s, LOS rate: -0.031207 deg/s, posRepo size: 4 2021-02-17T19:26:42.234Z,1613590002.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.380001 m, bearing: 6.043778 deg, approachRate: -0.610428 m/s, LOS rate: -0.031207 deg/s, cmd update: -0.124826 deg/s, cmd heading: 15.155064 deg, new cmd heading: 15.635024 deg. 2021-02-17T19:26:44.561Z,1613590004.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:45.348Z,1613590005.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:45.761Z,1613590005.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:46.592Z,1613590006.592 [Micromodem](INFO): Nmea in: $SNTTA,0.037225,,0.143287,,192645.46*5B 2021-02-17T19:26:46.610Z,1613590006.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.619995 m, bearing: 5.870449 deg, deltaT: 4.503655 s, approachRate: -0.612837 m/s, LOS rate: -0.038486 deg/s, posRepo size: 4 2021-02-17T19:26:46.612Z,1613590006.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.619995 m, bearing: 5.870449 deg, approachRate: -0.612837 m/s, LOS rate: -0.038486 deg/s, cmd update: -0.153945 deg/s, cmd heading: 14.595133 deg, new cmd heading: 14.546440 deg. 2021-02-17T19:26:49.081Z,1613590009.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:49.797Z,1613590009.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:50.209Z,1613590010.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:51.063Z,1613590011.063 [Micromodem](INFO): Nmea in: $SNTTA,0.035644,,,,192649.91*49 2021-02-17T19:26:51.116Z,1613590011.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.280003 m, bearing: 6.435608 deg, deltaT: 4.392830 s, approachRate: -0.532685 m/s, LOS rate: 0.128655 deg/s, posRepo size: 4 2021-02-17T19:26:51.118Z,1613590011.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.280003 m, bearing: 6.435608 deg, approachRate: -0.532685 m/s, LOS rate: 0.128655 deg/s, cmd update: 0.514619 deg/s, cmd heading: 13.918583 deg, new cmd heading: 13.841426 deg. 2021-02-17T19:26:53.444Z,1613590013.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:54.242Z,1613590014.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:54.642Z,1613590014.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:55.468Z,1613590015.468 [Micromodem](INFO): Nmea in: $SNTTA,0.033878,,,,192654.35*4C 2021-02-17T19:26:55.490Z,1613590015.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.580002 m, bearing: 6.904606 deg, deltaT: 4.501081 s, approachRate: -0.599856 m/s, LOS rate: 0.104197 deg/s, posRepo size: 4 2021-02-17T19:26:55.492Z,1613590015.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.580002 m, bearing: 6.904606 deg, approachRate: -0.599856 m/s, LOS rate: 0.104197 deg/s, cmd update: 0.416787 deg/s, cmd heading: 16.241088 deg, new cmd heading: 16.427581 deg. 2021-02-17T19:26:57.903Z,1613590017.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:26:58.680Z,1613590018.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:26:59.097Z,1613590019.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:26:59.908Z,1613590019.908 [Micromodem](INFO): Nmea in: $SNTTA,0.032236,,,,192658.79*49 2021-02-17T19:26:59.944Z,1613590019.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.179996 m, bearing: 6.371820 deg, deltaT: 4.386361 s, approachRate: -0.547152 m/s, LOS rate: -0.121464 deg/s, posRepo size: 4 2021-02-17T19:26:59.946Z,1613590019.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.179996 m, bearing: 6.371820 deg, approachRate: -0.547152 m/s, LOS rate: -0.121464 deg/s, cmd update: -0.485857 deg/s, cmd heading: 18.064320 deg, new cmd heading: 18.248615 deg. 2021-02-17T19:27:02.367Z,1613590022.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:03.124Z,1613590023.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:27:03.531Z,1613590023.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:27:04.359Z,1613590024.359 [Micromodem](INFO): Nmea in: $SNTTA,0.030730,,,,192703.23*48 2021-02-17T19:27:04.393Z,1613590024.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.660000 m, bearing: 5.313671 deg, deltaT: 4.435870 s, approachRate: -0.568095 m/s, LOS rate: -0.238544 deg/s, posRepo size: 4 2021-02-17T19:27:04.395Z,1613590024.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.660000 m, bearing: 5.313671 deg, approachRate: -0.568095 m/s, LOS rate: -0.238544 deg/s, cmd update: -0.954175 deg/s, cmd heading: 15.901339 deg, new cmd heading: 15.688143 deg. 2021-02-17T19:27:06.530Z,1613590026.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:07.169Z,1613590027.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:27:07.570Z,1613590027.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:27:08.396Z,1613590028.396 [Micromodem](INFO): Nmea in: $SNTTA,0.029148,,,,192707.28*46 2021-02-17T19:27:08.467Z,1613590028.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.200001 m, bearing: 6.846343 deg, deltaT: 4.104499 s, approachRate: -0.599342 m/s, LOS rate: 0.373413 deg/s, posRepo size: 4 2021-02-17T19:27:08.470Z,1613590028.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.200001 m, bearing: 6.846343 deg, approachRate: -0.599342 m/s, LOS rate: 0.373413 deg/s, cmd update: 1.493651 deg/s, cmd heading: 12.011402 deg, new cmd heading: 11.598989 deg. 2021-02-17T19:27:10.820Z,1613590030.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:11.616Z,1613590031.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:27:12.066Z,1613590032.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:27:12.840Z,1613590032.840 [Micromodem](INFO): Nmea in: $SNTTA,0.027215,,,,192711.72*4B 2021-02-17T19:27:12.890Z,1613590032.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.620003 m, bearing: 7.500476 deg, deltaT: 4.371789 s, approachRate: -0.590147 m/s, LOS rate: 0.149626 deg/s, posRepo size: 4 2021-02-17T19:27:12.892Z,1613590032.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.620003 m, bearing: 7.500476 deg, approachRate: -0.590147 m/s, LOS rate: 0.149626 deg/s, cmd update: 0.598503 deg/s, cmd heading: 18.582612 deg, new cmd heading: 19.269040 deg. 2021-02-17T19:27:15.291Z,1613590035.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:16.074Z,1613590036.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:27:16.458Z,1613590036.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:27:17.312Z,1613590037.312 [Micromodem](INFO): Nmea in: $SNTTA,0.025622,,,,192716.18*42 2021-02-17T19:27:17.363Z,1613590037.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.040001 m, bearing: 4.996618 deg, deltaT: 4.443197 s, approachRate: -0.580663 m/s, LOS rate: -0.563526 deg/s, posRepo size: 4 2021-02-17T19:27:17.363Z,1613590037.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.04 m. 2021-02-17T19:27:17.365Z,1613590037.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.040001 m, bearing: 4.996618 deg, approachRate: -0.580663 m/s, LOS rate: -0.563526 deg/s, cmd update: -2.254105 deg/s, cmd heading: 21.241888 deg, new cmd heading: 21.534673 deg. 2021-02-17T19:27:17.681Z,1613590037.681 [PowerOnly](INFO): Powering up loadControl 2021-02-17T19:27:19.722Z,1613590039.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:20.497Z,1613590040.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:27:20.913Z,1613590040.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:27:21.728Z,1613590041.728 [Micromodem](INFO): Nmea in: $SNTTA,0.024202,,,0.040034,192720.61*53 2021-02-17T19:27:21.762Z,1613590041.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.460003 m, bearing: 4.778992 deg, deltaT: 4.483136 s, approachRate: -0.575490 m/s, LOS rate: -0.048543 deg/s, posRepo size: 4 2021-02-17T19:27:21.762Z,1613590041.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.46 m. 2021-02-17T19:27:21.763Z,1613590041.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.46 m. 2021-02-17T19:27:21.763Z,1613590041.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T19:27:21.765Z,1613590041.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.460003 m, bearing: 4.778992 deg, approachRate: -0.575490 m/s, LOS rate: -0.048543 deg/s, cmd update: -0.194173 deg/s, cmd heading: 11.136106 deg, new cmd heading: 10.222330 deg. 2021-02-17T19:27:24.187Z,1613590044.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:24.942Z,1613590044.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:27:25.351Z,1613590045.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:27:26.173Z,1613590046.173 [Micromodem](INFO): Nmea in: $SNTTA,0.022146,,,,192725.05*4C 2021-02-17T19:27:26.213Z,1613590046.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.999996 m, bearing: 6.065214 deg, deltaT: 4.414361 s, approachRate: -0.557274 m/s, LOS rate: 0.291372 deg/s, posRepo size: 4 2021-02-17T19:27:26.235Z,1613590046.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.999996 m, bearing: 6.065214 deg, approachRate: -0.557274 m/s, LOS rate: 0.291372 deg/s, cmd update: 1.165489 deg/s, cmd heading: 10.278985 deg, new cmd heading: 10.193150 deg. 2021-02-17T19:27:28.643Z,1613590048.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:29.384Z,1613590049.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:27:29.790Z,1613590049.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:27:30.616Z,1613590050.616 [Micromodem](INFO): Nmea in: $SNTTA,0.020524,,,,192729.49*4A 2021-02-17T19:27:30.638Z,1613590050.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.600000 m, bearing: 6.639051 deg, deltaT: 4.487629 s, approachRate: -0.534803 m/s, LOS rate: 0.127871 deg/s, posRepo size: 4 2021-02-17T19:27:30.660Z,1613590050.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.600000 m, bearing: 6.639051 deg, approachRate: -0.534803 m/s, LOS rate: 0.127871 deg/s, cmd update: 0.511483 deg/s, cmd heading: 15.504702 deg, new cmd heading: 15.951301 deg. 2021-02-17T19:27:33.111Z,1613590053.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:33.828Z,1613590053.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:27:34.234Z,1613590054.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:27:35.080Z,1613590055.080 [Micromodem](INFO): Nmea in: $SNTTA,0.018770,,,,192733.94*49 2021-02-17T19:27:35.114Z,1613590055.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.659998 m, bearing: 4.810412 deg, deltaT: 4.391542 s, approachRate: -0.669469 m/s, LOS rate: -0.416400 deg/s, posRepo size: 4 2021-02-17T19:27:35.116Z,1613590055.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.659998 m, bearing: 4.810412 deg, approachRate: -0.669469 m/s, LOS rate: -0.416400 deg/s, cmd update: -1.665601 deg/s, cmd heading: 17.752952 deg, new cmd heading: 17.990332 deg. 2021-02-17T19:27:37.490Z,1613590057.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:38.272Z,1613590058.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:27:38.683Z,1613590058.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:27:39.507Z,1613590059.507 [Micromodem](INFO): Nmea in: $SNTTA,0.017095,,,,192738.38*47 2021-02-17T19:27:39.526Z,1613590059.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.199999 m, bearing: 4.533544 deg, deltaT: 4.490491 s, approachRate: -0.547824 m/s, LOS rate: -0.061657 deg/s, posRepo size: 4 2021-02-17T19:27:39.528Z,1613590059.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.199999 m, bearing: 4.533544 deg, approachRate: -0.547824 m/s, LOS rate: -0.061657 deg/s, cmd update: -0.246626 deg/s, cmd heading: 10.286813 deg, new cmd heading: 9.631631 deg. 2021-02-17T19:27:41.961Z,1613590061.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:42.748Z,1613590062.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:27:43.154Z,1613590063.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:27:43.980Z,1613590063.980 [Micromodem](INFO): Nmea in: $SNTTA,0.015269,,,,192742.86*4C 2021-02-17T19:27:44.076Z,1613590064.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.740000 m, bearing: 8.074377 deg, deltaT: 4.430824 s, approachRate: -0.555201 m/s, LOS rate: 0.799137 deg/s, posRepo size: 4 2021-02-17T19:27:44.077Z,1613590064.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.740000 m, bearing: 8.074377 deg, approachRate: -0.555201 m/s, LOS rate: 0.799137 deg/s, cmd update: 3.196546 deg/s, cmd heading: 9.192087 deg, new cmd heading: 9.068855 deg. 2021-02-17T19:27:46.078Z,1613590066.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:46.796Z,1613590066.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:27:47.199Z,1613590067.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:27:48.064Z,1613590068.064 [Micromodem](INFO): Nmea in: $SNTTA,0.013669,,,,192746.90*4D 2021-02-17T19:27:48.114Z,1613590068.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.280001 m, bearing: 7.909770 deg, deltaT: 4.039399 s, approachRate: -0.609001 m/s, LOS rate: -0.040751 deg/s, posRepo size: 4 2021-02-17T19:27:48.116Z,1613590068.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.280001 m, bearing: 7.909770 deg, approachRate: -0.609001 m/s, LOS rate: -0.040751 deg/s, cmd update: -0.163002 deg/s, cmd heading: 22.103689 deg, new cmd heading: 23.711718 deg. 2021-02-17T19:27:50.114Z,1613590070.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:50.833Z,1613590070.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:27:51.237Z,1613590071.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:27:52.088Z,1613590072.088 [Micromodem](INFO): Nmea in: $SNTTA,0.012247,0.014878,,,192750.95*5A 2021-02-17T19:27:52.143Z,1613590072.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.000000 m, bearing: 3.560246 deg, deltaT: 4.063547 s, approachRate: -0.561086 m/s, LOS rate: -1.070376 deg/s, posRepo size: 4 2021-02-17T19:27:52.145Z,1613590072.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.000000 m, bearing: 3.560246 deg, approachRate: -0.561086 m/s, LOS rate: -1.070376 deg/s, cmd update: -4.281504 deg/s, cmd heading: 21.441976 deg, new cmd heading: 21.364974 deg. 2021-02-17T19:27:54.497Z,1613590074.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:55.289Z,1613590075.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:27:55.701Z,1613590075.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:27:56.516Z,1613590076.516 [Micromodem](INFO): Nmea in: $SNTTA,0.010785,,,,192755.40*42 2021-02-17T19:27:56.553Z,1613590076.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.779997 m, bearing: 5.836440 deg, deltaT: 4.494351 s, approachRate: -0.493954 m/s, LOS rate: 0.506457 deg/s, posRepo size: 4 2021-02-17T19:27:56.555Z,1613590076.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.779997 m, bearing: 5.836440 deg, approachRate: -0.493954 m/s, LOS rate: 0.506457 deg/s, cmd update: 2.025826 deg/s, cmd heading: 2.224719 deg, new cmd heading: 0.536543 deg. 2021-02-17T19:27:58.936Z,1613590078.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:27:59.728Z,1613590079.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:00.151Z,1613590080.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:00.956Z,1613590080.956 [Micromodem](INFO): Nmea in: $SNTTA,0.009070,,,,192759.84*43 2021-02-17T19:28:01.058Z,1613590081.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.319998 m, bearing: 11.043600 deg, deltaT: 4.399555 s, approachRate: -0.559147 m/s, LOS rate: 1.183565 deg/s, posRepo size: 4 2021-02-17T19:28:01.072Z,1613590081.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.319998 m, bearing: 11.043600 deg, approachRate: -0.559147 m/s, LOS rate: 1.183565 deg/s, cmd update: 4.734261 deg/s, cmd heading: 11.157856 deg, new cmd heading: 12.133778 deg. 2021-02-17T19:28:03.409Z,1613590083.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:28:04.186Z,1613590084.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:04.584Z,1613590084.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:05.415Z,1613590085.415 [Micromodem](INFO): Nmea in: $SNTTA,0.007549,,,,192804.30*4A 2021-02-17T19:28:05.449Z,1613590085.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.159998 m, bearing: 13.699305 deg, deltaT: 4.505249 s, approachRate: -0.479441 m/s, LOS rate: 0.589469 deg/s, posRepo size: 4 2021-02-17T19:28:05.451Z,1613590085.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.159998 m, bearing: 13.699305 deg, approachRate: -0.479441 m/s, LOS rate: 0.589469 deg/s, cmd update: 2.357877 deg/s, cmd heading: 32.467526 deg, new cmd heading: 34.264414 deg. 2021-02-17T19:28:07.858Z,1613590087.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:28:08.617Z,1613590088.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:09.078Z,1613590089.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:09.848Z,1613590089.848 [Micromodem](INFO): Nmea in: $SNTTA,0.006126,,,,192808.73*4D 2021-02-17T19:28:09.881Z,1613590089.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.820000 m, bearing: 10.980827 deg, deltaT: 4.390157 s, approachRate: -0.533010 m/s, LOS rate: -0.619221 deg/s, posRepo size: 4 2021-02-17T19:28:09.883Z,1613590089.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.820000 m, bearing: 10.980827 deg, approachRate: -0.533010 m/s, LOS rate: -0.619221 deg/s, cmd update: -2.476885 deg/s, cmd heading: 42.819127 deg, new cmd heading: 43.813542 deg. 2021-02-17T19:28:12.347Z,1613590092.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:28:13.074Z,1613590093.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:13.478Z,1613590093.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:14.312Z,1613590094.312 [Micromodem](INFO): Nmea in: $SNTTA,0.004796,,,,192813.18*45 2021-02-17T19:28:14.346Z,1613590094.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.960000 m, bearing: 11.887688 deg, deltaT: 4.424037 s, approachRate: -0.420430 m/s, LOS rate: 0.204985 deg/s, posRepo size: 4 2021-02-17T19:28:14.348Z,1613590094.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.960000 m, bearing: 11.887688 deg, approachRate: -0.420430 m/s, LOS rate: 0.204985 deg/s, cmd update: 0.819940 deg/s, cmd heading: 31.851603 deg, new cmd heading: 30.716276 deg. 2021-02-17T19:28:16.713Z,1613590096.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:28:17.504Z,1613590097.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:17.913Z,1613590097.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:18.732Z,1613590098.732 [Micromodem](INFO): Nmea in: $SNTTA,0.004042,,,,192817.61*41 2021-02-17T19:28:18.770Z,1613590098.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.880000 m, bearing: 13.257868 deg, deltaT: 4.477739 s, approachRate: -0.241193 m/s, LOS rate: 0.305998 deg/s, posRepo size: 4 2021-02-17T19:28:18.772Z,1613590098.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.880000 m, bearing: 13.257868 deg, approachRate: -0.241193 m/s, LOS rate: 0.305998 deg/s, cmd update: 1.223993 deg/s, cmd heading: 35.522999 deg, new cmd heading: 35.854517 deg. 2021-02-17T19:28:21.176Z,1613590101.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:28:21.948Z,1613590101.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:22.360Z,1613590102.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:23.190Z,1613590103.190 [Micromodem](INFO): Nmea in: $SNTTA,0.003358,,,,192822.06*49 2021-02-17T19:28:23.240Z,1613590103.240 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T19:28:23.240Z,1613590103.240 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T19:28:23.240Z,1613590103.240 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T19:28:23.240Z,1613590103.240 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:28:23.240Z,1613590103.240 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T19:28:23.241Z,1613590103.241 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 2021-02-17T19:28:23.241Z,1613590103.241 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T19:28:23.241Z,1613590103.241 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T19:28:23.241Z,1613590103.241 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T19:28:23.248Z,1613590103.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 4.489323 deg, deltaT: 4.431071 s, approachRate: -0.230193 m/s, LOS rate: -1.978877 deg/s, posRepo size: 4 2021-02-17T19:28:23.249Z,1613590103.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.860001 m, bearing: 4.489323 deg, approachRate: -0.230193 m/s, LOS rate: -1.978877 deg/s, cmd update: -7.915509 deg/s, cmd heading: 40.941911 deg, new cmd heading: 41.493712 deg. 2021-02-17T19:28:23.615Z,1613590103.615 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T192823: (41.552319, -70.708603) 2021-02-17T19:28:23.619Z,1613590103.619 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T19:28:23.619Z,1613590103.619 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T19:28:23.619Z,1613590103.619 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:28:23.619Z,1613590103.619 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T19:28:23.619Z,1613590103.619 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:28:23.619Z,1613590103.619 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T19:28:23.620Z,1613590103.620 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T19:28:23.620Z,1613590103.620 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T19:28:25.606Z,1613590105.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:28:26.397Z,1613590106.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:26.802Z,1613590106.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:27.624Z,1613590107.624 [Micromodem](INFO): Nmea in: $SNTTA,0.003429,,,,192826.50*4F 2021-02-17T19:28:27.664Z,1613590107.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.160000 m, bearing: 340.784202 deg, deltaT: 4.444118 s, approachRate: 0.067505 m/s, LOS rate: -5.334043 deg/s, posRepo size: 4 2021-02-17T19:28:27.666Z,1613590107.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.160000 m, bearing: 340.784202 deg, approachRate: 0.067505 m/s, LOS rate: -5.334043 deg/s, cmd update: -12.000000 deg/s, cmd heading: 5.732454 deg, new cmd heading: 2.384787 deg. 2021-02-17T19:28:30.153Z,1613590110.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:28:30.836Z,1613590110.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:31.243Z,1613590111.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:32.088Z,1613590112.088 [Micromodem](INFO): Nmea in: $SNTTA,0.004220,,,,192830.94*48 2021-02-17T19:28:32.141Z,1613590112.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.300001 m, bearing: 16.972593 deg, deltaT: 4.435903 s, approachRate: 0.256994 m/s, LOS rate: 8.158064 deg/s, posRepo size: 4 2021-02-17T19:28:32.147Z,1613590112.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.300001 m, bearing: 16.972593 deg, approachRate: 0.256994 m/s, LOS rate: 8.158064 deg/s, cmd update: 12.000000 deg/s, cmd heading: 312.501652 deg, new cmd heading: 306.924868 deg. 2021-02-17T19:28:34.489Z,1613590114.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:28:35.285Z,1613590115.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:35.687Z,1613590115.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:36.512Z,1613590116.512 [Micromodem](INFO): Nmea in: $SNTTA,0.005010,,,,192835.39*4A 2021-02-17T19:28:36.534Z,1613590116.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.619999 m, bearing: 43.476237 deg, deltaT: 4.452345 s, approachRate: 0.296473 m/s, LOS rate: 5.952738 deg/s, posRepo size: 4 2021-02-17T19:28:36.536Z,1613590116.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.619999 m, bearing: 43.476237 deg, approachRate: 0.296473 m/s, LOS rate: 5.952738 deg/s, cmd update: 12.000000 deg/s, cmd heading: 5.929782 deg, new cmd heading: 10.787010 deg. 2021-02-17T19:28:38.933Z,1613590118.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:28:39.725Z,1613590119.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:40.130Z,1613590120.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:40.964Z,1613590120.964 [Micromodem](INFO): Nmea in: $SNTTA,0.006955,,,,192839.83*4C 2021-02-17T19:28:40.991Z,1613590120.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.559999 m, bearing: 23.340363 deg, deltaT: 4.418564 s, approachRate: 0.665375 m/s, LOS rate: -4.557108 deg/s, posRepo size: 4 2021-02-17T19:28:41.034Z,1613590121.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.559999 m, bearing: 23.340363 deg, approachRate: 0.665375 m/s, LOS rate: -4.557108 deg/s, cmd update: -12.000000 deg/s, cmd heading: 58.952275 deg, new cmd heading: 64.215979 deg. 2021-02-17T19:28:43.055Z,1613590123.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:28:43.770Z,1613590123.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:44.182Z,1613590124.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:45.020Z,1613590125.020 [Micromodem](INFO): Nmea in: $SNTTA,0.007115,,,,192843.88*47 2021-02-17T19:28:45.087Z,1613590125.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.800001 m, bearing: 322.641799 deg, deltaT: 4.055103 s, approachRate: 0.059185 m/s, LOS rate: -14.968442 deg/s, posRepo size: 4 2021-02-17T19:28:45.088Z,1613590125.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.968442 deg/s. Setting heading cmd to target bearing of 322.641799deg and heading rate command to 0 deg/s. 2021-02-17T19:28:47.125Z,1613590127.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:28:47.809Z,1613590127.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:48.218Z,1613590128.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:49.072Z,1613590129.072 [Micromodem](INFO): Nmea in: $SNTTA,0.009141,,,,192847.92*47 2021-02-17T19:28:49.136Z,1613590129.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.779997 m, bearing: 27.520053 deg, deltaT: 4.037125 s, approachRate: 0.490447 m/s, LOS rate: 16.070412 deg/s, posRepo size: 4 2021-02-17T19:28:49.140Z,1613590129.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.070412 deg/s. Setting heading cmd to target bearing of 27.520053deg and heading rate command to 0 deg/s. 2021-02-17T19:28:51.464Z,1613590131.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:28:52.253Z,1613590132.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:52.257Z,1613590132.257 [PowerOnly](INFO): Powering down loadControl 2021-02-17T19:28:52.675Z,1613590132.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:53.480Z,1613590133.480 [Micromodem](INFO): Nmea in: $SNTTA,0.011362,,,,192852.36*47 2021-02-17T19:28:53.502Z,1613590133.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.719999 m, bearing: 11.407252 deg, deltaT: 4.487104 s, approachRate: 0.655212 m/s, LOS rate: -3.590913 deg/s, posRepo size: 4 2021-02-17T19:28:53.524Z,1613590133.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.719999 m, bearing: 11.407252 deg, approachRate: 0.655212 m/s, LOS rate: -3.590913 deg/s, cmd update: -12.000000 deg/s, cmd heading: 27.520053 deg, new cmd heading: 27.520053 deg. 2021-02-17T19:28:55.899Z,1613590135.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:28:56.698Z,1613590136.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:28:57.098Z,1613590137.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:28:57.927Z,1613590137.927 [Micromodem](INFO): Nmea in: $SNTTA,0.011999,,,,192856.81*41 2021-02-17T19:28:57.966Z,1613590137.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.120001 m, bearing: 5.700639 deg, deltaT: 4.409800 s, approachRate: 0.544243 m/s, LOS rate: -1.294075 deg/s, posRepo size: 4 2021-02-17T19:28:57.979Z,1613590137.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.120001 m, bearing: 5.700639 deg, approachRate: 0.544243 m/s, LOS rate: -1.294075 deg/s, cmd update: -5.176300 deg/s, cmd heading: 334.805072 deg, new cmd heading: 329.438924 deg. 2021-02-17T19:29:00.138Z,1613590140.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:00.743Z,1613590140.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:01.139Z,1613590141.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:29:01.968Z,1613590141.968 [Micromodem](INFO): Nmea in: $SNTTA,0.013530,,,0.016042,192900.85*55 2021-02-17T19:29:02.069Z,1613590142.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.339998 m, bearing: 11.876726 deg, deltaT: 4.017491 s, approachRate: 0.552583 m/s, LOS rate: 1.537299 deg/s, posRepo size: 4 2021-02-17T19:29:02.069Z,1613590142.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.34 m. Rolling out. 2021-02-17T19:29:02.070Z,1613590142.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T19:29:04.070Z,1613590144.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:04.774Z,1613590144.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:05.178Z,1613590145.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:29:06.036Z,1613590146.036 [Micromodem](INFO): Nmea in: $SNTTA,0.014458,,,,192904.88*4B 2021-02-17T19:29:06.096Z,1613590146.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.840002 m, bearing: 337.785011 deg, deltaT: 4.061323 s, approachRate: 0.369339 m/s, LOS rate: -8.394236 deg/s, posRepo size: 4 2021-02-17T19:29:08.439Z,1613590148.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:09.217Z,1613590149.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:09.621Z,1613590149.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:29:10.433Z,1613590150.433 [Micromodem](INFO): Nmea in: $SNTTA,0.015998,,,,192909.33*46 2021-02-17T19:29:11.278Z,1613590151.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:12.858Z,1613590152.858 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:29:14.132Z,1613590154.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:14.881Z,1613590154.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:15.280Z,1613590155.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:29:16.105Z,1613590156.105 [Micromodem](INFO): Nmea in: $SNTTA,0.017675,,,,192914.99*44 2021-02-17T19:29:16.154Z,1613590156.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.639999 m, bearing: 328.501363 deg, deltaT: 10.116032 s, approachRate: 0.474494 m/s, LOS rate: -0.917716 deg/s, posRepo size: 4 2021-02-17T19:29:18.528Z,1613590158.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:19.322Z,1613590159.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:19.732Z,1613590159.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:29:20.555Z,1613590160.555 [Micromodem](INFO): Nmea in: $SNTTA,0.018937,,,,192919.43*48 2021-02-17T19:29:20.574Z,1613590160.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.559998 m, bearing: 326.126971 deg, deltaT: 4.443983 s, approachRate: 0.432044 m/s, LOS rate: -0.534294 deg/s, posRepo size: 4 2021-02-17T19:29:22.982Z,1613590162.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:23.768Z,1613590163.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:24.173Z,1613590164.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:29:24.000Z,1613590165.000 [Micromodem](INFO): Nmea in: $SNTTA,0.020476,,,,192923.88*45 2021-02-17T19:29:25.091Z,1613590165.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.020002 m, bearing: 271.651322 deg, deltaT: 4.406484 s, approachRate: 0.558269 m/s, LOS rate: -12.362612 deg/s, posRepo size: 4 2021-02-17T19:29:27.090Z,1613590167.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:27.800Z,1613590167.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:28.207Z,1613590168.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:29:29.070Z,1613590169.070 [Micromodem](INFO): Nmea in: $SNTTA,0.021893,,,,192927.91*4F 2021-02-17T19:29:29.124Z,1613590169.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.480000 m, bearing: 279.840172 deg, deltaT: 4.055688 s, approachRate: 0.606555 m/s, LOS rate: 2.019103 deg/s, posRepo size: 4 2021-02-17T19:29:31.456Z,1613590171.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:32.244Z,1613590172.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:32.672Z,1613590172.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:29:33.491Z,1613590173.491 [Micromodem](INFO): Nmea in: $SNTTA,0.023810,,,,192932.35*4C 2021-02-17T19:29:33.510Z,1613590173.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.880001 m, bearing: 333.212937 deg, deltaT: 4.474764 s, approachRate: 0.536341 m/s, LOS rate: 11.927504 deg/s, posRepo size: 4 2021-02-17T19:29:35.906Z,1613590175.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:36.689Z,1613590176.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:37.101Z,1613590177.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:29:37.918Z,1613590177.918 [Micromodem](INFO): Nmea in: $SNTTA,0.025379,,,,192936.80*44 2021-02-17T19:29:37.966Z,1613590177.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.279999 m, bearing: 279.383588 deg, deltaT: 4.426649 s, approachRate: 0.542170 m/s, LOS rate: -12.160293 deg/s, posRepo size: 4 2021-02-17T19:29:40.368Z,1613590180.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:41.156Z,1613590181.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:41.538Z,1613590181.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:29:42.370Z,1613590182.370 [Micromodem](INFO): Nmea in: $SNTTA,0.027248,,,,192941.26*49 2021-02-17T19:29:42.459Z,1613590182.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.039997 m, bearing: 280.737331 deg, deltaT: 4.437477 s, approachRate: 0.621975 m/s, LOS rate: 0.305071 deg/s, posRepo size: 4 2021-02-17T19:29:44.798Z,1613590184.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:45.581Z,1613590185.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:46.007Z,1613590186.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:29:46.808Z,1613590186.808 [Micromodem](INFO): Nmea in: $SNTTA,0.029118,,,,192945.69*4E 2021-02-17T19:29:46.830Z,1613590186.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.859997 m, bearing: 297.405206 deg, deltaT: 4.453102 s, approachRate: 0.633266 m/s, LOS rate: 3.742981 deg/s, posRepo size: 4 2021-02-17T19:29:49.248Z,1613590189.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:50.070Z,1613590190.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:50.427Z,1613590190.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:29:51.274Z,1613590191.274 [Micromodem](INFO): Nmea in: $SNTTA,0.031024,,,,192950.18*4B 2021-02-17T19:29:51.332Z,1613590191.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.040001 m, bearing: 304.751511 deg, deltaT: 4.424918 s, approachRate: 0.718658 m/s, LOS rate: 1.660213 deg/s, posRepo size: 4 2021-02-17T19:29:53.674Z,1613590193.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:54.464Z,1613590194.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:54.889Z,1613590194.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:29:55.716Z,1613590195.716 [Micromodem](INFO): Nmea in: $SNTTA,0.033025,,0.072169,,192954.57*52 2021-02-17T19:29:55.738Z,1613590195.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.039997 m, bearing: 311.932171 deg, deltaT: 4.468258 s, approachRate: 0.671402 m/s, LOS rate: 1.607038 deg/s, posRepo size: 4 2021-02-17T19:29:58.156Z,1613590198.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:29:58.908Z,1613590198.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:29:59.333Z,1613590199.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:00.136Z,1613590200.136 [Micromodem](INFO): Nmea in: $SNTTA,0.035057,,,,192959.02*49 2021-02-17T19:30:00.200Z,1613590200.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.980000 m, bearing: 308.442136 deg, deltaT: 4.407225 s, approachRate: 0.667087 m/s, LOS rate: -0.791890 deg/s, posRepo size: 4 2021-02-17T19:30:02.580Z,1613590202.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:30:03.371Z,1613590203.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:30:03.763Z,1613590203.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:04.592Z,1613590204.592 [Micromodem](INFO): Nmea in: $SNTTA,0.037143,,,,193003.48*46 2021-02-17T19:30:04.640Z,1613590204.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.920002 m, bearing: 307.670379 deg, deltaT: 4.485326 s, approachRate: 0.655471 m/s, LOS rate: -0.172063 deg/s, posRepo size: 4 2021-02-17T19:30:07.085Z,1613590207.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:30:07.447Z,1613590207.447 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:30:07.814Z,1613590207.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:30:08.366Z,1613590208.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:09.076Z,1613590209.076 [Micromodem](INFO): Nmea in: $SNTTA,0.039226,,,,193007.92*4B 2021-02-17T19:30:09.125Z,1613590209.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.220001 m, bearing: 313.492788 deg, deltaT: 4.423755 s, approachRate: 0.745972 m/s, LOS rate: 1.316169 deg/s, posRepo size: 4 2021-02-17T19:30:11.479Z,1613590211.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:30:12.261Z,1613590212.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:30:12.676Z,1613590212.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:13.488Z,1613590213.488 [Micromodem](INFO): Nmea in: $SNTTA,0.041359,,,,193012.37*46 2021-02-17T19:30:13.524Z,1613590213.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.400005 m, bearing: 316.452472 deg, deltaT: 4.482265 s, approachRate: 0.709464 m/s, LOS rate: 0.660310 deg/s, posRepo size: 4 2021-02-17T19:30:15.915Z,1613590215.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:30:16.700Z,1613590216.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:30:17.116Z,1613590217.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:17.935Z,1613590217.935 [Micromodem](INFO): Nmea in: $SNTTA,0.043663,,,,193016.81*41 2021-02-17T19:30:17.954Z,1613590217.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.460007 m, bearing: 316.036377 deg, deltaT: 4.414339 s, approachRate: 0.693196 m/s, LOS rate: -0.094260 deg/s, posRepo size: 4 2021-02-17T19:30:20.082Z,1613590220.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:30:20.740Z,1613590220.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:30:21.163Z,1613590221.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:21.968Z,1613590221.968 [Micromodem](INFO): Nmea in: $SNTTA,0.045466,,,,193020.85*41 2021-02-17T19:30:22.073Z,1613590222.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.580002 m, bearing: 319.761153 deg, deltaT: 4.040801 s, approachRate: 0.772123 m/s, LOS rate: 0.921791 deg/s, posRepo size: 4 2021-02-17T19:30:24.418Z,1613590224.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:30:25.247Z,1613590225.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:30:25.590Z,1613590225.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:26.472Z,1613590226.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.580002 m, bearing: 320.509741 deg, deltaT: 4.520622 s, approachRate: 0.663625 m/s, LOS rate: 0.165594 deg/s, posRepo size: 4 2021-02-17T19:30:26.812Z,1613590226.812 [Micromodem](INFO): Nmea in: $SNTTA,0.047528,,,,193025.36*45 2021-02-17T19:30:28.876Z,1613590228.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:30:29.638Z,1613590229.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:30:30.071Z,1613590230.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:30.860Z,1613590230.860 [Micromodem](INFO): Nmea in: $SNTTA,0.049697,,,,193029.75*47 2021-02-17T19:30:30.901Z,1613590230.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.879997 m, bearing: 318.835853 deg, deltaT: 4.382044 s, approachRate: 0.753072 m/s, LOS rate: -0.381988 deg/s, posRepo size: 4 2021-02-17T19:30:33.310Z,1613590233.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:30:34.078Z,1613590234.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:30:34.478Z,1613590234.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:35.304Z,1613590235.304 [Micromodem](INFO): Nmea in: $SNTTA,0.051801,,0.058858,,193034.19*5F 2021-02-17T19:30:35.357Z,1613590235.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.820000 m, bearing: 327.569452 deg, deltaT: 4.415111 s, approachRate: 0.665895 m/s, LOS rate: 1.978115 deg/s, posRepo size: 4 2021-02-17T19:30:37.734Z,1613590237.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:30:38.516Z,1613590238.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:30:38.934Z,1613590238.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:39.744Z,1613590239.744 [Micromodem](INFO): Nmea in: $SNTTA,0.054073,,,,193038.63*40 2021-02-17T19:30:39.786Z,1613590239.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.419998 m, bearing: 312.146366 deg, deltaT: 4.502897 s, approachRate: 0.799485 m/s, LOS rate: -3.425148 deg/s, posRepo size: 4 2021-02-17T19:30:42.198Z,1613590242.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:30:42.966Z,1613590242.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:30:43.375Z,1613590243.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:44.212Z,1613590244.212 [Micromodem](INFO): Nmea in: $SNTTA,0.056192,,,,193043.07*42 2021-02-17T19:30:44.246Z,1613590244.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.360001 m, bearing: 331.458179 deg, deltaT: 4.404480 s, approachRate: 0.667503 m/s, LOS rate: 4.384584 deg/s, posRepo size: 4 2021-02-17T19:30:46.616Z,1613590246.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:30:47.404Z,1613590247.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:30:47.810Z,1613590247.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:48.635Z,1613590248.635 [Micromodem](INFO): Nmea in: $SNTTA,0.058282,,,,193047.52*4A 2021-02-17T19:30:48.654Z,1613590248.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.600006 m, bearing: 326.568748 deg, deltaT: 4.451428 s, approachRate: 0.727858 m/s, LOS rate: -1.098396 deg/s, posRepo size: 4 2021-02-17T19:30:51.149Z,1613590251.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:30:51.848Z,1613590251.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:30:52.254Z,1613590252.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:52.299Z,1613590252.299 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:30:53.088Z,1613590253.088 [Micromodem](INFO): Nmea in: $SNTTA,0.060551,,,,193051.96*47 2021-02-17T19:30:53.141Z,1613590253.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.080009 m, bearing: 302.698247 deg, deltaT: 4.420962 s, approachRate: 0.787160 m/s, LOS rate: -5.399390 deg/s, posRepo size: 4 2021-02-17T19:30:55.499Z,1613590255.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:30:56.298Z,1613590256.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:30:56.716Z,1613590256.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:30:57.524Z,1613590257.524 [Micromodem](INFO): Nmea in: $SNTTA,0.062531,,,,193056.41*4E 2021-02-17T19:30:57.565Z,1613590257.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.960007 m, bearing: 331.331794 deg, deltaT: 4.476673 s, approachRate: 0.643334 m/s, LOS rate: 6.396167 deg/s, posRepo size: 4 2021-02-17T19:30:59.951Z,1613590259.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:00.736Z,1613590260.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:31:01.147Z,1613590261.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:31:01.964Z,1613590261.964 [Micromodem](INFO): Nmea in: $SNTTA,0.064782,,,,193100.84*49 2021-02-17T19:31:02.025Z,1613590262.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.380005 m, bearing: 329.492287 deg, deltaT: 4.408010 s, approachRate: 0.775860 m/s, LOS rate: -0.417310 deg/s, posRepo size: 4 2021-02-17T19:31:04.074Z,1613590264.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:04.782Z,1613590264.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:31:05.187Z,1613590265.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:31:06.052Z,1613590266.052 [Micromodem](INFO): Nmea in: $SNTTA,0.066694,,,,193104.89*44 2021-02-17T19:31:06.114Z,1613590266.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.260002 m, bearing: 329.037888 deg, deltaT: 4.038998 s, approachRate: 0.713047 m/s, LOS rate: -0.112503 deg/s, posRepo size: 4 2021-02-17T19:31:08.115Z,1613590268.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:08.816Z,1613590268.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:31:09.239Z,1613590269.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:31:10.084Z,1613590270.084 [Micromodem](INFO): Nmea in: $SNTTA,0.068749,,,,193108.92*4D 2021-02-17T19:31:10.145Z,1613590270.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.320000 m, bearing: 329.746835 deg, deltaT: 4.070954 s, approachRate: 0.751666 m/s, LOS rate: 0.174147 deg/s, posRepo size: 4 2021-02-17T19:31:12.499Z,1613590272.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:13.262Z,1613590273.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:31:13.680Z,1613590273.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:31:14.503Z,1613590274.503 [Micromodem](INFO): Nmea in: $SNTTA,0.070992,,,,193113.37*49 2021-02-17T19:31:14.522Z,1613590274.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.619995 m, bearing: 358.738256 deg, deltaT: 4.451698 s, approachRate: 0.741289 m/s, LOS rate: 6.512441 deg/s, posRepo size: 4 2021-02-17T19:31:16.912Z,1613590276.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:17.709Z,1613590277.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:31:18.116Z,1613590278.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:31:18.943Z,1613590278.943 [Micromodem](INFO): Nmea in: $SNTTA,0.073185,,,,193117.82*4E 2021-02-17T19:31:18.962Z,1613590278.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.980003 m, bearing: 329.744786 deg, deltaT: 4.425395 s, approachRate: 0.759256 m/s, LOS rate: -6.551612 deg/s, posRepo size: 4 2021-02-17T19:31:21.375Z,1613590281.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:22.148Z,1613590282.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:31:22.571Z,1613590282.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:31:23.379Z,1613590283.379 [Micromodem](INFO): Nmea in: $SNTTA,0.075333,,,,193122.26*4F 2021-02-17T19:31:23.413Z,1613590283.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.220001 m, bearing: 325.321965 deg, deltaT: 4.435592 s, approachRate: 0.730454 m/s, LOS rate: -0.997121 deg/s, posRepo size: 4 2021-02-17T19:31:25.800Z,1613590285.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:26.592Z,1613590286.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:31:27.053Z,1613590287.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:31:27.828Z,1613590287.828 [Micromodem](INFO): Nmea in: $SNTTA,0.077667,,,,193126.70*4E 2021-02-17T19:31:27.850Z,1613590287.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.699997 m, bearing: 324.457072 deg, deltaT: 4.440798 s, approachRate: 0.783642 m/s, LOS rate: -0.194761 deg/s, posRepo size: 4 2021-02-17T19:31:30.284Z,1613590290.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:31.069Z,1613590291.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:31:31.442Z,1613590291.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:31:32.276Z,1613590292.276 [Micromodem](INFO): Nmea in: $SNTTA,0.079875,,,,193131.18*45 2021-02-17T19:31:32.328Z,1613590292.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.940002 m, bearing: 331.634125 deg, deltaT: 4.439181 s, approachRate: 0.729866 m/s, LOS rate: 1.616752 deg/s, posRepo size: 4 2021-02-17T19:31:34.712Z,1613590294.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:35.482Z,1613590295.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:31:35.893Z,1613590295.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:31:36.700Z,1613590296.700 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193135.59*5E 2021-02-17T19:31:37.523Z,1613590297.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:39.120Z,1613590299.120 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:31:40.388Z,1613590300.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:41.148Z,1613590301.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:31:41.542Z,1613590301.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:31:42.377Z,1613590302.377 [Micromodem](INFO): Nmea in: $SNTTA,0.084839,,,,193141.26*45 2021-02-17T19:31:43.204Z,1613590303.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:44.770Z,1613590304.770 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:31:46.072Z,1613590306.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:46.792Z,1613590306.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:31:47.205Z,1613590307.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:31:48.066Z,1613590308.066 [Micromodem](INFO): Nmea in: $SNTTA,0.088405,,,,193146.90*40 2021-02-17T19:31:48.833Z,1613590308.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:50.072Z,1613590310.072 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:31:51.654Z,1613590311.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:52.448Z,1613590312.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:31:52.859Z,1613590312.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:31:53.688Z,1613590313.688 [Micromodem](INFO): Nmea in: $SNTTA,0.091471,,,,193152.56*44 2021-02-17T19:31:53.710Z,1613590313.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.339996 m, bearing: 323.111579 deg, deltaT: 21.437183 s, approachRate: 0.811674 m/s, LOS rate: -0.397559 deg/s, posRepo size: 4 2021-02-17T19:31:56.146Z,1613590316.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:31:56.892Z,1613590316.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:31:57.298Z,1613590317.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:31:58.110Z,1613590318.110 [Micromodem](INFO): Nmea in: $SNTTA,0.092782,,,,193157.00*4E 2021-02-17T19:31:58.949Z,1613590318.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:00.526Z,1613590320.526 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:32:01.754Z,1613590321.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:02.559Z,1613590322.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:32:02.953Z,1613590322.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:32:03.781Z,1613590323.781 [Micromodem](INFO): Nmea in: $SNTTA,0.095556,,,,193202.67*40 2021-02-17T19:32:03.816Z,1613590323.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.520004 m, bearing: 317.383782 deg, deltaT: 10.114897 s, approachRate: 0.610981 m/s, LOS rate: -0.566273 deg/s, posRepo size: 4 2021-02-17T19:32:06.229Z,1613590326.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:07.014Z,1613590327.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:32:07.417Z,1613590327.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:32:08.219Z,1613590328.219 [Micromodem](INFO): Nmea in: $SNTTA,0.097883,,,,193207.12*40 2021-02-17T19:32:09.102Z,1613590329.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:10.636Z,1613590330.636 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:32:11.861Z,1613590331.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:12.648Z,1613590332.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:32:13.082Z,1613590333.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:32:13.873Z,1613590333.873 [Micromodem](INFO): Nmea in: $SNTTA,0.101210,,,,193212.76*48 2021-02-17T19:32:14.682Z,1613590334.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:16.282Z,1613590336.282 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:32:17.555Z,1613590337.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:18.305Z,1613590338.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:32:18.721Z,1613590338.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:32:19.532Z,1613590339.532 [Micromodem](INFO): Nmea in: $SNTTA,0.103434,,,,193218.41*44 2021-02-17T19:32:19.574Z,1613590339.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.279999 m, bearing: 309.026964 deg, deltaT: 15.760560 s, approachRate: 0.746166 m/s, LOS rate: -0.530236 deg/s, posRepo size: 4 2021-02-17T19:32:19.574Z,1613590339.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 155.28 m. Resuming terminal guidance. 2021-02-17T19:32:19.574Z,1613590339.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T19:32:21.961Z,1613590341.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:22.755Z,1613590342.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:32:23.161Z,1613590343.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:32:23.970Z,1613590343.970 [Micromodem](INFO): Nmea in: $SNTTA,0.105702,,,,193222.86*46 2021-02-17T19:32:24.783Z,1613590344.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:26.383Z,1613590346.383 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:32:27.637Z,1613590347.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:28.410Z,1613590348.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:32:28.810Z,1613590348.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:32:29.636Z,1613590349.636 [Micromodem](INFO): Nmea in: $SNTTA,0.108618,,,,193228.52*42 2021-02-17T19:32:29.679Z,1613590349.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.080002 m, bearing: 310.826418 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T19:32:29.680Z,1613590349.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 310.826418deg and heading rate command to 0 deg/s. 2021-02-17T19:32:32.129Z,1613590352.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:32.854Z,1613590352.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:32:33.254Z,1613590353.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:32:34.088Z,1613590354.088 [Micromodem](INFO): Nmea in: $SNTTA,0.110842,,,,193232.96*49 2021-02-17T19:32:34.135Z,1613590354.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.080002 m, bearing: 328.672282 deg, deltaT: 4.427682 s, approachRate: 0.000000 m/s, LOS rate: 4.030521 deg/s, posRepo size: 2 2021-02-17T19:32:34.137Z,1613590354.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.080002 m, bearing: 328.672282 deg, approachRate: 0.000000 m/s, LOS rate: 4.030521 deg/s, cmd update: 12.000000 deg/s, cmd heading: 310.826418 deg, new cmd heading: 310.826418 deg. 2021-02-17T19:32:36.506Z,1613590356.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:37.292Z,1613590357.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:32:37.715Z,1613590357.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:32:38.524Z,1613590358.524 [Micromodem](INFO): Nmea in: $SNTTA,0.113069,,,,193237.40*45 2021-02-17T19:32:38.558Z,1613590358.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.080002 m, bearing: 352.498768 deg, deltaT: 4.487970 s, approachRate: 0.000000 m/s, LOS rate: 5.308967 deg/s, posRepo size: 3 2021-02-17T19:32:38.560Z,1613590358.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.080002 m, bearing: 352.498768 deg, approachRate: 0.000000 m/s, LOS rate: 5.308967 deg/s, cmd update: 12.000000 deg/s, cmd heading: 4.665428 deg, new cmd heading: 9.395168 deg. 2021-02-17T19:32:40.960Z,1613590360.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:41.736Z,1613590361.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:32:42.143Z,1613590362.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:32:42.964Z,1613590362.964 [Micromodem](INFO): Nmea in: $SNTTA,0.115276,,,,193241.84*46 2021-02-17T19:32:43.067Z,1613590363.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.039993 m, bearing: 16.517428 deg, deltaT: 4.404620 s, approachRate: 2.261260 m/s, LOS rate: 5.453059 deg/s, posRepo size: 4 2021-02-17T19:32:43.069Z,1613590363.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.039993 m, bearing: 16.517428 deg, approachRate: 2.261260 m/s, LOS rate: 5.453059 deg/s, cmd update: 12.000000 deg/s, cmd heading: 57.732501 deg, new cmd heading: 63.361857 deg. 2021-02-17T19:32:45.414Z,1613590365.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:46.180Z,1613590366.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:32:46.587Z,1613590366.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:32:47.415Z,1613590367.415 [Micromodem](INFO): Nmea in: $SNTTA,0.117121,,,,193246.29*45 2021-02-17T19:32:47.439Z,1613590367.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.799988 m, bearing: 358.444639 deg, deltaT: 4.514512 s, approachRate: 0.611361 m/s, LOS rate: -4.003263 deg/s, posRepo size: 4 2021-02-17T19:32:47.441Z,1613590367.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.799988 m, bearing: 358.444639 deg, approachRate: 0.611361 m/s, LOS rate: -4.003263 deg/s, cmd update: -12.000000 deg/s, cmd heading: 111.798646 deg, new cmd heading: 115.964554 deg. 2021-02-17T19:32:49.860Z,1613590369.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:50.624Z,1613590370.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:32:51.069Z,1613590371.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:32:51.852Z,1613590371.852 [Micromodem](INFO): Nmea in: $SNTTA,0.118574,,,,193250.73*46 2021-02-17T19:32:51.874Z,1613590371.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.799988 m, bearing: 9.647062 deg, deltaT: 4.376300 s, approachRate: 0.000000 m/s, LOS rate: 2.559795 deg/s, posRepo size: 4 2021-02-17T19:32:51.876Z,1613590371.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.799988 m, bearing: 9.647062 deg, approachRate: 0.000000 m/s, LOS rate: 2.559795 deg/s, cmd update: 10.239178 deg/s, cmd heading: 59.369409 deg, new cmd heading: 54.413277 deg. 2021-02-17T19:32:54.315Z,1613590374.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:55.096Z,1613590375.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:32:55.474Z,1613590375.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:32:56.313Z,1613590376.313 [Micromodem](INFO): Nmea in: $SNTTA,0.119583,,,,193255.20*4C 2021-02-17T19:32:56.714Z,1613590376.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 76.425118 deg, deltaT: 4.868595 s, approachRate: 0.714788 m/s, LOS rate: 13.716084 deg/s, posRepo size: 4 2021-02-17T19:32:56.714Z,1613590376.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.716084 deg/s. Setting heading cmd to target bearing of 76.425118deg and heading rate command to 0 deg/s. 2021-02-17T19:32:59.158Z,1613590379.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:32:59.922Z,1613590379.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:33:00.322Z,1613590380.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:33:01.137Z,1613590381.137 [Micromodem](INFO): Nmea in: $SNTTA,0.120132,,,,193300.03*48 2021-02-17T19:33:01.575Z,1613590381.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.179993 m, bearing: 14.012306 deg, deltaT: 4.856725 s, approachRate: 0.185309 m/s, LOS rate: -12.850803 deg/s, posRepo size: 4 2021-02-17T19:33:01.575Z,1613590381.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.850803 deg/s. Setting heading cmd to target bearing of 14.012306deg and heading rate command to 0 deg/s. 2021-02-17T19:33:04.006Z,1613590384.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:33:04.764Z,1613590384.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:33:05.170Z,1613590385.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:33:05.000Z,1613590386.000 [Micromodem](INFO): Nmea in: $SNTTA,0.119974,,,,193304.87*40 2021-02-17T19:33:06.080Z,1613590386.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.179993 m, bearing: 108.150588 deg, deltaT: 4.392975 s, approachRate: 0.000000 m/s, LOS rate: 21.429278 deg/s, posRepo size: 4 2021-02-17T19:33:06.081Z,1613590386.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.429278 deg/s. Setting heading cmd to target bearing of 108.150588deg and heading rate command to 0 deg/s. 2021-02-17T19:33:08.446Z,1613590388.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:33:09.213Z,1613590389.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:33:09.613Z,1613590389.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:33:10.444Z,1613590390.444 [Micromodem](INFO): Nmea in: $SNTTA,0.119583,,,,193309.32*47 2021-02-17T19:33:10.478Z,1613590390.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.339996 m, bearing: 19.342582 deg, deltaT: 4.508552 s, approachRate: -0.186312 m/s, LOS rate: -19.697678 deg/s, posRepo size: 4 2021-02-17T19:33:10.479Z,1613590390.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.697678 deg/s. Setting heading cmd to target bearing of 19.342582deg and heading rate command to 0 deg/s. 2021-02-17T19:33:12.858Z,1613590392.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:33:13.654Z,1613590393.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:33:14.077Z,1613590394.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:33:14.876Z,1613590394.876 [Micromodem](INFO): Nmea in: $SNTTA,0.119646,,,,193313.76*46 2021-02-17T19:33:15.340Z,1613590395.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.400009 m, bearing: 104.235476 deg, deltaT: 4.809970 s, approachRate: 0.012477 m/s, LOS rate: 17.649361 deg/s, posRepo size: 4 2021-02-17T19:33:15.340Z,1613590395.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.649361 deg/s. Setting heading cmd to target bearing of 104.235476deg and heading rate command to 0 deg/s. 2021-02-17T19:33:17.726Z,1613590397.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:33:18.505Z,1613590398.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:33:18.906Z,1613590398.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:33:19.722Z,1613590399.722 [Micromodem](INFO): Nmea in: $SNTTA,0.119794,,,,193318.61*45 2021-02-17T19:33:20.163Z,1613590400.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.639999 m, bearing: 102.380301 deg, deltaT: 4.822151 s, approachRate: 0.049768 m/s, LOS rate: -0.384719 deg/s, posRepo size: 4 2021-02-17T19:33:20.165Z,1613590400.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.639999 m, bearing: 102.380301 deg, approachRate: 0.049768 m/s, LOS rate: -0.384719 deg/s, cmd update: -1.538878 deg/s, cmd heading: 104.235476 deg, new cmd heading: 104.235476 deg. 2021-02-17T19:33:22.578Z,1613590402.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:33:23.353Z,1613590403.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:33:23.761Z,1613590403.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:33:24.568Z,1613590404.568 [Micromodem](INFO): Nmea in: $SNTTA,0.120317,,,,193323.46*4D 2021-02-17T19:33:25.036Z,1613590405.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.479996 m, bearing: 97.030303 deg, deltaT: 4.846645 s, approachRate: 0.173315 m/s, LOS rate: -1.103856 deg/s, posRepo size: 4 2021-02-17T19:33:25.051Z,1613590405.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.479996 m, bearing: 97.030303 deg, approachRate: 0.173315 m/s, LOS rate: -1.103856 deg/s, cmd update: -4.415424 deg/s, cmd heading: 96.777443 deg, new cmd heading: 96.121102 deg. 2021-02-17T19:33:27.093Z,1613590407.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:33:27.798Z,1613590407.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:33:28.197Z,1613590408.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:33:29.069Z,1613590409.069 [Micromodem](INFO): Nmea in: $SNTTA,0.120430,,,,193327.91*41 2021-02-17T19:33:29.077Z,1613590409.077 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:33:29.468Z,1613590409.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.539993 m, bearing: 28.486243 deg, deltaT: 4.562480 s, approachRate: 0.013150 m/s, LOS rate: -15.023423 deg/s, posRepo size: 4 2021-02-17T19:33:29.469Z,1613590409.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.023423 deg/s. Setting heading cmd to target bearing of 28.486243deg and heading rate command to 0 deg/s. 2021-02-17T19:33:31.095Z,1613590411.095 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:33:31.869Z,1613590411.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:33:32.650Z,1613590412.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:33:33.073Z,1613590413.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:33:33.883Z,1613590413.883 [Micromodem](INFO): Nmea in: $SNTTA,0.120036,,,,193332.76*4E 2021-02-17T19:33:34.301Z,1613590414.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.880005 m, bearing: 132.398709 deg, deltaT: 4.769388 s, approachRate: -0.138380 m/s, LOS rate: 21.787378 deg/s, posRepo size: 4 2021-02-17T19:33:34.302Z,1613590414.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.787378 deg/s. Setting heading cmd to target bearing of 132.398709deg and heading rate command to 0 deg/s. 2021-02-17T19:33:36.701Z,1613590416.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:33:37.488Z,1613590417.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:33:37.894Z,1613590417.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:33:38.719Z,1613590418.719 [Micromodem](INFO): Nmea in: $SNTTA,0.119350,,,,193337.60*45 2021-02-17T19:33:38.738Z,1613590418.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.880005 m, bearing: 30.862261 deg, deltaT: 4.446981 s, approachRate: 0.000000 m/s, LOS rate: -22.832668 deg/s, posRepo size: 4 2021-02-17T19:33:38.739Z,1613590418.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.832668 deg/s. Setting heading cmd to target bearing of 30.862261deg and heading rate command to 0 deg/s. 2021-02-17T19:33:41.238Z,1613590421.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:33:42.022Z,1613590422.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:33:42.393Z,1613590422.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:33:43.239Z,1613590423.239 [Micromodem](INFO): Nmea in: $SNTTA,0.119108,,0.121877,0.121627,193342.13*47 2021-02-17T19:33:43.642Z,1613590423.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.679993 m, bearing: 27.800953 deg, deltaT: 4.930031 s, approachRate: -0.243409 m/s, LOS rate: -0.620951 deg/s, posRepo size: 4 2021-02-17T19:33:43.644Z,1613590423.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.679993 m, bearing: 27.800953 deg, approachRate: -0.243409 m/s, LOS rate: -0.620951 deg/s, cmd update: -2.483804 deg/s, cmd heading: 30.862261 deg, new cmd heading: 30.862261 deg. 2021-02-17T19:33:46.112Z,1613590426.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:33:46.836Z,1613590426.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:33:47.259Z,1613590427.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:33:48.084Z,1613590428.084 [Micromodem](INFO): Nmea in: $SNTTA,0.118816,,,,193346.94*40 2021-02-17T19:33:48.147Z,1613590428.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.679993 m, bearing: 25.718471 deg, deltaT: 4.400886 s, approachRate: 0.000000 m/s, LOS rate: -0.473196 deg/s, posRepo size: 4 2021-02-17T19:33:48.150Z,1613590428.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.679993 m, bearing: 25.718471 deg, approachRate: 0.000000 m/s, LOS rate: -0.473196 deg/s, cmd update: -1.892784 deg/s, cmd heading: 19.954559 deg, new cmd heading: 18.804642 deg. 2021-02-17T19:33:50.496Z,1613590430.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:33:51.280Z,1613590431.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:33:51.686Z,1613590431.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:33:52.512Z,1613590432.512 [Micromodem](INFO): Nmea in: $SNTTA,0.118905,,,0.121436,193351.39*5F 2021-02-17T19:33:52.534Z,1613590432.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.679993 m, bearing: 107.547612 deg, deltaT: 4.464650 s, approachRate: 0.000000 m/s, LOS rate: 18.328232 deg/s, posRepo size: 4 2021-02-17T19:33:52.535Z,1613590432.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.328232 deg/s. Setting heading cmd to target bearing of 107.547612deg and heading rate command to 0 deg/s. 2021-02-17T19:33:54.936Z,1613590434.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:33:55.724Z,1613590435.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:33:56.130Z,1613590436.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:33:56.972Z,1613590436.972 [Micromodem](INFO): Nmea in: $SNTTA,0.119623,,0.148930,,193355.83*54 2021-02-17T19:33:57.064Z,1613590437.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.679993 m, bearing: 68.573610 deg, deltaT: 4.396730 s, approachRate: 0.000000 m/s, LOS rate: -8.864315 deg/s, posRepo size: 4 2021-02-17T19:33:57.066Z,1613590437.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.679993 m, bearing: 68.573610 deg, approachRate: 0.000000 m/s, LOS rate: -8.864315 deg/s, cmd update: -12.000000 deg/s, cmd heading: 107.547612 deg, new cmd heading: 107.547612 deg. 2021-02-17T19:33:59.062Z,1613590439.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:33:59.765Z,1613590439.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:00.177Z,1613590440.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:01.015Z,1613590441.015 [Micromodem](INFO): Nmea in: $SNTTA,0.120586,,,,193359.88*4C 2021-02-17T19:34:01.098Z,1613590441.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.679993 m, bearing: 72.369768 deg, deltaT: 4.070670 s, approachRate: 0.000000 m/s, LOS rate: 0.932563 deg/s, posRepo size: 4 2021-02-17T19:34:01.104Z,1613590441.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.679993 m, bearing: 72.369768 deg, approachRate: 0.000000 m/s, LOS rate: 0.932563 deg/s, cmd update: 3.730254 deg/s, cmd heading: 58.793158 deg, new cmd heading: 53.006734 deg. 2021-02-17T19:34:03.432Z,1613590443.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:34:04.209Z,1613590444.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:04.615Z,1613590444.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:05.472Z,1613590445.472 [Micromodem](INFO): Nmea in: $SNTTA,0.121274,,,,193404.32*49 2021-02-17T19:34:05.502Z,1613590445.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.860001 m, bearing: 108.247522 deg, deltaT: 4.536709 s, approachRate: 0.700950 m/s, LOS rate: 7.908322 deg/s, posRepo size: 4 2021-02-17T19:34:05.508Z,1613590445.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.860001 m, bearing: 108.247522 deg, approachRate: 0.700950 m/s, LOS rate: 7.908322 deg/s, cmd update: 12.000000 deg/s, cmd heading: 75.735038 deg, new cmd heading: 77.020409 deg. 2021-02-17T19:34:07.864Z,1613590447.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:34:08.654Z,1613590448.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:09.077Z,1613590449.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:09.872Z,1613590449.872 [Micromodem](INFO): Nmea in: $SNTTA,0.121384,,,,193408.76*4B 2021-02-17T19:34:10.314Z,1613590450.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.039993 m, bearing: 36.512122 deg, deltaT: 4.724641 s, approachRate: 0.038097 m/s, LOS rate: -15.183249 deg/s, posRepo size: 4 2021-02-17T19:34:10.315Z,1613590450.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.183249 deg/s. Setting heading cmd to target bearing of 36.512122deg and heading rate command to 0 deg/s. 2021-02-17T19:34:12.728Z,1613590452.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:34:13.509Z,1613590453.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:13.906Z,1613590453.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:14.723Z,1613590454.723 [Micromodem](INFO): Nmea in: $SNTTA,0.120798,,,,193413.62*4C 2021-02-17T19:34:15.181Z,1613590455.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.080017 m, bearing: 146.342308 deg, deltaT: 4.874861 s, approachRate: -0.196924 m/s, LOS rate: 22.529912 deg/s, posRepo size: 4 2021-02-17T19:34:15.182Z,1613590455.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.529912 deg/s. Setting heading cmd to target bearing of 146.342308deg and heading rate command to 0 deg/s. 2021-02-17T19:34:17.558Z,1613590457.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:34:18.349Z,1613590458.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:18.884Z,1613590458.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:19.616Z,1613590459.616 [Micromodem](INFO): Nmea in: $SNTTA,0.119509,,,,193418.46*41 2021-02-17T19:34:19.646Z,1613590459.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.100006 m, bearing: 148.981698 deg, deltaT: 4.503868 s, approachRate: -0.439625 m/s, LOS rate: 0.586027 deg/s, posRepo size: 4 2021-02-17T19:34:19.648Z,1613590459.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.100006 m, bearing: 148.981698 deg, approachRate: -0.439625 m/s, LOS rate: 0.586027 deg/s, cmd update: 2.344110 deg/s, cmd heading: 146.342308 deg, new cmd heading: 146.342308 deg. 2021-02-17T19:34:22.079Z,1613590462.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:34:22.793Z,1613590462.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:23.207Z,1613590463.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:24.068Z,1613590464.068 [Micromodem](INFO): Nmea in: $SNTTA,0.118026,,,,193422.90*4A 2021-02-17T19:34:24.115Z,1613590464.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.100006 m, bearing: 142.022295 deg, deltaT: 4.381168 s, approachRate: 0.000000 m/s, LOS rate: -1.588481 deg/s, posRepo size: 4 2021-02-17T19:34:24.117Z,1613590464.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.100006 m, bearing: 142.022295 deg, approachRate: 0.000000 m/s, LOS rate: -1.588481 deg/s, cmd update: -6.353924 deg/s, cmd heading: 156.610783 deg, new cmd heading: 157.720436 deg. 2021-02-17T19:34:26.460Z,1613590466.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:34:27.237Z,1613590467.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:27.644Z,1613590467.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:28.473Z,1613590468.473 [Micromodem](INFO): Nmea in: $SNTTA,0.116132,,,,193427.34*4B 2021-02-17T19:34:28.513Z,1613590468.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.939987 m, bearing: 143.491770 deg, deltaT: 4.487518 s, approachRate: -1.149860 m/s, LOS rate: 0.327458 deg/s, posRepo size: 4 2021-02-17T19:34:28.515Z,1613590468.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.939987 m, bearing: 143.491770 deg, approachRate: -1.149860 m/s, LOS rate: 0.327458 deg/s, cmd update: 1.309833 deg/s, cmd heading: 128.095705 deg, new cmd heading: 125.655741 deg. 2021-02-17T19:34:30.903Z,1613590470.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:34:31.685Z,1613590471.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:32.088Z,1613590472.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:32.948Z,1613590472.948 [Micromodem](INFO): Nmea in: $SNTTA,0.114176,,0.116939,,193431.79*5C 2021-02-17T19:34:33.013Z,1613590473.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.059998 m, bearing: 142.871479 deg, deltaT: 4.561246 s, approachRate: -0.631404 m/s, LOS rate: -0.135991 deg/s, posRepo size: 4 2021-02-17T19:34:33.030Z,1613590473.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.059998 m, bearing: 142.871479 deg, approachRate: -0.631404 m/s, LOS rate: -0.135991 deg/s, cmd update: -0.543966 deg/s, cmd heading: 134.073832 deg, new cmd heading: 134.475464 deg. 2021-02-17T19:34:35.357Z,1613590475.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:34:36.127Z,1613590476.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:36.532Z,1613590476.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:37.364Z,1613590477.364 [Micromodem](INFO): Nmea in: $SNTTA,0.112025,,,,193436.24*49 2021-02-17T19:34:37.397Z,1613590477.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.220001 m, bearing: 142.455794 deg, deltaT: 4.280358 s, approachRate: -0.897120 m/s, LOS rate: -0.097115 deg/s, posRepo size: 4 2021-02-17T19:34:37.399Z,1613590477.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.220001 m, bearing: 142.455794 deg, approachRate: -0.897120 m/s, LOS rate: -0.097115 deg/s, cmd update: -0.388458 deg/s, cmd heading: 131.747039 deg, new cmd heading: 131.515106 deg. 2021-02-17T19:34:39.786Z,1613590479.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:34:40.568Z,1613590480.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:40.993Z,1613590480.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:41.796Z,1613590481.796 [Micromodem](INFO): Nmea in: $SNTTA,0.109803,,,,193440.68*46 2021-02-17T19:34:41.835Z,1613590481.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.459991 m, bearing: 142.376372 deg, deltaT: 4.461300 s, approachRate: -0.618656 m/s, LOS rate: -0.017802 deg/s, posRepo size: 4 2021-02-17T19:34:41.837Z,1613590481.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.459991 m, bearing: 142.376372 deg, approachRate: -0.618656 m/s, LOS rate: -0.017802 deg/s, cmd update: -0.071209 deg/s, cmd heading: 130.012416 deg, new cmd heading: 129.857690 deg. 2021-02-17T19:34:44.252Z,1613590484.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:34:45.067Z,1613590485.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:45.429Z,1613590485.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:46.289Z,1613590486.289 [Micromodem](INFO): Nmea in: $SNTTA,0.107549,,0.116368,,193445.18*5C 2021-02-17T19:34:46.346Z,1613590486.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.980011 m, bearing: 140.579937 deg, deltaT: 4.532630 s, approachRate: -0.767762 m/s, LOS rate: -0.396334 deg/s, posRepo size: 4 2021-02-17T19:34:46.352Z,1613590486.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.980011 m, bearing: 140.579937 deg, approachRate: -0.767762 m/s, LOS rate: -0.396334 deg/s, cmd update: -1.585336 deg/s, cmd heading: 129.689646 deg, new cmd heading: 129.662799 deg. 2021-02-17T19:34:48.673Z,1613590488.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:34:49.457Z,1613590489.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:49.862Z,1613590489.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:50.689Z,1613590490.689 [Micromodem](INFO): Nmea in: $SNTTA,0.105260,,,,193449.56*41 2021-02-17T19:34:50.737Z,1613590490.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.619995 m, bearing: 141.644668 deg, deltaT: 4.350947 s, approachRate: -0.772249 m/s, LOS rate: 0.244712 deg/s, posRepo size: 4 2021-02-17T19:34:50.739Z,1613590490.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.619995 m, bearing: 141.644668 deg, approachRate: -0.772249 m/s, LOS rate: 0.244712 deg/s, cmd update: 0.978850 deg/s, cmd heading: 122.792178 deg, new cmd heading: 122.132943 deg. 2021-02-17T19:34:53.142Z,1613590493.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:34:53.908Z,1613590493.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:54.309Z,1613590494.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:55.140Z,1613590495.140 [Micromodem](INFO): Nmea in: $SNTTA,0.103039,,0.105853,,193454.01*53 2021-02-17T19:34:55.174Z,1613590495.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.320007 m, bearing: 143.451827 deg, deltaT: 4.422336 s, approachRate: -0.746209 m/s, LOS rate: 0.408643 deg/s, posRepo size: 4 2021-02-17T19:34:55.176Z,1613590495.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.320007 m, bearing: 143.451827 deg, approachRate: -0.746209 m/s, LOS rate: 0.408643 deg/s, cmd update: 1.634574 deg/s, cmd heading: 127.121380 deg, new cmd heading: 127.543621 deg. 2021-02-17T19:34:57.552Z,1613590497.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:34:58.355Z,1613590498.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:34:58.751Z,1613590498.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:34:59.596Z,1613590499.596 [Micromodem](INFO): Nmea in: $SNTTA,0.100829,,,,193458.46*42 2021-02-17T19:34:59.646Z,1613590499.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.020004 m, bearing: 143.300798 deg, deltaT: 4.614091 s, approachRate: -0.715201 m/s, LOS rate: -0.032732 deg/s, posRepo size: 4 2021-02-17T19:34:59.652Z,1613590499.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.020004 m, bearing: 143.300798 deg, approachRate: -0.715201 m/s, LOS rate: -0.032732 deg/s, cmd update: -0.130929 deg/s, cmd heading: 134.656637 deg, new cmd heading: 135.136829 deg. 2021-02-17T19:35:02.069Z,1613590502.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:02.794Z,1613590502.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:35:03.198Z,1613590503.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:35:04.072Z,1613590504.072 [Micromodem](INFO): Nmea in: $SNTTA,0.098658,,,,193502.90*4F 2021-02-17T19:35:04.120Z,1613590504.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.779999 m, bearing: 143.050130 deg, deltaT: 4.258556 s, approachRate: -0.760823 m/s, LOS rate: -0.058862 deg/s, posRepo size: 4 2021-02-17T19:35:04.122Z,1613590504.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.779999 m, bearing: 143.050130 deg, approachRate: -0.760823 m/s, LOS rate: -0.058862 deg/s, cmd update: -0.235449 deg/s, cmd heading: 134.098546 deg, new cmd heading: 134.032421 deg. 2021-02-17T19:35:06.134Z,1613590506.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:06.828Z,1613590506.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:35:07.236Z,1613590507.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:35:08.084Z,1613590508.084 [Micromodem](INFO): Nmea in: $SNTTA,0.096705,,,,193506.94*48 2021-02-17T19:35:08.136Z,1613590508.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.779999 m, bearing: 143.141572 deg, deltaT: 4.095001 s, approachRate: -0.732601 m/s, LOS rate: 0.022330 deg/s, posRepo size: 4 2021-02-17T19:35:08.138Z,1613590508.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.779999 m, bearing: 143.141572 deg, approachRate: -0.732601 m/s, LOS rate: 0.022330 deg/s, cmd update: 0.089321 deg/s, cmd heading: 133.134345 deg, new cmd heading: 133.033999 deg. 2021-02-17T19:35:10.481Z,1613590510.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:11.278Z,1613590511.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:35:11.679Z,1613590511.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:35:12.508Z,1613590512.508 [Micromodem](INFO): Nmea in: $SNTTA,0.094402,,,,193511.38*4E 2021-02-17T19:35:12.530Z,1613590512.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.479996 m, bearing: 143.901718 deg, deltaT: 4.431367 s, approachRate: -0.744692 m/s, LOS rate: 0.171537 deg/s, posRepo size: 4 2021-02-17T19:35:12.553Z,1613590512.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.479996 m, bearing: 143.901718 deg, approachRate: -0.744692 m/s, LOS rate: 0.171537 deg/s, cmd update: 0.686150 deg/s, cmd heading: 133.529778 deg, new cmd heading: 133.564884 deg. 2021-02-17T19:35:14.925Z,1613590514.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:15.716Z,1613590515.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:35:16.145Z,1613590516.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:35:16.948Z,1613590516.948 [Micromodem](INFO): Nmea in: $SNTTA,0.092183,,,,193515.82*41 2021-02-17T19:35:16.966Z,1613590516.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.000000 m, bearing: 142.749997 deg, deltaT: 4.405101 s, approachRate: -0.789992 m/s, LOS rate: -0.261451 deg/s, posRepo size: 4 2021-02-17T19:35:16.968Z,1613590516.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.000000 m, bearing: 142.749997 deg, approachRate: -0.789992 m/s, LOS rate: -0.261451 deg/s, cmd update: -1.045806 deg/s, cmd heading: 136.555005 deg, new cmd heading: 136.843139 deg. 2021-02-17T19:35:19.396Z,1613590519.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:20.180Z,1613590520.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:35:20.568Z,1613590520.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:35:21.400Z,1613590521.400 [Micromodem](INFO): Nmea in: $SNTTA,0.089778,,,,193520.29*4E 2021-02-17T19:35:21.479Z,1613590521.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.520004 m, bearing: 142.373695 deg, deltaT: 4.516691 s, approachRate: -0.770475 m/s, LOS rate: -0.083314 deg/s, posRepo size: 4 2021-02-17T19:35:21.482Z,1613590521.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.520004 m, bearing: 142.373695 deg, approachRate: -0.770475 m/s, LOS rate: -0.083314 deg/s, cmd update: -0.333255 deg/s, cmd heading: 131.844397 deg, new cmd heading: 131.401080 deg. 2021-02-17T19:35:23.821Z,1613590523.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:24.611Z,1613590524.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:35:25.069Z,1613590525.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:35:25.840Z,1613590525.840 [Micromodem](INFO): Nmea in: $SNTTA,0.087481,,,,193524.72*4F 2021-02-17T19:35:25.862Z,1613590525.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.100006 m, bearing: 142.021121 deg, deltaT: 4.377033 s, approachRate: -0.781351 m/s, LOS rate: -0.080551 deg/s, posRepo size: 4 2021-02-17T19:35:25.864Z,1613590525.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.100006 m, bearing: 142.021121 deg, approachRate: -0.781351 m/s, LOS rate: -0.080551 deg/s, cmd update: -0.322204 deg/s, cmd heading: 130.381449 deg, new cmd heading: 130.240880 deg. 2021-02-17T19:35:28.293Z,1613590528.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:29.071Z,1613590529.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:35:29.454Z,1613590529.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:35:30.304Z,1613590530.304 [Micromodem](INFO): Nmea in: $SNTTA,0.085207,,,,193529.18*44 2021-02-17T19:35:30.337Z,1613590530.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.619995 m, bearing: 142.201301 deg, deltaT: 4.479453 s, approachRate: -0.776883 m/s, LOS rate: 0.040224 deg/s, posRepo size: 4 2021-02-17T19:35:30.339Z,1613590530.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.619995 m, bearing: 142.201301 deg, approachRate: -0.776883 m/s, LOS rate: 0.040224 deg/s, cmd update: 0.160895 deg/s, cmd heading: 128.940138 deg, new cmd heading: 128.803706 deg. 2021-02-17T19:35:32.721Z,1613590532.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:33.498Z,1613590533.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:35:33.898Z,1613590533.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:35:34.319Z,1613590534.319 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T19:35:34.728Z,1613590534.728 [Micromodem](INFO): Nmea in: $SNTTA,0.082917,,0.105549,,193533.60*5F 2021-02-17T19:35:34.750Z,1613590534.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.200005 m, bearing: 141.905950 deg, deltaT: 4.411870 s, approachRate: -0.775179 m/s, LOS rate: -0.066945 deg/s, posRepo size: 4 2021-02-17T19:35:34.752Z,1613590534.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.200005 m, bearing: 141.905950 deg, approachRate: -0.775179 m/s, LOS rate: -0.066945 deg/s, cmd update: -0.267779 deg/s, cmd heading: 129.650946 deg, new cmd heading: 129.718282 deg. 2021-02-17T19:35:37.173Z,1613590537.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:37.941Z,1613590537.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:35:38.359Z,1613590538.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:35:39.177Z,1613590539.177 [Micromodem](INFO): Nmea in: $SNTTA,0.080720,,,,193538.05*4D 2021-02-17T19:35:39.247Z,1613590539.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.839996 m, bearing: 142.709904 deg, deltaT: 4.443212 s, approachRate: -0.756212 m/s, LOS rate: 0.180940 deg/s, posRepo size: 4 2021-02-17T19:35:39.249Z,1613590539.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.839996 m, bearing: 142.709904 deg, approachRate: -0.756212 m/s, LOS rate: 0.180940 deg/s, cmd update: 0.723760 deg/s, cmd heading: 128.462190 deg, new cmd heading: 128.335776 deg. 2021-02-17T19:35:41.622Z,1613590541.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:42.394Z,1613590542.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:35:42.805Z,1613590542.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:35:43.620Z,1613590543.620 [Micromodem](INFO): Nmea in: $SNTTA,0.078509,,,0.081030,193542.50*5A 2021-02-17T19:35:43.661Z,1613590543.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.480003 m, bearing: 142.045450 deg, deltaT: 4.488255 s, approachRate: -0.748619 m/s, LOS rate: -0.148043 deg/s, posRepo size: 4 2021-02-17T19:35:43.663Z,1613590543.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.480003 m, bearing: 142.045450 deg, approachRate: -0.748619 m/s, LOS rate: -0.148043 deg/s, cmd update: -0.592172 deg/s, cmd heading: 131.710632 deg, new cmd heading: 132.001407 deg. 2021-02-17T19:35:46.116Z,1613590546.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:46.825Z,1613590546.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:35:47.233Z,1613590547.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:35:48.080Z,1613590548.080 [Micromodem](INFO): Nmea in: $SNTTA,0.076286,,,,193546.93*4B 2021-02-17T19:35:48.134Z,1613590548.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.180008 m, bearing: 140.003947 deg, deltaT: 4.391851 s, approachRate: -0.751391 m/s, LOS rate: -0.464839 deg/s, posRepo size: 4 2021-02-17T19:35:48.136Z,1613590548.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.180008 m, bearing: 140.003947 deg, approachRate: -0.751391 m/s, LOS rate: -0.464839 deg/s, cmd update: -1.859355 deg/s, cmd heading: 129.107522 deg, new cmd heading: 128.824091 deg. 2021-02-17T19:35:50.477Z,1613590550.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:51.269Z,1613590551.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:35:51.685Z,1613590551.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:35:52.496Z,1613590552.496 [Micromodem](INFO): Nmea in: $SNTTA,0.074012,,,,193551.38*41 2021-02-17T19:35:52.535Z,1613590552.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.820000 m, bearing: 139.965179 deg, deltaT: 4.473073 s, approachRate: -0.751163 m/s, LOS rate: -0.008667 deg/s, posRepo size: 4 2021-02-17T19:35:52.537Z,1613590552.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.820000 m, bearing: 139.965179 deg, approachRate: -0.751163 m/s, LOS rate: -0.008667 deg/s, cmd update: -0.034668 deg/s, cmd heading: 120.791070 deg, new cmd heading: 120.034524 deg. 2021-02-17T19:35:54.928Z,1613590554.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:55.712Z,1613590555.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:35:56.121Z,1613590556.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:35:56.948Z,1613590556.948 [Micromodem](INFO): Nmea in: $SNTTA,0.071855,,,0.074354,193555.82*55 2021-02-17T19:35:56.970Z,1613590556.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.580009 m, bearing: 140.759298 deg, deltaT: 4.419731 s, approachRate: -0.733074 m/s, LOS rate: 0.179676 deg/s, posRepo size: 4 2021-02-17T19:35:56.973Z,1613590556.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.580009 m, bearing: 140.759298 deg, approachRate: -0.733074 m/s, LOS rate: 0.179676 deg/s, cmd update: 0.718703 deg/s, cmd heading: 120.637834 deg, new cmd heading: 120.623201 deg. 2021-02-17T19:35:59.064Z,1613590559.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:35:59.753Z,1613590559.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:00.163Z,1613590560.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:00.980Z,1613590560.980 [Micromodem](INFO): Nmea in: $SNTTA,0.069923,,,,193559.86*4B 2021-02-17T19:36:01.078Z,1613590561.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.700005 m, bearing: 142.388516 deg, deltaT: 4.042953 s, approachRate: -0.712352 m/s, LOS rate: 0.402977 deg/s, posRepo size: 4 2021-02-17T19:36:01.084Z,1613590561.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.700005 m, bearing: 142.388516 deg, approachRate: -0.712352 m/s, LOS rate: 0.402977 deg/s, cmd update: 1.611910 deg/s, cmd heading: 123.543409 deg, new cmd heading: 123.893417 deg. 2021-02-17T19:36:03.425Z,1613590563.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:36:04.202Z,1613590564.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:04.602Z,1613590564.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:05.428Z,1613590565.428 [Micromodem](INFO): Nmea in: $SNTTA,0.067818,,,,193604.31*4B 2021-02-17T19:36:05.450Z,1613590565.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.520004 m, bearing: 142.115323 deg, deltaT: 4.534926 s, approachRate: -0.701224 m/s, LOS rate: -0.060242 deg/s, posRepo size: 4 2021-02-17T19:36:05.452Z,1613590565.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.520004 m, bearing: 142.115323 deg, approachRate: -0.701224 m/s, LOS rate: -0.060242 deg/s, cmd update: -0.240969 deg/s, cmd heading: 130.853505 deg, new cmd heading: 131.376302 deg. 2021-02-17T19:36:07.908Z,1613590567.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:36:08.641Z,1613590568.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:09.073Z,1613590569.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:09.869Z,1613590569.869 [Micromodem](INFO): Nmea in: $SNTTA,0.065674,,,,193608.75*41 2021-02-17T19:36:09.989Z,1613590569.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.280006 m, bearing: 142.356497 deg, deltaT: 4.356541 s, approachRate: -0.743709 m/s, LOS rate: 0.055359 deg/s, posRepo size: 4 2021-02-17T19:36:10.071Z,1613590570.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.280006 m, bearing: 142.356497 deg, approachRate: -0.743709 m/s, LOS rate: 0.055359 deg/s, cmd update: 0.221436 deg/s, cmd heading: 129.804681 deg, new cmd heading: 129.686704 deg. 2021-02-17T19:36:12.387Z,1613590572.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:36:13.125Z,1613590573.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:13.510Z,1613590573.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:14.348Z,1613590574.348 [Micromodem](INFO): Nmea in: $SNTTA,0.063304,,,,193613.23*4C 2021-02-17T19:36:14.396Z,1613590574.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.680000 m, bearing: 141.377526 deg, deltaT: 4.474577 s, approachRate: -0.804547 m/s, LOS rate: -0.218785 deg/s, posRepo size: 4 2021-02-17T19:36:14.398Z,1613590574.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.680000 m, bearing: 141.377526 deg, approachRate: -0.804547 m/s, LOS rate: -0.218785 deg/s, cmd update: -0.875141 deg/s, cmd heading: 130.795493 deg, new cmd heading: 130.893754 deg. 2021-02-17T19:36:16.768Z,1613590576.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:36:17.549Z,1613590577.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:17.955Z,1613590577.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:18.783Z,1613590578.783 [Micromodem](INFO): Nmea in: $SNTTA,0.061009,,,,193617.65*46 2021-02-17T19:36:18.802Z,1613590578.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.440002 m, bearing: 143.297656 deg, deltaT: 4.447415 s, approachRate: -0.728513 m/s, LOS rate: 0.431741 deg/s, posRepo size: 4 2021-02-17T19:36:18.804Z,1613590578.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.440002 m, bearing: 143.297656 deg, approachRate: -0.728513 m/s, LOS rate: 0.431741 deg/s, cmd update: 1.726963 deg/s, cmd heading: 126.900081 deg, new cmd heading: 126.551658 deg. 2021-02-17T19:36:21.265Z,1613590581.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:36:22.034Z,1613590582.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:22.398Z,1613590582.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:23.238Z,1613590583.238 [Micromodem](INFO): Nmea in: $SNTTA,0.058848,,,,193622.14*41 2021-02-17T19:36:23.292Z,1613590583.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.080002 m, bearing: 142.476052 deg, deltaT: 4.419186 s, approachRate: -0.760321 m/s, LOS rate: -0.185917 deg/s, posRepo size: 4 2021-02-17T19:36:23.293Z,1613590583.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.080002 m, bearing: 142.476052 deg, approachRate: -0.760321 m/s, LOS rate: -0.185917 deg/s, cmd update: -0.743670 deg/s, cmd heading: 134.532415 deg, new cmd heading: 135.340610 deg. 2021-02-17T19:36:25.649Z,1613590585.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:36:26.436Z,1613590586.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:26.842Z,1613590586.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:27.668Z,1613590587.668 [Micromodem](INFO): Nmea in: $SNTTA,0.056675,,,,193626.54*4F 2021-02-17T19:36:27.686Z,1613590587.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.959999 m, bearing: 141.953816 deg, deltaT: 4.483458 s, approachRate: -0.695892 m/s, LOS rate: -0.116481 deg/s, posRepo size: 4 2021-02-17T19:36:27.688Z,1613590587.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.959999 m, bearing: 141.953816 deg, approachRate: -0.695892 m/s, LOS rate: -0.116481 deg/s, cmd update: -0.465923 deg/s, cmd heading: 131.201246 deg, new cmd heading: 130.916130 deg. 2021-02-17T19:36:30.127Z,1613590590.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:36:30.890Z,1613590590.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:31.287Z,1613590591.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:32.116Z,1613590592.116 [Micromodem](INFO): Nmea in: $SNTTA,0.054561,,,,193631.00*4C 2021-02-17T19:36:32.170Z,1613590592.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.659996 m, bearing: 142.086308 deg, deltaT: 4.396704 s, approachRate: -0.750563 m/s, LOS rate: 0.030134 deg/s, posRepo size: 4 2021-02-17T19:36:32.172Z,1613590592.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.659996 m, bearing: 142.086308 deg, approachRate: -0.750563 m/s, LOS rate: 0.030134 deg/s, cmd update: 0.120538 deg/s, cmd heading: 129.150852 deg, new cmd heading: 128.933558 deg. 2021-02-17T19:36:34.570Z,1613590594.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:36:35.325Z,1613590595.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:35.730Z,1613590595.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:36.552Z,1613590596.552 [Micromodem](INFO): Nmea in: $SNTTA,0.052287,,,,193635.43*46 2021-02-17T19:36:36.594Z,1613590596.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.180000 m, bearing: 140.111154 deg, deltaT: 4.485722 s, approachRate: -0.775794 m/s, LOS rate: -0.440320 deg/s, posRepo size: 4 2021-02-17T19:36:36.600Z,1613590596.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.180000 m, bearing: 140.111154 deg, approachRate: -0.775794 m/s, LOS rate: -0.440320 deg/s, cmd update: -1.761281 deg/s, cmd heading: 129.691083 deg, new cmd heading: 129.740362 deg. 2021-02-17T19:36:39.023Z,1613590599.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:36:39.773Z,1613590599.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:40.174Z,1613590600.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:41.016Z,1613590601.016 [Micromodem](INFO): Nmea in: $SNTTA,0.050092,,,,193639.88*49 2021-02-17T19:36:41.094Z,1613590601.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.820000 m, bearing: 140.391192 deg, deltaT: 4.406394 s, approachRate: -0.762528 m/s, LOS rate: 0.063553 deg/s, posRepo size: 4 2021-02-17T19:36:41.096Z,1613590601.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.820000 m, bearing: 140.391192 deg, approachRate: -0.762528 m/s, LOS rate: 0.063553 deg/s, cmd update: 0.254210 deg/s, cmd heading: 121.923219 deg, new cmd heading: 121.045742 deg. 2021-02-17T19:36:43.109Z,1613590603.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:36:43.809Z,1613590603.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:44.226Z,1613590604.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:45.213Z,1613590605.213 [Micromodem](INFO): Nmea in: $SNTTA,0.048319,,0.055488,,193643.92*5C 2021-02-17T19:36:45.280Z,1613590605.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.300003 m, bearing: 141.890104 deg, deltaT: 4.035384 s, approachRate: -0.624475 m/s, LOS rate: 0.371442 deg/s, posRepo size: 4 2021-02-17T19:36:45.281Z,1613590605.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.300003 m, bearing: 141.890104 deg, approachRate: -0.624475 m/s, LOS rate: 0.371442 deg/s, cmd update: 1.485769 deg/s, cmd heading: 122.949052 deg, new cmd heading: 123.108762 deg. 2021-02-17T19:36:47.182Z,1613590607.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:36:47.878Z,1613590607.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:48.253Z,1613590608.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:49.100Z,1613590609.100 [Micromodem](INFO): Nmea in: $SNTTA,0.046348,,,,193647.98*42 2021-02-17T19:36:49.154Z,1613590609.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.300003 m, bearing: 141.820791 deg, deltaT: 4.059315 s, approachRate: -0.739041 m/s, LOS rate: -0.017075 deg/s, posRepo size: 4 2021-02-17T19:36:49.160Z,1613590609.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.300003 m, bearing: 141.820791 deg, approachRate: -0.739041 m/s, LOS rate: -0.017075 deg/s, cmd update: -0.068300 deg/s, cmd heading: 128.980303 deg, new cmd heading: 129.668624 deg. 2021-02-17T19:36:51.500Z,1613590611.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:36:52.294Z,1613590612.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:52.695Z,1613590612.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:53.520Z,1613590613.520 [Micromodem](INFO): Nmea in: $SNTTA,0.044193,,,,193652.40*45 2021-02-17T19:36:53.561Z,1613590613.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.180000 m, bearing: 142.194990 deg, deltaT: 4.465646 s, approachRate: -0.698668 m/s, LOS rate: 0.083795 deg/s, posRepo size: 4 2021-02-17T19:36:53.563Z,1613590613.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.180000 m, bearing: 142.194990 deg, approachRate: -0.698668 m/s, LOS rate: 0.083795 deg/s, cmd update: 0.335180 deg/s, cmd heading: 128.675465 deg, new cmd heading: 128.647628 deg. 2021-02-17T19:36:55.960Z,1613590615.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:36:56.734Z,1613590616.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:36:57.149Z,1613590617.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:36:57.968Z,1613590617.968 [Micromodem](INFO): Nmea in: $SNTTA,0.041846,,,,193656.84*4D 2021-02-17T19:36:58.065Z,1613590618.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.580006 m, bearing: 140.422351 deg, deltaT: 4.428073 s, approachRate: -0.812994 m/s, LOS rate: -0.400318 deg/s, posRepo size: 4 2021-02-17T19:36:58.066Z,1613590618.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.580006 m, bearing: 140.422351 deg, approachRate: -0.812994 m/s, LOS rate: -0.400318 deg/s, cmd update: -1.601273 deg/s, cmd heading: 130.157695 deg, new cmd heading: 130.321462 deg. 2021-02-17T19:37:00.132Z,1613590620.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:00.799Z,1613590620.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:01.217Z,1613590621.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:02.033Z,1613590622.033 [Micromodem](INFO): Nmea in: $SNTTA,0.039703,,,,193700.91*4A 2021-02-17T19:37:02.111Z,1613590622.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.280003 m, bearing: 140.648430 deg, deltaT: 4.031011 s, approachRate: -0.818654 m/s, LOS rate: 0.056085 deg/s, posRepo size: 4 2021-02-17T19:37:02.113Z,1613590622.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.280003 m, bearing: 140.648430 deg, approachRate: -0.818654 m/s, LOS rate: 0.056085 deg/s, cmd update: 0.224340 deg/s, cmd heading: 123.689685 deg, new cmd heading: 122.896272 deg. 2021-02-17T19:37:04.448Z,1613590624.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:05.217Z,1613590625.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:05.622Z,1613590625.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:06.452Z,1613590626.452 [Micromodem](INFO): Nmea in: $SNTTA,0.037542,,0.070429,,193705.32*59 2021-02-17T19:37:06.489Z,1613590626.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.039997 m, bearing: 140.929738 deg, deltaT: 4.509101 s, approachRate: -0.718548 m/s, LOS rate: 0.062387 deg/s, posRepo size: 4 2021-02-17T19:37:06.491Z,1613590626.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.039997 m, bearing: 140.929738 deg, approachRate: -0.718548 m/s, LOS rate: 0.062387 deg/s, cmd update: 0.249547 deg/s, cmd heading: 124.699395 deg, new cmd heading: 124.783051 deg. 2021-02-17T19:37:08.888Z,1613590628.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:09.669Z,1613590629.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:10.095Z,1613590630.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:10.896Z,1613590630.896 [Micromodem](INFO): Nmea in: $SNTTA,0.035420,,,0.123670,193709.78*55 2021-02-17T19:37:10.932Z,1613590630.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.860004 m, bearing: 140.207733 deg, deltaT: 4.380036 s, approachRate: -0.726020 m/s, LOS rate: -0.164840 deg/s, posRepo size: 4 2021-02-17T19:37:10.934Z,1613590630.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.860004 m, bearing: 140.207733 deg, approachRate: -0.726020 m/s, LOS rate: -0.164840 deg/s, cmd update: -0.659360 deg/s, cmd heading: 125.790524 deg, new cmd heading: 125.901252 deg. 2021-02-17T19:37:13.368Z,1613590633.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:14.118Z,1613590634.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:14.551Z,1613590634.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:15.344Z,1613590635.344 [Micromodem](INFO): Nmea in: $SNTTA,0.033234,,,,193714.22*4C 2021-02-17T19:37:15.398Z,1613590635.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.619995 m, bearing: 141.657017 deg, deltaT: 4.499119 s, approachRate: -0.720143 m/s, LOS rate: 0.322126 deg/s, posRepo size: 4 2021-02-17T19:37:15.404Z,1613590635.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.619995 m, bearing: 141.657017 deg, approachRate: -0.720143 m/s, LOS rate: 0.322126 deg/s, cmd update: 1.288505 deg/s, cmd heading: 122.821589 deg, new cmd heading: 122.553486 deg. 2021-02-17T19:37:17.795Z,1613590637.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:18.549Z,1613590638.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:18.954Z,1613590638.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:19.776Z,1613590639.776 [Micromodem](INFO): Nmea in: $SNTTA,0.031090,,,,193718.66*4E 2021-02-17T19:37:19.792Z,1613590639.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.380001 m, bearing: 140.819868 deg, deltaT: 4.427247 s, approachRate: -0.731830 m/s, LOS rate: -0.189090 deg/s, posRepo size: 4 2021-02-17T19:37:19.793Z,1613590639.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.380001 m, bearing: 140.819868 deg, approachRate: -0.731830 m/s, LOS rate: -0.189090 deg/s, cmd update: -0.756361 deg/s, cmd heading: 128.536622 deg, new cmd heading: 129.006590 deg. 2021-02-17T19:37:22.308Z,1613590642.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:23.014Z,1613590643.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:23.408Z,1613590643.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:24.236Z,1613590644.236 [Micromodem](INFO): Nmea in: $SNTTA,0.028779,,,,193723.12*4D 2021-02-17T19:37:24.295Z,1613590644.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.959999 m, bearing: 139.714306 deg, deltaT: 4.390690 s, approachRate: -0.778921 m/s, LOS rate: -0.251797 deg/s, posRepo size: 4 2021-02-17T19:37:24.297Z,1613590644.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.959999 m, bearing: 139.714306 deg, approachRate: -0.778921 m/s, LOS rate: -0.251797 deg/s, cmd update: -1.007187 deg/s, cmd heading: 125.212548 deg, new cmd heading: 124.854426 deg. 2021-02-17T19:37:26.645Z,1613590646.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:27.477Z,1613590647.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:27.884Z,1613590647.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:28.681Z,1613590648.681 [Micromodem](INFO): Nmea in: $SNTTA,0.026626,,,,193727.58*42 2021-02-17T19:37:28.730Z,1613590648.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.660000 m, bearing: 140.269942 deg, deltaT: 4.507936 s, approachRate: -0.732042 m/s, LOS rate: 0.123257 deg/s, posRepo size: 4 2021-02-17T19:37:28.730Z,1613590648.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.66 m. 2021-02-17T19:37:28.732Z,1613590648.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.660000 m, bearing: 140.269942 deg, approachRate: -0.732042 m/s, LOS rate: 0.123257 deg/s, cmd update: 0.493029 deg/s, cmd heading: 120.672214 deg, new cmd heading: 120.269053 deg. 2021-02-17T19:37:29.085Z,1613590649.085 [PowerOnly](INFO): Powering up loadControl 2021-02-17T19:37:31.137Z,1613590651.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:31.896Z,1613590651.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:32.286Z,1613590652.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:33.120Z,1613590653.120 [Micromodem](INFO): Nmea in: $SNTTA,0.024471,,,0.070527,193732.00*50 2021-02-17T19:37:33.183Z,1613590653.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.480000 m, bearing: 140.149936 deg, deltaT: 4.375039 s, approachRate: -0.726851 m/s, LOS rate: -0.027430 deg/s, posRepo size: 4 2021-02-17T19:37:33.187Z,1613590653.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.48 m. 2021-02-17T19:37:33.191Z,1613590653.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.48 m. 2021-02-17T19:37:33.191Z,1613590653.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T19:37:33.193Z,1613590653.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.480000 m, bearing: 140.149936 deg, approachRate: -0.726851 m/s, LOS rate: -0.027430 deg/s, cmd update: -0.109719 deg/s, cmd heading: 122.829053 deg, new cmd heading: 123.064998 deg. 2021-02-17T19:37:35.539Z,1613590655.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:36.329Z,1613590656.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:36.732Z,1613590656.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:37.556Z,1613590657.556 [Micromodem](INFO): Nmea in: $SNTTA,0.022351,,,,193736.44*4E 2021-02-17T19:37:37.593Z,1613590657.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.300003 m, bearing: 141.476345 deg, deltaT: 4.516054 s, approachRate: -0.704154 m/s, LOS rate: 0.293710 deg/s, posRepo size: 4 2021-02-17T19:37:37.595Z,1613590657.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.300003 m, bearing: 141.476345 deg, approachRate: -0.704154 m/s, LOS rate: 0.293710 deg/s, cmd update: 1.174839 deg/s, cmd heading: 122.334458 deg, new cmd heading: 122.292598 deg. 2021-02-17T19:37:39.978Z,1613590659.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:40.861Z,1613590660.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:41.200Z,1613590661.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:42.036Z,1613590662.036 [Micromodem](INFO): Nmea in: $SNTTA,0.020145,,,,193740.97*44 2021-02-17T19:37:42.090Z,1613590662.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.939999 m, bearing: 140.440150 deg, deltaT: 4.404409 s, approachRate: -0.762873 m/s, LOS rate: -0.235263 deg/s, posRepo size: 4 2021-02-17T19:37:42.092Z,1613590662.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.939999 m, bearing: 140.440150 deg, approachRate: -0.762873 m/s, LOS rate: -0.235263 deg/s, cmd update: -0.941052 deg/s, cmd heading: 127.518993 deg, new cmd heading: 128.065650 deg. 2021-02-17T19:37:44.428Z,1613590664.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:45.213Z,1613590665.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:45.630Z,1613590665.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:46.451Z,1613590666.451 [Micromodem](INFO): Nmea in: $SNTTA,0.018008,,0.067296,,193745.32*5F 2021-02-17T19:37:46.474Z,1613590666.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.760000 m, bearing: 140.598187 deg, deltaT: 4.491484 s, approachRate: -0.708006 m/s, LOS rate: 0.035186 deg/s, posRepo size: 4 2021-02-17T19:37:46.476Z,1613590666.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.760000 m, bearing: 140.598187 deg, approachRate: -0.708006 m/s, LOS rate: 0.035186 deg/s, cmd update: 0.140744 deg/s, cmd heading: 123.292533 deg, new cmd heading: 122.955652 deg. 2021-02-17T19:37:48.867Z,1613590668.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:49.658Z,1613590669.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:50.095Z,1613590670.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:50.888Z,1613590670.888 [Micromodem](INFO): Nmea in: $SNTTA,0.015874,,,,193749.77*4E 2021-02-17T19:37:50.937Z,1613590670.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.580000 m, bearing: 140.904672 deg, deltaT: 4.362908 s, approachRate: -0.728872 m/s, LOS rate: 0.070248 deg/s, posRepo size: 4 2021-02-17T19:37:50.944Z,1613590670.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.580000 m, bearing: 140.904672 deg, approachRate: -0.728872 m/s, LOS rate: 0.070248 deg/s, cmd update: 0.280991 deg/s, cmd heading: 123.906609 deg, new cmd heading: 123.970253 deg. 2021-02-17T19:37:53.336Z,1613590673.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:54.214Z,1613590674.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:54.531Z,1613590674.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:55.441Z,1613590675.441 [Micromodem](INFO): Nmea in: $SNTTA,0.013623,,,0.032154,193754.32*56 2021-02-17T19:37:55.475Z,1613590675.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.219997 m, bearing: 140.455710 deg, deltaT: 4.757021 s, approachRate: -0.706325 m/s, LOS rate: -0.094379 deg/s, posRepo size: 4 2021-02-17T19:37:55.477Z,1613590675.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.219997 m, bearing: 140.455710 deg, approachRate: -0.706325 m/s, LOS rate: -0.094379 deg/s, cmd update: -0.377515 deg/s, cmd heading: 125.232987 deg, new cmd heading: 125.310328 deg. 2021-02-17T19:37:57.849Z,1613590677.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:37:58.618Z,1613590678.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:37:59.067Z,1613590679.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:37:59.848Z,1613590679.848 [Micromodem](INFO): Nmea in: $SNTTA,0.011559,,,,193758.72*4D 2021-02-17T19:37:59.883Z,1613590679.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.100002 m, bearing: 140.071484 deg, deltaT: 4.228050 s, approachRate: -0.737928 m/s, LOS rate: -0.090875 deg/s, posRepo size: 4 2021-02-17T19:37:59.885Z,1613590679.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.100002 m, bearing: 140.071484 deg, approachRate: -0.737928 m/s, LOS rate: -0.090875 deg/s, cmd update: -0.363501 deg/s, cmd heading: 123.623034 deg, new cmd heading: 123.465041 deg. 2021-02-17T19:38:02.299Z,1613590682.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:38:03.074Z,1613590683.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:38:03.466Z,1613590683.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:38:04.296Z,1613590684.296 [Micromodem](INFO): Nmea in: $SNTTA,0.009312,,,,193803.18*40 2021-02-17T19:38:04.345Z,1613590684.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.739999 m, bearing: 143.237605 deg, deltaT: 4.419066 s, approachRate: -0.760342 m/s, LOS rate: 0.716468 deg/s, posRepo size: 4 2021-02-17T19:38:04.348Z,1613590684.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.739999 m, bearing: 143.237605 deg, approachRate: -0.760342 m/s, LOS rate: 0.716468 deg/s, cmd update: 2.865873 deg/s, cmd heading: 122.016645 deg, new cmd heading: 121.848620 deg. 2021-02-17T19:38:06.711Z,1613590686.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:38:07.628Z,1613590687.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:38:07.940Z,1613590687.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:38:08.770Z,1613590688.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.999999 m, bearing: 135.711774 deg, deltaT: 4.496184 s, approachRate: -0.386995 m/s, LOS rate: -1.673826 deg/s, posRepo size: 4 2021-02-17T19:38:08.772Z,1613590688.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.999999 m, bearing: 135.711774 deg, approachRate: -0.386995 m/s, LOS rate: -1.673826 deg/s, cmd update: -6.695304 deg/s, cmd heading: 134.902407 deg, new cmd heading: 136.020527 deg. 2021-02-17T19:38:09.135Z,1613590689.135 [Micromodem](INFO): Nmea in: $SNTTA,0.007301,,,,193807.74*42 2021-02-17T19:38:11.195Z,1613590691.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:38:11.950Z,1613590691.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:38:12.360Z,1613590692.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:38:13.193Z,1613590693.193 [Micromodem](INFO): Nmea in: $SNTTA,0.005369,,,,193812.06*4F 2021-02-17T19:38:13.250Z,1613590693.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.740000 m, bearing: 136.474925 deg, deltaT: 4.396839 s, approachRate: -0.968878 m/s, LOS rate: 0.173568 deg/s, posRepo size: 4 2021-02-17T19:38:13.252Z,1613590693.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.740000 m, bearing: 136.474925 deg, approachRate: -0.968878 m/s, LOS rate: 0.173568 deg/s, cmd update: 0.694272 deg/s, cmd heading: 105.464211 deg, new cmd heading: 102.295544 deg. 2021-02-17T19:38:15.621Z,1613590695.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:38:16.399Z,1613590696.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:38:16.798Z,1613590696.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:38:17.624Z,1613590697.624 [Micromodem](INFO): Nmea in: $SNTTA,0.003701,,,,193816.51*45 2021-02-17T19:38:17.661Z,1613590697.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.399999 m, bearing: 138.302274 deg, deltaT: 4.489236 s, approachRate: -0.521247 m/s, LOS rate: 0.407051 deg/s, posRepo size: 4 2021-02-17T19:38:17.663Z,1613590697.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.399999 m, bearing: 138.302274 deg, approachRate: -0.521247 m/s, LOS rate: 0.407051 deg/s, cmd update: 1.628205 deg/s, cmd heading: 108.578154 deg, new cmd heading: 108.855629 deg. 2021-02-17T19:38:20.130Z,1613590700.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:38:20.906Z,1613590700.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:38:21.265Z,1613590701.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:38:22.144Z,1613590702.144 [Micromodem](INFO): Nmea in: $SNTTA,0.002657,,,,193821.01*47 2021-02-17T19:38:22.176Z,1613590702.176 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T19:38:22.177Z,1613590702.177 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T19:38:22.177Z,1613590702.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T19:38:22.177Z,1613590702.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:38:22.177Z,1613590702.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T19:38:22.177Z,1613590702.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.140001 m 2021-02-17T19:38:22.177Z,1613590702.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T19:38:22.178Z,1613590702.178 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T19:38:22.178Z,1613590702.178 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T19:38:22.181Z,1613590702.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 68.725582 deg, deltaT: 4.519072 s, approachRate: -0.278818 m/s, LOS rate: -15.396235 deg/s, posRepo size: 4 2021-02-17T19:38:22.182Z,1613590702.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.396235 deg/s. Setting heading cmd to target bearing of 68.725582deg and heading rate command to 0 deg/s. 2021-02-17T19:38:22.518Z,1613590702.518 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T193822: (41.552319, -70.708603) 2021-02-17T19:38:22.518Z,1613590702.518 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T19:38:22.518Z,1613590702.518 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T19:38:22.518Z,1613590702.518 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:38:22.518Z,1613590702.518 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T19:38:22.518Z,1613590702.518 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:38:22.518Z,1613590702.518 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T19:38:22.519Z,1613590702.519 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T19:38:22.519Z,1613590702.519 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T19:38:24.499Z,1613590704.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:38:25.286Z,1613590705.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:38:25.689Z,1613590705.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:38:26.516Z,1613590706.516 [Micromodem](INFO): Nmea in: $SNTTA,0.004622,,,,193825.39*4C 2021-02-17T19:38:26.538Z,1613590706.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 108.137686 deg, deltaT: 4.364986 s, approachRate: 0.164949 m/s, LOS rate: 9.029148 deg/s, posRepo size: 4 2021-02-17T19:38:26.540Z,1613590706.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.860001 m, bearing: 108.137686 deg, approachRate: 0.164949 m/s, LOS rate: 9.029148 deg/s, cmd update: 12.000000 deg/s, cmd heading: 68.725582 deg, new cmd heading: 68.725582 deg. 2021-02-17T19:38:28.955Z,1613590708.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:38:29.724Z,1613590709.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:38:30.141Z,1613590710.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:38:30.952Z,1613590710.952 [Micromodem](INFO): Nmea in: $SNTTA,0.004639,,,,193829.83*4B 2021-02-17T19:38:30.998Z,1613590710.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.080001 m, bearing: 100.935989 deg, deltaT: 4.418411 s, approachRate: 0.502443 m/s, LOS rate: -1.629929 deg/s, posRepo size: 4 2021-02-17T19:38:31.006Z,1613590711.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.080001 m, bearing: 100.935989 deg, approachRate: 0.502443 m/s, LOS rate: -1.629929 deg/s, cmd update: -6.519717 deg/s, cmd heading: 121.791528 deg, new cmd heading: 126.895236 deg. 2021-02-17T19:38:33.421Z,1613590713.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:38:34.173Z,1613590714.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:38:34.640Z,1613590714.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:38:35.437Z,1613590715.437 [Micromodem](INFO): Nmea in: $SNTTA,0.006214,,,,193834.28*4F 2021-02-17T19:38:35.483Z,1613590715.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.419999 m, bearing: 61.350706 deg, deltaT: 4.587315 s, approachRate: 0.510102 m/s, LOS rate: -8.629293 deg/s, posRepo size: 4 2021-02-17T19:38:35.486Z,1613590715.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.419999 m, bearing: 61.350706 deg, approachRate: 0.510102 m/s, LOS rate: -8.629293 deg/s, cmd update: -12.000000 deg/s, cmd heading: 91.989284 deg, new cmd heading: 89.754267 deg. 2021-02-17T19:38:37.860Z,1613590717.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:38:38.620Z,1613590718.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:38:39.066Z,1613590719.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:38:39.856Z,1613590719.856 [Micromodem](INFO): Nmea in: $SNTTA,0.007760,,,,193838.73*4A 2021-02-17T19:38:39.893Z,1613590719.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.759997 m, bearing: 80.847665 deg, deltaT: 4.279865 s, approachRate: 0.546746 m/s, LOS rate: 4.555508 deg/s, posRepo size: 4 2021-02-17T19:38:39.895Z,1613590719.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.759997 m, bearing: 80.847665 deg, approachRate: 0.546746 m/s, LOS rate: 4.555508 deg/s, cmd update: 12.000000 deg/s, cmd heading: 40.434031 deg, new cmd heading: 34.939123 deg. 2021-02-17T19:38:42.306Z,1613590722.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:38:43.078Z,1613590723.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:38:43.467Z,1613590723.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:38:44.296Z,1613590724.296 [Micromodem](INFO): Nmea in: $SNTTA,0.009389,,,,193843.18*46 2021-02-17T19:38:44.349Z,1613590724.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.240002 m, bearing: 64.837367 deg, deltaT: 4.477194 s, approachRate: 0.777274 m/s, LOS rate: -3.575967 deg/s, posRepo size: 4 2021-02-17T19:38:44.350Z,1613590724.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.24 m. Rolling out. 2021-02-17T19:38:44.350Z,1613590724.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T19:38:46.720Z,1613590726.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:38:47.509Z,1613590727.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:38:47.973Z,1613590727.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:38:48.812Z,1613590728.812 [Micromodem](INFO): Nmea in: $SNTTA,0.010709,,,,193847.62*4B 2021-02-17T19:38:48.834Z,1613590728.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.160000 m, bearing: 70.232233 deg, deltaT: 4.469204 s, approachRate: 0.429606 m/s, LOS rate: 1.207120 deg/s, posRepo size: 4 2021-02-17T19:38:51.196Z,1613590731.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:38:51.950Z,1613590731.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:38:52.351Z,1613590732.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:38:53.176Z,1613590733.176 [Micromodem](INFO): Nmea in: $SNTTA,0.012119,,,,193852.06*48 2021-02-17T19:38:53.247Z,1613590733.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.420000 m, bearing: 44.761317 deg, deltaT: 4.384482 s, approachRate: 0.287377 m/s, LOS rate: -5.809333 deg/s, posRepo size: 4 2021-02-17T19:38:55.637Z,1613590735.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:38:56.405Z,1613590736.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:38:56.794Z,1613590736.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:38:57.206Z,1613590737.206 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items 2021-02-17T19:38:57.633Z,1613590737.633 [Micromodem](INFO): Nmea in: $SNTTA,0.013763,,,0.046949,193856.52*5F 2021-02-17T19:38:57.666Z,1613590737.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.480000 m, bearing: 96.539683 deg, deltaT: 4.473682 s, approachRate: 0.684000 m/s, LOS rate: 11.573994 deg/s, posRepo size: 4 2021-02-17T19:38:58.078Z,1613590738.078 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T19:39:00.119Z,1613590740.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:00.837Z,1613590740.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:01.308Z,1613590741.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:02.168Z,1613590742.168 [Micromodem](INFO): Nmea in: $SNTTA,0.015573,,,,193900.94*4A 2021-02-17T19:39:02.210Z,1613590742.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.120003 m, bearing: 98.836389 deg, deltaT: 4.452475 s, approachRate: 0.592929 m/s, LOS rate: 0.515827 deg/s, posRepo size: 4 2021-02-17T19:39:03.672Z,1613590743.672 [PowerOnly](INFO): Powering down loadControl 2021-02-17T19:39:04.497Z,1613590744.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:05.276Z,1613590745.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:05.688Z,1613590745.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:06.504Z,1613590746.504 [Micromodem](INFO): Nmea in: $SNTTA,0.017425,,,,193905.38*49 2021-02-17T19:39:06.546Z,1613590746.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.819998 m, bearing: 98.020188 deg, deltaT: 4.452261 s, approachRate: 0.606432 m/s, LOS rate: -0.183323 deg/s, posRepo size: 4 2021-02-17T19:39:08.947Z,1613590748.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:09.721Z,1613590749.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:10.143Z,1613590750.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:10.948Z,1613590750.948 [Micromodem](INFO): Nmea in: $SNTTA,0.019309,,,,193909.83*42 2021-02-17T19:39:11.037Z,1613590751.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.099998 m, bearing: 74.296455 deg, deltaT: 4.398245 s, approachRate: 0.518389 m/s, LOS rate: -5.393909 deg/s, posRepo size: 4 2021-02-17T19:39:13.404Z,1613590753.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:14.169Z,1613590754.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:14.636Z,1613590754.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:15.480Z,1613590755.480 [Micromodem](INFO): Nmea in: $SNTTA,0.021171,,0.034347,,193914.28*50 2021-02-17T19:39:15.505Z,1613590755.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.920000 m, bearing: 62.673515 deg, deltaT: 4.551093 s, approachRate: 0.619632 m/s, LOS rate: -2.553879 deg/s, posRepo size: 4 2021-02-17T19:39:17.890Z,1613590757.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:18.609Z,1613590758.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:19.070Z,1613590759.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:19.836Z,1613590759.836 [Micromodem](INFO): Nmea in: $SNTTA,0.022916,,,,193918.72*40 2021-02-17T19:39:19.874Z,1613590759.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.980000 m, bearing: 86.526264 deg, deltaT: 4.357171 s, approachRate: 0.702290 m/s, LOS rate: 5.474366 deg/s, posRepo size: 4 2021-02-17T19:39:20.269Z,1613590760.269 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:39:22.280Z,1613590762.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:23.072Z,1613590763.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:23.458Z,1613590763.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:24.292Z,1613590764.292 [Micromodem](INFO): Nmea in: $SNTTA,0.024896,,,,193923.18*4B 2021-02-17T19:39:24.341Z,1613590764.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.500000 m, bearing: 69.578673 deg, deltaT: 4.423552 s, approachRate: 0.569678 m/s, LOS rate: -3.831218 deg/s, posRepo size: 4 2021-02-17T19:39:26.712Z,1613590766.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:27.497Z,1613590767.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:27.914Z,1613590767.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:28.809Z,1613590768.809 [Micromodem](INFO): Nmea in: $SNTTA,0.026642,,,,193927.60*45 2021-02-17T19:39:28.830Z,1613590768.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.139999 m, bearing: 69.530144 deg, deltaT: 4.534366 s, approachRate: 0.582220 m/s, LOS rate: -0.010702 deg/s, posRepo size: 4 2021-02-17T19:39:31.173Z,1613590771.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:31.946Z,1613590771.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:32.351Z,1613590772.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:33.183Z,1613590773.183 [Micromodem](INFO): Nmea in: $SNTTA,0.028656,,,,193932.05*49 2021-02-17T19:39:33.217Z,1613590773.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.139999 m, bearing: 70.439577 deg, deltaT: 4.372789 s, approachRate: 0.686061 m/s, LOS rate: 0.207975 deg/s, posRepo size: 4 2021-02-17T19:39:35.605Z,1613590775.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:36.389Z,1613590776.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:36.798Z,1613590776.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:37.616Z,1613590777.616 [Micromodem](INFO): Nmea in: $SNTTA,0.030446,,,,193936.50*47 2021-02-17T19:39:37.650Z,1613590777.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.139999 m, bearing: 77.695280 deg, deltaT: 4.461976 s, approachRate: 0.672348 m/s, LOS rate: 1.626119 deg/s, posRepo size: 4 2021-02-17T19:39:40.322Z,1613590780.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:40.877Z,1613590780.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:41.278Z,1613590781.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:42.170Z,1613590782.170 [Micromodem](INFO): Nmea in: $SNTTA,0.032361,,,,193940.98*42 2021-02-17T19:39:42.204Z,1613590782.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.019997 m, bearing: 71.050790 deg, deltaT: 4.452054 s, approachRate: 0.646892 m/s, LOS rate: -1.492455 deg/s, posRepo size: 4 2021-02-17T19:39:44.532Z,1613590784.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:45.319Z,1613590785.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:45.740Z,1613590785.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:46.544Z,1613590786.544 [Micromodem](INFO): Nmea in: $SNTTA,0.034087,,,,193945.43*4C 2021-02-17T19:39:46.586Z,1613590786.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.299995 m, bearing: 63.887288 deg, deltaT: 4.480813 s, approachRate: 0.508836 m/s, LOS rate: -1.598706 deg/s, posRepo size: 4 2021-02-17T19:39:48.978Z,1613590788.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:49.760Z,1613590789.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:50.166Z,1613590790.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:50.999Z,1613590790.999 [Micromodem](INFO): Nmea in: $SNTTA,0.035925,,,,193949.87*48 2021-02-17T19:39:51.087Z,1613590791.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.359993 m, bearing: 77.415543 deg, deltaT: 4.405201 s, approachRate: 0.694633 m/s, LOS rate: 3.070973 deg/s, posRepo size: 4 2021-02-17T19:39:53.436Z,1613590793.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:54.206Z,1613590794.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:54.622Z,1613590794.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:55.436Z,1613590795.436 [Micromodem](INFO): Nmea in: $SNTTA,0.037780,,,,193954.31*4A 2021-02-17T19:39:55.472Z,1613590795.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.060005 m, bearing: 76.311040 deg, deltaT: 4.537915 s, approachRate: 0.594990 m/s, LOS rate: -0.243394 deg/s, posRepo size: 4 2021-02-17T19:39:57.877Z,1613590797.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:39:58.650Z,1613590798.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:39:59.075Z,1613590799.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:39:59.880Z,1613590799.880 [Micromodem](INFO): Nmea in: $SNTTA,0.039527,,0.294119,,193958.76*5C 2021-02-17T19:39:59.919Z,1613590799.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.460003 m, bearing: 75.358085 deg, deltaT: 4.362644 s, approachRate: 0.550125 m/s, LOS rate: -0.218435 deg/s, posRepo size: 4 2021-02-17T19:40:02.349Z,1613590802.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:40:03.098Z,1613590803.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:40:03.501Z,1613590803.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:40:04.332Z,1613590804.332 [Micromodem](INFO): Nmea in: $SNTTA,0.041587,,,,194003.20*42 2021-02-17T19:40:04.365Z,1613590804.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.820007 m, bearing: 79.379769 deg, deltaT: 4.444245 s, approachRate: 0.756035 m/s, LOS rate: 0.904919 deg/s, posRepo size: 4 2021-02-17T19:40:06.745Z,1613590806.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:40:07.536Z,1613590807.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:40:07.964Z,1613590807.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:40:08.772Z,1613590808.772 [Micromodem](INFO): Nmea in: $SNTTA,0.043172,,,,194007.64*4A 2021-02-17T19:40:08.787Z,1613590808.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.919998 m, bearing: 65.054792 deg, deltaT: 4.459454 s, approachRate: 0.470908 m/s, LOS rate: -3.212271 deg/s, posRepo size: 4 2021-02-17T19:40:11.232Z,1613590811.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:40:12.005Z,1613590812.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:40:12.386Z,1613590812.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:40:13.220Z,1613590813.220 [Micromodem](INFO): Nmea in: $SNTTA,0.045209,,,,194012.11*45 2021-02-17T19:40:13.272Z,1613590813.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.219994 m, bearing: 73.051093 deg, deltaT: 4.416797 s, approachRate: 0.747147 m/s, LOS rate: 1.810430 deg/s, posRepo size: 4 2021-02-17T19:40:15.657Z,1613590815.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:40:16.432Z,1613590816.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:40:16.851Z,1613590816.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:40:17.661Z,1613590817.661 [Micromodem](INFO): Nmea in: $SNTTA,0.046907,0.202406,,,194016.54*5A 2021-02-17T19:40:17.697Z,1613590817.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.620003 m, bearing: 70.798285 deg, deltaT: 4.490945 s, approachRate: 0.534411 m/s, LOS rate: -0.501633 deg/s, posRepo size: 4 2021-02-17T19:40:20.114Z,1613590820.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:40:20.869Z,1613590820.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:40:21.280Z,1613590821.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:40:22.093Z,1613590822.093 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-02-17T19:40:22.095Z,1613590822.095 [BPC1](INFO): Received data from all battery sticks. 2021-02-17T19:40:22.124Z,1613590822.124 [Micromodem](INFO): Nmea in: $SNTTA,0.048711,,,,194020.98*44 2021-02-17T19:40:22.187Z,1613590822.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.440002 m, bearing: 123.416764 deg, deltaT: 4.463550 s, approachRate: 0.631784 m/s, LOS rate: 11.788482 deg/s, posRepo size: 4 2021-02-17T19:40:24.526Z,1613590824.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:40:25.314Z,1613590825.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:40:25.727Z,1613590825.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:40:26.540Z,1613590826.540 [Micromodem](INFO): Nmea in: $SNTTA,0.050571,,,,194025.42*4B 2021-02-17T19:40:26.577Z,1613590826.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.259995 m, bearing: 72.189014 deg, deltaT: 4.414162 s, approachRate: 0.638851 m/s, LOS rate: -11.605317 deg/s, posRepo size: 4 2021-02-17T19:40:28.976Z,1613590828.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:40:29.762Z,1613590829.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:40:30.163Z,1613590830.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:40:30.000Z,1613590831.000 [Micromodem](INFO): Nmea in: $SNTTA,0.052518,,,,194029.87*43 2021-02-17T19:40:31.093Z,1613590831.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.140007 m, bearing: 115.655935 deg, deltaT: 4.436026 s, approachRate: 0.649233 m/s, LOS rate: 9.798618 deg/s, posRepo size: 4 2021-02-17T19:40:33.449Z,1613590833.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:40:34.209Z,1613590834.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:40:34.605Z,1613590834.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:40:35.436Z,1613590835.436 [Micromodem](INFO): Nmea in: $SNTTA,0.054197,,,,194034.32*44 2021-02-17T19:40:35.487Z,1613590835.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.419998 m, bearing: 66.820287 deg, deltaT: 4.509798 s, approachRate: 0.505564 m/s, LOS rate: -10.828789 deg/s, posRepo size: 4 2021-02-17T19:40:37.874Z,1613590837.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:40:38.651Z,1613590838.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:40:39.075Z,1613590839.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:40:39.876Z,1613590839.876 [Micromodem](INFO): Nmea in: $SNTTA,0.056114,,,,194038.76*41 2021-02-17T19:40:39.913Z,1613590839.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.480003 m, bearing: 119.566068 deg, deltaT: 4.394535 s, approachRate: 0.696321 m/s, LOS rate: 12.002586 deg/s, posRepo size: 4 2021-02-17T19:40:42.323Z,1613590842.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:40:43.088Z,1613590843.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:40:43.494Z,1613590843.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:40:44.316Z,1613590844.316 [Micromodem](INFO): Nmea in: $SNTTA,0.057947,,,,194043.19*4B 2021-02-17T19:40:44.365Z,1613590844.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.120003 m, bearing: 75.946362 deg, deltaT: 4.413880 s, approachRate: 0.598113 m/s, LOS rate: -9.882395 deg/s, posRepo size: 4 2021-02-17T19:40:46.754Z,1613590846.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:40:47.532Z,1613590847.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:40:47.963Z,1613590847.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:40:48.760Z,1613590848.760 [Micromodem](INFO): Nmea in: $SNTTA,0.059891,,,,194047.64*41 2021-02-17T19:40:48.794Z,1613590848.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.000000 m, bearing: 65.089913 deg, deltaT: 4.460846 s, approachRate: 0.645617 m/s, LOS rate: -2.433720 deg/s, posRepo size: 4 2021-02-17T19:40:49.187Z,1613590849.187 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:40:51.236Z,1613590851.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:40:51.981Z,1613590851.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:40:52.382Z,1613590852.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:40:53.208Z,1613590853.208 [Micromodem](INFO): Nmea in: $SNTTA,0.061627,,,,194052.09*46 2021-02-17T19:40:53.280Z,1613590853.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.639999 m, bearing: 108.860026 deg, deltaT: 4.413022 s, approachRate: 0.598229 m/s, LOS rate: 9.918399 deg/s, posRepo size: 4 2021-02-17T19:40:55.627Z,1613590855.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:40:56.431Z,1613590856.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:40:56.826Z,1613590856.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:40:57.652Z,1613590857.652 [Micromodem](INFO): Nmea in: $SNTTA,0.063668,,,,194056.54*43 2021-02-17T19:40:57.689Z,1613590857.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.699997 m, bearing: 65.795055 deg, deltaT: 4.493288 s, approachRate: 0.681015 m/s, LOS rate: -9.584289 deg/s, posRepo size: 4 2021-02-17T19:41:00.137Z,1613590860.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:00.864Z,1613590860.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:01.287Z,1613590861.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:02.096Z,1613590862.096 [Micromodem](INFO): Nmea in: $SNTTA,0.065368,,0.079861,,194100.97*52 2021-02-17T19:41:02.150Z,1613590862.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.100006 m, bearing: 104.166696 deg, deltaT: 4.393103 s, approachRate: 0.546313 m/s, LOS rate: 8.734518 deg/s, posRepo size: 4 2021-02-17T19:41:04.529Z,1613590864.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:05.325Z,1613590865.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:05.714Z,1613590865.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:06.544Z,1613590866.544 [Micromodem](INFO): Nmea in: $SNTTA,0.067287,,,,194105.43*43 2021-02-17T19:41:06.578Z,1613590866.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.040001 m, bearing: 74.094555 deg, deltaT: 4.491237 s, approachRate: 0.654607 m/s, LOS rate: -6.695737 deg/s, posRepo size: 4 2021-02-17T19:41:08.968Z,1613590868.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:09.752Z,1613590869.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:10.160Z,1613590870.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:10.980Z,1613590870.980 [Micromodem](INFO): Nmea in: $SNTTA,0.069007,,,,194109.86*42 2021-02-17T19:41:11.079Z,1613590871.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.680008 m, bearing: 62.224963 deg, deltaT: 4.423281 s, approachRate: 0.596844 m/s, LOS rate: -2.683436 deg/s, posRepo size: 4 2021-02-17T19:41:13.441Z,1613590873.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:14.221Z,1613590874.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:14.601Z,1613590874.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:15.443Z,1613590875.443 [Micromodem](INFO): Nmea in: $SNTTA,0.071012,,,,194114.33*4D 2021-02-17T19:41:15.462Z,1613590875.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.920006 m, bearing: 65.855659 deg, deltaT: 4.504625 s, approachRate: 0.719260 m/s, LOS rate: 0.805993 deg/s, posRepo size: 4 2021-02-17T19:41:17.855Z,1613590877.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:18.640Z,1613590878.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:19.073Z,1613590879.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:19.868Z,1613590879.868 [Micromodem](INFO): Nmea in: $SNTTA,0.072958,,,,194118.75*47 2021-02-17T19:41:19.905Z,1613590879.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.560005 m, bearing: 56.901988 deg, deltaT: 4.372956 s, approachRate: 0.603710 m/s, LOS rate: -2.047510 deg/s, posRepo size: 4 2021-02-17T19:41:22.322Z,1613590882.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:23.090Z,1613590883.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:23.490Z,1613590883.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:24.316Z,1613590884.316 [Micromodem](INFO): Nmea in: $SNTTA,0.074554,,,,194123.20*49 2021-02-17T19:41:24.365Z,1613590884.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.199997 m, bearing: 59.978896 deg, deltaT: 4.427518 s, approachRate: 0.596269 m/s, LOS rate: 0.694951 deg/s, posRepo size: 4 2021-02-17T19:41:26.743Z,1613590886.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:27.528Z,1613590887.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:27.933Z,1613590887.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:28.756Z,1613590888.756 [Micromodem](INFO): Nmea in: $SNTTA,0.076507,,,,194127.63*4E 2021-02-17T19:41:28.792Z,1613590888.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.900002 m, bearing: 66.040382 deg, deltaT: 4.482982 s, approachRate: 0.602279 m/s, LOS rate: 1.352110 deg/s, posRepo size: 4 2021-02-17T19:41:31.204Z,1613590891.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:31.972Z,1613590891.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:32.379Z,1613590892.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:33.216Z,1613590893.216 [Micromodem](INFO): Nmea in: $SNTTA,0.078213,,,,194132.08*4B 2021-02-17T19:41:33.250Z,1613590893.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.660004 m, bearing: 64.924370 deg, deltaT: 4.419627 s, approachRate: 0.624488 m/s, LOS rate: -0.252513 deg/s, posRepo size: 4 2021-02-17T19:41:35.626Z,1613590895.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:36.416Z,1613590896.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:36.822Z,1613590896.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:37.663Z,1613590897.663 [Micromodem](INFO): Nmea in: $SNTTA,0.080024,,,,194136.52*41 2021-02-17T19:41:37.682Z,1613590897.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.180008 m, bearing: 110.542247 deg, deltaT: 4.474452 s, approachRate: 0.563198 m/s, LOS rate: 10.195188 deg/s, posRepo size: 4 2021-02-17T19:41:40.136Z,1613590900.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:40.860Z,1613590900.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:41.278Z,1613590901.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:42.088Z,1613590902.088 [Micromodem](INFO): Nmea in: $SNTTA,0.081864,,,,194140.97*44 2021-02-17T19:41:42.146Z,1613590902.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.000000 m, bearing: 109.122510 deg, deltaT: 4.399214 s, approachRate: 0.641022 m/s, LOS rate: -0.322725 deg/s, posRepo size: 4 2021-02-17T19:41:44.518Z,1613590904.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:45.324Z,1613590905.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:45.711Z,1613590905.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:46.544Z,1613590906.544 [Micromodem](INFO): Nmea in: $SNTTA,0.083731,,,,194145.43*45 2021-02-17T19:41:46.566Z,1613590906.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.760010 m, bearing: 68.111152 deg, deltaT: 4.476040 s, approachRate: 0.616619 m/s, LOS rate: -9.162420 deg/s, posRepo size: 4 2021-02-17T19:41:48.958Z,1613590908.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:49.748Z,1613590909.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:50.154Z,1613590910.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:51.006Z,1613590911.006 [Micromodem](INFO): Nmea in: $SNTTA,0.085496,,,,194149.85*4B 2021-02-17T19:41:51.076Z,1613590911.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.459991 m, bearing: 62.111657 deg, deltaT: 4.433655 s, approachRate: 0.608974 m/s, LOS rate: -1.353171 deg/s, posRepo size: 4 2021-02-17T19:41:53.109Z,1613590913.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:53.788Z,1613590913.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:54.199Z,1613590914.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:55.061Z,1613590915.061 [Micromodem](INFO): Nmea in: $SNTTA,0.087139,,,,194153.90*46 2021-02-17T19:41:55.108Z,1613590915.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.860001 m, bearing: 110.577375 deg, deltaT: 4.020022 s, approachRate: 0.597014 m/s, LOS rate: 12.056083 deg/s, posRepo size: 4 2021-02-17T19:41:57.120Z,1613590917.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:41:57.833Z,1613590917.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:41:58.233Z,1613590918.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:41:59.070Z,1613590919.070 [Micromodem](INFO): Nmea in: $SNTTA,0.088837,,,,194157.94*4E 2021-02-17T19:41:59.863Z,1613590919.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:01.462Z,1613590921.462 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:42:02.706Z,1613590922.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:03.484Z,1613590923.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:42:03.897Z,1613590923.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:42:04.712Z,1613590924.712 [Micromodem](INFO): Nmea in: $SNTTA,0.091322,,,,194203.59*4A 2021-02-17T19:42:04.749Z,1613590924.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.160004 m, bearing: 99.008510 deg, deltaT: 9.752781 s, approachRate: 0.645970 m/s, LOS rate: -1.186212 deg/s, posRepo size: 4 2021-02-17T19:42:07.162Z,1613590927.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:07.928Z,1613590927.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:42:08.347Z,1613590928.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:42:08.364Z,1613590928.364 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:42:09.156Z,1613590929.156 [Micromodem](INFO): Nmea in: $SNTTA,0.092991,,,,194208.03*4F 2021-02-17T19:42:09.213Z,1613590929.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.680008 m, bearing: 63.094767 deg, deltaT: 4.399628 s, approachRate: 0.572777 m/s, LOS rate: -8.162904 deg/s, posRepo size: 4 2021-02-17T19:42:11.597Z,1613590931.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:12.372Z,1613590932.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:42:12.796Z,1613590932.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:42:13.588Z,1613590933.588 [Micromodem](INFO): Nmea in: $SNTTA,0.094956,,,,194212.48*46 2021-02-17T19:42:14.106Z,1613590934.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:16.048Z,1613590936.048 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:42:16.830Z,1613590936.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:17.630Z,1613590937.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:42:18.085Z,1613590938.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:42:18.104Z,1613590938.104 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:42:18.856Z,1613590938.856 [Micromodem](INFO): Nmea in: $SNTTA,0.097176,,,,194217.74*45 2021-02-17T19:42:18.897Z,1613590938.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.860001 m, bearing: 115.039387 deg, deltaT: 9.705679 s, approachRate: 0.636740 m/s, LOS rate: 5.351982 deg/s, posRepo size: 4 2021-02-17T19:42:21.309Z,1613590941.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:22.077Z,1613590942.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:42:22.489Z,1613590942.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:42:23.300Z,1613590943.300 [Micromodem](INFO): Nmea in: $SNTTA,0.099122,,,,194222.18*46 2021-02-17T19:42:23.311Z,1613590943.311 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:42:23.379Z,1613590943.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.800003 m, bearing: 110.361855 deg, deltaT: 4.443083 s, approachRate: 0.661703 m/s, LOS rate: -1.052767 deg/s, posRepo size: 4 2021-02-17T19:42:25.739Z,1613590945.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:26.513Z,1613590946.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:42:26.929Z,1613590946.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:42:27.740Z,1613590947.740 [Micromodem](INFO): Nmea in: $SNTTA,0.100735,,,,194226.62*4E 2021-02-17T19:42:27.776Z,1613590947.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.440018 m, bearing: 117.106899 deg, deltaT: 4.458692 s, approachRate: 0.592105 m/s, LOS rate: 1.512785 deg/s, posRepo size: 4 2021-02-17T19:42:27.777Z,1613590947.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.44 m. Resuming terminal guidance. 2021-02-17T19:42:27.777Z,1613590947.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T19:42:28.148Z,1613590948.148 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:42:30.197Z,1613590950.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:30.956Z,1613590950.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:42:31.370Z,1613590951.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:42:32.184Z,1613590952.184 [Micromodem](INFO): Nmea in: $SNTTA,0.102695,,,,194231.06*43 2021-02-17T19:42:32.234Z,1613590952.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.200012 m, bearing: 111.268160 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T19:42:32.234Z,1613590952.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 111.268160deg and heading rate command to 0 deg/s. 2021-02-17T19:42:34.211Z,1613590954.211 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T19:42:34.613Z,1613590954.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:35.402Z,1613590955.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:42:35.817Z,1613590955.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:42:36.628Z,1613590956.628 [Micromodem](INFO): Nmea in: $SNTTA,0.104470,,,,194235.51*4A 2021-02-17T19:42:36.664Z,1613590956.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.900009 m, bearing: 77.155859 deg, deltaT: 4.458727 s, approachRate: 0.605553 m/s, LOS rate: -7.650682 deg/s, posRepo size: 2 2021-02-17T19:42:36.666Z,1613590956.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.900009 m, bearing: 77.155859 deg, approachRate: 0.605553 m/s, LOS rate: -7.650682 deg/s, cmd update: -12.000000 deg/s, cmd heading: 111.268160 deg, new cmd heading: 111.268160 deg. 2021-02-17T19:42:38.269Z,1613590958.269 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T19:42:39.073Z,1613590959.073 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:42:39.097Z,1613590959.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:39.850Z,1613590959.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:42:40.267Z,1613590960.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:42:40.282Z,1613590960.282 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:42:41.093Z,1613590961.093 [Micromodem](INFO): Nmea in: $SNTTA,0.107130,,,,194239.96*4F 2021-02-17T19:42:41.127Z,1613590961.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.719986 m, bearing: 116.720638 deg, deltaT: 4.430663 s, approachRate: 0.636468 m/s, LOS rate: 8.929765 deg/s, posRepo size: 3 2021-02-17T19:42:41.129Z,1613590961.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.719986 m, bearing: 116.720638 deg, approachRate: 0.636468 m/s, LOS rate: 8.929765 deg/s, cmd update: 12.000000 deg/s, cmd heading: 58.200031 deg, new cmd heading: 52.889814 deg. 2021-02-17T19:42:43.109Z,1613590963.109 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T19:42:43.507Z,1613590963.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:44.288Z,1613590964.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:42:44.697Z,1613590964.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:42:45.516Z,1613590965.516 [Micromodem](INFO): Nmea in: $SNTTA,0.108279,,,,194244.39*41 2021-02-17T19:42:45.548Z,1613590965.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.599991 m, bearing: 77.280291 deg, deltaT: 4.456115 s, approachRate: 0.646304 m/s, LOS rate: -8.850837 deg/s, posRepo size: 4 2021-02-17T19:42:45.550Z,1613590965.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.599991 m, bearing: 77.280291 deg, approachRate: 0.646304 m/s, LOS rate: -8.850837 deg/s, cmd update: -12.000000 deg/s, cmd heading: 111.772700 deg, new cmd heading: 116.567156 deg. 2021-02-17T19:42:47.945Z,1613590967.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:48.732Z,1613590968.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:42:49.144Z,1613590969.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:42:49.167Z,1613590969.167 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T19:42:49.945Z,1613590969.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194248.84*50 2021-02-17T19:42:50.783Z,1613590970.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:52.384Z,1613590972.384 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:42:53.182Z,1613590973.182 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 88 2021-02-17T19:42:53.189Z,1613590973.189 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items 2021-02-17T19:42:53.605Z,1613590973.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:54.408Z,1613590974.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:42:54.794Z,1613590974.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:42:55.209Z,1613590975.209 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,215,0,61,E4 7,186,80,80,9B,FF 2021-02-17T19:42:55.620Z,1613590975.620 [Micromodem](INFO): Nmea in: $SNTTA,0.112228,,,,194254.51*41 2021-02-17T19:42:56.453Z,1613590976.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:42:58.090Z,1613590978.090 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T19:42:58.099Z,1613590978.099 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:42:59.288Z,1613590979.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:02.114Z,1613590982.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:02.872Z,1613590982.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:43:03.277Z,1613590983.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:43:03.299Z,1613590983.299 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T19:43:03.684Z,1613590983.684 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,0BA,000,0E4 7,186,80,80,9B,FF 2021-02-17T19:43:04.091Z,1613590984.091 [Micromodem](INFO): Nmea in: $SNTTA,0.115033,,,,194302.98*49 2021-02-17T19:43:04.930Z,1613590984.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:07.735Z,1613590987.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:08.132Z,1613590988.132 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:43:08.140Z,1613590988.140 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:43:10.585Z,1613590990.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:10.585Z,1613590990.585 [lineCaptureDepth:NeedComms] Running Loop=1 2021-02-17T19:43:10.585Z,1613590990.585 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms 2021-02-17T19:43:10.585Z,1613590990.585 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1 2021-02-17T19:43:10.585Z,1613590990.585 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-02-17T19:43:10.586Z,1613590990.586 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2021-02-17T19:43:10.586Z,1613590990.586 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2021-02-17T19:43:10.586Z,1613590990.586 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2021-02-17T19:43:10.591Z,1613590990.591 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-02-17T19:43:10.591Z,1613590990.591 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-02-17T19:43:10.592Z,1613590990.592 [lineCaptureDepth:NeedComms:A] Running Loop=1 2021-02-17T19:43:10.593Z,1613590990.593 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613585590.000000 second since 1970/01/01T00:00:00Z 2021-02-17T19:43:10.593Z,1613590990.593 [lineCaptureDepth:NeedComms:A] Stopped 2021-02-17T19:43:11.356Z,1613590991.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:43:11.773Z,1613590991.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:43:12.169Z,1613590992.169 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,3F8,000,0E4 7,186,80,80,9B,FF 2021-02-17T19:43:12.574Z,1613590992.574 [Micromodem](INFO): Nmea in: $SNTTA,0.116410,,,,194311.46*4E 2021-02-17T19:43:13.388Z,1613590993.388 [RDI_Pathfinder](ERROR): only read 1 of 4 data items 2021-02-17T19:43:13.397Z,1613590993.397 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:43:13.411Z,1613590993.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:16.267Z,1613590996.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:18.233Z,1613590998.233 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:43:18.242Z,1613590998.242 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:43:19.125Z,1613590999.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:19.858Z,1613590999.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:43:20.245Z,1613591000.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:43:21.078Z,1613591001.078 [Micromodem](INFO): Nmea in: $SNTTA,0.117943,,,,194319.96*41 2021-02-17T19:43:21.490Z,1613591001.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.119995 m, bearing: 62.501210 deg, deltaT: 36.001030 s, approachRate: 0.403322 m/s, LOS rate: -0.410518 deg/s, posRepo size: 4 2021-02-17T19:43:21.492Z,1613591001.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.119995 m, bearing: 62.501210 deg, approachRate: 0.403322 m/s, LOS rate: -0.410518 deg/s, cmd update: -1.642073 deg/s, cmd heading: 39.968000 deg, new cmd heading: 35.679248 deg. 2021-02-17T19:43:23.111Z,1613591003.111 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:43:23.916Z,1613591003.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:24.702Z,1613591004.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:43:25.094Z,1613591005.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:43:25.919Z,1613591005.919 [Micromodem](INFO): Nmea in: $SNTTA,0.119195,,,,194324.81*44 2021-02-17T19:43:26.373Z,1613591006.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.979996 m, bearing: 96.481230 deg, deltaT: 4.812069 s, approachRate: 0.386528 m/s, LOS rate: 7.061416 deg/s, posRepo size: 4 2021-02-17T19:43:26.375Z,1613591006.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.979996 m, bearing: 96.481230 deg, approachRate: 0.386528 m/s, LOS rate: 7.061416 deg/s, cmd update: 12.000000 deg/s, cmd heading: 32.044542 deg, new cmd heading: 31.362487 deg. 2021-02-17T19:43:28.352Z,1613591008.352 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:43:28.747Z,1613591008.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:29.553Z,1613591009.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:43:29.948Z,1613591009.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:43:30.769Z,1613591010.769 [Micromodem](INFO): Nmea in: $SNTTA,0.120585,0.122591,,,194329.66*5D 2021-02-17T19:43:31.230Z,1613591011.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.019989 m, bearing: 76.999024 deg, deltaT: 4.821813 s, approachRate: 0.423076 m/s, LOS rate: -4.040432 deg/s, posRepo size: 4 2021-02-17T19:43:31.237Z,1613591011.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.019989 m, bearing: 76.999024 deg, approachRate: 0.423076 m/s, LOS rate: -4.040432 deg/s, cmd update: -12.000000 deg/s, cmd heading: 89.955392 deg, new cmd heading: 95.309924 deg. 2021-02-17T19:43:33.596Z,1613591013.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:34.390Z,1613591014.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:43:34.790Z,1613591014.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:43:35.610Z,1613591015.610 [Micromodem](INFO): Nmea in: $SNTTA,0.121725,,0.136368,,194334.50*58 2021-02-17T19:43:36.101Z,1613591016.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:38.033Z,1613591018.033 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:43:38.434Z,1613591018.434 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:43:38.842Z,1613591018.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:39.642Z,1613591019.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:43:40.090Z,1613591020.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:43:40.858Z,1613591020.858 [Micromodem](INFO): Nmea in: $SNTTA,0.123406,,,,194339.75*45 2021-02-17T19:43:41.317Z,1613591021.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.279999 m, bearing: 91.061632 deg, deltaT: 10.088222 s, approachRate: 0.422276 m/s, LOS rate: 1.393963 deg/s, posRepo size: 4 2021-02-17T19:43:41.319Z,1613591021.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.279999 m, bearing: 91.061632 deg, approachRate: 0.422276 m/s, LOS rate: 1.393963 deg/s, cmd update: 5.575852 deg/s, cmd heading: 328.896472 deg, new cmd heading: 323.553580 deg. 2021-02-17T19:43:43.314Z,1613591023.314 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:43:43.690Z,1613591023.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:44.502Z,1613591024.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:43:44.942Z,1613591024.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:43:45.741Z,1613591025.741 [Micromodem](INFO): Nmea in: $SNTTA,0.124664,,0.127439,,194344.61*5F 2021-02-17T19:43:45.762Z,1613591025.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.279999 m, bearing: 55.846232 deg, deltaT: 4.521577 s, approachRate: 0.000000 m/s, LOS rate: -7.788301 deg/s, posRepo size: 4 2021-02-17T19:43:45.764Z,1613591025.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.279999 m, bearing: 55.846232 deg, approachRate: 0.000000 m/s, LOS rate: -7.788301 deg/s, cmd update: -12.000000 deg/s, cmd heading: 354.085828 deg, new cmd heading: 356.164311 deg. 2021-02-17T19:43:45.769Z,1613591025.769 [lineCaptureDepth:NeedComms:C] Running Loop=1 2021-02-17T19:43:46.183Z,1613591026.183 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-17T19:43:46.183Z,1613591026.183 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-17T19:43:46.183Z,1613591026.183 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-17T19:43:46.183Z,1613591026.183 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-17T19:43:46.183Z,1613591026.183 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-17T19:43:46.184Z,1613591026.184 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-17T19:43:46.184Z,1613591026.184 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-17T19:43:46.186Z,1613591026.186 [lineCaptureDepth:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix 2021-02-17T19:43:46.267Z,1613591026.267 [Radio_Surface](INFO): Powering up 2021-02-17T19:43:48.212Z,1613591028.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:48.961Z,1613591028.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:43:49.366Z,1613591029.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:43:50.191Z,1613591030.191 [Micromodem](INFO): Nmea in: $SNTTA,0.125279,0.140048,,,194349.07*58 2021-02-17T19:43:50.622Z,1613591030.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.979980 m, bearing: 344.228366 deg, deltaT: 4.895861 s, approachRate: 0.551482 m/s, LOS rate: -14.628245 deg/s, posRepo size: 4 2021-02-17T19:43:50.622Z,1613591030.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.628245 deg/s. Setting heading cmd to target bearing of 344.228366deg and heading rate command to 0 deg/s. 2021-02-17T19:43:51.731Z,1613591031.731 [DataOverHttps](INFO): Radio surface powered ON. 2021-02-17T19:43:53.025Z,1613591033.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:53.808Z,1613591033.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:43:54.214Z,1613591034.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:43:55.068Z,1613591035.068 [Micromodem](INFO): Nmea in: $SNTTA,0.125104,,,,194353.91*42 2021-02-17T19:43:55.126Z,1613591035.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.979980 m, bearing: 353.356504 deg, deltaT: 4.365392 s, approachRate: 0.000000 m/s, LOS rate: 2.091024 deg/s, posRepo size: 4 2021-02-17T19:43:55.132Z,1613591035.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.979980 m, bearing: 353.356504 deg, approachRate: 0.000000 m/s, LOS rate: 2.091024 deg/s, cmd update: 8.364094 deg/s, cmd heading: 344.228366 deg, new cmd heading: 344.228366 deg. 2021-02-17T19:43:57.472Z,1613591037.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:43:58.254Z,1613591038.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:43:58.657Z,1613591038.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:43:59.485Z,1613591039.485 [Micromodem](INFO): Nmea in: $SNTTA,0.124694,,,,194358.36*4B 2021-02-17T19:44:00.318Z,1613591040.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:01.905Z,1613591041.905 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:44:03.174Z,1613591043.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:03.211Z,1613591043.211 [BuoyancyServo](FAULT): Overload Error 2021-02-17T19:44:03.211Z,1613591043.211 [BuoyancyServo] Hardware Fault, FailCount= 1 2021-02-17T19:44:03.211Z,1613591043.211 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T19:44:03.315Z,1613591043.315 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T19:44:03.908Z,1613591043.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:44:04.321Z,1613591044.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:44:05.130Z,1613591045.130 [Micromodem](INFO): Nmea in: $SNTTA,0.124803,,,,194404.01*41 2021-02-17T19:44:05.218Z,1613591045.218 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T19:44:05.218Z,1613591045.218 [BuoyancyServo](INFO): Powering down 2021-02-17T19:44:05.577Z,1613591045.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.080002 m, bearing: 276.510728 deg, deltaT: 10.534778 s, approachRate: -0.085429 m/s, LOS rate: -7.294485 deg/s, posRepo size: 4 2021-02-17T19:44:05.583Z,1613591045.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.080002 m, bearing: 276.510728 deg, approachRate: -0.085429 m/s, LOS rate: -7.294485 deg/s, cmd update: -12.000000 deg/s, cmd heading: 72.350983 deg, new cmd heading: 75.589928 deg. 2021-02-17T19:44:06.051Z,1613591046.051 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T19:44:06.051Z,1613591046.051 [BuoyancyServo] No Fault, FailCount= 1 2021-02-17T19:44:06.396Z,1613591046.396 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T19:44:06.397Z,1613591046.397 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T19:44:07.962Z,1613591047.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:08.756Z,1613591048.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:44:09.162Z,1613591049.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:44:09.981Z,1613591049.981 [Micromodem](INFO): Nmea in: $SNTTA,0.123720,,,,194408.87*4A 2021-02-17T19:44:10.448Z,1613591050.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.460007 m, bearing: 275.614635 deg, deltaT: 4.805990 s, approachRate: -0.337078 m/s, LOS rate: -0.186453 deg/s, posRepo size: 4 2021-02-17T19:44:10.449Z,1613591050.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.460007 m, bearing: 275.614635 deg, approachRate: -0.337078 m/s, LOS rate: -0.186453 deg/s, cmd update: -0.745814 deg/s, cmd heading: 14.678826 deg, new cmd heading: 9.260813 deg. 2021-02-17T19:44:12.810Z,1613591052.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:13.613Z,1613591053.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:44:14.013Z,1613591054.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:44:14.413Z,1613591054.413 [NAL9602](INFO): SBD MO Status=0, MOMSN=13598, MT Status=0, MTMSN=0 2021-02-17T19:44:14.413Z,1613591054.413 [NAL9602](INFO): No messages in MT queue 2021-02-17T19:44:14.828Z,1613591054.828 [Micromodem](INFO): Nmea in: $SNTTA,0.123335,,,,194413.72*4A 2021-02-17T19:44:15.305Z,1613591055.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.860001 m, bearing: 276.306888 deg, deltaT: 4.846555 s, approachRate: -0.123801 m/s, LOS rate: 0.142834 deg/s, posRepo size: 4 2021-02-17T19:44:15.306Z,1613591055.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.860001 m, bearing: 276.306888 deg, approachRate: -0.123801 m/s, LOS rate: 0.142834 deg/s, cmd update: 0.571336 deg/s, cmd heading: 11.064198 deg, new cmd heading: 10.719434 deg. 2021-02-17T19:44:17.669Z,1613591057.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:18.452Z,1613591058.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:44:18.858Z,1613591058.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:44:19.669Z,1613591059.669 [Micromodem](INFO): Nmea in: $SNTTA,0.123844,,,,194418.56*4A 2021-02-17T19:44:20.149Z,1613591060.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.640015 m, bearing: 278.109785 deg, deltaT: 4.840853 s, approachRate: 0.161132 m/s, LOS rate: 0.372434 deg/s, posRepo size: 4 2021-02-17T19:44:20.151Z,1613591060.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.640015 m, bearing: 278.109785 deg, approachRate: 0.161132 m/s, LOS rate: 0.372434 deg/s, cmd update: 1.489735 deg/s, cmd heading: 13.829946 deg, new cmd heading: 14.096300 deg. 2021-02-17T19:44:21.863Z,1613591061.863 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T19:44:22.507Z,1613591062.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:23.319Z,1613591063.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:44:23.358Z,1613591063.358 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:44:23.707Z,1613591063.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:44:24.534Z,1613591064.534 [Micromodem](INFO): Nmea in: $SNTTA,0.122510,,,,194423.42*4A 2021-02-17T19:44:24.623Z,1613591064.623 [BuoyancyServo](FAULT): Overload Error 2021-02-17T19:44:24.623Z,1613591064.623 [BuoyancyServo] Hardware Fault, FailCount= 2 2021-02-17T19:44:24.623Z,1613591064.623 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T19:44:24.727Z,1613591064.727 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T19:44:24.935Z,1613591064.935 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194425.99,A,4133.12004,N,07042.39601,W,2.177,15.09,170221,,,D*41 2021-02-17T19:44:24.937Z,1613591064.937 [NAL9602](INFO): GPS fix at 20210217T194425: (41.552001, -70.706600) 2021-02-17T19:44:24.974Z,1613591064.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.600006 m, bearing: 273.204316 deg, deltaT: 4.882568 s, approachRate: -0.417815 m/s, LOS rate: -1.004690 deg/s, posRepo size: 4 2021-02-17T19:44:24.976Z,1613591064.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.600006 m, bearing: 273.204316 deg, approachRate: -0.417815 m/s, LOS rate: -1.004690 deg/s, cmd update: -4.018762 deg/s, cmd heading: 21.103648 deg, new cmd heading: 21.711877 deg. 2021-02-17T19:44:24.979Z,1613591064.979 [lineCaptureDepth:NeedComms:C] Stopped 2021-02-17T19:44:24.980Z,1613591064.980 [lineCaptureDepth:NeedComms:D] Running Loop=1 2021-02-17T19:44:25.394Z,1613591065.394 [lineCaptureDepth:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications 2021-02-17T19:44:26.594Z,1613591066.594 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T19:44:26.594Z,1613591066.594 [BuoyancyServo](INFO): Powering down 2021-02-17T19:44:27.406Z,1613591067.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:27.513Z,1613591067.513 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T19:44:27.513Z,1613591067.513 [BuoyancyServo] No Fault, FailCount= 2 2021-02-17T19:44:27.791Z,1613591067.791 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T19:44:27.799Z,1613591067.799 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T19:44:28.153Z,1613591068.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:44:28.565Z,1613591068.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:44:29.367Z,1613591069.367 [Micromodem](INFO): Nmea in: $SNTTA,0.122046,,,,194428.26*45 2021-02-17T19:44:29.794Z,1613591069.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.940002 m, bearing: 281.300767 deg, deltaT: 4.873686 s, approachRate: -0.135422 m/s, LOS rate: 1.661258 deg/s, posRepo size: 4 2021-02-17T19:44:29.796Z,1613591069.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.940002 m, bearing: 281.300767 deg, approachRate: -0.135422 m/s, LOS rate: 1.661258 deg/s, cmd update: 6.645033 deg/s, cmd heading: 1.533682 deg, new cmd heading: 0.092847 deg. 2021-02-17T19:44:32.242Z,1613591072.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:33.005Z,1613591073.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:44:33.407Z,1613591073.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:44:34.226Z,1613591074.226 [Micromodem](INFO): Nmea in: $SNTTA,0.122485,,,,194433.11*40 2021-02-17T19:44:36.704Z,1613591076.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.539993 m, bearing: 281.526109 deg, deltaT: 5.009588 s, approachRate: 0.119769 m/s, LOS rate: 0.044982 deg/s, posRepo size: 4 2021-02-17T19:44:36.706Z,1613591076.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.539993 m, bearing: 281.526109 deg, approachRate: 0.119769 m/s, LOS rate: 0.044982 deg/s, cmd update: 0.179928 deg/s, cmd heading: 34.822037 deg, new cmd heading: 49.831293 deg. 2021-02-17T19:44:37.246Z,1613591077.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:38.011Z,1613591078.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:44:38.416Z,1613591078.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:44:39.222Z,1613591079.222 [Micromodem](INFO): Nmea in: $SNTTA,0.121473,,,,194438.12*42 2021-02-17T19:44:39.655Z,1613591079.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.039993 m, bearing: 278.447551 deg, deltaT: 4.858876 s, approachRate: -0.308713 m/s, LOS rate: -0.633595 deg/s, posRepo size: 4 2021-02-17T19:44:39.657Z,1613591079.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.039993 m, bearing: 278.447551 deg, approachRate: -0.308713 m/s, LOS rate: -0.633595 deg/s, cmd update: -2.534378 deg/s, cmd heading: 35.697029 deg, new cmd heading: 35.759432 deg. 2021-02-17T19:44:40.438Z,1613591080.438 [NAL9602](INFO): SBD MO Status=1, MOMSN=13599, MT Status=0, MTMSN=0 2021-02-17T19:44:40.491Z,1613591080.491 [NAL9602](INFO): Sent 100 bytes from file Logs/20210217T180521/Courier0027.lzma 2021-02-17T19:44:40.491Z,1613591080.491 [NAL9602](INFO): Packets left to send: 0 2021-02-17T19:44:43.723Z,1613591083.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:46.259Z,1613591086.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:46.671Z,1613591086.671 [BuoyancyServo](FAULT): Overload Error 2021-02-17T19:44:46.671Z,1613591086.671 [BuoyancyServo] Hardware Fault, FailCount= 3 2021-02-17T19:44:46.671Z,1613591086.671 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T19:44:46.712Z,1613591086.712 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T19:44:48.668Z,1613591088.668 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T19:44:48.668Z,1613591088.668 [BuoyancyServo](INFO): Powering down 2021-02-17T19:44:49.108Z,1613591089.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:49.477Z,1613591089.477 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T19:44:49.477Z,1613591089.477 [BuoyancyServo] No Fault, FailCount= 3 2021-02-17T19:44:50.169Z,1613591090.169 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T19:44:50.170Z,1613591090.170 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T19:44:52.013Z,1613591092.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:52.806Z,1613591092.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:44:53.207Z,1613591093.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:44:54.055Z,1613591094.055 [Micromodem](INFO): Nmea in: $SNTTA,0.120771,,,,194452.91*45 2021-02-17T19:44:54.459Z,1613591094.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.900009 m, bearing: 278.488614 deg, deltaT: 14.819169 s, approachRate: -0.076926 m/s, LOS rate: 0.002771 deg/s, posRepo size: 4 2021-02-17T19:44:54.461Z,1613591094.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.900009 m, bearing: 278.488614 deg, approachRate: -0.076926 m/s, LOS rate: 0.002771 deg/s, cmd update: 0.011084 deg/s, cmd heading: 358.139749 deg, new cmd heading: 357.298066 deg. 2021-02-17T19:44:56.843Z,1613591096.843 [NAL9602](INFO): SBD MO Status=2, MOMSN=13600, MT Status=2, MTMSN=0 2021-02-17T19:44:56.843Z,1613591096.843 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2021-02-17T19:44:56.857Z,1613591096.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:44:57.004Z,1613591097.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T19:44:57.650Z,1613591097.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:44:58.095Z,1613591098.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:44:58.880Z,1613591098.880 [Micromodem](INFO): Nmea in: $SNTTA,0.120681,,,,194457.75*44 2021-02-17T19:44:58.918Z,1613591098.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.900009 m, bearing: 267.159680 deg, deltaT: 4.368779 s, approachRate: 0.000000 m/s, LOS rate: -2.593158 deg/s, posRepo size: 4 2021-02-17T19:44:58.920Z,1613591098.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.900009 m, bearing: 267.159680 deg, approachRate: 0.000000 m/s, LOS rate: -2.593158 deg/s, cmd update: -10.372632 deg/s, cmd heading: 358.188162 deg, new cmd heading: 358.192848 deg. 2021-02-17T19:45:01.380Z,1613591101.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:45:02.102Z,1613591102.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:45:02.503Z,1613591102.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:45:03.321Z,1613591103.321 [Micromodem](INFO): Nmea in: $SNTTA,0.120495,,,,194502.21*43 2021-02-17T19:45:03.752Z,1613591103.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.600006 m, bearing: 279.344874 deg, deltaT: 4.858380 s, approachRate: -0.061750 m/s, LOS rate: 2.508078 deg/s, posRepo size: 4 2021-02-17T19:45:03.754Z,1613591103.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.600006 m, bearing: 279.344874 deg, approachRate: -0.061750 m/s, LOS rate: 2.508078 deg/s, cmd update: 10.032311 deg/s, cmd heading: 307.784515 deg, new cmd heading: 303.663188 deg. 2021-02-17T19:45:07.420Z,1613591107.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:45:07.455Z,1613591107.455 [BuoyancyServo](FAULT): Overload Error 2021-02-17T19:45:07.455Z,1613591107.455 [BuoyancyServo] Hardware Fault, FailCount= 4 2021-02-17T19:45:07.455Z,1613591107.455 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T19:45:07.525Z,1613591107.525 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T19:45:07.950Z,1613591107.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:45:08.371Z,1613591108.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:45:09.167Z,1613591109.167 [Micromodem](INFO): Nmea in: $SNTTA,0.120384,,,,194508.06*4B 2021-02-17T19:45:09.261Z,1613591109.261 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T19:45:09.261Z,1613591109.261 [BuoyancyServo](INFO): Powering down 2021-02-17T19:45:09.602Z,1613591109.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.420013 m, bearing: 279.879159 deg, deltaT: 5.882214 s, approachRate: -0.030599 m/s, LOS rate: 0.090831 deg/s, posRepo size: 4 2021-02-17T19:45:09.620Z,1613591109.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.420013 m, bearing: 279.879159 deg, approachRate: -0.030599 m/s, LOS rate: 0.090831 deg/s, cmd update: 0.363322 deg/s, cmd heading: 6.798611 deg, new cmd heading: 10.462100 deg. 2021-02-17T19:45:09.644Z,1613591109.644 [BuoyancyServo](FAULT): LCB fault: Software Overcurrent. Current Limiter Activated. 2021-02-17T19:45:10.119Z,1613591110.119 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T19:45:10.119Z,1613591110.119 [BuoyancyServo] No Fault, FailCount= 4 2021-02-17T19:45:10.442Z,1613591110.442 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T19:45:10.443Z,1613591110.443 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T19:45:12.013Z,1613591112.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:45:12.801Z,1613591112.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:45:13.216Z,1613591113.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:45:14.080Z,1613591114.080 [Micromodem](INFO): Nmea in: $SNTTA,0.120231,,,,194512.91*41 2021-02-17T19:45:14.466Z,1613591114.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.240005 m, bearing: 281.183616 deg, deltaT: 4.917096 s, approachRate: -0.036609 m/s, LOS rate: 0.265290 deg/s, posRepo size: 4 2021-02-17T19:45:14.472Z,1613591114.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.240005 m, bearing: 281.183616 deg, approachRate: -0.036609 m/s, LOS rate: 0.265290 deg/s, cmd update: 1.061160 deg/s, cmd heading: 8.585032 deg, new cmd heading: 8.698479 deg. 2021-02-17T19:45:16.875Z,1613591116.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:45:17.652Z,1613591117.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:45:18.096Z,1613591118.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:45:18.876Z,1613591118.876 [Micromodem](INFO): Nmea in: $SNTTA,0.120235,,,,194517.76*49 2021-02-17T19:45:18.914Z,1613591118.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.240005 m, bearing: 278.615547 deg, deltaT: 4.350295 s, approachRate: 0.000000 m/s, LOS rate: -0.590321 deg/s, posRepo size: 4 2021-02-17T19:45:18.916Z,1613591118.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.240005 m, bearing: 278.615547 deg, approachRate: 0.000000 m/s, LOS rate: -0.590321 deg/s, cmd update: -2.361283 deg/s, cmd heading: 13.200219 deg, new cmd heading: 13.637198 deg. 2021-02-17T19:45:20.109Z,1613591120.109 [NAL9602](INFO): SBD MO Status=1, MOMSN=13600, MT Status=0, MTMSN=0 2021-02-17T19:45:20.163Z,1613591120.163 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0019.lzma 2021-02-17T19:45:20.163Z,1613591120.163 [NAL9602](INFO): Packets left to send: 5 2021-02-17T19:45:23.364Z,1613591123.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:45:23.845Z,1613591123.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:45:24.251Z,1613591124.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:45:25.097Z,1613591125.097 [Micromodem](INFO): Nmea in: $SNTTA,0.120162,,,,194523.95*42 2021-02-17T19:45:25.493Z,1613591125.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.019989 m, bearing: 281.222575 deg, deltaT: 6.661406 s, approachRate: 0.117090 m/s, LOS rate: 0.391363 deg/s, posRepo size: 4 2021-02-17T19:45:25.495Z,1613591125.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.019989 m, bearing: 281.222575 deg, approachRate: 0.117090 m/s, LOS rate: 0.391363 deg/s, cmd update: 1.565452 deg/s, cmd heading: 357.506394 deg, new cmd heading: 356.693964 deg. 2021-02-17T19:45:27.895Z,1613591127.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:45:28.371Z,1613591128.371 [BuoyancyServo](FAULT): Overload Error 2021-02-17T19:45:28.371Z,1613591128.371 [BuoyancyServo] Hardware Fault, FailCount= 5 2021-02-17T19:45:28.371Z,1613591128.371 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T19:45:28.376Z,1613591128.376 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T19:45:28.690Z,1613591128.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:45:29.103Z,1613591129.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:45:29.927Z,1613591129.927 [Micromodem](INFO): Nmea in: $SNTTA,0.120284,,,,194528.79*40 2021-02-17T19:45:29.946Z,1613591129.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.019989 m, bearing: 283.009489 deg, deltaT: 4.371651 s, approachRate: 0.000000 m/s, LOS rate: 0.408750 deg/s, posRepo size: 4 2021-02-17T19:45:29.948Z,1613591129.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.019989 m, bearing: 283.009489 deg, approachRate: 0.000000 m/s, LOS rate: 0.408750 deg/s, cmd update: 1.635002 deg/s, cmd heading: 4.373545 deg, new cmd heading: 5.015484 deg. 2021-02-17T19:45:30.368Z,1613591130.368 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T19:45:30.368Z,1613591130.368 [BuoyancyServo](INFO): Powering down 2021-02-17T19:45:31.190Z,1613591131.190 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T19:45:31.190Z,1613591131.190 [BuoyancyServo] No Fault, FailCount= 5 2021-02-17T19:45:31.563Z,1613591131.563 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T19:45:31.564Z,1613591131.564 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T19:45:32.143Z,1613591132.143 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T19:45:32.371Z,1613591132.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:45:33.182Z,1613591133.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:45:33.543Z,1613591133.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:45:34.764Z,1613591134.764 [Micromodem](INFO): Nmea in: $SNTTA,0.120121,,,,194533.29*43 2021-02-17T19:45:34.767Z,1613591134.767 [NAL9602](INFO): SBD MO Status=1, MOMSN=13601, MT Status=0, MTMSN=0 2021-02-17T19:45:34.815Z,1613591134.815 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0019.lzma 2021-02-17T19:45:34.815Z,1613591134.815 [NAL9602](INFO): Packets left to send: 4 2021-02-17T19:45:34.834Z,1613591134.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.880005 m, bearing: 280.997589 deg, deltaT: 4.891191 s, approachRate: -0.233069 m/s, LOS rate: -0.411331 deg/s, posRepo size: 4 2021-02-17T19:45:34.836Z,1613591134.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.880005 m, bearing: 280.997589 deg, approachRate: -0.233069 m/s, LOS rate: -0.411331 deg/s, cmd update: -1.645326 deg/s, cmd heading: 12.365976 deg, new cmd heading: 13.036251 deg. 2021-02-17T19:45:38.110Z,1613591138.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:45:38.602Z,1613591138.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:45:39.009Z,1613591139.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:45:39.836Z,1613591139.836 [Micromodem](INFO): Nmea in: $SNTTA,0.120336,,,,194538.71*41 2021-02-17T19:45:39.857Z,1613591139.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.880005 m, bearing: 285.161627 deg, deltaT: 5.053037 s, approachRate: 0.000000 m/s, LOS rate: 0.824066 deg/s, posRepo size: 4 2021-02-17T19:45:39.858Z,1613591139.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.880005 m, bearing: 285.161627 deg, approachRate: 0.000000 m/s, LOS rate: 0.824066 deg/s, cmd update: 3.296266 deg/s, cmd heading: 4.052063 deg, new cmd heading: 3.427634 deg. 2021-02-17T19:45:42.282Z,1613591142.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:45:43.097Z,1613591143.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:45:43.452Z,1613591143.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:45:44.677Z,1613591144.677 [Micromodem](INFO): Nmea in: $SNTTA,0.120340,,,,194543.20*48 2021-02-17T19:45:44.731Z,1613591144.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.360001 m, bearing: 286.156950 deg, deltaT: 4.860761 s, approachRate: 0.098749 m/s, LOS rate: 0.204767 deg/s, posRepo size: 4 2021-02-17T19:45:44.734Z,1613591144.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.360001 m, bearing: 286.156950 deg, approachRate: 0.098749 m/s, LOS rate: 0.204767 deg/s, cmd update: 0.819067 deg/s, cmd heading: 20.074378 deg, new cmd heading: 21.355033 deg. 2021-02-17T19:45:47.157Z,1613591147.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:45:47.896Z,1613591147.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:45:48.311Z,1613591148.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:45:49.128Z,1613591149.128 [Micromodem](INFO): Nmea in: $SNTTA,0.120308,,,,194548.00*4D 2021-02-17T19:45:49.186Z,1613591149.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.360001 m, bearing: 291.571842 deg, deltaT: 4.405283 s, approachRate: 0.000000 m/s, LOS rate: 1.229181 deg/s, posRepo size: 4 2021-02-17T19:45:49.188Z,1613591149.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.360001 m, bearing: 291.571842 deg, approachRate: 0.000000 m/s, LOS rate: 1.229181 deg/s, cmd update: 4.916726 deg/s, cmd heading: 23.676354 deg, new cmd heading: 24.045465 deg. 2021-02-17T19:45:51.545Z,1613591151.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:45:52.338Z,1613591152.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:45:52.744Z,1613591152.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:45:53.557Z,1613591153.557 [Micromodem](INFO): Nmea in: $SNTTA,0.121257,,,,194552.44*4C 2021-02-17T19:45:53.990Z,1613591153.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.760010 m, bearing: 284.599667 deg, deltaT: 4.824270 s, approachRate: 0.497487 m/s, LOS rate: -1.445229 deg/s, posRepo size: 4 2021-02-17T19:45:53.992Z,1613591153.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.760010 m, bearing: 284.599667 deg, approachRate: 0.497487 m/s, LOS rate: -1.445229 deg/s, cmd update: -5.780916 deg/s, cmd heading: 47.452936 deg, new cmd heading: 49.510237 deg. 2021-02-17T19:45:56.415Z,1613591156.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:45:57.186Z,1613591157.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:45:57.592Z,1613591157.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:45:58.399Z,1613591158.399 [Micromodem](INFO): Nmea in: $SNTTA,0.120409,,,,194557.29*4E 2021-02-17T19:45:58.837Z,1613591158.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.479996 m, bearing: 286.752761 deg, deltaT: 4.927035 s, approachRate: -0.462756 m/s, LOS rate: 0.436996 deg/s, posRepo size: 4 2021-02-17T19:45:58.860Z,1613591158.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.479996 m, bearing: 286.752761 deg, approachRate: -0.462756 m/s, LOS rate: 0.436996 deg/s, cmd update: 1.747984 deg/s, cmd heading: 19.000197 deg, new cmd heading: 17.012163 deg. 2021-02-17T19:46:01.239Z,1613591161.239 [NAL9602](INFO): SBD MO Status=1, MOMSN=13602, MT Status=0, MTMSN=0 2021-02-17T19:46:01.300Z,1613591161.300 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0019.lzma 2021-02-17T19:46:01.300Z,1613591161.300 [NAL9602](INFO): Packets left to send: 3 2021-02-17T19:46:01.335Z,1613591161.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:02.086Z,1613591162.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:46:04.138Z,1613591164.138 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:46:04.194Z,1613591164.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:04.354Z,1613591164.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:46:04.686Z,1613591164.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.479996 m, bearing: 285.733861 deg, deltaT: 5.889801 s, approachRate: 0.000000 m/s, LOS rate: -0.172994 deg/s, posRepo size: 4 2021-02-17T19:46:04.688Z,1613591164.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.479996 m, bearing: 285.733861 deg, approachRate: 0.000000 m/s, LOS rate: -0.172994 deg/s, cmd update: -0.691976 deg/s, cmd heading: 29.305030 deg, new cmd heading: 29.824691 deg. 2021-02-17T19:46:07.143Z,1613591167.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:07.283Z,1613591167.283 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T19:46:07.876Z,1613591167.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:46:08.300Z,1613591168.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:46:09.116Z,1613591169.116 [Micromodem](INFO): Nmea in: $SNTTA,0.120476,,,,194607.98*4A 2021-02-17T19:46:09.149Z,1613591169.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.479996 m, bearing: 290.121465 deg, deltaT: 4.334018 s, approachRate: 0.000000 m/s, LOS rate: 1.012364 deg/s, posRepo size: 4 2021-02-17T19:46:09.151Z,1613591169.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.479996 m, bearing: 290.121465 deg, approachRate: 0.000000 m/s, LOS rate: 1.012364 deg/s, cmd update: 4.049457 deg/s, cmd heading: 26.306720 deg, new cmd heading: 26.010538 deg. 2021-02-17T19:46:11.537Z,1613591171.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:12.325Z,1613591172.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:46:12.735Z,1613591172.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:46:13.552Z,1613591173.552 [Micromodem](INFO): Nmea in: $SNTTA,0.120574,,,,194612.43*4B 2021-02-17T19:46:13.585Z,1613591173.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.479996 m, bearing: 285.732385 deg, deltaT: 4.504839 s, approachRate: 0.000000 m/s, LOS rate: -0.974303 deg/s, posRepo size: 4 2021-02-17T19:46:13.587Z,1613591173.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.479996 m, bearing: 285.732385 deg, approachRate: 0.000000 m/s, LOS rate: -0.974303 deg/s, cmd update: -3.897213 deg/s, cmd heading: 44.551980 deg, new cmd heading: 46.001932 deg. 2021-02-17T19:46:15.972Z,1613591175.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:16.769Z,1613591176.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:46:17.172Z,1613591177.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:46:17.983Z,1613591177.983 [Micromodem](INFO): Nmea in: $SNTTA,0.120691,,,,194616.88*40 2021-02-17T19:46:18.444Z,1613591178.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.779999 m, bearing: 287.977769 deg, deltaT: 4.814264 s, approachRate: 0.062315 m/s, LOS rate: 0.466402 deg/s, posRepo size: 4 2021-02-17T19:46:18.446Z,1613591178.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.779999 m, bearing: 287.977769 deg, approachRate: 0.062315 m/s, LOS rate: 0.466402 deg/s, cmd update: 1.865609 deg/s, cmd heading: 25.888635 deg, new cmd heading: 24.220390 deg. 2021-02-17T19:46:19.617Z,1613591179.617 [NAL9602](INFO): SBD MO Status=2, MOMSN=13603, MT Status=2, MTMSN=0 2021-02-17T19:46:19.617Z,1613591179.617 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2021-02-17T19:46:20.875Z,1613591180.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:21.618Z,1613591181.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:46:22.043Z,1613591182.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:46:23.244Z,1613591183.244 [Micromodem](INFO): Nmea in: $SNTTA,0.120690,,,,194621.78*4A 2021-02-17T19:46:23.295Z,1613591183.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.779999 m, bearing: 286.311367 deg, deltaT: 4.850148 s, approachRate: 0.000000 m/s, LOS rate: -0.343578 deg/s, posRepo size: 4 2021-02-17T19:46:23.297Z,1613591183.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.779999 m, bearing: 286.311367 deg, approachRate: 0.000000 m/s, LOS rate: -0.343578 deg/s, cmd update: -1.374310 deg/s, cmd heading: 34.977056 deg, new cmd heading: 35.737438 deg. 2021-02-17T19:46:27.345Z,1613591187.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:27.782Z,1613591187.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:46:28.206Z,1613591188.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:46:29.013Z,1613591189.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194627.89*50 2021-02-17T19:46:29.092Z,1613591189.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.779999 m, bearing: 294.738946 deg, deltaT: 5.724732 s, approachRate: 0.000000 m/s, LOS rate: 1.472135 deg/s, posRepo size: 4 2021-02-17T19:46:29.093Z,1613591189.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.779999 m, bearing: 294.738946 deg, approachRate: 0.000000 m/s, LOS rate: 1.472135 deg/s, cmd update: 5.888540 deg/s, cmd heading: 27.110739 deg, new cmd heading: 26.458396 deg. 2021-02-17T19:46:31.448Z,1613591191.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:32.222Z,1613591192.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:46:32.631Z,1613591192.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:46:33.464Z,1613591193.464 [Micromodem](INFO): Nmea in: $SNTTA,0.121105,,,,194632.33*4D 2021-02-17T19:46:33.488Z,1613591193.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.320007 m, bearing: 287.501623 deg, deltaT: 4.500756 s, approachRate: 0.119982 m/s, LOS rate: -1.608024 deg/s, posRepo size: 4 2021-02-17T19:46:33.490Z,1613591193.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.320007 m, bearing: 287.501623 deg, approachRate: 0.119982 m/s, LOS rate: -1.608024 deg/s, cmd update: -6.432095 deg/s, cmd heading: 53.642642 deg, new cmd heading: 55.826283 deg. 2021-02-17T19:46:35.929Z,1613591195.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:36.701Z,1613591196.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:46:37.118Z,1613591197.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:46:37.919Z,1613591197.919 [Micromodem](INFO): Nmea in: $SNTTA,0.121209,,,,194636.81*4F 2021-02-17T19:46:38.381Z,1613591198.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.500000 m, bearing: 285.782929 deg, deltaT: 4.815903 s, approachRate: 0.037375 m/s, LOS rate: -0.356879 deg/s, posRepo size: 4 2021-02-17T19:46:38.389Z,1613591198.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.500000 m, bearing: 285.782929 deg, approachRate: 0.037375 m/s, LOS rate: -0.356879 deg/s, cmd update: -1.427516 deg/s, cmd heading: 22.666352 deg, new cmd heading: 19.782715 deg. 2021-02-17T19:46:40.772Z,1613591200.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:41.549Z,1613591201.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:46:41.965Z,1613591201.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:46:42.448Z,1613591202.448 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T19:46:42.763Z,1613591202.763 [Micromodem](INFO): Nmea in: $SNTTA,0.121477,,,,194641.66*49 2021-02-17T19:46:43.254Z,1613591203.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.920013 m, bearing: 289.942159 deg, deltaT: 4.845378 s, approachRate: 0.086683 m/s, LOS rate: 0.858391 deg/s, posRepo size: 4 2021-02-17T19:46:43.257Z,1613591203.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.920013 m, bearing: 289.942159 deg, approachRate: 0.086683 m/s, LOS rate: 0.858391 deg/s, cmd update: 3.433565 deg/s, cmd heading: 15.751451 deg, new cmd heading: 15.070394 deg. 2021-02-17T19:46:45.603Z,1613591205.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:46.394Z,1613591206.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:46:46.801Z,1613591206.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:46:46.817Z,1613591206.817 [NAL9602](INFO): SBD MO Status=2, MOMSN=13603, MT Status=2, MTMSN=0 2021-02-17T19:46:46.817Z,1613591206.817 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2021-02-17T19:46:47.624Z,1613591207.624 [Micromodem](INFO): Nmea in: $SNTTA,0.121629,,,,194646.50*42 2021-02-17T19:46:47.652Z,1613591207.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.920013 m, bearing: 285.577231 deg, deltaT: 4.502953 s, approachRate: 0.000000 m/s, LOS rate: -0.969348 deg/s, posRepo size: 4 2021-02-17T19:46:47.654Z,1613591207.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.920013 m, bearing: 285.577231 deg, approachRate: 0.000000 m/s, LOS rate: -0.969348 deg/s, cmd update: -3.877392 deg/s, cmd heading: 31.185654 deg, new cmd heading: 32.489145 deg. 2021-02-17T19:46:50.112Z,1613591210.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:50.841Z,1613591210.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:46:51.247Z,1613591211.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:46:52.096Z,1613591212.096 [Micromodem](INFO): Nmea in: $SNTTA,0.121887,,,,194650.95*46 2021-02-17T19:46:54.179Z,1613591214.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.920013 m, bearing: 288.338294 deg, deltaT: 4.393734 s, approachRate: 0.000000 m/s, LOS rate: 0.628409 deg/s, posRepo size: 4 2021-02-17T19:46:54.181Z,1613591214.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.920013 m, bearing: 288.338294 deg, approachRate: 0.000000 m/s, LOS rate: 0.628409 deg/s, cmd update: 2.513637 deg/s, cmd heading: 14.117039 deg, new cmd heading: 4.405003 deg. 2021-02-17T19:46:54.184Z,1613591214.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:54.648Z,1613591214.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:46:55.088Z,1613591215.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:46:55.866Z,1613591215.866 [Micromodem](INFO): Nmea in: $SNTTA,0.122023,,,,194654.75*49 2021-02-17T19:46:56.333Z,1613591216.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.820007 m, bearing: 289.882217 deg, deltaT: 4.204957 s, approachRate: 0.214032 m/s, LOS rate: 0.367167 deg/s, posRepo size: 4 2021-02-17T19:46:56.334Z,1613591216.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.820007 m, bearing: 289.882217 deg, approachRate: 0.214032 m/s, LOS rate: 0.367167 deg/s, cmd update: 1.468670 deg/s, cmd heading: 24.688938 deg, new cmd heading: 25.827113 deg. 2021-02-17T19:46:58.701Z,1613591218.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:46:59.490Z,1613591219.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:46:59.900Z,1613591219.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:47:00.704Z,1613591220.704 [Micromodem](INFO): Nmea in: $SNTTA,0.121918,,,,194659.60*42 2021-02-17T19:47:01.178Z,1613591221.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.760010 m, bearing: 288.680951 deg, deltaT: 4.861636 s, approachRate: -0.012341 m/s, LOS rate: -0.247091 deg/s, posRepo size: 4 2021-02-17T19:47:01.180Z,1613591221.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.760010 m, bearing: 288.680951 deg, approachRate: -0.012341 m/s, LOS rate: -0.247091 deg/s, cmd update: -0.988364 deg/s, cmd heading: 31.793823 deg, new cmd heading: 32.470404 deg. 2021-02-17T19:47:03.560Z,1613591223.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:47:04.337Z,1613591224.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:47:04.757Z,1613591224.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:47:05.564Z,1613591225.564 [Micromodem](INFO): Nmea in: $SNTTA,0.122193,,,,194704.44*45 2021-02-17T19:47:05.982Z,1613591225.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.180008 m, bearing: 295.769621 deg, deltaT: 4.836292 s, approachRate: 0.086843 m/s, LOS rate: 1.465724 deg/s, posRepo size: 4 2021-02-17T19:47:05.984Z,1613591225.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.180008 m, bearing: 295.769621 deg, approachRate: 0.086843 m/s, LOS rate: 1.465724 deg/s, cmd update: 5.862897 deg/s, cmd heading: 26.990078 deg, new cmd heading: 26.591004 deg. 2021-02-17T19:47:08.436Z,1613591228.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:47:09.185Z,1613591229.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:47:09.620Z,1613591229.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:47:10.399Z,1613591230.399 [Micromodem](INFO): Nmea in: $SNTTA,0.122152,,,,194709.29*4E 2021-02-17T19:47:10.845Z,1613591230.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.120010 m, bearing: 290.355494 deg, deltaT: 4.896437 s, approachRate: -0.012253 m/s, LOS rate: -1.105728 deg/s, posRepo size: 4 2021-02-17T19:47:10.851Z,1613591230.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.120010 m, bearing: 290.355494 deg, approachRate: -0.012253 m/s, LOS rate: -1.105728 deg/s, cmd update: -4.422912 deg/s, cmd heading: 55.618249 deg, new cmd heading: 57.871847 deg. 2021-02-17T19:47:11.580Z,1613591231.580 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003849 2021-02-17T19:47:11.650Z,1613591231.650 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T19:47:11.650Z,1613591231.650 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T19:47:11.650Z,1613591231.650 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T19:47:11.650Z,1613591231.650 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T19:47:11.650Z,1613591231.650 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T19:47:13.249Z,1613591233.249 [NAL9602](INFO): SBD MO Status=2, MOMSN=13603, MT Status=2, MTMSN=0 2021-02-17T19:47:13.249Z,1613591233.249 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2021-02-17T19:47:13.318Z,1613591233.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:47:14.115Z,1613591234.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:47:14.436Z,1613591234.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:47:15.596Z,1613591235.596 [DataOverHttps](INFO): Sending 1069 bytes from file Logs/20210217T180521/Express0019.lzma 2021-02-17T19:47:15.656Z,1613591235.656 [Micromodem](INFO): Nmea in: $SNTTA,0.122330,,,,194714.25*48 2021-02-17T19:47:15.698Z,1613591235.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.360001 m, bearing: 291.502392 deg, deltaT: 4.897376 s, approachRate: 0.049004 m/s, LOS rate: 0.234186 deg/s, posRepo size: 4 2021-02-17T19:47:15.704Z,1613591235.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.360001 m, bearing: 291.502392 deg, approachRate: 0.049004 m/s, LOS rate: 0.234186 deg/s, cmd update: 0.936745 deg/s, cmd heading: 33.897953 deg, new cmd heading: 32.455297 deg. 2021-02-17T19:47:16.597Z,1613591236.597 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0019.lzma.bak 2021-02-17T19:47:16.597Z,1613591236.597 [DataOverHttps](INFO): SBD MOMSN=82818 2021-02-17T19:47:18.144Z,1613591238.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:47:18.878Z,1613591238.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:47:19.295Z,1613591239.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:47:20.106Z,1613591240.106 [Micromodem](INFO): Nmea in: $SNTTA,0.122502,,,,194718.98*45 2021-02-17T19:47:20.542Z,1613591240.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.480011 m, bearing: 290.920105 deg, deltaT: 4.812385 s, approachRate: 0.024938 m/s, LOS rate: -0.120998 deg/s, posRepo size: 4 2021-02-17T19:47:20.548Z,1613591240.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.480011 m, bearing: 290.920105 deg, approachRate: 0.024938 m/s, LOS rate: -0.120998 deg/s, cmd update: -0.483991 deg/s, cmd heading: 38.403144 deg, new cmd heading: 38.741038 deg. 2021-02-17T19:47:22.955Z,1613591242.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:47:23.729Z,1613591243.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:47:24.142Z,1613591244.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:47:24.951Z,1613591244.951 [Micromodem](INFO): Nmea in: $SNTTA,0.122571,,,,194723.84*44 2021-02-17T19:47:25.416Z,1613591245.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.600006 m, bearing: 293.171008 deg, deltaT: 4.807773 s, approachRate: 0.024959 m/s, LOS rate: 0.468180 deg/s, posRepo size: 4 2021-02-17T19:47:25.418Z,1613591245.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.600006 m, bearing: 293.171008 deg, approachRate: 0.024959 m/s, LOS rate: 0.468180 deg/s, cmd update: 1.872719 deg/s, cmd heading: 36.076189 deg, new cmd heading: 35.871464 deg. 2021-02-17T19:47:25.635Z,1613591245.635 [DataOverHttps](INFO): Sending 155 bytes from file Logs/20210217T180521/Express0022.lzma 2021-02-17T19:47:26.637Z,1613591246.637 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0022.lzma.bak 2021-02-17T19:47:26.637Z,1613591246.637 [DataOverHttps](INFO): SBD MOMSN=82822 2021-02-17T19:47:27.819Z,1613591247.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:47:28.574Z,1613591248.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:47:28.979Z,1613591248.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:47:29.795Z,1613591249.795 [Micromodem](INFO): Nmea in: $SNTTA,0.122600,,,,194728.68*48 2021-02-17T19:47:30.253Z,1613591250.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.600006 m, bearing: 289.349435 deg, deltaT: 4.836799 s, approachRate: 0.000000 m/s, LOS rate: -0.790104 deg/s, posRepo size: 4 2021-02-17T19:47:30.254Z,1613591250.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.600006 m, bearing: 289.349435 deg, approachRate: 0.000000 m/s, LOS rate: -0.790104 deg/s, cmd update: -3.160415 deg/s, cmd heading: 45.132282 deg, new cmd heading: 45.933579 deg. 2021-02-17T19:47:32.342Z,1613591252.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:47:33.113Z,1613591253.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:47:33.468Z,1613591253.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:47:34.693Z,1613591254.693 [Micromodem](INFO): Nmea in: $SNTTA,0.122841,,,,194733.22*47 2021-02-17T19:47:34.766Z,1613591254.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.020004 m, bearing: 288.328240 deg, deltaT: 4.564881 s, approachRate: 0.092006 m/s, LOS rate: -0.223707 deg/s, posRepo size: 4 2021-02-17T19:47:34.781Z,1613591254.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.020004 m, bearing: 288.328240 deg, approachRate: 0.092006 m/s, LOS rate: -0.223707 deg/s, cmd update: -0.894827 deg/s, cmd heading: 30.718389 deg, new cmd heading: 29.514325 deg. 2021-02-17T19:47:35.687Z,1613591255.687 [DataOverHttps](INFO): Sending 184 bytes from file Logs/20210217T180521/Express0025.lzma 2021-02-17T19:47:36.689Z,1613591256.689 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0025.lzma.bak 2021-02-17T19:47:36.689Z,1613591256.689 [DataOverHttps](INFO): SBD MOMSN=82824 2021-02-17T19:47:37.224Z,1613591257.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:47:37.929Z,1613591257.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:47:38.321Z,1613591258.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:47:39.155Z,1613591259.155 [Micromodem](INFO): Nmea in: $SNTTA,0.123124,,,,194738.04*43 2021-02-17T19:47:39.550Z,1613591259.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.559998 m, bearing: 292.278357 deg, deltaT: 4.855682 s, approachRate: 0.111209 m/s, LOS rate: 0.813504 deg/s, posRepo size: 4 2021-02-17T19:47:39.580Z,1613591259.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.559998 m, bearing: 292.278357 deg, approachRate: 0.111209 m/s, LOS rate: 0.813504 deg/s, cmd update: 3.254016 deg/s, cmd heading: 26.373394 deg, new cmd heading: 26.097113 deg. 2021-02-17T19:47:41.974Z,1613591261.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:47:42.754Z,1613591262.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:47:43.159Z,1613591263.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:47:43.987Z,1613591263.987 [Micromodem](INFO): Nmea in: $SNTTA,0.123378,,,,194742.86*4F 2021-02-17T19:47:43.988Z,1613591263.988 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T19:47:44.477Z,1613591264.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.739990 m, bearing: 295.684326 deg, deltaT: 4.856923 s, approachRate: 0.037059 m/s, LOS rate: 0.701261 deg/s, posRepo size: 4 2021-02-17T19:47:44.487Z,1613591264.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.739990 m, bearing: 295.684326 deg, approachRate: 0.037059 m/s, LOS rate: 0.701261 deg/s, cmd update: 2.805043 deg/s, cmd heading: 42.177539 deg, new cmd heading: 43.410625 deg. 2021-02-17T19:47:45.732Z,1613591265.732 [DataOverHttps](INFO): Sending 633 bytes from file Logs/20210217T180521/Express0028.lzma 2021-02-17T19:47:46.734Z,1613591266.734 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0028.lzma.bak 2021-02-17T19:47:46.734Z,1613591266.734 [DataOverHttps](INFO): SBD MOMSN=82826 2021-02-17T19:47:46.835Z,1613591266.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:47:47.606Z,1613591267.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:47:48.093Z,1613591268.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:47:48.188Z,1613591268.188 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T19:47:48.188Z,1613591268.188 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T19:47:48.188Z,1613591268.188 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T19:47:48.189Z,1613591268.189 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T19:47:48.189Z,1613591268.189 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T19:47:48.189Z,1613591268.189 [lineCaptureDepth:NeedComms:D] Stopped 2021-02-17T19:47:48.189Z,1613591268.189 [lineCaptureDepth:NeedComms:E] Running Loop=1 2021-02-17T19:47:48.470Z,1613591268.470 [lineCaptureDepth:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix 2021-02-17T19:47:48.837Z,1613591268.837 [Micromodem](INFO): Nmea in: $SNTTA,0.123579,,,,194747.71*45 2021-02-17T19:47:48.911Z,1613591268.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.739990 m, bearing: 296.546542 deg, deltaT: 4.353821 s, approachRate: 0.000000 m/s, LOS rate: 0.198037 deg/s, posRepo size: 4 2021-02-17T19:47:48.913Z,1613591268.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.739990 m, bearing: 296.546542 deg, approachRate: 0.000000 m/s, LOS rate: 0.198037 deg/s, cmd update: 0.792146 deg/s, cmd heading: 54.410698 deg, new cmd heading: 55.655666 deg. 2021-02-17T19:47:50.123Z,1613591270.123 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194750.00,A,4133.09202,N,07042.40453,W,0.875,183.34,170221,,,D*7C 2021-02-17T19:47:50.132Z,1613591270.132 [NAL9602](INFO): GPS fix at 20210217T194750: (41.551534, -70.706742) 2021-02-17T19:47:50.228Z,1613591270.228 [lineCaptureDepth:NeedComms:E] Stopped 2021-02-17T19:47:50.229Z,1613591270.229 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms 2021-02-17T19:47:50.229Z,1613591270.229 [lineCaptureDepth:NeedComms] Stopped 2021-02-17T19:47:50.229Z,1613591270.229 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms 2021-02-17T19:47:50.229Z,1613591270.229 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped 2021-02-17T19:47:50.229Z,1613591270.229 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2021-02-17T19:47:50.881Z,1613591270.881 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-17T19:47:50.881Z,1613591270.881 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-17T19:47:50.881Z,1613591270.881 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-17T19:47:50.882Z,1613591270.882 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-17T19:47:50.882Z,1613591270.882 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-17T19:47:50.882Z,1613591270.882 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-17T19:47:50.882Z,1613591270.882 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-17T19:47:51.301Z,1613591271.301 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -9.14 mm. 2021-02-17T19:47:51.328Z,1613591271.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:47:52.116Z,1613591272.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:47:52.453Z,1613591272.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:47:53.344Z,1613591273.344 [Micromodem](INFO): Nmea in: $SNTTA,0.123782,,0.126563,0.126313,194752.22*40 2021-02-17T19:47:53.791Z,1613591273.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 295.873440 deg, deltaT: 5.028512 s, approachRate: 0.131252 m/s, LOS rate: -0.133857 deg/s, posRepo size: 4 2021-02-17T19:47:53.793Z,1613591273.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.399994 m, bearing: 295.873440 deg, approachRate: 0.131252 m/s, LOS rate: -0.133857 deg/s, cmd update: -0.535428 deg/s, cmd heading: 58.387718 deg, new cmd heading: 58.627808 deg. 2021-02-17T19:47:55.352Z,1613591275.352 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:47:56.187Z,1613591276.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:47:56.941Z,1613591276.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:47:57.358Z,1613591277.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:47:58.164Z,1613591278.164 [Micromodem](INFO): Nmea in: $SNTTA,0.123676,,,,194757.05*4B 2021-02-17T19:47:58.579Z,1613591278.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.300018 m, bearing: 299.745994 deg, deltaT: 4.756894 s, approachRate: 0.189204 m/s, LOS rate: 0.814093 deg/s, posRepo size: 4 2021-02-17T19:47:58.581Z,1613591278.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.300018 m, bearing: 299.745994 deg, approachRate: 0.189204 m/s, LOS rate: 0.814093 deg/s, cmd update: 3.256371 deg/s, cmd heading: 55.841721 deg, new cmd heading: 55.657545 deg. 2021-02-17T19:48:01.129Z,1613591281.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:01.846Z,1613591281.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:48:02.255Z,1613591282.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:48:03.115Z,1613591283.115 [Micromodem](INFO): Nmea in: $SNTTA,0.122801,,,,194801.95*41 2021-02-17T19:48:03.511Z,1613591283.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.960007 m, bearing: 295.371913 deg, deltaT: 4.918999 s, approachRate: -0.475709 m/s, LOS rate: -0.889222 deg/s, posRepo size: 4 2021-02-17T19:48:03.513Z,1613591283.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.960007 m, bearing: 295.371913 deg, approachRate: -0.475709 m/s, LOS rate: -0.889222 deg/s, cmd update: -3.556887 deg/s, cmd heading: 71.892359 deg, new cmd heading: 73.023040 deg. 2021-02-17T19:48:05.916Z,1613591285.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:06.688Z,1613591286.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:48:07.105Z,1613591287.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:48:07.911Z,1613591287.911 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194806.79*52 2021-02-17T19:48:08.372Z,1613591288.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.920013 m, bearing: 301.821989 deg, deltaT: 4.789644 s, approachRate: -0.425918 m/s, LOS rate: 1.346671 deg/s, posRepo size: 4 2021-02-17T19:48:08.374Z,1613591288.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.920013 m, bearing: 301.821989 deg, approachRate: -0.425918 m/s, LOS rate: 1.346671 deg/s, cmd update: 5.386685 deg/s, cmd heading: 54.856045 deg, new cmd heading: 53.368630 deg. 2021-02-17T19:48:08.735Z,1613591288.735 [NAL9602](INFO): SBD MO Status=1, MOMSN=13603, MT Status=0, MTMSN=0 2021-02-17T19:48:08.735Z,1613591288.735 [NAL9602](INFO): No messages in MT queue 2021-02-17T19:48:10.755Z,1613591290.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:11.553Z,1613591291.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:48:11.949Z,1613591291.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:48:12.763Z,1613591292.763 [Micromodem](INFO): Nmea in: $SNTTA,0.120204,,,,194811.66*41 2021-02-17T19:48:13.217Z,1613591293.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.179993 m, bearing: 291.262188 deg, deltaT: 4.846854 s, approachRate: -0.359000 m/s, LOS rate: -2.178692 deg/s, posRepo size: 4 2021-02-17T19:48:13.218Z,1613591293.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.179993 m, bearing: 291.262188 deg, approachRate: -0.359000 m/s, LOS rate: -2.178692 deg/s, cmd update: -8.714766 deg/s, cmd heading: 80.963399 deg, new cmd heading: 83.207573 deg. 2021-02-17T19:48:15.591Z,1613591295.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:16.385Z,1613591296.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:48:16.789Z,1613591296.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:48:17.612Z,1613591297.612 [Micromodem](INFO): Nmea in: $SNTTA,0.119156,,,,194816.49*45 2021-02-17T19:48:17.654Z,1613591297.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.179993 m, bearing: 5.419605 deg, deltaT: 4.458724 s, approachRate: 0.000000 m/s, LOS rate: 16.631985 deg/s, posRepo size: 4 2021-02-17T19:48:17.655Z,1613591297.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.631985 deg/s. Setting heading cmd to target bearing of 5.419605deg and heading rate command to 0 deg/s. 2021-02-17T19:48:20.121Z,1613591300.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:20.828Z,1613591300.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:48:21.235Z,1613591301.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:48:22.096Z,1613591302.096 [Micromodem](INFO): Nmea in: $SNTTA,0.118726,,,,194820.93*47 2021-02-17T19:48:22.142Z,1613591302.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.179993 m, bearing: 3.032551 deg, deltaT: 4.408143 s, approachRate: 0.000000 m/s, LOS rate: -0.541510 deg/s, posRepo size: 4 2021-02-17T19:48:22.144Z,1613591302.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.179993 m, bearing: 3.032551 deg, approachRate: 0.000000 m/s, LOS rate: -0.541510 deg/s, cmd update: -2.166041 deg/s, cmd heading: 5.419605 deg, new cmd heading: 5.419605 deg. 2021-02-17T19:48:24.488Z,1613591304.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:25.272Z,1613591305.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:48:25.697Z,1613591305.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:48:26.491Z,1613591306.491 [Micromodem](INFO): Nmea in: $SNTTA,0.118724,,,,194825.38*41 2021-02-17T19:48:27.342Z,1613591307.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:28.912Z,1613591308.912 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:48:30.162Z,1613591310.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:30.928Z,1613591310.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:48:31.337Z,1613591311.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:48:31.739Z,1613591311.739 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FF1,0061,E4 C,189,80,80,C5,FF 2021-02-17T19:48:32.149Z,1613591312.149 [Micromodem](INFO): Nmea in: $SNTTA,0.118554,,,,194831.03*49 2021-02-17T19:48:32.968Z,1613591312.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:35.800Z,1613591315.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:38.622Z,1613591318.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:39.427Z,1613591319.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:48:39.429Z,1613591319.429 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T19:48:39.821Z,1613591319.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:48:40.229Z,1613591320.229 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FF1,0061,E4 C,189,80,80,C5,FF 2021-02-17T19:48:40.641Z,1613591320.641 [Micromodem](INFO): Nmea in: $SNTTA,0.116572,,,,194839.53*4E 2021-02-17T19:48:41.129Z,1613591321.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:43.877Z,1613591323.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:46.702Z,1613591326.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:47.497Z,1613591327.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:48:47.918Z,1613591327.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:48:48.724Z,1613591328.724 [Micromodem](INFO): Nmea in: $SNTTA,0.114037,,,,194847.60*41 2021-02-17T19:48:48.770Z,1613591328.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.820007 m, bearing: 293.971943 deg, deltaT: 26.738179 s, approachRate: -0.350061 m/s, LOS rate: -2.582846 deg/s, posRepo size: 4 2021-02-17T19:48:48.777Z,1613591328.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.820007 m, bearing: 293.971943 deg, approachRate: -0.350061 m/s, LOS rate: -2.582846 deg/s, cmd update: -10.331385 deg/s, cmd heading: 307.501182 deg, new cmd heading: 306.710417 deg. 2021-02-17T19:48:51.182Z,1613591331.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:51.949Z,1613591331.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:48:52.351Z,1613591332.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:48:53.177Z,1613591333.177 [Micromodem](INFO): Nmea in: $SNTTA,0.112275,,,,194852.05*44 2021-02-17T19:48:53.261Z,1613591333.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.820007 m, bearing: 291.934935 deg, deltaT: 4.382039 s, approachRate: 0.000000 m/s, LOS rate: -0.464854 deg/s, posRepo size: 4 2021-02-17T19:48:53.267Z,1613591333.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.820007 m, bearing: 291.934935 deg, approachRate: 0.000000 m/s, LOS rate: -0.464854 deg/s, cmd update: -1.859416 deg/s, cmd heading: 262.413168 deg, new cmd heading: 257.333329 deg. 2021-02-17T19:48:55.617Z,1613591335.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:48:56.393Z,1613591336.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:48:56.790Z,1613591336.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:48:57.620Z,1613591337.620 [Micromodem](INFO): Nmea in: $SNTTA,0.110512,,,,194856.50*44 2021-02-17T19:48:57.642Z,1613591337.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.820007 m, bearing: 294.541526 deg, deltaT: 4.474547 s, approachRate: 0.000000 m/s, LOS rate: 0.582537 deg/s, posRepo size: 4 2021-02-17T19:48:57.644Z,1613591337.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.820007 m, bearing: 294.541526 deg, approachRate: 0.000000 m/s, LOS rate: 0.582537 deg/s, cmd update: 2.330150 deg/s, cmd heading: 254.067485 deg, new cmd heading: 253.353030 deg. 2021-02-17T19:49:00.113Z,1613591340.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:00.828Z,1613591340.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:01.248Z,1613591341.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:49:02.104Z,1613591342.104 [Micromodem](INFO): Nmea in: $SNTTA,0.108888,,,,194900.93*4E 2021-02-17T19:49:02.170Z,1613591342.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.140015 m, bearing: 292.772808 deg, deltaT: 4.428708 s, approachRate: -1.734138 m/s, LOS rate: -0.399376 deg/s, posRepo size: 4 2021-02-17T19:49:02.178Z,1613591342.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.140015 m, bearing: 292.772808 deg, approachRate: -1.734138 m/s, LOS rate: -0.399376 deg/s, cmd update: -1.597503 deg/s, cmd heading: 264.379720 deg, new cmd heading: 265.513906 deg. 2021-02-17T19:49:04.479Z,1613591344.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:05.275Z,1613591345.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:05.677Z,1613591345.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:49:06.504Z,1613591346.504 [Micromodem](INFO): Nmea in: $SNTTA,0.107224,,,,194905.38*49 2021-02-17T19:49:06.555Z,1613591346.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.679993 m, bearing: 292.675300 deg, deltaT: 4.462082 s, approachRate: -0.551317 m/s, LOS rate: -0.021853 deg/s, posRepo size: 4 2021-02-17T19:49:06.557Z,1613591346.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.679993 m, bearing: 292.675300 deg, approachRate: -0.551317 m/s, LOS rate: -0.021853 deg/s, cmd update: -0.087410 deg/s, cmd heading: 257.240000 deg, new cmd heading: 256.603863 deg. 2021-02-17T19:49:08.930Z,1613591348.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:09.721Z,1613591349.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:10.191Z,1613591350.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:49:10.948Z,1613591350.948 [Micromodem](INFO): Nmea in: $SNTTA,0.105815,,,,194909.83*4F 2021-02-17T19:49:10.970Z,1613591350.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.580002 m, bearing: 292.251309 deg, deltaT: 4.411967 s, approachRate: -0.475976 m/s, LOS rate: -0.096100 deg/s, posRepo size: 4 2021-02-17T19:49:10.972Z,1613591350.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.580002 m, bearing: 292.251309 deg, approachRate: -0.475976 m/s, LOS rate: -0.096100 deg/s, cmd update: -0.384401 deg/s, cmd heading: 256.854350 deg, new cmd heading: 256.818912 deg. 2021-02-17T19:49:13.402Z,1613591353.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:14.160Z,1613591354.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:14.580Z,1613591354.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:49:15.388Z,1613591355.388 [Micromodem](INFO): Nmea in: $SNTTA,0.104377,,,,194914.27*43 2021-02-17T19:49:15.474Z,1613591355.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.360016 m, bearing: 300.912863 deg, deltaT: 4.452158 s, approachRate: -0.498631 m/s, LOS rate: 1.945473 deg/s, posRepo size: 4 2021-02-17T19:49:15.480Z,1613591355.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.360016 m, bearing: 300.912863 deg, approachRate: -0.498631 m/s, LOS rate: 1.945473 deg/s, cmd update: 7.781893 deg/s, cmd heading: 255.147337 deg, new cmd heading: 254.967091 deg. 2021-02-17T19:49:17.014Z,1613591357.014 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -9.14 mm (3 active estimators). 2021-02-17T19:49:17.811Z,1613591357.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:18.613Z,1613591358.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:19.020Z,1613591359.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:49:19.833Z,1613591359.833 [Micromodem](INFO): Nmea in: $SNTTA,0.103200,,,,194918.72*49 2021-02-17T19:49:20.644Z,1613591360.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:22.240Z,1613591362.240 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:49:23.467Z,1613591363.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:24.261Z,1613591364.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:24.666Z,1613591364.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:49:25.488Z,1613591365.488 [Micromodem](INFO): Nmea in: $SNTTA,0.101260,,,,194924.37*43 2021-02-17T19:49:25.530Z,1613591365.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.739990 m, bearing: 295.865271 deg, deltaT: 10.112778 s, approachRate: -0.456850 m/s, LOS rate: -0.499130 deg/s, posRepo size: 4 2021-02-17T19:49:25.532Z,1613591365.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.739990 m, bearing: 295.865271 deg, approachRate: -0.456850 m/s, LOS rate: -0.499130 deg/s, cmd update: -1.996520 deg/s, cmd heading: 333.926742 deg, new cmd heading: 337.047647 deg. 2021-02-17T19:49:27.921Z,1613591367.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:28.704Z,1613591368.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:29.116Z,1613591369.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:49:29.939Z,1613591369.939 [Micromodem](INFO): Nmea in: $SNTTA,0.099492,,,,194928.81*49 2021-02-17T19:49:29.958Z,1613591369.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.979996 m, bearing: 297.422309 deg, deltaT: 4.413010 s, approachRate: -0.625422 m/s, LOS rate: 0.352829 deg/s, posRepo size: 4 2021-02-17T19:49:29.960Z,1613591369.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.979996 m, bearing: 297.422309 deg, approachRate: -0.625422 m/s, LOS rate: 0.352829 deg/s, cmd update: 1.411315 deg/s, cmd heading: 325.122576 deg, new cmd heading: 324.284407 deg. 2021-02-17T19:49:32.429Z,1613591372.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:33.148Z,1613591373.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:33.553Z,1613591373.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:49:34.380Z,1613591374.380 [Micromodem](INFO): Nmea in: $SNTTA,0.097659,,,,194933.25*46 2021-02-17T19:49:34.444Z,1613591374.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.279999 m, bearing: 298.108169 deg, deltaT: 4.440928 s, approachRate: -0.607980 m/s, LOS rate: 0.154441 deg/s, posRepo size: 4 2021-02-17T19:49:34.446Z,1613591374.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.279999 m, bearing: 298.108169 deg, approachRate: -0.607980 m/s, LOS rate: 0.154441 deg/s, cmd update: 0.617763 deg/s, cmd heading: 331.395759 deg, new cmd heading: 332.045777 deg. 2021-02-17T19:49:36.836Z,1613591376.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:37.600Z,1613591377.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:38.013Z,1613591378.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:49:38.840Z,1613591378.840 [Micromodem](INFO): Nmea in: $SNTTA,0.095714,,,,194937.70*48 2021-02-17T19:49:38.881Z,1613591378.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.339996 m, bearing: 301.309779 deg, deltaT: 4.449782 s, approachRate: -0.660707 m/s, LOS rate: 0.719498 deg/s, posRepo size: 4 2021-02-17T19:49:38.883Z,1613591378.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.339996 m, bearing: 301.309779 deg, approachRate: -0.660707 m/s, LOS rate: 0.719498 deg/s, cmd update: 2.877993 deg/s, cmd heading: 334.144480 deg, new cmd heading: 334.421579 deg. 2021-02-17T19:49:41.288Z,1613591381.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:42.070Z,1613591382.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:42.461Z,1613591382.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:49:43.284Z,1613591383.284 [Micromodem](INFO): Nmea in: $SNTTA,0.093890,,,,194942.17*4E 2021-02-17T19:49:43.336Z,1613591383.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.639999 m, bearing: 299.023360 deg, deltaT: 4.440653 s, approachRate: -0.608018 m/s, LOS rate: -0.514884 deg/s, posRepo size: 4 2021-02-17T19:49:43.338Z,1613591383.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.639999 m, bearing: 299.023360 deg, approachRate: -0.608018 m/s, LOS rate: -0.514884 deg/s, cmd update: -2.059534 deg/s, cmd heading: 346.923646 deg, new cmd heading: 348.255075 deg. 2021-02-17T19:49:45.689Z,1613591385.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:46.480Z,1613591386.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:46.885Z,1613591386.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:49:47.708Z,1613591387.708 [Micromodem](INFO): Nmea in: $SNTTA,0.091946,,,,194946.58*49 2021-02-17T19:49:47.746Z,1613591387.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.700012 m, bearing: 297.350892 deg, deltaT: 4.467063 s, approachRate: -0.658148 m/s, LOS rate: -0.374400 deg/s, posRepo size: 4 2021-02-17T19:49:47.748Z,1613591387.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.700012 m, bearing: 297.350892 deg, approachRate: -0.658148 m/s, LOS rate: -0.374400 deg/s, cmd update: -1.497599 deg/s, cmd heading: 337.723912 deg, new cmd heading: 336.887350 deg. 2021-02-17T19:49:50.168Z,1613591390.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:50.941Z,1613591390.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:51.331Z,1613591391.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:49:52.176Z,1613591392.176 [Micromodem](INFO): Nmea in: $SNTTA,0.090018,,,,194951.05*44 2021-02-17T19:49:52.231Z,1613591392.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.760010 m, bearing: 297.652923 deg, deltaT: 4.414793 s, approachRate: -0.665943 m/s, LOS rate: 0.068413 deg/s, posRepo size: 4 2021-02-17T19:49:52.233Z,1613591392.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.760010 m, bearing: 297.652923 deg, approachRate: -0.665943 m/s, LOS rate: 0.068413 deg/s, cmd update: 0.273654 deg/s, cmd heading: 331.112052 deg, new cmd heading: 330.399517 deg. 2021-02-17T19:49:54.269Z,1613591394.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:54.966Z,1613591394.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:55.369Z,1613591395.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:49:56.212Z,1613591396.212 [Micromodem](INFO): Nmea in: $SNTTA,0.088150,,,,194955.07*46 2021-02-17T19:49:56.256Z,1613591396.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.940002 m, bearing: 296.117442 deg, deltaT: 4.033344 s, approachRate: -0.699174 m/s, LOS rate: -0.380697 deg/s, posRepo size: 4 2021-02-17T19:49:56.258Z,1613591396.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.940002 m, bearing: 296.117442 deg, approachRate: -0.699174 m/s, LOS rate: -0.380697 deg/s, cmd update: -1.522787 deg/s, cmd heading: 332.215857 deg, new cmd heading: 332.343531 deg. 2021-02-17T19:49:58.231Z,1613591398.231 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T19:49:58.621Z,1613591398.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:49:59.408Z,1613591399.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:49:59.814Z,1613591399.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:50:00.644Z,1613591400.644 [Micromodem](INFO): Nmea in: $SNTTA,0.085962,,,,194959.51*4D 2021-02-17T19:50:00.666Z,1613591400.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.640015 m, bearing: 295.746809 deg, deltaT: 4.496860 s, approachRate: -0.733843 m/s, LOS rate: -0.082420 deg/s, posRepo size: 4 2021-02-17T19:50:00.668Z,1613591400.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.640015 m, bearing: 295.746809 deg, approachRate: -0.733843 m/s, LOS rate: -0.082420 deg/s, cmd update: -0.329682 deg/s, cmd heading: 325.373514 deg, new cmd heading: 324.788478 deg. 2021-02-17T19:50:02.272Z,1613591402.272 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:50:03.160Z,1613591403.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:03.284Z,1613591403.284 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.237350 2021-02-17T19:50:03.482Z,1613591403.482 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T19:50:03.482Z,1613591403.482 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T19:50:03.482Z,1613591403.482 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T19:50:03.482Z,1613591403.482 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T19:50:03.482Z,1613591403.482 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T19:50:03.865Z,1613591403.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:50:04.271Z,1613591404.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:50:04.362Z,1613591404.362 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D601E0000005D00000400610000000000000000151D80030C5669BF92F9E58E78BD978FE4175CC9B8F4EDA9482EF10CE7DBE98A6EAA134ACFD0AC71B2E2 2021-02-17T19:50:04.363Z,1613591404.363 [Micromodem](INFO): Outgoing frame #2, 36 bytes: 92757955F508E4D234BD4309134B8EE2247D0052B93619F369E5CC20B5E3D233C9C02630 2021-02-17T19:50:04.363Z,1613591404.363 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T19:50:04.377Z,1613591404.377 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:50:04.679Z,1613591404.679 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T19:50:05.108Z,1613591405.108 [Micromodem](INFO): Nmea in: $CADRQ,195004,1,10,0,64,1*7F 2021-02-17T19:50:05.109Z,1613591405.109 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D601E0000005D00000400610000000000000000151D80030C5669BF92F9E58E78BD978FE4175CC9B8F4EDA9482EF10CE7DBE98A6EAA134ACFD0AC71B2E2*4C 2021-02-17T19:50:05.300Z,1613591405.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.280006 m, bearing: 298.500577 deg, deltaT: 4.447835 s, approachRate: -0.755426 m/s, LOS rate: 0.619126 deg/s, posRepo size: 4 2021-02-17T19:50:05.302Z,1613591405.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.280006 m, bearing: 298.500577 deg, approachRate: -0.755426 m/s, LOS rate: 0.619126 deg/s, cmd update: 2.476502 deg/s, cmd heading: 323.905825 deg, new cmd heading: 323.719263 deg. 2021-02-17T19:50:05.552Z,1613591405.552 [Micromodem](INFO): Nmea in: $SNTTA,0.083680,,,,195003.97*45 2021-02-17T19:50:05.553Z,1613591405.553 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.083680,,,,195003.97*45 2021-02-17T19:50:06.760Z,1613591406.760 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T19:50:07.168Z,1613591407.168 [Micromodem](INFO): Nmea in: $CADRQ,195005,1,10,0,64,2*7D 2021-02-17T19:50:07.169Z,1613591407.169 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,92757955F508E4D234BD4309134B8EE2247D0052B93619F369E5CC20B5E3D233C9C02630*36 2021-02-17T19:50:07.281Z,1613591407.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:07.567Z,1613591407.567 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,36*4E 2021-02-17T19:50:07.960Z,1613591407.960 [Micromodem](INFO): Nmea in: $CATXP,100*43 2021-02-17T19:50:07.960Z,1613591407.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:50:09.997Z,1613591409.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:10.397Z,1613591410.397 [Micromodem](INFO): Nmea in: $CATXF,100*55 2021-02-17T19:50:10.397Z,1613591410.397 [Micromodem](ERROR): Response from modem unexpected: $CATXF,100*55 2021-02-17T19:50:10.788Z,1613591410.788 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,195007.281629,3,0,200,4000,14500,1,1,10,1,2,2,3,100*7B 2021-02-17T19:50:10.789Z,1613591410.789 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,195007.281629,3,0,200,4000,14500,1,1,10,1,2,2,3,100*7B 2021-02-17T19:50:12.856Z,1613591412.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:13.217Z,1613591413.217 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-17T19:50:13.632Z,1613591413.632 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-17T19:50:13.633Z,1613591413.633 [Micromodem](INFO): Sent 92 bytes from file Logs/20210217T180521/Courier0030.lzma.parts 2021-02-17T19:50:13.633Z,1613591413.633 [Micromodem](INFO): Packets left to send: 0 2021-02-17T19:50:14.066Z,1613591414.066 [Micromodem](INFO): Nmea in: $CACST,6,0,20210217195012.061908,06,2246,33,0120,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,14.7,5.00,12,-2.00,-01,0.85,30,14500,4000*55 2021-02-17T19:50:14.067Z,1613591414.067 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210217195012.061908,06,2246,33,0120,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,14.7,5.00,12,-2.00,-01,0.85,30,14500,4000*55 2021-02-17T19:50:14.210Z,1613591414.210 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T19:50:14.211Z,1613591414.211 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T19:50:14.211Z,1613591414.211 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T19:50:14.211Z,1613591414.211 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T19:50:14.211Z,1613591414.211 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T19:50:15.816Z,1613591415.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:17.448Z,1613591417.448 [Radio_Surface](INFO): Powering down 2021-02-17T19:50:18.532Z,1613591418.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:19.300Z,1613591419.300 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:50:19.705Z,1613591419.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:50:20.564Z,1613591420.564 [Micromodem](INFO): Nmea in: $SNTTA,0.076699,,,,195019.40*46 2021-02-17T19:50:20.586Z,1613591420.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.839996 m, bearing: 301.508100 deg, deltaT: 15.615588 s, approachRate: -0.668563 m/s, LOS rate: 0.192598 deg/s, posRepo size: 4 2021-02-17T19:50:20.588Z,1613591420.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.839996 m, bearing: 301.508100 deg, approachRate: -0.668563 m/s, LOS rate: 0.192598 deg/s, cmd update: 0.770390 deg/s, cmd heading: 2.576701 deg, new cmd heading: 3.163842 deg. 2021-02-17T19:50:22.988Z,1613591422.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:23.776Z,1613591423.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:50:24.263Z,1613591424.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:50:25.034Z,1613591425.034 [Micromodem](INFO): Nmea in: $SNTTA,0.075201,,,,195023.88*4D 2021-02-17T19:50:25.081Z,1613591425.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.620003 m, bearing: 292.602517 deg, deltaT: 4.277317 s, approachRate: -0.519015 m/s, LOS rate: -2.082049 deg/s, posRepo size: 4 2021-02-17T19:50:25.083Z,1613591425.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.620003 m, bearing: 292.602517 deg, approachRate: -0.519015 m/s, LOS rate: -2.082049 deg/s, cmd update: -8.328196 deg/s, cmd heading: 5.871736 deg, new cmd heading: 6.222232 deg. 2021-02-17T19:50:27.429Z,1613591427.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:28.225Z,1613591428.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:50:28.631Z,1613591428.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:50:29.456Z,1613591429.456 [Micromodem](INFO): Nmea in: $SNTTA,0.073664,,,,195028.33*47 2021-02-17T19:50:29.505Z,1613591429.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.519997 m, bearing: 293.831787 deg, deltaT: 4.472542 s, approachRate: -0.469533 m/s, LOS rate: 0.274848 deg/s, posRepo size: 4 2021-02-17T19:50:29.506Z,1613591429.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.519997 m, bearing: 293.831787 deg, approachRate: -0.469533 m/s, LOS rate: 0.274848 deg/s, cmd update: 1.099393 deg/s, cmd heading: 328.618534 deg, new cmd heading: 325.241967 deg. 2021-02-17T19:50:31.891Z,1613591431.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:32.666Z,1613591432.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:50:33.082Z,1613591433.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:50:33.912Z,1613591433.912 [Micromodem](INFO): Nmea in: $SNTTA,0.072020,,,,195032.77*4B 2021-02-17T19:50:33.934Z,1613591433.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.000008 m, bearing: 304.160727 deg, deltaT: 4.412474 s, approachRate: -0.571106 m/s, LOS rate: 2.340850 deg/s, posRepo size: 4 2021-02-17T19:50:33.936Z,1613591433.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.000008 m, bearing: 304.160727 deg, approachRate: -0.571106 m/s, LOS rate: 2.340850 deg/s, cmd update: 9.363400 deg/s, cmd heading: 333.465280 deg, new cmd heading: 333.934016 deg. 2021-02-17T19:50:36.350Z,1613591436.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:37.108Z,1613591437.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:50:37.515Z,1613591437.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:50:38.336Z,1613591438.336 [Micromodem](INFO): Nmea in: $SNTTA,0.070272,,,,195037.21*4A 2021-02-17T19:50:38.426Z,1613591438.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.060005 m, bearing: 292.544160 deg, deltaT: 4.451947 s, approachRate: -0.660386 m/s, LOS rate: -2.609323 deg/s, posRepo size: 4 2021-02-17T19:50:38.432Z,1613591438.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.060005 m, bearing: 292.544160 deg, approachRate: -0.660386 m/s, LOS rate: -2.609323 deg/s, cmd update: -10.437291 deg/s, cmd heading: 15.036325 deg, new cmd heading: 19.521075 deg. 2021-02-17T19:50:39.439Z,1613591439.439 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T19:50:40.443Z,1613591440.443 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2021-02-17T19:50:40.768Z,1613591440.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:41.558Z,1613591441.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:50:41.964Z,1613591441.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:50:42.780Z,1613591442.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195041.66*56 2021-02-17T19:50:42.826Z,1613591442.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.059998 m, bearing: 294.928005 deg, deltaT: 4.460449 s, approachRate: -0.672580 m/s, LOS rate: 0.534441 deg/s, posRepo size: 4 2021-02-17T19:50:42.832Z,1613591442.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.059998 m, bearing: 294.928005 deg, approachRate: -0.672580 m/s, LOS rate: 0.534441 deg/s, cmd update: 2.137763 deg/s, cmd heading: 328.314030 deg, new cmd heading: 324.114846 deg. 2021-02-17T19:50:45.248Z,1613591445.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:46.012Z,1613591446.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:50:46.402Z,1613591446.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:50:46.424Z,1613591446.424 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T19:50:47.240Z,1613591447.240 [Micromodem](INFO): Nmea in: $SNTTA,0.066603,,,,195046.12*49 2021-02-17T19:50:47.291Z,1613591447.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.720001 m, bearing: 287.958945 deg, deltaT: 4.394019 s, approachRate: -0.532541 m/s, LOS rate: -1.586033 deg/s, posRepo size: 4 2021-02-17T19:50:47.293Z,1613591447.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.720001 m, bearing: 287.958945 deg, approachRate: -0.532541 m/s, LOS rate: -1.586033 deg/s, cmd update: -6.344133 deg/s, cmd heading: 337.707795 deg, new cmd heading: 338.719065 deg. 2021-02-17T19:50:49.668Z,1613591449.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:50.441Z,1613591450.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:50:50.855Z,1613591450.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:50:51.668Z,1613591451.668 [Micromodem](INFO): Nmea in: $SNTTA,0.064826,,,,195050.55*46 2021-02-17T19:50:51.707Z,1613591451.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.080009 m, bearing: 293.250702 deg, deltaT: 4.480443 s, approachRate: -0.589226 m/s, LOS rate: 1.181079 deg/s, posRepo size: 4 2021-02-17T19:50:51.709Z,1613591451.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.080009 m, bearing: 293.250702 deg, approachRate: -0.589226 m/s, LOS rate: 1.181079 deg/s, cmd update: 4.724316 deg/s, cmd heading: 309.283426 deg, new cmd heading: 306.692152 deg. 2021-02-17T19:50:54.141Z,1613591454.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:54.985Z,1613591454.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:50:55.315Z,1613591455.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:50:56.209Z,1613591456.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.839996 m, bearing: 289.836701 deg, deltaT: 4.436834 s, approachRate: -0.730253 m/s, LOS rate: -0.769468 deg/s, posRepo size: 4 2021-02-17T19:50:56.211Z,1613591456.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.839996 m, bearing: 289.836701 deg, approachRate: -0.730253 m/s, LOS rate: -0.769468 deg/s, cmd update: -3.077872 deg/s, cmd heading: 330.244495 deg, new cmd heading: 332.483953 deg. 2021-02-17T19:50:56.540Z,1613591456.540 [Micromodem](INFO): Nmea in: $SNTTA,0.062705,,,,195055.09*42 2021-02-17T19:50:58.572Z,1613591458.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:50:59.356Z,1613591459.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:50:59.758Z,1613591459.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:00.585Z,1613591460.585 [Micromodem](INFO): Nmea in: $SNTTA,0.060324,,0.073467,,195059.46*5F 2021-02-17T19:51:00.630Z,1613591460.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.240005 m, bearing: 289.565405 deg, deltaT: 4.565640 s, approachRate: -0.788496 m/s, LOS rate: -0.059421 deg/s, posRepo size: 4 2021-02-17T19:51:00.632Z,1613591460.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.240005 m, bearing: 289.565405 deg, approachRate: -0.788496 m/s, LOS rate: -0.059421 deg/s, cmd update: -0.237684 deg/s, cmd heading: 316.191963 deg, new cmd heading: 315.178949 deg. 2021-02-17T19:51:03.071Z,1613591463.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:51:03.801Z,1613591463.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:51:04.202Z,1613591464.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:05.072Z,1613591465.072 [Micromodem](INFO): Nmea in: $SNTTA,0.058064,,,,195103.91*48 2021-02-17T19:51:05.135Z,1613591465.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.059998 m, bearing: 295.276837 deg, deltaT: 4.354276 s, approachRate: -0.730318 m/s, LOS rate: 1.311683 deg/s, posRepo size: 4 2021-02-17T19:51:05.137Z,1613591465.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.059998 m, bearing: 295.276837 deg, approachRate: -0.730318 m/s, LOS rate: 1.311683 deg/s, cmd update: 5.246734 deg/s, cmd heading: 315.158007 deg, new cmd heading: 315.044073 deg. 2021-02-17T19:51:07.462Z,1613591467.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:51:08.245Z,1613591468.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:51:08.651Z,1613591468.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:09.472Z,1613591469.472 [Micromodem](INFO): Nmea in: $SNTTA,0.055828,,,,195108.35*40 2021-02-17T19:51:09.519Z,1613591469.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.519997 m, bearing: 288.895910 deg, deltaT: 4.468984 s, approachRate: -0.792127 m/s, LOS rate: -1.427825 deg/s, posRepo size: 4 2021-02-17T19:51:09.521Z,1613591469.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.519997 m, bearing: 288.895910 deg, approachRate: -0.792127 m/s, LOS rate: -1.427825 deg/s, cmd update: -5.711300 deg/s, cmd heading: 338.626137 deg, new cmd heading: 340.571337 deg. 2021-02-17T19:51:11.919Z,1613591471.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:51:12.694Z,1613591472.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:51:13.113Z,1613591473.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:13.924Z,1613591473.924 [Micromodem](INFO): Nmea in: $SNTTA,0.053604,,,,195112.80*43 2021-02-17T19:51:13.965Z,1613591473.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.220001 m, bearing: 288.521479 deg, deltaT: 4.410734 s, approachRate: -0.748174 m/s, LOS rate: -0.084891 deg/s, posRepo size: 4 2021-02-17T19:51:13.967Z,1613591473.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.220001 m, bearing: 288.521479 deg, approachRate: -0.748174 m/s, LOS rate: -0.084891 deg/s, cmd update: -0.339563 deg/s, cmd heading: 313.433914 deg, new cmd heading: 310.976142 deg. 2021-02-17T19:51:16.357Z,1613591476.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:51:17.133Z,1613591477.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:51:17.539Z,1613591477.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:18.369Z,1613591478.369 [Micromodem](INFO): Nmea in: $SNTTA,0.051515,,,,195117.24*49 2021-02-17T19:51:18.478Z,1613591478.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.980003 m, bearing: 287.557193 deg, deltaT: 4.435478 s, approachRate: -0.730473 m/s, LOS rate: -0.217403 deg/s, posRepo size: 4 2021-02-17T19:51:18.484Z,1613591478.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.980003 m, bearing: 287.557193 deg, approachRate: -0.730473 m/s, LOS rate: -0.217403 deg/s, cmd update: -0.869612 deg/s, cmd heading: 311.929158 deg, new cmd heading: 311.755364 deg. 2021-02-17T19:51:20.789Z,1613591480.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:51:21.578Z,1613591481.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:51:21.987Z,1613591481.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:22.811Z,1613591482.811 [Micromodem](INFO): Nmea in: $SNTTA,0.049499,0.058200,,,195121.68*59 2021-02-17T19:51:22.830Z,1613591482.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.920006 m, bearing: 288.338867 deg, deltaT: 4.457816 s, approachRate: -0.686434 m/s, LOS rate: 0.175349 deg/s, posRepo size: 4 2021-02-17T19:51:22.832Z,1613591482.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.920006 m, bearing: 288.338867 deg, approachRate: -0.686434 m/s, LOS rate: 0.175349 deg/s, cmd update: 0.701397 deg/s, cmd heading: 308.049539 deg, new cmd heading: 307.699634 deg. 2021-02-17T19:51:25.257Z,1613591485.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:51:26.075Z,1613591486.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:51:26.421Z,1613591486.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:27.254Z,1613591487.254 [Micromodem](INFO): Nmea in: $SNTTA,0.046912,,,,195126.18*49 2021-02-17T19:51:27.318Z,1613591487.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.200005 m, bearing: 288.229448 deg, deltaT: 4.419115 s, approachRate: -0.841798 m/s, LOS rate: -0.024761 deg/s, posRepo size: 4 2021-02-17T19:51:27.320Z,1613591487.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.200005 m, bearing: 288.229448 deg, approachRate: -0.841798 m/s, LOS rate: -0.024761 deg/s, cmd update: -0.099042 deg/s, cmd heading: 311.146779 deg, new cmd heading: 311.479616 deg. 2021-02-17T19:51:29.668Z,1613591489.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:51:30.471Z,1613591490.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:51:30.866Z,1613591490.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:31.696Z,1613591491.696 [Micromodem](INFO): Nmea in: $SNTTA,0.044553,,,,195130.58*41 2021-02-17T19:51:31.741Z,1613591491.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.720009 m, bearing: 288.927903 deg, deltaT: 4.486220 s, approachRate: -0.775708 m/s, LOS rate: 0.155689 deg/s, posRepo size: 4 2021-02-17T19:51:31.747Z,1613591491.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.720009 m, bearing: 288.927903 deg, approachRate: -0.775708 m/s, LOS rate: 0.155689 deg/s, cmd update: 0.622756 deg/s, cmd heading: 310.702072 deg, new cmd heading: 310.661706 deg. 2021-02-17T19:51:34.131Z,1613591494.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:51:35.014Z,1613591495.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:51:35.495Z,1613591495.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:36.312Z,1613591496.312 [Micromodem](INFO): Nmea in: $SNTTA,0.042009,,,,195135.12*46 2021-02-17T19:51:36.377Z,1613591496.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.820007 m, bearing: 288.262451 deg, deltaT: 4.572982 s, approachRate: -0.852836 m/s, LOS rate: -0.145518 deg/s, posRepo size: 4 2021-02-17T19:51:36.379Z,1613591496.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.820007 m, bearing: 288.262451 deg, approachRate: -0.852836 m/s, LOS rate: -0.145518 deg/s, cmd update: -0.582072 deg/s, cmd heading: 313.549898 deg, new cmd heading: 313.842823 deg. 2021-02-17T19:51:38.758Z,1613591498.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:51:39.528Z,1613591499.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:51:39.955Z,1613591499.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:40.765Z,1613591500.765 [Micromodem](INFO): Nmea in: $SNTTA,0.039496,,0.044676,,195139.63*5B 2021-02-17T19:51:40.779Z,1613591500.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.040001 m, bearing: 288.977490 deg, deltaT: 4.471397 s, approachRate: -0.845375 m/s, LOS rate: 0.159914 deg/s, posRepo size: 4 2021-02-17T19:51:40.781Z,1613591500.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.040001 m, bearing: 288.977490 deg, approachRate: -0.845375 m/s, LOS rate: 0.159914 deg/s, cmd update: 0.639656 deg/s, cmd heading: 310.947231 deg, new cmd heading: 310.713761 deg. 2021-02-17T19:51:43.216Z,1613591503.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:51:43.977Z,1613591503.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:51:44.387Z,1613591504.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:45.228Z,1613591505.228 [Micromodem](INFO): Nmea in: $SNTTA,0.037328,,,,195144.08*49 2021-02-17T19:51:45.262Z,1613591505.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.500000 m, bearing: 290.354210 deg, deltaT: 4.431938 s, approachRate: -0.798748 m/s, LOS rate: 0.310636 deg/s, posRepo size: 4 2021-02-17T19:51:45.264Z,1613591505.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.500000 m, bearing: 290.354210 deg, approachRate: -0.798748 m/s, LOS rate: 0.310636 deg/s, cmd update: 1.242545 deg/s, cmd heading: 313.782098 deg, new cmd heading: 314.071191 deg. 2021-02-17T19:51:47.624Z,1613591507.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:51:48.433Z,1613591508.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:51:48.822Z,1613591508.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:49.660Z,1613591509.660 [Micromodem](INFO): Nmea in: $SNTTA,0.035126,,,,195148.55*43 2021-02-17T19:51:49.702Z,1613591509.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.380001 m, bearing: 286.881360 deg, deltaT: 4.470966 s, approachRate: -0.697836 m/s, LOS rate: -0.776756 deg/s, posRepo size: 4 2021-02-17T19:51:49.704Z,1613591509.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.380001 m, bearing: 286.881360 deg, approachRate: -0.697836 m/s, LOS rate: -0.776756 deg/s, cmd update: -3.107025 deg/s, cmd heading: 319.337615 deg, new cmd heading: 319.860643 deg. 2021-02-17T19:51:52.115Z,1613591512.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:51:52.869Z,1613591512.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:51:53.284Z,1613591513.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:54.111Z,1613591514.111 [Micromodem](INFO): Nmea in: $SNTTA,0.032829,,,,195152.97*47 2021-02-17T19:51:54.146Z,1613591514.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.720001 m, bearing: 287.960311 deg, deltaT: 4.429516 s, approachRate: -0.826275 m/s, LOS rate: 0.243582 deg/s, posRepo size: 4 2021-02-17T19:51:54.148Z,1613591514.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.720001 m, bearing: 287.960311 deg, approachRate: -0.826275 m/s, LOS rate: 0.243582 deg/s, cmd update: 0.974329 deg/s, cmd heading: 305.575039 deg, new cmd heading: 304.223269 deg. 2021-02-17T19:51:56.530Z,1613591516.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:51:57.305Z,1613591517.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:51:57.373Z,1613591517.373 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:51:57.725Z,1613591517.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:51:58.532Z,1613591518.532 [Micromodem](INFO): Nmea in: $SNTTA,0.030394,,,,195157.41*46 2021-02-17T19:51:58.569Z,1613591518.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.179996 m, bearing: 289.190155 deg, deltaT: 4.467177 s, approachRate: -0.792448 m/s, LOS rate: 0.275307 deg/s, posRepo size: 4 2021-02-17T19:51:58.571Z,1613591518.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.179996 m, bearing: 289.190155 deg, approachRate: -0.792448 m/s, LOS rate: 0.275307 deg/s, cmd update: 1.101227 deg/s, cmd heading: 309.923653 deg, new cmd heading: 310.309122 deg. 2021-02-17T19:52:00.986Z,1613591520.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:01.748Z,1613591521.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:02.157Z,1613591522.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:52:02.984Z,1613591522.984 [Micromodem](INFO): Nmea in: $SNTTA,0.027981,,,,195201.85*46 2021-02-17T19:52:03.078Z,1613591523.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.579998 m, bearing: 289.540216 deg, deltaT: 4.392986 s, approachRate: -0.819488 m/s, LOS rate: 0.079686 deg/s, posRepo size: 4 2021-02-17T19:52:03.084Z,1613591523.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.579998 m, bearing: 289.540216 deg, approachRate: -0.819488 m/s, LOS rate: 0.079686 deg/s, cmd update: 0.318745 deg/s, cmd heading: 314.765706 deg, new cmd heading: 315.324236 deg. 2021-02-17T19:52:05.088Z,1613591525.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:05.789Z,1613591525.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:06.214Z,1613591526.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:52:07.060Z,1613591527.060 [Micromodem](INFO): Nmea in: $SNTTA,0.025795,,,,195205.89*47 2021-02-17T19:52:07.122Z,1613591527.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.220001 m, bearing: 288.230267 deg, deltaT: 4.060714 s, approachRate: -0.827440 m/s, LOS rate: -0.322591 deg/s, posRepo size: 4 2021-02-17T19:52:07.140Z,1613591527.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.22 m. 2021-02-17T19:52:07.142Z,1613591527.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.220001 m, bearing: 288.230267 deg, approachRate: -0.827440 m/s, LOS rate: -0.322591 deg/s, cmd update: -1.290363 deg/s, cmd heading: 316.060036 deg, new cmd heading: 316.216302 deg. 2021-02-17T19:52:07.425Z,1613591527.425 [PowerOnly](INFO): Powering up loadControl 2021-02-17T19:52:09.450Z,1613591529.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:10.240Z,1613591530.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:10.641Z,1613591530.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:52:11.468Z,1613591531.468 [Micromodem](INFO): Nmea in: $SNTTA,0.023341,,,,195210.34*4E 2021-02-17T19:52:11.513Z,1613591531.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.680000 m, bearing: 288.016209 deg, deltaT: 4.478590 s, approachRate: -0.790428 m/s, LOS rate: -0.047796 deg/s, posRepo size: 4 2021-02-17T19:52:11.513Z,1613591531.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.68 m. 2021-02-17T19:52:11.514Z,1613591531.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.68 m. 2021-02-17T19:52:11.514Z,1613591531.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T19:52:11.516Z,1613591531.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.680000 m, bearing: 288.016209 deg, approachRate: -0.790428 m/s, LOS rate: -0.047796 deg/s, cmd update: -0.191184 deg/s, cmd heading: 310.280977 deg, new cmd heading: 309.760927 deg. 2021-02-17T19:52:13.903Z,1613591533.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:14.680Z,1613591534.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:15.087Z,1613591535.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:52:15.916Z,1613591535.916 [Micromodem](INFO): Nmea in: $SNTTA,0.020991,,,,195214.78*46 2021-02-17T19:52:15.958Z,1613591535.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.200001 m, bearing: 288.906948 deg, deltaT: 4.389237 s, approachRate: -0.792848 m/s, LOS rate: 0.202937 deg/s, posRepo size: 4 2021-02-17T19:52:15.960Z,1613591535.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.200001 m, bearing: 288.906948 deg, approachRate: -0.792848 m/s, LOS rate: 0.202937 deg/s, cmd update: 0.811748 deg/s, cmd heading: 309.441829 deg, new cmd heading: 309.354101 deg. 2021-02-17T19:52:18.364Z,1613591538.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:19.123Z,1613591539.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:19.531Z,1613591539.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:52:20.352Z,1613591540.352 [Micromodem](INFO): Nmea in: $SNTTA,0.019020,,,,195219.23*4C 2021-02-17T19:52:20.410Z,1613591540.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.259996 m, bearing: 290.963381 deg, deltaT: 4.447169 s, approachRate: -0.661096 m/s, LOS rate: 0.462414 deg/s, posRepo size: 4 2021-02-17T19:52:20.416Z,1613591540.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.259996 m, bearing: 290.963381 deg, approachRate: -0.661096 m/s, LOS rate: 0.462414 deg/s, cmd update: 1.849656 deg/s, cmd heading: 313.051795 deg, new cmd heading: 313.428216 deg. 2021-02-17T19:52:22.773Z,1613591542.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:23.565Z,1613591543.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:23.973Z,1613591543.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:52:24.792Z,1613591544.792 [Micromodem](INFO): Nmea in: $SNTTA,0.016273,,,,195223.67*4E 2021-02-17T19:52:24.830Z,1613591544.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.120003 m, bearing: 287.253168 deg, deltaT: 4.486970 s, approachRate: -0.922670 m/s, LOS rate: -0.826886 deg/s, posRepo size: 4 2021-02-17T19:52:24.832Z,1613591544.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.120003 m, bearing: 287.253168 deg, approachRate: -0.922670 m/s, LOS rate: -0.826886 deg/s, cmd update: -3.307545 deg/s, cmd heading: 321.351132 deg, new cmd heading: 322.085484 deg. 2021-02-17T19:52:27.250Z,1613591547.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:28.054Z,1613591548.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:28.432Z,1613591548.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:52:29.256Z,1613591549.256 [Micromodem](INFO): Nmea in: $SNTTA,0.014021,,,,195228.16*44 2021-02-17T19:52:29.307Z,1613591549.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.700001 m, bearing: 287.830483 deg, deltaT: 4.423064 s, approachRate: -0.773220 m/s, LOS rate: 0.130524 deg/s, posRepo size: 4 2021-02-17T19:52:29.309Z,1613591549.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.700001 m, bearing: 287.830483 deg, approachRate: -0.773220 m/s, LOS rate: 0.130524 deg/s, cmd update: 0.522095 deg/s, cmd heading: 306.752711 deg, new cmd heading: 305.284158 deg. 2021-02-17T19:52:31.668Z,1613591551.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:32.453Z,1613591552.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:32.861Z,1613591552.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:52:33.688Z,1613591553.688 [Micromodem](INFO): Nmea in: $SNTTA,0.012383,,,,195232.56*46 2021-02-17T19:52:33.731Z,1613591553.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.520002 m, bearing: 294.342494 deg, deltaT: 4.469510 s, approachRate: -0.711487 m/s, LOS rate: 1.456986 deg/s, posRepo size: 4 2021-02-17T19:52:33.733Z,1613591553.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.520002 m, bearing: 294.342494 deg, approachRate: -0.711487 m/s, LOS rate: 1.456986 deg/s, cmd update: 5.827942 deg/s, cmd heading: 309.089036 deg, new cmd heading: 309.302562 deg. 2021-02-17T19:52:36.158Z,1613591556.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:36.899Z,1613591556.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:37.311Z,1613591557.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:52:38.128Z,1613591558.128 [Micromodem](INFO): Nmea in: $SNTTA,0.009548,,,,195237.00*4B 2021-02-17T19:52:38.197Z,1613591558.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.919997 m, bearing: 289.000904 deg, deltaT: 4.415444 s, approachRate: -0.815321 m/s, LOS rate: -1.209752 deg/s, posRepo size: 4 2021-02-17T19:52:38.203Z,1613591558.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.919997 m, bearing: 289.000904 deg, approachRate: -0.815321 m/s, LOS rate: -1.209752 deg/s, cmd update: -4.839006 deg/s, cmd heading: 334.713466 deg, new cmd heading: 337.503506 deg. 2021-02-17T19:52:40.582Z,1613591560.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:41.348Z,1613591561.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:41.749Z,1613591561.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:52:42.572Z,1613591562.572 [Micromodem](INFO): Nmea in: $SNTTA,0.007318,,,,195241.45*46 2021-02-17T19:52:42.618Z,1613591562.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.739998 m, bearing: 289.099614 deg, deltaT: 4.478315 s, approachRate: -0.710088 m/s, LOS rate: 0.022042 deg/s, posRepo size: 4 2021-02-17T19:52:42.624Z,1613591562.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.739998 m, bearing: 289.099614 deg, approachRate: -0.710088 m/s, LOS rate: 0.022042 deg/s, cmd update: 0.088167 deg/s, cmd heading: 312.933288 deg, new cmd heading: 311.004692 deg. 2021-02-17T19:52:45.001Z,1613591565.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:45.790Z,1613591565.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:46.199Z,1613591566.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:52:47.041Z,1613591567.041 [Micromodem](INFO): Nmea in: $SNTTA,0.005377,,,,195245.89*49 2021-02-17T19:52:47.107Z,1613591567.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.919999 m, bearing: 297.669917 deg, deltaT: 4.405898 s, approachRate: -0.640051 m/s, LOS rate: 1.945189 deg/s, posRepo size: 4 2021-02-17T19:52:47.109Z,1613591567.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.919999 m, bearing: 297.669917 deg, approachRate: -0.640051 m/s, LOS rate: 1.945189 deg/s, cmd update: 7.780754 deg/s, cmd heading: 313.321390 deg, new cmd heading: 313.364154 deg. 2021-02-17T19:52:49.460Z,1613591569.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:50.241Z,1613591570.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:50.653Z,1613591570.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:52:51.464Z,1613591571.464 [Micromodem](INFO): Nmea in: $SNTTA,0.005249,,,,195250.35*46 2021-02-17T19:52:51.502Z,1613591571.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.580000 m, bearing: 295.272411 deg, deltaT: 4.494685 s, approachRate: -0.520615 m/s, LOS rate: -0.533409 deg/s, posRepo size: 4 2021-02-17T19:52:51.504Z,1613591571.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.580000 m, bearing: 295.272411 deg, approachRate: -0.520615 m/s, LOS rate: -0.533409 deg/s, cmd update: -2.133636 deg/s, cmd heading: 348.198612 deg, new cmd heading: 351.292349 deg. 2021-02-17T19:52:53.899Z,1613591573.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:54.674Z,1613591574.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:55.093Z,1613591575.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:52:55.909Z,1613591575.909 [Micromodem](INFO): Nmea in: $SNTTA,0.003139,,,,195254.78*49 2021-02-17T19:52:55.945Z,1613591575.945 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T19:52:55.945Z,1613591575.945 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T19:52:55.946Z,1613591575.946 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T19:52:55.946Z,1613591575.946 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:52:55.946Z,1613591575.946 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T19:52:55.946Z,1613591575.946 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 2021-02-17T19:52:55.946Z,1613591575.946 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T19:52:55.946Z,1613591575.946 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T19:52:55.946Z,1613591575.946 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T19:52:55.949Z,1613591575.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.740000 m, bearing: 358.223259 deg, deltaT: 4.391242 s, approachRate: -0.191290 m/s, LOS rate: 14.335546 deg/s, posRepo size: 4 2021-02-17T19:52:55.950Z,1613591575.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.335546 deg/s. Setting heading cmd to target bearing of 358.223259deg and heading rate command to 0 deg/s. 2021-02-17T19:52:56.350Z,1613591576.350 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T195256: (41.552319, -70.708603) 2021-02-17T19:52:56.350Z,1613591576.350 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T19:52:56.350Z,1613591576.350 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T19:52:56.351Z,1613591576.351 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:52:56.351Z,1613591576.351 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T19:52:56.355Z,1613591576.355 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T19:52:56.355Z,1613591576.355 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T19:52:56.355Z,1613591576.355 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T19:52:56.355Z,1613591576.355 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T19:52:58.372Z,1613591578.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:52:59.123Z,1613591579.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:52:59.524Z,1613591579.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:00.353Z,1613591580.353 [Micromodem](INFO): Nmea in: $SNTTA,0.003605,,0.006324,,195259.23*5F 2021-02-17T19:53:00.412Z,1613591580.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.460000 m, bearing: 311.418568 deg, deltaT: 4.434601 s, approachRate: 0.162360 m/s, LOS rate: -10.554431 deg/s, posRepo size: 4 2021-02-17T19:53:00.414Z,1613591580.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.460000 m, bearing: 311.418568 deg, approachRate: 0.162360 m/s, LOS rate: -10.554431 deg/s, cmd update: -12.000000 deg/s, cmd heading: 358.223259 deg, new cmd heading: 358.223259 deg. 2021-02-17T19:53:02.770Z,1613591582.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:53:03.563Z,1613591583.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:53:03.968Z,1613591583.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:04.812Z,1613591584.812 [Micromodem](INFO): Nmea in: $SNTTA,0.003576,,0.006388,,195303.67*50 2021-02-17T19:53:04.834Z,1613591584.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.339999 m, bearing: 282.121319 deg, deltaT: 4.510001 s, approachRate: -0.026608 m/s, LOS rate: -6.496063 deg/s, posRepo size: 4 2021-02-17T19:53:04.836Z,1613591584.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.339999 m, bearing: 282.121319 deg, approachRate: -0.026608 m/s, LOS rate: -6.496063 deg/s, cmd update: -12.000000 deg/s, cmd heading: 304.201454 deg, new cmd heading: 299.569118 deg. 2021-02-17T19:53:07.232Z,1613591587.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:53:08.024Z,1613591588.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:53:08.417Z,1613591588.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:09.251Z,1613591589.251 [Micromodem](INFO): Nmea in: $SNTTA,0.005966,,,,195308.13*48 2021-02-17T19:53:09.289Z,1613591589.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.139998 m, bearing: 287.804419 deg, deltaT: 4.389872 s, approachRate: 0.410035 m/s, LOS rate: 1.294594 deg/s, posRepo size: 4 2021-02-17T19:53:09.291Z,1613591589.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.139998 m, bearing: 287.804419 deg, approachRate: 0.410035 m/s, LOS rate: 1.294594 deg/s, cmd update: 5.178374 deg/s, cmd heading: 251.424468 deg, new cmd heading: 246.104544 deg. 2021-02-17T19:53:11.655Z,1613591591.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:53:12.463Z,1613591592.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:53:12.864Z,1613591592.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:13.692Z,1613591593.692 [Micromodem](INFO): Nmea in: $SNTTA,0.006450,,,,195312.57*48 2021-02-17T19:53:13.738Z,1613591593.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.719998 m, bearing: 285.244409 deg, deltaT: 4.465838 s, approachRate: 0.577719 m/s, LOS rate: -0.573243 deg/s, posRepo size: 4 2021-02-17T19:53:13.745Z,1613591593.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.719998 m, bearing: 285.244409 deg, approachRate: 0.577719 m/s, LOS rate: -0.573243 deg/s, cmd update: -2.292971 deg/s, cmd heading: 274.467347 deg, new cmd heading: 276.756970 deg. 2021-02-17T19:53:16.151Z,1613591596.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:53:16.893Z,1613591596.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:53:17.308Z,1613591597.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:18.120Z,1613591598.120 [Micromodem](INFO): Nmea in: $SNTTA,0.008575,,,,195317.00*47 2021-02-17T19:53:18.198Z,1613591598.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.960001 m, bearing: 278.710951 deg, deltaT: 4.419223 s, approachRate: 0.733161 m/s, LOS rate: -1.478418 deg/s, posRepo size: 4 2021-02-17T19:53:18.204Z,1613591598.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.960001 m, bearing: 278.710951 deg, approachRate: 0.733161 m/s, LOS rate: -1.478418 deg/s, cmd update: -5.913672 deg/s, cmd heading: 264.334255 deg, new cmd heading: 263.227030 deg. 2021-02-17T19:53:20.559Z,1613591600.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:53:21.345Z,1613591601.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:53:21.745Z,1613591601.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:22.580Z,1613591602.580 [Micromodem](INFO): Nmea in: $SNTTA,0.010946,,,,195321.45*46 2021-02-17T19:53:22.602Z,1613591602.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.559999 m, bearing: 238.439828 deg, deltaT: 4.463161 s, approachRate: 0.806603 m/s, LOS rate: -9.023005 deg/s, posRepo size: 4 2021-02-17T19:53:22.602Z,1613591602.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.56 m. Rolling out. 2021-02-17T19:53:22.603Z,1613591602.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T19:53:25.072Z,1613591605.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:53:25.783Z,1613591605.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:53:26.188Z,1613591606.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:27.052Z,1613591607.052 [Micromodem](INFO): Nmea in: $SNTTA,0.013269,,0.019144,,195325.89*50 2021-02-17T19:53:27.109Z,1613591607.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.820002 m, bearing: 227.008727 deg, deltaT: 4.421244 s, approachRate: 0.963530 m/s, LOS rate: -2.585494 deg/s, posRepo size: 4 2021-02-17T19:53:29.130Z,1613591609.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:53:29.835Z,1613591609.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:53:30.241Z,1613591610.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:31.092Z,1613591611.092 [Micromodem](INFO): Nmea in: $SNTTA,0.015324,,,,195329.94*49 2021-02-17T19:53:31.146Z,1613591611.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.819998 m, bearing: 257.933269 deg, deltaT: 4.048873 s, approachRate: 0.740946 m/s, LOS rate: 7.637815 deg/s, posRepo size: 4 2021-02-17T19:53:33.488Z,1613591613.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:53:34.286Z,1613591614.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:53:34.678Z,1613591614.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:35.512Z,1613591615.512 [Micromodem](INFO): Nmea in: $SNTTA,0.017799,,,,195334.39*42 2021-02-17T19:53:35.528Z,1613591615.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.480000 m, bearing: 205.107835 deg, deltaT: 4.490895 s, approachRate: 0.814983 m/s, LOS rate: -11.762785 deg/s, posRepo size: 4 2021-02-17T19:53:37.919Z,1613591617.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:53:38.709Z,1613591618.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:53:39.136Z,1613591619.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:39.936Z,1613591619.936 [Micromodem](INFO): Nmea in: $SNTTA,0.020302,,,,195338.81*4F 2021-02-17T19:53:39.976Z,1613591619.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.259998 m, bearing: 223.574317 deg, deltaT: 4.394902 s, approachRate: 0.860087 m/s, LOS rate: 4.201796 deg/s, posRepo size: 4 2021-02-17T19:53:40.361Z,1613591620.361 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:53:41.952Z,1613591621.952 [PowerOnly](INFO): Powering down loadControl 2021-02-17T19:53:42.386Z,1613591622.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:53:43.153Z,1613591623.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:53:43.597Z,1613591623.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:44.380Z,1613591624.380 [Micromodem](INFO): Nmea in: $SNTTA,0.022761,,,,195343.26*4D 2021-02-17T19:53:44.433Z,1613591624.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.320000 m, bearing: 199.914938 deg, deltaT: 4.493456 s, approachRate: 0.680991 m/s, LOS rate: -5.265297 deg/s, posRepo size: 4 2021-02-17T19:53:46.821Z,1613591626.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:53:47.597Z,1613591627.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:53:48.025Z,1613591628.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:48.832Z,1613591628.832 [Micromodem](INFO): Nmea in: $SNTTA,0.025552,,,,195347.70*4F 2021-02-17T19:53:48.847Z,1613591628.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.520000 m, bearing: 201.150984 deg, deltaT: 4.394716 s, approachRate: 0.955693 m/s, LOS rate: 0.281257 deg/s, posRepo size: 4 2021-02-17T19:53:51.277Z,1613591631.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:53:52.076Z,1613591632.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:53:52.452Z,1613591632.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:53.296Z,1613591633.296 [Micromodem](INFO): Nmea in: $SNTTA,0.028396,,,,195352.18*46 2021-02-17T19:53:53.349Z,1613591633.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.780003 m, bearing: 208.686185 deg, deltaT: 4.426402 s, approachRate: 0.962407 m/s, LOS rate: 1.702331 deg/s, posRepo size: 4 2021-02-17T19:53:55.692Z,1613591635.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:53:56.487Z,1613591636.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:53:56.890Z,1613591636.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:53:57.299Z,1613591637.299 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:53:57.724Z,1613591637.724 [Micromodem](INFO): Nmea in: $SNTTA,0.031100,,,,195356.59*42 2021-02-17T19:53:57.746Z,1613591637.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.800003 m, bearing: 213.980483 deg, deltaT: 4.456355 s, approachRate: 0.902083 m/s, LOS rate: 1.188033 deg/s, posRepo size: 4 2021-02-17T19:54:00.279Z,1613591640.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:00.938Z,1613591640.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:54:01.343Z,1613591641.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:54:02.165Z,1613591642.165 [Micromodem](INFO): Nmea in: $SNTTA,0.033787,,,,195401.04*44 2021-02-17T19:54:02.198Z,1613591642.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.820004 m, bearing: 221.551611 deg, deltaT: 4.451472 s, approachRate: 0.903072 m/s, LOS rate: 1.700815 deg/s, posRepo size: 4 2021-02-17T19:54:04.582Z,1613591644.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:05.372Z,1613591645.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:54:05.779Z,1613591645.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:54:06.603Z,1613591646.603 [Micromodem](INFO): Nmea in: $SNTTA,0.036606,,,,195405.48*45 2021-02-17T19:54:06.622Z,1613591646.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.080002 m, bearing: 222.139158 deg, deltaT: 4.451100 s, approachRate: 0.957066 m/s, LOS rate: 0.132000 deg/s, posRepo size: 4 2021-02-17T19:54:09.123Z,1613591649.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:09.816Z,1613591649.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:54:10.230Z,1613591650.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:54:11.080Z,1613591651.080 [Micromodem](INFO): Nmea in: $SNTTA,0.039334,,,,195409.92*45 2021-02-17T19:54:11.136Z,1613591651.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.400002 m, bearing: 226.855758 deg, deltaT: 4.435370 s, approachRate: 0.973989 m/s, LOS rate: 1.063406 deg/s, posRepo size: 4 2021-02-17T19:54:13.476Z,1613591653.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:14.262Z,1613591654.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:54:14.681Z,1613591654.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:54:15.492Z,1613591655.492 [Micromodem](INFO): Nmea in: $SNTTA,0.042080,,,,195414.37*46 2021-02-17T19:54:15.532Z,1613591655.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.240005 m, bearing: 224.045627 deg, deltaT: 4.464877 s, approachRate: 0.860047 m/s, LOS rate: -0.629386 deg/s, posRepo size: 4 2021-02-17T19:54:17.927Z,1613591657.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:18.707Z,1613591658.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:54:19.112Z,1613591659.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:54:19.925Z,1613591659.925 [Micromodem](INFO): Nmea in: $SNTTA,0.044838,,,,195418.81*4A 2021-02-17T19:54:20.758Z,1613591660.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:22.340Z,1613591662.340 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T19:54:23.591Z,1613591663.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:24.368Z,1613591664.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:54:24.766Z,1613591664.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:54:25.592Z,1613591665.592 [Micromodem](INFO): Nmea in: $SNTTA,0.048566,,,,195424.47*45 2021-02-17T19:54:25.635Z,1613591665.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.080002 m, bearing: 231.496285 deg, deltaT: 10.113663 s, approachRate: 0.972941 m/s, LOS rate: 0.736692 deg/s, posRepo size: 4 2021-02-17T19:54:28.084Z,1613591668.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:28.805Z,1613591668.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:54:29.235Z,1613591669.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:54:30.084Z,1613591670.084 [Micromodem](INFO): Nmea in: $SNTTA,0.051320,,,,195428.91*4E 2021-02-17T19:54:30.141Z,1613591670.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.160004 m, bearing: 221.534085 deg, deltaT: 4.388618 s, approachRate: 0.929678 m/s, LOS rate: -2.270008 deg/s, posRepo size: 4 2021-02-17T19:54:32.477Z,1613591672.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:33.257Z,1613591673.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:54:33.663Z,1613591673.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:54:34.489Z,1613591674.489 [Micromodem](INFO): Nmea in: $SNTTA,0.054128,,,,195433.36*46 2021-02-17T19:54:34.528Z,1613591674.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.360008 m, bearing: 221.313784 deg, deltaT: 4.492986 s, approachRate: 0.934791 m/s, LOS rate: -0.049032 deg/s, posRepo size: 4 2021-02-17T19:54:36.920Z,1613591676.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:37.701Z,1613591677.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:54:38.099Z,1613591678.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:54:38.943Z,1613591678.943 [Micromodem](INFO): Nmea in: $SNTTA,0.057023,,,,195437.81*47 2021-02-17T19:54:38.966Z,1613591678.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.680008 m, bearing: 223.242602 deg, deltaT: 4.411445 s, approachRate: 0.979271 m/s, LOS rate: 0.437230 deg/s, posRepo size: 4 2021-02-17T19:54:40.148Z,1613591680.148 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T19:54:41.387Z,1613591681.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:42.147Z,1613591682.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:54:42.544Z,1613591682.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:54:43.384Z,1613591683.384 [Micromodem](INFO): Nmea in: $SNTTA,0.059768,,,,195442.25*4D 2021-02-17T19:54:43.438Z,1613591683.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.820007 m, bearing: 227.500952 deg, deltaT: 4.554457 s, approachRate: 0.909000 m/s, LOS rate: 0.934985 deg/s, posRepo size: 4 2021-02-17T19:54:45.788Z,1613591685.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:46.581Z,1613591686.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:54:46.988Z,1613591686.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:54:47.817Z,1613591687.817 [Micromodem](INFO): Nmea in: $SNTTA,0.062563,,0.078426,,195446.69*51 2021-02-17T19:54:47.838Z,1613591687.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.080002 m, bearing: 229.829527 deg, deltaT: 4.389586 s, approachRate: 0.970478 m/s, LOS rate: 0.530477 deg/s, posRepo size: 4 2021-02-17T19:54:50.250Z,1613591690.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:51.067Z,1613591691.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:54:51.439Z,1613591691.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:54:52.266Z,1613591692.266 [Micromodem](INFO): Nmea in: $SNTTA,0.065489,,,,195451.17*4D 2021-02-17T19:54:52.329Z,1613591692.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.460007 m, bearing: 224.671177 deg, deltaT: 4.392588 s, approachRate: 0.997135 m/s, LOS rate: -1.174331 deg/s, posRepo size: 4 2021-02-17T19:54:54.710Z,1613591694.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:55.469Z,1613591695.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:54:55.877Z,1613591695.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:54:56.704Z,1613591696.704 [Micromodem](INFO): Nmea in: $SNTTA,0.068240,,,,195455.57*43 2021-02-17T19:54:56.753Z,1613591696.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.600006 m, bearing: 231.909238 deg, deltaT: 4.463389 s, approachRate: 0.927546 m/s, LOS rate: 1.621651 deg/s, posRepo size: 4 2021-02-17T19:54:59.169Z,1613591699.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:54:59.926Z,1613591699.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:00.318Z,1613591700.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:01.156Z,1613591701.156 [Micromodem](INFO): Nmea in: $SNTTA,0.071163,,,,195500.03*49 2021-02-17T19:55:01.223Z,1613591701.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.920006 m, bearing: 229.436737 deg, deltaT: 4.404554 s, approachRate: 0.980803 m/s, LOS rate: -0.561351 deg/s, posRepo size: 4 2021-02-17T19:55:03.564Z,1613591703.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:55:04.376Z,1613591704.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:04.762Z,1613591704.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:05.604Z,1613591705.604 [Micromodem](INFO): Nmea in: $SNTTA,0.073943,,,,195504.48*4A 2021-02-17T19:55:05.640Z,1613591705.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.119995 m, bearing: 231.868666 deg, deltaT: 4.494035 s, approachRate: 0.934570 m/s, LOS rate: 0.541146 deg/s, posRepo size: 4 2021-02-17T19:55:08.069Z,1613591708.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:55:08.804Z,1613591708.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:09.206Z,1613591709.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:10.080Z,1613591710.080 [Micromodem](INFO): Nmea in: $SNTTA,0.076707,,,,195508.91*49 2021-02-17T19:55:10.137Z,1613591710.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.139999 m, bearing: 233.293444 deg, deltaT: 4.402204 s, approachRate: 0.913180 m/s, LOS rate: 0.323651 deg/s, posRepo size: 4 2021-02-17T19:55:12.476Z,1613591712.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:55:13.253Z,1613591713.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:13.669Z,1613591713.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:14.476Z,1613591714.476 [Micromodem](INFO): Nmea in: $SNTTA,0.079463,,,,195513.36*40 2021-02-17T19:55:14.512Z,1613591714.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.400002 m, bearing: 233.382674 deg, deltaT: 4.483941 s, approachRate: 0.950058 m/s, LOS rate: 0.019900 deg/s, posRepo size: 4 2021-02-17T19:55:16.926Z,1613591716.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:55:17.697Z,1613591717.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:18.108Z,1613591718.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:18.920Z,1613591718.920 [Micromodem](INFO): Nmea in: $SNTTA,0.082347,,,,195517.80*4C 2021-02-17T19:55:18.957Z,1613591718.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.660004 m, bearing: 234.152463 deg, deltaT: 4.411652 s, approachRate: 0.965625 m/s, LOS rate: 0.174490 deg/s, posRepo size: 4 2021-02-17T19:55:21.385Z,1613591721.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:55:22.141Z,1613591722.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:22.541Z,1613591722.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:23.392Z,1613591723.392 [Micromodem](INFO): Nmea in: $SNTTA,0.085178,,,0.185396,195522.24*53 2021-02-17T19:55:23.439Z,1613591723.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.860001 m, bearing: 234.647024 deg, deltaT: 4.427564 s, approachRate: 0.948602 m/s, LOS rate: 0.111700 deg/s, posRepo size: 4 2021-02-17T19:55:25.461Z,1613591725.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:55:26.182Z,1613591726.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:26.581Z,1613591726.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:27.431Z,1613591727.431 [Micromodem](INFO): Nmea in: $SNTTA,0.087899,,,,195526.29*40 2021-02-17T19:55:27.469Z,1613591727.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.000000 m, bearing: 234.592136 deg, deltaT: 4.107268 s, approachRate: 1.007969 m/s, LOS rate: -0.013363 deg/s, posRepo size: 4 2021-02-17T19:55:29.846Z,1613591729.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:55:30.625Z,1613591730.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:31.078Z,1613591731.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:31.865Z,1613591731.865 [Micromodem](INFO): Nmea in: $SNTTA,0.090666,,,,195530.73*40 2021-02-17T19:55:31.889Z,1613591731.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.199997 m, bearing: 238.463515 deg, deltaT: 4.401382 s, approachRate: 0.954245 m/s, LOS rate: 0.879582 deg/s, posRepo size: 4 2021-02-17T19:55:34.290Z,1613591734.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:55:35.078Z,1613591735.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:35.469Z,1613591735.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:36.312Z,1613591736.312 [Micromodem](INFO): Nmea in: $SNTTA,0.093615,,,,195535.18*4F 2021-02-17T19:55:36.370Z,1613591736.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.580002 m, bearing: 242.102366 deg, deltaT: 4.432368 s, approachRate: 0.988186 m/s, LOS rate: 0.820972 deg/s, posRepo size: 4 2021-02-17T19:55:38.718Z,1613591738.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:55:39.507Z,1613591739.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:39.910Z,1613591739.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:40.736Z,1613591740.736 [Micromodem](INFO): Nmea in: $SNTTA,0.096406,,,,195539.61*48 2021-02-17T19:55:40.758Z,1613591740.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.720001 m, bearing: 240.680977 deg, deltaT: 4.487814 s, approachRate: 0.922498 m/s, LOS rate: -0.316722 deg/s, posRepo size: 4 2021-02-17T19:55:43.190Z,1613591743.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:55:43.949Z,1613591743.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:44.354Z,1613591744.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:45.181Z,1613591745.181 [Micromodem](INFO): Nmea in: $SNTTA,0.099289,,,,195544.05*4E 2021-02-17T19:55:45.214Z,1613591745.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.160004 m, bearing: 246.022704 deg, deltaT: 4.401395 s, approachRate: 1.008772 m/s, LOS rate: 1.213644 deg/s, posRepo size: 4 2021-02-17T19:55:47.600Z,1613591747.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:55:48.394Z,1613591748.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:48.801Z,1613591748.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:49.216Z,1613591749.216 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:55:49.624Z,1613591749.624 [Micromodem](INFO): Nmea in: $SNTTA,0.102028,,,,195548.50*48 2021-02-17T19:55:49.646Z,1613591749.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.240005 m, bearing: 237.715390 deg, deltaT: 4.443425 s, approachRate: 0.918211 m/s, LOS rate: -1.869574 deg/s, posRepo size: 4 2021-02-17T19:55:49.646Z,1613591749.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.24 m. Resuming terminal guidance. 2021-02-17T19:55:49.646Z,1613591749.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T19:55:52.135Z,1613591752.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:55:52.838Z,1613591752.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:53.254Z,1613591753.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:54.096Z,1613591754.096 [Micromodem](INFO): Nmea in: $SNTTA,0.105005,,,,195552.94*43 2021-02-17T19:55:54.146Z,1613591754.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.679993 m, bearing: 239.153200 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T19:55:54.146Z,1613591754.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 239.153200deg and heading rate command to 0 deg/s. 2021-02-17T19:55:56.496Z,1613591756.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:55:57.283Z,1613591757.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:55:57.688Z,1613591757.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:55:58.512Z,1613591758.512 [Micromodem](INFO): Nmea in: $SNTTA,0.107759,,,,195557.39*4D 2021-02-17T19:55:58.539Z,1613591758.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.759995 m, bearing: 243.532280 deg, deltaT: 4.431349 s, approachRate: 0.920713 m/s, LOS rate: 0.988205 deg/s, posRepo size: 2 2021-02-17T19:55:58.541Z,1613591758.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.759995 m, bearing: 243.532280 deg, approachRate: 0.920713 m/s, LOS rate: 0.988205 deg/s, cmd update: 3.952819 deg/s, cmd heading: 239.153200 deg, new cmd heading: 239.153200 deg. 2021-02-17T19:56:00.934Z,1613591760.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:56:01.733Z,1613591761.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:56:02.139Z,1613591762.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:56:02.968Z,1613591762.968 [Micromodem](INFO): Nmea in: $SNTTA,0.110712,,,,195601.85*43 2021-02-17T19:56:03.030Z,1613591763.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.759995 m, bearing: 245.226358 deg, deltaT: 4.463412 s, approachRate: 0.000000 m/s, LOS rate: 0.379548 deg/s, posRepo size: 3 2021-02-17T19:56:03.048Z,1613591763.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.759995 m, bearing: 245.226358 deg, approachRate: 0.000000 m/s, LOS rate: 0.379548 deg/s, cmd update: 1.518191 deg/s, cmd heading: 256.763543 deg, new cmd heading: 258.410600 deg. 2021-02-17T19:56:05.403Z,1613591765.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:56:06.173Z,1613591766.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:56:06.586Z,1613591766.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:56:07.400Z,1613591767.400 [Micromodem](INFO): Nmea in: $SNTTA,0.113801,,,,195606.28*4D 2021-02-17T19:56:07.449Z,1613591767.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.759995 m, bearing: 299.288098 deg, deltaT: 4.474750 s, approachRate: 0.000000 m/s, LOS rate: 12.081511 deg/s, posRepo size: 4 2021-02-17T19:56:07.450Z,1613591767.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.081511 deg/s. Setting heading cmd to target bearing of 299.288098deg and heading rate command to 0 deg/s. 2021-02-17T19:56:09.832Z,1613591769.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:56:10.618Z,1613591770.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:56:11.074Z,1613591771.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:56:11.844Z,1613591771.844 [Micromodem](INFO): Nmea in: $SNTTA,0.116247,,,,195610.72*48 2021-02-17T19:56:11.882Z,1613591771.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.759995 m, bearing: 248.385840 deg, deltaT: 4.390989 s, approachRate: 0.000000 m/s, LOS rate: -11.592436 deg/s, posRepo size: 4 2021-02-17T19:56:11.883Z,1613591771.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.592436 deg/s. Setting heading cmd to target bearing of 248.385840deg and heading rate command to 0 deg/s. 2021-02-17T19:56:14.302Z,1613591774.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:56:15.074Z,1613591775.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:56:15.465Z,1613591775.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:56:16.292Z,1613591776.292 [Micromodem](INFO): Nmea in: $SNTTA,0.118659,,,,195615.18*44 2021-02-17T19:56:16.702Z,1613591776.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.200012 m, bearing: 291.482667 deg, deltaT: 4.892651 s, approachRate: 3.360145 m/s, LOS rate: 8.808482 deg/s, posRepo size: 4 2021-02-17T19:56:16.704Z,1613591776.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.200012 m, bearing: 291.482667 deg, approachRate: 3.360145 m/s, LOS rate: 8.808482 deg/s, cmd update: 12.000000 deg/s, cmd heading: 248.385840 deg, new cmd heading: 248.385840 deg. 2021-02-17T19:56:19.132Z,1613591779.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:56:19.951Z,1613591779.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:56:20.310Z,1613591780.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:56:21.141Z,1613591781.141 [Micromodem](INFO): Nmea in: $SNTTA,0.121267,,,0.123792,195620.05*5F 2021-02-17T19:56:21.571Z,1613591781.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.920013 m, bearing: 320.382399 deg, deltaT: 4.869738 s, approachRate: 0.763902 m/s, LOS rate: 5.934556 deg/s, posRepo size: 4 2021-02-17T19:56:21.574Z,1613591781.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.920013 m, bearing: 320.382399 deg, approachRate: 0.763902 m/s, LOS rate: 5.934556 deg/s, cmd update: 12.000000 deg/s, cmd heading: 306.767474 deg, new cmd heading: 311.026514 deg. 2021-02-17T19:56:23.976Z,1613591783.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:56:24.762Z,1613591784.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:56:25.168Z,1613591785.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:56:25.978Z,1613591785.978 [Micromodem](INFO): Nmea in: $SNTTA,0.123718,,,,195624.87*4C 2021-02-17T19:56:26.440Z,1613591786.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.820007 m, bearing: 263.684261 deg, deltaT: 4.836648 s, approachRate: 0.806342 m/s, LOS rate: -11.722610 deg/s, posRepo size: 4 2021-02-17T19:56:26.441Z,1613591786.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.722610 deg/s. Setting heading cmd to target bearing of 263.684261deg and heading rate command to 0 deg/s. 2021-02-17T19:56:28.808Z,1613591788.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:56:29.609Z,1613591789.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:56:30.065Z,1613591790.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:56:30.822Z,1613591790.822 [Micromodem](INFO): Nmea in: $SNTTA,0.126377,,,,195629.71*40 2021-02-17T19:56:31.286Z,1613591791.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.720001 m, bearing: 309.947182 deg, deltaT: 4.775878 s, approachRate: 0.816602 m/s, LOS rate: 9.686789 deg/s, posRepo size: 4 2021-02-17T19:56:31.288Z,1613591791.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.720001 m, bearing: 309.947182 deg, approachRate: 0.816602 m/s, LOS rate: 9.686789 deg/s, cmd update: 12.000000 deg/s, cmd heading: 263.684261 deg, new cmd heading: 263.684261 deg. 2021-02-17T19:56:33.697Z,1613591793.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:56:34.477Z,1613591794.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:56:34.854Z,1613591794.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:56:35.685Z,1613591795.685 [Micromodem](INFO): Nmea in: $SNTTA,0.128178,,,,195634.59*45 2021-02-17T19:56:36.139Z,1613591796.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.299988 m, bearing: 349.915946 deg, deltaT: 4.900559 s, approachRate: 0.526468 m/s, LOS rate: 8.155960 deg/s, posRepo size: 4 2021-02-17T19:56:36.141Z,1613591796.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.299988 m, bearing: 349.915946 deg, approachRate: 0.526468 m/s, LOS rate: 8.155960 deg/s, cmd update: 12.000000 deg/s, cmd heading: 322.445071 deg, new cmd heading: 327.311695 deg. 2021-02-17T19:56:38.538Z,1613591798.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:56:39.313Z,1613591799.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:56:39.711Z,1613591799.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:56:40.527Z,1613591800.527 [Micromodem](INFO): Nmea in: $SNTTA,0.130035,,,,195639.42*43 2021-02-17T19:56:40.946Z,1613591800.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.119995 m, bearing: 354.046599 deg, deltaT: 4.803844 s, approachRate: 0.587031 m/s, LOS rate: 0.859864 deg/s, posRepo size: 4 2021-02-17T19:56:40.948Z,1613591800.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.119995 m, bearing: 354.046599 deg, approachRate: 0.587031 m/s, LOS rate: 0.859864 deg/s, cmd update: 3.439456 deg/s, cmd heading: 20.138037 deg, new cmd heading: 24.992373 deg. 2021-02-17T19:56:43.385Z,1613591803.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:56:44.154Z,1613591804.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:56:44.551Z,1613591804.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:56:45.367Z,1613591805.367 [Micromodem](INFO): Nmea in: $SNTTA,0.131488,,,,195644.26*48 2021-02-17T19:56:45.790Z,1613591805.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.219986 m, bearing: 23.843492 deg, deltaT: 4.884884 s, approachRate: 0.429896 m/s, LOS rate: 6.099814 deg/s, posRepo size: 4 2021-02-17T19:56:45.792Z,1613591805.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.219986 m, bearing: 23.843492 deg, approachRate: 0.429896 m/s, LOS rate: 6.099814 deg/s, cmd update: 12.000000 deg/s, cmd heading: 36.939720 deg, new cmd heading: 38.190809 deg. 2021-02-17T19:56:48.240Z,1613591808.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:56:49.000Z,1613591809.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:56:49.401Z,1613591809.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:56:50.223Z,1613591810.223 [Micromodem](INFO): Nmea in: $SNTTA,0.132552,,,,195649.11*44 2021-02-17T19:56:50.646Z,1613591810.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.779984 m, bearing: 320.050152 deg, deltaT: 4.862395 s, approachRate: 0.320829 m/s, LOS rate: -13.119734 deg/s, posRepo size: 4 2021-02-17T19:56:50.647Z,1613591810.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.119734 deg/s. Setting heading cmd to target bearing of 320.050152deg and heading rate command to 0 deg/s. 2021-02-17T19:56:53.121Z,1613591813.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:56:53.843Z,1613591813.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:56:54.247Z,1613591814.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:56:55.074Z,1613591815.074 [Micromodem](INFO): Nmea in: $SNTTA,0.132610,,,,195653.95*46 2021-02-17T19:56:55.524Z,1613591815.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.779984 m, bearing: 66.261796 deg, deltaT: 4.838877 s, approachRate: 0.000000 m/s, LOS rate: 21.949648 deg/s, posRepo size: 4 2021-02-17T19:56:55.525Z,1613591815.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.949648 deg/s. Setting heading cmd to target bearing of 66.261796deg and heading rate command to 0 deg/s. 2021-02-17T19:56:57.914Z,1613591817.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:56:58.714Z,1613591818.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:56:59.102Z,1613591819.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:56:59.923Z,1613591819.923 [Micromodem](INFO): Nmea in: $SNTTA,0.132352,,,,195658.82*48 2021-02-17T19:57:00.368Z,1613591820.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.360001 m, bearing: 83.439715 deg, deltaT: 4.838452 s, approachRate: -0.086801 m/s, LOS rate: 3.550292 deg/s, posRepo size: 4 2021-02-17T19:57:00.370Z,1613591820.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.360001 m, bearing: 83.439715 deg, approachRate: -0.086801 m/s, LOS rate: 3.550292 deg/s, cmd update: 12.000000 deg/s, cmd heading: 66.261796 deg, new cmd heading: 66.261796 deg. 2021-02-17T19:57:02.744Z,1613591822.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:57:03.602Z,1613591823.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:57:03.965Z,1613591823.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:57:05.169Z,1613591825.169 [Micromodem](INFO): Nmea in: $SNTTA,0.131443,,,,195703.70*4E 2021-02-17T19:57:05.203Z,1613591825.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.919983 m, bearing: 70.557896 deg, deltaT: 4.840733 s, approachRate: -0.297479 m/s, LOS rate: -2.661130 deg/s, posRepo size: 4 2021-02-17T19:57:05.205Z,1613591825.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.919983 m, bearing: 70.557896 deg, approachRate: -0.297479 m/s, LOS rate: -2.661130 deg/s, cmd update: -10.644519 deg/s, cmd heading: 124.184405 deg, new cmd heading: 129.152838 deg. 2021-02-17T19:57:07.628Z,1613591827.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:57:08.405Z,1613591828.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:57:08.795Z,1613591828.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:57:09.644Z,1613591829.644 [Micromodem](INFO): Nmea in: $SNTTA,0.130056,,,,195708.51*47 2021-02-17T19:57:10.084Z,1613591830.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.760010 m, bearing: 70.475272 deg, deltaT: 4.866609 s, approachRate: -0.443835 m/s, LOS rate: -0.016978 deg/s, posRepo size: 4 2021-02-17T19:57:10.086Z,1613591830.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.760010 m, bearing: 70.475272 deg, approachRate: -0.443835 m/s, LOS rate: -0.016978 deg/s, cmd update: -0.067912 deg/s, cmd heading: 72.191974 deg, new cmd heading: 67.820706 deg. 2021-02-17T19:57:12.491Z,1613591832.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:57:13.237Z,1613591833.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:57:13.653Z,1613591833.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:57:14.473Z,1613591834.473 [Micromodem](INFO): Nmea in: $SNTTA,0.128670,,0.153883,,195713.34*5F 2021-02-17T19:57:14.487Z,1613591834.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.839981 m, bearing: 71.321430 deg, deltaT: 4.459597 s, approachRate: -0.430539 m/s, LOS rate: 0.189739 deg/s, posRepo size: 4 2021-02-17T19:57:14.489Z,1613591834.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.839981 m, bearing: 71.321430 deg, approachRate: -0.430539 m/s, LOS rate: 0.189739 deg/s, cmd update: 0.758955 deg/s, cmd heading: 71.889115 deg, new cmd heading: 71.865056 deg. 2021-02-17T19:57:16.092Z,1613591836.092 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:57:16.886Z,1613591836.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:57:17.676Z,1613591837.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:57:18.112Z,1613591838.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:57:18.915Z,1613591838.915 [Micromodem](INFO): Nmea in: $SNTTA,0.127084,,,,195717.78*4B 2021-02-17T19:57:19.350Z,1613591839.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.439987 m, bearing: 71.196451 deg, deltaT: 4.824125 s, approachRate: -0.497498 m/s, LOS rate: -0.025907 deg/s, posRepo size: 4 2021-02-17T19:57:19.352Z,1613591839.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.439987 m, bearing: 71.196451 deg, approachRate: -0.497498 m/s, LOS rate: -0.025907 deg/s, cmd update: -0.103628 deg/s, cmd heading: 75.547408 deg, new cmd heading: 75.848678 deg. 2021-02-17T19:57:21.756Z,1613591841.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:57:22.526Z,1613591842.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:57:22.930Z,1613591842.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:57:23.780Z,1613591843.780 [Micromodem](INFO): Nmea in: $SNTTA,0.125542,,,,195722.63*4A 2021-02-17T19:57:23.794Z,1613591843.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.439987 m, bearing: 67.701532 deg, deltaT: 4.466226 s, approachRate: 0.000000 m/s, LOS rate: -0.782522 deg/s, posRepo size: 4 2021-02-17T19:57:23.796Z,1613591843.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.439987 m, bearing: 67.701532 deg, approachRate: 0.000000 m/s, LOS rate: -0.782522 deg/s, cmd update: -3.130087 deg/s, cmd heading: 75.084590 deg, new cmd heading: 75.045718 deg. 2021-02-17T19:57:26.225Z,1613591846.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:57:26.970Z,1613591846.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:57:27.385Z,1613591847.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:57:28.210Z,1613591848.210 [Micromodem](INFO): Nmea in: $SNTTA,0.123902,,,,195727.07*43 2021-02-17T19:57:28.618Z,1613591848.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.640015 m, bearing: 70.941500 deg, deltaT: 4.819840 s, approachRate: -0.995878 m/s, LOS rate: 0.672215 deg/s, posRepo size: 4 2021-02-17T19:57:28.640Z,1613591848.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.640015 m, bearing: 70.941500 deg, approachRate: -0.995878 m/s, LOS rate: 0.672215 deg/s, cmd update: 2.688860 deg/s, cmd heading: 59.985482 deg, new cmd heading: 58.810669 deg. 2021-02-17T19:57:31.094Z,1613591851.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:57:31.423Z,1613591851.423 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:57:31.820Z,1613591851.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:57:32.229Z,1613591852.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:57:33.080Z,1613591853.080 [Micromodem](INFO): Nmea in: $SNTTA,0.122152,,,,195731.92*44 2021-02-17T19:57:33.153Z,1613591853.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.640015 m, bearing: 71.799686 deg, deltaT: 4.430892 s, approachRate: 0.000000 m/s, LOS rate: 0.193682 deg/s, posRepo size: 4 2021-02-17T19:57:33.159Z,1613591853.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.640015 m, bearing: 71.799686 deg, approachRate: 0.000000 m/s, LOS rate: 0.193682 deg/s, cmd update: 0.774730 deg/s, cmd heading: 71.896918 deg, new cmd heading: 73.187536 deg. 2021-02-17T19:57:35.488Z,1613591855.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:57:36.263Z,1613591856.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:57:36.666Z,1613591856.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:57:37.492Z,1613591857.492 [Micromodem](INFO): Nmea in: $SNTTA,0.120690,,,,195736.37*47 2021-02-17T19:57:37.529Z,1613591857.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.640015 m, bearing: 71.831385 deg, deltaT: 4.484709 s, approachRate: 0.000000 m/s, LOS rate: 0.007068 deg/s, posRepo size: 4 2021-02-17T19:57:37.531Z,1613591857.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.640015 m, bearing: 71.831385 deg, approachRate: 0.000000 m/s, LOS rate: 0.007068 deg/s, cmd update: 0.028273 deg/s, cmd heading: 75.368998 deg, new cmd heading: 75.658955 deg. 2021-02-17T19:57:39.927Z,1613591859.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:57:40.706Z,1613591860.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:57:41.125Z,1613591861.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:57:41.932Z,1613591861.932 [Micromodem](INFO): Nmea in: $SNTTA,0.119046,,,,195740.81*4C 2021-02-17T19:57:41.973Z,1613591861.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.640015 m, bearing: 71.746138 deg, deltaT: 4.396614 s, approachRate: 0.000000 m/s, LOS rate: -0.019389 deg/s, posRepo size: 4 2021-02-17T19:57:41.975Z,1613591861.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.640015 m, bearing: 71.746138 deg, approachRate: 0.000000 m/s, LOS rate: -0.019389 deg/s, cmd update: -0.077557 deg/s, cmd heading: 75.493373 deg, new cmd heading: 75.505227 deg. 2021-02-17T19:57:44.394Z,1613591864.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:57:45.149Z,1613591865.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:57:45.557Z,1613591865.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:57:46.389Z,1613591866.389 [Micromodem](INFO): Nmea in: $SNTTA,0.117723,,,,195745.25*4D 2021-02-17T19:57:46.444Z,1613591866.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.400009 m, bearing: 71.570328 deg, deltaT: 4.492295 s, approachRate: -2.056856 m/s, LOS rate: -0.039136 deg/s, posRepo size: 4 2021-02-17T19:57:46.446Z,1613591866.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.400009 m, bearing: 71.570328 deg, approachRate: -2.056856 m/s, LOS rate: -0.039136 deg/s, cmd update: -0.156543 deg/s, cmd heading: 75.147201 deg, new cmd heading: 75.114127 deg. 2021-02-17T19:57:48.805Z,1613591868.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:57:49.609Z,1613591869.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:57:50.011Z,1613591870.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:57:50.830Z,1613591870.830 [Micromodem](INFO): Nmea in: $SNTTA,0.115835,,,0.118346,195749.71*5D 2021-02-17T19:57:51.257Z,1613591871.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.580002 m, bearing: 72.506563 deg, deltaT: 4.797270 s, approachRate: -0.587836 m/s, LOS rate: 0.195160 deg/s, posRepo size: 4 2021-02-17T19:57:51.259Z,1613591871.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.580002 m, bearing: 72.506563 deg, approachRate: -0.587836 m/s, LOS rate: 0.195160 deg/s, cmd update: 0.780639 deg/s, cmd heading: 74.391458 deg, new cmd heading: 74.326921 deg. 2021-02-17T19:57:53.660Z,1613591873.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:57:54.441Z,1613591874.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:57:54.862Z,1613591874.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:57:55.672Z,1613591875.672 [Micromodem](INFO): Nmea in: $SNTTA,0.114363,,,,195754.54*48 2021-02-17T19:57:55.709Z,1613591875.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.300003 m, bearing: 71.607355 deg, deltaT: 4.465197 s, approachRate: -0.510615 m/s, LOS rate: -0.201381 deg/s, posRepo size: 4 2021-02-17T19:57:55.711Z,1613591875.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.300003 m, bearing: 71.607355 deg, approachRate: -0.510615 m/s, LOS rate: -0.201381 deg/s, cmd update: -0.805526 deg/s, cmd heading: 77.877130 deg, new cmd heading: 78.188767 deg. 2021-02-17T19:57:58.137Z,1613591878.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:57:58.905Z,1613591878.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:57:59.293Z,1613591879.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:00.125Z,1613591880.125 [Micromodem](INFO): Nmea in: $SNTTA,0.112698,,,,195759.01*42 2021-02-17T19:58:00.187Z,1613591880.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.300003 m, bearing: 74.165466 deg, deltaT: 4.403406 s, approachRate: 0.000000 m/s, LOS rate: 0.580939 deg/s, posRepo size: 4 2021-02-17T19:58:00.189Z,1613591880.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.300003 m, bearing: 74.165466 deg, approachRate: 0.000000 m/s, LOS rate: 0.580939 deg/s, cmd update: 2.323757 deg/s, cmd heading: 74.330805 deg, new cmd heading: 73.948611 deg. 2021-02-17T19:58:02.538Z,1613591882.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:58:03.336Z,1613591883.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:58:03.739Z,1613591883.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:04.568Z,1613591884.568 [Micromodem](INFO): Nmea in: $SNTTA,0.111110,,,,195803.44*47 2021-02-17T19:58:04.590Z,1613591884.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.300003 m, bearing: 71.741322 deg, deltaT: 4.489081 s, approachRate: 0.000000 m/s, LOS rate: -0.540009 deg/s, posRepo size: 4 2021-02-17T19:58:04.612Z,1613591884.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.300003 m, bearing: 71.741322 deg, approachRate: 0.000000 m/s, LOS rate: -0.540009 deg/s, cmd update: -2.160035 deg/s, cmd heading: 84.755175 deg, new cmd heading: 85.665908 deg. 2021-02-17T19:58:06.993Z,1613591886.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:58:07.775Z,1613591887.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:58:08.198Z,1613591888.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:09.030Z,1613591889.030 [Micromodem](INFO): Nmea in: $SNTTA,0.109583,,,,195807.88*44 2021-02-17T19:58:09.100Z,1613591889.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.220001 m, bearing: 69.850022 deg, deltaT: 4.409183 s, approachRate: -1.605740 m/s, LOS rate: -0.428946 deg/s, posRepo size: 4 2021-02-17T19:58:09.101Z,1613591889.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.220001 m, bearing: 69.850022 deg, approachRate: -1.605740 m/s, LOS rate: -0.428946 deg/s, cmd update: -1.715783 deg/s, cmd heading: 75.226654 deg, new cmd heading: 74.185964 deg. 2021-02-17T19:58:11.426Z,1613591891.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:58:12.235Z,1613591892.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:58:12.628Z,1613591892.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:13.452Z,1613591893.452 [Micromodem](INFO): Nmea in: $SNTTA,0.108007,,,,195812.34*4F 2021-02-17T19:58:13.468Z,1613591893.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.759995 m, bearing: 71.453402 deg, deltaT: 4.516058 s, approachRate: -0.544724 m/s, LOS rate: 0.355040 deg/s, posRepo size: 4 2021-02-17T19:58:13.469Z,1613591893.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.759995 m, bearing: 71.453402 deg, approachRate: -0.544724 m/s, LOS rate: 0.355040 deg/s, cmd update: 1.420159 deg/s, cmd heading: 67.476654 deg, new cmd heading: 66.892185 deg. 2021-02-17T19:58:15.883Z,1613591895.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:58:16.665Z,1613591896.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:58:17.082Z,1613591897.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:17.892Z,1613591897.892 [Micromodem](INFO): Nmea in: $SNTTA,0.106384,,,,195816.77*4A 2021-02-17T19:58:17.937Z,1613591897.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.420013 m, bearing: 69.624141 deg, deltaT: 4.394588 s, approachRate: -0.532469 m/s, LOS rate: -0.416253 deg/s, posRepo size: 4 2021-02-17T19:58:17.939Z,1613591897.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.420013 m, bearing: 69.624141 deg, approachRate: -0.532469 m/s, LOS rate: -0.416253 deg/s, cmd update: -1.665013 deg/s, cmd heading: 73.703380 deg, new cmd heading: 74.308484 deg. 2021-02-17T19:58:20.384Z,1613591900.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:58:21.117Z,1613591901.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:58:21.526Z,1613591901.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:22.340Z,1613591902.340 [Micromodem](INFO): Nmea in: $SNTTA,0.104734,,,,195821.22*43 2021-02-17T19:58:22.412Z,1613591902.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.839996 m, bearing: 70.057790 deg, deltaT: 4.440502 s, approachRate: -0.581019 m/s, LOS rate: 0.097658 deg/s, posRepo size: 4 2021-02-17T19:58:22.419Z,1613591902.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.839996 m, bearing: 70.057790 deg, approachRate: -0.581019 m/s, LOS rate: 0.097658 deg/s, cmd update: 0.390630 deg/s, cmd heading: 66.298029 deg, new cmd heading: 65.570818 deg. 2021-02-17T19:58:24.770Z,1613591904.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:58:25.553Z,1613591905.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:58:25.965Z,1613591905.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:26.784Z,1613591906.784 [Micromodem](INFO): Nmea in: $SNTTA,0.103185,,,,195825.66*4C 2021-02-17T19:58:26.826Z,1613591906.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.559998 m, bearing: 71.428513 deg, deltaT: 4.454878 s, approachRate: -0.511798 m/s, LOS rate: 0.307690 deg/s, posRepo size: 4 2021-02-17T19:58:26.828Z,1613591906.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.559998 m, bearing: 71.428513 deg, approachRate: -0.511798 m/s, LOS rate: 0.307690 deg/s, cmd update: 1.230762 deg/s, cmd heading: 68.039768 deg, new cmd heading: 68.199112 deg. 2021-02-17T19:58:29.243Z,1613591909.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:58:30.022Z,1613591910.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:58:30.404Z,1613591910.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:31.248Z,1613591911.248 [Micromodem](INFO): Nmea in: $SNTTA,0.101617,,,,195830.13*44 2021-02-17T19:58:31.296Z,1613591911.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.559998 m, bearing: 71.325623 deg, deltaT: 4.405442 s, approachRate: 0.000000 m/s, LOS rate: -0.023355 deg/s, posRepo size: 4 2021-02-17T19:58:31.298Z,1613591911.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.559998 m, bearing: 71.325623 deg, approachRate: 0.000000 m/s, LOS rate: -0.023355 deg/s, cmd update: -0.093421 deg/s, cmd heading: 73.460759 deg, new cmd heading: 74.043956 deg. 2021-02-17T19:58:33.649Z,1613591913.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:58:34.442Z,1613591914.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:58:34.844Z,1613591914.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:35.668Z,1613591915.668 [Micromodem](INFO): Nmea in: $SNTTA,0.100271,,,,195834.54*46 2021-02-17T19:58:35.690Z,1613591915.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.180008 m, bearing: 71.320678 deg, deltaT: 4.496688 s, approachRate: -0.974048 m/s, LOS rate: -0.001100 deg/s, posRepo size: 4 2021-02-17T19:58:35.712Z,1613591915.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.180008 m, bearing: 71.320678 deg, approachRate: -0.974048 m/s, LOS rate: -0.001100 deg/s, cmd update: -0.004399 deg/s, cmd heading: 73.041320 deg, new cmd heading: 73.005990 deg. 2021-02-17T19:58:38.136Z,1613591918.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:58:38.885Z,1613591918.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:58:39.295Z,1613591919.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:39.322Z,1613591919.322 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items 2021-02-17T19:58:40.119Z,1613591920.119 [Micromodem](INFO): Nmea in: $SNTTA,0.098488,,,,195838.99*4B 2021-02-17T19:58:40.153Z,1613591920.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.540009 m, bearing: 72.355370 deg, deltaT: 4.402803 s, approachRate: -0.599618 m/s, LOS rate: 0.235007 deg/s, posRepo size: 4 2021-02-17T19:58:40.155Z,1613591920.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.540009 m, bearing: 72.355370 deg, approachRate: -0.599618 m/s, LOS rate: 0.235007 deg/s, cmd update: 0.940030 deg/s, cmd heading: 73.021918 deg, new cmd heading: 73.020024 deg. 2021-02-17T19:58:41.320Z,1613591921.320 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:58:42.565Z,1613591922.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:58:43.332Z,1613591923.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:58:43.733Z,1613591923.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:44.556Z,1613591924.556 [Micromodem](INFO): Nmea in: $SNTTA,0.096834,,,,195843.43*45 2021-02-17T19:58:44.597Z,1613591924.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.080002 m, bearing: 71.729854 deg, deltaT: 4.466978 s, approachRate: -0.550709 m/s, LOS rate: -0.140031 deg/s, posRepo size: 4 2021-02-17T19:58:44.599Z,1613591924.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.080002 m, bearing: 71.729854 deg, approachRate: -0.550709 m/s, LOS rate: -0.140031 deg/s, cmd update: -0.560124 deg/s, cmd heading: 77.221048 deg, new cmd heading: 77.604288 deg. 2021-02-17T19:58:46.995Z,1613591926.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:58:47.770Z,1613591927.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:58:48.177Z,1613591928.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:49.016Z,1613591929.016 [Micromodem](INFO): Nmea in: $SNTTA,0.095425,,,,195847.87*46 2021-02-17T19:58:49.088Z,1613591929.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.979996 m, bearing: 71.059895 deg, deltaT: 4.442301 s, approachRate: -0.472729 m/s, LOS rate: -0.150814 deg/s, posRepo size: 4 2021-02-17T19:58:49.090Z,1613591929.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.979996 m, bearing: 71.059895 deg, approachRate: -0.472729 m/s, LOS rate: -0.150814 deg/s, cmd update: -0.603255 deg/s, cmd heading: 74.735061 deg, new cmd heading: 74.477572 deg. 2021-02-17T19:58:51.462Z,1613591931.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:58:52.217Z,1613591932.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:58:52.633Z,1613591932.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:53.469Z,1613591933.469 [Micromodem](INFO): Nmea in: $SNTTA,0.093618,,,0.096112,195852.32*55 2021-02-17T19:58:53.490Z,1613591933.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.279999 m, bearing: 71.869696 deg, deltaT: 4.507293 s, approachRate: -0.599028 m/s, LOS rate: 0.179665 deg/s, posRepo size: 4 2021-02-17T19:58:53.493Z,1613591933.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.279999 m, bearing: 71.869696 deg, approachRate: -0.599028 m/s, LOS rate: 0.179665 deg/s, cmd update: 0.718658 deg/s, cmd heading: 72.016802 deg, new cmd heading: 71.801900 deg. 2021-02-17T19:58:55.107Z,1613591935.107 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T19:58:55.881Z,1613591935.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:58:56.664Z,1613591936.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:58:57.095Z,1613591937.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:58:57.896Z,1613591937.896 [Micromodem](INFO): Nmea in: $SNTTA,0.092114,,,,195856.77*49 2021-02-17T19:58:57.918Z,1613591937.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.940002 m, bearing: 69.630848 deg, deltaT: 4.372038 s, approachRate: -0.535219 m/s, LOS rate: -0.512083 deg/s, posRepo size: 4 2021-02-17T19:58:57.920Z,1613591937.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.940002 m, bearing: 69.630848 deg, approachRate: -0.535219 m/s, LOS rate: -0.512083 deg/s, cmd update: -2.048333 deg/s, cmd heading: 75.159712 deg, new cmd heading: 75.454925 deg. 2021-02-17T19:58:59.127Z,1613591939.127 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T19:59:00.329Z,1613591940.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:01.117Z,1613591941.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:01.511Z,1613591941.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:59:02.341Z,1613591942.341 [Micromodem](INFO): Nmea in: $SNTTA,0.090591,,0.102440,,195901.22*5C 2021-02-17T19:59:02.374Z,1613591942.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.660004 m, bearing: 71.397866 deg, deltaT: 4.424088 s, approachRate: -0.515360 m/s, LOS rate: 0.399408 deg/s, posRepo size: 4 2021-02-17T19:59:02.376Z,1613591942.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.660004 m, bearing: 71.397866 deg, approachRate: -0.515360 m/s, LOS rate: 0.399408 deg/s, cmd update: 1.597633 deg/s, cmd heading: 66.089496 deg, new cmd heading: 65.191279 deg. 2021-02-17T19:59:04.766Z,1613591944.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:05.549Z,1613591945.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:05.953Z,1613591945.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:59:06.780Z,1613591946.780 [Micromodem](INFO): Nmea in: $SNTTA,0.088947,,0.117753,,195905.65*50 2021-02-17T19:59:06.802Z,1613591946.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.199997 m, bearing: 71.285974 deg, deltaT: 4.479844 s, approachRate: -0.549128 m/s, LOS rate: -0.024977 deg/s, posRepo size: 4 2021-02-17T19:59:06.824Z,1613591946.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.199997 m, bearing: 71.285974 deg, approachRate: -0.549128 m/s, LOS rate: -0.024977 deg/s, cmd update: -0.099907 deg/s, cmd heading: 73.246342 deg, new cmd heading: 73.864363 deg. 2021-02-17T19:59:07.180Z,1613591947.180 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T19:59:09.251Z,1613591949.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:09.990Z,1613591949.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:10.403Z,1613591950.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:59:11.236Z,1613591951.236 [Micromodem](INFO): Nmea in: $SNTTA,0.087149,,0.101706,,195910.09*50 2021-02-17T19:59:11.287Z,1613591951.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.500000 m, bearing: 70.962865 deg, deltaT: 4.470829 s, approachRate: -0.603914 m/s, LOS rate: -0.072270 deg/s, posRepo size: 4 2021-02-17T19:59:11.293Z,1613591951.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.500000 m, bearing: 70.962865 deg, approachRate: -0.603914 m/s, LOS rate: -0.072270 deg/s, cmd update: -0.289082 deg/s, cmd heading: 72.799652 deg, new cmd heading: 72.759627 deg. 2021-02-17T19:59:13.642Z,1613591953.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:14.435Z,1613591954.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:14.843Z,1613591954.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:59:15.672Z,1613591955.672 [Micromodem](INFO): Nmea in: $SNTTA,0.085791,,,,195914.54*42 2021-02-17T19:59:15.714Z,1613591955.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.520004 m, bearing: 70.203191 deg, deltaT: 4.421548 s, approachRate: -0.447806 m/s, LOS rate: -0.171812 deg/s, posRepo size: 4 2021-02-17T19:59:15.720Z,1613591955.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.520004 m, bearing: 70.203191 deg, approachRate: -0.447806 m/s, LOS rate: -0.171812 deg/s, cmd update: -0.687247 deg/s, cmd heading: 71.521459 deg, new cmd heading: 71.403978 deg. 2021-02-17T19:59:18.136Z,1613591958.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:18.879Z,1613591958.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:19.300Z,1613591959.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:59:20.116Z,1613591960.116 [Micromodem](INFO): Nmea in: $SNTTA,0.084127,,,,195918.98*44 2021-02-17T19:59:20.181Z,1613591960.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.060005 m, bearing: 71.176589 deg, deltaT: 4.402526 s, approachRate: -0.558770 m/s, LOS rate: 0.221100 deg/s, posRepo size: 4 2021-02-17T19:59:20.182Z,1613591960.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.060005 m, bearing: 71.176589 deg, approachRate: -0.558770 m/s, LOS rate: 0.221100 deg/s, cmd update: 0.884399 deg/s, cmd heading: 68.496043 deg, new cmd heading: 68.172512 deg. 2021-02-17T19:59:22.542Z,1613591962.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:23.326Z,1613591963.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:23.731Z,1613591963.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:59:24.556Z,1613591964.556 [Micromodem](INFO): Nmea in: $SNTTA,0.082569,,,,195923.43*42 2021-02-17T19:59:24.603Z,1613591964.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.600006 m, bearing: 70.525972 deg, deltaT: 4.498379 s, approachRate: -0.546863 m/s, LOS rate: -0.144634 deg/s, posRepo size: 4 2021-02-17T19:59:24.605Z,1613591964.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.600006 m, bearing: 70.525972 deg, approachRate: -0.546863 m/s, LOS rate: -0.144634 deg/s, cmd update: -0.578534 deg/s, cmd heading: 72.467267 deg, new cmd heading: 72.820104 deg. 2021-02-17T19:59:26.993Z,1613591966.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:27.773Z,1613591967.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:28.197Z,1613591968.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:59:29.009Z,1613591969.009 [Micromodem](INFO): Nmea in: $SNTTA,0.081010,,,,195927.88*49 2021-02-17T19:59:29.093Z,1613591969.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.260002 m, bearing: 71.070625 deg, deltaT: 4.412175 s, approachRate: -0.530352 m/s, LOS rate: 0.123443 deg/s, posRepo size: 4 2021-02-17T19:59:29.099Z,1613591969.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.260002 m, bearing: 71.070625 deg, approachRate: -0.530352 m/s, LOS rate: 0.123443 deg/s, cmd update: 0.493773 deg/s, cmd heading: 69.912196 deg, new cmd heading: 69.636383 deg. 2021-02-17T19:59:31.466Z,1613591971.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:32.213Z,1613591972.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:32.624Z,1613591972.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:59:33.452Z,1613591973.452 [Micromodem](INFO): Nmea in: $SNTTA,0.079529,,,,195932.32*44 2021-02-17T19:59:33.476Z,1613591973.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.160011 m, bearing: 72.200803 deg, deltaT: 4.489263 s, approachRate: -0.467781 m/s, LOS rate: 0.251751 deg/s, posRepo size: 4 2021-02-17T19:59:33.478Z,1613591973.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.160011 m, bearing: 72.200803 deg, approachRate: -0.467781 m/s, LOS rate: 0.251751 deg/s, cmd update: 1.007005 deg/s, cmd heading: 72.130787 deg, new cmd heading: 72.311570 deg. 2021-02-17T19:59:35.873Z,1613591975.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:36.658Z,1613591976.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:37.076Z,1613591977.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:59:37.896Z,1613591977.896 [Micromodem](INFO): Nmea in: $SNTTA,0.077897,,,,195936.76*46 2021-02-17T19:59:37.918Z,1613591977.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.699997 m, bearing: 72.071384 deg, deltaT: 4.383227 s, approachRate: -0.561234 m/s, LOS rate: -0.029526 deg/s, posRepo size: 4 2021-02-17T19:59:37.920Z,1613591977.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.699997 m, bearing: 72.071384 deg, approachRate: -0.561234 m/s, LOS rate: -0.029526 deg/s, cmd update: -0.118103 deg/s, cmd heading: 76.544661 deg, new cmd heading: 76.972897 deg. 2021-02-17T19:59:40.338Z,1613591980.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:41.100Z,1613591981.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:41.507Z,1613591981.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:59:42.328Z,1613591982.328 [Micromodem](INFO): Nmea in: $SNTTA,0.076288,,,,195941.20*40 2021-02-17T19:59:42.389Z,1613591982.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.300003 m, bearing: 71.392245 deg, deltaT: 4.461177 s, approachRate: -0.537973 m/s, LOS rate: -0.152233 deg/s, posRepo size: 4 2021-02-17T19:59:42.391Z,1613591982.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.300003 m, bearing: 71.392245 deg, approachRate: -0.537973 m/s, LOS rate: -0.152233 deg/s, cmd update: -0.608933 deg/s, cmd heading: 76.017935 deg, new cmd heading: 75.966387 deg. 2021-02-17T19:59:44.768Z,1613591984.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:45.546Z,1613591985.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:45.957Z,1613591985.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:59:46.772Z,1613591986.772 [Micromodem](INFO): Nmea in: $SNTTA,0.074596,,,,195945.65*4F 2021-02-17T19:59:46.810Z,1613591986.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.779999 m, bearing: 71.794577 deg, deltaT: 4.479870 s, approachRate: -0.562517 m/s, LOS rate: 0.089809 deg/s, posRepo size: 4 2021-02-17T19:59:46.816Z,1613591986.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.779999 m, bearing: 71.794577 deg, approachRate: -0.562517 m/s, LOS rate: 0.089809 deg/s, cmd update: 0.359236 deg/s, cmd heading: 73.289040 deg, new cmd heading: 73.059927 deg. 2021-02-17T19:59:49.218Z,1613591989.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:49.993Z,1613591989.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:50.402Z,1613591990.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:59:51.221Z,1613591991.221 [Micromodem](INFO): Nmea in: $SNTTA,0.073212,,,,195950.10*45 2021-02-17T19:59:51.254Z,1613591991.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.680000 m, bearing: 71.758903 deg, deltaT: 4.383540 s, approachRate: -0.479065 m/s, LOS rate: -0.008138 deg/s, posRepo size: 4 2021-02-17T19:59:51.256Z,1613591991.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.680000 m, bearing: 71.758903 deg, approachRate: -0.479065 m/s, LOS rate: -0.008138 deg/s, cmd update: -0.032553 deg/s, cmd heading: 74.863696 deg, new cmd heading: 75.020611 deg. 2021-02-17T19:59:53.656Z,1613591993.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:54.437Z,1613591994.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:54.837Z,1613591994.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T19:59:55.701Z,1613591995.701 [Micromodem](INFO): Nmea in: $SNTTA,0.071635,,,,195954.54*42 2021-02-17T19:59:55.750Z,1613591995.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.279999 m, bearing: 70.800634 deg, deltaT: 4.511469 s, approachRate: -0.531978 m/s, LOS rate: -0.212407 deg/s, posRepo size: 4 2021-02-17T19:59:55.752Z,1613591995.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.279999 m, bearing: 70.800634 deg, approachRate: -0.531978 m/s, LOS rate: -0.212407 deg/s, cmd update: -0.849629 deg/s, cmd heading: 74.716959 deg, new cmd heading: 74.703138 deg. 2021-02-17T19:59:58.160Z,1613591998.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T19:59:58.922Z,1613591998.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T19:59:59.337Z,1613591999.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:00.156Z,1613592000.156 [Micromodem](INFO): Nmea in: $SNTTA,0.069947,,0.093710,,195959.03*5C 2021-02-17T20:00:00.204Z,1613592000.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.820000 m, bearing: 71.389554 deg, deltaT: 4.409445 s, approachRate: -0.557893 m/s, LOS rate: 0.133559 deg/s, posRepo size: 4 2021-02-17T20:00:00.205Z,1613592000.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.820000 m, bearing: 71.389554 deg, approachRate: -0.557893 m/s, LOS rate: 0.133559 deg/s, cmd update: 0.534235 deg/s, cmd heading: 70.967175 deg, new cmd heading: 70.572338 deg. 2021-02-17T20:00:02.583Z,1613592002.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:00:03.363Z,1613592003.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:00:03.761Z,1613592003.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:04.596Z,1613592004.596 [Micromodem](INFO): Nmea in: $SNTTA,0.068408,,0.069564,,200003.47*56 2021-02-17T20:00:04.628Z,1613592004.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.479996 m, bearing: 71.259172 deg, deltaT: 4.501905 s, approachRate: -0.519781 m/s, LOS rate: -0.028961 deg/s, posRepo size: 4 2021-02-17T20:00:04.630Z,1613592004.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.479996 m, bearing: 71.259172 deg, approachRate: -0.519781 m/s, LOS rate: -0.028961 deg/s, cmd update: -0.115846 deg/s, cmd heading: 73.368015 deg, new cmd heading: 73.579327 deg. 2021-02-17T20:00:07.074Z,1613592007.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:00:07.801Z,1613592007.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:00:08.209Z,1613592008.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:09.068Z,1613592009.068 [Micromodem](INFO): Nmea in: $SNTTA,0.066868,,,,200007.90*4A 2021-02-17T20:00:09.120Z,1613592009.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.140007 m, bearing: 70.127355 deg, deltaT: 4.400040 s, approachRate: -0.531811 m/s, LOS rate: -0.257229 deg/s, posRepo size: 4 2021-02-17T20:00:09.122Z,1613592009.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.140007 m, bearing: 70.127355 deg, approachRate: -0.531811 m/s, LOS rate: -0.257229 deg/s, cmd update: -1.028915 deg/s, cmd heading: 72.857370 deg, new cmd heading: 72.801795 deg. 2021-02-17T20:00:11.456Z,1613592011.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:00:12.244Z,1613592012.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:00:12.659Z,1613592012.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:13.476Z,1613592013.476 [Micromodem](INFO): Nmea in: $SNTTA,0.065100,,,0.090032,200012.35*53 2021-02-17T20:00:13.510Z,1613592013.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.440002 m, bearing: 69.865547 deg, deltaT: 4.492138 s, approachRate: -0.601051 m/s, LOS rate: -0.058281 deg/s, posRepo size: 4 2021-02-17T20:00:13.512Z,1613592013.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.440002 m, bearing: 69.865547 deg, approachRate: -0.601051 m/s, LOS rate: -0.058281 deg/s, cmd update: -0.233126 deg/s, cmd heading: 68.255877 deg, new cmd heading: 67.846925 deg. 2021-02-17T20:00:15.898Z,1613592015.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:00:16.688Z,1613592016.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:00:17.104Z,1613592017.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:17.916Z,1613592017.916 [Micromodem](INFO): Nmea in: $SNTTA,0.063655,,,,200016.79*48 2021-02-17T20:00:17.964Z,1613592017.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.220009 m, bearing: 70.292373 deg, deltaT: 4.397427 s, approachRate: -0.504839 m/s, LOS rate: 0.097063 deg/s, posRepo size: 4 2021-02-17T20:00:17.966Z,1613592017.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.220009 m, bearing: 70.292373 deg, approachRate: -0.504839 m/s, LOS rate: 0.097063 deg/s, cmd update: 0.388250 deg/s, cmd heading: 67.227017 deg, new cmd heading: 67.125145 deg. 2021-02-17T20:00:20.371Z,1613592020.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:00:21.139Z,1613592021.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:00:21.545Z,1613592021.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:22.364Z,1613592022.364 [Micromodem](INFO): Nmea in: $SNTTA,0.061861,,,,200021.24*4F 2021-02-17T20:00:22.412Z,1613592022.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.580002 m, bearing: 71.112023 deg, deltaT: 4.442116 s, approachRate: -0.594313 m/s, LOS rate: 0.184518 deg/s, posRepo size: 4 2021-02-17T20:00:22.414Z,1613592022.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.580002 m, bearing: 71.112023 deg, approachRate: -0.594313 m/s, LOS rate: 0.184518 deg/s, cmd update: 0.738072 deg/s, cmd heading: 68.953135 deg, new cmd heading: 69.124141 deg. 2021-02-17T20:00:24.783Z,1613592024.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:00:25.589Z,1613592025.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:00:25.981Z,1613592025.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:26.834Z,1613592026.834 [Micromodem](INFO): Nmea in: $SNTTA,0.060148,,,,200025.69*41 2021-02-17T20:00:26.854Z,1613592026.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.180000 m, bearing: 72.272868 deg, deltaT: 4.485774 s, approachRate: -0.535025 m/s, LOS rate: 0.258784 deg/s, posRepo size: 4 2021-02-17T20:00:26.856Z,1613592026.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.180000 m, bearing: 72.272868 deg, approachRate: -0.535025 m/s, LOS rate: 0.258784 deg/s, cmd update: 1.035135 deg/s, cmd heading: 72.256750 deg, new cmd heading: 72.556490 deg. 2021-02-17T20:00:29.259Z,1613592029.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:00:30.148Z,1613592030.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:00:30.441Z,1613592030.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:31.301Z,1613592031.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.180000 m, bearing: 70.831227 deg, deltaT: 4.415706 s, approachRate: 0.000000 m/s, LOS rate: -0.326480 deg/s, posRepo size: 4 2021-02-17T20:00:31.305Z,1613592031.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.180000 m, bearing: 70.831227 deg, approachRate: 0.000000 m/s, LOS rate: -0.326480 deg/s, cmd update: -1.305921 deg/s, cmd heading: 76.814187 deg, new cmd heading: 77.280327 deg. 2021-02-17T20:00:31.652Z,1613592031.652 [Micromodem](INFO): Nmea in: $SNTTA,0.058756,,0.059882,,200030.25*5F 2021-02-17T20:00:33.698Z,1613592033.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:00:34.481Z,1613592034.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:00:34.942Z,1613592034.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:35.704Z,1613592035.704 [Micromodem](INFO): Nmea in: $SNTTA,0.056997,,,,200034.59*4D 2021-02-17T20:00:35.726Z,1613592035.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.320007 m, bearing: 69.610781 deg, deltaT: 4.447197 s, approachRate: -1.092822 m/s, LOS rate: -0.274430 deg/s, posRepo size: 4 2021-02-17T20:00:35.728Z,1613592035.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.320007 m, bearing: 69.610781 deg, approachRate: -1.092822 m/s, LOS rate: -0.274430 deg/s, cmd update: -1.097721 deg/s, cmd heading: 70.976473 deg, new cmd heading: 70.447287 deg. 2021-02-17T20:00:38.155Z,1613592038.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:00:38.913Z,1613592038.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:00:39.326Z,1613592039.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:40.140Z,1613592040.140 [Micromodem](INFO): Nmea in: $SNTTA,0.055357,,,,200039.02*4B 2021-02-17T20:00:40.192Z,1613592040.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.859993 m, bearing: 68.682408 deg, deltaT: 4.429113 s, approachRate: -0.555419 m/s, LOS rate: -0.209607 deg/s, posRepo size: 4 2021-02-17T20:00:40.194Z,1613592040.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.859993 m, bearing: 68.682408 deg, approachRate: -0.555419 m/s, LOS rate: -0.209607 deg/s, cmd update: -0.838428 deg/s, cmd heading: 66.118946 deg, new cmd heading: 65.630217 deg. 2021-02-17T20:00:42.572Z,1613592042.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:00:43.358Z,1613592043.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:00:43.758Z,1613592043.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:44.588Z,1613592044.588 [Micromodem](INFO): Nmea in: $SNTTA,0.053905,,,,200043.46*4D 2021-02-17T20:00:44.621Z,1613592044.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.639999 m, bearing: 68.934784 deg, deltaT: 4.460841 s, approachRate: -0.497663 m/s, LOS rate: 0.056576 deg/s, posRepo size: 4 2021-02-17T20:00:44.623Z,1613592044.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.639999 m, bearing: 68.934784 deg, approachRate: -0.497663 m/s, LOS rate: 0.056576 deg/s, cmd update: 0.226303 deg/s, cmd heading: 62.375509 deg, new cmd heading: 62.031343 deg. 2021-02-17T20:00:47.074Z,1613592047.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:00:47.798Z,1613592047.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:00:48.219Z,1613592048.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:49.076Z,1613592049.076 [Micromodem](INFO): Nmea in: $SNTTA,0.052275,,,,200047.90*4F 2021-02-17T20:00:49.128Z,1613592049.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.119995 m, bearing: 69.285152 deg, deltaT: 4.407377 s, approachRate: -0.571770 m/s, LOS rate: 0.079496 deg/s, posRepo size: 4 2021-02-17T20:00:49.129Z,1613592049.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.119995 m, bearing: 69.285152 deg, approachRate: -0.571770 m/s, LOS rate: 0.079496 deg/s, cmd update: 0.317983 deg/s, cmd heading: 63.372914 deg, new cmd heading: 63.488136 deg. 2021-02-17T20:00:51.467Z,1613592051.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:00:52.261Z,1613592052.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:00:52.646Z,1613592052.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:53.476Z,1613592053.476 [Micromodem](INFO): Nmea in: $SNTTA,0.050637,,,,200052.36*47 2021-02-17T20:00:53.510Z,1613592053.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.840004 m, bearing: 70.407960 deg, deltaT: 4.488893 s, approachRate: -0.507918 m/s, LOS rate: 0.250130 deg/s, posRepo size: 4 2021-02-17T20:00:53.512Z,1613592053.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.840004 m, bearing: 70.407960 deg, approachRate: -0.507918 m/s, LOS rate: 0.250130 deg/s, cmd update: 1.000521 deg/s, cmd heading: 64.800305 deg, new cmd heading: 64.928496 deg. 2021-02-17T20:00:55.892Z,1613592055.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:00:56.684Z,1613592056.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:00:57.090Z,1613592057.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:00:57.912Z,1613592057.912 [Micromodem](INFO): Nmea in: $SNTTA,0.049155,,,,200056.79*43 2021-02-17T20:00:57.955Z,1613592057.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.560005 m, bearing: 70.051540 deg, deltaT: 4.398714 s, approachRate: -0.518333 m/s, LOS rate: -0.081028 deg/s, posRepo size: 4 2021-02-17T20:00:57.961Z,1613592057.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.560005 m, bearing: 70.051540 deg, approachRate: -0.518333 m/s, LOS rate: -0.081028 deg/s, cmd update: -0.324113 deg/s, cmd heading: 69.201331 deg, new cmd heading: 69.650320 deg. 2021-02-17T20:01:00.010Z,1613592060.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:00.730Z,1613592060.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:01.130Z,1613592061.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:01.956Z,1613592061.956 [Micromodem](INFO): Nmea in: $SNTTA,0.047531,,,,200100.83*4C 2021-02-17T20:01:01.996Z,1613592061.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.159996 m, bearing: 71.019310 deg, deltaT: 4.040349 s, approachRate: -0.594010 m/s, LOS rate: 0.239526 deg/s, posRepo size: 4 2021-02-17T20:01:01.998Z,1613592061.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.159996 m, bearing: 71.019310 deg, approachRate: -0.594010 m/s, LOS rate: 0.239526 deg/s, cmd update: 0.958105 deg/s, cmd heading: 67.891861 deg, new cmd heading: 67.746003 deg. 2021-02-17T20:01:04.072Z,1613592064.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:04.764Z,1613592064.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:05.171Z,1613592065.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:05.993Z,1613592065.993 [Micromodem](INFO): Nmea in: $SNTTA,0.046202,,0.074360,,200104.87*52 2021-02-17T20:01:06.077Z,1613592066.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.059998 m, bearing: 70.295515 deg, deltaT: 4.064888 s, approachRate: -0.516619 m/s, LOS rate: -0.178060 deg/s, posRepo size: 4 2021-02-17T20:01:06.083Z,1613592066.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.059998 m, bearing: 70.295515 deg, approachRate: -0.516619 m/s, LOS rate: -0.178060 deg/s, cmd update: -0.712241 deg/s, cmd heading: 71.781432 deg, new cmd heading: 72.233046 deg. 2021-02-17T20:01:08.448Z,1613592068.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:09.213Z,1613592069.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:09.621Z,1613592069.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:10.444Z,1613592070.444 [Micromodem](INFO): Nmea in: $SNTTA,0.044546,,,,200109.31*4F 2021-02-17T20:01:10.466Z,1613592070.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.840004 m, bearing: 71.337405 deg, deltaT: 4.526167 s, approachRate: -0.490480 m/s, LOS rate: 0.230193 deg/s, posRepo size: 4 2021-02-17T20:01:10.468Z,1613592070.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.840004 m, bearing: 71.337405 deg, approachRate: -0.490480 m/s, LOS rate: 0.230193 deg/s, cmd update: 0.920771 deg/s, cmd heading: 68.556698 deg, new cmd heading: 68.319611 deg. 2021-02-17T20:01:12.860Z,1613592072.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:13.652Z,1613592073.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:14.077Z,1613592074.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:14.887Z,1613592074.887 [Micromodem](INFO): Nmea in: $SNTTA,0.042871,,,,200113.75*4B 2021-02-17T20:01:14.906Z,1613592074.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.139999 m, bearing: 68.977937 deg, deltaT: 4.364482 s, approachRate: -0.618631 m/s, LOS rate: -0.540607 deg/s, posRepo size: 4 2021-02-17T20:01:14.908Z,1613592074.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.139999 m, bearing: 68.977937 deg, approachRate: -0.618631 m/s, LOS rate: -0.540607 deg/s, cmd update: -2.162427 deg/s, cmd heading: 72.575366 deg, new cmd heading: 72.951431 deg. 2021-02-17T20:01:17.376Z,1613592077.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:18.097Z,1613592078.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:18.507Z,1613592078.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:19.324Z,1613592079.324 [Micromodem](INFO): Nmea in: $SNTTA,0.041344,,,,200118.20*4E 2021-02-17T20:01:19.377Z,1613592079.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.160004 m, bearing: 70.130443 deg, deltaT: 4.460247 s, approachRate: -0.443921 m/s, LOS rate: 0.258395 deg/s, posRepo size: 4 2021-02-17T20:01:19.379Z,1613592079.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.160004 m, bearing: 70.130443 deg, approachRate: -0.443921 m/s, LOS rate: 0.258395 deg/s, cmd update: 1.033580 deg/s, cmd heading: 62.930398 deg, new cmd heading: 62.023647 deg. 2021-02-17T20:01:21.763Z,1613592081.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:22.546Z,1613592082.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:22.946Z,1613592082.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:23.780Z,1613592083.780 [Micromodem](INFO): Nmea in: $SNTTA,0.039713,,,,200122.65*4F 2021-02-17T20:01:23.817Z,1613592083.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.280003 m, bearing: 69.092390 deg, deltaT: 4.447955 s, approachRate: -0.647489 m/s, LOS rate: -0.233377 deg/s, posRepo size: 4 2021-02-17T20:01:23.819Z,1613592083.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.280003 m, bearing: 69.092390 deg, approachRate: -0.647489 m/s, LOS rate: -0.233377 deg/s, cmd update: -0.933510 deg/s, cmd heading: 67.527730 deg, new cmd heading: 67.952840 deg. 2021-02-17T20:01:26.218Z,1613592086.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:26.988Z,1613592086.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:27.395Z,1613592087.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:28.220Z,1613592088.220 [Micromodem](INFO): Nmea in: $SNTTA,0.038074,,,,200127.09*47 2021-02-17T20:01:28.253Z,1613592088.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.879997 m, bearing: 68.793870 deg, deltaT: 4.419769 s, approachRate: -0.543016 m/s, LOS rate: -0.067542 deg/s, posRepo size: 4 2021-02-17T20:01:28.256Z,1613592088.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.879997 m, bearing: 68.793870 deg, approachRate: -0.543016 m/s, LOS rate: -0.067542 deg/s, cmd update: -0.270168 deg/s, cmd heading: 63.401852 deg, new cmd heading: 63.002538 deg. 2021-02-17T20:01:30.647Z,1613592090.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:31.428Z,1613592091.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:31.839Z,1613592091.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:32.664Z,1613592092.664 [Micromodem](INFO): Nmea in: $SNTTA,0.036551,,,,200131.53*43 2021-02-17T20:01:32.682Z,1613592092.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.599998 m, bearing: 68.852063 deg, deltaT: 4.470471 s, approachRate: -0.510013 m/s, LOS rate: 0.013017 deg/s, posRepo size: 4 2021-02-17T20:01:32.684Z,1613592092.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.599998 m, bearing: 68.852063 deg, approachRate: -0.510013 m/s, LOS rate: 0.013017 deg/s, cmd update: 0.052069 deg/s, cmd heading: 62.196278 deg, new cmd heading: 62.089831 deg. 2021-02-17T20:01:35.117Z,1613592095.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:35.874Z,1613592095.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:36.278Z,1613592096.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:37.104Z,1613592097.104 [Micromodem](INFO): Nmea in: $SNTTA,0.034940,,0.042214,,200135.98*51 2021-02-17T20:01:37.157Z,1613592097.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.200001 m, bearing: 70.360524 deg, deltaT: 4.421669 s, approachRate: -0.542781 m/s, LOS rate: 0.341152 deg/s, posRepo size: 4 2021-02-17T20:01:37.160Z,1613592097.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.200001 m, bearing: 70.360524 deg, approachRate: -0.542781 m/s, LOS rate: 0.341152 deg/s, cmd update: 1.364608 deg/s, cmd heading: 62.427144 deg, new cmd heading: 62.449807 deg. 2021-02-17T20:01:39.528Z,1613592099.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:40.316Z,1613592100.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:40.722Z,1613592100.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:41.548Z,1613592101.548 [Micromodem](INFO): Nmea in: $SNTTA,0.033251,,,,200140.42*47 2021-02-17T20:01:41.570Z,1613592101.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.619995 m, bearing: 70.064538 deg, deltaT: 4.469359 s, approachRate: -0.577265 m/s, LOS rate: -0.066226 deg/s, posRepo size: 4 2021-02-17T20:01:41.572Z,1613592101.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.619995 m, bearing: 70.064538 deg, approachRate: -0.577265 m/s, LOS rate: -0.066226 deg/s, cmd update: -0.264903 deg/s, cmd heading: 68.520584 deg, new cmd heading: 69.043562 deg. 2021-02-17T20:01:44.070Z,1613592104.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:44.765Z,1613592104.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:45.179Z,1613592105.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:45.996Z,1613592105.996 [Micromodem](INFO): Nmea in: $SNTTA,0.031688,,,,200144.87*48 2021-02-17T20:01:46.079Z,1613592106.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.339996 m, bearing: 69.837605 deg, deltaT: 4.402557 s, approachRate: -0.517881 m/s, LOS rate: -0.051546 deg/s, posRepo size: 4 2021-02-17T20:01:46.081Z,1613592106.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.339996 m, bearing: 69.837605 deg, approachRate: -0.517881 m/s, LOS rate: -0.051546 deg/s, cmd update: -0.206183 deg/s, cmd heading: 67.353271 deg, new cmd heading: 67.225739 deg. 2021-02-17T20:01:48.443Z,1613592108.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:49.209Z,1613592109.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:49.612Z,1613592109.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:50.443Z,1613592110.443 [Micromodem](INFO): Nmea in: $SNTTA,0.030080,,,,200149.31*47 2021-02-17T20:01:50.462Z,1613592110.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.879997 m, bearing: 70.061123 deg, deltaT: 4.519057 s, approachRate: -0.544361 m/s, LOS rate: 0.049461 deg/s, posRepo size: 4 2021-02-17T20:01:50.464Z,1613592110.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.879997 m, bearing: 70.061123 deg, approachRate: -0.544361 m/s, LOS rate: 0.049461 deg/s, cmd update: 0.197845 deg/s, cmd heading: 66.421514 deg, new cmd heading: 66.349524 deg. 2021-02-17T20:01:52.864Z,1613592112.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:53.648Z,1613592113.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:54.076Z,1613592114.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:54.877Z,1613592114.877 [Micromodem](INFO): Nmea in: $SNTTA,0.028386,,0.075017,,200153.75*5A 2021-02-17T20:01:54.916Z,1613592114.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.360001 m, bearing: 70.300364 deg, deltaT: 4.385442 s, approachRate: -0.574628 m/s, LOS rate: 0.054553 deg/s, posRepo size: 4 2021-02-17T20:01:54.917Z,1613592114.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.360001 m, bearing: 70.300364 deg, approachRate: -0.574628 m/s, LOS rate: 0.054553 deg/s, cmd update: 0.218214 deg/s, cmd heading: 67.289141 deg, new cmd heading: 67.371685 deg. 2021-02-17T20:01:57.333Z,1613592117.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:01:58.092Z,1613592118.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:01:58.499Z,1613592118.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:01:59.320Z,1613592119.320 [Micromodem](INFO): Nmea in: $SNTTA,0.026835,,,,200158.20*46 2021-02-17T20:01:59.368Z,1613592119.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.019997 m, bearing: 70.207077 deg, deltaT: 4.466429 s, approachRate: -0.523909 m/s, LOS rate: -0.020886 deg/s, posRepo size: 4 2021-02-17T20:01:59.369Z,1613592119.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.019997 m, bearing: 70.207077 deg, approachRate: -0.523909 m/s, LOS rate: -0.020886 deg/s, cmd update: -0.083545 deg/s, cmd heading: 68.256640 deg, new cmd heading: 68.351664 deg. 2021-02-17T20:02:01.760Z,1613592121.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:02:02.553Z,1613592122.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:02:02.967Z,1613592122.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:02:03.775Z,1613592123.775 [Micromodem](INFO): Nmea in: $SNTTA,0.025373,,,,200202.66*42 2021-02-17T20:02:03.794Z,1613592123.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.380001 m, bearing: 70.309421 deg, deltaT: 4.426509 s, approachRate: -0.596406 m/s, LOS rate: 0.023121 deg/s, posRepo size: 4 2021-02-17T20:02:03.794Z,1613592123.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.38 m. 2021-02-17T20:02:03.796Z,1613592123.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.380001 m, bearing: 70.309421 deg, approachRate: -0.596406 m/s, LOS rate: 0.023121 deg/s, cmd update: 0.092482 deg/s, cmd heading: 67.884095 deg, new cmd heading: 67.850435 deg. 2021-02-17T20:02:04.169Z,1613592124.169 [PowerOnly](INFO): Powering up loadControl 2021-02-17T20:02:06.220Z,1613592126.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:02:06.980Z,1613592126.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:02:07.396Z,1613592127.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:02:08.219Z,1613592128.219 [Micromodem](INFO): Nmea in: $SNTTA,0.023506,,,,200207.08*4D 2021-02-17T20:02:08.258Z,1613592128.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.040001 m, bearing: 68.878209 deg, deltaT: 4.438580 s, approachRate: -0.527196 m/s, LOS rate: -0.322448 deg/s, posRepo size: 4 2021-02-17T20:02:08.279Z,1613592128.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.04 m. 2021-02-17T20:02:08.280Z,1613592128.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.04 m. 2021-02-17T20:02:08.280Z,1613592128.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T20:02:08.281Z,1613592128.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.040001 m, bearing: 68.878209 deg, approachRate: -0.527196 m/s, LOS rate: -0.322448 deg/s, cmd update: -1.289792 deg/s, cmd heading: 68.294210 deg, new cmd heading: 68.334238 deg. 2021-02-17T20:02:10.637Z,1613592130.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:02:11.429Z,1613592131.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:02:11.847Z,1613592131.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:02:12.660Z,1613592132.660 [Micromodem](INFO): Nmea in: $SNTTA,0.021891,,,,200211.53*45 2021-02-17T20:02:12.675Z,1613592132.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.580002 m, bearing: 68.811376 deg, deltaT: 4.443150 s, approachRate: -0.553661 m/s, LOS rate: -0.015042 deg/s, posRepo size: 4 2021-02-17T20:02:12.677Z,1613592132.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.580002 m, bearing: 68.811376 deg, approachRate: -0.553661 m/s, LOS rate: -0.015042 deg/s, cmd update: -0.060168 deg/s, cmd heading: 62.558284 deg, new cmd heading: 62.039789 deg. 2021-02-17T20:02:15.122Z,1613592135.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:02:15.874Z,1613592135.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:02:16.274Z,1613592136.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:02:17.117Z,1613592137.117 [Micromodem](INFO): Nmea in: $SNTTA,0.020299,,,0.069130,200215.98*56 2021-02-17T20:02:17.162Z,1613592137.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.239998 m, bearing: 69.128898 deg, deltaT: 4.457969 s, approachRate: -0.524904 m/s, LOS rate: 0.071226 deg/s, posRepo size: 4 2021-02-17T20:02:17.180Z,1613592137.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.239998 m, bearing: 69.128898 deg, approachRate: -0.524904 m/s, LOS rate: 0.071226 deg/s, cmd update: 0.284903 deg/s, cmd heading: 62.290298 deg, new cmd heading: 62.264143 deg. 2021-02-17T20:02:19.519Z,1613592139.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:02:20.318Z,1613592140.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:02:20.723Z,1613592140.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:02:21.547Z,1613592141.547 [Micromodem](INFO): Nmea in: $SNTTA,0.018751,,,,200220.42*4E 2021-02-17T20:02:21.573Z,1613592141.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.900000 m, bearing: 68.904103 deg, deltaT: 4.459314 s, approachRate: -0.524744 m/s, LOS rate: -0.050410 deg/s, posRepo size: 4 2021-02-17T20:02:21.575Z,1613592141.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.900000 m, bearing: 68.904103 deg, approachRate: -0.524744 m/s, LOS rate: -0.050410 deg/s, cmd update: -0.201641 deg/s, cmd heading: 63.560749 deg, new cmd heading: 63.671037 deg. 2021-02-17T20:02:24.013Z,1613592144.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:02:24.758Z,1613592144.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:02:25.172Z,1613592145.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:02:25.984Z,1613592145.984 [Micromodem](INFO): Nmea in: $SNTTA,0.017184,,,,200224.86*43 2021-02-17T20:02:26.073Z,1613592146.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.619999 m, bearing: 69.379661 deg, deltaT: 4.400620 s, approachRate: -0.518109 m/s, LOS rate: 0.108066 deg/s, posRepo size: 4 2021-02-17T20:02:26.079Z,1613592146.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.619999 m, bearing: 69.379661 deg, approachRate: -0.518109 m/s, LOS rate: 0.108066 deg/s, cmd update: 0.432265 deg/s, cmd heading: 62.672616 deg, new cmd heading: 62.575299 deg. 2021-02-17T20:02:28.442Z,1613592148.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:02:29.201Z,1613592149.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:02:29.606Z,1613592149.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:02:30.432Z,1613592150.432 [Micromodem](INFO): Nmea in: $SNTTA,0.015500,,0.050500,,200229.30*57 2021-02-17T20:02:30.495Z,1613592150.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.039999 m, bearing: 69.630282 deg, deltaT: 4.521055 s, approachRate: -0.570663 m/s, LOS rate: 0.055434 deg/s, posRepo size: 4 2021-02-17T20:02:30.498Z,1613592150.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.039999 m, bearing: 69.630282 deg, approachRate: -0.570663 m/s, LOS rate: 0.055434 deg/s, cmd update: 0.221736 deg/s, cmd heading: 64.627003 deg, new cmd heading: 64.790383 deg. 2021-02-17T20:02:32.876Z,1613592152.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:02:33.654Z,1613592153.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:02:34.081Z,1613592154.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:02:34.880Z,1613592154.880 [Micromodem](INFO): Nmea in: $SNTTA,0.013853,,,,200233.76*4D 2021-02-17T20:02:34.916Z,1613592154.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.580000 m, bearing: 70.222445 deg, deltaT: 4.370154 s, approachRate: -0.562909 m/s, LOS rate: 0.135502 deg/s, posRepo size: 4 2021-02-17T20:02:34.918Z,1613592154.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.580000 m, bearing: 70.222445 deg, approachRate: -0.562909 m/s, LOS rate: 0.135502 deg/s, cmd update: 0.542007 deg/s, cmd heading: 65.592445 deg, new cmd heading: 65.692223 deg. 2021-02-17T20:02:37.327Z,1613592157.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:02:38.093Z,1613592158.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:02:38.497Z,1613592158.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:02:39.344Z,1613592159.344 [Micromodem](INFO): Nmea in: $SNTTA,0.012182,,,,200238.20*41 2021-02-17T20:02:39.349Z,1613592159.349 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:02:39.366Z,1613592159.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.059998 m, bearing: 71.286063 deg, deltaT: 4.462357 s, approachRate: -0.564725 m/s, LOS rate: 0.238353 deg/s, posRepo size: 4 2021-02-17T20:02:39.368Z,1613592159.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.059998 m, bearing: 71.286063 deg, approachRate: -0.564725 m/s, LOS rate: 0.238353 deg/s, cmd update: 0.953413 deg/s, cmd heading: 68.014155 deg, new cmd heading: 68.248372 deg. 2021-02-17T20:02:41.744Z,1613592161.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:02:42.549Z,1613592162.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:02:42.940Z,1613592162.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:02:43.367Z,1613592163.367 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T20:02:43.768Z,1613592163.768 [Micromodem](INFO): Nmea in: $SNTTA,0.010560,,,,200242.65*47 2021-02-17T20:02:43.802Z,1613592163.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.599998 m, bearing: 69.216167 deg, deltaT: 4.444849 s, approachRate: -0.553449 m/s, LOS rate: -0.465684 deg/s, posRepo size: 4 2021-02-17T20:02:43.804Z,1613592163.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.599998 m, bearing: 69.216167 deg, approachRate: -0.553449 m/s, LOS rate: -0.465684 deg/s, cmd update: -1.862736 deg/s, cmd heading: 72.261894 deg, new cmd heading: 72.655348 deg. 2021-02-17T20:02:45.400Z,1613592165.400 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:02:46.221Z,1613592166.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:02:46.995Z,1613592166.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:02:47.408Z,1613592167.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:02:47.430Z,1613592167.430 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:02:48.225Z,1613592168.225 [Micromodem](INFO): Nmea in: $SNTTA,0.009005,,0.036205,,200247.10*52 2021-02-17T20:02:48.296Z,1613592168.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.260000 m, bearing: 67.104232 deg, deltaT: 4.411264 s, approachRate: -0.530460 m/s, LOS rate: -0.478760 deg/s, posRepo size: 4 2021-02-17T20:02:48.298Z,1613592168.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.260000 m, bearing: 67.104232 deg, approachRate: -0.530460 m/s, LOS rate: -0.478760 deg/s, cmd update: -1.915039 deg/s, cmd heading: 64.044865 deg, new cmd heading: 63.130164 deg. 2021-02-17T20:02:50.245Z,1613592170.245 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:02:50.645Z,1613592170.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:02:51.425Z,1613592171.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:02:51.830Z,1613592171.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:02:52.652Z,1613592172.652 [Micromodem](INFO): Nmea in: $SNTTA,0.007695,,,,200251.53*4F 2021-02-17T20:02:52.674Z,1613592172.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.280000 m, bearing: 68.625540 deg, deltaT: 4.486168 s, approachRate: -0.441357 m/s, LOS rate: 0.339111 deg/s, posRepo size: 4 2021-02-17T20:02:52.676Z,1613592172.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.280000 m, bearing: 68.625540 deg, approachRate: -0.441357 m/s, LOS rate: 0.339111 deg/s, cmd update: 1.356444 deg/s, cmd heading: 55.461412 deg, new cmd heading: 54.712046 deg. 2021-02-17T20:02:55.230Z,1613592175.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:02:55.872Z,1613592175.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:02:56.270Z,1613592176.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:02:57.125Z,1613592177.125 [Micromodem](INFO): Nmea in: $SNTTA,0.006101,,,0.021989,200255.98*52 2021-02-17T20:02:57.158Z,1613592177.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.880000 m, bearing: 69.467942 deg, deltaT: 4.400069 s, approachRate: -0.545446 m/s, LOS rate: 0.191452 deg/s, posRepo size: 4 2021-02-17T20:02:57.160Z,1613592177.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.880000 m, bearing: 69.467942 deg, approachRate: -0.545446 m/s, LOS rate: 0.191452 deg/s, cmd update: 0.765807 deg/s, cmd heading: 61.435264 deg, new cmd heading: 62.075211 deg. 2021-02-17T20:02:59.122Z,1613592179.122 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:02:59.145Z,1613592179.145 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:02:59.522Z,1613592179.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:00.314Z,1613592180.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:00.716Z,1613592180.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:01.544Z,1613592181.544 [Micromodem](INFO): Nmea in: $SNTTA,0.004708,,,,200300.42*4C 2021-02-17T20:03:01.578Z,1613592181.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.839999 m, bearing: 65.355430 deg, deltaT: 4.482036 s, approachRate: -0.455150 m/s, LOS rate: -0.917554 deg/s, posRepo size: 4 2021-02-17T20:03:01.579Z,1613592181.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.839999 m, bearing: 65.355430 deg, approachRate: -0.455150 m/s, LOS rate: -0.917554 deg/s, cmd update: -3.670218 deg/s, cmd heading: 64.867406 deg, new cmd heading: 65.180715 deg. 2021-02-17T20:03:03.961Z,1613592183.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:04.388Z,1613592184.388 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items 2021-02-17T20:03:04.757Z,1613592184.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:05.166Z,1613592185.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:05.984Z,1613592185.984 [Micromodem](INFO): Nmea in: $SNTTA,0.003542,,,,200304.86*4B 2021-02-17T20:03:06.079Z,1613592186.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.039999 m, bearing: 63.983307 deg, deltaT: 4.431431 s, approachRate: -0.406189 m/s, LOS rate: -0.309634 deg/s, posRepo size: 4 2021-02-17T20:03:06.081Z,1613592186.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.039999 m, bearing: 63.983307 deg, approachRate: -0.406189 m/s, LOS rate: -0.309634 deg/s, cmd update: -1.238538 deg/s, cmd heading: 48.617286 deg, new cmd heading: 46.859241 deg. 2021-02-17T20:03:08.428Z,1613592188.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:09.198Z,1613592189.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:09.611Z,1613592189.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:10.435Z,1613592190.435 [Micromodem](INFO): Nmea in: $SNTTA,0.002623,,,,200309.30*4E 2021-02-17T20:03:10.452Z,1613592190.452 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T20:03:10.452Z,1613592190.452 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T20:03:10.452Z,1613592190.452 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T20:03:10.452Z,1613592190.452 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:03:10.452Z,1613592190.452 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T20:03:10.453Z,1613592190.453 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.839998 m 2021-02-17T20:03:10.453Z,1613592190.453 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T20:03:10.453Z,1613592190.453 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T20:03:10.453Z,1613592190.453 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T20:03:10.456Z,1613592190.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 82.678511 deg, deltaT: 4.533190 s, approachRate: -0.264714 m/s, LOS rate: 4.124072 deg/s, posRepo size: 4 2021-02-17T20:03:10.457Z,1613592190.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.839998 m, bearing: 82.678511 deg, approachRate: -0.264714 m/s, LOS rate: 4.124072 deg/s, cmd update: 12.000000 deg/s, cmd heading: 43.002497 deg, new cmd heading: 42.598803 deg. 2021-02-17T20:03:10.849Z,1613592190.849 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T200310: (41.552319, -70.708603) 2021-02-17T20:03:10.849Z,1613592190.849 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T20:03:10.849Z,1613592190.849 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T20:03:10.849Z,1613592190.849 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:03:10.850Z,1613592190.850 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T20:03:10.850Z,1613592190.850 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:03:10.850Z,1613592190.850 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T20:03:10.850Z,1613592190.850 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T20:03:10.850Z,1613592190.850 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T20:03:12.855Z,1613592192.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:13.640Z,1613592193.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:14.086Z,1613592194.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:14.109Z,1613592194.109 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T20:03:14.869Z,1613592194.869 [Micromodem](INFO): Nmea in: $SNTTA,0.002805,,,0.006988,200313.74*5E 2021-02-17T20:03:14.905Z,1613592194.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 52.341399 deg, deltaT: 4.348835 s, approachRate: 0.055188 m/s, LOS rate: -6.975917 deg/s, posRepo size: 4 2021-02-17T20:03:14.907Z,1613592194.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.080000 m, bearing: 52.341399 deg, approachRate: 0.055188 m/s, LOS rate: -6.975917 deg/s, cmd update: -12.000000 deg/s, cmd heading: 95.184462 deg, new cmd heading: 100.315603 deg. 2021-02-17T20:03:15.274Z,1613592195.274 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:03:17.329Z,1613592197.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:18.086Z,1613592198.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:18.502Z,1613592198.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:19.316Z,1613592199.316 [Micromodem](INFO): Nmea in: $SNTTA,0.005109,,0.017427,,200318.19*54 2021-02-17T20:03:19.321Z,1613592199.321 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:03:19.348Z,1613592199.348 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T20:03:19.374Z,1613592199.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.580000 m, bearing: 63.654583 deg, deltaT: 4.444203 s, approachRate: 0.337518 m/s, LOS rate: 2.545605 deg/s, posRepo size: 4 2021-02-17T20:03:19.393Z,1613592199.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.580000 m, bearing: 63.654583 deg, approachRate: 0.337518 m/s, LOS rate: 2.545605 deg/s, cmd update: 10.182419 deg/s, cmd heading: 41.850317 deg, new cmd heading: 36.434009 deg. 2021-02-17T20:03:21.750Z,1613592201.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:22.528Z,1613592202.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:22.934Z,1613592202.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:23.761Z,1613592203.761 [Micromodem](INFO): Nmea in: $SNTTA,0.004684,,,,200322.63*4A 2021-02-17T20:03:23.797Z,1613592203.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.080001 m, bearing: 31.495143 deg, deltaT: 4.480146 s, approachRate: 0.334811 m/s, LOS rate: -7.178213 deg/s, posRepo size: 4 2021-02-17T20:03:23.798Z,1613592203.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.080001 m, bearing: 31.495143 deg, approachRate: 0.334811 m/s, LOS rate: -7.178213 deg/s, cmd update: -12.000000 deg/s, cmd heading: 87.469243 deg, new cmd heading: 91.481971 deg. 2021-02-17T20:03:24.164Z,1613592204.164 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:03:24.171Z,1613592204.171 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T20:03:26.212Z,1613592206.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:26.978Z,1613592206.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:27.386Z,1613592207.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:28.205Z,1613592208.205 [Micromodem](INFO): Nmea in: $SNTTA,0.007991,,0.021503,,200327.08*51 2021-02-17T20:03:28.254Z,1613592208.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.999999 m, bearing: 57.075588 deg, deltaT: 4.407438 s, approachRate: 1.116294 m/s, LOS rate: 5.803926 deg/s, posRepo size: 4 2021-02-17T20:03:28.256Z,1613592208.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.999999 m, bearing: 57.075588 deg, approachRate: 1.116294 m/s, LOS rate: 5.803926 deg/s, cmd update: 12.000000 deg/s, cmd heading: 34.580093 deg, new cmd heading: 29.256101 deg. 2021-02-17T20:03:29.412Z,1613592209.412 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:03:30.630Z,1613592210.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:31.416Z,1613592211.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:31.821Z,1613592211.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:32.656Z,1613592212.656 [Micromodem](INFO): Nmea in: $SNTTA,0.009184,,,,200331.52*40 2021-02-17T20:03:32.681Z,1613592212.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.540001 m, bearing: 66.754021 deg, deltaT: 4.449466 s, approachRate: 0.121363 m/s, LOS rate: 2.175190 deg/s, posRepo size: 4 2021-02-17T20:03:32.683Z,1613592212.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.540001 m, bearing: 66.754021 deg, approachRate: 0.121363 m/s, LOS rate: 2.175190 deg/s, cmd update: 8.700759 deg/s, cmd heading: 88.022155 deg, new cmd heading: 93.035227 deg. 2021-02-17T20:03:34.264Z,1613592214.264 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:03:34.271Z,1613592214.271 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items 2021-02-17T20:03:35.164Z,1613592215.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:35.862Z,1613592215.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:36.271Z,1613592216.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:37.092Z,1613592217.092 [Micromodem](INFO): Nmea in: $SNTTA,0.010952,,,,200335.96*47 2021-02-17T20:03:37.126Z,1613592217.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.380001 m, bearing: 52.652006 deg, deltaT: 4.419616 s, approachRate: 0.868854 m/s, LOS rate: -3.190778 deg/s, posRepo size: 4 2021-02-17T20:03:37.152Z,1613592217.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.380001 m, bearing: 52.652006 deg, approachRate: 0.868854 m/s, LOS rate: -3.190778 deg/s, cmd update: -12.000000 deg/s, cmd heading: 126.476019 deg, new cmd heading: 130.327027 deg. 2021-02-17T20:03:38.704Z,1613592218.704 [PowerOnly](INFO): Powering down loadControl 2021-02-17T20:03:39.109Z,1613592219.109 [PowerOnly](FAULT): loadControl LCB fault: Invalid Command. Current Limiter Activated. 2021-02-17T20:03:39.109Z,1613592219.109 [PowerOnly] Hardware Fault, FailCount= 1 2021-02-17T20:03:39.109Z,1613592219.109 [PowerOnly](ERROR): Hardware Fault 2021-02-17T20:03:39.137Z,1613592219.137 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T20:03:39.247Z,1613592219.247 [CBIT](ERROR): Hardware Fault in component: PowerOnly 2021-02-17T20:03:39.502Z,1613592219.502 [PowerOnly](INFO): Powering down loadControl 2021-02-17T20:03:39.518Z,1613592219.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:40.304Z,1613592220.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:40.587Z,1613592220.587 [CBIT](INFO): Clearing failed state for component PowerOnly 2021-02-17T20:03:40.587Z,1613592220.587 [PowerOnly] No Fault, FailCount= 1 2021-02-17T20:03:40.722Z,1613592220.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:41.549Z,1613592221.549 [Micromodem](INFO): Nmea in: $SNTTA,0.011699,,,,200340.41*46 2021-02-17T20:03:41.570Z,1613592221.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 61.101773 deg, deltaT: 4.475408 s, approachRate: 0.281538 m/s, LOS rate: 1.888044 deg/s, posRepo size: 4 2021-02-17T20:03:41.572Z,1613592221.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.639997 m, bearing: 61.101773 deg, approachRate: 0.281538 m/s, LOS rate: 1.888044 deg/s, cmd update: 7.552176 deg/s, cmd heading: 72.771074 deg, new cmd heading: 67.831202 deg. 2021-02-17T20:03:41.933Z,1613592221.933 [PowerOnly](INFO): Powering down loadControl 2021-02-17T20:03:43.962Z,1613592223.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:44.371Z,1613592224.371 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T20:03:44.754Z,1613592224.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:45.154Z,1613592225.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:45.991Z,1613592225.991 [Micromodem](INFO): Nmea in: $SNTTA,0.012992,,,,200344.86*4E 2021-02-17T20:03:46.074Z,1613592226.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.719999 m, bearing: 99.571229 deg, deltaT: 4.411321 s, approachRate: 0.244825 m/s, LOS rate: 8.720621 deg/s, posRepo size: 4 2021-02-17T20:03:46.076Z,1613592226.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.719999 m, bearing: 99.571229 deg, approachRate: 0.244825 m/s, LOS rate: 8.720621 deg/s, cmd update: 12.000000 deg/s, cmd heading: 106.086274 deg, new cmd heading: 109.896166 deg. 2021-02-17T20:03:48.073Z,1613592228.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:48.789Z,1613592228.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:49.194Z,1613592229.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:49.221Z,1613592229.221 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T20:03:49.228Z,1613592229.228 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items 2021-02-17T20:03:50.068Z,1613592230.068 [Micromodem](INFO): Nmea in: $SNTTA,0.016730,,,,200348.89*4F 2021-02-17T20:03:50.118Z,1613592230.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.420002 m, bearing: 62.778857 deg, deltaT: 4.056061 s, approachRate: 0.665671 m/s, LOS rate: -9.070961 deg/s, posRepo size: 4 2021-02-17T20:03:50.118Z,1613592230.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 21.42 m. Rolling out. 2021-02-17T20:03:50.119Z,1613592230.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T20:03:52.146Z,1613592232.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:52.828Z,1613592232.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:53.234Z,1613592233.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:54.090Z,1613592234.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200352.93*52 2021-02-17T20:03:54.916Z,1613592234.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:56.468Z,1613592236.468 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:03:57.694Z,1613592237.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:03:58.512Z,1613592238.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:03:58.890Z,1613592238.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:03:59.303Z,1613592239.303 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T20:03:59.312Z,1613592239.312 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T20:03:59.736Z,1613592239.736 [Micromodem](INFO): Nmea in: $SNTTA,0.015569,,,,200358.62*46 2021-02-17T20:03:59.774Z,1613592239.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.400002 m, bearing: 151.193518 deg, deltaT: 9.726190 s, approachRate: 0.203574 m/s, LOS rate: 9.090370 deg/s, posRepo size: 4 2021-02-17T20:04:02.167Z,1613592242.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:02.935Z,1613592242.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:04:03.334Z,1613592243.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:04:04.160Z,1613592244.160 [Micromodem](INFO): Nmea in: $SNTTA,0.016456,,,,200403.04*41 2021-02-17T20:04:04.222Z,1613592244.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.659998 m, bearing: 154.384501 deg, deltaT: 4.413856 s, approachRate: 0.285464 m/s, LOS rate: 0.722947 deg/s, posRepo size: 4 2021-02-17T20:04:06.584Z,1613592246.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:07.372Z,1613592247.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:04:07.788Z,1613592247.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:04:08.607Z,1613592248.607 [Micromodem](INFO): Nmea in: $SNTTA,0.017445,,,,200407.47*41 2021-02-17T20:04:08.626Z,1613592248.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.560001 m, bearing: 153.075413 deg, deltaT: 4.463639 s, approachRate: 0.201630 m/s, LOS rate: -0.293278 deg/s, posRepo size: 4 2021-02-17T20:04:11.088Z,1613592251.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:11.817Z,1613592251.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:04:12.233Z,1613592252.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:04:13.080Z,1613592253.080 [Micromodem](INFO): Nmea in: $SNTTA,0.017768,,,,200411.92*42 2021-02-17T20:04:13.140Z,1613592253.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.760000 m, bearing: 157.508588 deg, deltaT: 4.424199 s, approachRate: 0.271235 m/s, LOS rate: 1.002029 deg/s, posRepo size: 4 2021-02-17T20:04:14.276Z,1613592254.276 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T20:04:15.475Z,1613592255.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:16.260Z,1613592256.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:04:16.672Z,1613592256.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:04:17.493Z,1613592257.493 [Micromodem](INFO): Nmea in: $SNTTA,0.018724,0.021338,,,200416.36*59 2021-02-17T20:04:17.521Z,1613592257.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.679998 m, bearing: 176.125293 deg, deltaT: 4.457347 s, approachRate: 0.430749 m/s, LOS rate: 4.176633 deg/s, posRepo size: 4 2021-02-17T20:04:19.116Z,1613592259.116 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T20:04:19.920Z,1613592259.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:20.720Z,1613592260.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:04:21.110Z,1613592261.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:04:21.948Z,1613592261.948 [Micromodem](INFO): Nmea in: $SNTTA,0.019825,,0.049143,,200420.82*5C 2021-02-17T20:04:21.983Z,1613592261.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.419996 m, bearing: 157.033644 deg, deltaT: 4.414818 s, approachRate: 0.394127 m/s, LOS rate: -4.324448 deg/s, posRepo size: 4 2021-02-17T20:04:24.408Z,1613592264.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:25.155Z,1613592265.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:04:25.554Z,1613592265.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:04:26.389Z,1613592266.389 [Micromodem](INFO): Nmea in: $SNTTA,0.021235,,,,200425.26*42 2021-02-17T20:04:26.398Z,1613592266.398 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T20:04:27.226Z,1613592267.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:28.782Z,1613592268.782 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:04:30.080Z,1613592270.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:30.804Z,1613592270.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:04:31.213Z,1613592271.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:04:32.088Z,1613592272.088 [Micromodem](INFO): Nmea in: $SNTTA,0.023457,,,,200430.91*4A 2021-02-17T20:04:32.095Z,1613592272.095 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T20:04:32.117Z,1613592272.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.159996 m, bearing: 137.216438 deg, deltaT: 10.122635 s, approachRate: 0.468257 m/s, LOS rate: -1.957712 deg/s, posRepo size: 4 2021-02-17T20:04:34.161Z,1613592274.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:34.854Z,1613592274.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:04:35.249Z,1613592275.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:04:36.104Z,1613592276.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200434.96*50 2021-02-17T20:04:36.137Z,1613592276.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.559998 m, bearing: 146.946247 deg, deltaT: 4.038822 s, approachRate: 0.594233 m/s, LOS rate: 2.409071 deg/s, posRepo size: 4 2021-02-17T20:04:38.099Z,1613592278.099 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:04:38.519Z,1613592278.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:39.288Z,1613592279.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:04:39.697Z,1613592279.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:04:40.520Z,1613592280.520 [Micromodem](INFO): Nmea in: $SNTTA,0.026941,,,,200439.39*4E 2021-02-17T20:04:40.558Z,1613592280.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.500000 m, bearing: 137.033307 deg, deltaT: 4.502434 s, approachRate: 0.652981 m/s, LOS rate: -2.201685 deg/s, posRepo size: 4 2021-02-17T20:04:42.941Z,1613592282.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:43.732Z,1613592283.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:04:44.153Z,1613592284.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:04:44.961Z,1613592284.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200443.83*54 2021-02-17T20:04:45.037Z,1613592285.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.439999 m, bearing: 135.536416 deg, deltaT: 4.369798 s, approachRate: 0.672800 m/s, LOS rate: -0.342554 deg/s, posRepo size: 4 2021-02-17T20:04:47.414Z,1613592287.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:48.193Z,1613592288.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:04:48.593Z,1613592288.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:04:49.416Z,1613592289.416 [Micromodem](INFO): Nmea in: $SNTTA,0.042020,,,,200448.30*4D 2021-02-17T20:04:49.470Z,1613592289.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.320000 m, bearing: 132.712065 deg, deltaT: 4.507753 s, approachRate: 0.638900 m/s, LOS rate: -0.626554 deg/s, posRepo size: 4 2021-02-17T20:04:51.840Z,1613592291.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:52.620Z,1613592292.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:04:53.078Z,1613592293.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:04:53.855Z,1613592293.855 [Micromodem](INFO): Nmea in: $SNTTA,0.044851,,,,200452.72*48 2021-02-17T20:04:53.874Z,1613592293.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.500000 m, bearing: 209.820966 deg, deltaT: 4.390486 s, approachRate: 0.724293 m/s, LOS rate: 17.562725 deg/s, posRepo size: 4 2021-02-17T20:04:56.292Z,1613592296.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:04:57.078Z,1613592297.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:04:57.470Z,1613592297.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:04:58.300Z,1613592298.300 [Micromodem](INFO): Nmea in: $SNTTA,0.049439,,,,200457.18*4E 2021-02-17T20:04:58.354Z,1613592298.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.159996 m, bearing: 188.950613 deg, deltaT: 4.436981 s, approachRate: 0.824884 m/s, LOS rate: -4.703728 deg/s, posRepo size: 4 2021-02-17T20:05:00.715Z,1613592300.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:01.515Z,1613592301.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:05:01.918Z,1613592301.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:05:02.740Z,1613592302.740 [Micromodem](INFO): Nmea in: $SNTTA,0.037428,,,,200501.62*48 2021-02-17T20:05:02.782Z,1613592302.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.520000 m, bearing: 196.024203 deg, deltaT: 4.501658 s, approachRate: 0.746393 m/s, LOS rate: 1.571330 deg/s, posRepo size: 4 2021-02-17T20:05:05.198Z,1613592305.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:05.956Z,1613592305.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:05:06.378Z,1613592306.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:05:07.199Z,1613592307.199 [Micromodem](INFO): Nmea in: $SNTTA,0.039799,,,,200506.06*4A 2021-02-17T20:05:07.233Z,1613592307.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.120007 m, bearing: 184.631556 deg, deltaT: 4.402320 s, approachRate: 0.817752 m/s, LOS rate: -2.587873 deg/s, posRepo size: 4 2021-02-17T20:05:09.614Z,1613592309.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:10.400Z,1613592310.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:05:10.814Z,1613592310.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:05:11.635Z,1613592311.635 [Micromodem](INFO): Nmea in: $SNTTA,0.042208,,,,200510.50*4F 2021-02-17T20:05:11.654Z,1613592311.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.000000 m, bearing: 164.318546 deg, deltaT: 4.450645 s, approachRate: 1.321155 m/s, LOS rate: -4.564060 deg/s, posRepo size: 4 2021-02-17T20:05:14.151Z,1613592314.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:14.861Z,1613592314.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:05:15.250Z,1613592315.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:05:16.092Z,1613592316.092 [Micromodem](INFO): Nmea in: $SNTTA,0.044378,,,,200514.96*41 2021-02-17T20:05:16.147Z,1613592316.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.960007 m, bearing: 177.115480 deg, deltaT: 4.416184 s, approachRate: 0.217384 m/s, LOS rate: 2.897736 deg/s, posRepo size: 4 2021-02-17T20:05:18.494Z,1613592318.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:19.296Z,1613592319.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:05:19.701Z,1613592319.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:05:20.520Z,1613592320.520 [Micromodem](INFO): Nmea in: $SNTTA,0.046736,,,0.083718,200519.40*50 2021-02-17T20:05:20.554Z,1613592320.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.500000 m, bearing: 181.457485 deg, deltaT: 4.487052 s, approachRate: 0.788935 m/s, LOS rate: 0.967675 deg/s, posRepo size: 4 2021-02-17T20:05:22.942Z,1613592322.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:23.732Z,1613592323.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:05:24.155Z,1613592324.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:05:24.960Z,1613592324.960 [Micromodem](INFO): Nmea in: $SNTTA,0.048975,,,,200523.83*4A 2021-02-17T20:05:24.997Z,1613592324.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.860001 m, bearing: 188.151385 deg, deltaT: 4.421625 s, approachRate: 0.759902 m/s, LOS rate: 1.513900 deg/s, posRepo size: 4 2021-02-17T20:05:27.407Z,1613592327.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:28.176Z,1613592328.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:05:28.609Z,1613592328.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:05:29.404Z,1613592329.404 [Micromodem](INFO): Nmea in: $SNTTA,0.051363,,,,200528.28*45 2021-02-17T20:05:29.454Z,1613592329.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.339996 m, bearing: 165.944487 deg, deltaT: 4.491901 s, approachRate: 0.774727 m/s, LOS rate: -4.943764 deg/s, posRepo size: 4 2021-02-17T20:05:31.827Z,1613592331.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:32.622Z,1613592332.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:05:33.070Z,1613592333.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:05:33.842Z,1613592333.842 [Micromodem](INFO): Nmea in: $SNTTA,0.053745,,,,200532.72*43 2021-02-17T20:05:34.673Z,1613592334.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:36.260Z,1613592336.260 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:05:37.496Z,1613592337.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:38.278Z,1613592338.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:05:38.684Z,1613592338.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:05:39.516Z,1613592339.516 [Micromodem](INFO): Nmea in: $SNTTA,0.056864,,,,200538.38*4E 2021-02-17T20:05:39.538Z,1613592339.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.559998 m, bearing: 167.451677 deg, deltaT: 10.142639 s, approachRate: 0.810440 m/s, LOS rate: 0.148599 deg/s, posRepo size: 4 2021-02-17T20:05:41.933Z,1613592341.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:42.724Z,1613592342.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:05:43.126Z,1613592343.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:05:43.952Z,1613592343.952 [Micromodem](INFO): Nmea in: $SNTTA,0.059211,,,,200542.83*44 2021-02-17T20:05:43.974Z,1613592343.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.980003 m, bearing: 170.958446 deg, deltaT: 4.340543 s, approachRate: 0.787921 m/s, LOS rate: 0.807910 deg/s, posRepo size: 4 2021-02-17T20:05:46.406Z,1613592346.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:47.166Z,1613592347.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:05:47.578Z,1613592347.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:05:48.396Z,1613592348.396 [Micromodem](INFO): Nmea in: $SNTTA,0.061579,,,,200547.27*4D 2021-02-17T20:05:48.444Z,1613592348.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.520004 m, bearing: 167.214970 deg, deltaT: 4.512663 s, approachRate: 0.784459 m/s, LOS rate: -0.829549 deg/s, posRepo size: 4 2021-02-17T20:05:50.840Z,1613592350.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:51.608Z,1613592351.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:05:52.066Z,1613592352.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:05:52.836Z,1613592352.836 [Micromodem](INFO): Nmea in: $SNTTA,0.063886,,,,200551.71*46 2021-02-17T20:05:52.870Z,1613592352.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.060005 m, bearing: 163.043295 deg, deltaT: 4.388653 s, approachRate: 0.806626 m/s, LOS rate: -0.950559 deg/s, posRepo size: 4 2021-02-17T20:05:55.296Z,1613592355.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:05:56.073Z,1613592356.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:05:56.458Z,1613592356.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:05:57.300Z,1613592357.300 [Micromodem](INFO): Nmea in: $SNTTA,0.066282,,,,200556.17*4A 2021-02-17T20:05:57.349Z,1613592357.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.599998 m, bearing: 163.118455 deg, deltaT: 4.422985 s, approachRate: 0.800363 m/s, LOS rate: 0.016993 deg/s, posRepo size: 4 2021-02-17T20:05:59.723Z,1613592359.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:00.503Z,1613592360.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:00.919Z,1613592360.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:01.732Z,1613592361.732 [Micromodem](INFO): Nmea in: $SNTTA,0.068728,,,,200600.60*41 2021-02-17T20:06:01.766Z,1613592361.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.260010 m, bearing: 164.751580 deg, deltaT: 4.501723 s, approachRate: 0.813025 m/s, LOS rate: 0.362778 deg/s, posRepo size: 4 2021-02-17T20:06:04.219Z,1613592364.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:04.942Z,1613592364.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:05.347Z,1613592365.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:06.180Z,1613592366.180 [Micromodem](INFO): Nmea in: $SNTTA,0.071136,,,,200605.04*47 2021-02-17T20:06:06.234Z,1613592366.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.860001 m, bearing: 162.669971 deg, deltaT: 4.394177 s, approachRate: 0.819264 m/s, LOS rate: -0.473720 deg/s, posRepo size: 4 2021-02-17T20:06:08.590Z,1613592368.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:09.396Z,1613592369.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:09.809Z,1613592369.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:10.636Z,1613592370.636 [Micromodem](INFO): Nmea in: $SNTTA,0.073507,,,,200609.50*4E 2021-02-17T20:06:10.673Z,1613592370.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.460007 m, bearing: 162.531318 deg, deltaT: 4.487738 s, approachRate: 0.802187 m/s, LOS rate: -0.030896 deg/s, posRepo size: 4 2021-02-17T20:06:13.130Z,1613592373.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:13.830Z,1613592373.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:14.250Z,1613592374.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:15.092Z,1613592375.092 [Micromodem](INFO): Nmea in: $SNTTA,0.075905,,,,200613.93*42 2021-02-17T20:06:15.145Z,1613592375.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.059998 m, bearing: 159.202584 deg, deltaT: 4.417511 s, approachRate: 0.814936 m/s, LOS rate: -0.753531 deg/s, posRepo size: 4 2021-02-17T20:06:17.481Z,1613592377.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:18.277Z,1613592378.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:18.697Z,1613592378.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:19.504Z,1613592379.504 [Micromodem](INFO): Nmea in: $SNTTA,0.078448,,,,200618.38*41 2021-02-17T20:06:19.545Z,1613592379.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.900009 m, bearing: 159.499233 deg, deltaT: 4.467089 s, approachRate: 0.859623 m/s, LOS rate: 0.066408 deg/s, posRepo size: 4 2021-02-17T20:06:21.941Z,1613592381.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:22.716Z,1613592382.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:23.132Z,1613592383.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:23.153Z,1613592383.153 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T20:06:23.944Z,1613592383.944 [Micromodem](INFO): Nmea in: $SNTTA,0.080841,,,,200622.82*4B 2021-02-17T20:06:23.980Z,1613592383.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.380005 m, bearing: 158.594547 deg, deltaT: 4.412085 s, approachRate: 0.788742 m/s, LOS rate: -0.205047 deg/s, posRepo size: 4 2021-02-17T20:06:25.176Z,1613592385.176 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:06:26.390Z,1613592386.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:27.181Z,1613592387.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:27.569Z,1613592387.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:28.400Z,1613592388.400 [Micromodem](INFO): Nmea in: $SNTTA,0.083265,,,,200627.29*40 2021-02-17T20:06:28.433Z,1613592388.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.159996 m, bearing: 156.938554 deg, deltaT: 4.513651 s, approachRate: 0.837458 m/s, LOS rate: -0.366885 deg/s, posRepo size: 4 2021-02-17T20:06:30.820Z,1613592390.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:31.604Z,1613592391.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:32.048Z,1613592392.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:32.832Z,1613592392.832 [Micromodem](INFO): Nmea in: $SNTTA,0.085640,,,,200631.71*4F 2021-02-17T20:06:32.866Z,1613592392.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.760010 m, bearing: 157.227184 deg, deltaT: 4.387075 s, approachRate: 0.820595 m/s, LOS rate: 0.065791 deg/s, posRepo size: 4 2021-02-17T20:06:35.286Z,1613592395.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:36.081Z,1613592396.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:36.459Z,1613592396.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:37.300Z,1613592397.300 [Micromodem](INFO): Nmea in: $SNTTA,0.088215,,,,200636.18*4E 2021-02-17T20:06:37.362Z,1613592397.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.419998 m, bearing: 151.147660 deg, deltaT: 4.436580 s, approachRate: 0.824957 m/s, LOS rate: -1.370318 deg/s, posRepo size: 4 2021-02-17T20:06:39.706Z,1613592399.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:40.492Z,1613592400.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:40.915Z,1613592400.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:41.725Z,1613592401.725 [Micromodem](INFO): Nmea in: $SNTTA,0.090620,,,,200640.59*41 2021-02-17T20:06:41.745Z,1613592401.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.080002 m, bearing: 149.147453 deg, deltaT: 4.451068 s, approachRate: 0.822275 m/s, LOS rate: -0.449377 deg/s, posRepo size: 4 2021-02-17T20:06:44.211Z,1613592404.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:44.948Z,1613592404.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:45.342Z,1613592405.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:46.176Z,1613592406.176 [Micromodem](INFO): Nmea in: $SNTTA,0.093063,,,,200645.05*4F 2021-02-17T20:06:46.227Z,1613592406.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.740005 m, bearing: 149.791636 deg, deltaT: 4.420088 s, approachRate: 0.828039 m/s, LOS rate: 0.145740 deg/s, posRepo size: 4 2021-02-17T20:06:48.604Z,1613592408.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:49.410Z,1613592409.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:49.804Z,1613592409.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:50.623Z,1613592410.623 [Micromodem](INFO): Nmea in: $SNTTA,0.095463,,,,200649.51*40 2021-02-17T20:06:50.642Z,1613592410.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.339996 m, bearing: 148.715840 deg, deltaT: 4.484663 s, approachRate: 0.802734 m/s, LOS rate: -0.239883 deg/s, posRepo size: 4 2021-02-17T20:06:53.106Z,1613592413.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:53.824Z,1613592413.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:54.243Z,1613592414.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:55.084Z,1613592415.084 [Micromodem](INFO): Nmea in: $SNTTA,0.097911,,,,200653.92*4E 2021-02-17T20:06:55.138Z,1613592415.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.059998 m, bearing: 147.023346 deg, deltaT: 4.422505 s, approachRate: 0.841152 m/s, LOS rate: -0.382700 deg/s, posRepo size: 4 2021-02-17T20:06:57.484Z,1613592417.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:06:58.268Z,1613592418.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:06:58.685Z,1613592418.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:06:59.503Z,1613592419.503 [Micromodem](INFO): Nmea in: $SNTTA,0.100428,,,,200658.37*42 2021-02-17T20:06:59.522Z,1613592419.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.780014 m, bearing: 150.548940 deg, deltaT: 4.456949 s, approachRate: 0.834655 m/s, LOS rate: 0.791033 deg/s, posRepo size: 4 2021-02-17T20:06:59.522Z,1613592419.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.78 m. Resuming terminal guidance. 2021-02-17T20:06:59.522Z,1613592419.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T20:07:01.930Z,1613592421.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:02.717Z,1613592422.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:07:03.124Z,1613592423.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:07:03.946Z,1613592423.946 [Micromodem](INFO): Nmea in: $SNTTA,0.102907,,,,200702.82*40 2021-02-17T20:07:03.968Z,1613592423.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.500015 m, bearing: 146.841349 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T20:07:03.968Z,1613592423.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 146.841349deg and heading rate command to 0 deg/s. 2021-02-17T20:07:06.409Z,1613592426.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:07.162Z,1613592427.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:07:07.569Z,1613592427.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:07:08.388Z,1613592428.388 [Micromodem](INFO): Nmea in: $SNTTA,0.105425,,,,200707.26*41 2021-02-17T20:07:08.441Z,1613592428.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.279999 m, bearing: 141.243230 deg, deltaT: 4.444491 s, approachRate: 0.850487 m/s, LOS rate: -1.259564 deg/s, posRepo size: 2 2021-02-17T20:07:08.447Z,1613592428.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.279999 m, bearing: 141.243230 deg, approachRate: 0.850487 m/s, LOS rate: -1.259564 deg/s, cmd update: -5.038254 deg/s, cmd heading: 146.841349 deg, new cmd heading: 146.841349 deg. 2021-02-17T20:07:10.822Z,1613592430.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:11.606Z,1613592431.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:07:12.042Z,1613592432.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:07:12.839Z,1613592432.839 [Micromodem](INFO): Nmea in: $SNTTA,0.107950,,,,200711.71*49 2021-02-17T20:07:12.858Z,1613592432.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.120010 m, bearing: 161.754125 deg, deltaT: 4.466295 s, approachRate: 0.859776 m/s, LOS rate: 4.592373 deg/s, posRepo size: 3 2021-02-17T20:07:12.860Z,1613592432.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.120010 m, bearing: 161.754125 deg, approachRate: 0.859776 m/s, LOS rate: 4.592373 deg/s, cmd update: 12.000000 deg/s, cmd heading: 124.347414 deg, new cmd heading: 122.320277 deg. 2021-02-17T20:07:15.271Z,1613592435.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:16.080Z,1613592436.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:07:16.451Z,1613592436.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:07:17.274Z,1613592437.274 [Micromodem](INFO): Nmea in: $SNTTA,0.110246,,,,200716.18*4B 2021-02-17T20:07:17.690Z,1613592437.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.540009 m, bearing: 83.522436 deg, deltaT: 4.887495 s, approachRate: 0.699745 m/s, LOS rate: -16.006501 deg/s, posRepo size: 4 2021-02-17T20:07:17.691Z,1613592437.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.006501 deg/s. Setting heading cmd to target bearing of 83.522436deg and heading rate command to 0 deg/s. 2021-02-17T20:07:20.134Z,1613592440.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:20.892Z,1613592440.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:07:21.298Z,1613592441.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:07:22.122Z,1613592442.122 [Micromodem](INFO): Nmea in: $SNTTA,0.112502,,,,200721.00*43 2021-02-17T20:07:22.191Z,1613592442.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.540009 m, bearing: 181.281280 deg, deltaT: 4.396011 s, approachRate: 0.000000 m/s, LOS rate: 22.238080 deg/s, posRepo size: 4 2021-02-17T20:07:22.192Z,1613592442.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.238080 deg/s. Setting heading cmd to target bearing of 181.281280deg and heading rate command to 0 deg/s. 2021-02-17T20:07:24.560Z,1613592444.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:25.343Z,1613592445.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:07:25.742Z,1613592445.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:07:26.572Z,1613592446.572 [Micromodem](INFO): Nmea in: $SNTTA,0.114802,,,,200725.44*4C 2021-02-17T20:07:26.608Z,1613592446.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.540009 m, bearing: 133.350414 deg, deltaT: 4.485200 s, approachRate: 0.000000 m/s, LOS rate: -10.686450 deg/s, posRepo size: 4 2021-02-17T20:07:26.610Z,1613592446.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.540009 m, bearing: 133.350414 deg, approachRate: 0.000000 m/s, LOS rate: -10.686450 deg/s, cmd update: -12.000000 deg/s, cmd heading: 181.281280 deg, new cmd heading: 181.281280 deg. 2021-02-17T20:07:29.058Z,1613592449.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:29.787Z,1613592449.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:07:30.186Z,1613592450.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:07:31.006Z,1613592451.006 [Micromodem](INFO): Nmea in: $SNTTA,0.117172,,,0.119659,200729.89*51 2021-02-17T20:07:31.830Z,1613592451.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:33.414Z,1613592453.414 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:07:34.642Z,1613592454.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:35.436Z,1613592455.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:07:35.842Z,1613592455.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:07:36.654Z,1613592456.654 [Micromodem](INFO): Nmea in: $SNTTA,0.120241,,,,200735.54*46 2021-02-17T20:07:37.470Z,1613592457.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:39.080Z,1613592459.080 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:07:40.330Z,1613592460.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:41.101Z,1613592461.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:07:41.498Z,1613592461.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:07:42.321Z,1613592462.321 [Micromodem](INFO): Nmea in: $SNTTA,0.123298,,,,200741.20*41 2021-02-17T20:07:42.738Z,1613592462.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.099991 m, bearing: 134.502107 deg, deltaT: 16.160168 s, approachRate: 1.210382 m/s, LOS rate: 0.071267 deg/s, posRepo size: 4 2021-02-17T20:07:42.740Z,1613592462.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.099991 m, bearing: 134.502107 deg, approachRate: 1.210382 m/s, LOS rate: 0.071267 deg/s, cmd update: 0.285070 deg/s, cmd heading: 347.286000 deg, new cmd heading: 343.016507 deg. 2021-02-17T20:07:45.189Z,1613592465.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:45.940Z,1613592465.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:07:46.353Z,1613592466.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:07:47.157Z,1613592467.157 [Micromodem](INFO): Nmea in: $SNTTA,0.125491,,,,200746.04*49 2021-02-17T20:07:47.605Z,1613592467.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.399994 m, bearing: 115.801267 deg, deltaT: 4.824921 s, approachRate: 0.683950 m/s, LOS rate: -3.875885 deg/s, posRepo size: 4 2021-02-17T20:07:47.606Z,1613592467.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.399994 m, bearing: 115.801267 deg, approachRate: 0.683950 m/s, LOS rate: -3.875885 deg/s, cmd update: -12.000000 deg/s, cmd heading: 348.662580 deg, new cmd heading: 348.774698 deg. 2021-02-17T20:07:50.064Z,1613592470.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:50.795Z,1613592470.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:07:51.209Z,1613592471.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:07:52.066Z,1613592472.066 [Micromodem](INFO): Nmea in: $SNTTA,0.127213,,,,200750.90*4D 2021-02-17T20:07:52.441Z,1613592472.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.919998 m, bearing: 80.858027 deg, deltaT: 4.924235 s, approachRate: 0.511755 m/s, LOS rate: -7.096176 deg/s, posRepo size: 4 2021-02-17T20:07:52.443Z,1613592472.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.919998 m, bearing: 80.858027 deg, approachRate: 0.511755 m/s, LOS rate: -7.096176 deg/s, cmd update: -12.000000 deg/s, cmd heading: 289.620010 deg, new cmd heading: 285.905146 deg. 2021-02-17T20:07:54.853Z,1613592474.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:07:55.649Z,1613592475.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:07:56.075Z,1613592476.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:07:56.872Z,1613592476.872 [Micromodem](INFO): Nmea in: $SNTTA,0.128088,,,,200755.75*4C 2021-02-17T20:07:57.332Z,1613592477.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.119995 m, bearing: 17.857454 deg, deltaT: 4.750270 s, approachRate: 0.252617 m/s, LOS rate: -13.262524 deg/s, posRepo size: 4 2021-02-17T20:07:57.333Z,1613592477.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.262524 deg/s. Setting heading cmd to target bearing of 17.857454deg and heading rate command to 0 deg/s. 2021-02-17T20:07:59.692Z,1613592479.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:00.491Z,1613592480.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:08:00.895Z,1613592480.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:08:01.707Z,1613592481.707 [Micromodem](INFO): Nmea in: $SNTTA,0.128803,,,,200800.59*46 2021-02-17T20:08:02.164Z,1613592482.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.199982 m, bearing: 32.197536 deg, deltaT: 4.835554 s, approachRate: 0.223343 m/s, LOS rate: 2.965551 deg/s, posRepo size: 4 2021-02-17T20:08:02.166Z,1613592482.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 193.199982 m, bearing: 32.197536 deg, approachRate: 0.223343 m/s, LOS rate: 2.965551 deg/s, cmd update: 11.862203 deg/s, cmd heading: 17.857454 deg, new cmd heading: 17.857454 deg. 2021-02-17T20:08:04.547Z,1613592484.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:05.338Z,1613592485.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:08:05.751Z,1613592485.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:08:06.558Z,1613592486.558 [Micromodem](INFO): Nmea in: $SNTTA,0.129935,,,,200805.44*4A 2021-02-17T20:08:06.978Z,1613592486.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.000000 m, bearing: 72.540721 deg, deltaT: 4.879333 s, approachRate: 0.368907 m/s, LOS rate: 8.268176 deg/s, posRepo size: 4 2021-02-17T20:08:06.996Z,1613592486.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.000000 m, bearing: 72.540721 deg, approachRate: 0.368907 m/s, LOS rate: 8.268176 deg/s, cmd update: 12.000000 deg/s, cmd heading: 75.690806 deg, new cmd heading: 80.213354 deg. 2021-02-17T20:08:09.422Z,1613592489.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:10.198Z,1613592490.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:08:10.585Z,1613592490.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:08:11.407Z,1613592491.407 [Micromodem](INFO): Nmea in: $SNTTA,0.131117,,,,200810.30*4C 2021-02-17T20:08:12.237Z,1613592492.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:15.117Z,1613592495.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:16.265Z,1613592496.265 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:08:17.872Z,1613592497.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:18.670Z,1613592498.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:08:19.080Z,1613592499.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:08:20.076Z,1613592500.076 [Micromodem](INFO): Nmea in: $SNTTA,0.131826,,,,200818.77*4C 2021-02-17T20:08:20.354Z,1613592500.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.759979 m, bearing: 78.265519 deg, deltaT: 13.540110 s, approachRate: 0.203837 m/s, LOS rate: 0.422803 deg/s, posRepo size: 4 2021-02-17T20:08:20.356Z,1613592500.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.759979 m, bearing: 78.265519 deg, approachRate: 0.203837 m/s, LOS rate: 0.422803 deg/s, cmd update: 1.691212 deg/s, cmd heading: 238.221907 deg, new cmd heading: 240.779635 deg. 2021-02-17T20:08:22.723Z,1613592502.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:23.524Z,1613592503.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:08:23.922Z,1613592503.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:08:24.752Z,1613592504.752 [Micromodem](INFO): Nmea in: $SNTTA,0.131990,,,0.134508,200823.63*58 2021-02-17T20:08:25.233Z,1613592505.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.000000 m, bearing: 10.717865 deg, deltaT: 4.634371 s, approachRate: 0.051791 m/s, LOS rate: -14.575366 deg/s, posRepo size: 4 2021-02-17T20:08:25.234Z,1613592505.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.575366 deg/s. Setting heading cmd to target bearing of 10.717865deg and heading rate command to 0 deg/s. 2021-02-17T20:08:27.579Z,1613592507.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:28.382Z,1613592508.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:08:28.782Z,1613592508.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:08:29.592Z,1613592509.592 [Micromodem](INFO): Nmea in: $SNTTA,0.132748,,,,200828.49*46 2021-02-17T20:08:30.082Z,1613592510.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.139984 m, bearing: 39.798778 deg, deltaT: 4.866062 s, approachRate: 0.234272 m/s, LOS rate: 5.976273 deg/s, posRepo size: 4 2021-02-17T20:08:30.084Z,1613592510.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.139984 m, bearing: 39.798778 deg, approachRate: 0.234272 m/s, LOS rate: 5.976273 deg/s, cmd update: 12.000000 deg/s, cmd heading: 10.717865 deg, new cmd heading: 10.717865 deg. 2021-02-17T20:08:32.451Z,1613592512.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:33.222Z,1613592513.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:08:33.630Z,1613592513.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:08:34.444Z,1613592514.444 [Micromodem](INFO): Nmea in: $SNTTA,0.133972,,,,200833.32*46 2021-02-17T20:08:34.485Z,1613592514.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.139984 m, bearing: 76.508234 deg, deltaT: 4.492829 s, approachRate: 0.000000 m/s, LOS rate: 8.170677 deg/s, posRepo size: 4 2021-02-17T20:08:34.487Z,1613592514.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.139984 m, bearing: 76.508234 deg, approachRate: 0.000000 m/s, LOS rate: 8.170677 deg/s, cmd update: 12.000000 deg/s, cmd heading: 64.681902 deg, new cmd heading: 68.898090 deg. 2021-02-17T20:08:36.876Z,1613592516.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:37.656Z,1613592517.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:08:38.079Z,1613592518.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:08:38.873Z,1613592518.873 [Micromodem](INFO): Nmea in: $SNTTA,0.135521,,,,200837.76*4E 2021-02-17T20:08:39.344Z,1613592519.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.519989 m, bearing: 124.685636 deg, deltaT: 4.753682 s, approachRate: 0.921392 m/s, LOS rate: 10.134755 deg/s, posRepo size: 4 2021-02-17T20:08:39.346Z,1613592519.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.519989 m, bearing: 124.685636 deg, approachRate: 0.921392 m/s, LOS rate: 10.134755 deg/s, cmd update: 12.000000 deg/s, cmd heading: 121.726171 deg, new cmd heading: 127.206428 deg. 2021-02-17T20:08:41.711Z,1613592521.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:42.509Z,1613592522.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:08:42.910Z,1613592522.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:08:43.735Z,1613592523.735 [Micromodem](INFO): Nmea in: $SNTTA,0.137115,,,,200842.61*4B 2021-02-17T20:08:44.189Z,1613592524.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.739975 m, bearing: 87.856033 deg, deltaT: 4.877904 s, approachRate: 0.455111 m/s, LOS rate: -7.550293 deg/s, posRepo size: 4 2021-02-17T20:08:44.195Z,1613592524.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.739975 m, bearing: 87.856033 deg, approachRate: 0.455111 m/s, LOS rate: -7.550293 deg/s, cmd update: -12.000000 deg/s, cmd heading: 180.164277 deg, new cmd heading: 185.341401 deg. 2021-02-17T20:08:46.561Z,1613592526.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:47.357Z,1613592527.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:08:47.767Z,1613592527.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:08:48.572Z,1613592528.572 [Micromodem](INFO): Nmea in: $SNTTA,0.138691,,,,200847.46*4F 2021-02-17T20:08:49.073Z,1613592529.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.139999 m, bearing: 83.242411 deg, deltaT: 4.852343 s, approachRate: 0.494611 m/s, LOS rate: -0.950803 deg/s, posRepo size: 4 2021-02-17T20:08:49.079Z,1613592529.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.139999 m, bearing: 83.242411 deg, approachRate: 0.494611 m/s, LOS rate: -0.950803 deg/s, cmd update: -3.803212 deg/s, cmd heading: 121.887524 deg, new cmd heading: 116.379512 deg. 2021-02-17T20:08:51.439Z,1613592531.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:52.200Z,1613592532.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:08:52.628Z,1613592532.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:08:53.423Z,1613592533.423 [Micromodem](INFO): Nmea in: $SNTTA,0.140567,,,,200852.30*4F 2021-02-17T20:08:53.862Z,1613592533.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.079987 m, bearing: 76.566243 deg, deltaT: 4.848699 s, approachRate: 0.606346 m/s, LOS rate: -1.376899 deg/s, posRepo size: 4 2021-02-17T20:08:53.868Z,1613592533.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 211.079987 m, bearing: 76.566243 deg, approachRate: 0.606346 m/s, LOS rate: -1.376899 deg/s, cmd update: -5.507596 deg/s, cmd heading: 103.431631 deg, new cmd heading: 101.928104 deg. 2021-02-17T20:08:56.290Z,1613592536.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:08:57.072Z,1613592537.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:08:57.476Z,1613592537.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:08:58.278Z,1613592538.278 [Micromodem](INFO): Nmea in: $SNTTA,0.142740,,,,200857.17*4A 2021-02-17T20:08:58.698Z,1613592538.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.319992 m, bearing: 107.015165 deg, deltaT: 4.873126 s, approachRate: 0.664872 m/s, LOS rate: 6.248335 deg/s, posRepo size: 4 2021-02-17T20:08:58.700Z,1613592538.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.319992 m, bearing: 107.015165 deg, approachRate: 0.664872 m/s, LOS rate: 6.248335 deg/s, cmd update: 12.000000 deg/s, cmd heading: 76.593978 deg, new cmd heading: 74.619692 deg. 2021-02-17T20:09:01.149Z,1613592541.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:01.902Z,1613592541.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:09:02.302Z,1613592542.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:09:03.126Z,1613592543.126 [Micromodem](INFO): Nmea in: $SNTTA,0.144444,,0.147775,,200902.01*54 2021-02-17T20:09:03.547Z,1613592543.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.779999 m, bearing: 77.602034 deg, deltaT: 4.850313 s, approachRate: 0.507185 m/s, LOS rate: -6.064172 deg/s, posRepo size: 4 2021-02-17T20:09:03.549Z,1613592543.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 216.779999 m, bearing: 77.602034 deg, approachRate: 0.507185 m/s, LOS rate: -6.064172 deg/s, cmd update: -12.000000 deg/s, cmd heading: 134.800975 deg, new cmd heading: 139.082023 deg. 2021-02-17T20:09:05.958Z,1613592545.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:06.749Z,1613592546.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:09:07.159Z,1613592547.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:09:07.964Z,1613592547.964 [Micromodem](INFO): Nmea in: $SNTTA,0.145777,,,,200906.85*47 2021-02-17T20:09:08.410Z,1613592548.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.819992 m, bearing: 70.878307 deg, deltaT: 4.874707 s, approachRate: 0.418485 m/s, LOS rate: -1.379309 deg/s, posRepo size: 4 2021-02-17T20:09:08.412Z,1613592548.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.819992 m, bearing: 70.878307 deg, approachRate: 0.418485 m/s, LOS rate: -1.379309 deg/s, cmd update: -5.517236 deg/s, cmd heading: 76.945854 deg, new cmd heading: 72.167357 deg. 2021-02-17T20:09:10.820Z,1613592550.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:11.598Z,1613592551.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:09:12.037Z,1613592552.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:09:12.812Z,1613592552.812 [Micromodem](INFO): Nmea in: $SNTTA,0.147456,,,,200911.70*49 2021-02-17T20:09:13.279Z,1613592553.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.399994 m, bearing: 78.911464 deg, deltaT: 4.761615 s, approachRate: 0.541833 m/s, LOS rate: 1.687065 deg/s, posRepo size: 4 2021-02-17T20:09:13.286Z,1613592553.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.399994 m, bearing: 78.911464 deg, approachRate: 0.541833 m/s, LOS rate: 1.687065 deg/s, cmd update: 6.748262 deg/s, cmd heading: 50.380186 deg, new cmd heading: 47.913993 deg. 2021-02-17T20:09:15.648Z,1613592555.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:16.441Z,1613592556.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:09:16.846Z,1613592556.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:09:17.662Z,1613592557.662 [Micromodem](INFO): Nmea in: $SNTTA,0.149062,,,,200916.54*45 2021-02-17T20:09:18.486Z,1613592558.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:20.087Z,1613592560.087 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:09:21.338Z,1613592561.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:22.109Z,1613592562.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:09:22.507Z,1613592562.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:09:23.323Z,1613592563.323 [Micromodem](INFO): Nmea in: $SNTTA,0.150177,,,,200922.21*4D 2021-02-17T20:09:23.750Z,1613592563.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.299988 m, bearing: 21.134253 deg, deltaT: 10.553815 s, approachRate: 0.369534 m/s, LOS rate: -5.474533 deg/s, posRepo size: 4 2021-02-17T20:09:23.752Z,1613592563.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.299988 m, bearing: 21.134253 deg, approachRate: 0.369534 m/s, LOS rate: -5.474533 deg/s, cmd update: -12.000000 deg/s, cmd heading: 121.436833 deg, new cmd heading: 124.096931 deg. 2021-02-17T20:09:26.192Z,1613592566.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:26.944Z,1613592566.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:09:27.350Z,1613592567.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:09:28.182Z,1613592568.182 [Micromodem](INFO): Nmea in: $SNTTA,0.151279,,,,200927.05*42 2021-02-17T20:09:28.601Z,1613592568.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.979996 m, bearing: 69.286081 deg, deltaT: 4.835346 s, approachRate: 0.347443 m/s, LOS rate: 9.958301 deg/s, posRepo size: 4 2021-02-17T20:09:28.603Z,1613592568.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 226.979996 m, bearing: 69.286081 deg, approachRate: 0.347443 m/s, LOS rate: 9.958301 deg/s, cmd update: 12.000000 deg/s, cmd heading: 63.121655 deg, new cmd heading: 58.493783 deg. 2021-02-17T20:09:31.044Z,1613592571.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:31.792Z,1613592571.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:09:32.197Z,1613592572.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:09:33.068Z,1613592573.068 [Micromodem](INFO): Nmea in: $SNTTA,0.152881,,,,200931.89*4F 2021-02-17T20:09:33.827Z,1613592573.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:35.113Z,1613592575.113 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:09:36.673Z,1613592576.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:37.450Z,1613592577.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:09:37.865Z,1613592577.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:09:38.671Z,1613592578.671 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200937.55*51 2021-02-17T20:09:39.139Z,1613592579.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.660004 m, bearing: 53.233255 deg, deltaT: 10.500213 s, approachRate: 0.445706 m/s, LOS rate: -1.528810 deg/s, posRepo size: 4 2021-02-17T20:09:39.141Z,1613592579.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 231.660004 m, bearing: 53.233255 deg, approachRate: 0.445706 m/s, LOS rate: -1.528810 deg/s, cmd update: -6.115238 deg/s, cmd heading: 188.813282 deg, new cmd heading: 194.202171 deg. 2021-02-17T20:09:41.504Z,1613592581.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:42.309Z,1613592582.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:09:42.702Z,1613592582.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:09:43.522Z,1613592583.522 [Micromodem](INFO): Nmea in: $SNTTA,0.155873,,,,200942.41*45 2021-02-17T20:09:43.942Z,1613592583.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.939987 m, bearing: 84.507697 deg, deltaT: 4.820770 s, approachRate: 0.472950 m/s, LOS rate: 6.487437 deg/s, posRepo size: 4 2021-02-17T20:09:43.944Z,1613592583.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 233.939987 m, bearing: 84.507697 deg, approachRate: 0.472950 m/s, LOS rate: 6.487437 deg/s, cmd update: 12.000000 deg/s, cmd heading: 159.174740 deg, new cmd heading: 156.694186 deg. 2021-02-17T20:09:46.389Z,1613592586.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:47.145Z,1613592587.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:09:47.550Z,1613592587.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:09:48.366Z,1613592588.366 [Micromodem](INFO): Nmea in: $SNTTA,0.157787,,,,200947.25*44 2021-02-17T20:09:49.205Z,1613592589.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:50.778Z,1613592590.778 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:09:52.093Z,1613592592.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:52.805Z,1613592592.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:09:53.211Z,1613592593.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:09:54.073Z,1613592594.073 [Micromodem](INFO): Nmea in: $SNTTA,0.160212,,,,200952.91*42 2021-02-17T20:09:54.450Z,1613592594.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.539993 m, bearing: 109.331330 deg, deltaT: 10.586587 s, approachRate: 0.623431 m/s, LOS rate: 2.344819 deg/s, posRepo size: 4 2021-02-17T20:09:54.452Z,1613592594.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 240.539993 m, bearing: 109.331330 deg, approachRate: 0.623431 m/s, LOS rate: 2.344819 deg/s, cmd update: 9.379277 deg/s, cmd heading: 286.213439 deg, new cmd heading: 290.136252 deg. 2021-02-17T20:09:56.871Z,1613592596.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:09:57.649Z,1613592597.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:09:58.082Z,1613592598.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:09:58.869Z,1613592598.869 [Micromodem](INFO): Nmea in: $SNTTA,0.162567,,,,200957.75*4A 2021-02-17T20:09:59.290Z,1613592599.290 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:09:59.700Z,1613592599.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:01.284Z,1613592601.284 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:10:02.528Z,1613592602.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:03.313Z,1613592603.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:10:03.715Z,1613592603.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:10:04.531Z,1613592604.531 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201003.41*5B 2021-02-17T20:10:04.967Z,1613592604.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.159988 m, bearing: 148.393100 deg, deltaT: 10.435965 s, approachRate: 0.730167 m/s, LOS rate: 3.742995 deg/s, posRepo size: 4 2021-02-17T20:10:04.969Z,1613592604.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 248.159988 m, bearing: 148.393100 deg, approachRate: 0.730167 m/s, LOS rate: 3.742995 deg/s, cmd update: 12.000000 deg/s, cmd heading: 24.095211 deg, new cmd heading: 27.922622 deg. 2021-02-17T20:10:07.418Z,1613592607.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:08.157Z,1613592608.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:10:08.564Z,1613592608.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:10:09.393Z,1613592609.393 [Micromodem](INFO): Nmea in: $SNTTA,0.167640,,,,201008.26*4D 2021-02-17T20:10:10.209Z,1613592610.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:11.792Z,1613592611.792 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:10:13.079Z,1613592613.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:13.825Z,1613592613.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:10:14.220Z,1613592614.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:10:15.119Z,1613592615.119 [Micromodem](INFO): Nmea in: $SNTTA,0.170423,,,,201013.93*48 2021-02-17T20:10:15.876Z,1613592615.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:17.114Z,1613592617.114 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:10:17.448Z,1613592617.448 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:10:18.685Z,1613592618.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:19.470Z,1613592619.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:10:19.896Z,1613592619.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:10:20.685Z,1613592620.685 [Micromodem](INFO): Nmea in: $SNTTA,0.173042,,,,201019.57*4A 2021-02-17T20:10:21.160Z,1613592621.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 259.619995 m, bearing: 129.473776 deg, deltaT: 16.140375 s, approachRate: 0.710021 m/s, LOS rate: -1.172174 deg/s, posRepo size: 4 2021-02-17T20:10:21.162Z,1613592621.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 259.619995 m, bearing: 129.473776 deg, approachRate: 0.710021 m/s, LOS rate: -1.172174 deg/s, cmd update: -4.688695 deg/s, cmd heading: 217.780293 deg, new cmd heading: 223.239477 deg. 2021-02-17T20:10:23.519Z,1613592623.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:24.322Z,1613592624.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:10:24.718Z,1613592624.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:10:25.540Z,1613592625.540 [Micromodem](INFO): Nmea in: $SNTTA,0.175322,,,,201024.42*43 2021-02-17T20:10:26.393Z,1613592626.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:27.947Z,1613592627.947 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:10:29.202Z,1613592629.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:29.978Z,1613592629.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:10:30.379Z,1613592630.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:10:31.191Z,1613592631.191 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201030.08*56 2021-02-17T20:10:31.614Z,1613592631.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 266.999969 m, bearing: 148.554702 deg, deltaT: 10.557424 s, approachRate: 0.699032 m/s, LOS rate: 1.807347 deg/s, posRepo size: 4 2021-02-17T20:10:31.616Z,1613592631.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 266.999969 m, bearing: 148.554702 deg, approachRate: 0.699032 m/s, LOS rate: 1.807347 deg/s, cmd update: 7.229387 deg/s, cmd heading: 168.298420 deg, new cmd heading: 166.605702 deg. 2021-02-17T20:10:34.116Z,1613592634.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:34.816Z,1613592634.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:10:35.227Z,1613592635.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:10:36.071Z,1613592636.071 [Micromodem](INFO): Nmea in: $SNTTA,0.180233,,,,201034.92*44 2021-02-17T20:10:36.478Z,1613592636.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.359985 m, bearing: 159.119488 deg, deltaT: 4.892633 s, approachRate: 0.686750 m/s, LOS rate: 2.159325 deg/s, posRepo size: 4 2021-02-17T20:10:36.480Z,1613592636.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 270.359985 m, bearing: 159.119488 deg, approachRate: 0.686750 m/s, LOS rate: 2.159325 deg/s, cmd update: 8.637301 deg/s, cmd heading: 203.668161 deg, new cmd heading: 206.073038 deg. 2021-02-17T20:10:38.877Z,1613592638.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:39.665Z,1613592639.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:10:40.080Z,1613592640.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:10:40.901Z,1613592640.901 [Micromodem](INFO): Nmea in: $SNTTA,0.182363,,,,201039.77*44 2021-02-17T20:10:41.699Z,1613592641.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:43.298Z,1613592643.298 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:10:44.533Z,1613592644.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:45.326Z,1613592645.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:10:45.737Z,1613592645.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:10:46.542Z,1613592646.542 [Micromodem](INFO): Nmea in: $SNTTA,0.184051,,,,201045.43*4C 2021-02-17T20:10:46.988Z,1613592646.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.119995 m, bearing: 214.220906 deg, deltaT: 10.459461 s, approachRate: 0.550699 m/s, LOS rate: 5.268093 deg/s, posRepo size: 4 2021-02-17T20:10:46.990Z,1613592646.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 276.119995 m, bearing: 214.220906 deg, approachRate: 0.550699 m/s, LOS rate: 5.268093 deg/s, cmd update: 12.000000 deg/s, cmd heading: 293.943839 deg, new cmd heading: 297.316870 deg. 2021-02-17T20:10:49.467Z,1613592649.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:50.168Z,1613592650.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:10:50.580Z,1613592650.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:10:51.395Z,1613592651.395 [Micromodem](INFO): Nmea in: $SNTTA,0.185141,,,,201050.27*4B 2021-02-17T20:10:51.822Z,1613592651.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.679993 m, bearing: 274.858287 deg, deltaT: 4.844223 s, approachRate: 0.322033 m/s, LOS rate: 12.517463 deg/s, posRepo size: 4 2021-02-17T20:10:51.823Z,1613592651.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.517463 deg/s. Setting heading cmd to target bearing of 274.858287deg and heading rate command to 0 deg/s. 2021-02-17T20:10:54.264Z,1613592654.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:55.066Z,1613592655.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:10:55.424Z,1613592655.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:10:56.256Z,1613592656.256 [Micromodem](INFO): Nmea in: $SNTTA,0.185536,,,,201055.17*49 2021-02-17T20:10:56.673Z,1613592656.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.279999 m, bearing: 218.902918 deg, deltaT: 4.883927 s, approachRate: 0.122853 m/s, LOS rate: -11.457045 deg/s, posRepo size: 4 2021-02-17T20:10:56.675Z,1613592656.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 278.279999 m, bearing: 218.902918 deg, approachRate: 0.122853 m/s, LOS rate: -11.457045 deg/s, cmd update: -12.000000 deg/s, cmd heading: 274.858287 deg, new cmd heading: 274.858287 deg. 2021-02-17T20:10:59.116Z,1613592659.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:10:59.888Z,1613592659.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:11:00.315Z,1613592660.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:11:01.125Z,1613592661.125 [Micromodem](INFO): Nmea in: $SNTTA,0.185151,,,,201059.99*46 2021-02-17T20:11:01.943Z,1613592661.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:03.550Z,1613592663.550 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:11:04.779Z,1613592664.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:05.564Z,1613592665.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:11:05.970Z,1613592665.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:11:06.787Z,1613592666.787 [Micromodem](INFO): Nmea in: $SNTTA,0.184071,,,,201105.66*4C 2021-02-17T20:11:07.244Z,1613592667.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.939972 m, bearing: 336.169835 deg, deltaT: 10.488430 s, approachRate: -0.223106 m/s, LOS rate: 11.180598 deg/s, posRepo size: 4 2021-02-17T20:11:07.246Z,1613592667.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 275.939972 m, bearing: 336.169835 deg, approachRate: -0.223106 m/s, LOS rate: 11.180598 deg/s, cmd update: 12.000000 deg/s, cmd heading: 148.948043 deg, new cmd heading: 143.928011 deg. 2021-02-17T20:11:09.629Z,1613592669.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:10.412Z,1613592670.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:11:10.824Z,1613592670.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:11:11.645Z,1613592671.645 [Micromodem](INFO): Nmea in: $SNTTA,0.183233,,,,201110.51*4F 2021-02-17T20:11:12.136Z,1613592672.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.739990 m, bearing: 286.438736 deg, deltaT: 4.833510 s, approachRate: -0.248263 m/s, LOS rate: -10.288817 deg/s, posRepo size: 4 2021-02-17T20:11:12.137Z,1613592672.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 274.739990 m, bearing: 286.438736 deg, approachRate: -0.248263 m/s, LOS rate: -10.288817 deg/s, cmd update: -12.000000 deg/s, cmd heading: 206.949817 deg, new cmd heading: 212.664313 deg. 2021-02-17T20:11:14.487Z,1613592674.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:15.263Z,1613592675.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:11:15.674Z,1613592675.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:11:16.480Z,1613592676.480 [Micromodem](INFO): Nmea in: $SNTTA,0.183156,,,,201115.36*4B 2021-02-17T20:11:16.909Z,1613592676.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.799988 m, bearing: 296.280902 deg, deltaT: 4.848954 s, approachRate: 0.012373 m/s, LOS rate: 2.029750 deg/s, posRepo size: 4 2021-02-17T20:11:16.910Z,1613592676.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 274.799988 m, bearing: 296.280902 deg, approachRate: 0.012373 m/s, LOS rate: 2.029750 deg/s, cmd update: 8.119001 deg/s, cmd heading: 148.929071 deg, new cmd heading: 143.953379 deg. 2021-02-17T20:11:19.352Z,1613592679.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:20.109Z,1613592680.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:11:20.522Z,1613592680.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:11:21.327Z,1613592681.327 [Micromodem](INFO): Nmea in: $SNTTA,0.183918,,,,201120.21*49 2021-02-17T20:11:21.767Z,1613592681.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.939972 m, bearing: 256.464861 deg, deltaT: 4.888128 s, approachRate: 0.233215 m/s, LOS rate: -8.145458 deg/s, posRepo size: 4 2021-02-17T20:11:21.769Z,1613592681.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 275.939972 m, bearing: 256.464861 deg, approachRate: 0.233215 m/s, LOS rate: -8.145458 deg/s, cmd update: -12.000000 deg/s, cmd heading: 188.597757 deg, new cmd heading: 191.736011 deg. 2021-02-17T20:11:24.197Z,1613592684.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:24.956Z,1613592684.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:11:25.362Z,1613592685.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:11:26.177Z,1613592686.177 [Micromodem](INFO): Nmea in: $SNTTA,0.185331,,,,201125.06*4E 2021-02-17T20:11:26.610Z,1613592686.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.979980 m, bearing: 223.427345 deg, deltaT: 4.814018 s, approachRate: 0.423764 m/s, LOS rate: -6.862773 deg/s, posRepo size: 4 2021-02-17T20:11:26.612Z,1613592686.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 277.979980 m, bearing: 223.427345 deg, approachRate: 0.423764 m/s, LOS rate: -6.862773 deg/s, cmd update: -12.000000 deg/s, cmd heading: 130.635584 deg, new cmd heading: 125.835836 deg. 2021-02-17T20:11:29.084Z,1613592689.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:29.804Z,1613592689.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:11:30.210Z,1613592690.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:11:31.070Z,1613592691.070 [Micromodem](INFO): Nmea in: $SNTTA,0.187349,,,,201129.90*40 2021-02-17T20:11:31.454Z,1613592691.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 281.100006 m, bearing: 174.416517 deg, deltaT: 4.944737 s, approachRate: 0.630979 m/s, LOS rate: -9.911716 deg/s, posRepo size: 4 2021-02-17T20:11:31.456Z,1613592691.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 281.100006 m, bearing: 174.416517 deg, approachRate: 0.630979 m/s, LOS rate: -9.911716 deg/s, cmd update: -12.000000 deg/s, cmd heading: 71.356073 deg, new cmd heading: 67.707665 deg. 2021-02-17T20:11:33.860Z,1613592693.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:34.654Z,1613592694.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:11:35.074Z,1613592695.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:11:35.872Z,1613592695.872 [Micromodem](INFO): Nmea in: $SNTTA,0.189525,,,,201134.76*46 2021-02-17T20:11:36.688Z,1613592696.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:38.292Z,1613592698.292 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:11:39.522Z,1613592699.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:40.314Z,1613592700.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:11:40.725Z,1613592700.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:11:41.529Z,1613592701.529 [Micromodem](INFO): Nmea in: $SNTTA,0.192393,,,,201140.41*40 2021-02-17T20:11:41.954Z,1613592701.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 288.779999 m, bearing: 112.379063 deg, deltaT: 10.408603 s, approachRate: 0.737850 m/s, LOS rate: -5.960210 deg/s, posRepo size: 4 2021-02-17T20:11:41.956Z,1613592701.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 288.779999 m, bearing: 112.379063 deg, approachRate: 0.737850 m/s, LOS rate: -5.960210 deg/s, cmd update: -12.000000 deg/s, cmd heading: 306.639674 deg, new cmd heading: 301.707541 deg. 2021-02-17T20:11:44.404Z,1613592704.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:45.162Z,1613592705.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:11:45.563Z,1613592705.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:11:46.395Z,1613592706.395 [Micromodem](INFO): Nmea in: $SNTTA,0.194710,,,,201145.26*4D 2021-02-17T20:11:46.806Z,1613592706.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 292.199982 m, bearing: 144.968907 deg, deltaT: 4.901411 s, approachRate: 0.697755 m/s, LOS rate: 6.649074 deg/s, posRepo size: 4 2021-02-17T20:11:46.808Z,1613592706.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 292.199982 m, bearing: 144.968907 deg, approachRate: 0.697755 m/s, LOS rate: 6.649074 deg/s, cmd update: 12.000000 deg/s, cmd heading: 247.769880 deg, new cmd heading: 243.485832 deg. 2021-02-17T20:11:49.264Z,1613592709.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:50.033Z,1613592710.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:11:50.423Z,1613592710.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:11:51.245Z,1613592711.245 [Micromodem](INFO): Nmea in: $SNTTA,0.196956,,,,201150.14*46 2021-02-17T20:11:51.661Z,1613592711.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 295.559998 m, bearing: 129.157648 deg, deltaT: 4.860842 s, approachRate: 0.691242 m/s, LOS rate: -3.252782 deg/s, posRepo size: 4 2021-02-17T20:11:51.663Z,1613592711.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 295.559998 m, bearing: 129.157648 deg, approachRate: 0.691242 m/s, LOS rate: -3.252782 deg/s, cmd update: -12.000000 deg/s, cmd heading: 306.243758 deg, new cmd heading: 310.316822 deg. 2021-02-17T20:11:54.093Z,1613592714.093 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:11:54.118Z,1613592714.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:54.852Z,1613592714.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:11:55.263Z,1613592715.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:11:56.095Z,1613592716.095 [Micromodem](INFO): Nmea in: $SNTTA,0.199276,,,,201154.95*4D 2021-02-17T20:11:56.115Z,1613592716.115 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T20:11:56.514Z,1613592716.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 299.099976 m, bearing: 157.104514 deg, deltaT: 4.801721 s, approachRate: 0.737231 m/s, LOS rate: 5.820177 deg/s, posRepo size: 4 2021-02-17T20:11:56.520Z,1613592716.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 299.099976 m, bearing: 157.104514 deg, approachRate: 0.737231 m/s, LOS rate: 5.820177 deg/s, cmd update: 12.000000 deg/s, cmd heading: 248.578080 deg, new cmd heading: 243.937728 deg. 2021-02-17T20:11:58.912Z,1613592718.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:11:59.709Z,1613592719.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:12:00.111Z,1613592720.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:12:00.925Z,1613592720.925 [Micromodem](INFO): Nmea in: $SNTTA,0.202432,,,,201159.81*42 2021-02-17T20:12:01.428Z,1613592721.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 303.359985 m, bearing: 215.026199 deg, deltaT: 4.811916 s, approachRate: 0.885304 m/s, LOS rate: 12.037135 deg/s, posRepo size: 4 2021-02-17T20:12:01.429Z,1613592721.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.037135 deg/s. Setting heading cmd to target bearing of 215.026199deg and heading rate command to 0 deg/s. 2021-02-17T20:12:03.755Z,1613592723.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:12:04.556Z,1613592724.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:12:04.954Z,1613592724.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:12:05.768Z,1613592725.768 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201204.66*5B 2021-02-17T20:12:06.599Z,1613592726.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:12:08.183Z,1613592728.183 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:12:09.453Z,1613592729.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:12:10.204Z,1613592730.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:12:10.617Z,1613592730.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:12:11.433Z,1613592731.433 [Micromodem](INFO): Nmea in: $SNTTA,0.206809,,,,201210.31*47 2021-02-17T20:12:11.870Z,1613592731.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 310.440002 m, bearing: 224.711530 deg, deltaT: 10.528251 s, approachRate: 0.672478 m/s, LOS rate: 0.919937 deg/s, posRepo size: 4 2021-02-17T20:12:11.872Z,1613592731.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 310.440002 m, bearing: 224.711530 deg, approachRate: 0.672478 m/s, LOS rate: 0.919937 deg/s, cmd update: 3.679749 deg/s, cmd heading: 215.026199 deg, new cmd heading: 215.026199 deg. 2021-02-17T20:12:14.288Z,1613592734.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:12:15.073Z,1613592735.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:12:15.467Z,1613592735.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:12:16.279Z,1613592736.279 [Micromodem](INFO): Nmea in: $SNTTA,0.208357,,,,201215.17*48 2021-02-17T20:12:16.727Z,1613592736.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 312.600006 m, bearing: 251.214959 deg, deltaT: 4.880549 s, approachRate: 0.442574 m/s, LOS rate: 5.430420 deg/s, posRepo size: 4 2021-02-17T20:12:16.730Z,1613592736.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 312.600006 m, bearing: 251.214959 deg, approachRate: 0.442574 m/s, LOS rate: 5.430420 deg/s, cmd update: 12.000000 deg/s, cmd heading: 232.940525 deg, new cmd heading: 234.359889 deg. 2021-02-17T20:12:19.156Z,1613592739.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:12:19.919Z,1613592739.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:12:20.310Z,1613592740.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:12:21.136Z,1613592741.136 [Micromodem](INFO): Nmea in: $SNTTA,0.209343,,,,201220.02*4E 2021-02-17T20:12:21.554Z,1613592741.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.979980 m, bearing: 273.243384 deg, deltaT: 4.837871 s, approachRate: 0.285244 m/s, LOS rate: 4.553331 deg/s, posRepo size: 4 2021-02-17T20:12:21.556Z,1613592741.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 313.979980 m, bearing: 273.243384 deg, approachRate: 0.285244 m/s, LOS rate: 4.553331 deg/s, cmd update: 12.000000 deg/s, cmd heading: 291.140671 deg, new cmd heading: 295.557499 deg. 2021-02-17T20:12:23.997Z,1613592743.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:12:24.752Z,1613592744.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:12:25.165Z,1613592745.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:12:25.988Z,1613592745.988 [Micromodem](INFO): Nmea in: $SNTTA,0.209544,,,,201224.85*44 2021-02-17T20:12:26.430Z,1613592746.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 314.279999 m, bearing: 226.246437 deg, deltaT: 4.874545 s, approachRate: 0.061548 m/s, LOS rate: -9.641300 deg/s, posRepo size: 4 2021-02-17T20:12:26.432Z,1613592746.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 314.279999 m, bearing: 226.246437 deg, approachRate: 0.061548 m/s, LOS rate: -9.641300 deg/s, cmd update: -12.000000 deg/s, cmd heading: 349.064661 deg, new cmd heading: 354.067905 deg. 2021-02-17T20:12:28.807Z,1613592748.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:12:29.608Z,1613592749.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:12:30.058Z,1613592750.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:12:30.828Z,1613592750.828 [Micromodem](INFO): Nmea in: $SNTTA,0.209647,,,,201229.71*42 2021-02-17T20:12:31.289Z,1613592751.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 314.279999 m, bearing: 336.004244 deg, deltaT: 4.782460 s, approachRate: 0.000000 m/s, LOS rate: 22.950073 deg/s, posRepo size: 4 2021-02-17T20:12:31.289Z,1613592751.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.950073 deg/s. Setting heading cmd to target bearing of 336.004244deg and heading rate command to 0 deg/s. 2021-02-17T20:12:33.700Z,1613592753.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:12:34.453Z,1613592754.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:12:34.871Z,1613592754.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:12:35.672Z,1613592755.672 [Micromodem](INFO): Nmea in: $SNTTA,0.208690,,,,201234.56*40 2021-02-17T20:12:36.140Z,1613592756.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 312.839996 m, bearing: 348.192908 deg, deltaT: 4.844083 s, approachRate: -0.297270 m/s, LOS rate: 2.516196 deg/s, posRepo size: 4 2021-02-17T20:12:36.142Z,1613592756.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 312.839996 m, bearing: 348.192908 deg, approachRate: -0.297270 m/s, LOS rate: 2.516196 deg/s, cmd update: 10.064785 deg/s, cmd heading: 336.004244 deg, new cmd heading: 336.004244 deg. 2021-02-17T20:12:38.523Z,1613592758.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:12:39.314Z,1613592759.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:12:39.706Z,1613592759.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:12:40.528Z,1613592760.528 [Micromodem](INFO): Nmea in: $SNTTA,0.207554,,,,201239.41*4F 2021-02-17T20:12:40.951Z,1613592760.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 311.159973 m, bearing: 340.440370 deg, deltaT: 4.855758 s, approachRate: -0.345986 m/s, LOS rate: -1.596566 deg/s, posRepo size: 4 2021-02-17T20:12:40.953Z,1613592760.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 311.159973 m, bearing: 340.440370 deg, approachRate: -0.345986 m/s, LOS rate: -1.596566 deg/s, cmd update: -6.386264 deg/s, cmd heading: 24.874200 deg, new cmd heading: 28.982212 deg. 2021-02-17T20:12:43.393Z,1613592763.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:12:44.152Z,1613592764.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:12:44.564Z,1613592764.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:12:45.374Z,1613592765.374 [Micromodem](INFO): Nmea in: $SNTTA,0.205670,,,,201244.25*40 2021-02-17T20:12:45.794Z,1613592765.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.279999 m, bearing: 342.855361 deg, deltaT: 4.889479 s, approachRate: -0.589015 m/s, LOS rate: 0.493916 deg/s, posRepo size: 4 2021-02-17T20:12:45.796Z,1613592765.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 308.279999 m, bearing: 342.855361 deg, approachRate: -0.589015 m/s, LOS rate: 0.493916 deg/s, cmd update: 1.975663 deg/s, cmd heading: 353.699058 deg, new cmd heading: 351.340515 deg. 2021-02-17T20:12:48.260Z,1613592768.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:12:48.000Z,1613592769.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:12:49.428Z,1613592769.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:12:50.222Z,1613592770.222 [Micromodem](INFO): Nmea in: $SNTTA,0.203852,,,,201249.10*43 2021-02-17T20:12:50.664Z,1613592770.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.579987 m, bearing: 343.503437 deg, deltaT: 4.848294 s, approachRate: -0.556899 m/s, LOS rate: 0.133671 deg/s, posRepo size: 4 2021-02-17T20:12:50.666Z,1613592770.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 305.579987 m, bearing: 343.503437 deg, approachRate: -0.556899 m/s, LOS rate: 0.133671 deg/s, cmd update: 0.534683 deg/s, cmd heading: 3.285821 deg, new cmd heading: 4.050587 deg. 2021-02-17T20:12:53.127Z,1613592773.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:12:53.852Z,1613592773.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:12:54.257Z,1613592774.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:12:55.077Z,1613592775.077 [Micromodem](INFO): Nmea in: $SNTTA,0.202048,,,,201253.95*47 2021-02-17T20:12:55.494Z,1613592775.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.879974 m, bearing: 341.594453 deg, deltaT: 4.876040 s, approachRate: -0.553731 m/s, LOS rate: -0.391503 deg/s, posRepo size: 4 2021-02-17T20:12:55.512Z,1613592775.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 302.879974 m, bearing: 341.594453 deg, approachRate: -0.553731 m/s, LOS rate: -0.391503 deg/s, cmd update: -1.566011 deg/s, cmd heading: 5.892969 deg, new cmd heading: 6.075606 deg. 2021-02-17T20:12:57.903Z,1613592777.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:12:58.702Z,1613592778.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:12:59.127Z,1613592779.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:12:59.920Z,1613592779.920 [Micromodem](INFO): Nmea in: $SNTTA,0.200003,,,,201258.80*45 2021-02-17T20:13:00.376Z,1613592780.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 299.639984 m, bearing: 340.921270 deg, deltaT: 4.806432 s, approachRate: -0.674095 m/s, LOS rate: -0.140059 deg/s, posRepo size: 4 2021-02-17T20:13:00.378Z,1613592780.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 299.639984 m, bearing: 340.921270 deg, approachRate: -0.674095 m/s, LOS rate: -0.140059 deg/s, cmd update: -0.560235 deg/s, cmd heading: 358.366116 deg, new cmd heading: 357.714034 deg. 2021-02-17T20:13:02.772Z,1613592782.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:13:03.554Z,1613592783.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:13:03.950Z,1613592783.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:13:04.768Z,1613592784.768 [Micromodem](INFO): Nmea in: $SNTTA,0.198235,,,,201303.65*44 2021-02-17T20:13:05.229Z,1613592785.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 296.939972 m, bearing: 340.897856 deg, deltaT: 4.839559 s, approachRate: -0.557905 m/s, LOS rate: -0.004838 deg/s, posRepo size: 4 2021-02-17T20:13:05.230Z,1613592785.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 296.939972 m, bearing: 340.897856 deg, approachRate: -0.557905 m/s, LOS rate: -0.004838 deg/s, cmd update: -0.019352 deg/s, cmd heading: 355.663893 deg, new cmd heading: 355.413932 deg. 2021-02-17T20:13:07.626Z,1613592787.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:13:08.400Z,1613592788.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:13:08.798Z,1613592788.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:13:09.615Z,1613592789.615 [Micromodem](INFO): Nmea in: $SNTTA,0.195794,,,,201308.50*4A 2021-02-17T20:13:10.096Z,1613592790.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 293.519989 m, bearing: 341.458478 deg, deltaT: 4.827518 s, approachRate: -0.708435 m/s, LOS rate: 0.116130 deg/s, posRepo size: 4 2021-02-17T20:13:10.098Z,1613592790.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 293.519989 m, bearing: 341.458478 deg, approachRate: -0.708435 m/s, LOS rate: 0.116130 deg/s, cmd update: 0.464522 deg/s, cmd heading: 355.570085 deg, new cmd heading: 355.561076 deg. 2021-02-17T20:13:12.447Z,1613592792.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:13:13.250Z,1613592793.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:13:13.651Z,1613592793.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:13:14.462Z,1613592794.462 [Micromodem](INFO): Nmea in: $SNTTA,0.193774,,,,201313.35*4B 2021-02-17T20:13:14.949Z,1613592794.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.459991 m, bearing: 342.208405 deg, deltaT: 4.847175 s, approachRate: -0.631295 m/s, LOS rate: 0.154714 deg/s, posRepo size: 4 2021-02-17T20:13:14.951Z,1613592794.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 290.459991 m, bearing: 342.208405 deg, approachRate: -0.631295 m/s, LOS rate: 0.154714 deg/s, cmd update: 0.618857 deg/s, cmd heading: 357.821846 deg, new cmd heading: 358.041037 deg. 2021-02-17T20:13:17.334Z,1613592797.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:13:18.090Z,1613592798.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:13:18.500Z,1613592798.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:13:19.309Z,1613592799.309 [Micromodem](INFO): Nmea in: $SNTTA,0.191744,,,,201318.19*4F 2021-02-17T20:13:19.742Z,1613592799.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 287.459991 m, bearing: 341.762585 deg, deltaT: 4.897727 s, approachRate: -0.612529 m/s, LOS rate: -0.091026 deg/s, posRepo size: 4 2021-02-17T20:13:19.744Z,1613592799.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 287.459991 m, bearing: 341.762585 deg, approachRate: -0.612529 m/s, LOS rate: -0.091026 deg/s, cmd update: -0.364104 deg/s, cmd heading: 0.850352 deg, new cmd heading: 1.079824 deg. 2021-02-17T20:13:22.194Z,1613592802.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:13:22.945Z,1613592802.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:13:23.342Z,1613592803.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:13:24.160Z,1613592804.160 [Micromodem](INFO): Nmea in: $SNTTA,0.189813,,,,201323.04*4F 2021-02-17T20:13:24.622Z,1613592804.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.519989 m, bearing: 341.621310 deg, deltaT: 4.843112 s, approachRate: -0.607048 m/s, LOS rate: -0.029170 deg/s, posRepo size: 4 2021-02-17T20:13:24.630Z,1613592804.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 284.519989 m, bearing: 341.621310 deg, approachRate: -0.607048 m/s, LOS rate: -0.029170 deg/s, cmd update: -0.116682 deg/s, cmd heading: 359.085515 deg, new cmd heading: 358.938526 deg. 2021-02-17T20:13:26.991Z,1613592806.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:13:27.793Z,1613592807.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:13:28.195Z,1613592808.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:13:29.063Z,1613592809.063 [Micromodem](INFO): Nmea in: $SNTTA,0.187672,,,,201327.89*49 2021-02-17T20:13:29.430Z,1613592809.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 281.339996 m, bearing: 342.131798 deg, deltaT: 4.906417 s, approachRate: -0.648129 m/s, LOS rate: 0.104045 deg/s, posRepo size: 4 2021-02-17T20:13:29.432Z,1613592809.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 281.339996 m, bearing: 342.131798 deg, approachRate: -0.648129 m/s, LOS rate: 0.104045 deg/s, cmd update: 0.416180 deg/s, cmd heading: 358.513482 deg, new cmd heading: 358.477382 deg. 2021-02-17T20:13:31.839Z,1613592811.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:13:32.653Z,1613592812.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:13:33.076Z,1613592813.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:13:33.864Z,1613592813.864 [Micromodem](INFO): Nmea in: $SNTTA,0.185485,,,,201332.75*46 2021-02-17T20:13:34.328Z,1613592814.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.979980 m, bearing: 342.930466 deg, deltaT: 4.778607 s, approachRate: -0.703137 m/s, LOS rate: 0.167134 deg/s, posRepo size: 4 2021-02-17T20:13:34.330Z,1613592814.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 277.979980 m, bearing: 342.930466 deg, approachRate: -0.703137 m/s, LOS rate: 0.167134 deg/s, cmd update: 0.668536 deg/s, cmd heading: 0.493871 deg, new cmd heading: 0.678973 deg. 2021-02-17T20:13:36.687Z,1613592816.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:13:37.487Z,1613592817.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:13:37.886Z,1613592817.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:13:38.703Z,1613592818.703 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201337.59*56 2021-02-17T20:13:39.168Z,1613592819.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.739990 m, bearing: 343.099253 deg, deltaT: 4.814700 s, approachRate: -0.672937 m/s, LOS rate: 0.035057 deg/s, posRepo size: 4 2021-02-17T20:13:39.170Z,1613592819.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 274.739990 m, bearing: 343.099253 deg, approachRate: -0.672937 m/s, LOS rate: 0.035057 deg/s, cmd update: 0.140227 deg/s, cmd heading: 3.728694 deg, new cmd heading: 4.029423 deg. 2021-02-17T20:13:41.558Z,1613592821.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:13:42.330Z,1613592822.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:13:42.736Z,1613592822.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:13:43.544Z,1613592823.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201342.43*5F 2021-02-17T20:13:43.978Z,1613592823.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 271.859985 m, bearing: 341.864328 deg, deltaT: 4.840760 s, approachRate: -0.594949 m/s, LOS rate: -0.255110 deg/s, posRepo size: 4 2021-02-17T20:13:43.980Z,1613592823.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 271.859985 m, bearing: 341.864328 deg, approachRate: -0.594949 m/s, LOS rate: -0.255110 deg/s, cmd update: -1.020439 deg/s, cmd heading: 4.407482 deg, new cmd heading: 4.466313 deg. 2021-02-17T20:13:46.418Z,1613592826.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:13:47.198Z,1613592827.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:13:47.596Z,1613592827.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:13:48.401Z,1613592828.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201347.30*5E 2021-02-17T20:13:48.822Z,1613592828.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.799988 m, bearing: 341.719500 deg, deltaT: 4.898035 s, approachRate: -0.624740 m/s, LOS rate: -0.029568 deg/s, posRepo size: 4 2021-02-17T20:13:48.824Z,1613592828.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 268.799988 m, bearing: 341.719500 deg, approachRate: -0.624740 m/s, LOS rate: -0.029568 deg/s, cmd update: -0.118274 deg/s, cmd heading: 359.409346 deg, new cmd heading: 359.036344 deg. 2021-02-17T20:13:51.271Z,1613592831.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:13:52.075Z,1613592832.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:13:52.443Z,1613592832.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:13:53.248Z,1613592833.248 [Micromodem](INFO): Nmea in: $SNTTA,0.177214,,,,201352.18*48 2021-02-17T20:13:53.677Z,1613592833.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.679993 m, bearing: 341.637429 deg, deltaT: 4.868385 s, approachRate: -0.640869 m/s, LOS rate: -0.016858 deg/s, posRepo size: 4 2021-02-17T20:13:53.695Z,1613592833.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 265.679993 m, bearing: 341.637429 deg, approachRate: -0.640869 m/s, LOS rate: -0.016858 deg/s, cmd update: -0.067432 deg/s, cmd heading: 358.834000 deg, new cmd heading: 358.791884 deg. 2021-02-17T20:13:56.124Z,1613592836.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:13:56.880Z,1613592836.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:13:57.297Z,1613592837.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:13:58.095Z,1613592838.095 [Micromodem](INFO): Nmea in: $SNTTA,0.175182,,,,201356.98*4A 2021-02-17T20:13:58.526Z,1613592838.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.559998 m, bearing: 341.842280 deg, deltaT: 4.828337 s, approachRate: -0.646184 m/s, LOS rate: 0.042427 deg/s, posRepo size: 4 2021-02-17T20:13:58.528Z,1613592838.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 262.559998 m, bearing: 341.842280 deg, approachRate: -0.646184 m/s, LOS rate: 0.042427 deg/s, cmd update: 0.169707 deg/s, cmd heading: 358.508423 deg, new cmd heading: 358.483026 deg. 2021-02-17T20:14:00.927Z,1613592840.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:14:01.738Z,1613592841.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:14:02.126Z,1613592842.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:14:02.953Z,1613592842.953 [Micromodem](INFO): Nmea in: $SNTTA,0.173008,,,,201401.84*47 2021-02-17T20:14:03.401Z,1613592843.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 259.379974 m, bearing: 341.494241 deg, deltaT: 4.833923 s, approachRate: -0.657856 m/s, LOS rate: -0.071999 deg/s, posRepo size: 4 2021-02-17T20:14:03.403Z,1613592843.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 259.379974 m, bearing: 341.494241 deg, approachRate: -0.657856 m/s, LOS rate: -0.071999 deg/s, cmd update: -0.287997 deg/s, cmd heading: 359.326211 deg, new cmd heading: 359.399641 deg. 2021-02-17T20:14:05.796Z,1613592845.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:14:06.568Z,1613592846.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:14:06.990Z,1613592846.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:14:07.795Z,1613592847.795 [Micromodem](INFO): Nmea in: $SNTTA,0.170853,,,,201406.67*48 2021-02-17T20:14:08.252Z,1613592848.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.079987 m, bearing: 341.924816 deg, deltaT: 4.846877 s, approachRate: -0.680848 m/s, LOS rate: 0.088836 deg/s, posRepo size: 4 2021-02-17T20:14:08.254Z,1613592848.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 256.079987 m, bearing: 341.924816 deg, approachRate: -0.680848 m/s, LOS rate: 0.088836 deg/s, cmd update: 0.355342 deg/s, cmd heading: 357.931713 deg, new cmd heading: 357.804479 deg. 2021-02-17T20:14:10.628Z,1613592850.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:14:11.428Z,1613592851.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:14:11.822Z,1613592851.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:14:12.646Z,1613592852.646 [Micromodem](INFO): Nmea in: $SNTTA,0.168821,,,,201411.53*45 2021-02-17T20:14:13.120Z,1613592853.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.019989 m, bearing: 341.850667 deg, deltaT: 4.827192 s, approachRate: -0.633908 m/s, LOS rate: -0.015361 deg/s, posRepo size: 4 2021-02-17T20:14:13.121Z,1613592853.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 253.019989 m, bearing: 341.850667 deg, approachRate: -0.633908 m/s, LOS rate: -0.015361 deg/s, cmd update: -0.061442 deg/s, cmd heading: 359.655607 deg, new cmd heading: 359.818321 deg. 2021-02-17T20:14:15.257Z,1613592855.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:14:15.866Z,1613592855.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:14:16.266Z,1613592856.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:14:17.087Z,1613592857.087 [Micromodem](INFO): Nmea in: $SNTTA,0.166999,,,,201415.97*45 2021-02-17T20:14:17.510Z,1613592857.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.319992 m, bearing: 342.555488 deg, deltaT: 4.503494 s, approachRate: -0.599534 m/s, LOS rate: 0.156505 deg/s, posRepo size: 4 2021-02-17T20:14:17.512Z,1613592857.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 250.319992 m, bearing: 342.555488 deg, approachRate: -0.599534 m/s, LOS rate: 0.156505 deg/s, cmd update: 0.626021 deg/s, cmd heading: 359.379147 deg, new cmd heading: 359.357710 deg. 2021-02-17T20:14:19.923Z,1613592859.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:14:20.712Z,1613592860.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:14:21.126Z,1613592861.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:14:21.932Z,1613592861.932 [Micromodem](INFO): Nmea in: $SNTTA,0.164997,,,,201420.81*48 2021-02-17T20:14:22.389Z,1613592862.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.259995 m, bearing: 343.357516 deg, deltaT: 4.781290 s, approachRate: -0.639994 m/s, LOS rate: 0.167743 deg/s, posRepo size: 4 2021-02-17T20:14:22.395Z,1613592862.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 247.259995 m, bearing: 343.357516 deg, approachRate: -0.639994 m/s, LOS rate: 0.167743 deg/s, cmd update: 0.670972 deg/s, cmd heading: 2.374829 deg, new cmd heading: 2.652271 deg. 2021-02-17T20:14:24.763Z,1613592864.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:14:25.561Z,1613592865.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:14:25.961Z,1613592865.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:14:26.775Z,1613592866.775 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201425.66*5E 2021-02-17T20:14:27.224Z,1613592867.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 244.139984 m, bearing: 343.046470 deg, deltaT: 4.843318 s, approachRate: -0.644189 m/s, LOS rate: -0.064222 deg/s, posRepo size: 4 2021-02-17T20:14:27.226Z,1613592867.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 244.139984 m, bearing: 343.046470 deg, approachRate: -0.644189 m/s, LOS rate: -0.064222 deg/s, cmd update: -0.256887 deg/s, cmd heading: 5.624560 deg, new cmd heading: 5.915812 deg. 2021-02-17T20:14:29.625Z,1613592869.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:14:30.404Z,1613592870.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:14:30.811Z,1613592870.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:14:31.617Z,1613592871.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201430.50*5F 2021-02-17T20:14:32.449Z,1613592872.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:14:34.069Z,1613592874.069 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:14:35.306Z,1613592875.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:14:36.077Z,1613592876.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:14:36.465Z,1613592876.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:14:37.287Z,1613592877.287 [Micromodem](INFO): Nmea in: $SNTTA,0.159125,,,,201436.18*40 2021-02-17T20:14:37.742Z,1613592877.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.899979 m, bearing: 341.172867 deg, deltaT: 10.570152 s, approachRate: -0.590342 m/s, LOS rate: -0.177254 deg/s, posRepo size: 4 2021-02-17T20:14:37.748Z,1613592877.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 237.899979 m, bearing: 341.172867 deg, approachRate: -0.590342 m/s, LOS rate: -0.177254 deg/s, cmd update: -0.709016 deg/s, cmd heading: 2.910262 deg, new cmd heading: 2.811149 deg. 2021-02-17T20:14:40.172Z,1613592880.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:14:40.934Z,1613592880.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:14:41.315Z,1613592881.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:14:42.144Z,1613592882.144 [Micromodem](INFO): Nmea in: $SNTTA,0.157190,,,,201441.03*4A 2021-02-17T20:14:42.570Z,1613592882.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.080002 m, bearing: 340.377532 deg, deltaT: 4.817883 s, approachRate: -0.585315 m/s, LOS rate: -0.165080 deg/s, posRepo size: 4 2021-02-17T20:14:42.572Z,1613592882.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 235.080002 m, bearing: 340.377532 deg, approachRate: -0.585315 m/s, LOS rate: -0.165080 deg/s, cmd update: -0.660319 deg/s, cmd heading: 359.491426 deg, new cmd heading: 359.213318 deg. 2021-02-17T20:14:44.983Z,1613592884.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:14:45.756Z,1613592885.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:14:46.172Z,1613592886.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:14:46.974Z,1613592886.974 [Micromodem](INFO): Nmea in: $SNTTA,0.154884,,,,201445.86*4C 2021-02-17T20:14:47.433Z,1613592887.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.139984 m, bearing: 341.270101 deg, deltaT: 4.827884 s, approachRate: -0.608966 m/s, LOS rate: 0.184878 deg/s, posRepo size: 4 2021-02-17T20:14:47.435Z,1613592887.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 232.139984 m, bearing: 341.270101 deg, approachRate: -0.608966 m/s, LOS rate: 0.184878 deg/s, cmd update: 0.739512 deg/s, cmd heading: 356.314561 deg, new cmd heading: 356.021009 deg. 2021-02-17T20:14:49.826Z,1613592889.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:14:50.613Z,1613592890.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:14:51.016Z,1613592891.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:14:51.826Z,1613592891.826 [Micromodem](INFO): Nmea in: $SNTTA,0.152811,,,,201450.71*4A 2021-02-17T20:14:52.290Z,1613592892.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.019989 m, bearing: 342.025302 deg, deltaT: 4.855187 s, approachRate: -0.642611 m/s, LOS rate: 0.155545 deg/s, posRepo size: 4 2021-02-17T20:14:52.296Z,1613592892.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 229.019989 m, bearing: 342.025302 deg, approachRate: -0.642611 m/s, LOS rate: 0.155545 deg/s, cmd update: 0.622180 deg/s, cmd heading: 359.911242 deg, new cmd heading: 0.234730 deg. 2021-02-17T20:14:54.689Z,1613592894.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:14:55.452Z,1613592895.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:14:55.858Z,1613592895.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:14:56.668Z,1613592896.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201455.55*59 2021-02-17T20:14:57.137Z,1613592897.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.900009 m, bearing: 340.723468 deg, deltaT: 4.821733 s, approachRate: -0.647066 m/s, LOS rate: -0.269993 deg/s, posRepo size: 4 2021-02-17T20:14:57.139Z,1613592897.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.900009 m, bearing: 340.723468 deg, approachRate: -0.647066 m/s, LOS rate: -0.269993 deg/s, cmd update: -1.079972 deg/s, cmd heading: 2.916414 deg, new cmd heading: 3.199166 deg. 2021-02-17T20:14:59.508Z,1613592899.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:15:00.316Z,1613592900.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:15:00.706Z,1613592900.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:15:01.530Z,1613592901.530 [Micromodem](INFO): Nmea in: $SNTTA,0.148849,,,,201500.42*48 2021-02-17T20:15:01.962Z,1613592901.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.839981 m, bearing: 341.928668 deg, deltaT: 4.862577 s, approachRate: -0.629302 m/s, LOS rate: 0.247852 deg/s, posRepo size: 4 2021-02-17T20:15:01.964Z,1613592901.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 222.839981 m, bearing: 341.928668 deg, approachRate: -0.629302 m/s, LOS rate: 0.247852 deg/s, cmd update: 0.991409 deg/s, cmd heading: 357.665955 deg, new cmd heading: 357.214516 deg. 2021-02-17T20:15:04.392Z,1613592904.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:15:05.153Z,1613592905.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:15:05.566Z,1613592905.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:15:06.373Z,1613592906.373 [Micromodem](INFO): Nmea in: $SNTTA,0.146856,,,,201505.25*4C 2021-02-17T20:15:06.798Z,1613592906.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.899994 m, bearing: 341.484323 deg, deltaT: 4.899610 s, approachRate: -0.600045 m/s, LOS rate: -0.090690 deg/s, posRepo size: 4 2021-02-17T20:15:06.800Z,1613592906.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 219.899994 m, bearing: 341.484323 deg, approachRate: -0.600045 m/s, LOS rate: -0.090690 deg/s, cmd update: -0.362759 deg/s, cmd heading: 2.516534 deg, new cmd heading: 2.874795 deg. 2021-02-17T20:15:09.245Z,1613592909.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:15:10.015Z,1613592910.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:15:10.406Z,1613592910.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:15:11.226Z,1613592911.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201510.12*5A 2021-02-17T20:15:11.685Z,1613592911.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.839996 m, bearing: 342.285122 deg, deltaT: 4.841286 s, approachRate: -0.632063 m/s, LOS rate: 0.165410 deg/s, posRepo size: 4 2021-02-17T20:15:11.687Z,1613592911.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 216.839996 m, bearing: 342.285122 deg, approachRate: -0.632063 m/s, LOS rate: 0.165410 deg/s, cmd update: 0.661641 deg/s, cmd heading: 0.757927 deg, new cmd heading: 0.618638 deg. 2021-02-17T20:15:14.111Z,1613592914.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:15:14.870Z,1613592914.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:15:15.254Z,1613592915.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:15:16.107Z,1613592916.107 [Micromodem](INFO): Nmea in: $SNTTA,0.143013,,,,201514.97*49 2021-02-17T20:15:16.502Z,1613592916.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.379974 m, bearing: 343.152501 deg, deltaT: 4.874941 s, approachRate: -0.504626 m/s, LOS rate: 0.177926 deg/s, posRepo size: 4 2021-02-17T20:15:16.504Z,1613592916.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.379974 m, bearing: 343.152501 deg, approachRate: -0.504626 m/s, LOS rate: 0.177926 deg/s, cmd update: 0.711705 deg/s, cmd heading: 3.971077 deg, new cmd heading: 4.209949 deg. 2021-02-17T20:15:18.903Z,1613592918.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:15:19.699Z,1613592919.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:15:20.125Z,1613592920.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:15:20.915Z,1613592920.915 [Micromodem](INFO): Nmea in: $SNTTA,0.140835,,,,201519.80*4D 2021-02-17T20:15:21.381Z,1613592921.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.720001 m, bearing: 341.557625 deg, deltaT: 4.768645 s, approachRate: -0.767508 m/s, LOS rate: -0.334451 deg/s, posRepo size: 4 2021-02-17T20:15:21.383Z,1613592921.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.720001 m, bearing: 341.557625 deg, approachRate: -0.767508 m/s, LOS rate: -0.334451 deg/s, cmd update: -1.337803 deg/s, cmd heading: 7.379159 deg, new cmd heading: 7.700355 deg. 2021-02-17T20:15:23.751Z,1613592923.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:15:24.553Z,1613592924.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:15:24.950Z,1613592924.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:15:25.769Z,1613592925.769 [Micromodem](INFO): Nmea in: $SNTTA,0.138642,,,,201524.65*49 2021-02-17T20:15:26.225Z,1613592926.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.599976 m, bearing: 340.981403 deg, deltaT: 4.853547 s, approachRate: -0.642834 m/s, LOS rate: -0.118722 deg/s, posRepo size: 4 2021-02-17T20:15:26.226Z,1613592926.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.599976 m, bearing: 340.981403 deg, approachRate: -0.642834 m/s, LOS rate: -0.118722 deg/s, cmd update: -0.474887 deg/s, cmd heading: 0.886108 deg, new cmd heading: 0.295182 deg. 2021-02-17T20:15:28.629Z,1613592928.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:15:29.413Z,1613592929.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:15:29.800Z,1613592929.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:15:30.620Z,1613592930.620 [Micromodem](INFO): Nmea in: $SNTTA,0.136816,,,,201529.51*42 2021-02-17T20:15:31.125Z,1613592931.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.779999 m, bearing: 341.197674 deg, deltaT: 4.876289 s, approachRate: -0.578304 m/s, LOS rate: 0.044352 deg/s, posRepo size: 4 2021-02-17T20:15:31.127Z,1613592931.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.779999 m, bearing: 341.197674 deg, approachRate: -0.578304 m/s, LOS rate: 0.044352 deg/s, cmd update: 0.177406 deg/s, cmd heading: 358.582128 deg, new cmd heading: 358.349172 deg. 2021-02-17T20:15:33.447Z,1613592933.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:15:34.257Z,1613592934.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:15:34.678Z,1613592934.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:15:35.466Z,1613592935.466 [Micromodem](INFO): Nmea in: $SNTTA,0.134619,,,,201534.36*4C 2021-02-17T20:15:35.886Z,1613592935.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.720001 m, bearing: 341.014871 deg, deltaT: 4.821317 s, approachRate: -0.634681 m/s, LOS rate: -0.037916 deg/s, posRepo size: 4 2021-02-17T20:15:35.888Z,1613592935.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.720001 m, bearing: 341.014871 deg, approachRate: -0.634681 m/s, LOS rate: -0.037916 deg/s, cmd update: -0.151662 deg/s, cmd heading: 359.441838 deg, new cmd heading: 359.513746 deg. 2021-02-17T20:15:38.341Z,1613592938.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:15:39.088Z,1613592939.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:15:39.494Z,1613592939.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:15:40.309Z,1613592940.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201539.19*5A 2021-02-17T20:15:40.741Z,1613592940.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.660004 m, bearing: 341.309170 deg, deltaT: 4.861603 s, approachRate: -0.629422 m/s, LOS rate: 0.060535 deg/s, posRepo size: 4 2021-02-17T20:15:40.743Z,1613592940.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.660004 m, bearing: 341.309170 deg, approachRate: -0.629422 m/s, LOS rate: 0.060535 deg/s, cmd update: 0.242142 deg/s, cmd heading: 358.704530 deg, new cmd heading: 358.643995 deg. 2021-02-17T20:15:43.187Z,1613592943.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:15:43.936Z,1613592943.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:15:44.359Z,1613592944.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:15:45.155Z,1613592945.155 [Micromodem](INFO): Nmea in: $SNTTA,0.130724,,,,201544.04*41 2021-02-17T20:15:45.609Z,1613592945.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.719986 m, bearing: 340.048672 deg, deltaT: 4.888519 s, approachRate: -0.601413 m/s, LOS rate: -0.257849 deg/s, posRepo size: 4 2021-02-17T20:15:45.611Z,1613592945.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.719986 m, bearing: 340.048672 deg, approachRate: -0.601413 m/s, LOS rate: -0.257849 deg/s, cmd update: -1.031394 deg/s, cmd heading: 359.885353 deg, new cmd heading: 359.979089 deg. 2021-02-17T20:15:48.018Z,1613592948.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:15:48.784Z,1613592948.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:15:49.206Z,1613592949.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:15:50.050Z,1613592950.050 [Micromodem](INFO): Nmea in: $SNTTA,0.128659,,,,201548.89*4A 2021-02-17T20:15:50.450Z,1613592950.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.599991 m, bearing: 339.771175 deg, deltaT: 4.880172 s, approachRate: -0.639321 m/s, LOS rate: -0.056862 deg/s, posRepo size: 4 2021-02-17T20:15:50.452Z,1613592950.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.599991 m, bearing: 339.771175 deg, approachRate: -0.639321 m/s, LOS rate: -0.056862 deg/s, cmd update: -0.227448 deg/s, cmd heading: 354.839576 deg, new cmd heading: 354.490005 deg. 2021-02-17T20:15:52.841Z,1613592952.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:15:53.632Z,1613592953.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:15:54.073Z,1613592954.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:15:54.850Z,1613592954.850 [Micromodem](INFO): Nmea in: $SNTTA,0.126526,,,,201553.73*40 2021-02-17T20:15:55.305Z,1613592955.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.419998 m, bearing: 340.327399 deg, deltaT: 4.773459 s, approachRate: -0.666182 m/s, LOS rate: 0.116524 deg/s, posRepo size: 4 2021-02-17T20:15:55.307Z,1613592955.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.419998 m, bearing: 340.327399 deg, approachRate: -0.666182 m/s, LOS rate: 0.116524 deg/s, cmd update: 0.466097 deg/s, cmd heading: 353.758503 deg, new cmd heading: 353.658205 deg. 2021-02-17T20:15:57.697Z,1613592957.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:15:58.480Z,1613592958.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:15:58.894Z,1613592958.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:15:59.293Z,1613592959.293 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:15:59.709Z,1613592959.709 [Micromodem](INFO): Nmea in: $SNTTA,0.124390,,,,201558.58*4B 2021-02-17T20:16:00.161Z,1613592960.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.480011 m, bearing: 340.318465 deg, deltaT: 4.847102 s, approachRate: -0.606545 m/s, LOS rate: -0.001843 deg/s, posRepo size: 4 2021-02-17T20:16:00.167Z,1613592960.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.480011 m, bearing: 340.318465 deg, approachRate: -0.606545 m/s, LOS rate: -0.001843 deg/s, cmd update: -0.007373 deg/s, cmd heading: 356.027250 deg, new cmd heading: 356.227521 deg. 2021-02-17T20:16:02.553Z,1613592962.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:16:03.345Z,1613592963.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:16:03.736Z,1613592963.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:16:04.555Z,1613592964.555 [Micromodem](INFO): Nmea in: $SNTTA,0.122156,,,,201603.45*44 2021-02-17T20:16:04.982Z,1613592964.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.000000 m, bearing: 340.760214 deg, deltaT: 4.873328 s, approachRate: -0.714093 m/s, LOS rate: 0.090646 deg/s, posRepo size: 4 2021-02-17T20:16:05.000Z,1613592965.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.000000 m, bearing: 340.760214 deg, approachRate: -0.714093 m/s, LOS rate: 0.090646 deg/s, cmd update: 0.362585 deg/s, cmd heading: 355.991400 deg, new cmd heading: 355.988539 deg. 2021-02-17T20:16:07.422Z,1613592967.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:16:08.184Z,1613592968.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:16:08.582Z,1613592968.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:16:09.400Z,1613592969.400 [Micromodem](INFO): Nmea in: $SNTTA,0.120168,,,,201608.29*4A 2021-02-17T20:16:09.818Z,1613592969.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.060013 m, bearing: 341.298570 deg, deltaT: 4.852526 s, approachRate: -0.605867 m/s, LOS rate: 0.110943 deg/s, posRepo size: 4 2021-02-17T20:16:09.820Z,1613592969.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.060013 m, bearing: 341.298570 deg, approachRate: -0.605867 m/s, LOS rate: 0.110943 deg/s, cmd update: 0.443773 deg/s, cmd heading: 357.754661 deg, new cmd heading: 357.885374 deg. 2021-02-17T20:16:12.266Z,1613592972.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:16:13.079Z,1613592973.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:16:13.430Z,1613592973.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:16:14.659Z,1613592974.659 [Micromodem](INFO): Nmea in: $SNTTA,0.118050,,,,201613.18*43 2021-02-17T20:16:14.708Z,1613592974.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 342.352796 deg, deltaT: 4.871545 s, approachRate: -0.652772 m/s, LOS rate: 0.216405 deg/s, posRepo size: 4 2021-02-17T20:16:14.709Z,1613592974.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 342.352796 deg, approachRate: -0.652772 m/s, LOS rate: 0.216405 deg/s, cmd update: 0.865619 deg/s, cmd heading: 359.914837 deg, new cmd heading: 0.084557 deg. 2021-02-17T20:16:17.131Z,1613592977.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:16:17.881Z,1613592977.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:16:18.278Z,1613592978.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:16:19.104Z,1613592979.104 [Micromodem](INFO): Nmea in: $SNTTA,0.116018,,,,201617.98*4D 2021-02-17T20:16:19.164Z,1613592979.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 342.653133 deg, deltaT: 4.384435 s, approachRate: 0.000000 m/s, LOS rate: 0.068501 deg/s, posRepo size: 4 2021-02-17T20:16:19.165Z,1613592979.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 342.653133 deg, approachRate: 0.000000 m/s, LOS rate: 0.068501 deg/s, cmd update: 0.274003 deg/s, cmd heading: 3.701906 deg, new cmd heading: 4.102970 deg. 2021-02-17T20:16:21.545Z,1613592981.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:16:22.317Z,1613592982.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:16:22.734Z,1613592982.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:16:23.544Z,1613592983.544 [Micromodem](INFO): Nmea in: $SNTTA,0.114114,,,,201622.42*43 2021-02-17T20:16:23.581Z,1613592983.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 340.889113 deg, deltaT: 4.550921 s, approachRate: 0.000000 m/s, LOS rate: -0.387618 deg/s, posRepo size: 4 2021-02-17T20:16:23.583Z,1613592983.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 340.889113 deg, approachRate: 0.000000 m/s, LOS rate: -0.387618 deg/s, cmd update: -1.550472 deg/s, cmd heading: 4.952445 deg, new cmd heading: 5.039374 deg. 2021-02-17T20:16:25.983Z,1613592985.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:16:26.761Z,1613592986.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:16:27.174Z,1613592987.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:16:28.002Z,1613592988.002 [Micromodem](INFO): Nmea in: $SNTTA,0.112464,,,,201626.86*4B 2021-02-17T20:16:28.080Z,1613592988.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 341.380942 deg, deltaT: 4.348866 s, approachRate: 0.000000 m/s, LOS rate: 0.113093 deg/s, posRepo size: 4 2021-02-17T20:16:28.082Z,1613592988.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 341.380942 deg, approachRate: 0.000000 m/s, LOS rate: 0.113093 deg/s, cmd update: 0.452374 deg/s, cmd heading: 358.215207 deg, new cmd heading: 357.491495 deg. 2021-02-17T20:16:30.450Z,1613592990.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:16:31.216Z,1613592991.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:16:31.610Z,1613592991.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:16:32.074Z,1613592992.074 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for altitude 2021-02-17T20:16:32.444Z,1613592992.444 [Micromodem](INFO): Nmea in: $SNTTA,0.110445,,,,201631.32*43 2021-02-17T20:16:32.486Z,1613592992.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.479996 m, bearing: 340.326415 deg, deltaT: 4.473569 s, approachRate: -2.548303 m/s, LOS rate: -0.235724 deg/s, posRepo size: 4 2021-02-17T20:16:32.488Z,1613592992.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.479996 m, bearing: 340.326415 deg, approachRate: -2.548303 m/s, LOS rate: -0.235724 deg/s, cmd update: -0.942895 deg/s, cmd heading: 0.240732 deg, new cmd heading: 0.421359 deg. 2021-02-17T20:16:34.881Z,1613592994.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:16:35.662Z,1613592995.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:16:36.077Z,1613592996.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:16:36.888Z,1613592996.888 [Micromodem](INFO): Nmea in: $SNTTA,0.108604,,,,201635.76*49 2021-02-17T20:16:36.929Z,1613592996.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.479996 m, bearing: 341.878371 deg, deltaT: 4.408723 s, approachRate: 0.000000 m/s, LOS rate: 0.352019 deg/s, posRepo size: 4 2021-02-17T20:16:36.930Z,1613592996.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.479996 m, bearing: 341.878371 deg, approachRate: 0.000000 m/s, LOS rate: 0.352019 deg/s, cmd update: 1.408077 deg/s, cmd heading: 356.083808 deg, new cmd heading: 355.675378 deg. 2021-02-17T20:16:38.093Z,1613592998.093 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:16:39.339Z,1613592999.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:16:40.097Z,1613593000.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:16:40.509Z,1613593000.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:16:41.324Z,1613593001.324 [Micromodem](INFO): Nmea in: $SNTTA,0.106746,,,,201640.20*41 2021-02-17T20:16:41.371Z,1613593001.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.900009 m, bearing: 341.289171 deg, deltaT: 4.448942 s, approachRate: -1.254228 m/s, LOS rate: -0.132436 deg/s, posRepo size: 4 2021-02-17T20:16:41.373Z,1613593001.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.900009 m, bearing: 341.289171 deg, approachRate: -1.254228 m/s, LOS rate: -0.132436 deg/s, cmd update: -0.529743 deg/s, cmd heading: 2.342673 deg, new cmd heading: 2.948680 deg. 2021-02-17T20:16:43.750Z,1613593003.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:16:44.541Z,1613593004.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:16:44.963Z,1613593004.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:16:45.772Z,1613593005.772 [Micromodem](INFO): Nmea in: $SNTTA,0.104694,,,,201644.64*49 2021-02-17T20:16:45.794Z,1613593005.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.839996 m, bearing: 341.805670 deg, deltaT: 4.465316 s, approachRate: -0.685285 m/s, LOS rate: 0.115669 deg/s, posRepo size: 4 2021-02-17T20:16:45.796Z,1613593005.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.839996 m, bearing: 341.805670 deg, approachRate: -0.685285 m/s, LOS rate: 0.115669 deg/s, cmd update: 0.462676 deg/s, cmd heading: 359.977187 deg, new cmd heading: 359.771423 deg. 2021-02-17T20:16:48.213Z,1613593008.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:16:48.980Z,1613593008.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:16:49.393Z,1613593009.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:16:50.221Z,1613593010.221 [Micromodem](INFO): Nmea in: $SNTTA,0.103138,,,,201649.08*48 2021-02-17T20:16:50.280Z,1613593010.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.259995 m, bearing: 342.199526 deg, deltaT: 4.400116 s, approachRate: -0.586349 m/s, LOS rate: 0.089510 deg/s, posRepo size: 4 2021-02-17T20:16:50.282Z,1613593010.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.259995 m, bearing: 342.199526 deg, approachRate: -0.586349 m/s, LOS rate: 0.089510 deg/s, cmd update: 0.358042 deg/s, cmd heading: 2.014828 deg, new cmd heading: 2.232349 deg. 2021-02-17T20:16:52.641Z,1613593012.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:16:53.431Z,1613593013.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:16:53.829Z,1613593013.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:16:54.656Z,1613593014.656 [Micromodem](INFO): Nmea in: $SNTTA,0.101153,,,,201653.53*42 2021-02-17T20:16:54.674Z,1613593014.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.320007 m, bearing: 340.961431 deg, deltaT: 4.464229 s, approachRate: -0.658566 m/s, LOS rate: -0.277337 deg/s, posRepo size: 4 2021-02-17T20:16:54.676Z,1613593014.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.320007 m, bearing: 340.961431 deg, approachRate: -0.658566 m/s, LOS rate: -0.277337 deg/s, cmd update: -1.109347 deg/s, cmd heading: 3.613200 deg, new cmd heading: 3.756570 deg. 2021-02-17T20:16:57.125Z,1613593017.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:16:57.885Z,1613593017.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:16:58.280Z,1613593018.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:16:59.104Z,1613593019.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201657.98*58 2021-02-17T20:16:59.137Z,1613593019.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.559998 m, bearing: 340.367342 deg, deltaT: 4.441537 s, approachRate: -0.621409 m/s, LOS rate: -0.133758 deg/s, posRepo size: 4 2021-02-17T20:16:59.139Z,1613593019.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.559998 m, bearing: 340.367342 deg, approachRate: -0.621409 m/s, LOS rate: -0.133758 deg/s, cmd update: -0.535031 deg/s, cmd heading: 358.688105 deg, new cmd heading: 358.217873 deg. 2021-02-17T20:17:01.535Z,1613593021.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:17:02.313Z,1613593022.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:17:02.718Z,1613593022.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:17:03.540Z,1613593023.540 [Micromodem](INFO): Nmea in: $SNTTA,0.097430,,,,201702.41*4A 2021-02-17T20:17:03.586Z,1613593023.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.919998 m, bearing: 340.640085 deg, deltaT: 4.459599 s, approachRate: -0.591981 m/s, LOS rate: 0.061159 deg/s, posRepo size: 4 2021-02-17T20:17:03.592Z,1613593023.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.919998 m, bearing: 340.640085 deg, approachRate: -0.591981 m/s, LOS rate: 0.061159 deg/s, cmd update: 0.244635 deg/s, cmd heading: 356.301139 deg, new cmd heading: 356.081169 deg. 2021-02-17T20:17:05.965Z,1613593025.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:17:06.756Z,1613593026.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:17:07.182Z,1613593027.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:17:07.984Z,1613593027.984 [Micromodem](INFO): Nmea in: $SNTTA,0.095594,,,,201706.86*48 2021-02-17T20:17:08.073Z,1613593028.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.220001 m, bearing: 340.835346 deg, deltaT: 4.406180 s, approachRate: -0.612775 m/s, LOS rate: 0.044315 deg/s, posRepo size: 4 2021-02-17T20:17:08.079Z,1613593028.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.220001 m, bearing: 340.835346 deg, approachRate: -0.612775 m/s, LOS rate: 0.044315 deg/s, cmd update: 0.177261 deg/s, cmd heading: 357.379060 deg, new cmd heading: 357.499389 deg. 2021-02-17T20:17:10.451Z,1613593030.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:17:11.200Z,1613593031.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:17:11.612Z,1613593031.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:17:12.436Z,1613593032.436 [Micromodem](INFO): Nmea in: $SNTTA,0.093854,,,,201711.30*44 2021-02-17T20:17:12.457Z,1613593032.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.460007 m, bearing: 341.246086 deg, deltaT: 4.524587 s, approachRate: -0.609999 m/s, LOS rate: 0.090780 deg/s, posRepo size: 4 2021-02-17T20:17:12.460Z,1613593032.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.460007 m, bearing: 341.246086 deg, approachRate: -0.609999 m/s, LOS rate: 0.090780 deg/s, cmd update: 0.363118 deg/s, cmd heading: 358.181098 deg, new cmd heading: 358.243355 deg. 2021-02-17T20:17:14.864Z,1613593034.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:17:15.650Z,1613593035.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:17:16.085Z,1613593036.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:17:16.876Z,1613593036.876 [Micromodem](INFO): Nmea in: $SNTTA,0.091936,,,,201715.75*46 2021-02-17T20:17:16.898Z,1613593036.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.580002 m, bearing: 340.708195 deg, deltaT: 4.364179 s, approachRate: -0.659919 m/s, LOS rate: -0.123251 deg/s, posRepo size: 4 2021-02-17T20:17:16.900Z,1613593036.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.580002 m, bearing: 340.708195 deg, approachRate: -0.659919 m/s, LOS rate: -0.123251 deg/s, cmd update: -0.493006 deg/s, cmd heading: 359.765792 deg, new cmd heading: 359.921291 deg. 2021-02-17T20:17:19.352Z,1613593039.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:17:20.093Z,1613593040.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:17:20.494Z,1613593040.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:17:21.340Z,1613593041.340 [Micromodem](INFO): Nmea in: $SNTTA,0.089859,,,,201720.20*41 2021-02-17T20:17:21.373Z,1613593041.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.639999 m, bearing: 340.988780 deg, deltaT: 4.463552 s, approachRate: -0.658669 m/s, LOS rate: 0.062861 deg/s, posRepo size: 4 2021-02-17T20:17:21.375Z,1613593041.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.639999 m, bearing: 340.988780 deg, approachRate: -0.658669 m/s, LOS rate: 0.062861 deg/s, cmd update: 0.251445 deg/s, cmd heading: 357.575832 deg, new cmd heading: 357.348343 deg. 2021-02-17T20:17:23.355Z,1613593043.355 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:17:23.753Z,1613593043.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:17:24.534Z,1613593044.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:17:24.945Z,1613593044.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:17:25.760Z,1613593045.760 [Micromodem](INFO): Nmea in: $SNTTA,0.088023,,,,201724.64*41 2021-02-17T20:17:25.797Z,1613593045.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.820007 m, bearing: 340.399689 deg, deltaT: 4.459150 s, approachRate: -0.632406 m/s, LOS rate: -0.132108 deg/s, posRepo size: 4 2021-02-17T20:17:25.799Z,1613593045.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.820007 m, bearing: 340.399689 deg, approachRate: -0.632406 m/s, LOS rate: -0.132108 deg/s, cmd update: -0.528433 deg/s, cmd heading: 358.702469 deg, new cmd heading: 358.804196 deg. 2021-02-17T20:17:27.402Z,1613593047.402 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:17:28.225Z,1613593048.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:17:28.976Z,1613593048.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:17:29.385Z,1613593049.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:17:30.211Z,1613593050.211 [Micromodem](INFO): Nmea in: $SNTTA,0.086083,,,,201729.08*42 2021-02-17T20:17:30.250Z,1613593050.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.000000 m, bearing: 340.852613 deg, deltaT: 4.424391 s, approachRate: -0.637378 m/s, LOS rate: 0.102370 deg/s, posRepo size: 4 2021-02-17T20:17:30.252Z,1613593050.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.000000 m, bearing: 340.852613 deg, approachRate: -0.637378 m/s, LOS rate: 0.102370 deg/s, cmd update: 0.409479 deg/s, cmd heading: 356.367195 deg, new cmd heading: 356.135496 deg. 2021-02-17T20:17:32.667Z,1613593052.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:17:33.424Z,1613593053.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:17:33.844Z,1613593053.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:17:34.652Z,1613593054.652 [Micromodem](INFO): Nmea in: $SNTTA,0.084483,,,,201733.52*40 2021-02-17T20:17:34.686Z,1613593054.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.360008 m, bearing: 340.604376 deg, deltaT: 4.463168 s, approachRate: -0.591506 m/s, LOS rate: -0.055619 deg/s, posRepo size: 4 2021-02-17T20:17:34.688Z,1613593054.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.360008 m, bearing: 340.604376 deg, approachRate: -0.591506 m/s, LOS rate: -0.055619 deg/s, cmd update: -0.222476 deg/s, cmd heading: 358.196826 deg, new cmd heading: 358.363133 deg. 2021-02-17T20:17:37.133Z,1613593057.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:17:37.864Z,1613593057.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:17:38.269Z,1613593058.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:17:39.096Z,1613593059.096 [Micromodem](INFO): Nmea in: $SNTTA,0.082490,,,,201737.96*48 2021-02-17T20:17:39.144Z,1613593059.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.540001 m, bearing: 340.903266 deg, deltaT: 4.405802 s, approachRate: -0.640067 m/s, LOS rate: 0.067840 deg/s, posRepo size: 4 2021-02-17T20:17:39.146Z,1613593059.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.540001 m, bearing: 340.903266 deg, approachRate: -0.640067 m/s, LOS rate: 0.067840 deg/s, cmd update: 0.271360 deg/s, cmd heading: 357.216618 deg, new cmd heading: 357.114820 deg. 2021-02-17T20:17:40.323Z,1613593060.323 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T20:17:41.515Z,1613593061.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:17:42.310Z,1613593062.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:17:42.714Z,1613593062.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:17:43.540Z,1613593063.540 [Micromodem](INFO): Nmea in: $SNTTA,0.080575,,,,201742.41*48 2021-02-17T20:17:43.577Z,1613593063.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.659996 m, bearing: 340.522469 deg, deltaT: 4.495732 s, approachRate: -0.640609 m/s, LOS rate: -0.084702 deg/s, posRepo size: 4 2021-02-17T20:17:43.579Z,1613593063.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.659996 m, bearing: 340.522469 deg, approachRate: -0.640609 m/s, LOS rate: -0.084702 deg/s, cmd update: -0.338807 deg/s, cmd heading: 358.435291 deg, new cmd heading: 358.543841 deg. 2021-02-17T20:17:45.971Z,1613593065.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:17:46.754Z,1613593066.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:17:47.157Z,1613593067.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:17:47.984Z,1613593067.984 [Micromodem](INFO): Nmea in: $SNTTA,0.078794,,0.168981,,201746.85*5F 2021-02-17T20:17:48.067Z,1613593068.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.020004 m, bearing: 341.749253 deg, deltaT: 4.414342 s, approachRate: -0.598049 m/s, LOS rate: 0.277909 deg/s, posRepo size: 4 2021-02-17T20:17:48.069Z,1613593068.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.020004 m, bearing: 341.749253 deg, approachRate: -0.598049 m/s, LOS rate: 0.277909 deg/s, cmd update: 1.111635 deg/s, cmd heading: 356.943555 deg, new cmd heading: 356.778632 deg. 2021-02-17T20:17:50.437Z,1613593070.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:17:51.196Z,1613593071.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:17:51.601Z,1613593071.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:17:52.428Z,1613593072.428 [Micromodem](INFO): Nmea in: $SNTTA,0.076903,,,,201751.30*48 2021-02-17T20:17:52.450Z,1613593072.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.139999 m, bearing: 341.461784 deg, deltaT: 4.518537 s, approachRate: -0.637376 m/s, LOS rate: -0.063620 deg/s, posRepo size: 4 2021-02-17T20:17:52.452Z,1613593072.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.139999 m, bearing: 341.461784 deg, approachRate: -0.637376 m/s, LOS rate: -0.063620 deg/s, cmd update: -0.254480 deg/s, cmd heading: 1.984396 deg, new cmd heading: 2.357441 deg. 2021-02-17T20:17:54.851Z,1613593074.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:17:55.640Z,1613593075.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:17:56.080Z,1613593076.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:17:56.876Z,1613593076.876 [Micromodem](INFO): Nmea in: $SNTTA,0.075222,,,0.087610,201755.74*51 2021-02-17T20:17:56.898Z,1613593076.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.440002 m, bearing: 341.106313 deg, deltaT: 4.360573 s, approachRate: -0.619184 m/s, LOS rate: -0.081519 deg/s, posRepo size: 4 2021-02-17T20:17:56.900Z,1613593076.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.440002 m, bearing: 341.106313 deg, approachRate: -0.619184 m/s, LOS rate: -0.081519 deg/s, cmd update: -0.326077 deg/s, cmd heading: 0.874699 deg, new cmd heading: 0.767108 deg. 2021-02-17T20:17:59.337Z,1613593079.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:00.097Z,1613593080.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:00.490Z,1613593080.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:01.324Z,1613593081.324 [Micromodem](INFO): Nmea in: $SNTTA,0.073360,,,,201800.20*48 2021-02-17T20:18:01.382Z,1613593081.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.680000 m, bearing: 340.176834 deg, deltaT: 4.430675 s, approachRate: -0.622930 m/s, LOS rate: -0.209783 deg/s, posRepo size: 4 2021-02-17T20:18:01.384Z,1613593081.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.680000 m, bearing: 340.176834 deg, approachRate: -0.622930 m/s, LOS rate: -0.209783 deg/s, cmd update: -0.839131 deg/s, cmd heading: 359.429887 deg, new cmd heading: 359.274650 deg. 2021-02-17T20:18:03.410Z,1613593083.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:04.126Z,1613593084.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:04.538Z,1613593084.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:05.376Z,1613593085.376 [Micromodem](INFO): Nmea in: $SNTTA,0.071676,,,,201804.23*4F 2021-02-17T20:18:05.410Z,1613593085.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.100006 m, bearing: 342.192095 deg, deltaT: 4.069640 s, approachRate: -0.633961 m/s, LOS rate: 0.495194 deg/s, posRepo size: 4 2021-02-17T20:18:05.432Z,1613593085.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.100006 m, bearing: 342.192095 deg, approachRate: -0.633961 m/s, LOS rate: 0.495194 deg/s, cmd update: 1.980776 deg/s, cmd heading: 356.018290 deg, new cmd heading: 355.650672 deg. 2021-02-17T20:18:07.787Z,1613593087.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:08.573Z,1613593088.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:08.973Z,1613593088.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:09.820Z,1613593089.820 [Micromodem](INFO): Nmea in: $SNTTA,0.069983,,,,201808.68*40 2021-02-17T20:18:09.862Z,1613593089.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.580002 m, bearing: 340.247567 deg, deltaT: 4.436502 s, approachRate: -0.568016 m/s, LOS rate: -0.438302 deg/s, posRepo size: 4 2021-02-17T20:18:09.868Z,1613593089.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.580002 m, bearing: 340.247567 deg, approachRate: -0.568016 m/s, LOS rate: -0.438302 deg/s, cmd update: -1.753208 deg/s, cmd heading: 4.813299 deg, new cmd heading: 5.704442 deg. 2021-02-17T20:18:12.253Z,1613593092.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:13.065Z,1613593093.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:13.425Z,1613593093.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:14.241Z,1613593094.241 [Micromodem](INFO): Nmea in: $SNTTA,0.068144,,,,201813.16*41 2021-02-17T20:18:14.310Z,1613593094.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.699997 m, bearing: 339.451796 deg, deltaT: 4.444750 s, approachRate: -0.647957 m/s, LOS rate: -0.179036 deg/s, posRepo size: 4 2021-02-17T20:18:14.316Z,1613593094.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.699997 m, bearing: 339.451796 deg, approachRate: -0.647957 m/s, LOS rate: -0.179036 deg/s, cmd update: -0.716145 deg/s, cmd heading: 357.027107 deg, new cmd heading: 356.224982 deg. 2021-02-17T20:18:16.663Z,1613593096.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:17.456Z,1613593097.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:17.862Z,1613593097.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:18.684Z,1613593098.684 [Micromodem](INFO): Nmea in: $SNTTA,0.066186,,,,201817.56*41 2021-02-17T20:18:18.706Z,1613593098.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.940010 m, bearing: 339.820544 deg, deltaT: 4.465796 s, approachRate: -0.618028 m/s, LOS rate: 0.082572 deg/s, posRepo size: 4 2021-02-17T20:18:18.708Z,1613593098.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.940010 m, bearing: 339.820544 deg, approachRate: -0.618028 m/s, LOS rate: 0.082572 deg/s, cmd update: 0.330287 deg/s, cmd heading: 353.840445 deg, new cmd heading: 353.551527 deg. 2021-02-17T20:18:21.127Z,1613593101.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:21.905Z,1613593101.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:22.313Z,1613593102.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:23.132Z,1613593103.132 [Micromodem](INFO): Nmea in: $SNTTA,0.064157,,,,201822.00*4A 2021-02-17T20:18:23.180Z,1613593103.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.060005 m, bearing: 341.618605 deg, deltaT: 4.411285 s, approachRate: -0.652872 m/s, LOS rate: 0.407605 deg/s, posRepo size: 4 2021-02-17T20:18:23.181Z,1613593103.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.060005 m, bearing: 341.618605 deg, approachRate: -0.652872 m/s, LOS rate: 0.407605 deg/s, cmd update: 1.630419 deg/s, cmd heading: 355.302729 deg, new cmd heading: 355.451154 deg. 2021-02-17T20:18:25.550Z,1613593105.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:26.353Z,1613593106.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:26.749Z,1613593106.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:27.576Z,1613593107.576 [Micromodem](INFO): Nmea in: $SNTTA,0.062205,,,,201826.45*4D 2021-02-17T20:18:27.619Z,1613593107.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.180000 m, bearing: 340.079108 deg, deltaT: 4.478144 s, approachRate: -0.643125 m/s, LOS rate: -0.343780 deg/s, posRepo size: 4 2021-02-17T20:18:27.621Z,1613593107.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.180000 m, bearing: 340.079108 deg, approachRate: -0.643125 m/s, LOS rate: -0.343780 deg/s, cmd update: -1.375121 deg/s, cmd heading: 2.603547 deg, new cmd heading: 3.273992 deg. 2021-02-17T20:18:30.065Z,1613593110.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:30.794Z,1613593110.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:31.199Z,1613593111.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:32.063Z,1613593112.063 [Micromodem](INFO): Nmea in: $SNTTA,0.060363,,,,201830.89*49 2021-02-17T20:18:32.126Z,1613593112.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.060005 m, bearing: 341.243409 deg, deltaT: 4.426852 s, approachRate: -0.704789 m/s, LOS rate: 0.263009 deg/s, posRepo size: 4 2021-02-17T20:18:32.133Z,1613593112.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.060005 m, bearing: 341.243409 deg, approachRate: -0.704789 m/s, LOS rate: 0.263009 deg/s, cmd update: 1.052035 deg/s, cmd heading: 356.510235 deg, new cmd heading: 355.839876 deg. 2021-02-17T20:18:34.145Z,1613593114.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:34.846Z,1613593114.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:35.240Z,1613593115.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:36.084Z,1613593116.084 [Micromodem](INFO): Nmea in: $SNTTA,0.058683,,,,201834.94*41 2021-02-17T20:18:36.150Z,1613593116.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.659996 m, bearing: 340.806714 deg, deltaT: 4.031307 s, approachRate: -0.595343 m/s, LOS rate: -0.108326 deg/s, posRepo size: 4 2021-02-17T20:18:36.152Z,1613593116.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.659996 m, bearing: 340.806714 deg, approachRate: -0.595343 m/s, LOS rate: -0.108326 deg/s, cmd update: -0.433304 deg/s, cmd heading: 0.747116 deg, new cmd heading: 1.255874 deg. 2021-02-17T20:18:38.498Z,1613593118.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:39.272Z,1613593119.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:39.696Z,1613593119.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:40.512Z,1613593120.512 [Micromodem](INFO): Nmea in: $SNTTA,0.056892,,,,201839.37*45 2021-02-17T20:18:40.534Z,1613593120.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.959999 m, bearing: 340.105745 deg, deltaT: 4.470609 s, approachRate: -0.603944 m/s, LOS rate: -0.156795 deg/s, posRepo size: 4 2021-02-17T20:18:40.536Z,1613593120.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.959999 m, bearing: 340.105745 deg, approachRate: -0.603944 m/s, LOS rate: -0.156795 deg/s, cmd update: -0.627180 deg/s, cmd heading: 358.808276 deg, new cmd heading: 358.637889 deg. 2021-02-17T20:18:42.931Z,1613593122.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:43.716Z,1613593123.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:44.122Z,1613593124.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:44.948Z,1613593124.948 [Micromodem](INFO): Nmea in: $SNTTA,0.054864,,,,201843.82*4D 2021-02-17T20:18:44.970Z,1613593124.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.080002 m, bearing: 339.473734 deg, deltaT: 4.397451 s, approachRate: -0.654924 m/s, LOS rate: -0.143722 deg/s, posRepo size: 4 2021-02-17T20:18:44.972Z,1613593124.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.080002 m, bearing: 339.473734 deg, approachRate: -0.654924 m/s, LOS rate: -0.143722 deg/s, cmd update: -0.574889 deg/s, cmd heading: 356.050249 deg, new cmd heading: 355.779503 deg. 2021-02-17T20:18:47.412Z,1613593127.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:48.171Z,1613593128.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:48.572Z,1613593128.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:49.400Z,1613593129.400 [Micromodem](INFO): Nmea in: $SNTTA,0.052919,,,,201848.27*44 2021-02-17T20:18:49.453Z,1613593129.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.199997 m, bearing: 340.885862 deg, deltaT: 4.471832 s, approachRate: -0.644032 m/s, LOS rate: 0.315783 deg/s, posRepo size: 4 2021-02-17T20:18:49.456Z,1613593129.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.199997 m, bearing: 340.885862 deg, approachRate: -0.644032 m/s, LOS rate: 0.315783 deg/s, cmd update: 1.263132 deg/s, cmd heading: 353.491504 deg, new cmd heading: 353.224699 deg. 2021-02-17T20:18:51.817Z,1613593131.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:52.606Z,1613593132.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:53.057Z,1613593133.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:53.836Z,1613593133.836 [Micromodem](INFO): Nmea in: $SNTTA,0.051006,,0.111657,,201852.70*52 2021-02-17T20:18:53.880Z,1613593133.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.320000 m, bearing: 341.232508 deg, deltaT: 4.444749 s, approachRate: -0.647955 m/s, LOS rate: 0.077990 deg/s, posRepo size: 4 2021-02-17T20:18:53.882Z,1613593133.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.320000 m, bearing: 341.232508 deg, approachRate: -0.647955 m/s, LOS rate: 0.077990 deg/s, cmd update: 0.311960 deg/s, cmd heading: 359.132050 deg, new cmd heading: 359.669722 deg. 2021-02-17T20:18:56.289Z,1613593136.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:18:57.071Z,1613593137.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:18:57.462Z,1613593137.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:18:58.288Z,1613593138.288 [Micromodem](INFO): Nmea in: $SNTTA,0.049115,,,,201857.17*47 2021-02-17T20:18:58.340Z,1613593138.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.500000 m, bearing: 341.471974 deg, deltaT: 4.415400 s, approachRate: -0.638674 m/s, LOS rate: 0.054234 deg/s, posRepo size: 4 2021-02-17T20:18:58.342Z,1613593138.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.500000 m, bearing: 341.471974 deg, approachRate: -0.638674 m/s, LOS rate: 0.054234 deg/s, cmd update: 0.216937 deg/s, cmd heading: 0.509532 deg, new cmd heading: 0.655896 deg. 2021-02-17T20:19:00.295Z,1613593140.295 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:19:00.711Z,1613593140.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:01.493Z,1613593141.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:01.898Z,1613593141.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:19:02.725Z,1613593142.725 [Micromodem](INFO): Nmea in: $SNTTA,0.047555,,,,201901.59*41 2021-02-17T20:19:02.769Z,1613593142.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.919998 m, bearing: 340.230847 deg, deltaT: 4.482475 s, approachRate: -0.575575 m/s, LOS rate: -0.276884 deg/s, posRepo size: 4 2021-02-17T20:19:02.771Z,1613593142.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.919998 m, bearing: 340.230847 deg, approachRate: -0.575575 m/s, LOS rate: -0.276884 deg/s, cmd update: -1.107538 deg/s, cmd heading: 1.481960 deg, new cmd heading: 1.572252 deg. 2021-02-17T20:19:05.191Z,1613593145.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:05.943Z,1613593145.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:06.359Z,1613593146.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:19:07.168Z,1613593147.168 [Micromodem](INFO): Nmea in: $SNTTA,0.054022,,,,201906.04*49 2021-02-17T20:19:07.203Z,1613593147.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.800011 m, bearing: 343.137147 deg, deltaT: 4.410606 s, approachRate: -0.707383 m/s, LOS rate: 0.658934 deg/s, posRepo size: 4 2021-02-17T20:19:07.205Z,1613593147.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.800011 m, bearing: 343.137147 deg, approachRate: -0.707383 m/s, LOS rate: 0.658934 deg/s, cmd update: 2.635738 deg/s, cmd heading: 356.597219 deg, new cmd heading: 356.110544 deg. 2021-02-17T20:19:09.588Z,1613593149.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:10.395Z,1613593150.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:10.791Z,1613593150.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:19:11.624Z,1613593151.624 [Micromodem](INFO): Nmea in: $SNTTA,0.043690,,,,201910.50*46 2021-02-17T20:19:11.659Z,1613593151.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.159996 m, bearing: 340.388652 deg, deltaT: 4.511226 s, approachRate: -0.585210 m/s, LOS rate: -0.609257 deg/s, posRepo size: 4 2021-02-17T20:19:11.661Z,1613593151.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.159996 m, bearing: 340.388652 deg, approachRate: -0.585210 m/s, LOS rate: -0.609257 deg/s, cmd update: -2.437028 deg/s, cmd heading: 8.476653 deg, new cmd heading: 9.501541 deg. 2021-02-17T20:19:12.438Z,1613593152.438 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T20:19:14.072Z,1613593154.072 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:19:14.108Z,1613593154.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:14.867Z,1613593154.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:15.237Z,1613593155.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:19:16.104Z,1613593156.104 [Micromodem](INFO): Nmea in: $SNTTA,0.041720,,,,201914.97*41 2021-02-17T20:19:16.145Z,1613593156.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.340004 m, bearing: 340.666422 deg, deltaT: 4.391849 s, approachRate: -0.642097 m/s, LOS rate: 0.063247 deg/s, posRepo size: 4 2021-02-17T20:19:16.147Z,1613593156.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.340004 m, bearing: 340.666422 deg, approachRate: -0.642097 m/s, LOS rate: 0.063247 deg/s, cmd update: 0.252987 deg/s, cmd heading: 357.763229 deg, new cmd heading: 356.597150 deg. 2021-02-17T20:19:18.487Z,1613593158.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:19.268Z,1613593159.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:19.686Z,1613593159.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:19:20.496Z,1613593160.496 [Micromodem](INFO): Nmea in: $SNTTA,0.040095,,,,201919.37*4E 2021-02-17T20:19:20.526Z,1613593160.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.759998 m, bearing: 340.254124 deg, deltaT: 4.460705 s, approachRate: -0.578385 m/s, LOS rate: -0.092429 deg/s, posRepo size: 4 2021-02-17T20:19:20.528Z,1613593160.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.759998 m, bearing: 340.254124 deg, approachRate: -0.578385 m/s, LOS rate: -0.092429 deg/s, cmd update: -0.369715 deg/s, cmd heading: 358.891737 deg, new cmd heading: 358.992734 deg. 2021-02-17T20:19:22.940Z,1613593162.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:23.718Z,1613593163.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:24.137Z,1613593164.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:19:24.944Z,1613593164.944 [Micromodem](INFO): Nmea in: $SNTTA,0.038338,,,,201923.82*42 2021-02-17T20:19:25.002Z,1613593165.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.060005 m, bearing: 339.534277 deg, deltaT: 4.406914 s, approachRate: -0.612672 m/s, LOS rate: -0.163345 deg/s, posRepo size: 4 2021-02-17T20:19:25.023Z,1613593165.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.060005 m, bearing: 339.534277 deg, approachRate: -0.612672 m/s, LOS rate: -0.163345 deg/s, cmd update: -0.653380 deg/s, cmd heading: 357.262437 deg, new cmd heading: 357.089522 deg. 2021-02-17T20:19:27.399Z,1613593167.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:28.174Z,1613593168.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:28.561Z,1613593168.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:19:29.400Z,1613593169.400 [Micromodem](INFO): Nmea in: $SNTTA,0.036298,,,,201928.29*4D 2021-02-17T20:19:29.452Z,1613593169.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.300003 m, bearing: 339.482176 deg, deltaT: 4.446688 s, approachRate: -0.620687 m/s, LOS rate: -0.011717 deg/s, posRepo size: 4 2021-02-17T20:19:29.454Z,1613593169.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.300003 m, bearing: 339.482176 deg, approachRate: -0.620687 m/s, LOS rate: -0.011717 deg/s, cmd update: -0.046867 deg/s, cmd heading: 354.357032 deg, new cmd heading: 354.049195 deg. 2021-02-17T20:19:31.807Z,1613593171.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:32.606Z,1613593172.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:33.061Z,1613593173.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:19:33.836Z,1613593173.836 [Micromodem](INFO): Nmea in: $SNTTA,0.034619,,,,201932.71*44 2021-02-17T20:19:33.877Z,1613593173.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.479996 m, bearing: 341.740592 deg, deltaT: 4.440551 s, approachRate: -0.635058 m/s, LOS rate: 0.508589 deg/s, posRepo size: 4 2021-02-17T20:19:33.879Z,1613593173.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.479996 m, bearing: 341.740592 deg, approachRate: -0.635058 m/s, LOS rate: 0.508589 deg/s, cmd update: 2.034356 deg/s, cmd heading: 354.148917 deg, new cmd heading: 354.127552 deg. 2021-02-17T20:19:36.282Z,1613593176.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:37.105Z,1613593177.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:37.157Z,1613593177.157 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T20:19:37.449Z,1613593177.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:19:38.355Z,1613593178.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.480000 m, bearing: 340.878950 deg, deltaT: 4.473648 s, approachRate: -0.670593 m/s, LOS rate: -0.192604 deg/s, posRepo size: 4 2021-02-17T20:19:38.357Z,1613593178.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.480000 m, bearing: 340.878950 deg, approachRate: -0.670593 m/s, LOS rate: -0.192604 deg/s, cmd update: -0.770416 deg/s, cmd heading: 3.234655 deg, new cmd heading: 4.144503 deg. 2021-02-17T20:19:38.683Z,1613593178.683 [Micromodem](INFO): Nmea in: $SNTTA,0.032453,,,0.044942,201937.21*5F 2021-02-17T20:19:40.694Z,1613593180.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:41.488Z,1613593181.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:41.899Z,1613593181.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:19:42.716Z,1613593182.716 [Micromodem](INFO): Nmea in: $SNTTA,0.030754,,,,201941.59*46 2021-02-17T20:19:42.750Z,1613593182.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.780003 m, bearing: 340.547440 deg, deltaT: 4.452207 s, approachRate: -0.606440 m/s, LOS rate: -0.074460 deg/s, posRepo size: 4 2021-02-17T20:19:42.752Z,1613593182.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.780003 m, bearing: 340.547440 deg, approachRate: -0.606440 m/s, LOS rate: -0.074460 deg/s, cmd update: -0.297839 deg/s, cmd heading: 359.798839 deg, new cmd heading: 359.488386 deg. 2021-02-17T20:19:45.199Z,1613593185.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:45.932Z,1613593185.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:46.345Z,1613593186.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:19:47.169Z,1613593187.169 [Micromodem](INFO): Nmea in: $SNTTA,0.028892,,,,201946.03*42 2021-02-17T20:19:47.229Z,1613593187.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.959999 m, bearing: 340.168119 deg, deltaT: 4.424540 s, approachRate: -0.637355 m/s, LOS rate: -0.085731 deg/s, posRepo size: 4 2021-02-17T20:19:47.236Z,1613593187.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.959999 m, bearing: 340.168119 deg, approachRate: -0.637355 m/s, LOS rate: -0.085731 deg/s, cmd update: -0.342925 deg/s, cmd heading: 358.481050 deg, new cmd heading: 358.346372 deg. 2021-02-17T20:19:49.605Z,1613593189.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:50.379Z,1613593190.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:50.784Z,1613593190.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:19:51.604Z,1613593191.604 [Micromodem](INFO): Nmea in: $SNTTA,0.027020,,,,201950.48*44 2021-02-17T20:19:51.641Z,1613593191.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.139999 m, bearing: 341.290100 deg, deltaT: 4.459477 s, approachRate: -0.632361 m/s, LOS rate: 0.251595 deg/s, posRepo size: 4 2021-02-17T20:19:51.643Z,1613593191.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.139999 m, bearing: 341.290100 deg, approachRate: -0.632361 m/s, LOS rate: 0.251595 deg/s, cmd update: 1.006379 deg/s, cmd heading: 356.951783 deg, new cmd heading: 356.811110 deg. 2021-02-17T20:19:54.102Z,1613593194.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:54.825Z,1613593194.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:55.226Z,1613593195.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:19:56.080Z,1613593196.080 [Micromodem](INFO): Nmea in: $SNTTA,0.025167,,,,201954.93*46 2021-02-17T20:19:56.126Z,1613593196.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.380001 m, bearing: 341.041372 deg, deltaT: 4.413532 s, approachRate: -0.625349 m/s, LOS rate: -0.056356 deg/s, posRepo size: 4 2021-02-17T20:19:56.127Z,1613593196.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.38 m. 2021-02-17T20:19:56.129Z,1613593196.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.380001 m, bearing: 341.041372 deg, approachRate: -0.625349 m/s, LOS rate: -0.056356 deg/s, cmd update: -0.225423 deg/s, cmd heading: 1.393532 deg, new cmd heading: 1.878141 deg. 2021-02-17T20:19:56.449Z,1613593196.449 [PowerOnly](INFO): Powering up loadControl 2021-02-17T20:19:58.481Z,1613593198.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:19:59.266Z,1613593199.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:19:59.678Z,1613593199.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:20:00.492Z,1613593200.492 [Micromodem](INFO): Nmea in: $SNTTA,0.023281,,,,201959.36*49 2021-02-17T20:20:00.507Z,1613593200.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.559998 m, bearing: 338.502235 deg, deltaT: 4.573449 s, approachRate: -0.616603 m/s, LOS rate: -0.555191 deg/s, posRepo size: 4 2021-02-17T20:20:00.508Z,1613593200.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.56 m. 2021-02-17T20:20:00.508Z,1613593200.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.56 m. 2021-02-17T20:20:00.508Z,1613593200.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T20:20:00.510Z,1613593200.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.559998 m, bearing: 338.502235 deg, approachRate: -0.616603 m/s, LOS rate: -0.555191 deg/s, cmd update: -2.220763 deg/s, cmd heading: 0.364343 deg, new cmd heading: 0.297438 deg. 2021-02-17T20:20:02.915Z,1613593202.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:03.713Z,1613593203.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:20:04.119Z,1613593204.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:20:04.948Z,1613593204.948 [Micromodem](INFO): Nmea in: $SNTTA,0.021503,,0.025703,,202003.81*52 2021-02-17T20:20:04.970Z,1613593204.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.920000 m, bearing: 340.326661 deg, deltaT: 4.319390 s, approachRate: -0.611197 m/s, LOS rate: 0.422380 deg/s, posRepo size: 4 2021-02-17T20:20:04.992Z,1613593204.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.920000 m, bearing: 340.326661 deg, approachRate: -0.611197 m/s, LOS rate: 0.422380 deg/s, cmd update: 1.689521 deg/s, cmd heading: 350.754562 deg, new cmd heading: 349.794477 deg. 2021-02-17T20:20:07.415Z,1613593207.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:08.152Z,1613593208.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:20:08.564Z,1613593208.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:20:09.389Z,1613593209.389 [Micromodem](INFO): Nmea in: $SNTTA,0.019610,,,0.043385,202008.25*57 2021-02-17T20:20:09.423Z,1613593209.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.219999 m, bearing: 343.336479 deg, deltaT: 4.444713 s, approachRate: -0.607463 m/s, LOS rate: 0.677168 deg/s, posRepo size: 4 2021-02-17T20:20:09.425Z,1613593209.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.219999 m, bearing: 343.336479 deg, approachRate: -0.607463 m/s, LOS rate: 0.677168 deg/s, cmd update: 2.708673 deg/s, cmd heading: 358.263699 deg, new cmd heading: 359.007781 deg. 2021-02-17T20:20:11.810Z,1613593211.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:12.596Z,1613593212.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:20:13.023Z,1613593213.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:20:13.824Z,1613593213.824 [Micromodem](INFO): Nmea in: $SNTTA,0.017782,,,,202012.70*4F 2021-02-17T20:20:13.856Z,1613593213.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.280003 m, bearing: 340.893430 deg, deltaT: 4.445177 s, approachRate: -0.661390 m/s, LOS rate: -0.549596 deg/s, posRepo size: 4 2021-02-17T20:20:13.858Z,1613593213.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.280003 m, bearing: 340.893430 deg, approachRate: -0.661390 m/s, LOS rate: -0.549596 deg/s, cmd update: -2.198382 deg/s, cmd heading: 10.304663 deg, new cmd heading: 11.464666 deg. 2021-02-17T20:20:14.274Z,1613593214.274 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T20:20:14.274Z,1613593214.274 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T20:20:14.274Z,1613593214.274 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T20:20:14.274Z,1613593214.274 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T20:20:14.274Z,1613593214.274 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T20:20:14.702Z,1613593214.702 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60210000005D00000400320000000000000000151D80030C5669BF92F9E577BCB1C652A1D2329A6A7B4AB3248CE83C819FE067A69F56667DB22363242C 2021-02-17T20:20:14.703Z,1613593214.703 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 968532004000 2021-02-17T20:20:14.704Z,1613593214.704 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T20:20:15.076Z,1613593215.076 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T20:20:15.436Z,1613593215.436 [Micromodem](INFO): Nmea in: $CADRQ,202014,1,10,0,64,1*73 2021-02-17T20:20:15.437Z,1613593215.437 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60210000005D00000400320000000000000000151D80030C5669BF92F9E577BCB1C652A1D2329A6A7B4AB3248CE83C819FE067A69F56667DB22363242C*3B 2021-02-17T20:20:15.841Z,1613593215.841 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T20:20:16.244Z,1613593216.244 [Micromodem](INFO): Nmea in: $CADRQ,202015,1,10,0,64,2*71 2021-02-17T20:20:16.244Z,1613593216.244 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,968532004000*4E 2021-02-17T20:20:16.405Z,1613593216.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:16.645Z,1613593216.645 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D 2021-02-17T20:20:17.065Z,1613593217.065 [Micromodem](INFO): Nmea in: $CATXP,70*75 2021-02-17T20:20:17.066Z,1613593217.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:20:19.131Z,1613593219.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:19.469Z,1613593219.469 [Micromodem](INFO): Nmea in: $CATXF,70*63 2021-02-17T20:20:19.469Z,1613593219.469 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63 2021-02-17T20:20:19.898Z,1613593219.898 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,202016.318929,3,0,200,4000,14500,1,1,10,1,2,2,3,70*4E 2021-02-17T20:20:19.898Z,1613593219.898 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,202016.318929,3,0,200,4000,14500,1,1,10,1,2,2,3,70*4E 2021-02-17T20:20:21.921Z,1613593221.921 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-17T20:20:21.984Z,1613593221.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:22.313Z,1613593222.313 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-17T20:20:22.314Z,1613593222.314 [Micromodem](INFO): Sent 62 bytes from file Logs/20210217T180521/Courier0033.lzma.parts 2021-02-17T20:20:22.314Z,1613593222.314 [Micromodem](INFO): Packets left to send: 0 2021-02-17T20:20:22.715Z,1613593222.715 [Micromodem](INFO): Nmea in: $CACST,6,0,20210217202020.946219,06,4068,36,0125,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,17.0,3.00,07,0.00,-01,1.38,37,14500,4000*73 2021-02-17T20:20:22.716Z,1613593222.716 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210217202020.946219,06,4068,36,0125,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,17.0,3.00,07,0.00,-01,1.38,37,14500,4000*73 2021-02-17T20:20:22.976Z,1613593222.976 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T20:20:22.976Z,1613593222.976 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T20:20:22.976Z,1613593222.976 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T20:20:22.976Z,1613593222.976 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T20:20:22.976Z,1613593222.976 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T20:20:24.752Z,1613593224.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:27.576Z,1613593227.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:28.361Z,1613593228.361 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:20:28.767Z,1613593228.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:20:29.588Z,1613593229.588 [Micromodem](INFO): Nmea in: $SNTTA,0.012292,,,,202028.46*42 2021-02-17T20:20:29.636Z,1613593229.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.179998 m, bearing: 346.165981 deg, deltaT: 15.807788 s, approachRate: -0.512406 m/s, LOS rate: 0.333541 deg/s, posRepo size: 4 2021-02-17T20:20:29.638Z,1613593229.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.179998 m, bearing: 346.165981 deg, approachRate: -0.512406 m/s, LOS rate: 0.333541 deg/s, cmd update: 1.334165 deg/s, cmd heading: 335.562001 deg, new cmd heading: 334.675584 deg. 2021-02-17T20:20:32.069Z,1613593232.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:32.804Z,1613593232.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:20:33.219Z,1613593233.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:20:34.080Z,1613593234.080 [Micromodem](INFO): Nmea in: $SNTTA,0.009990,,,,202032.90*41 2021-02-17T20:20:34.133Z,1613593234.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.759997 m, bearing: 350.054080 deg, deltaT: 4.387438 s, approachRate: -0.779498 m/s, LOS rate: 0.886189 deg/s, posRepo size: 4 2021-02-17T20:20:34.135Z,1613593234.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.759997 m, bearing: 350.054080 deg, approachRate: -0.779498 m/s, LOS rate: 0.886189 deg/s, cmd update: 3.544756 deg/s, cmd heading: 341.420934 deg, new cmd heading: 342.101910 deg. 2021-02-17T20:20:36.131Z,1613593236.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:36.840Z,1613593236.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:20:37.263Z,1613593237.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:20:38.088Z,1613593238.088 [Micromodem](INFO): Nmea in: $SNTTA,0.008371,,,,202036.94*45 2021-02-17T20:20:38.162Z,1613593238.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.299998 m, bearing: 355.011158 deg, deltaT: 4.058449 s, approachRate: -0.606143 m/s, LOS rate: 1.221422 deg/s, posRepo size: 4 2021-02-17T20:20:38.165Z,1613593238.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.299998 m, bearing: 355.011158 deg, approachRate: -0.606143 m/s, LOS rate: 1.221422 deg/s, cmd update: 4.885687 deg/s, cmd heading: 355.750563 deg, new cmd heading: 357.510573 deg. 2021-02-17T20:20:40.516Z,1613593240.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:41.289Z,1613593241.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:20:41.689Z,1613593241.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:20:42.520Z,1613593242.520 [Micromodem](INFO): Nmea in: $SNTTA,0.006670,,,,202041.39*48 2021-02-17T20:20:42.557Z,1613593242.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.719998 m, bearing: 0.400225 deg, deltaT: 4.476431 s, approachRate: -0.576352 m/s, LOS rate: 1.203875 deg/s, posRepo size: 4 2021-02-17T20:20:42.559Z,1613593242.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.719998 m, bearing: 0.400225 deg, approachRate: -0.576352 m/s, LOS rate: 1.203875 deg/s, cmd update: 4.815501 deg/s, cmd heading: 17.679882 deg, new cmd heading: 19.652562 deg. 2021-02-17T20:20:43.320Z,1613593243.320 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:20:44.955Z,1613593244.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:45.728Z,1613593245.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:20:46.147Z,1613593246.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:20:46.960Z,1613593246.960 [Micromodem](INFO): Nmea in: $SNTTA,0.005463,,,,202045.83*4E 2021-02-17T20:20:47.002Z,1613593247.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.440001 m, bearing: 3.011193 deg, deltaT: 4.393134 s, approachRate: -0.518991 m/s, LOS rate: 0.594329 deg/s, posRepo size: 4 2021-02-17T20:20:47.009Z,1613593247.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.440001 m, bearing: 3.011193 deg, approachRate: -0.518991 m/s, LOS rate: 0.594329 deg/s, cmd update: 2.377318 deg/s, cmd heading: 38.853986 deg, new cmd heading: 41.026600 deg. 2021-02-17T20:20:49.063Z,1613593249.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:49.772Z,1613593249.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:20:50.175Z,1613593250.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:20:51.015Z,1613593251.015 [Micromodem](INFO): Nmea in: $SNTTA,0.003946,,,0.006471,202049.87*50 2021-02-17T20:20:51.077Z,1613593251.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.759999 m, bearing: 9.932799 deg, deltaT: 4.054719 s, approachRate: -0.414332 m/s, LOS rate: 1.707049 deg/s, posRepo size: 4 2021-02-17T20:20:51.083Z,1613593251.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.759999 m, bearing: 9.932799 deg, approachRate: -0.414332 m/s, LOS rate: 1.707049 deg/s, cmd update: 6.828198 deg/s, cmd heading: 48.493107 deg, new cmd heading: 49.615565 deg. 2021-02-17T20:20:53.087Z,1613593253.087 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2021-02-17T20:20:53.087Z,1613593253.087 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-02-17T20:20:53.087Z,1613593253.087 [RDI_Pathfinder](ERROR): Communications Fault 2021-02-17T20:20:53.116Z,1613593253.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:53.219Z,1613593253.219 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-02-17T20:20:53.425Z,1613593253.425 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T20:20:53.503Z,1613593253.503 [RDI_Pathfinder](INFO): Powering down 2021-02-17T20:20:53.808Z,1613593253.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:20:54.220Z,1613593254.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:20:54.387Z,1613593254.387 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-02-17T20:20:54.387Z,1613593254.387 [RDI_Pathfinder] No Fault, FailCount= 1 2021-02-17T20:20:55.073Z,1613593255.073 [Micromodem](INFO): Nmea in: $SNTTA,0.003307,,0.028781,,202053.91*53 2021-02-17T20:20:55.132Z,1613593255.132 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T20:20:55.132Z,1613593255.132 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T20:20:55.132Z,1613593255.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T20:20:55.133Z,1613593255.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:20:55.133Z,1613593255.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T20:20:55.133Z,1613593255.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 2021-02-17T20:20:55.133Z,1613593255.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T20:20:55.133Z,1613593255.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T20:20:55.133Z,1613593255.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T20:20:55.140Z,1613593255.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.679999 m, bearing: 6.738042 deg, deltaT: 4.037741 s, approachRate: -0.267476 m/s, LOS rate: -0.791224 deg/s, posRepo size: 4 2021-02-17T20:20:55.142Z,1613593255.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.679999 m, bearing: 6.738042 deg, approachRate: -0.267476 m/s, LOS rate: -0.791224 deg/s, cmd update: -3.164896 deg/s, cmd heading: 76.031004 deg, new cmd heading: 79.427008 deg. 2021-02-17T20:20:55.473Z,1613593255.473 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T202055: (41.552319, -70.708603) 2021-02-17T20:20:55.473Z,1613593255.473 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T20:20:55.473Z,1613593255.473 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T20:20:55.473Z,1613593255.473 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:20:55.473Z,1613593255.473 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T20:20:55.473Z,1613593255.473 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:20:55.474Z,1613593255.474 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T20:20:55.474Z,1613593255.474 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T20:20:55.474Z,1613593255.474 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T20:20:55.868Z,1613593255.868 [UniversalFixResidualReporter](INFO): Fix residual: 1.6 %DT, over the last 690.3 m. Residual distance 11.2 m at bearing 124.1 degrees. Fix at (41.5515, -70.7067) with 0.0 m made good. 2021-02-17T20:20:57.480Z,1613593257.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:20:58.264Z,1613593258.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:20:58.658Z,1613593258.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:20:59.488Z,1613593259.488 [Micromodem](INFO): Nmea in: $SNTTA,0.003161,,,,202058.36*4D 2021-02-17T20:20:59.520Z,1613593259.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.740000 m, bearing: 102.696737 deg, deltaT: 4.458451 s, approachRate: 0.013458 m/s, LOS rate: 21.522877 deg/s, posRepo size: 4 2021-02-17T20:20:59.521Z,1613593259.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.522877 deg/s. Setting heading cmd to target bearing of 102.696737deg and heading rate command to 0 deg/s. 2021-02-17T20:21:01.914Z,1613593261.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:21:02.701Z,1613593262.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:21:03.102Z,1613593263.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:21:03.932Z,1613593263.932 [Micromodem](INFO): Nmea in: $SNTTA,0.005221,,,,202102.80*4F 2021-02-17T20:21:03.966Z,1613593263.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.859998 m, bearing: 66.426117 deg, deltaT: 4.432520 s, approachRate: 0.703888 m/s, LOS rate: -8.182844 deg/s, posRepo size: 4 2021-02-17T20:21:03.968Z,1613593263.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.859998 m, bearing: 66.426117 deg, approachRate: 0.703888 m/s, LOS rate: -8.182844 deg/s, cmd update: -12.000000 deg/s, cmd heading: 102.696737 deg, new cmd heading: 102.696737 deg. 2021-02-17T20:21:06.356Z,1613593266.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:21:07.140Z,1613593267.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:21:07.546Z,1613593267.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:21:08.372Z,1613593268.372 [Micromodem](INFO): Nmea in: $SNTTA,0.005102,,,,202107.24*46 2021-02-17T20:21:08.422Z,1613593268.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.740000 m, bearing: 91.608560 deg, deltaT: 4.429273 s, approachRate: -0.027092 m/s, LOS rate: 5.685458 deg/s, posRepo size: 4 2021-02-17T20:21:08.425Z,1613593268.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.740000 m, bearing: 91.608560 deg, approachRate: -0.027092 m/s, LOS rate: 5.685458 deg/s, cmd update: 12.000000 deg/s, cmd heading: 49.353759 deg, new cmd heading: 43.854015 deg. 2021-02-17T20:21:10.807Z,1613593270.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:21:11.589Z,1613593271.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:21:11.991Z,1613593271.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:21:12.816Z,1613593272.816 [Micromodem](INFO): Nmea in: $SNTTA,0.006458,,,,202111.69*41 2021-02-17T20:21:12.840Z,1613593272.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.780002 m, bearing: 70.691392 deg, deltaT: 4.465127 s, approachRate: 0.456874 m/s, LOS rate: -4.684563 deg/s, posRepo size: 4 2021-02-17T20:21:12.842Z,1613593272.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.780002 m, bearing: 70.691392 deg, approachRate: 0.456874 m/s, LOS rate: -4.684563 deg/s, cmd update: -12.000000 deg/s, cmd heading: 102.878597 deg, new cmd heading: 107.875997 deg. 2021-02-17T20:21:15.295Z,1613593275.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:21:16.061Z,1613593276.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:21:16.440Z,1613593276.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:21:17.270Z,1613593277.270 [Micromodem](INFO): Nmea in: $SNTTA,0.008844,,,,202116.16*41 2021-02-17T20:21:17.295Z,1613593277.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.439999 m, bearing: 60.454476 deg, deltaT: 4.447661 s, approachRate: 0.822904 m/s, LOS rate: -2.301641 deg/s, posRepo size: 4 2021-02-17T20:21:17.297Z,1613593277.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.439999 m, bearing: 60.454476 deg, approachRate: 0.822904 m/s, LOS rate: -2.301641 deg/s, cmd update: -9.206562 deg/s, cmd heading: 49.453084 deg, new cmd heading: 44.427760 deg. 2021-02-17T20:21:19.714Z,1613593279.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:21:20.493Z,1613593280.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:21:20.878Z,1613593280.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:21:21.712Z,1613593281.712 [Micromodem](INFO): Nmea in: $SNTTA,0.010798,,,,202120.59*48 2021-02-17T20:21:21.737Z,1613593281.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.240002 m, bearing: 84.714276 deg, deltaT: 4.444871 s, approachRate: 0.404962 m/s, LOS rate: 5.457931 deg/s, posRepo size: 4 2021-02-17T20:21:21.739Z,1613593281.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.240002 m, bearing: 84.714276 deg, approachRate: 0.404962 m/s, LOS rate: 5.457931 deg/s, cmd update: 12.000000 deg/s, cmd heading: 8.530274 deg, new cmd heading: 4.697610 deg. 2021-02-17T20:21:24.145Z,1613593284.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:21:24.961Z,1613593284.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:21:25.322Z,1613593285.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:21:26.158Z,1613593286.158 [Micromodem](INFO): Nmea in: $SNTTA,0.011140,,,,202125.06*45 2021-02-17T20:21:26.204Z,1613593286.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.860001 m, bearing: 64.073957 deg, deltaT: 4.456894 s, approachRate: 0.363482 m/s, LOS rate: -4.631100 deg/s, posRepo size: 4 2021-02-17T20:21:26.204Z,1613593286.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.86 m. Rolling out. 2021-02-17T20:21:26.205Z,1613593286.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T20:21:28.590Z,1613593288.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:21:29.366Z,1613593289.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:21:29.766Z,1613593289.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:21:30.600Z,1613593290.600 [Micromodem](INFO): Nmea in: $SNTTA,0.012297,,0.044577,,202129.47*5D 2021-02-17T20:21:30.639Z,1613593290.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.379997 m, bearing: 28.936202 deg, deltaT: 4.452989 s, approachRate: 0.565911 m/s, LOS rate: -7.890824 deg/s, posRepo size: 4 2021-02-17T20:21:31.014Z,1613593291.014 [PowerOnly](INFO): Powering down loadControl 2021-02-17T20:21:33.068Z,1613593293.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:21:33.804Z,1613593293.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:21:34.212Z,1613593294.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:21:35.060Z,1613593295.060 [Micromodem](INFO): Nmea in: $SNTTA,0.013809,,,,202133.90*4B 2021-02-17T20:21:35.084Z,1613593295.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.540003 m, bearing: 30.282552 deg, deltaT: 4.422948 s, approachRate: 0.488363 m/s, LOS rate: 0.304401 deg/s, posRepo size: 4 2021-02-17T20:21:37.514Z,1613593297.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:21:38.253Z,1613593298.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:21:38.663Z,1613593298.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:21:39.500Z,1613593299.500 [Micromodem](INFO): Nmea in: $SNTTA,0.015172,,,,202138.35*4C 2021-02-17T20:21:39.524Z,1613593299.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.919998 m, bearing: 20.267014 deg, deltaT: 4.438210 s, approachRate: 0.310935 m/s, LOS rate: -2.256662 deg/s, posRepo size: 4 2021-02-17T20:21:41.905Z,1613593301.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:21:42.692Z,1613593302.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:21:43.108Z,1613593303.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:21:43.933Z,1613593303.933 [Micromodem](INFO): Nmea in: $SNTTA,0.016529,,,,202142.79*40 2021-02-17T20:21:43.954Z,1613593303.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.499998 m, bearing: 35.919938 deg, deltaT: 4.446966 s, approachRate: 0.580171 m/s, LOS rate: 3.519911 deg/s, posRepo size: 4 2021-02-17T20:21:46.360Z,1613593306.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:21:47.136Z,1613593307.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:21:47.551Z,1613593307.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:21:48.364Z,1613593308.364 [Micromodem](INFO): Nmea in: $SNTTA,0.018135,,,,202147.24*4A 2021-02-17T20:21:48.405Z,1613593308.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.359999 m, bearing: 17.951105 deg, deltaT: 4.439708 s, approachRate: 0.418947 m/s, LOS rate: -4.047301 deg/s, posRepo size: 4 2021-02-17T20:21:50.812Z,1613593310.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:21:51.586Z,1613593311.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:21:51.985Z,1613593311.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:21:52.812Z,1613593312.812 [Micromodem](INFO): Nmea in: $SNTTA,0.019931,,,,202151.68*48 2021-02-17T20:21:52.852Z,1613593312.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.059999 m, bearing: 27.168713 deg, deltaT: 4.486615 s, approachRate: 0.601790 m/s, LOS rate: 2.054468 deg/s, posRepo size: 4 2021-02-17T20:21:55.258Z,1613593315.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:21:56.054Z,1613593316.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:21:56.434Z,1613593316.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:21:57.268Z,1613593317.268 [Micromodem](INFO): Nmea in: $SNTTA,0.021309,,,,202156.15*4F 2021-02-17T20:21:57.312Z,1613593317.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.160004 m, bearing: 88.789044 deg, deltaT: 4.392345 s, approachRate: 0.478105 m/s, LOS rate: 14.029028 deg/s, posRepo size: 4 2021-02-17T20:21:59.685Z,1613593319.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:00.492Z,1613593320.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:00.876Z,1613593320.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:01.708Z,1613593321.708 [Micromodem](INFO): Nmea in: $SNTTA,0.022692,,0.045511,,202200.59*59 2021-02-17T20:22:01.758Z,1613593321.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.620003 m, bearing: 42.504930 deg, deltaT: 4.443318 s, approachRate: 0.553640 m/s, LOS rate: -10.416566 deg/s, posRepo size: 4 2021-02-17T20:22:04.156Z,1613593324.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:04.918Z,1613593324.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:05.335Z,1613593325.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:06.156Z,1613593326.156 [Micromodem](INFO): Nmea in: $SNTTA,0.024334,,,,202205.02*47 2021-02-17T20:22:06.200Z,1613593326.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.139999 m, bearing: 66.082429 deg, deltaT: 4.448884 s, approachRate: 0.566433 m/s, LOS rate: 5.299643 deg/s, posRepo size: 4 2021-02-17T20:22:08.589Z,1613593328.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:09.369Z,1613593329.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:09.762Z,1613593329.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:10.596Z,1613593330.596 [Micromodem](INFO): Nmea in: $SNTTA,0.025815,,,,202209.47*43 2021-02-17T20:22:10.634Z,1613593330.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.879997 m, bearing: 30.934822 deg, deltaT: 4.467330 s, approachRate: 0.389494 m/s, LOS rate: -7.867699 deg/s, posRepo size: 4 2021-02-17T20:22:13.058Z,1613593333.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:13.801Z,1613593333.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:14.215Z,1613593334.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:15.064Z,1613593335.064 [Micromodem](INFO): Nmea in: $SNTTA,0.027328,,,,202213.90*45 2021-02-17T20:22:15.108Z,1613593335.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.159996 m, bearing: 32.709373 deg, deltaT: 4.454009 s, approachRate: 0.511898 m/s, LOS rate: 0.398417 deg/s, posRepo size: 4 2021-02-17T20:22:17.507Z,1613593337.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:18.244Z,1613593338.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:18.655Z,1613593338.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:19.500Z,1613593339.500 [Micromodem](INFO): Nmea in: $SNTTA,0.029401,,0.052614,,202218.34*58 2021-02-17T20:22:19.544Z,1613593339.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.279999 m, bearing: 39.359033 deg, deltaT: 4.414620 s, approachRate: 0.706743 m/s, LOS rate: 1.506281 deg/s, posRepo size: 4 2021-02-17T20:22:21.904Z,1613593341.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:22.688Z,1613593342.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:23.103Z,1613593343.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:23.916Z,1613593343.916 [Micromodem](INFO): Nmea in: $SNTTA,0.030486,,,,202222.79*45 2021-02-17T20:22:23.953Z,1613593343.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.259998 m, bearing: 34.456996 deg, deltaT: 4.457066 s, approachRate: 0.444238 m/s, LOS rate: -1.099835 deg/s, posRepo size: 4 2021-02-17T20:22:26.362Z,1613593346.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:27.132Z,1613593347.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:27.548Z,1613593347.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:28.360Z,1613593348.360 [Micromodem](INFO): Nmea in: $SNTTA,0.032068,,,,202227.23*49 2021-02-17T20:22:28.434Z,1613593348.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.239998 m, bearing: 34.425253 deg, deltaT: 4.434780 s, approachRate: 0.446471 m/s, LOS rate: -0.007158 deg/s, posRepo size: 4 2021-02-17T20:22:30.794Z,1613593350.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:31.582Z,1613593351.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:31.982Z,1613593351.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:32.808Z,1613593352.808 [Micromodem](INFO): Nmea in: $SNTTA,0.033556,,,,202231.68*48 2021-02-17T20:22:32.845Z,1613593352.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.520000 m, bearing: 38.449614 deg, deltaT: 4.453701 s, approachRate: 0.511934 m/s, LOS rate: 0.903599 deg/s, posRepo size: 4 2021-02-17T20:22:35.244Z,1613593355.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:36.058Z,1613593356.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:36.430Z,1613593356.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:37.262Z,1613593357.262 [Micromodem](INFO): Nmea in: $SNTTA,0.035105,,,,202236.16*42 2021-02-17T20:22:37.305Z,1613593357.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.100006 m, bearing: 39.582985 deg, deltaT: 4.459781 s, approachRate: 0.578505 m/s, LOS rate: 0.254132 deg/s, posRepo size: 4 2021-02-17T20:22:39.702Z,1613593359.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:40.491Z,1613593360.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:40.871Z,1613593360.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:41.708Z,1613593361.708 [Micromodem](INFO): Nmea in: $SNTTA,0.036583,,,,202240.59*41 2021-02-17T20:22:41.746Z,1613593361.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.019997 m, bearing: 41.424049 deg, deltaT: 4.403599 s, approachRate: 0.436005 m/s, LOS rate: 0.418082 deg/s, posRepo size: 4 2021-02-17T20:22:44.138Z,1613593364.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:44.913Z,1613593364.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:45.318Z,1613593365.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:46.148Z,1613593366.148 [Micromodem](INFO): Nmea in: $SNTTA,0.038356,,0.093656,,202245.01*58 2021-02-17T20:22:46.172Z,1613593366.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.900009 m, bearing: 44.457753 deg, deltaT: 4.447577 s, approachRate: 0.647546 m/s, LOS rate: 0.682103 deg/s, posRepo size: 4 2021-02-17T20:22:48.593Z,1613593368.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:49.360Z,1613593369.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:49.763Z,1613593369.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:50.584Z,1613593370.584 [Micromodem](INFO): Nmea in: $SNTTA,0.040156,,,,202249.46*4B 2021-02-17T20:22:50.633Z,1613593370.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.419998 m, bearing: 48.835050 deg, deltaT: 4.470560 s, approachRate: 0.563685 m/s, LOS rate: 0.979139 deg/s, posRepo size: 4 2021-02-17T20:22:53.057Z,1613593373.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:53.800Z,1613593373.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:54.202Z,1613593374.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:55.076Z,1613593375.076 [Micromodem](INFO): Nmea in: $SNTTA,0.041605,,,,202253.90*4B 2021-02-17T20:22:55.126Z,1613593375.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.760002 m, bearing: 52.401812 deg, deltaT: 4.444031 s, approachRate: 0.526550 m/s, LOS rate: 0.802596 deg/s, posRepo size: 4 2021-02-17T20:22:57.497Z,1613593377.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:22:58.245Z,1613593378.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:22:58.645Z,1613593378.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:22:59.500Z,1613593379.500 [Micromodem](INFO): Nmea in: $SNTTA,0.043190,,,,202258.34*47 2021-02-17T20:22:59.524Z,1613593379.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.159996 m, bearing: 49.705544 deg, deltaT: 4.446312 s, approachRate: 0.539772 m/s, LOS rate: -0.606406 deg/s, posRepo size: 4 2021-02-17T20:23:01.900Z,1613593381.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:02.684Z,1613593382.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:23:03.090Z,1613593383.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:23:03.912Z,1613593383.912 [Micromodem](INFO): Nmea in: $SNTTA,0.044586,,,,202302.78*45 2021-02-17T20:23:03.958Z,1613593383.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.260002 m, bearing: 52.657600 deg, deltaT: 4.446361 s, approachRate: 0.472298 m/s, LOS rate: 0.663926 deg/s, posRepo size: 4 2021-02-17T20:23:06.354Z,1613593386.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:07.128Z,1613593387.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:23:07.534Z,1613593387.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:23:08.356Z,1613593388.356 [Micromodem](INFO): Nmea in: $SNTTA,0.046167,,,,202307.23*47 2021-02-17T20:23:08.412Z,1613593388.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.540001 m, bearing: 55.699756 deg, deltaT: 4.399976 s, approachRate: 0.518184 m/s, LOS rate: 0.691403 deg/s, posRepo size: 4 2021-02-17T20:23:10.831Z,1613593390.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:11.589Z,1613593391.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:23:11.977Z,1613593391.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:23:12.812Z,1613593392.812 [Micromodem](INFO): Nmea in: $SNTTA,0.047670,,,,202311.69*4E 2021-02-17T20:23:12.856Z,1613593392.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.880005 m, bearing: 44.074084 deg, deltaT: 4.459032 s, approachRate: 0.524778 m/s, LOS rate: -2.607219 deg/s, posRepo size: 4 2021-02-17T20:23:15.318Z,1613593395.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:16.041Z,1613593396.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:23:16.422Z,1613593396.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:23:17.264Z,1613593397.264 [Micromodem](INFO): Nmea in: $SNTTA,0.049186,,,,202316.14*43 2021-02-17T20:23:17.301Z,1613593397.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.160004 m, bearing: 51.139136 deg, deltaT: 4.439026 s, approachRate: 0.513626 m/s, LOS rate: 1.591577 deg/s, posRepo size: 4 2021-02-17T20:23:19.692Z,1613593399.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:20.494Z,1613593400.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:23:20.866Z,1613593400.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:23:21.700Z,1613593401.700 [Micromodem](INFO): Nmea in: $SNTTA,0.050996,,,,202320.59*4E 2021-02-17T20:23:21.745Z,1613593401.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.980003 m, bearing: 56.371962 deg, deltaT: 4.444966 s, approachRate: 0.634425 m/s, LOS rate: 1.177248 deg/s, posRepo size: 4 2021-02-17T20:23:24.136Z,1613593404.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:24.912Z,1613593404.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:23:25.311Z,1613593405.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:23:26.144Z,1613593406.144 [Micromodem](INFO): Nmea in: $SNTTA,0.052630,,,,202325.01*47 2021-02-17T20:23:26.167Z,1613593406.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.260002 m, bearing: 55.864158 deg, deltaT: 4.458473 s, approachRate: 0.511386 m/s, LOS rate: -0.113896 deg/s, posRepo size: 4 2021-02-17T20:23:28.566Z,1613593408.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:29.348Z,1613593409.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:23:29.771Z,1613593409.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:23:30.576Z,1613593410.576 [Micromodem](INFO): Nmea in: $SNTTA,0.054201,,,,202329.45*4B 2021-02-17T20:23:30.624Z,1613593410.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.540001 m, bearing: 48.466370 deg, deltaT: 4.441073 s, approachRate: 0.513389 m/s, LOS rate: -1.665766 deg/s, posRepo size: 4 2021-02-17T20:23:31.389Z,1613593411.389 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:23:33.042Z,1613593413.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:33.794Z,1613593413.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:23:34.211Z,1613593414.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:23:35.088Z,1613593415.088 [Micromodem](INFO): Nmea in: $SNTTA,0.055774,,,,202333.89*46 2021-02-17T20:23:35.118Z,1613593415.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.820007 m, bearing: 49.839948 deg, deltaT: 4.447434 s, approachRate: 0.512657 m/s, LOS rate: 0.308847 deg/s, posRepo size: 4 2021-02-17T20:23:37.502Z,1613593417.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:38.241Z,1613593418.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:23:38.641Z,1613593418.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:23:39.508Z,1613593419.508 [Micromodem](INFO): Nmea in: $SNTTA,0.057538,,,,202338.34*43 2021-02-17T20:23:39.548Z,1613593419.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 49.902824 deg, deltaT: 4.459659 s, approachRate: 0.565065 m/s, LOS rate: 0.014099 deg/s, posRepo size: 4 2021-02-17T20:23:41.902Z,1613593421.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:42.680Z,1613593422.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:23:43.086Z,1613593423.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:23:43.917Z,1613593423.917 [Micromodem](INFO): Nmea in: $SNTTA,0.058814,,0.073782,0.069915,202342.78*41 2021-02-17T20:23:43.951Z,1613593423.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.560005 m, bearing: 52.846383 deg, deltaT: 4.439525 s, approachRate: 0.500054 m/s, LOS rate: 0.663035 deg/s, posRepo size: 4 2021-02-17T20:23:46.347Z,1613593426.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:47.124Z,1613593427.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:23:47.538Z,1613593427.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:23:48.360Z,1613593428.360 [Micromodem](INFO): Nmea in: $SNTTA,0.060297,,,,202347.22*4A 2021-02-17T20:23:48.400Z,1613593428.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.660004 m, bearing: 47.652126 deg, deltaT: 4.426742 s, approachRate: 0.474389 m/s, LOS rate: -1.173381 deg/s, posRepo size: 4 2021-02-17T20:23:50.801Z,1613593430.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:51.575Z,1613593431.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:23:51.973Z,1613593431.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:23:52.800Z,1613593432.800 [Micromodem](INFO): Nmea in: $SNTTA,0.062093,,,,202351.67*48 2021-02-17T20:23:52.852Z,1613593432.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.540009 m, bearing: 64.475907 deg, deltaT: 4.449628 s, approachRate: 0.647246 m/s, LOS rate: 3.780941 deg/s, posRepo size: 4 2021-02-17T20:23:55.242Z,1613593435.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:56.035Z,1613593436.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:23:56.431Z,1613593436.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:23:57.244Z,1613593437.244 [Micromodem](INFO): Nmea in: $SNTTA,0.063619,,,,202356.13*49 2021-02-17T20:23:58.082Z,1613593438.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:23:59.652Z,1613593439.652 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:24:00.911Z,1613593440.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:01.677Z,1613593441.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:02.079Z,1613593442.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:24:02.908Z,1613593442.908 [Micromodem](INFO): Nmea in: $SNTTA,0.065715,,,,202401.78*4A 2021-02-17T20:24:02.949Z,1613593442.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.820000 m, bearing: 55.727872 deg, deltaT: 10.114525 s, approachRate: 0.522021 m/s, LOS rate: -0.864898 deg/s, posRepo size: 4 2021-02-17T20:24:05.356Z,1613593445.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:06.122Z,1613593446.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:06.529Z,1613593446.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:24:07.348Z,1613593447.348 [Micromodem](INFO): Nmea in: $SNTTA,0.067278,,,,202406.22*4E 2021-02-17T20:24:07.386Z,1613593447.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.099998 m, bearing: 50.967695 deg, deltaT: 4.436291 s, approachRate: 0.513943 m/s, LOS rate: -1.073008 deg/s, posRepo size: 4 2021-02-17T20:24:09.778Z,1613593449.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:10.560Z,1613593450.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:10.971Z,1613593450.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:24:11.796Z,1613593451.796 [Micromodem](INFO): Nmea in: $SNTTA,0.068898,0.113229,,,202410.66*56 2021-02-17T20:24:11.820Z,1613593451.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.680008 m, bearing: 61.248499 deg, deltaT: 4.445580 s, approachRate: 0.580354 m/s, LOS rate: 2.312590 deg/s, posRepo size: 4 2021-02-17T20:24:14.221Z,1613593454.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:15.012Z,1613593455.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:15.412Z,1613593455.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:24:16.236Z,1613593456.236 [Micromodem](INFO): Nmea in: $SNTTA,0.070475,,,,202415.12*42 2021-02-17T20:24:16.261Z,1613593456.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.900002 m, bearing: 51.881051 deg, deltaT: 4.442018 s, approachRate: 0.499771 m/s, LOS rate: -2.108827 deg/s, posRepo size: 4 2021-02-17T20:24:18.701Z,1613593458.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:19.477Z,1613593459.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:19.854Z,1613593459.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:24:20.699Z,1613593460.699 [Micromodem](INFO): Nmea in: $SNTTA,0.072396,,,,202419.58*48 2021-02-17T20:24:20.725Z,1613593460.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.840004 m, bearing: 61.520764 deg, deltaT: 4.488969 s, approachRate: 0.654939 m/s, LOS rate: 2.147422 deg/s, posRepo size: 4 2021-02-17T20:24:23.120Z,1613593463.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:23.893Z,1613593463.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:24.300Z,1613593464.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:24:25.148Z,1613593465.148 [Micromodem](INFO): Nmea in: $SNTTA,0.073933,,,,202424.03*4C 2021-02-17T20:24:25.195Z,1613593465.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.180000 m, bearing: 59.698039 deg, deltaT: 4.389246 s, approachRate: 0.533120 m/s, LOS rate: -0.415271 deg/s, posRepo size: 4 2021-02-17T20:24:27.562Z,1613593467.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:28.340Z,1613593468.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:28.746Z,1613593468.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:24:29.576Z,1613593469.576 [Micromodem](INFO): Nmea in: $SNTTA,0.075381,,,,202428.44*46 2021-02-17T20:24:29.601Z,1613593469.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.279999 m, bearing: 48.105326 deg, deltaT: 4.440731 s, approachRate: 0.472895 m/s, LOS rate: -2.610542 deg/s, posRepo size: 4 2021-02-17T20:24:31.994Z,1613593471.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:32.784Z,1613593472.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:33.208Z,1613593473.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:24:34.035Z,1613593474.035 [Micromodem](INFO): Nmea in: $SNTTA,0.077028,,,,202432.88*4F 2021-02-17T20:24:34.089Z,1613593474.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.620003 m, bearing: 43.983099 deg, deltaT: 4.466857 s, approachRate: 0.523859 m/s, LOS rate: -0.922847 deg/s, posRepo size: 4 2021-02-17T20:24:36.455Z,1613593476.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:37.228Z,1613593477.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:37.640Z,1613593477.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:24:38.475Z,1613593478.475 [Micromodem](INFO): Nmea in: $SNTTA,0.078673,,,,202437.33*4D 2021-02-17T20:24:38.529Z,1613593478.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.139999 m, bearing: 47.237540 deg, deltaT: 4.442223 s, approachRate: 0.567283 m/s, LOS rate: 0.732616 deg/s, posRepo size: 4 2021-02-17T20:24:40.889Z,1613593480.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:41.678Z,1613593481.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:42.084Z,1613593482.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:24:42.911Z,1613593482.911 [Micromodem](INFO): Nmea in: $SNTTA,0.080196,,,,202441.78*48 2021-02-17T20:24:42.933Z,1613593482.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.480003 m, bearing: 50.027727 deg, deltaT: 4.437457 s, approachRate: 0.527330 m/s, LOS rate: 0.628781 deg/s, posRepo size: 4 2021-02-17T20:24:45.334Z,1613593485.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:46.116Z,1613593486.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:46.536Z,1613593486.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:24:47.348Z,1613593487.348 [Micromodem](INFO): Nmea in: $SNTTA,0.081769,,,,202446.21*44 2021-02-17T20:24:47.384Z,1613593487.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.879997 m, bearing: 52.132020 deg, deltaT: 4.419217 s, approachRate: 0.543081 m/s, LOS rate: 0.476169 deg/s, posRepo size: 4 2021-02-17T20:24:49.792Z,1613593489.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:50.565Z,1613593490.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:50.966Z,1613593490.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:24:51.796Z,1613593491.796 [Micromodem](INFO): Nmea in: $SNTTA,0.083405,,,0.085898,202450.67*50 2021-02-17T20:24:51.839Z,1613593491.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.280006 m, bearing: 50.407875 deg, deltaT: 4.490573 s, approachRate: 0.534455 m/s, LOS rate: -0.383948 deg/s, posRepo size: 4 2021-02-17T20:24:54.234Z,1613593494.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:55.048Z,1613593495.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:55.432Z,1613593495.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:24:56.245Z,1613593496.245 [Micromodem](INFO): Nmea in: $SNTTA,0.085031,,,,202455.15*4F 2021-02-17T20:24:56.292Z,1613593496.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.740005 m, bearing: 48.405008 deg, deltaT: 4.445206 s, approachRate: 0.553405 m/s, LOS rate: -0.450568 deg/s, posRepo size: 4 2021-02-17T20:24:58.674Z,1613593498.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:24:59.466Z,1613593499.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:24:59.862Z,1613593499.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:00.692Z,1613593500.692 [Micromodem](INFO): Nmea in: $SNTTA,0.086505,0.191066,,,202459.56*52 2021-02-17T20:25:00.716Z,1613593500.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.020004 m, bearing: 60.872811 deg, deltaT: 4.421242 s, approachRate: 0.515692 m/s, LOS rate: 2.819978 deg/s, posRepo size: 4 2021-02-17T20:25:03.113Z,1613593503.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:25:03.892Z,1613593503.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:25:04.304Z,1613593504.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:05.144Z,1613593505.144 [Micromodem](INFO): Nmea in: $SNTTA,0.088113,,,,202503.99*45 2021-02-17T20:25:05.168Z,1613593505.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.300003 m, bearing: 47.830213 deg, deltaT: 4.442526 s, approachRate: 0.513221 m/s, LOS rate: -2.935852 deg/s, posRepo size: 4 2021-02-17T20:25:07.562Z,1613593507.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:25:08.336Z,1613593508.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:25:08.745Z,1613593508.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:09.576Z,1613593509.576 [Micromodem](INFO): Nmea in: $SNTTA,0.089572,,,0.096891,202508.43*5A 2021-02-17T20:25:09.600Z,1613593509.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.520004 m, bearing: 44.618112 deg, deltaT: 4.442795 s, approachRate: 0.499686 m/s, LOS rate: -0.722991 deg/s, posRepo size: 4 2021-02-17T20:25:12.001Z,1613593512.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:25:12.785Z,1613593512.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:25:13.194Z,1613593513.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:14.024Z,1613593514.024 [Micromodem](INFO): Nmea in: $SNTTA,0.091147,,,,202512.88*4C 2021-02-17T20:25:14.084Z,1613593514.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.860001 m, bearing: 49.328613 deg, deltaT: 4.447041 s, approachRate: 0.526192 m/s, LOS rate: 1.059244 deg/s, posRepo size: 4 2021-02-17T20:25:16.440Z,1613593516.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:25:17.224Z,1613593517.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:25:17.632Z,1613593517.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:18.472Z,1613593518.472 [Micromodem](INFO): Nmea in: $SNTTA,0.092742,,,,202517.32*48 2021-02-17T20:25:18.521Z,1613593518.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.320007 m, bearing: 52.314219 deg, deltaT: 4.453491 s, approachRate: 0.552377 m/s, LOS rate: 0.670397 deg/s, posRepo size: 4 2021-02-17T20:25:20.878Z,1613593520.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:25:21.674Z,1613593521.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:25:22.086Z,1613593522.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:22.900Z,1613593522.900 [Micromodem](INFO): Nmea in: $SNTTA,0.094402,,,,202521.77*4D 2021-02-17T20:25:22.941Z,1613593522.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.899994 m, bearing: 54.155856 deg, deltaT: 4.442332 s, approachRate: 0.580773 m/s, LOS rate: 0.414566 deg/s, posRepo size: 4 2021-02-17T20:25:25.341Z,1613593525.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:25:26.112Z,1613593526.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:25:26.531Z,1613593526.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:27.340Z,1613593527.340 [Micromodem](INFO): Nmea in: $SNTTA,0.095883,,,,202526.21*4D 2021-02-17T20:25:27.381Z,1613593527.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.940002 m, bearing: 40.455559 deg, deltaT: 4.441183 s, approachRate: 0.459339 m/s, LOS rate: -3.084831 deg/s, posRepo size: 4 2021-02-17T20:25:29.782Z,1613593529.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:25:30.559Z,1613593530.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:25:30.968Z,1613593530.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:31.797Z,1613593531.797 [Micromodem](INFO): Nmea in: $SNTTA,0.097469,,,,202530.66*43 2021-02-17T20:25:31.826Z,1613593531.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.399994 m, bearing: 53.216538 deg, deltaT: 4.437922 s, approachRate: 0.554312 m/s, LOS rate: 2.875440 deg/s, posRepo size: 4 2021-02-17T20:25:34.219Z,1613593534.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:25:35.006Z,1613593535.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:25:35.407Z,1613593535.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:36.232Z,1613593536.232 [Micromodem](INFO): Nmea in: $SNTTA,0.099007,,,,202535.10*45 2021-02-17T20:25:36.262Z,1613593536.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.740005 m, bearing: 43.219313 deg, deltaT: 4.440029 s, approachRate: 0.527026 m/s, LOS rate: -2.251613 deg/s, posRepo size: 4 2021-02-17T20:25:38.685Z,1613593538.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:25:39.469Z,1613593539.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:25:39.850Z,1613593539.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:40.684Z,1613593540.684 [Micromodem](INFO): Nmea in: $SNTTA,0.100877,,,,202539.57*44 2021-02-17T20:25:40.708Z,1613593540.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.380005 m, bearing: 41.332958 deg, deltaT: 4.474973 s, approachRate: 0.589948 m/s, LOS rate: -0.421534 deg/s, posRepo size: 4 2021-02-17T20:25:40.708Z,1613593540.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.38 m. Resuming terminal guidance. 2021-02-17T20:25:40.709Z,1613593540.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T20:25:43.104Z,1613593543.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:25:43.888Z,1613593543.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:25:44.296Z,1613593544.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:45.129Z,1613593545.129 [Micromodem](INFO): Nmea in: $SNTTA,0.102284,,,,202543.99*4F 2021-02-17T20:25:45.163Z,1613593545.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.660004 m, bearing: 54.120336 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T20:25:45.164Z,1613593545.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 54.120336deg and heading rate command to 0 deg/s. 2021-02-17T20:25:47.552Z,1613593547.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:25:48.332Z,1613593548.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:25:48.762Z,1613593548.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:49.564Z,1613593549.564 [Micromodem](INFO): Nmea in: $SNTTA,0.103948,,,,202548.43*49 2021-02-17T20:25:49.609Z,1613593549.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.060013 m, bearing: 46.730915 deg, deltaT: 4.450169 s, approachRate: 0.539307 m/s, LOS rate: -1.660481 deg/s, posRepo size: 2 2021-02-17T20:25:49.610Z,1613593549.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.060013 m, bearing: 46.730915 deg, approachRate: 0.539307 m/s, LOS rate: -1.660481 deg/s, cmd update: -6.641924 deg/s, cmd heading: 54.120336 deg, new cmd heading: 54.120336 deg. 2021-02-17T20:25:51.987Z,1613593551.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:25:52.781Z,1613593552.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:25:53.183Z,1613593553.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:54.020Z,1613593554.020 [Micromodem](INFO): Nmea in: $SNTTA,0.105613,,,,202552.88*42 2021-02-17T20:25:54.077Z,1613593554.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.580002 m, bearing: 14.085303 deg, deltaT: 4.428457 s, approachRate: 0.569044 m/s, LOS rate: -7.371780 deg/s, posRepo size: 3 2021-02-17T20:25:54.079Z,1613593554.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.580002 m, bearing: 14.085303 deg, approachRate: 0.569044 m/s, LOS rate: -7.371780 deg/s, cmd update: -12.000000 deg/s, cmd heading: 24.678673 deg, new cmd heading: 21.633995 deg. 2021-02-17T20:25:56.426Z,1613593556.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:25:57.231Z,1613593557.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:25:57.626Z,1613593557.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:25:58.486Z,1613593558.486 [Micromodem](INFO): Nmea in: $SNTTA,0.106774,,,,202557.33*44 2021-02-17T20:25:58.515Z,1613593558.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.320007 m, bearing: 39.975069 deg, deltaT: 4.475824 s, approachRate: 0.388756 m/s, LOS rate: 5.784357 deg/s, posRepo size: 4 2021-02-17T20:25:58.517Z,1613593558.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.320007 m, bearing: 39.975069 deg, approachRate: 0.388756 m/s, LOS rate: 5.784357 deg/s, cmd update: 12.000000 deg/s, cmd heading: 330.981168 deg, new cmd heading: 325.922507 deg. 2021-02-17T20:26:00.871Z,1613593560.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:01.670Z,1613593561.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:26:02.070Z,1613593562.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:26:02.904Z,1613593562.904 [Micromodem](INFO): Nmea in: $SNTTA,0.107808,,,,202601.77*41 2021-02-17T20:26:02.941Z,1613593562.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.759995 m, bearing: 2.988517 deg, deltaT: 4.442429 s, approachRate: 0.324144 m/s, LOS rate: -8.325750 deg/s, posRepo size: 4 2021-02-17T20:26:02.943Z,1613593562.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.759995 m, bearing: 2.988517 deg, approachRate: 0.324144 m/s, LOS rate: -8.325750 deg/s, cmd update: -12.000000 deg/s, cmd heading: 24.279169 deg, new cmd heading: 29.161429 deg. 2021-02-17T20:26:05.330Z,1613593565.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:06.119Z,1613593566.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:26:06.514Z,1613593566.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:26:07.344Z,1613593567.344 [Micromodem](INFO): Nmea in: $SNTTA,0.108302,,,,202606.22*48 2021-02-17T20:26:07.388Z,1613593567.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.759995 m, bearing: 347.896806 deg, deltaT: 4.402272 s, approachRate: 0.000000 m/s, LOS rate: -3.428162 deg/s, posRepo size: 4 2021-02-17T20:26:07.390Z,1613593567.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.759995 m, bearing: 347.896806 deg, approachRate: 0.000000 m/s, LOS rate: -3.428162 deg/s, cmd update: -12.000000 deg/s, cmd heading: 331.439988 deg, new cmd heading: 326.282676 deg. 2021-02-17T20:26:09.774Z,1613593569.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:10.552Z,1613593570.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:26:10.964Z,1613593570.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:26:11.792Z,1613593571.792 [Micromodem](INFO): Nmea in: $SNTTA,0.108914,,0.129483,,202610.65*5A 2021-02-17T20:26:11.816Z,1613593571.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.439987 m, bearing: 340.109406 deg, deltaT: 4.467897 s, approachRate: 0.376014 m/s, LOS rate: -1.742967 deg/s, posRepo size: 4 2021-02-17T20:26:11.818Z,1613593571.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.439987 m, bearing: 340.109406 deg, approachRate: 0.376014 m/s, LOS rate: -1.742967 deg/s, cmd update: -6.971870 deg/s, cmd heading: 277.813618 deg, new cmd heading: 272.904130 deg. 2021-02-17T20:26:14.236Z,1613593574.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:15.000Z,1613593575.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:26:15.407Z,1613593575.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:26:16.228Z,1613593576.228 [Micromodem](INFO): Nmea in: $SNTTA,0.108847,,,,202615.10*41 2021-02-17T20:26:16.258Z,1613593576.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.320007 m, bearing: 276.611023 deg, deltaT: 4.431767 s, approachRate: -0.027073 m/s, LOS rate: -14.328005 deg/s, posRepo size: 4 2021-02-17T20:26:16.259Z,1613593576.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.328005 deg/s. Setting heading cmd to target bearing of 276.611023deg and heading rate command to 0 deg/s. 2021-02-17T20:26:18.657Z,1613593578.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:19.469Z,1613593579.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:26:19.846Z,1613593579.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:26:20.671Z,1613593580.671 [Micromodem](INFO): Nmea in: $SNTTA,0.108366,,,,202619.57*46 2021-02-17T20:26:21.515Z,1613593581.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:23.080Z,1613593583.080 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:26:24.320Z,1613593584.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:25.098Z,1613593585.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:26:25.511Z,1613593585.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:26:26.332Z,1613593586.332 [Micromodem](INFO): Nmea in: $SNTTA,0.106803,,,,202625.20*4F 2021-02-17T20:26:26.362Z,1613593586.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.139999 m, bearing: 235.712642 deg, deltaT: 10.106759 s, approachRate: -0.314642 m/s, LOS rate: -4.046637 deg/s, posRepo size: 4 2021-02-17T20:26:26.364Z,1613593586.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.139999 m, bearing: 235.712642 deg, approachRate: -0.314642 m/s, LOS rate: -4.046637 deg/s, cmd update: -12.000000 deg/s, cmd heading: 276.611023 deg, new cmd heading: 276.611023 deg. 2021-02-17T20:26:28.770Z,1613593588.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:29.546Z,1613593589.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:26:29.946Z,1613593589.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:26:30.776Z,1613593590.776 [Micromodem](INFO): Nmea in: $SNTTA,0.105191,,,,202629.64*42 2021-02-17T20:26:30.801Z,1613593590.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.619995 m, bearing: 236.658897 deg, deltaT: 4.456530 s, approachRate: -0.565463 m/s, LOS rate: 0.212330 deg/s, posRepo size: 4 2021-02-17T20:26:30.803Z,1613593590.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.619995 m, bearing: 236.658897 deg, approachRate: -0.565463 m/s, LOS rate: 0.212330 deg/s, cmd update: 0.849319 deg/s, cmd heading: 223.132913 deg, new cmd heading: 218.341888 deg. 2021-02-17T20:26:33.217Z,1613593593.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:33.985Z,1613593593.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:26:34.390Z,1613593594.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:26:35.276Z,1613593595.276 [Micromodem](INFO): Nmea in: $SNTTA,0.103191,,,,202634.09*43 2021-02-17T20:26:35.320Z,1613593595.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.619995 m, bearing: 232.459970 deg, deltaT: 4.445574 s, approachRate: -0.674828 m/s, LOS rate: -0.944519 deg/s, posRepo size: 4 2021-02-17T20:26:35.322Z,1613593595.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.619995 m, bearing: 232.459970 deg, approachRate: -0.674828 m/s, LOS rate: -0.944519 deg/s, cmd update: -3.778074 deg/s, cmd heading: 226.905207 deg, new cmd heading: 227.310060 deg. 2021-02-17T20:26:37.670Z,1613593597.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:38.438Z,1613593598.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:26:38.837Z,1613593598.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:26:39.664Z,1613593599.664 [Micromodem](INFO): Nmea in: $SNTTA,0.100729,,,,202638.54*41 2021-02-17T20:26:39.703Z,1613593599.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.780014 m, bearing: 226.626879 deg, deltaT: 4.443313 s, approachRate: -0.864216 m/s, LOS rate: -1.312780 deg/s, posRepo size: 4 2021-02-17T20:26:39.705Z,1613593599.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.780014 m, bearing: 226.626879 deg, approachRate: -0.864216 m/s, LOS rate: -1.312780 deg/s, cmd update: -5.251119 deg/s, cmd heading: 210.102906 deg, new cmd heading: 208.544239 deg. 2021-02-17T20:26:42.121Z,1613593602.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:42.872Z,1613593602.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:26:43.278Z,1613593603.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:26:44.104Z,1613593604.104 [Micromodem](INFO): Nmea in: $SNTTA,0.097962,,,,202642.97*4D 2021-02-17T20:26:44.154Z,1613593604.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.819992 m, bearing: 229.190522 deg, deltaT: 4.416226 s, approachRate: -0.896698 m/s, LOS rate: 0.580505 deg/s, posRepo size: 4 2021-02-17T20:26:44.160Z,1613593604.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.819992 m, bearing: 229.190522 deg, approachRate: -0.896698 m/s, LOS rate: 0.580505 deg/s, cmd update: 2.322022 deg/s, cmd heading: 186.913420 deg, new cmd heading: 184.561628 deg. 2021-02-17T20:26:46.548Z,1613593606.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:47.316Z,1613593607.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:26:47.721Z,1613593607.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:26:48.544Z,1613593608.544 [Micromodem](INFO): Nmea in: $SNTTA,0.095329,,,,202647.41*44 2021-02-17T20:26:48.582Z,1613593608.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.800003 m, bearing: 228.104481 deg, deltaT: 4.464894 s, approachRate: -0.900355 m/s, LOS rate: -0.243240 deg/s, posRepo size: 4 2021-02-17T20:26:48.584Z,1613593608.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.800003 m, bearing: 228.104481 deg, approachRate: -0.900355 m/s, LOS rate: -0.243240 deg/s, cmd update: -0.972960 deg/s, cmd heading: 197.280997 deg, new cmd heading: 198.234298 deg. 2021-02-17T20:26:50.983Z,1613593610.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:51.766Z,1613593611.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:26:52.171Z,1613593612.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:26:52.996Z,1613593612.996 [Micromodem](INFO): Nmea in: $SNTTA,0.093140,0.140765,,,202651.87*5D 2021-02-17T20:26:53.069Z,1613593613.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.500000 m, bearing: 227.786809 deg, deltaT: 4.444838 s, approachRate: -0.742435 m/s, LOS rate: -0.071470 deg/s, posRepo size: 4 2021-02-17T20:26:53.070Z,1613593613.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.500000 m, bearing: 227.786809 deg, approachRate: -0.742435 m/s, LOS rate: -0.071470 deg/s, cmd update: -0.285880 deg/s, cmd heading: 192.959899 deg, new cmd heading: 192.516122 deg. 2021-02-17T20:26:55.421Z,1613593615.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:26:56.212Z,1613593616.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:26:56.631Z,1613593616.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:26:57.466Z,1613593617.466 [Micromodem](INFO): Nmea in: $SNTTA,0.090815,,,,202656.31*42 2021-02-17T20:26:57.502Z,1613593617.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.080002 m, bearing: 230.074239 deg, deltaT: 4.476112 s, approachRate: -0.764056 m/s, LOS rate: 0.511031 deg/s, posRepo size: 4 2021-02-17T20:26:57.524Z,1613593617.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.080002 m, bearing: 230.074239 deg, approachRate: -0.764056 m/s, LOS rate: 0.511031 deg/s, cmd update: 2.044123 deg/s, cmd heading: 191.681459 deg, new cmd heading: 191.562070 deg. 2021-02-17T20:26:59.897Z,1613593619.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:00.648Z,1613593620.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:01.067Z,1613593621.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:01.884Z,1613593621.884 [Micromodem](INFO): Nmea in: $SNTTA,0.088497,,,,202700.75*4F 2021-02-17T20:27:01.904Z,1613593621.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.660004 m, bearing: 230.931319 deg, deltaT: 4.448893 s, approachRate: -0.768730 m/s, LOS rate: 0.192650 deg/s, posRepo size: 4 2021-02-17T20:27:01.906Z,1613593621.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.660004 m, bearing: 230.931319 deg, approachRate: -0.768730 m/s, LOS rate: 0.192650 deg/s, cmd update: 0.770600 deg/s, cmd heading: 200.783540 deg, new cmd heading: 201.531133 deg. 2021-02-17T20:27:04.314Z,1613593624.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:05.103Z,1613593625.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:05.505Z,1613593625.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:06.332Z,1613593626.332 [Micromodem](INFO): Nmea in: $SNTTA,0.086341,,,,202705.20*48 2021-02-17T20:27:06.356Z,1613593626.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.360001 m, bearing: 231.766569 deg, deltaT: 4.376710 s, approachRate: -0.753992 m/s, LOS rate: 0.190840 deg/s, posRepo size: 4 2021-02-17T20:27:06.358Z,1613593626.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.360001 m, bearing: 231.766569 deg, approachRate: -0.753992 m/s, LOS rate: 0.190840 deg/s, cmd update: 0.763359 deg/s, cmd heading: 204.159323 deg, new cmd heading: 204.496797 deg. 2021-02-17T20:27:08.772Z,1613593628.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:09.542Z,1613593629.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:09.942Z,1613593629.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:10.781Z,1613593630.781 [Micromodem](INFO): Nmea in: $SNTTA,0.083957,,0.110607,,202709.64*53 2021-02-17T20:27:10.817Z,1613593630.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.700005 m, bearing: 233.991216 deg, deltaT: 4.485116 s, approachRate: -0.816032 m/s, LOS rate: 0.496007 deg/s, posRepo size: 4 2021-02-17T20:27:10.819Z,1613593630.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.700005 m, bearing: 233.991216 deg, approachRate: -0.816032 m/s, LOS rate: 0.496007 deg/s, cmd update: 1.984027 deg/s, cmd heading: 207.582779 deg, new cmd heading: 207.898969 deg. 2021-02-17T20:27:13.214Z,1613593633.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:13.985Z,1613593633.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:14.391Z,1613593634.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:15.240Z,1613593635.240 [Micromodem](INFO): Nmea in: $SNTTA,0.081432,,,,202714.08*46 2021-02-17T20:27:15.277Z,1613593635.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.980003 m, bearing: 235.206662 deg, deltaT: 4.430188 s, approachRate: -0.839694 m/s, LOS rate: 0.274355 deg/s, posRepo size: 4 2021-02-17T20:27:15.279Z,1613593635.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.980003 m, bearing: 235.206662 deg, approachRate: -0.839694 m/s, LOS rate: 0.274355 deg/s, cmd update: 1.097421 deg/s, cmd heading: 216.333869 deg, new cmd heading: 217.254354 deg. 2021-02-17T20:27:17.641Z,1613593637.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:18.427Z,1613593638.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:18.836Z,1613593638.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:19.656Z,1613593639.656 [Micromodem](INFO): Nmea in: $SNTTA,0.078868,,,,202718.53*41 2021-02-17T20:27:19.701Z,1613593639.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.080002 m, bearing: 236.781075 deg, deltaT: 4.424036 s, approachRate: -0.881548 m/s, LOS rate: 0.355877 deg/s, posRepo size: 4 2021-02-17T20:27:19.702Z,1613593639.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.080002 m, bearing: 236.781075 deg, approachRate: -0.881548 m/s, LOS rate: 0.355877 deg/s, cmd update: 1.423509 deg/s, cmd heading: 221.210660 deg, new cmd heading: 221.696954 deg. 2021-02-17T20:27:22.102Z,1613593642.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:22.869Z,1613593642.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:23.305Z,1613593643.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:24.096Z,1613593644.096 [Micromodem](INFO): Nmea in: $SNTTA,0.076256,,,,202722.97*49 2021-02-17T20:27:24.148Z,1613593644.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.180008 m, bearing: 236.310858 deg, deltaT: 4.456862 s, approachRate: -0.875054 m/s, LOS rate: -0.105504 deg/s, posRepo size: 4 2021-02-17T20:27:24.151Z,1613593644.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.180008 m, bearing: 236.310858 deg, approachRate: -0.875054 m/s, LOS rate: -0.105504 deg/s, cmd update: -0.422017 deg/s, cmd heading: 227.555283 deg, new cmd heading: 228.170469 deg. 2021-02-17T20:27:26.545Z,1613593646.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:27.319Z,1613593647.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:27.717Z,1613593647.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:28.548Z,1613593648.548 [Micromodem](INFO): Nmea in: $SNTTA,0.073694,,,,202727.42*4B 2021-02-17T20:27:28.584Z,1613593648.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.339996 m, bearing: 237.217196 deg, deltaT: 4.448019 s, approachRate: -0.863308 m/s, LOS rate: 0.203762 deg/s, posRepo size: 4 2021-02-17T20:27:28.586Z,1613593648.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.339996 m, bearing: 237.217196 deg, approachRate: -0.863308 m/s, LOS rate: 0.203762 deg/s, cmd update: 0.815049 deg/s, cmd heading: 225.678139 deg, new cmd heading: 225.500111 deg. 2021-02-17T20:27:30.963Z,1613593650.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:31.756Z,1613593651.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:32.167Z,1613593652.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:32.994Z,1613593652.994 [Micromodem](INFO): Nmea in: $SNTTA,0.070865,,,,202731.86*47 2021-02-17T20:27:33.059Z,1613593653.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.080002 m, bearing: 238.605828 deg, deltaT: 4.444825 s, approachRate: -0.958417 m/s, LOS rate: 0.312415 deg/s, posRepo size: 4 2021-02-17T20:27:33.061Z,1613593653.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.080002 m, bearing: 238.605828 deg, approachRate: -0.958417 m/s, LOS rate: 0.312415 deg/s, cmd update: 1.249662 deg/s, cmd heading: 229.299315 deg, new cmd heading: 229.646508 deg. 2021-02-17T20:27:35.435Z,1613593655.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:36.200Z,1613593656.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:36.611Z,1613593656.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:37.452Z,1613593657.452 [Micromodem](INFO): Nmea in: $SNTTA,0.068019,,,,202736.30*47 2021-02-17T20:27:37.536Z,1613593657.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.760002 m, bearing: 238.467340 deg, deltaT: 4.462548 s, approachRate: -0.968057 m/s, LOS rate: -0.031034 deg/s, posRepo size: 4 2021-02-17T20:27:37.538Z,1613593657.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.760002 m, bearing: 238.467340 deg, approachRate: -0.968057 m/s, LOS rate: -0.031034 deg/s, cmd update: -0.124134 deg/s, cmd heading: 234.873391 deg, new cmd heading: 235.456092 deg. 2021-02-17T20:27:39.878Z,1613593659.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:40.649Z,1613593660.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:41.062Z,1613593661.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:41.876Z,1613593661.876 [Micromodem](INFO): Nmea in: $SNTTA,0.065321,,,,202740.75*42 2021-02-17T20:27:41.920Z,1613593661.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.739998 m, bearing: 238.840678 deg, deltaT: 4.453706 s, approachRate: -0.902620 m/s, LOS rate: 0.083826 deg/s, posRepo size: 4 2021-02-17T20:27:41.921Z,1613593661.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.739998 m, bearing: 238.840678 deg, approachRate: -0.902620 m/s, LOS rate: 0.083826 deg/s, cmd update: 0.335306 deg/s, cmd heading: 234.320031 deg, new cmd heading: 234.273538 deg. 2021-02-17T20:27:44.344Z,1613593664.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:45.088Z,1613593665.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:45.507Z,1613593665.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:46.328Z,1613593666.328 [Micromodem](INFO): Nmea in: $SNTTA,0.062407,,,,202745.19*49 2021-02-17T20:27:46.353Z,1613593666.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.419998 m, bearing: 238.837099 deg, deltaT: 4.404805 s, approachRate: -0.980747 m/s, LOS rate: -0.000813 deg/s, posRepo size: 4 2021-02-17T20:27:46.354Z,1613593666.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.419998 m, bearing: 238.837099 deg, approachRate: -0.980747 m/s, LOS rate: -0.000813 deg/s, cmd update: -0.003250 deg/s, cmd heading: 235.796868 deg, new cmd heading: 235.939243 deg. 2021-02-17T20:27:48.759Z,1613593668.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:49.532Z,1613593669.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:49.948Z,1613593669.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:50.772Z,1613593670.772 [Micromodem](INFO): Nmea in: $SNTTA,0.059469,,,,202749.63*48 2021-02-17T20:27:50.796Z,1613593670.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.980003 m, bearing: 239.590632 deg, deltaT: 4.504735 s, approachRate: -0.985628 m/s, LOS rate: 0.167276 deg/s, posRepo size: 4 2021-02-17T20:27:50.798Z,1613593670.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.980003 m, bearing: 239.590632 deg, approachRate: -0.985628 m/s, LOS rate: 0.167276 deg/s, cmd update: 0.669104 deg/s, cmd heading: 235.782226 deg, new cmd heading: 235.781046 deg. 2021-02-17T20:27:53.214Z,1613593673.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:53.989Z,1613593673.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:54.390Z,1613593674.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:55.220Z,1613593675.220 [Micromodem](INFO): Nmea in: $SNTTA,0.056765,,0.061971,,202754.09*5E 2021-02-17T20:27:55.275Z,1613593675.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.959999 m, bearing: 241.073685 deg, deltaT: 4.404128 s, approachRate: -0.912781 m/s, LOS rate: 0.336741 deg/s, posRepo size: 4 2021-02-17T20:27:55.277Z,1613593675.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.959999 m, bearing: 241.073685 deg, approachRate: -0.912781 m/s, LOS rate: 0.336741 deg/s, cmd update: 1.346966 deg/s, cmd heading: 238.726304 deg, new cmd heading: 239.021998 deg. 2021-02-17T20:27:57.660Z,1613593677.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:27:58.434Z,1613593678.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:27:58.842Z,1613593678.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:27:59.660Z,1613593679.660 [Micromodem](INFO): Nmea in: $SNTTA,0.053842,,,,202758.53*44 2021-02-17T20:27:59.698Z,1613593679.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.520004 m, bearing: 240.175105 deg, deltaT: 4.442583 s, approachRate: -0.999417 m/s, LOS rate: -0.202265 deg/s, posRepo size: 4 2021-02-17T20:27:59.700Z,1613593679.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.520004 m, bearing: 240.175105 deg, approachRate: -0.999417 m/s, LOS rate: -0.202265 deg/s, cmd update: -0.809061 deg/s, cmd heading: 244.715622 deg, new cmd heading: 245.279761 deg. 2021-02-17T20:28:02.100Z,1613593682.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:28:02.878Z,1613593682.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:28:03.278Z,1613593683.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:28:04.104Z,1613593684.104 [Micromodem](INFO): Nmea in: $SNTTA,0.050951,,,,202802.98*43 2021-02-17T20:28:04.146Z,1613593684.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.320000 m, bearing: 239.730542 deg, deltaT: 4.461679 s, approachRate: -0.941351 m/s, LOS rate: -0.099640 deg/s, posRepo size: 4 2021-02-17T20:28:04.148Z,1613593684.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.320000 m, bearing: 239.730542 deg, approachRate: -0.941351 m/s, LOS rate: -0.099640 deg/s, cmd update: -0.398561 deg/s, cmd heading: 241.108971 deg, new cmd heading: 240.778693 deg. 2021-02-17T20:28:06.560Z,1613593686.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:28:07.317Z,1613593687.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:28:07.721Z,1613593687.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:28:08.564Z,1613593688.564 [Micromodem](INFO): Nmea in: $SNTTA,0.048231,,,,202807.42*45 2021-02-17T20:28:08.588Z,1613593688.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.120010 m, bearing: 241.288727 deg, deltaT: 4.425829 s, approachRate: -0.948972 m/s, LOS rate: 0.352066 deg/s, posRepo size: 4 2021-02-17T20:28:08.590Z,1613593688.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.120010 m, bearing: 241.288727 deg, approachRate: -0.948972 m/s, LOS rate: 0.352066 deg/s, cmd update: 1.408265 deg/s, cmd heading: 239.345009 deg, new cmd heading: 239.175704 deg. 2021-02-17T20:28:10.972Z,1613593690.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:28:11.760Z,1613593691.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:28:12.183Z,1613593692.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:28:13.004Z,1613593693.004 [Micromodem](INFO): Nmea in: $SNTTA,0.045331,,,,202811.86*46 2021-02-17T20:28:13.069Z,1613593693.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.920006 m, bearing: 241.457815 deg, deltaT: 4.430880 s, approachRate: -0.947894 m/s, LOS rate: 0.038161 deg/s, posRepo size: 4 2021-02-17T20:28:13.070Z,1613593693.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.920006 m, bearing: 241.457815 deg, approachRate: -0.947894 m/s, LOS rate: 0.038161 deg/s, cmd update: 0.152645 deg/s, cmd heading: 245.590514 deg, new cmd heading: 246.253065 deg. 2021-02-17T20:28:15.497Z,1613593695.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:28:16.204Z,1613593696.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:28:16.619Z,1613593696.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:28:17.439Z,1613593697.439 [Micromodem](INFO): Nmea in: $SNTTA,0.042641,,,,202816.30*49 2021-02-17T20:28:17.505Z,1613593697.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.780003 m, bearing: 239.824225 deg, deltaT: 4.499354 s, approachRate: -0.920133 m/s, LOS rate: -0.363072 deg/s, posRepo size: 4 2021-02-17T20:28:17.511Z,1613593697.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.780003 m, bearing: 239.824225 deg, approachRate: -0.920133 m/s, LOS rate: -0.363072 deg/s, cmd update: -1.452289 deg/s, cmd heading: 246.276682 deg, new cmd heading: 246.339538 deg. 2021-02-17T20:28:19.881Z,1613593699.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:28:20.649Z,1613593700.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:28:21.063Z,1613593701.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:28:21.876Z,1613593701.876 [Micromodem](INFO): Nmea in: $SNTTA,0.040017,,,,202820.75*4A 2021-02-17T20:28:21.913Z,1613593701.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.460003 m, bearing: 239.478126 deg, deltaT: 4.456235 s, approachRate: -0.969428 m/s, LOS rate: -0.077666 deg/s, posRepo size: 4 2021-02-17T20:28:21.915Z,1613593701.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.460003 m, bearing: 239.478126 deg, approachRate: -0.969428 m/s, LOS rate: -0.077666 deg/s, cmd update: -0.310665 deg/s, cmd heading: 239.804673 deg, new cmd heading: 239.276499 deg. 2021-02-17T20:28:24.316Z,1613593704.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:28:25.098Z,1613593705.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:28:25.523Z,1613593705.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:28:26.332Z,1613593706.332 [Micromodem](INFO): Nmea in: $SNTTA,0.037275,,,,202825.20*49 2021-02-17T20:28:26.376Z,1613593706.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.320004 m, bearing: 241.785883 deg, deltaT: 4.362069 s, approachRate: -0.949091 m/s, LOS rate: 0.529051 deg/s, posRepo size: 4 2021-02-17T20:28:26.378Z,1613593706.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.320004 m, bearing: 241.785883 deg, approachRate: -0.949091 m/s, LOS rate: 0.529051 deg/s, cmd update: 2.116204 deg/s, cmd heading: 238.448279 deg, new cmd heading: 238.311533 deg. 2021-02-17T20:28:28.773Z,1613593708.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:28:29.542Z,1613593709.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:28:29.942Z,1613593709.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:28:30.772Z,1613593710.772 [Micromodem](INFO): Nmea in: $SNTTA,0.034160,,,,202829.64*41 2021-02-17T20:28:30.814Z,1613593710.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.059994 m, bearing: 240.757502 deg, deltaT: 4.469815 s, approachRate: -0.953062 m/s, LOS rate: -0.230072 deg/s, posRepo size: 4 2021-02-17T20:28:30.816Z,1613593710.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.059994 m, bearing: 240.757502 deg, approachRate: -0.953062 m/s, LOS rate: -0.230072 deg/s, cmd update: -0.920289 deg/s, cmd heading: 247.907345 deg, new cmd heading: 248.812822 deg. 2021-02-17T20:28:33.209Z,1613593713.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:28:33.980Z,1613593713.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:28:34.385Z,1613593714.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:28:35.217Z,1613593715.217 [Micromodem](INFO): Nmea in: $SNTTA,0.031587,,0.045269,0.034087,202834.08*4B 2021-02-17T20:28:35.286Z,1613593715.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.800003 m, bearing: 241.202912 deg, deltaT: 4.426657 s, approachRate: -0.962349 m/s, LOS rate: 0.100620 deg/s, posRepo size: 4 2021-02-17T20:28:35.292Z,1613593715.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.800003 m, bearing: 241.202912 deg, approachRate: -0.962349 m/s, LOS rate: 0.100620 deg/s, cmd update: 0.402480 deg/s, cmd heading: 243.833787 deg, new cmd heading: 243.397580 deg. 2021-02-17T20:28:37.655Z,1613593717.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:28:38.434Z,1613593718.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:28:38.845Z,1613593718.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:28:39.660Z,1613593719.660 [Micromodem](INFO): Nmea in: $SNTTA,0.028920,,,,202838.53*44 2021-02-17T20:28:39.699Z,1613593719.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.840000 m, bearing: 241.743973 deg, deltaT: 4.462669 s, approachRate: -0.887362 m/s, LOS rate: 0.121241 deg/s, posRepo size: 4 2021-02-17T20:28:39.701Z,1613593719.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.840000 m, bearing: 241.743973 deg, approachRate: -0.887362 m/s, LOS rate: 0.121241 deg/s, cmd update: 0.484966 deg/s, cmd heading: 245.630000 deg, new cmd heading: 245.800602 deg. 2021-02-17T20:28:42.100Z,1613593722.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:28:42.868Z,1613593722.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:28:43.277Z,1613593723.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:28:44.096Z,1613593724.096 [Micromodem](INFO): Nmea in: $SNTTA,0.025910,,,,202842.97*4F 2021-02-17T20:28:44.138Z,1613593724.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.699997 m, bearing: 240.732340 deg, deltaT: 4.446774 s, approachRate: -0.931013 m/s, LOS rate: -0.227498 deg/s, posRepo size: 4 2021-02-17T20:28:44.139Z,1613593724.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.70 m. 2021-02-17T20:28:44.141Z,1613593724.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.699997 m, bearing: 240.732340 deg, approachRate: -0.931013 m/s, LOS rate: -0.227498 deg/s, cmd update: -0.909993 deg/s, cmd heading: 247.786551 deg, new cmd heading: 247.988514 deg. 2021-02-17T20:28:44.509Z,1613593724.509 [PowerOnly](INFO): Powering up loadControl 2021-02-17T20:28:46.541Z,1613593726.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:28:47.312Z,1613593727.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:28:47.725Z,1613593727.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:28:48.544Z,1613593728.544 [Micromodem](INFO): Nmea in: $SNTTA,0.023110,,,0.025655,202847.41*50 2021-02-17T20:28:48.589Z,1613593728.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.439999 m, bearing: 242.335904 deg, deltaT: 4.437928 s, approachRate: -0.959907 m/s, LOS rate: 0.361332 deg/s, posRepo size: 4 2021-02-17T20:28:48.589Z,1613593728.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.44 m. 2021-02-17T20:28:48.590Z,1613593728.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.44 m. 2021-02-17T20:28:48.590Z,1613593728.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T20:28:48.592Z,1613593728.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.439999 m, bearing: 242.335904 deg, approachRate: -0.959907 m/s, LOS rate: 0.361332 deg/s, cmd update: 1.445327 deg/s, cmd heading: 243.748158 deg, new cmd heading: 243.357410 deg. 2021-02-17T20:28:50.965Z,1613593730.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:28:51.761Z,1613593731.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:28:52.180Z,1613593732.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:28:52.992Z,1613593732.992 [Micromodem](INFO): Nmea in: $SNTTA,0.020323,,,,202851.86*42 2021-02-17T20:28:53.062Z,1613593733.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.359999 m, bearing: 242.238150 deg, deltaT: 4.462090 s, approachRate: -0.914370 m/s, LOS rate: -0.021908 deg/s, posRepo size: 4 2021-02-17T20:28:53.068Z,1613593733.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.359999 m, bearing: 242.238150 deg, approachRate: -0.914370 m/s, LOS rate: -0.021908 deg/s, cmd update: -0.087630 deg/s, cmd heading: 250.191530 deg, new cmd heading: 250.833232 deg. 2021-02-17T20:28:55.440Z,1613593735.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:28:56.201Z,1613593736.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:28:56.610Z,1613593736.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:28:57.433Z,1613593737.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202856.30*56 2021-02-17T20:28:57.508Z,1613593737.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.860001 m, bearing: 240.838863 deg, deltaT: 4.466027 s, approachRate: -1.007607 m/s, LOS rate: -0.313318 deg/s, posRepo size: 4 2021-02-17T20:28:57.510Z,1613593737.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.860001 m, bearing: 240.838863 deg, approachRate: -1.007607 m/s, LOS rate: -0.313318 deg/s, cmd update: -1.253272 deg/s, cmd heading: 249.799818 deg, new cmd heading: 249.763379 deg. 2021-02-17T20:29:00.009Z,1613593740.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:00.652Z,1613593740.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:01.069Z,1613593741.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:01.876Z,1613593741.876 [Micromodem](INFO): Nmea in: $SNTTA,0.014647,,,,202900.75*4B 2021-02-17T20:29:01.914Z,1613593741.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.779999 m, bearing: 241.881615 deg, deltaT: 4.424889 s, approachRate: -0.922057 m/s, LOS rate: 0.235656 deg/s, posRepo size: 4 2021-02-17T20:29:01.916Z,1613593741.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.779999 m, bearing: 241.881615 deg, approachRate: -0.922057 m/s, LOS rate: 0.235656 deg/s, cmd update: 0.942624 deg/s, cmd heading: 244.254081 deg, new cmd heading: 243.750612 deg. 2021-02-17T20:29:04.415Z,1613593744.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:05.096Z,1613593745.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:05.499Z,1613593745.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:06.320Z,1613593746.320 [Micromodem](INFO): Nmea in: $SNTTA,0.011911,,,,202905.19*4D 2021-02-17T20:29:06.369Z,1613593746.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 244.490801 deg, deltaT: 4.434536 s, approachRate: -0.933582 m/s, LOS rate: 0.588379 deg/s, posRepo size: 4 2021-02-17T20:29:06.370Z,1613593746.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.639997 m, bearing: 244.490801 deg, approachRate: -0.933582 m/s, LOS rate: 0.588379 deg/s, cmd update: 2.353515 deg/s, cmd heading: 248.428476 deg, new cmd heading: 248.831296 deg. 2021-02-17T20:29:08.765Z,1613593748.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:09.538Z,1613593749.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:09.938Z,1613593749.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:10.764Z,1613593750.764 [Micromodem](INFO): Nmea in: $SNTTA,0.009192,,,,202909.64*41 2021-02-17T20:29:10.810Z,1613593750.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.559999 m, bearing: 242.580234 deg, deltaT: 4.442289 s, approachRate: -0.918445 m/s, LOS rate: -0.430086 deg/s, posRepo size: 4 2021-02-17T20:29:10.812Z,1613593750.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.559999 m, bearing: 242.580234 deg, approachRate: -0.918445 m/s, LOS rate: -0.430086 deg/s, cmd update: -1.720345 deg/s, cmd heading: 258.888236 deg, new cmd heading: 259.887704 deg. 2021-02-17T20:29:13.205Z,1613593753.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:13.981Z,1613593753.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:14.388Z,1613593754.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:15.208Z,1613593755.208 [Micromodem](INFO): Nmea in: $SNTTA,0.006692,,,,202914.08*4F 2021-02-17T20:29:15.232Z,1613593755.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.719998 m, bearing: 237.590999 deg, deltaT: 4.435152 s, approachRate: -0.865811 m/s, LOS rate: -1.124930 deg/s, posRepo size: 4 2021-02-17T20:29:15.234Z,1613593755.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.719998 m, bearing: 237.590999 deg, approachRate: -0.865811 m/s, LOS rate: -1.124930 deg/s, cmd update: -4.499719 deg/s, cmd heading: 251.279548 deg, new cmd heading: 250.550121 deg. 2021-02-17T20:29:17.645Z,1613593757.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:18.420Z,1613593758.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:18.827Z,1613593758.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:19.656Z,1613593759.656 [Micromodem](INFO): Nmea in: $SNTTA,0.005521,,,0.051658,202918.52*55 2021-02-17T20:29:19.687Z,1613593759.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.979999 m, bearing: 243.400266 deg, deltaT: 4.438536 s, approachRate: -0.392021 m/s, LOS rate: 1.308825 deg/s, posRepo size: 4 2021-02-17T20:29:19.690Z,1613593759.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.979999 m, bearing: 243.400266 deg, approachRate: -0.392021 m/s, LOS rate: 1.308825 deg/s, cmd update: 5.235300 deg/s, cmd heading: 231.234149 deg, new cmd heading: 229.331776 deg. 2021-02-17T20:29:22.090Z,1613593762.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:22.872Z,1613593762.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:23.270Z,1613593763.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:24.104Z,1613593764.104 [Micromodem](INFO): Nmea in: $SNTTA,0.002716,,,,202922.97*45 2021-02-17T20:29:24.131Z,1613593764.131 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T20:29:24.131Z,1613593764.131 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T20:29:24.131Z,1613593764.131 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T20:29:24.132Z,1613593764.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:29:24.132Z,1613593764.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T20:29:24.132Z,1613593764.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.959999 m 2021-02-17T20:29:24.132Z,1613593764.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T20:29:24.132Z,1613593764.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T20:29:24.132Z,1613593764.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T20:29:24.135Z,1613593764.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 251.289107 deg, deltaT: 4.434537 s, approachRate: -0.906521 m/s, LOS rate: 1.778955 deg/s, posRepo size: 4 2021-02-17T20:29:24.161Z,1613593764.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.959999 m, bearing: 251.289107 deg, approachRate: -0.906521 m/s, LOS rate: 1.778955 deg/s, cmd update: 7.115820 deg/s, cmd heading: 254.450910 deg, new cmd heading: 256.737857 deg. 2021-02-17T20:29:24.538Z,1613593764.538 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T202924: (41.552319, -70.708603) 2021-02-17T20:29:24.538Z,1613593764.538 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T20:29:24.538Z,1613593764.538 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T20:29:24.538Z,1613593764.538 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:29:24.539Z,1613593764.539 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T20:29:24.539Z,1613593764.539 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:29:24.539Z,1613593764.539 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T20:29:24.539Z,1613593764.539 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T20:29:24.539Z,1613593764.539 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T20:29:26.535Z,1613593766.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:27.314Z,1613593767.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:27.726Z,1613593767.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:28.540Z,1613593768.540 [Micromodem](INFO): Nmea in: $SNTTA,0.003538,,,,202927.41*44 2021-02-17T20:29:28.581Z,1613593768.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.279998 m, bearing: 234.911024 deg, deltaT: 4.467903 s, approachRate: 0.295440 m/s, LOS rate: -3.665720 deg/s, posRepo size: 4 2021-02-17T20:29:28.584Z,1613593768.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.279998 m, bearing: 234.911024 deg, approachRate: 0.295440 m/s, LOS rate: -3.665720 deg/s, cmd update: -12.000000 deg/s, cmd heading: 286.218811 deg, new cmd heading: 289.202524 deg. 2021-02-17T20:29:30.959Z,1613593770.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:31.757Z,1613593771.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:32.159Z,1613593772.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:33.001Z,1613593773.001 [Micromodem](INFO): Nmea in: $SNTTA,0.005736,,,0.044529,202931.86*52 2021-02-17T20:29:33.064Z,1613593773.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.080001 m, bearing: 254.513940 deg, deltaT: 4.426413 s, approachRate: 1.084400 m/s, LOS rate: 4.428623 deg/s, posRepo size: 4 2021-02-17T20:29:33.066Z,1613593773.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.080001 m, bearing: 254.513940 deg, approachRate: 1.084400 m/s, LOS rate: 4.428623 deg/s, cmd update: 12.000000 deg/s, cmd heading: 233.062313 deg, new cmd heading: 227.444261 deg. 2021-02-17T20:29:35.416Z,1613593775.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:36.196Z,1613593776.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:36.612Z,1613593776.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:37.435Z,1613593777.435 [Micromodem](INFO): Nmea in: $SNTTA,0.008655,,,,202936.29*49 2021-02-17T20:29:37.515Z,1613593777.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.139999 m, bearing: 235.558007 deg, deltaT: 4.480453 s, approachRate: 0.682966 m/s, LOS rate: -4.230807 deg/s, posRepo size: 4 2021-02-17T20:29:37.517Z,1613593777.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.139999 m, bearing: 235.558007 deg, approachRate: 0.682966 m/s, LOS rate: -4.230807 deg/s, cmd update: -12.000000 deg/s, cmd heading: 286.782270 deg, new cmd heading: 292.088443 deg. 2021-02-17T20:29:39.894Z,1613593779.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:40.640Z,1613593780.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:41.062Z,1613593781.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:41.864Z,1613593781.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202940.74*50 2021-02-17T20:29:41.902Z,1613593781.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.299999 m, bearing: 266.000761 deg, deltaT: 4.446637 s, approachRate: 1.835095 m/s, LOS rate: 6.846242 deg/s, posRepo size: 4 2021-02-17T20:29:41.903Z,1613593781.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 21.30 m. Rolling out. 2021-02-17T20:29:41.903Z,1613593781.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T20:29:44.306Z,1613593784.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:45.084Z,1613593785.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:45.500Z,1613593785.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:46.319Z,1613593786.319 [Micromodem](INFO): Nmea in: $SNTTA,0.014050,,,,202945.18*41 2021-02-17T20:29:46.344Z,1613593786.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.100002 m, bearing: 298.411866 deg, deltaT: 4.412162 s, approachRate: -0.271975 m/s, LOS rate: 7.345856 deg/s, posRepo size: 4 2021-02-17T20:29:48.750Z,1613593788.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:49.534Z,1613593789.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:49.934Z,1613593789.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:50.776Z,1613593790.776 [Micromodem](INFO): Nmea in: $SNTTA,0.016467,,,,202949.63*43 2021-02-17T20:29:50.801Z,1613593790.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.720001 m, bearing: 262.488650 deg, deltaT: 4.459700 s, approachRate: 1.035944 m/s, LOS rate: -8.055074 deg/s, posRepo size: 4 2021-02-17T20:29:53.201Z,1613593793.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:53.977Z,1613593793.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:54.385Z,1613593794.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:55.204Z,1613593795.204 [Micromodem](INFO): Nmea in: $SNTTA,0.018720,,,,202954.08*4C 2021-02-17T20:29:55.252Z,1613593795.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.199999 m, bearing: 227.272140 deg, deltaT: 4.437432 s, approachRate: 0.784237 m/s, LOS rate: -7.936237 deg/s, posRepo size: 4 2021-02-17T20:29:57.664Z,1613593797.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:29:58.418Z,1613593798.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:29:58.828Z,1613593798.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:29:59.652Z,1613593799.652 [Micromodem](INFO): Nmea in: $SNTTA,0.021226,,,,202958.52*46 2021-02-17T20:29:59.693Z,1613593799.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.979998 m, bearing: 204.583181 deg, deltaT: 4.449135 s, approachRate: 0.849603 m/s, LOS rate: -5.099634 deg/s, posRepo size: 4 2021-02-17T20:30:02.098Z,1613593802.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:02.863Z,1613593802.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:30:03.272Z,1613593803.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:30:04.108Z,1613593804.108 [Micromodem](INFO): Nmea in: $SNTTA,0.024172,,,,203002.96*4E 2021-02-17T20:30:04.118Z,1613593804.118 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T20:30:04.134Z,1613593804.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.419998 m, bearing: 214.019757 deg, deltaT: 4.442565 s, approachRate: 0.999423 m/s, LOS rate: 2.124128 deg/s, posRepo size: 4 2021-02-17T20:30:06.531Z,1613593806.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:07.304Z,1613593807.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:30:07.709Z,1613593807.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:30:08.532Z,1613593808.532 [Micromodem](INFO): Nmea in: $SNTTA,0.026658,,,,203007.40*4D 2021-02-17T20:30:08.577Z,1613593808.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.500000 m, bearing: 230.184670 deg, deltaT: 4.440134 s, approachRate: 0.918892 m/s, LOS rate: 3.640636 deg/s, posRepo size: 4 2021-02-17T20:30:10.970Z,1613593810.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:11.765Z,1613593811.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:30:12.154Z,1613593812.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:30:12.971Z,1613593812.971 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203011.86*51 2021-02-17T20:30:13.813Z,1613593813.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:15.393Z,1613593815.393 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:30:16.621Z,1613593816.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:17.404Z,1613593817.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:30:17.810Z,1613593817.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:30:18.636Z,1613593818.636 [Micromodem](INFO): Nmea in: $SNTTA,0.033213,,,,203017.50*42 2021-02-17T20:30:18.661Z,1613593818.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.219994 m, bearing: 229.850755 deg, deltaT: 10.081206 s, approachRate: 0.964170 m/s, LOS rate: -0.033122 deg/s, posRepo size: 4 2021-02-17T20:30:19.066Z,1613593819.066 [PowerOnly](INFO): Powering down loadControl 2021-02-17T20:30:21.086Z,1613593821.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:21.850Z,1613593821.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:30:22.271Z,1613593822.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:30:23.096Z,1613593823.096 [Micromodem](INFO): Nmea in: $SNTTA,0.035995,,,,203021.95*4D 2021-02-17T20:30:23.120Z,1613593823.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.179996 m, bearing: 229.856957 deg, deltaT: 4.458753 s, approachRate: 0.888141 m/s, LOS rate: 0.001391 deg/s, posRepo size: 4 2021-02-17T20:30:25.525Z,1613593825.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:26.292Z,1613593826.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:30:26.706Z,1613593826.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:30:27.522Z,1613593827.522 [Micromodem](INFO): Nmea in: $SNTTA,0.039112,,,,203026.39*47 2021-02-17T20:30:27.587Z,1613593827.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.799999 m, bearing: 230.206526 deg, deltaT: 4.447229 s, approachRate: 1.038850 m/s, LOS rate: 0.078604 deg/s, posRepo size: 4 2021-02-17T20:30:29.959Z,1613593829.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:30.398Z,1613593830.398 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T20:30:30.742Z,1613593830.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:30:31.144Z,1613593831.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:30:31.975Z,1613593831.975 [Micromodem](INFO): Nmea in: $SNTTA,0.041679,,,,203030.84*43 2021-02-17T20:30:32.003Z,1613593832.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.700001 m, bearing: 229.587301 deg, deltaT: 4.432801 s, approachRate: 0.879805 m/s, LOS rate: -0.139692 deg/s, posRepo size: 4 2021-02-17T20:30:34.407Z,1613593834.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:35.184Z,1613593835.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:30:35.597Z,1613593835.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:30:36.416Z,1613593836.416 [Micromodem](INFO): Nmea in: $SNTTA,0.044492,,,,203035.28*42 2021-02-17T20:30:36.499Z,1613593836.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.080002 m, bearing: 233.445402 deg, deltaT: 4.488708 s, approachRate: 0.975782 m/s, LOS rate: 0.859512 deg/s, posRepo size: 4 2021-02-17T20:30:38.848Z,1613593838.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:39.624Z,1613593839.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:30:40.058Z,1613593840.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:30:40.852Z,1613593840.852 [Micromodem](INFO): Nmea in: $SNTTA,0.047285,,,,203039.72*42 2021-02-17T20:30:40.891Z,1613593840.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.980003 m, bearing: 233.214022 deg, deltaT: 4.426367 s, approachRate: 0.881084 m/s, LOS rate: -0.052273 deg/s, posRepo size: 4 2021-02-17T20:30:43.294Z,1613593843.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:44.073Z,1613593844.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:30:44.501Z,1613593844.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:30:45.312Z,1613593845.312 [Micromodem](INFO): Nmea in: $SNTTA,0.050208,,,,203044.17*48 2021-02-17T20:30:45.336Z,1613593845.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.479996 m, bearing: 230.701715 deg, deltaT: 4.587138 s, approachRate: 0.981002 m/s, LOS rate: -0.547685 deg/s, posRepo size: 4 2021-02-17T20:30:47.741Z,1613593847.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:48.512Z,1613593848.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:30:48.920Z,1613593848.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:30:49.740Z,1613593849.740 [Micromodem](INFO): Nmea in: $SNTTA,0.052834,,,,203048.61*42 2021-02-17T20:30:49.764Z,1613593849.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.559998 m, bearing: 234.527550 deg, deltaT: 4.262407 s, approachRate: 0.957206 m/s, LOS rate: 0.897576 deg/s, posRepo size: 4 2021-02-17T20:30:52.187Z,1613593852.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:52.957Z,1613593852.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:30:53.362Z,1613593853.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:30:54.192Z,1613593854.192 [Micromodem](INFO): Nmea in: $SNTTA,0.055984,,,,203053.06*44 2021-02-17T20:30:54.245Z,1613593854.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.119995 m, bearing: 231.053251 deg, deltaT: 4.442725 s, approachRate: 1.026397 m/s, LOS rate: -0.782020 deg/s, posRepo size: 4 2021-02-17T20:30:56.633Z,1613593856.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:30:57.410Z,1613593857.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:30:57.812Z,1613593857.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:30:58.636Z,1613593858.636 [Micromodem](INFO): Nmea in: $SNTTA,0.058585,,,,203057.51*42 2021-02-17T20:30:58.680Z,1613593858.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.080002 m, bearing: 234.432801 deg, deltaT: 4.443844 s, approachRate: 0.891122 m/s, LOS rate: 0.760502 deg/s, posRepo size: 4 2021-02-17T20:31:01.089Z,1613593861.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:01.850Z,1613593861.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:31:02.249Z,1613593862.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:31:03.076Z,1613593863.076 [Micromodem](INFO): Nmea in: $SNTTA,0.061386,,,,203101.95*47 2021-02-17T20:31:03.114Z,1613593863.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.220001 m, bearing: 233.215525 deg, deltaT: 4.460064 s, approachRate: 0.928238 m/s, LOS rate: -0.272928 deg/s, posRepo size: 4 2021-02-17T20:31:05.519Z,1613593865.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:06.288Z,1613593866.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:31:06.702Z,1613593866.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:31:07.516Z,1613593867.516 [Micromodem](INFO): Nmea in: $SNTTA,0.064116,,,,203106.39*48 2021-02-17T20:31:07.560Z,1613593867.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.360001 m, bearing: 234.449221 deg, deltaT: 4.453070 s, approachRate: 0.929696 m/s, LOS rate: 0.277044 deg/s, posRepo size: 4 2021-02-17T20:31:09.958Z,1613593869.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:10.738Z,1613593870.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:31:11.149Z,1613593871.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:31:11.964Z,1613593871.964 [Micromodem](INFO): Nmea in: $SNTTA,0.067149,,,,203110.84*40 2021-02-17T20:31:12.009Z,1613593872.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.860001 m, bearing: 235.190133 deg, deltaT: 4.442681 s, approachRate: 1.012902 m/s, LOS rate: 0.166771 deg/s, posRepo size: 4 2021-02-17T20:31:14.409Z,1613593874.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:15.177Z,1613593875.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:31:15.589Z,1613593875.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:31:16.404Z,1613593876.404 [Micromodem](INFO): Nmea in: $SNTTA,0.069890,,,,203115.27*4F 2021-02-17T20:31:16.489Z,1613593876.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.300003 m, bearing: 237.634521 deg, deltaT: 4.463056 s, approachRate: 0.994835 m/s, LOS rate: 0.547694 deg/s, posRepo size: 4 2021-02-17T20:31:18.838Z,1613593878.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:19.620Z,1613593879.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:31:20.057Z,1613593880.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:31:20.852Z,1613593880.852 [Micromodem](INFO): Nmea in: $SNTTA,0.072624,,,,203119.72*48 2021-02-17T20:31:20.890Z,1613593880.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.139999 m, bearing: 237.820275 deg, deltaT: 4.440619 s, approachRate: 0.864743 m/s, LOS rate: 0.041831 deg/s, posRepo size: 4 2021-02-17T20:31:23.283Z,1613593883.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:24.067Z,1613593884.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:31:24.495Z,1613593884.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:31:25.292Z,1613593885.292 [Micromodem](INFO): Nmea in: $SNTTA,0.075533,,,,203124.17*47 2021-02-17T20:31:25.345Z,1613593885.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.459999 m, bearing: 237.918548 deg, deltaT: 4.395442 s, approachRate: 0.982836 m/s, LOS rate: 0.022358 deg/s, posRepo size: 4 2021-02-17T20:31:27.736Z,1613593887.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:28.508Z,1613593888.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:31:28.913Z,1613593888.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:31:29.735Z,1613593889.735 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203128.61*53 2021-02-17T20:31:29.759Z,1613593889.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.719994 m, bearing: 237.868332 deg, deltaT: 4.465885 s, approachRate: 0.953897 m/s, LOS rate: -0.011244 deg/s, posRepo size: 4 2021-02-17T20:31:32.168Z,1613593892.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:32.952Z,1613593892.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:31:33.358Z,1613593893.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:31:34.180Z,1613593894.180 [Micromodem](INFO): Nmea in: $SNTTA,0.081269,,,,203133.05*41 2021-02-17T20:31:34.231Z,1613593894.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.040009 m, bearing: 239.741306 deg, deltaT: 4.458759 s, approachRate: 0.968883 m/s, LOS rate: 0.420066 deg/s, posRepo size: 4 2021-02-17T20:31:36.622Z,1613593896.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:37.396Z,1613593897.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:31:37.809Z,1613593897.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:31:38.632Z,1613593898.632 [Micromodem](INFO): Nmea in: $SNTTA,0.084145,,,,203137.49*45 2021-02-17T20:31:38.657Z,1613593898.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.360008 m, bearing: 236.586442 deg, deltaT: 4.423037 s, approachRate: 0.976704 m/s, LOS rate: -0.713280 deg/s, posRepo size: 4 2021-02-17T20:31:41.100Z,1613593901.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:41.840Z,1613593901.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:31:42.245Z,1613593902.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:31:43.088Z,1613593903.088 [Micromodem](INFO): Nmea in: $SNTTA,0.086996,,,,203141.94*40 2021-02-17T20:31:43.125Z,1613593903.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.680008 m, bearing: 239.267455 deg, deltaT: 4.459392 s, approachRate: 0.968742 m/s, LOS rate: 0.601206 deg/s, posRepo size: 4 2021-02-17T20:31:45.524Z,1613593905.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:46.291Z,1613593906.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:31:46.690Z,1613593906.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:31:47.532Z,1613593907.532 [Micromodem](INFO): Nmea in: $SNTTA,0.089735,,,,203146.39*48 2021-02-17T20:31:47.556Z,1613593907.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.820007 m, bearing: 239.638171 deg, deltaT: 4.461157 s, approachRate: 0.928010 m/s, LOS rate: 0.083098 deg/s, posRepo size: 4 2021-02-17T20:31:49.942Z,1613593909.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:50.734Z,1613593910.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:31:51.141Z,1613593911.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:31:51.960Z,1613593911.960 [Micromodem](INFO): Nmea in: $SNTTA,0.092512,,,,203150.83*43 2021-02-17T20:31:51.994Z,1613593911.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.900009 m, bearing: 241.896778 deg, deltaT: 4.424162 s, approachRate: 0.922209 m/s, LOS rate: 0.510516 deg/s, posRepo size: 4 2021-02-17T20:31:54.394Z,1613593914.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:55.190Z,1613593915.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:31:55.599Z,1613593915.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:31:56.412Z,1613593916.412 [Micromodem](INFO): Nmea in: $SNTTA,0.095244,,,,203155.29*45 2021-02-17T20:31:56.441Z,1613593916.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.040009 m, bearing: 239.988450 deg, deltaT: 4.438934 s, approachRate: 0.932656 m/s, LOS rate: -0.429907 deg/s, posRepo size: 4 2021-02-17T20:31:58.837Z,1613593918.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:31:59.620Z,1613593919.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:32:00.057Z,1613593920.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:32:00.853Z,1613593920.853 [Micromodem](INFO): Nmea in: $SNTTA,0.098271,,,,203159.72*4C 2021-02-17T20:32:00.890Z,1613593920.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.479996 m, bearing: 239.475066 deg, deltaT: 4.501455 s, approachRate: 0.986345 m/s, LOS rate: -0.114049 deg/s, posRepo size: 4 2021-02-17T20:32:03.289Z,1613593923.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:32:04.069Z,1613593924.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:32:04.493Z,1613593924.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:32:05.298Z,1613593925.298 [Micromodem](INFO): Nmea in: $SNTTA,0.101140,,,,203204.17*44 2021-02-17T20:32:06.110Z,1613593926.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:32:07.704Z,1613593927.704 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:32:08.927Z,1613593928.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:32:09.725Z,1613593929.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:32:10.125Z,1613593930.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:32:10.952Z,1613593930.952 [Micromodem](INFO): Nmea in: $SNTTA,0.104751,,,,203209.82*46 2021-02-17T20:32:10.988Z,1613593930.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.260010 m, bearing: 239.321332 deg, deltaT: 10.055293 s, approachRate: 0.972623 m/s, LOS rate: -0.015289 deg/s, posRepo size: 4 2021-02-17T20:32:10.988Z,1613593930.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 157.26 m. Resuming terminal guidance. 2021-02-17T20:32:10.989Z,1613593930.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T20:32:13.392Z,1613593933.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:32:14.166Z,1613593934.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:32:14.570Z,1613593934.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:32:15.396Z,1613593935.396 [Micromodem](INFO): Nmea in: $SNTTA,0.107565,,,,203214.27*43 2021-02-17T20:32:15.496Z,1613593935.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.460007 m, bearing: 241.458935 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T20:32:15.497Z,1613593935.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 241.458935deg and heading rate command to 0 deg/s. 2021-02-17T20:32:17.845Z,1613593937.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:32:18.618Z,1613593938.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:32:19.054Z,1613593939.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:32:19.844Z,1613593939.844 [Micromodem](INFO): Nmea in: $SNTTA,0.110887,,,,203218.72*48 2021-02-17T20:32:19.885Z,1613593939.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.460007 m, bearing: 248.886411 deg, deltaT: 4.452783 s, approachRate: 0.000000 m/s, LOS rate: 1.668052 deg/s, posRepo size: 2 2021-02-17T20:32:19.886Z,1613593939.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.460007 m, bearing: 248.886411 deg, approachRate: 0.000000 m/s, LOS rate: 1.668052 deg/s, cmd update: 6.672210 deg/s, cmd heading: 241.458935 deg, new cmd heading: 241.458935 deg. 2021-02-17T20:32:22.280Z,1613593942.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:32:23.066Z,1613593943.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:32:23.488Z,1613593943.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:32:24.292Z,1613593944.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203223.16*5B 2021-02-17T20:32:24.343Z,1613593944.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.460007 m, bearing: 256.921445 deg, deltaT: 4.396333 s, approachRate: 0.000000 m/s, LOS rate: 1.827667 deg/s, posRepo size: 3 2021-02-17T20:32:24.345Z,1613593944.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.460007 m, bearing: 256.921445 deg, approachRate: 0.000000 m/s, LOS rate: 1.827667 deg/s, cmd update: 7.310670 deg/s, cmd heading: 271.083627 deg, new cmd heading: 274.151189 deg. 2021-02-17T20:32:25.515Z,1613593945.515 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:32:26.718Z,1613593946.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:32:27.499Z,1613593947.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:32:27.903Z,1613593947.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:32:28.728Z,1613593948.728 [Micromodem](INFO): Nmea in: $SNTTA,0.116166,,,,203227.60*47 2021-02-17T20:32:28.752Z,1613593948.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.460007 m, bearing: 250.332034 deg, deltaT: 4.463790 s, approachRate: 0.000000 m/s, LOS rate: -1.476192 deg/s, posRepo size: 4 2021-02-17T20:32:28.754Z,1613593948.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.460007 m, bearing: 250.332034 deg, approachRate: 0.000000 m/s, LOS rate: -1.476192 deg/s, cmd update: -5.904768 deg/s, cmd heading: 303.718750 deg, new cmd heading: 306.703595 deg. 2021-02-17T20:32:31.174Z,1613593951.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:32:31.952Z,1613593951.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:32:32.346Z,1613593952.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:32:33.166Z,1613593953.166 [Micromodem](INFO): Nmea in: $SNTTA,0.118324,,,,203232.05*4A 2021-02-17T20:32:33.607Z,1613593953.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.600006 m, bearing: 293.715046 deg, deltaT: 4.845977 s, approachRate: 3.330598 m/s, LOS rate: 8.952377 deg/s, posRepo size: 4 2021-02-17T20:32:33.609Z,1613593953.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.600006 m, bearing: 293.715046 deg, approachRate: 3.330598 m/s, LOS rate: 8.952377 deg/s, cmd update: 12.000000 deg/s, cmd heading: 275.097170 deg, new cmd heading: 272.638944 deg. 2021-02-17T20:32:36.060Z,1613593956.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:32:36.794Z,1613593956.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:32:37.206Z,1613593957.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:32:38.021Z,1613593958.021 [Micromodem](INFO): Nmea in: $SNTTA,0.120749,,,0.123243,203236.89*55 2021-02-17T20:32:38.438Z,1613593958.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.199997 m, bearing: 284.631195 deg, deltaT: 4.911177 s, approachRate: 0.733020 m/s, LOS rate: -1.849628 deg/s, posRepo size: 4 2021-02-17T20:32:38.440Z,1613593958.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.199997 m, bearing: 284.631195 deg, approachRate: 0.733020 m/s, LOS rate: -1.849628 deg/s, cmd update: -7.398512 deg/s, cmd heading: 333.984328 deg, new cmd heading: 338.064652 deg. 2021-02-17T20:32:40.843Z,1613593960.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:32:41.642Z,1613593961.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:32:42.083Z,1613593962.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:32:42.857Z,1613593962.857 [Micromodem](INFO): Nmea in: $SNTTA,0.122624,,,,203241.74*44 2021-02-17T20:32:43.296Z,1613593963.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.960007 m, bearing: 334.503050 deg, deltaT: 4.803465 s, approachRate: 0.574587 m/s, LOS rate: 10.382475 deg/s, posRepo size: 4 2021-02-17T20:32:43.298Z,1613593963.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.960007 m, bearing: 334.503050 deg, approachRate: 0.574587 m/s, LOS rate: 10.382475 deg/s, cmd update: 12.000000 deg/s, cmd heading: 298.594736 deg, new cmd heading: 295.524553 deg. 2021-02-17T20:32:45.694Z,1613593965.694 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:32:45.709Z,1613593965.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:32:46.508Z,1613593966.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:32:46.890Z,1613593966.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:32:47.715Z,1613593967.715 [Micromodem](INFO): Nmea in: $SNTTA,0.124217,,,,203246.61*45 2021-02-17T20:32:48.150Z,1613593968.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.300018 m, bearing: 3.027067 deg, deltaT: 4.852865 s, approachRate: 0.482192 m/s, LOS rate: 5.877767 deg/s, posRepo size: 4 2021-02-17T20:32:48.152Z,1613593968.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.300018 m, bearing: 3.027067 deg, approachRate: 0.482192 m/s, LOS rate: 5.877767 deg/s, cmd update: 12.000000 deg/s, cmd heading: 356.894241 deg, new cmd heading: 1.821129 deg. 2021-02-17T20:32:50.551Z,1613593970.551 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T20:32:50.566Z,1613593970.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:32:51.350Z,1613593971.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:32:51.755Z,1613593971.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:32:52.575Z,1613593972.575 [Micromodem](INFO): Nmea in: $SNTTA,0.125464,,,,203251.45*46 2021-02-17T20:32:53.004Z,1613593973.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.160004 m, bearing: 22.014917 deg, deltaT: 4.841415 s, approachRate: 0.384182 m/s, LOS rate: 3.921963 deg/s, posRepo size: 4 2021-02-17T20:32:53.005Z,1613593973.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.160004 m, bearing: 22.014917 deg, approachRate: 0.384182 m/s, LOS rate: 3.921963 deg/s, cmd update: 12.000000 deg/s, cmd heading: 55.214927 deg, new cmd heading: 60.062171 deg. 2021-02-17T20:32:55.399Z,1613593975.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:32:56.186Z,1613593976.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:32:56.591Z,1613593976.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:32:57.407Z,1613593977.407 [Micromodem](INFO): Nmea in: $SNTTA,0.126353,,,,203256.28*4A 2021-02-17T20:32:57.831Z,1613593977.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.479980 m, bearing: 316.596207 deg, deltaT: 4.890607 s, approachRate: 0.269900 m/s, LOS rate: -13.376401 deg/s, posRepo size: 4 2021-02-17T20:32:57.832Z,1613593977.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.376401 deg/s. Setting heading cmd to target bearing of 316.596207deg and heading rate command to 0 deg/s. 2021-02-17T20:33:00.263Z,1613593980.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:33:00.644Z,1613593980.644 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T20:33:01.059Z,1613593981.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:33:01.438Z,1613593981.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:33:02.262Z,1613593982.262 [Micromodem](INFO): Nmea in: $SNTTA,0.126483,,,,203301.16*4E 2021-02-17T20:33:02.684Z,1613593982.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.599991 m, bearing: 64.112247 deg, deltaT: 4.824609 s, approachRate: 0.024875 m/s, LOS rate: 22.284925 deg/s, posRepo size: 4 2021-02-17T20:33:02.684Z,1613593982.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.284925 deg/s. Setting heading cmd to target bearing of 64.112247deg and heading rate command to 0 deg/s. 2021-02-17T20:33:05.094Z,1613593985.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:33:05.876Z,1613593985.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:33:06.282Z,1613593986.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:33:07.096Z,1613593987.096 [Micromodem](INFO): Nmea in: $SNTTA,0.126074,,,,203305.97*4F 2021-02-17T20:33:07.539Z,1613593987.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.939987 m, bearing: 81.236692 deg, deltaT: 4.805587 s, approachRate: -0.137341 m/s, LOS rate: 3.563445 deg/s, posRepo size: 4 2021-02-17T20:33:07.541Z,1613593987.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.939987 m, bearing: 81.236692 deg, approachRate: -0.137341 m/s, LOS rate: 3.563445 deg/s, cmd update: 12.000000 deg/s, cmd heading: 64.112247 deg, new cmd heading: 64.112247 deg. 2021-02-17T20:33:09.953Z,1613593989.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:33:10.730Z,1613593990.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:33:11.135Z,1613593991.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:33:11.954Z,1613593991.954 [Micromodem](INFO): Nmea in: $SNTTA,0.125051,,,,203310.83*4A 2021-02-17T20:33:12.383Z,1613593992.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.380005 m, bearing: 67.625840 deg, deltaT: 4.848501 s, approachRate: -0.321745 m/s, LOS rate: -2.807229 deg/s, posRepo size: 4 2021-02-17T20:33:12.385Z,1613593992.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.380005 m, bearing: 67.625840 deg, approachRate: -0.321745 m/s, LOS rate: -2.807229 deg/s, cmd update: -11.228916 deg/s, cmd heading: 122.296312 deg, new cmd heading: 127.267756 deg. 2021-02-17T20:33:14.806Z,1613593994.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:33:15.578Z,1613593995.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:33:15.990Z,1613593995.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:33:16.792Z,1613593996.792 [Micromodem](INFO): Nmea in: $SNTTA,0.123871,,,,203315.68*46 2021-02-17T20:33:17.231Z,1613593997.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.460007 m, bearing: 70.348059 deg, deltaT: 4.875462 s, approachRate: -0.393808 m/s, LOS rate: 0.558351 deg/s, posRepo size: 4 2021-02-17T20:33:17.233Z,1613593997.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.460007 m, bearing: 70.348059 deg, approachRate: -0.393808 m/s, LOS rate: 0.558351 deg/s, cmd update: 2.233404 deg/s, cmd heading: 67.867620 deg, new cmd heading: 63.209271 deg. 2021-02-17T20:33:19.644Z,1613593999.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:33:20.420Z,1613594000.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:33:20.843Z,1613594000.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:33:20.864Z,1613594000.864 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T20:33:21.648Z,1613594001.648 [Micromodem](INFO): Nmea in: $SNTTA,0.122525,,,,203320.52*44 2021-02-17T20:33:21.706Z,1613594001.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.460007 m, bearing: 68.785387 deg, deltaT: 4.442198 s, approachRate: 0.000000 m/s, LOS rate: -0.351779 deg/s, posRepo size: 4 2021-02-17T20:33:21.712Z,1613594001.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.460007 m, bearing: 68.785387 deg, approachRate: 0.000000 m/s, LOS rate: -0.351779 deg/s, cmd update: -1.407116 deg/s, cmd heading: 77.851785 deg, new cmd heading: 78.788419 deg. 2021-02-17T20:33:24.097Z,1613594004.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:33:24.881Z,1613594004.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:33:25.287Z,1613594005.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:33:26.105Z,1613594006.105 [Micromodem](INFO): Nmea in: $SNTTA,0.120864,,,0.123377,203324.98*51 2021-02-17T20:33:26.540Z,1613594006.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.139999 m, bearing: 68.870416 deg, deltaT: 4.841794 s, approachRate: -0.892233 m/s, LOS rate: 0.017561 deg/s, posRepo size: 4 2021-02-17T20:33:26.542Z,1613594006.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.139999 m, bearing: 68.870416 deg, approachRate: -0.892233 m/s, LOS rate: 0.017561 deg/s, cmd update: 0.070246 deg/s, cmd heading: 71.039101 deg, new cmd heading: 70.459687 deg. 2021-02-17T20:33:28.941Z,1613594008.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:33:29.712Z,1613594009.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:33:30.125Z,1613594010.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:33:30.955Z,1613594010.955 [Micromodem](INFO): Nmea in: $SNTTA,0.119300,,,,203329.81*4A 2021-02-17T20:33:30.979Z,1613594010.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.740005 m, bearing: 68.000414 deg, deltaT: 4.475310 s, approachRate: -0.536274 m/s, LOS rate: -0.194400 deg/s, posRepo size: 4 2021-02-17T20:33:30.981Z,1613594010.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.740005 m, bearing: 68.000414 deg, approachRate: -0.536274 m/s, LOS rate: -0.194400 deg/s, cmd update: -0.777602 deg/s, cmd heading: 71.353209 deg, new cmd heading: 71.379805 deg. 2021-02-17T20:33:33.384Z,1613594013.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:33:34.163Z,1613594014.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:33:34.564Z,1613594014.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:33:35.392Z,1613594015.392 [Micromodem](INFO): Nmea in: $SNTTA,0.117710,,,,203334.26*40 2021-02-17T20:33:35.430Z,1613594015.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.740005 m, bearing: 65.226633 deg, deltaT: 4.415654 s, approachRate: 0.000000 m/s, LOS rate: -0.628170 deg/s, posRepo size: 4 2021-02-17T20:33:35.432Z,1613594015.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.740005 m, bearing: 65.226633 deg, approachRate: 0.000000 m/s, LOS rate: -0.628170 deg/s, cmd update: -2.512680 deg/s, cmd heading: 67.923346 deg, new cmd heading: 67.596874 deg. 2021-02-17T20:33:37.817Z,1613594017.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:33:38.600Z,1613594018.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:33:39.014Z,1613594019.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:33:39.836Z,1613594019.836 [Micromodem](INFO): Nmea in: $SNTTA,0.116168,,,,203338.70*47 2021-02-17T20:33:39.884Z,1613594019.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.740005 m, bearing: 68.272351 deg, deltaT: 4.458451 s, approachRate: 0.000000 m/s, LOS rate: 0.683134 deg/s, posRepo size: 4 2021-02-17T20:33:39.886Z,1613594019.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.740005 m, bearing: 68.272351 deg, approachRate: 0.000000 m/s, LOS rate: 0.683134 deg/s, cmd update: 2.732535 deg/s, cmd heading: 56.794123 deg, new cmd heading: 55.691502 deg. 2021-02-17T20:33:42.273Z,1613594022.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:33:43.057Z,1613594023.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:33:43.482Z,1613594023.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:33:44.280Z,1613594024.280 [Micromodem](INFO): Nmea in: $SNTTA,0.114444,,,,203343.16*42 2021-02-17T20:33:44.318Z,1613594024.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.740005 m, bearing: 68.504735 deg, deltaT: 4.423203 s, approachRate: 0.000000 m/s, LOS rate: 0.052537 deg/s, posRepo size: 4 2021-02-17T20:33:44.320Z,1613594024.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.740005 m, bearing: 68.504735 deg, approachRate: 0.000000 m/s, LOS rate: 0.052537 deg/s, cmd update: 0.210150 deg/s, cmd heading: 68.959659 deg, new cmd heading: 70.124356 deg. 2021-02-17T20:33:46.721Z,1613594026.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:33:47.498Z,1613594027.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:33:47.910Z,1613594027.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:33:48.720Z,1613594028.720 [Micromodem](INFO): Nmea in: $SNTTA,0.112873,,,,203347.60*49 2021-02-17T20:33:48.760Z,1613594028.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.740005 m, bearing: 67.747417 deg, deltaT: 4.450382 s, approachRate: 0.000000 m/s, LOS rate: -0.170169 deg/s, posRepo size: 4 2021-02-17T20:33:48.761Z,1613594028.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.740005 m, bearing: 67.747417 deg, approachRate: 0.000000 m/s, LOS rate: -0.170169 deg/s, cmd update: -0.680677 deg/s, cmd heading: 69.895993 deg, new cmd heading: 69.982582 deg. 2021-02-17T20:33:51.168Z,1613594031.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:33:51.935Z,1613594031.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:33:52.338Z,1613594032.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:33:53.164Z,1613594033.164 [Micromodem](INFO): Nmea in: $SNTTA,0.111330,,,,203352.03*47 2021-02-17T20:33:53.230Z,1613594033.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.860016 m, bearing: 68.076980 deg, deltaT: 4.444630 s, approachRate: -2.672886 m/s, LOS rate: 0.074149 deg/s, posRepo size: 4 2021-02-17T20:33:53.237Z,1613594033.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.860016 m, bearing: 68.076980 deg, approachRate: -2.672886 m/s, LOS rate: 0.074149 deg/s, cmd update: 0.296595 deg/s, cmd heading: 66.867903 deg, new cmd heading: 66.572823 deg. 2021-02-17T20:33:55.629Z,1613594035.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:33:56.385Z,1613594036.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:33:56.804Z,1613594036.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:33:57.619Z,1613594037.619 [Micromodem](INFO): Nmea in: $SNTTA,0.109661,,0.128143,,203356.48*57 2021-02-17T20:33:57.666Z,1613594037.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.340012 m, bearing: 68.929074 deg, deltaT: 4.457431 s, approachRate: -0.565349 m/s, LOS rate: 0.191162 deg/s, posRepo size: 4 2021-02-17T20:33:57.668Z,1613594037.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.340012 m, bearing: 68.929074 deg, approachRate: -0.565349 m/s, LOS rate: 0.191162 deg/s, cmd update: 0.764650 deg/s, cmd heading: 68.188755 deg, new cmd heading: 68.312280 deg. 2021-02-17T20:34:00.093Z,1613594040.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:00.849Z,1613594040.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:01.230Z,1613594041.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:02.080Z,1613594042.080 [Micromodem](INFO): Nmea in: $SNTTA,0.108211,,,,203400.95*42 2021-02-17T20:34:02.104Z,1613594042.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.340012 m, bearing: 68.605255 deg, deltaT: 4.443821 s, approachRate: 0.000000 m/s, LOS rate: -0.072870 deg/s, posRepo size: 4 2021-02-17T20:34:02.106Z,1613594042.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.340012 m, bearing: 68.605255 deg, approachRate: 0.000000 m/s, LOS rate: -0.072870 deg/s, cmd update: -0.291478 deg/s, cmd heading: 71.581994 deg, new cmd heading: 71.900729 deg. 2021-02-17T20:34:04.513Z,1613594044.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:05.270Z,1613594045.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:05.676Z,1613594045.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:06.504Z,1613594046.504 [Micromodem](INFO): Nmea in: $SNTTA,0.106457,,,,203405.37*45 2021-02-17T20:34:06.553Z,1613594046.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.479996 m, bearing: 66.611693 deg, deltaT: 4.432021 s, approachRate: -1.096569 m/s, LOS rate: -0.449809 deg/s, posRepo size: 4 2021-02-17T20:34:06.559Z,1613594046.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.479996 m, bearing: 66.611693 deg, approachRate: -1.096569 m/s, LOS rate: -0.449809 deg/s, cmd update: -1.799235 deg/s, cmd heading: 70.288355 deg, new cmd heading: 70.163646 deg. 2021-02-17T20:34:08.915Z,1613594048.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:09.713Z,1613594049.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:10.113Z,1613594050.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:10.940Z,1613594050.940 [Micromodem](INFO): Nmea in: $SNTTA,0.104823,,,,203409.81*49 2021-02-17T20:34:10.982Z,1613594050.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.080002 m, bearing: 66.683560 deg, deltaT: 4.456110 s, approachRate: -0.538585 m/s, LOS rate: 0.016128 deg/s, posRepo size: 4 2021-02-17T20:34:10.984Z,1613594050.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.080002 m, bearing: 66.683560 deg, approachRate: -0.538585 m/s, LOS rate: 0.016128 deg/s, cmd update: 0.064511 deg/s, cmd heading: 62.263674 deg, new cmd heading: 61.550139 deg. 2021-02-17T20:34:13.395Z,1613594053.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:14.155Z,1613594054.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:14.576Z,1613594054.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:15.384Z,1613594055.384 [Micromodem](INFO): Nmea in: $SNTTA,0.103223,,,,203414.25*46 2021-02-17T20:34:15.426Z,1613594055.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.619995 m, bearing: 65.944097 deg, deltaT: 4.417447 s, approachRate: -0.556884 m/s, LOS rate: -0.167396 deg/s, posRepo size: 4 2021-02-17T20:34:15.429Z,1613594055.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.619995 m, bearing: 65.944097 deg, approachRate: -0.556884 m/s, LOS rate: -0.167396 deg/s, cmd update: -0.669585 deg/s, cmd heading: 62.548279 deg, new cmd heading: 62.575760 deg. 2021-02-17T20:34:17.837Z,1613594057.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:18.597Z,1613594058.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:19.042Z,1613594059.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:19.829Z,1613594059.829 [Micromodem](INFO): Nmea in: $SNTTA,0.101573,,,,203418.69*42 2021-02-17T20:34:19.869Z,1613594059.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.160004 m, bearing: 67.620895 deg, deltaT: 4.446796 s, approachRate: -0.553205 m/s, LOS rate: 0.377080 deg/s, posRepo size: 4 2021-02-17T20:34:19.872Z,1613594059.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.160004 m, bearing: 67.620895 deg, approachRate: -0.553205 m/s, LOS rate: 0.377080 deg/s, cmd update: 1.508320 deg/s, cmd heading: 59.584581 deg, new cmd heading: 59.285960 deg. 2021-02-17T20:34:22.272Z,1613594062.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:23.068Z,1613594063.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:23.481Z,1613594063.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:24.340Z,1613594064.340 [Micromodem](INFO): Nmea in: $SNTTA,0.099960,,,,203423.16*4C 2021-02-17T20:34:24.381Z,1613594064.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.239990 m, bearing: 68.396292 deg, deltaT: 4.421095 s, approachRate: -0.434285 m/s, LOS rate: 0.175386 deg/s, posRepo size: 4 2021-02-17T20:34:24.382Z,1613594064.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.239990 m, bearing: 68.396292 deg, approachRate: -0.434285 m/s, LOS rate: 0.175386 deg/s, cmd update: 0.701543 deg/s, cmd heading: 66.290709 deg, new cmd heading: 67.062403 deg. 2021-02-17T20:34:26.709Z,1613594066.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:27.500Z,1613594067.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:27.890Z,1613594067.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:28.724Z,1613594068.724 [Micromodem](INFO): Nmea in: $SNTTA,0.098328,,,0.100846,203427.60*5B 2021-02-17T20:34:28.771Z,1613594068.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.360001 m, bearing: 68.182657 deg, deltaT: 4.464437 s, approachRate: -0.645096 m/s, LOS rate: -0.047853 deg/s, posRepo size: 4 2021-02-17T20:34:28.773Z,1613594068.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.360001 m, bearing: 68.182657 deg, approachRate: -0.645096 m/s, LOS rate: -0.047853 deg/s, cmd update: -0.191410 deg/s, cmd heading: 69.423436 deg, new cmd heading: 69.729593 deg. 2021-02-17T20:34:31.175Z,1613594071.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:31.946Z,1613594071.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:32.334Z,1613594072.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:33.168Z,1613594073.168 [Micromodem](INFO): Nmea in: $SNTTA,0.096760,,,,203432.04*4E 2021-02-17T20:34:33.209Z,1613594073.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.900009 m, bearing: 65.707246 deg, deltaT: 4.447181 s, approachRate: -0.553158 m/s, LOS rate: -0.556625 deg/s, posRepo size: 4 2021-02-17T20:34:33.211Z,1613594073.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.900009 m, bearing: 65.707246 deg, approachRate: -0.553158 m/s, LOS rate: -0.556625 deg/s, cmd update: -2.226499 deg/s, cmd heading: 68.572156 deg, new cmd heading: 68.490377 deg. 2021-02-17T20:34:35.665Z,1613594075.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:36.381Z,1613594076.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:36.778Z,1613594076.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:37.608Z,1613594077.608 [Micromodem](INFO): Nmea in: $SNTTA,0.095070,,,,203436.48*47 2021-02-17T20:34:37.652Z,1613594077.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.380005 m, bearing: 65.351277 deg, deltaT: 4.427790 s, approachRate: -0.569134 m/s, LOS rate: -0.080394 deg/s, posRepo size: 4 2021-02-17T20:34:37.654Z,1613594077.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.380005 m, bearing: 65.351277 deg, approachRate: -0.569134 m/s, LOS rate: -0.080394 deg/s, cmd update: -0.321577 deg/s, cmd heading: 58.713941 deg, new cmd heading: 57.774162 deg. 2021-02-17T20:34:40.066Z,1613594080.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:40.825Z,1613594080.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:41.222Z,1613594081.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:42.076Z,1613594082.076 [Micromodem](INFO): Nmea in: $SNTTA,0.093433,,,,203440.92*44 2021-02-17T20:34:42.106Z,1613594082.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.980011 m, bearing: 67.201070 deg, deltaT: 4.466548 s, approachRate: -0.537326 m/s, LOS rate: 0.414144 deg/s, posRepo size: 4 2021-02-17T20:34:42.108Z,1613594082.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.980011 m, bearing: 67.201070 deg, approachRate: -0.537326 m/s, LOS rate: 0.414144 deg/s, cmd update: 1.656575 deg/s, cmd heading: 57.280355 deg, new cmd heading: 57.139367 deg. 2021-02-17T20:34:44.517Z,1613594084.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:45.260Z,1613594085.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:45.666Z,1613594085.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:46.508Z,1613594086.508 [Micromodem](INFO): Nmea in: $SNTTA,0.091982,,,,203445.36*4A 2021-02-17T20:34:46.547Z,1613594086.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.759995 m, bearing: 67.512458 deg, deltaT: 4.434592 s, approachRate: -0.500613 m/s, LOS rate: 0.070218 deg/s, posRepo size: 4 2021-02-17T20:34:46.549Z,1613594086.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.759995 m, bearing: 67.512458 deg, approachRate: -0.500613 m/s, LOS rate: 0.070218 deg/s, cmd update: 0.280872 deg/s, cmd heading: 64.614762 deg, new cmd heading: 65.363251 deg. 2021-02-17T20:34:48.931Z,1613594088.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:49.709Z,1613594089.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:50.123Z,1613594090.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:50.932Z,1613594090.932 [Micromodem](INFO): Nmea in: $SNTTA,0.090160,,,,203449.81*4F 2021-02-17T20:34:50.968Z,1613594090.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.059998 m, bearing: 66.671047 deg, deltaT: 4.477455 s, approachRate: -0.603020 m/s, LOS rate: -0.187922 deg/s, posRepo size: 4 2021-02-17T20:34:50.970Z,1613594090.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.059998 m, bearing: 66.671047 deg, approachRate: -0.603020 m/s, LOS rate: -0.187922 deg/s, cmd update: -0.751687 deg/s, cmd heading: 65.875723 deg, new cmd heading: 65.983515 deg. 2021-02-17T20:34:53.369Z,1613594093.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:54.148Z,1613594094.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:54.554Z,1613594094.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:55.376Z,1613594095.376 [Micromodem](INFO): Nmea in: $SNTTA,0.088650,,,,203454.24*41 2021-02-17T20:34:55.400Z,1613594095.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.779999 m, bearing: 67.006157 deg, deltaT: 4.466072 s, approachRate: -0.510515 m/s, LOS rate: 0.075035 deg/s, posRepo size: 4 2021-02-17T20:34:55.402Z,1613594095.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.779999 m, bearing: 67.006157 deg, approachRate: -0.510515 m/s, LOS rate: 0.075035 deg/s, cmd update: 0.300138 deg/s, cmd heading: 62.529786 deg, new cmd heading: 62.256033 deg. 2021-02-17T20:34:57.809Z,1613594097.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:34:58.592Z,1613594098.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:34:59.009Z,1613594099.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:34:59.823Z,1613594099.823 [Micromodem](INFO): Nmea in: $SNTTA,0.086929,,,,203458.69*4B 2021-02-17T20:34:59.848Z,1613594099.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.199997 m, bearing: 66.849206 deg, deltaT: 4.379548 s, approachRate: -0.589102 m/s, LOS rate: -0.035837 deg/s, posRepo size: 4 2021-02-17T20:34:59.850Z,1613594099.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.199997 m, bearing: 66.849206 deg, approachRate: -0.589102 m/s, LOS rate: -0.035837 deg/s, cmd update: -0.143349 deg/s, cmd heading: 63.849911 deg, new cmd heading: 63.974225 deg. 2021-02-17T20:35:02.275Z,1613594102.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:35:03.062Z,1613594103.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:35:03.478Z,1613594103.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:35:04.280Z,1613594104.280 [Micromodem](INFO): Nmea in: $SNTTA,0.085317,,,,203503.16*48 2021-02-17T20:35:04.334Z,1613594104.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.800003 m, bearing: 68.007039 deg, deltaT: 4.427521 s, approachRate: -0.542063 m/s, LOS rate: 0.261508 deg/s, posRepo size: 4 2021-02-17T20:35:04.336Z,1613594104.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.800003 m, bearing: 68.007039 deg, approachRate: -0.542063 m/s, LOS rate: 0.261508 deg/s, cmd update: 1.046033 deg/s, cmd heading: 63.215229 deg, new cmd heading: 63.147527 deg. 2021-02-17T20:35:06.717Z,1613594106.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:35:07.526Z,1613594107.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:35:07.900Z,1613594107.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:35:08.718Z,1613594108.718 [Micromodem](INFO): Nmea in: $SNTTA,0.083798,,0.106028,,203507.62*59 2021-02-17T20:35:08.766Z,1613594108.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.340004 m, bearing: 66.016107 deg, deltaT: 4.474695 s, approachRate: -0.549758 m/s, LOS rate: -0.444931 deg/s, posRepo size: 4 2021-02-17T20:35:08.768Z,1613594108.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.340004 m, bearing: 66.016107 deg, approachRate: -0.549758 m/s, LOS rate: -0.444931 deg/s, cmd update: -1.779725 deg/s, cmd heading: 67.895915 deg, new cmd heading: 68.345200 deg. 2021-02-17T20:35:11.150Z,1613594111.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:35:11.932Z,1613594111.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:35:12.333Z,1613594112.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:35:13.164Z,1613594113.164 [Micromodem](INFO): Nmea in: $SNTTA,0.082047,,,,203512.03*4D 2021-02-17T20:35:13.188Z,1613594113.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.940002 m, bearing: 68.495794 deg, deltaT: 4.440910 s, approachRate: -0.540430 m/s, LOS rate: 0.558374 deg/s, posRepo size: 4 2021-02-17T20:35:13.190Z,1613594113.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.940002 m, bearing: 68.495794 deg, approachRate: -0.540430 m/s, LOS rate: 0.558374 deg/s, cmd update: 2.233494 deg/s, cmd heading: 59.992328 deg, new cmd heading: 59.262256 deg. 2021-02-17T20:35:15.636Z,1613594115.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:35:16.373Z,1613594116.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:35:16.779Z,1613594116.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:35:17.600Z,1613594117.600 [Micromodem](INFO): Nmea in: $SNTTA,0.080311,,,,203516.47*4B 2021-02-17T20:35:17.648Z,1613594117.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.239998 m, bearing: 66.491830 deg, deltaT: 4.452221 s, approachRate: -0.606440 m/s, LOS rate: -0.450104 deg/s, posRepo size: 4 2021-02-17T20:35:17.650Z,1613594117.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.239998 m, bearing: 66.491830 deg, approachRate: -0.606440 m/s, LOS rate: -0.450104 deg/s, cmd update: -1.800417 deg/s, cmd heading: 69.927130 deg, new cmd heading: 70.817225 deg. 2021-02-17T20:35:20.074Z,1613594120.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:35:20.813Z,1613594120.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:35:21.238Z,1613594121.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:35:22.068Z,1613594122.068 [Micromodem](INFO): Nmea in: $SNTTA,0.078621,,,,203520.91*44 2021-02-17T20:35:22.101Z,1613594122.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.900009 m, bearing: 66.606912 deg, deltaT: 4.434216 s, approachRate: -0.527712 m/s, LOS rate: 0.025953 deg/s, posRepo size: 4 2021-02-17T20:35:22.102Z,1613594122.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.900009 m, bearing: 66.606912 deg, approachRate: -0.527712 m/s, LOS rate: 0.025953 deg/s, cmd update: 0.103813 deg/s, cmd heading: 61.937057 deg, new cmd heading: 61.149659 deg. 2021-02-17T20:35:24.530Z,1613594124.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:35:25.258Z,1613594125.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:35:25.664Z,1613594125.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:35:26.509Z,1613594126.509 [Micromodem](INFO): Nmea in: $SNTTA,0.077121,,,,203525.35*47 2021-02-17T20:35:26.540Z,1613594126.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.560005 m, bearing: 66.512478 deg, deltaT: 4.446316 s, approachRate: -0.526279 m/s, LOS rate: -0.021239 deg/s, posRepo size: 4 2021-02-17T20:35:26.542Z,1613594126.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.560005 m, bearing: 66.512478 deg, approachRate: -0.526279 m/s, LOS rate: -0.021239 deg/s, cmd update: -0.084955 deg/s, cmd heading: 62.398666 deg, new cmd heading: 62.443286 deg. 2021-02-17T20:35:28.923Z,1613594128.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:35:29.712Z,1613594129.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:35:30.106Z,1613594130.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:35:30.948Z,1613594130.948 [Micromodem](INFO): Nmea in: $SNTTA,0.075559,,,,203529.81*4D 2021-02-17T20:35:30.978Z,1613594130.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.279999 m, bearing: 67.292820 deg, deltaT: 4.439465 s, approachRate: -0.513577 m/s, LOS rate: 0.175774 deg/s, posRepo size: 4 2021-02-17T20:35:30.980Z,1613594130.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.279999 m, bearing: 67.292820 deg, approachRate: -0.513577 m/s, LOS rate: 0.175774 deg/s, cmd update: 0.703096 deg/s, cmd heading: 62.022868 deg, new cmd heading: 61.985066 deg. 2021-02-17T20:35:33.380Z,1613594133.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:35:34.150Z,1613594134.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:35:34.550Z,1613594134.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:35:35.380Z,1613594135.380 [Micromodem](INFO): Nmea in: $SNTTA,0.074016,,,,203534.25*40 2021-02-17T20:35:35.417Z,1613594135.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.820000 m, bearing: 66.098732 deg, deltaT: 4.460465 s, approachRate: -0.551512 m/s, LOS rate: -0.267705 deg/s, posRepo size: 4 2021-02-17T20:35:35.418Z,1613594135.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.820000 m, bearing: 66.098732 deg, approachRate: -0.551512 m/s, LOS rate: -0.267705 deg/s, cmd update: -1.070819 deg/s, cmd heading: 65.167820 deg, new cmd heading: 65.456325 deg. 2021-02-17T20:35:37.814Z,1613594137.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:35:38.588Z,1613594138.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:35:38.996Z,1613594138.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:35:39.823Z,1613594139.823 [Micromodem](INFO): Nmea in: $SNTTA,0.072313,,,,203538.69*44 2021-02-17T20:35:39.854Z,1613594139.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.300003 m, bearing: 66.096512 deg, deltaT: 4.474327 s, approachRate: -0.563212 m/s, LOS rate: -0.000496 deg/s, posRepo size: 4 2021-02-17T20:35:39.856Z,1613594139.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.300003 m, bearing: 66.096512 deg, approachRate: -0.563212 m/s, LOS rate: -0.000496 deg/s, cmd update: -0.001984 deg/s, cmd heading: 60.413921 deg, new cmd heading: 59.977324 deg. 2021-02-17T20:35:42.256Z,1613594142.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:35:43.061Z,1613594143.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:35:43.484Z,1613594143.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:35:44.272Z,1613594144.272 [Micromodem](INFO): Nmea in: $SNTTA,0.070863,,,,203543.16*4E 2021-02-17T20:35:44.296Z,1613594144.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.140007 m, bearing: 66.802009 deg, deltaT: 4.378389 s, approachRate: -0.493331 m/s, LOS rate: 0.161132 deg/s, posRepo size: 4 2021-02-17T20:35:44.298Z,1613594144.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.140007 m, bearing: 66.802009 deg, approachRate: -0.493331 m/s, LOS rate: 0.161132 deg/s, cmd update: 0.644527 deg/s, cmd heading: 60.405155 deg, new cmd heading: 60.404296 deg. 2021-02-17T20:35:46.703Z,1613594146.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:35:47.492Z,1613594147.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:35:47.882Z,1613594147.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:35:48.712Z,1613594148.712 [Micromodem](INFO): Nmea in: $SNTTA,0.069276,,,,203547.59*47 2021-02-17T20:35:48.765Z,1613594148.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.800003 m, bearing: 67.302416 deg, deltaT: 4.464997 s, approachRate: -0.524077 m/s, LOS rate: 0.112073 deg/s, posRepo size: 4 2021-02-17T20:35:48.768Z,1613594148.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.800003 m, bearing: 67.302416 deg, approachRate: -0.524077 m/s, LOS rate: 0.112073 deg/s, cmd update: 0.448293 deg/s, cmd heading: 63.280331 deg, new cmd heading: 63.564061 deg. 2021-02-17T20:35:51.161Z,1613594151.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:35:51.931Z,1613594151.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:35:52.332Z,1613594152.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:35:53.159Z,1613594153.159 [Micromodem](INFO): Nmea in: $SNTTA,0.067438,,,,203552.03*4E 2021-02-17T20:35:53.184Z,1613594153.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.040001 m, bearing: 67.924633 deg, deltaT: 4.438302 s, approachRate: -0.621860 m/s, LOS rate: 0.140192 deg/s, posRepo size: 4 2021-02-17T20:35:53.186Z,1613594153.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.040001 m, bearing: 67.924633 deg, approachRate: -0.621860 m/s, LOS rate: 0.140192 deg/s, cmd update: 0.560770 deg/s, cmd heading: 65.271831 deg, new cmd heading: 65.459026 deg. 2021-02-17T20:35:55.583Z,1613594155.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:35:56.383Z,1613594156.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:35:56.770Z,1613594156.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:35:57.613Z,1613594157.613 [Micromodem](INFO): Nmea in: $SNTTA,0.065888,,0.099414,0.068395,203556.48*40 2021-02-17T20:35:57.656Z,1613594157.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.639999 m, bearing: 66.126716 deg, deltaT: 4.431051 s, approachRate: -0.541633 m/s, LOS rate: -0.405754 deg/s, posRepo size: 4 2021-02-17T20:35:57.657Z,1613594157.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.639999 m, bearing: 66.126716 deg, approachRate: -0.541633 m/s, LOS rate: -0.405754 deg/s, cmd update: -1.623017 deg/s, cmd heading: 67.756639 deg, new cmd heading: 68.013677 deg. 2021-02-17T20:36:00.060Z,1613594160.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:00.808Z,1613594160.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:01.214Z,1613594161.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:02.071Z,1613594162.071 [Micromodem](INFO): Nmea in: $SNTTA,0.064211,,,,203600.90*4E 2021-02-17T20:36:02.095Z,1613594162.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.180000 m, bearing: 66.380437 deg, deltaT: 4.468790 s, approachRate: -0.550484 m/s, LOS rate: 0.056776 deg/s, posRepo size: 4 2021-02-17T20:36:02.097Z,1613594162.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.180000 m, bearing: 66.380437 deg, approachRate: -0.550484 m/s, LOS rate: 0.056776 deg/s, cmd update: 0.227105 deg/s, cmd heading: 60.510262 deg, new cmd heading: 59.807088 deg. 2021-02-17T20:36:04.509Z,1613594164.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:05.252Z,1613594165.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:05.658Z,1613594165.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:06.500Z,1613594166.500 [Micromodem](INFO): Nmea in: $SNTTA,0.062471,,,,203605.35*42 2021-02-17T20:36:06.545Z,1613594166.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.839996 m, bearing: 66.008423 deg, deltaT: 4.427575 s, approachRate: -0.528507 m/s, LOS rate: -0.084022 deg/s, posRepo size: 4 2021-02-17T20:36:06.547Z,1613594166.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.839996 m, bearing: 66.008423 deg, approachRate: -0.528507 m/s, LOS rate: -0.084022 deg/s, cmd update: -0.336087 deg/s, cmd heading: 61.516701 deg, new cmd heading: 61.619190 deg. 2021-02-17T20:36:08.939Z,1613594168.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:09.697Z,1613594169.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:10.101Z,1613594170.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:10.924Z,1613594170.924 [Micromodem](INFO): Nmea in: $SNTTA,0.061186,,,,203609.80*4E 2021-02-17T20:36:10.966Z,1613594170.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.559998 m, bearing: 66.386379 deg, deltaT: 4.458873 s, approachRate: -0.511340 m/s, LOS rate: 0.084765 deg/s, posRepo size: 4 2021-02-17T20:36:10.968Z,1613594170.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.559998 m, bearing: 66.386379 deg, approachRate: -0.511340 m/s, LOS rate: 0.084765 deg/s, cmd update: 0.339059 deg/s, cmd heading: 60.019494 deg, new cmd heading: 59.879003 deg. 2021-02-17T20:36:13.358Z,1613594173.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:14.140Z,1613594174.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:14.552Z,1613594174.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:15.388Z,1613594175.388 [Micromodem](INFO): Nmea in: $SNTTA,0.059367,,,,203614.24*4A 2021-02-17T20:36:15.458Z,1613594175.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.860001 m, bearing: 66.574837 deg, deltaT: 4.416414 s, approachRate: -0.611355 m/s, LOS rate: 0.042672 deg/s, posRepo size: 4 2021-02-17T20:36:15.473Z,1613594175.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.860001 m, bearing: 66.574837 deg, approachRate: -0.611355 m/s, LOS rate: 0.042672 deg/s, cmd update: 0.170689 deg/s, cmd heading: 61.517454 deg, new cmd heading: 61.681450 deg. 2021-02-17T20:36:17.828Z,1613594177.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:18.584Z,1613594178.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:18.990Z,1613594178.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:19.824Z,1613594179.824 [Micromodem](INFO): Nmea in: $SNTTA,0.057836,,,0.086392,203618.68*57 2021-02-17T20:36:19.850Z,1613594179.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.520004 m, bearing: 65.769982 deg, deltaT: 4.456116 s, approachRate: -0.525120 m/s, LOS rate: -0.180618 deg/s, posRepo size: 4 2021-02-17T20:36:19.868Z,1613594179.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.520004 m, bearing: 65.769982 deg, approachRate: -0.525120 m/s, LOS rate: -0.180618 deg/s, cmd update: -0.722473 deg/s, cmd heading: 62.277783 deg, new cmd heading: 62.351027 deg. 2021-02-17T20:36:22.270Z,1613594182.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:23.064Z,1613594183.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:23.438Z,1613594183.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:24.269Z,1613594184.269 [Micromodem](INFO): Nmea in: $SNTTA,0.056169,,,,203623.16*4C 2021-02-17T20:36:24.313Z,1613594184.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.180000 m, bearing: 66.578348 deg, deltaT: 4.426965 s, approachRate: -0.528580 m/s, LOS rate: 0.182601 deg/s, posRepo size: 4 2021-02-17T20:36:24.315Z,1613594184.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.180000 m, bearing: 66.578348 deg, approachRate: -0.528580 m/s, LOS rate: 0.182601 deg/s, cmd update: 0.730403 deg/s, cmd heading: 59.076433 deg, new cmd heading: 58.743396 deg. 2021-02-17T20:36:26.710Z,1613594186.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:27.493Z,1613594187.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:27.878Z,1613594187.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:28.712Z,1613594188.712 [Micromodem](INFO): Nmea in: $SNTTA,0.054576,,,,203627.59*4B 2021-02-17T20:36:28.765Z,1613594188.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.780006 m, bearing: 67.120761 deg, deltaT: 4.451895 s, approachRate: -0.539095 m/s, LOS rate: 0.121839 deg/s, posRepo size: 4 2021-02-17T20:36:28.766Z,1613594188.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.780006 m, bearing: 67.120761 deg, approachRate: -0.539095 m/s, LOS rate: 0.121839 deg/s, cmd update: 0.487354 deg/s, cmd heading: 62.328101 deg, new cmd heading: 62.664826 deg. 2021-02-17T20:36:31.165Z,1613594191.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:31.918Z,1613594191.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:32.327Z,1613594192.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:33.148Z,1613594193.148 [Micromodem](INFO): Nmea in: $SNTTA,0.053159,,,,203632.01*4C 2021-02-17T20:36:33.194Z,1613594193.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.500008 m, bearing: 64.484171 deg, deltaT: 4.461668 s, approachRate: -0.511019 m/s, LOS rate: -0.590943 deg/s, posRepo size: 4 2021-02-17T20:36:33.200Z,1613594193.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.500008 m, bearing: 64.484171 deg, approachRate: -0.511019 m/s, LOS rate: -0.590943 deg/s, cmd update: -2.363770 deg/s, cmd heading: 64.494714 deg, new cmd heading: 64.711491 deg. 2021-02-17T20:36:35.593Z,1613594195.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:36.360Z,1613594196.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:36.773Z,1613594196.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:37.588Z,1613594197.588 [Micromodem](INFO): Nmea in: $SNTTA,0.054904,,,,203636.46*4C 2021-02-17T20:36:37.630Z,1613594197.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.800003 m, bearing: 64.827450 deg, deltaT: 4.440525 s, approachRate: -0.608037 m/s, LOS rate: 0.077306 deg/s, posRepo size: 4 2021-02-17T20:36:37.632Z,1613594197.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.800003 m, bearing: 64.827450 deg, approachRate: -0.608037 m/s, LOS rate: 0.077306 deg/s, cmd update: 0.309223 deg/s, cmd heading: 53.960529 deg, new cmd heading: 52.957465 deg. 2021-02-17T20:36:40.124Z,1613594200.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:40.812Z,1613594200.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:41.215Z,1613594201.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:42.077Z,1613594202.077 [Micromodem](INFO): Nmea in: $SNTTA,0.049941,,,,203640.91*4A 2021-02-17T20:36:42.101Z,1613594202.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.580009 m, bearing: 64.927785 deg, deltaT: 4.436165 s, approachRate: -0.500431 m/s, LOS rate: 0.022618 deg/s, posRepo size: 4 2021-02-17T20:36:42.102Z,1613594202.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.580009 m, bearing: 64.927785 deg, approachRate: -0.500431 m/s, LOS rate: 0.022618 deg/s, cmd update: 0.090470 deg/s, cmd heading: 55.332288 deg, new cmd heading: 55.474135 deg. 2021-02-17T20:36:44.518Z,1613594204.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:45.254Z,1613594205.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:45.696Z,1613594205.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:46.500Z,1613594206.500 [Micromodem](INFO): Nmea in: $SNTTA,0.048308,,,,203645.35*47 2021-02-17T20:36:46.530Z,1613594206.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.240005 m, bearing: 66.745059 deg, deltaT: 4.470998 s, approachRate: -0.523374 m/s, LOS rate: 0.406458 deg/s, posRepo size: 4 2021-02-17T20:36:46.532Z,1613594206.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.240005 m, bearing: 66.745059 deg, approachRate: -0.523374 m/s, LOS rate: 0.406458 deg/s, cmd update: 1.625833 deg/s, cmd heading: 55.736772 deg, new cmd heading: 55.774477 deg. 2021-02-17T20:36:48.915Z,1613594208.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:49.693Z,1613594209.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:50.097Z,1613594210.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:50.928Z,1613594210.928 [Micromodem](INFO): Nmea in: $SNTTA,0.046584,,,,203649.79*4F 2021-02-17T20:36:50.960Z,1613594210.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.659996 m, bearing: 66.855702 deg, deltaT: 4.445001 s, approachRate: -0.580429 m/s, LOS rate: 0.024891 deg/s, posRepo size: 4 2021-02-17T20:36:50.962Z,1613594210.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.659996 m, bearing: 66.855702 deg, approachRate: -0.580429 m/s, LOS rate: 0.024891 deg/s, cmd update: 0.099566 deg/s, cmd heading: 62.957258 deg, new cmd heading: 63.617065 deg. 2021-02-17T20:36:53.374Z,1613594213.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:54.144Z,1613594214.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:54.543Z,1613594214.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:55.368Z,1613594215.368 [Micromodem](INFO): Nmea in: $SNTTA,0.045097,,,,203654.24*4F 2021-02-17T20:36:55.416Z,1613594215.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.440002 m, bearing: 66.211348 deg, deltaT: 4.400224 s, approachRate: -0.504518 m/s, LOS rate: -0.146436 deg/s, posRepo size: 4 2021-02-17T20:36:55.418Z,1613594215.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.440002 m, bearing: 66.211348 deg, approachRate: -0.504518 m/s, LOS rate: -0.146436 deg/s, cmd update: -0.585746 deg/s, cmd heading: 63.395771 deg, new cmd heading: 63.441369 deg. 2021-02-17T20:36:57.797Z,1613594217.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:36:58.588Z,1613594218.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:36:58.986Z,1613594218.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:36:59.817Z,1613594219.817 [Micromodem](INFO): Nmea in: $SNTTA,0.043744,,0.059699,,203658.68*50 2021-02-17T20:36:59.867Z,1613594219.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.159996 m, bearing: 64.719580 deg, deltaT: 4.452677 s, approachRate: -0.512053 m/s, LOS rate: -0.335027 deg/s, posRepo size: 4 2021-02-17T20:36:59.869Z,1613594219.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.159996 m, bearing: 64.719580 deg, approachRate: -0.512053 m/s, LOS rate: -0.335027 deg/s, cmd update: -1.340109 deg/s, cmd heading: 60.787639 deg, new cmd heading: 60.522843 deg. 2021-02-17T20:37:02.257Z,1613594222.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:37:03.062Z,1613594223.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:37:03.434Z,1613594223.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:37:04.281Z,1613594224.281 [Micromodem](INFO): Nmea in: $SNTTA,0.042004,,,,203703.16*40 2021-02-17T20:37:04.304Z,1613594224.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.820007 m, bearing: 66.146871 deg, deltaT: 4.461244 s, approachRate: -0.524515 m/s, LOS rate: 0.319931 deg/s, posRepo size: 4 2021-02-17T20:37:04.306Z,1613594224.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.820007 m, bearing: 66.146871 deg, approachRate: -0.524515 m/s, LOS rate: 0.319931 deg/s, cmd update: 1.279725 deg/s, cmd heading: 54.830750 deg, new cmd heading: 54.229943 deg. 2021-02-17T20:37:06.710Z,1613594226.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:37:07.496Z,1613594227.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:37:07.880Z,1613594227.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:37:08.708Z,1613594228.708 [Micromodem](INFO): Nmea in: $SNTTA,0.040223,,,,203707.59*4A 2021-02-17T20:37:08.752Z,1613594228.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.120007 m, bearing: 67.203351 deg, deltaT: 4.476782 s, approachRate: -0.603112 m/s, LOS rate: 0.235991 deg/s, posRepo size: 4 2021-02-17T20:37:08.754Z,1613594228.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.120007 m, bearing: 67.203351 deg, approachRate: -0.603112 m/s, LOS rate: 0.235991 deg/s, cmd update: 0.943964 deg/s, cmd heading: 60.575431 deg, new cmd heading: 61.096356 deg. 2021-02-17T20:37:11.129Z,1613594231.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:37:11.920Z,1613594231.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:37:12.318Z,1613594232.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:37:13.144Z,1613594233.144 [Micromodem](INFO): Nmea in: $SNTTA,0.038654,,,,203712.02*4B 2021-02-17T20:37:13.192Z,1613594233.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.780003 m, bearing: 67.203051 deg, deltaT: 4.428415 s, approachRate: -0.528407 m/s, LOS rate: -0.000068 deg/s, posRepo size: 4 2021-02-17T20:37:13.194Z,1613594233.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.780003 m, bearing: 67.203051 deg, approachRate: -0.528407 m/s, LOS rate: -0.000068 deg/s, cmd update: -0.000271 deg/s, cmd heading: 64.755624 deg, new cmd heading: 65.150510 deg. 2021-02-17T20:37:15.589Z,1613594235.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:37:16.358Z,1613594236.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:37:16.785Z,1613594236.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:37:17.589Z,1613594237.589 [Micromodem](INFO): Nmea in: $SNTTA,0.037099,0.047473,0.046611,,203716.46*40 2021-02-17T20:37:17.627Z,1613594237.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.379993 m, bearing: 66.174049 deg, deltaT: 4.444155 s, approachRate: -0.540037 m/s, LOS rate: -0.231541 deg/s, posRepo size: 4 2021-02-17T20:37:17.629Z,1613594237.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.379993 m, bearing: 66.174049 deg, approachRate: -0.540037 m/s, LOS rate: -0.231541 deg/s, cmd update: -0.926162 deg/s, cmd heading: 64.754418 deg, new cmd heading: 64.754307 deg. 2021-02-17T20:37:20.058Z,1613594240.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:37:20.803Z,1613594240.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:37:21.211Z,1613594241.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:37:22.073Z,1613594242.073 [Micromodem](INFO): Nmea in: $SNTTA,0.035485,,,,203720.90*42 2021-02-17T20:37:22.100Z,1613594242.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.040001 m, bearing: 64.866013 deg, deltaT: 4.426561 s, approachRate: -0.528625 m/s, LOS rate: -0.295497 deg/s, posRepo size: 4 2021-02-17T20:37:22.102Z,1613594242.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.040001 m, bearing: 64.866013 deg, approachRate: -0.528625 m/s, LOS rate: -0.295497 deg/s, cmd update: -1.181988 deg/s, cmd heading: 60.665980 deg, new cmd heading: 60.232662 deg. 2021-02-17T20:37:24.528Z,1613594244.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:37:25.263Z,1613594245.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:37:25.654Z,1613594245.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:37:26.508Z,1613594246.508 [Micromodem](INFO): Nmea in: $SNTTA,0.033999,,,,203725.36*4D 2021-02-17T20:37:26.543Z,1613594246.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.820004 m, bearing: 65.796879 deg, deltaT: 4.462428 s, approachRate: -0.497486 m/s, LOS rate: 0.208601 deg/s, posRepo size: 4 2021-02-17T20:37:26.545Z,1613594246.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.820004 m, bearing: 65.796879 deg, approachRate: -0.497486 m/s, LOS rate: 0.208601 deg/s, cmd update: 0.834403 deg/s, cmd heading: 55.377056 deg, new cmd heading: 54.860896 deg. 2021-02-17T20:37:28.895Z,1613594248.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:37:29.688Z,1613594249.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:37:30.094Z,1613594250.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:37:30.920Z,1613594250.920 [Micromodem](INFO): Nmea in: $SNTTA,0.032343,,,,203729.78*47 2021-02-17T20:37:30.938Z,1613594250.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.300003 m, bearing: 66.028586 deg, deltaT: 4.459371 s, approachRate: -0.565102 m/s, LOS rate: 0.051960 deg/s, posRepo size: 4 2021-02-17T20:37:30.940Z,1613594250.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.300003 m, bearing: 66.028586 deg, approachRate: -0.565102 m/s, LOS rate: 0.051960 deg/s, cmd update: 0.207839 deg/s, cmd heading: 59.097970 deg, new cmd heading: 59.408451 deg. 2021-02-17T20:37:33.356Z,1613594253.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:37:34.132Z,1613594254.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:37:34.546Z,1613594254.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:37:35.360Z,1613594255.360 [Micromodem](INFO): Nmea in: $SNTTA,0.030652,,,,203734.23*42 2021-02-17T20:37:35.402Z,1613594255.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.780003 m, bearing: 67.045144 deg, deltaT: 4.418529 s, approachRate: -0.570326 m/s, LOS rate: 0.230067 deg/s, posRepo size: 4 2021-02-17T20:37:35.404Z,1613594255.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.780003 m, bearing: 67.045144 deg, approachRate: -0.570326 m/s, LOS rate: 0.230067 deg/s, cmd update: 0.920268 deg/s, cmd heading: 60.016288 deg, new cmd heading: 60.103083 deg. 2021-02-17T20:37:37.808Z,1613594257.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:37:38.578Z,1613594258.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:37:38.996Z,1613594258.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:37:39.804Z,1613594259.804 [Micromodem](INFO): Nmea in: $SNTTA,0.029073,,,,203738.67*43 2021-02-17T20:37:39.845Z,1613594259.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.380001 m, bearing: 67.832139 deg, deltaT: 4.442163 s, approachRate: -0.540278 m/s, LOS rate: 0.177165 deg/s, posRepo size: 4 2021-02-17T20:37:39.846Z,1613594259.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.380001 m, bearing: 67.832139 deg, approachRate: -0.540278 m/s, LOS rate: 0.177165 deg/s, cmd update: 0.708659 deg/s, cmd heading: 64.108011 deg, new cmd heading: 64.489171 deg. 2021-02-17T20:37:42.250Z,1613594262.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:37:43.041Z,1613594263.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:37:43.432Z,1613594263.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:37:44.261Z,1613594264.261 [Micromodem](INFO): Nmea in: $SNTTA,0.027560,,,,203743.14*42 2021-02-17T20:37:44.316Z,1613594264.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.099998 m, bearing: 66.737478 deg, deltaT: 4.426962 s, approachRate: -0.515026 m/s, LOS rate: -0.247271 deg/s, posRepo size: 4 2021-02-17T20:37:44.318Z,1613594264.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.099998 m, bearing: 66.737478 deg, approachRate: -0.515026 m/s, LOS rate: -0.247271 deg/s, cmd update: -0.989085 deg/s, cmd heading: 67.245273 deg, new cmd heading: 67.566869 deg. 2021-02-17T20:37:46.694Z,1613594266.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:37:47.494Z,1613594267.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:37:47.870Z,1613594267.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:37:48.716Z,1613594268.716 [Micromodem](INFO): Nmea in: $SNTTA,0.025732,,,,203747.59*48 2021-02-17T20:37:48.754Z,1613594268.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.399998 m, bearing: 66.105084 deg, deltaT: 4.454651 s, approachRate: -0.606108 m/s, LOS rate: -0.141963 deg/s, posRepo size: 4 2021-02-17T20:37:48.754Z,1613594268.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.40 m. 2021-02-17T20:37:48.756Z,1613594268.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.399998 m, bearing: 66.105084 deg, approachRate: -0.606108 m/s, LOS rate: -0.141963 deg/s, cmd update: -0.567850 deg/s, cmd heading: 62.855244 deg, new cmd heading: 62.402612 deg. 2021-02-17T20:37:49.096Z,1613594269.096 [PowerOnly](INFO): Powering up loadControl 2021-02-17T20:37:51.145Z,1613594271.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:37:51.915Z,1613594271.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:37:52.314Z,1613594272.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:37:53.144Z,1613594273.144 [Micromodem](INFO): Nmea in: $SNTTA,0.024269,,,,203752.01*4B 2021-02-17T20:37:53.201Z,1613594273.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.180000 m, bearing: 65.435077 deg, deltaT: 4.448293 s, approachRate: -0.499067 m/s, LOS rate: -0.150621 deg/s, posRepo size: 4 2021-02-17T20:37:53.202Z,1613594273.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.18 m. 2021-02-17T20:37:53.202Z,1613594273.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.18 m. 2021-02-17T20:37:53.202Z,1613594273.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T20:37:53.204Z,1613594273.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.180000 m, bearing: 65.435077 deg, approachRate: -0.499067 m/s, LOS rate: -0.150621 deg/s, cmd update: -0.602485 deg/s, cmd heading: 60.331857 deg, new cmd heading: 60.069857 deg. 2021-02-17T20:37:55.597Z,1613594275.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:37:56.369Z,1613594276.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:37:56.758Z,1613594276.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:37:57.596Z,1613594277.596 [Micromodem](INFO): Nmea in: $SNTTA,0.022659,,,,203756.47*4C 2021-02-17T20:37:57.642Z,1613594277.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.779999 m, bearing: 65.013094 deg, deltaT: 4.453057 s, approachRate: -0.538956 m/s, LOS rate: -0.094762 deg/s, posRepo size: 4 2021-02-17T20:37:57.644Z,1613594277.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.779999 m, bearing: 65.013094 deg, approachRate: -0.538956 m/s, LOS rate: -0.094762 deg/s, cmd update: -0.379050 deg/s, cmd heading: 57.638964 deg, new cmd heading: 57.378625 deg. 2021-02-17T20:38:00.012Z,1613594280.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:00.804Z,1613594280.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:01.202Z,1613594281.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:02.036Z,1613594282.036 [Micromodem](INFO): Nmea in: $SNTTA,0.021150,,,,203800.90*47 2021-02-17T20:38:02.091Z,1613594282.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.559998 m, bearing: 66.281201 deg, deltaT: 4.434711 s, approachRate: -0.500597 m/s, LOS rate: 0.285950 deg/s, posRepo size: 4 2021-02-17T20:38:02.093Z,1613594282.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.559998 m, bearing: 66.281201 deg, approachRate: -0.500597 m/s, LOS rate: 0.285950 deg/s, cmd update: 1.143801 deg/s, cmd heading: 55.957962 deg, new cmd heading: 55.788640 deg. 2021-02-17T20:38:04.508Z,1613594284.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:05.242Z,1613594285.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:05.658Z,1613594285.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:06.500Z,1613594286.500 [Micromodem](INFO): Nmea in: $SNTTA,0.019467,,0.035354,,203805.34*5C 2021-02-17T20:38:06.525Z,1613594286.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.979998 m, bearing: 65.395544 deg, deltaT: 4.446602 s, approachRate: -0.580218 m/s, LOS rate: -0.199176 deg/s, posRepo size: 4 2021-02-17T20:38:06.545Z,1613594286.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.979998 m, bearing: 65.395544 deg, approachRate: -0.580218 m/s, LOS rate: -0.199176 deg/s, cmd update: -0.796705 deg/s, cmd heading: 61.048598 deg, new cmd heading: 61.541090 deg. 2021-02-17T20:38:08.899Z,1613594288.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:09.684Z,1613594289.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:10.103Z,1613594290.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:10.912Z,1613594290.912 [Micromodem](INFO): Nmea in: $SNTTA,0.017906,,,,203809.78*46 2021-02-17T20:38:10.943Z,1613594290.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.639999 m, bearing: 65.330445 deg, deltaT: 4.440176 s, approachRate: -0.527006 m/s, LOS rate: -0.014661 deg/s, posRepo size: 4 2021-02-17T20:38:10.945Z,1613594290.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.639999 m, bearing: 65.330445 deg, approachRate: -0.527006 m/s, LOS rate: -0.014661 deg/s, cmd update: -0.058645 deg/s, cmd heading: 57.511099 deg, new cmd heading: 57.186400 deg. 2021-02-17T20:38:13.350Z,1613594293.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:14.128Z,1613594294.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:14.536Z,1613594294.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:15.368Z,1613594295.368 [Micromodem](INFO): Nmea in: $SNTTA,0.016270,,,,203814.22*4E 2021-02-17T20:38:15.392Z,1613594295.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.120003 m, bearing: 67.737035 deg, deltaT: 4.424156 s, approachRate: -0.569599 m/s, LOS rate: 0.543966 deg/s, posRepo size: 4 2021-02-17T20:38:15.394Z,1613594295.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.120003 m, bearing: 67.737035 deg, approachRate: -0.569599 m/s, LOS rate: 0.543966 deg/s, cmd update: 2.175863 deg/s, cmd heading: 57.251651 deg, new cmd heading: 57.226238 deg. 2021-02-17T20:38:17.791Z,1613594297.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:18.578Z,1613594298.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:18.978Z,1613594298.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:19.804Z,1613594299.804 [Micromodem](INFO): Nmea in: $SNTTA,0.014629,,,,203818.67*49 2021-02-17T20:38:19.846Z,1613594299.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.659998 m, bearing: 68.524037 deg, deltaT: 4.474105 s, approachRate: -0.549832 m/s, LOS rate: 0.175901 deg/s, posRepo size: 4 2021-02-17T20:38:19.848Z,1613594299.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.659998 m, bearing: 68.524037 deg, approachRate: -0.549832 m/s, LOS rate: 0.175901 deg/s, cmd update: 0.703606 deg/s, cmd heading: 66.986984 deg, new cmd heading: 67.884458 deg. 2021-02-17T20:38:22.241Z,1613594302.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:23.032Z,1613594303.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:23.433Z,1613594303.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:24.252Z,1613594304.252 [Micromodem](INFO): Nmea in: $SNTTA,0.013038,,,,203823.13*43 2021-02-17T20:38:24.292Z,1613594304.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.320000 m, bearing: 67.138280 deg, deltaT: 4.435162 s, approachRate: -0.527602 m/s, LOS rate: -0.312448 deg/s, posRepo size: 4 2021-02-17T20:38:24.293Z,1613594304.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.320000 m, bearing: 67.138280 deg, approachRate: -0.527602 m/s, LOS rate: -0.312448 deg/s, cmd update: -1.249791 deg/s, cmd heading: 70.107603 deg, new cmd heading: 70.405221 deg. 2021-02-17T20:38:26.697Z,1613594306.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:27.488Z,1613594307.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:27.866Z,1613594307.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:28.700Z,1613594308.700 [Micromodem](INFO): Nmea in: $SNTTA,0.011408,,,,203827.59*4C 2021-02-17T20:38:28.750Z,1613594308.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.919998 m, bearing: 66.386522 deg, deltaT: 4.445369 s, approachRate: -0.539888 m/s, LOS rate: -0.169110 deg/s, posRepo size: 4 2021-02-17T20:38:28.752Z,1613594308.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.919998 m, bearing: 66.386522 deg, approachRate: -0.539888 m/s, LOS rate: -0.169110 deg/s, cmd update: -0.676441 deg/s, cmd heading: 64.571915 deg, new cmd heading: 64.006429 deg. 2021-02-17T20:38:31.138Z,1613594311.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:31.910Z,1613594311.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:32.333Z,1613594312.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:33.140Z,1613594313.140 [Micromodem](INFO): Nmea in: $SNTTA,0.009975,,,,203832.01*4B 2021-02-17T20:38:33.202Z,1613594313.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.759997 m, bearing: 66.857170 deg, deltaT: 4.455087 s, approachRate: -0.484839 m/s, LOS rate: 0.105643 deg/s, posRepo size: 4 2021-02-17T20:38:33.208Z,1613594313.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.759997 m, bearing: 66.857170 deg, approachRate: -0.484839 m/s, LOS rate: 0.105643 deg/s, cmd update: 0.422571 deg/s, cmd heading: 61.550128 deg, new cmd heading: 61.254277 deg. 2021-02-17T20:38:35.587Z,1613594315.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:36.361Z,1613594316.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:36.753Z,1613594316.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:37.592Z,1613594317.592 [Micromodem](INFO): Nmea in: $SNTTA,0.008396,,0.277534,,203836.46*54 2021-02-17T20:38:37.630Z,1613594317.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.360002 m, bearing: 67.194206 deg, deltaT: 4.431745 s, approachRate: -0.541546 m/s, LOS rate: 0.076050 deg/s, posRepo size: 4 2021-02-17T20:38:37.632Z,1613594317.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.360002 m, bearing: 67.194206 deg, approachRate: -0.541546 m/s, LOS rate: 0.076050 deg/s, cmd update: 0.304201 deg/s, cmd heading: 63.416027 deg, new cmd heading: 63.606076 deg. 2021-02-17T20:38:40.023Z,1613594320.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:40.809Z,1613594320.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:41.198Z,1613594321.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:42.055Z,1613594322.055 [Micromodem](INFO): Nmea in: $SNTTA,0.007689,,,,203840.91*45 2021-02-17T20:38:42.104Z,1613594322.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.019998 m, bearing: 65.708708 deg, deltaT: 4.455398 s, approachRate: -0.525207 m/s, LOS rate: -0.333415 deg/s, posRepo size: 4 2021-02-17T20:38:42.106Z,1613594322.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.019998 m, bearing: 65.708708 deg, approachRate: -0.525207 m/s, LOS rate: -0.333415 deg/s, cmd update: -1.333661 deg/s, cmd heading: 64.774990 deg, new cmd heading: 64.913870 deg. 2021-02-17T20:38:44.492Z,1613594324.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:45.242Z,1613594325.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:45.642Z,1613594325.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:46.490Z,1613594326.490 [Micromodem](INFO): Nmea in: $SNTTA,0.005420,,,,203845.34*4C 2021-02-17T20:38:46.523Z,1613594326.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.919999 m, bearing: 65.535740 deg, deltaT: 4.445164 s, approachRate: -0.472423 m/s, LOS rate: -0.038911 deg/s, posRepo size: 4 2021-02-17T20:38:46.525Z,1613594326.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.919999 m, bearing: 65.535740 deg, approachRate: -0.472423 m/s, LOS rate: -0.038911 deg/s, cmd update: -0.155646 deg/s, cmd heading: 58.835645 deg, new cmd heading: 58.273759 deg. 2021-02-17T20:38:48.908Z,1613594328.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:49.681Z,1613594329.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:50.098Z,1613594330.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:50.908Z,1613594330.908 [Micromodem](INFO): Nmea in: $SNTTA,0.004020,,,,203849.78*4D 2021-02-17T20:38:50.945Z,1613594330.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.759999 m, bearing: 63.965869 deg, deltaT: 4.434322 s, approachRate: -0.487109 m/s, LOS rate: -0.354027 deg/s, posRepo size: 4 2021-02-17T20:38:50.947Z,1613594330.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.759999 m, bearing: 63.965869 deg, approachRate: -0.487109 m/s, LOS rate: -0.354027 deg/s, cmd update: -1.416109 deg/s, cmd heading: 58.145465 deg, new cmd heading: 58.081682 deg. 2021-02-17T20:38:53.347Z,1613594333.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:54.124Z,1613594334.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:54.546Z,1613594334.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:55.361Z,1613594335.361 [Micromodem](INFO): Nmea in: $SNTTA,0.002987,,,,203854.22*4C 2021-02-17T20:38:55.401Z,1613594335.401 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T20:38:55.401Z,1613594335.401 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T20:38:55.401Z,1613594335.401 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T20:38:55.401Z,1613594335.401 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:38:55.401Z,1613594335.401 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T20:38:55.402Z,1613594335.402 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 2021-02-17T20:38:55.402Z,1613594335.402 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T20:38:55.402Z,1613594335.402 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T20:38:55.402Z,1613594335.402 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T20:38:55.404Z,1613594335.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 72.690691 deg, deltaT: 4.430729 s, approachRate: -0.352087 m/s, LOS rate: 1.969162 deg/s, posRepo size: 4 2021-02-17T20:38:55.406Z,1613594335.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.199998 m, bearing: 72.690691 deg, approachRate: -0.352087 m/s, LOS rate: 1.969162 deg/s, cmd update: 7.876647 deg/s, cmd heading: 51.871431 deg, new cmd heading: 51.251206 deg. 2021-02-17T20:38:55.825Z,1613594335.825 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T203855: (41.552319, -70.708603) 2021-02-17T20:38:55.826Z,1613594335.826 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T20:38:55.826Z,1613594335.826 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T20:38:55.826Z,1613594335.826 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:38:55.826Z,1613594335.826 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T20:38:55.826Z,1613594335.826 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:38:55.826Z,1613594335.826 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T20:38:55.826Z,1613594335.826 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T20:38:55.826Z,1613594335.826 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T20:38:57.809Z,1613594337.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:38:58.588Z,1613594338.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:38:58.974Z,1613594338.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:38:59.812Z,1613594339.812 [Micromodem](INFO): Nmea in: $SNTTA,0.002612,,,,203858.68*4D 2021-02-17T20:38:59.853Z,1613594339.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 118.354720 deg, deltaT: 4.432825 s, approachRate: -0.081212 m/s, LOS rate: 10.301338 deg/s, posRepo size: 4 2021-02-17T20:38:59.854Z,1613594339.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.839998 m, bearing: 118.354720 deg, approachRate: -0.081212 m/s, LOS rate: 10.301338 deg/s, cmd update: 12.000000 deg/s, cmd heading: 86.789094 deg, new cmd heading: 90.360508 deg. 2021-02-17T20:39:02.234Z,1613594342.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:03.028Z,1613594343.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:39:03.426Z,1613594343.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:39:04.260Z,1613594344.260 [Micromodem](INFO): Nmea in: $SNTTA,0.004618,,,0.025798,203903.12*5C 2021-02-17T20:39:04.304Z,1613594344.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 65.681298 deg, deltaT: 4.486282 s, approachRate: 0.227360 m/s, LOS rate: -11.740997 deg/s, posRepo size: 4 2021-02-17T20:39:04.305Z,1613594344.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.740997 deg/s. Setting heading cmd to target bearing of 65.681298deg and heading rate command to 0 deg/s. 2021-02-17T20:39:06.682Z,1613594346.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:07.487Z,1613594347.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:39:07.866Z,1613594347.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:39:08.701Z,1613594348.701 [Micromodem](INFO): Nmea in: $SNTTA,0.006608,,0.042844,,203907.58*5A 2021-02-17T20:39:08.749Z,1613594348.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.919999 m, bearing: 15.663364 deg, deltaT: 4.445101 s, approachRate: 0.688398 m/s, LOS rate: -11.252373 deg/s, posRepo size: 4 2021-02-17T20:39:08.755Z,1613594348.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.919999 m, bearing: 15.663364 deg, approachRate: 0.688398 m/s, LOS rate: -11.252373 deg/s, cmd update: -12.000000 deg/s, cmd heading: 65.681298 deg, new cmd heading: 65.681298 deg. 2021-02-17T20:39:11.117Z,1613594351.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:11.900Z,1613594351.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:39:12.326Z,1613594352.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:39:13.132Z,1613594353.132 [Micromodem](INFO): Nmea in: $SNTTA,0.006833,,,,203912.00*45 2021-02-17T20:39:13.176Z,1613594353.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.579998 m, bearing: 61.368457 deg, deltaT: 4.420937 s, approachRate: 0.149289 m/s, LOS rate: 10.338327 deg/s, posRepo size: 4 2021-02-17T20:39:13.178Z,1613594353.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.579998 m, bearing: 61.368457 deg, approachRate: 0.149289 m/s, LOS rate: 10.338327 deg/s, cmd update: 12.000000 deg/s, cmd heading: 12.581741 deg, new cmd heading: 7.492457 deg. 2021-02-17T20:39:15.582Z,1613594355.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:16.353Z,1613594356.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:39:16.750Z,1613594356.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:39:17.581Z,1613594357.581 [Micromodem](INFO): Nmea in: $SNTTA,0.006722,,,,203916.45*4F 2021-02-17T20:39:17.648Z,1613594357.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.080001 m, bearing: 71.472206 deg, deltaT: 4.446311 s, approachRate: 0.337359 m/s, LOS rate: 2.272389 deg/s, posRepo size: 4 2021-02-17T20:39:17.650Z,1613594357.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.080001 m, bearing: 71.472206 deg, approachRate: 0.337359 m/s, LOS rate: 2.272389 deg/s, cmd update: 9.089556 deg/s, cmd heading: 65.746266 deg, new cmd heading: 71.346654 deg. 2021-02-17T20:39:20.057Z,1613594360.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:20.828Z,1613594360.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:39:21.194Z,1613594361.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:39:22.055Z,1613594362.055 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203920.92*5F 2021-02-17T20:39:22.874Z,1613594362.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:23.616Z,1613594363.616 [PowerOnly](INFO): Powering down loadControl 2021-02-17T20:39:24.423Z,1613594364.423 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:39:25.666Z,1613594365.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:26.458Z,1613594366.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:39:26.855Z,1613594366.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:39:27.684Z,1613594367.684 [Micromodem](INFO): Nmea in: $SNTTA,0.010626,,0.027626,,203926.56*55 2021-02-17T20:39:27.709Z,1613594367.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.940002 m, bearing: 66.686559 deg, deltaT: 10.091176 s, approachRate: 0.481609 m/s, LOS rate: -0.474241 deg/s, posRepo size: 4 2021-02-17T20:39:27.711Z,1613594367.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.940002 m, bearing: 66.686559 deg, approachRate: 0.481609 m/s, LOS rate: -0.474241 deg/s, cmd update: -1.896963 deg/s, cmd heading: 157.615799 deg, new cmd heading: 161.431540 deg. 2021-02-17T20:39:30.118Z,1613594370.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:30.894Z,1613594370.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:39:31.294Z,1613594371.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:39:32.120Z,1613594372.120 [Micromodem](INFO): Nmea in: $SNTTA,0.011895,,,,203930.99*4F 2021-02-17T20:39:32.158Z,1613594372.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.919998 m, bearing: 106.252991 deg, deltaT: 4.450039 s, approachRate: 0.444939 m/s, LOS rate: 8.891255 deg/s, posRepo size: 4 2021-02-17T20:39:32.160Z,1613594372.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.919998 m, bearing: 106.252991 deg, approachRate: 0.444939 m/s, LOS rate: 8.891255 deg/s, cmd update: 12.000000 deg/s, cmd heading: 149.174324 deg, new cmd heading: 148.379789 deg. 2021-02-17T20:39:34.583Z,1613594374.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:35.332Z,1613594375.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:39:35.764Z,1613594375.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:39:36.576Z,1613594376.576 [Micromodem](INFO): Nmea in: $SNTTA,0.013035,,0.015810,,203935.43*5E 2021-02-17T20:39:36.605Z,1613594376.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.499998 m, bearing: 65.613884 deg, deltaT: 4.442593 s, approachRate: 0.580742 m/s, LOS rate: -9.147610 deg/s, posRepo size: 4 2021-02-17T20:39:36.606Z,1613594376.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.50 m. Rolling out. 2021-02-17T20:39:36.606Z,1613594376.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T20:39:38.990Z,1613594378.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:39.800Z,1613594379.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:39:40.240Z,1613594380.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:39:41.076Z,1613594381.076 [Micromodem](INFO): Nmea in: $SNTTA,0.013090,,0.025277,,203939.90*5B 2021-02-17T20:39:41.125Z,1613594381.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.919998 m, bearing: 148.010391 deg, deltaT: 4.483258 s, approachRate: 0.093682 m/s, LOS rate: 18.378712 deg/s, posRepo size: 4 2021-02-17T20:39:43.521Z,1613594383.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:44.285Z,1613594384.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:39:44.695Z,1613594384.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:39:45.516Z,1613594385.516 [Micromodem](INFO): Nmea in: $SNTTA,0.014650,,,,203944.38*45 2021-02-17T20:39:45.555Z,1613594385.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.020000 m, bearing: 167.382050 deg, deltaT: 4.481121 s, approachRate: 0.468633 m/s, LOS rate: 4.322949 deg/s, posRepo size: 4 2021-02-17T20:39:47.940Z,1613594387.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:48.720Z,1613594388.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:39:49.132Z,1613594389.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:39:49.948Z,1613594389.948 [Micromodem](INFO): Nmea in: $SNTTA,0.015125,,,,203948.82*4C 2021-02-17T20:39:49.985Z,1613594389.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.679996 m, bearing: 155.084131 deg, deltaT: 4.425595 s, approachRate: 0.149132 m/s, LOS rate: -2.778817 deg/s, posRepo size: 4 2021-02-17T20:39:52.390Z,1613594392.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:53.164Z,1613594393.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:39:53.579Z,1613594393.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:39:54.392Z,1613594394.392 [Micromodem](INFO): Nmea in: $SNTTA,0.016319,,,,203953.26*46 2021-02-17T20:39:54.476Z,1613594394.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.760000 m, bearing: 159.149063 deg, deltaT: 4.433198 s, approachRate: 0.243617 m/s, LOS rate: 0.916930 deg/s, posRepo size: 4 2021-02-17T20:39:56.842Z,1613594396.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:39:57.613Z,1613594397.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:39:58.024Z,1613594398.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:39:58.847Z,1613594398.847 [Micromodem](INFO): Nmea in: $SNTTA,0.016426,,0.056545,,203957.71*52 2021-02-17T20:39:58.872Z,1613594398.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.659998 m, bearing: 187.873355 deg, deltaT: 4.498057 s, approachRate: 0.200086 m/s, LOS rate: 6.385933 deg/s, posRepo size: 4 2021-02-17T20:40:01.273Z,1613594401.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:02.067Z,1613594402.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:40:02.488Z,1613594402.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:40:03.292Z,1613594403.292 [Micromodem](INFO): Nmea in: $SNTTA,0.017002,,,,204002.17*46 2021-02-17T20:40:03.327Z,1613594403.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.099998 m, bearing: 167.210134 deg, deltaT: 4.392780 s, approachRate: 0.327811 m/s, LOS rate: -4.703905 deg/s, posRepo size: 4 2021-02-17T20:40:05.766Z,1613594405.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:06.498Z,1613594406.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:40:06.903Z,1613594406.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:40:07.724Z,1613594407.724 [Micromodem](INFO): Nmea in: $SNTTA,0.017120,,,,204006.59*49 2021-02-17T20:40:07.769Z,1613594407.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.679996 m, bearing: 261.043164 deg, deltaT: 4.454180 s, approachRate: -0.094294 m/s, LOS rate: 21.066286 deg/s, posRepo size: 4 2021-02-17T20:40:10.163Z,1613594410.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:10.946Z,1613594410.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:40:11.350Z,1613594411.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:40:12.172Z,1613594412.172 [Micromodem](INFO): Nmea in: $SNTTA,0.016996,,,,204011.04*43 2021-02-17T20:40:12.196Z,1613594412.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.499998 m, bearing: 181.706528 deg, deltaT: 4.433372 s, approachRate: -0.040601 m/s, LOS rate: -17.895326 deg/s, posRepo size: 4 2021-02-17T20:40:14.602Z,1613594414.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:15.384Z,1613594415.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:40:15.790Z,1613594415.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:40:16.616Z,1613594416.616 [Micromodem](INFO): Nmea in: $SNTTA,0.017025,,,,204015.48*4F 2021-02-17T20:40:16.654Z,1613594416.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.560001 m, bearing: 270.498960 deg, deltaT: 4.453334 s, approachRate: 0.013474 m/s, LOS rate: 19.938417 deg/s, posRepo size: 4 2021-02-17T20:40:19.141Z,1613594419.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:19.828Z,1613594419.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:40:20.275Z,1613594420.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:40:21.076Z,1613594421.076 [Micromodem](INFO): Nmea in: $SNTTA,0.018022,,,,204019.93*4D 2021-02-17T20:40:21.101Z,1613594421.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.059999 m, bearing: 269.701194 deg, deltaT: 4.441126 s, approachRate: 0.337752 m/s, LOS rate: -0.179631 deg/s, posRepo size: 4 2021-02-17T20:40:23.531Z,1613594423.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:24.272Z,1613594424.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:40:24.683Z,1613594424.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:40:25.508Z,1613594425.508 [Micromodem](INFO): Nmea in: $SNTTA,0.018536,,,,204024.37*4D 2021-02-17T20:40:25.533Z,1613594425.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.839996 m, bearing: 250.014102 deg, deltaT: 4.439465 s, approachRate: 0.175696 m/s, LOS rate: -4.434564 deg/s, posRepo size: 4 2021-02-17T20:40:27.939Z,1613594427.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:28.722Z,1613594428.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:40:29.130Z,1613594429.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:40:29.976Z,1613594429.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.939999 m, bearing: 212.803341 deg, deltaT: 4.446049 s, approachRate: 0.472330 m/s, LOS rate: -8.369400 deg/s, posRepo size: 4 2021-02-17T20:40:30.344Z,1613594430.344 [Micromodem](INFO): Nmea in: $SNTTA,0.019946,,,,204028.91*47 2021-02-17T20:40:32.386Z,1613594432.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:33.161Z,1613594433.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:40:33.566Z,1613594433.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:40:34.404Z,1613594434.404 [Micromodem](INFO): Nmea in: $SNTTA,0.021528,,,,204033.26*4E 2021-02-17T20:40:34.456Z,1613594434.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.399998 m, bearing: 222.794501 deg, deltaT: 4.468096 s, approachRate: 0.550570 m/s, LOS rate: 2.236111 deg/s, posRepo size: 4 2021-02-17T20:40:36.831Z,1613594436.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:37.604Z,1613594437.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:40:38.018Z,1613594438.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:40:38.836Z,1613594438.836 [Micromodem](INFO): Nmea in: $SNTTA,0.023140,,,,204037.70*41 2021-02-17T20:40:38.892Z,1613594438.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.740002 m, bearing: 220.357434 deg, deltaT: 4.399414 s, approachRate: 0.531890 m/s, LOS rate: -0.553952 deg/s, posRepo size: 4 2021-02-17T20:40:41.272Z,1613594441.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:42.065Z,1613594442.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:40:42.487Z,1613594442.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:40:43.292Z,1613594443.292 [Micromodem](INFO): Nmea in: $SNTTA,0.025586,,,,204042.16*4B 2021-02-17T20:40:43.316Z,1613594443.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.579998 m, bearing: 230.378155 deg, deltaT: 4.456163 s, approachRate: 0.861727 m/s, LOS rate: 2.248733 deg/s, posRepo size: 4 2021-02-17T20:40:45.720Z,1613594445.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:46.497Z,1613594446.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:40:46.898Z,1613594446.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:40:47.729Z,1613594447.729 [Micromodem](INFO): Nmea in: $SNTTA,0.027772,,,,204046.59*4F 2021-02-17T20:40:47.773Z,1613594447.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.640003 m, bearing: 197.467326 deg, deltaT: 4.460718 s, approachRate: 0.685989 m/s, LOS rate: -7.377922 deg/s, posRepo size: 4 2021-02-17T20:40:50.165Z,1613594450.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:50.953Z,1613594450.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:40:51.347Z,1613594451.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:40:52.172Z,1613594452.172 [Micromodem](INFO): Nmea in: $SNTTA,0.029650,,,,204051.05*4F 2021-02-17T20:40:52.196Z,1613594452.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.700001 m, bearing: 201.730908 deg, deltaT: 4.428780 s, approachRate: 0.690935 m/s, LOS rate: 0.962699 deg/s, posRepo size: 4 2021-02-17T20:40:54.598Z,1613594454.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:55.380Z,1613594455.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:40:55.786Z,1613594455.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:40:56.608Z,1613594456.608 [Micromodem](INFO): Nmea in: $SNTTA,0.032348,,,,204055.48*44 2021-02-17T20:40:56.661Z,1613594456.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.360004 m, bearing: 202.220373 deg, deltaT: 4.513155 s, approachRate: 0.810963 m/s, LOS rate: 0.108453 deg/s, posRepo size: 4 2021-02-17T20:40:59.093Z,1613594459.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:40:59.824Z,1613594459.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:00.230Z,1613594460.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:01.068Z,1613594461.068 [Micromodem](INFO): Nmea in: $SNTTA,0.034591,,,,204059.92*4B 2021-02-17T20:41:01.110Z,1613594461.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.020000 m, bearing: 190.670318 deg, deltaT: 4.377892 s, approachRate: 0.836018 m/s, LOS rate: -2.638269 deg/s, posRepo size: 4 2021-02-17T20:41:03.514Z,1613594463.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:41:04.273Z,1613594464.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:04.683Z,1613594464.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:05.511Z,1613594465.511 [Micromodem](INFO): Nmea in: $SNTTA,0.037446,,,,204104.37*45 2021-02-17T20:41:05.536Z,1613594465.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.859997 m, bearing: 195.825581 deg, deltaT: 4.452098 s, approachRate: 0.862514 m/s, LOS rate: 1.157940 deg/s, posRepo size: 4 2021-02-17T20:41:07.920Z,1613594467.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:41:08.712Z,1613594468.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:09.129Z,1613594469.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:09.942Z,1613594469.942 [Micromodem](INFO): Nmea in: $SNTTA,0.039631,,,,204108.81*48 2021-02-17T20:41:09.989Z,1613594469.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.579998 m, bearing: 189.871841 deg, deltaT: 4.444692 s, approachRate: 0.836954 m/s, LOS rate: -1.339517 deg/s, posRepo size: 4 2021-02-17T20:41:12.387Z,1613594472.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:41:13.173Z,1613594473.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:13.567Z,1613594473.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:14.392Z,1613594474.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204113.27*5E 2021-02-17T20:41:14.432Z,1613594474.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.420006 m, bearing: 192.526845 deg, deltaT: 4.413751 s, approachRate: 0.870010 m/s, LOS rate: 0.601530 deg/s, posRepo size: 4 2021-02-17T20:41:16.488Z,1613594476.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:41:17.196Z,1613594477.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:17.607Z,1613594477.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:18.440Z,1613594478.440 [Micromodem](INFO): Nmea in: $SNTTA,0.044570,,,,204117.29*48 2021-02-17T20:41:18.503Z,1613594478.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.840004 m, bearing: 195.420182 deg, deltaT: 4.096122 s, approachRate: 0.834936 m/s, LOS rate: 0.706360 deg/s, posRepo size: 4 2021-02-17T20:41:20.859Z,1613594480.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:41:21.646Z,1613594481.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:22.068Z,1613594482.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:22.872Z,1613594482.872 [Micromodem](INFO): Nmea in: $SNTTA,0.047192,,,,204121.74*4E 2021-02-17T20:41:22.902Z,1613594482.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.739998 m, bearing: 211.326162 deg, deltaT: 4.450653 s, approachRate: 0.876275 m/s, LOS rate: 3.573853 deg/s, posRepo size: 4 2021-02-17T20:41:25.310Z,1613594485.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:41:26.086Z,1613594486.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:26.501Z,1613594486.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:27.323Z,1613594487.323 [Micromodem](INFO): Nmea in: $SNTTA,0.049960,,,,204126.18*48 2021-02-17T20:41:27.347Z,1613594487.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.760002 m, bearing: 202.221575 deg, deltaT: 4.413855 s, approachRate: 0.910769 m/s, LOS rate: -2.062729 deg/s, posRepo size: 4 2021-02-17T20:41:29.786Z,1613594489.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:41:30.560Z,1613594490.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:30.985Z,1613594490.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:31.768Z,1613594491.768 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204130.65*59 2021-02-17T20:41:31.793Z,1613594491.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.140007 m, bearing: 251.264491 deg, deltaT: 4.450184 s, approachRate: 0.984230 m/s, LOS rate: 11.020425 deg/s, posRepo size: 4 2021-02-17T20:41:34.192Z,1613594494.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:41:34.973Z,1613594494.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:35.379Z,1613594495.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:36.207Z,1613594496.207 [Micromodem](INFO): Nmea in: $SNTTA,0.055284,,,,204135.07*48 2021-02-17T20:41:36.232Z,1613594496.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.099998 m, bearing: 256.153759 deg, deltaT: 4.422628 s, approachRate: 0.895393 m/s, LOS rate: 1.105512 deg/s, posRepo size: 4 2021-02-17T20:41:38.660Z,1613594498.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:41:39.417Z,1613594499.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:39.822Z,1613594499.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:40.648Z,1613594500.648 [Micromodem](INFO): Nmea in: $SNTTA,0.057820,,0.078619,,204139.51*5E 2021-02-17T20:41:40.673Z,1613594500.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.239998 m, bearing: 253.599132 deg, deltaT: 4.439396 s, approachRate: 0.932559 m/s, LOS rate: -0.575445 deg/s, posRepo size: 4 2021-02-17T20:41:43.102Z,1613594503.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:41:43.886Z,1613594503.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:44.293Z,1613594504.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:45.100Z,1613594505.100 [Micromodem](INFO): Nmea in: $SNTTA,0.060413,,,,204143.98*41 2021-02-17T20:41:45.142Z,1613594505.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.779999 m, bearing: 208.049516 deg, deltaT: 4.472643 s, approachRate: 0.791479 m/s, LOS rate: -10.184049 deg/s, posRepo size: 4 2021-02-17T20:41:47.534Z,1613594507.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:41:48.305Z,1613594508.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:48.710Z,1613594508.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:49.532Z,1613594509.532 [Micromodem](INFO): Nmea in: $SNTTA,0.063104,,,,204148.40*4F 2021-02-17T20:41:49.581Z,1613594509.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.860001 m, bearing: 247.021632 deg, deltaT: 4.447893 s, approachRate: 0.917289 m/s, LOS rate: 8.761928 deg/s, posRepo size: 4 2021-02-17T20:41:51.971Z,1613594511.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:41:52.755Z,1613594512.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:53.161Z,1613594513.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:53.980Z,1613594513.980 [Micromodem](INFO): Nmea in: $SNTTA,0.065943,,,,204152.85*40 2021-02-17T20:41:54.069Z,1613594514.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.060005 m, bearing: 248.082825 deg, deltaT: 4.438083 s, approachRate: 0.946356 m/s, LOS rate: 0.239111 deg/s, posRepo size: 4 2021-02-17T20:41:56.418Z,1613594516.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:41:57.207Z,1613594517.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:41:57.627Z,1613594517.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:41:58.459Z,1613594518.459 [Micromodem](INFO): Nmea in: $SNTTA,0.068672,,,,204157.30*4B 2021-02-17T20:41:58.498Z,1613594518.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.260010 m, bearing: 238.332594 deg, deltaT: 4.478436 s, approachRate: 0.937828 m/s, LOS rate: -2.177151 deg/s, posRepo size: 4 2021-02-17T20:42:00.881Z,1613594520.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:01.638Z,1613594521.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:42:02.070Z,1613594522.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:42:02.864Z,1613594522.864 [Micromodem](INFO): Nmea in: $SNTTA,0.071231,,,,204201.73*47 2021-02-17T20:42:02.901Z,1613594522.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.220001 m, bearing: 241.843803 deg, deltaT: 4.437126 s, approachRate: 0.892468 m/s, LOS rate: 0.791325 deg/s, posRepo size: 4 2021-02-17T20:42:05.052Z,1613594525.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:05.677Z,1613594525.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:42:06.095Z,1613594526.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:42:06.893Z,1613594526.893 [Micromodem](INFO): Nmea in: $SNTTA,0.073721,,,,204205.77*41 2021-02-17T20:42:07.722Z,1613594527.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:09.318Z,1613594529.318 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:42:10.676Z,1613594530.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:11.366Z,1613594531.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:42:11.774Z,1613594531.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:42:12.576Z,1613594532.576 [Micromodem](INFO): Nmea in: $SNTTA,0.077212,,,,204211.46*47 2021-02-17T20:42:12.625Z,1613594532.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.099998 m, bearing: 222.745911 deg, deltaT: 9.642674 s, approachRate: 0.920906 m/s, LOS rate: -1.980560 deg/s, posRepo size: 4 2021-02-17T20:42:14.984Z,1613594534.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:15.776Z,1613594535.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:42:16.210Z,1613594536.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:42:17.005Z,1613594537.005 [Micromodem](INFO): Nmea in: $SNTTA,0.079883,,,,204215.87*42 2021-02-17T20:42:17.864Z,1613594537.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:19.412Z,1613594539.412 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:42:20.669Z,1613594540.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:21.443Z,1613594541.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:42:21.851Z,1613594541.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:42:22.668Z,1613594542.668 [Micromodem](INFO): Nmea in: $SNTTA,0.083412,,,,204221.54*4A 2021-02-17T20:42:22.713Z,1613594542.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.180000 m, bearing: 217.766839 deg, deltaT: 10.129006 s, approachRate: 0.995162 m/s, LOS rate: -0.491566 deg/s, posRepo size: 4 2021-02-17T20:42:25.136Z,1613594545.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:25.894Z,1613594545.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:42:26.295Z,1613594546.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:42:27.124Z,1613594547.124 [Micromodem](INFO): Nmea in: $SNTTA,0.086162,,,,204226.00*4B 2021-02-17T20:42:27.163Z,1613594547.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.199997 m, bearing: 219.324915 deg, deltaT: 4.437095 s, approachRate: 0.905997 m/s, LOS rate: 0.351148 deg/s, posRepo size: 4 2021-02-17T20:42:29.554Z,1613594549.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:30.322Z,1613594550.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:42:30.737Z,1613594550.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:42:31.538Z,1613594551.538 [Micromodem](INFO): Nmea in: $SNTTA,0.088863,,,,204230.42*4C 2021-02-17T20:42:32.378Z,1613594552.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:33.960Z,1613594553.960 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:42:35.204Z,1613594555.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:36.049Z,1613594556.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:42:36.384Z,1613594556.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:42:37.280Z,1613594557.280 [Micromodem](INFO): Nmea in: $SNTTA,0.092435,,,,204236.14*4D 2021-02-17T20:42:37.655Z,1613594557.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.839996 m, bearing: 237.652197 deg, deltaT: 10.570738 s, approachRate: 0.817351 m/s, LOS rate: 1.733775 deg/s, posRepo size: 4 2021-02-17T20:42:40.146Z,1613594560.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:40.825Z,1613594560.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:42:41.235Z,1613594561.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:42:42.068Z,1613594562.068 [Micromodem](INFO): Nmea in: $SNTTA,0.095383,,,,204240.92*4F 2021-02-17T20:42:42.869Z,1613594562.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:44.487Z,1613594564.487 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:42:45.713Z,1613594565.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:46.496Z,1613594566.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:42:46.886Z,1613594566.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:42:47.707Z,1613594567.707 [Micromodem](INFO): Nmea in: $SNTTA,0.098872,,,,204246.59*46 2021-02-17T20:42:48.553Z,1613594568.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:50.115Z,1613594570.115 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:42:51.370Z,1613594571.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:52.201Z,1613594572.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:42:52.550Z,1613594572.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:42:53.373Z,1613594573.373 [Micromodem](INFO): Nmea in: $SNTTA,0.102426,,,,204252.30*43 2021-02-17T20:42:54.201Z,1613594574.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:55.776Z,1613594575.776 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:42:56.999Z,1613594576.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:42:57.802Z,1613594577.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:42:58.199Z,1613594578.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:42:59.033Z,1613594579.033 [Micromodem](INFO): Nmea in: $SNTTA,0.106033,,,,204257.90*48 2021-02-17T20:42:59.098Z,1613594579.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.000000 m, bearing: 221.024935 deg, deltaT: 21.358859 s, approachRate: 0.943871 m/s, LOS rate: -0.778471 deg/s, posRepo size: 4 2021-02-17T20:42:59.099Z,1613594579.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 159.00 m. Resuming terminal guidance. 2021-02-17T20:42:59.099Z,1613594579.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T20:43:01.490Z,1613594581.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:02.243Z,1613594582.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:43:02.644Z,1613594582.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:43:03.504Z,1613594583.504 [Micromodem](INFO): Nmea in: $SNTTA,0.108785,,,,204302.34*43 2021-02-17T20:43:03.529Z,1613594583.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.919998 m, bearing: 220.305211 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T20:43:03.529Z,1613594583.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 220.305211deg and heading rate command to 0 deg/s. 2021-02-17T20:43:05.952Z,1613594585.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:06.701Z,1613594586.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:43:07.109Z,1613594587.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:43:07.911Z,1613594587.911 [Micromodem](INFO): Nmea in: $SNTTA,0.111477,,0.117940,,204306.80*5A 2021-02-17T20:43:08.750Z,1613594588.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:10.320Z,1613594590.320 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:43:11.565Z,1613594591.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:12.342Z,1613594592.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:43:12.751Z,1613594592.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:43:13.146Z,1613594593.146 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,178,0,61,E4 D,187,80,80,25,FF 2021-02-17T20:43:13.556Z,1613594593.556 [Micromodem](INFO): Nmea in: $SNTTA,0.114851,,,,204312.44*4E 2021-02-17T20:43:14.383Z,1613594594.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:17.245Z,1613594597.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:20.094Z,1613594600.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:20.822Z,1613594600.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:43:21.238Z,1613594601.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:43:21.260Z,1613594601.260 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T20:43:21.629Z,1613594601.629 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,178,0,61,E4 D,187,80,80,25,FF 2021-02-17T20:43:22.071Z,1613594602.071 [Micromodem](INFO): Nmea in: $SNTTA,0.119661,,,,204320.92*44 2021-02-17T20:43:22.885Z,1613594602.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:25.709Z,1613594605.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:26.096Z,1613594606.096 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T20:43:28.524Z,1613594608.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:29.305Z,1613594609.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:43:29.717Z,1613594609.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:43:30.523Z,1613594610.523 [Micromodem](INFO): Nmea in: $SNTTA,0.124760,,,,204329.40*4C 2021-02-17T20:43:30.976Z,1613594610.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.139984 m, bearing: 210.689329 deg, deltaT: 27.484300 s, approachRate: 0.844845 m/s, LOS rate: -0.349868 deg/s, posRepo size: 2 2021-02-17T20:43:30.978Z,1613594610.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.139984 m, bearing: 210.689329 deg, approachRate: 0.844845 m/s, LOS rate: -0.349868 deg/s, cmd update: -1.399473 deg/s, cmd heading: 220.305211 deg, new cmd heading: 220.305211 deg. 2021-02-17T20:43:31.409Z,1613594611.409 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:43:33.392Z,1613594613.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:34.167Z,1613594614.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:43:34.577Z,1613594614.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:43:35.382Z,1613594615.382 [Micromodem](INFO): Nmea in: $SNTTA,0.127719,,,,204334.26*4D 2021-02-17T20:43:35.815Z,1613594615.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.519989 m, bearing: 211.821460 deg, deltaT: 4.846509 s, approachRate: 0.903744 m/s, LOS rate: 0.233597 deg/s, posRepo size: 3 2021-02-17T20:43:35.817Z,1613594615.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.519989 m, bearing: 211.821460 deg, approachRate: 0.903744 m/s, LOS rate: 0.233597 deg/s, cmd update: 0.934389 deg/s, cmd heading: 213.552538 deg, new cmd heading: 212.980179 deg. 2021-02-17T20:43:38.216Z,1613594618.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:39.001Z,1613594619.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:43:39.406Z,1613594619.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:43:40.225Z,1613594620.225 [Micromodem](INFO): Nmea in: $SNTTA,0.130458,,,,204339.10*45 2021-02-17T20:43:40.658Z,1613594620.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.839996 m, bearing: 215.372558 deg, deltaT: 4.819500 s, approachRate: 0.896360 m/s, LOS rate: 0.736819 deg/s, posRepo size: 4 2021-02-17T20:43:40.660Z,1613594620.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.839996 m, bearing: 215.372558 deg, approachRate: 0.896360 m/s, LOS rate: 0.736819 deg/s, cmd update: 2.947274 deg/s, cmd heading: 218.078235 deg, new cmd heading: 218.460035 deg. 2021-02-17T20:43:43.110Z,1613594623.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:43.854Z,1613594623.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:43:44.262Z,1613594624.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:43:45.140Z,1613594625.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204343.95*50 2021-02-17T20:43:45.555Z,1613594625.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.220001 m, bearing: 279.485603 deg, deltaT: 4.914467 s, approachRate: 0.891247 m/s, LOS rate: 13.045778 deg/s, posRepo size: 4 2021-02-17T20:43:45.556Z,1613594625.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.045778 deg/s. Setting heading cmd to target bearing of 279.485603deg and heading rate command to 0 deg/s. 2021-02-17T20:43:47.930Z,1613594627.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:48.702Z,1613594628.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:43:49.105Z,1613594629.105 [Micromodem](INFO): Nmea in: 00,4000,0*6B 2021-02-17T20:43:49.105Z,1613594629.105 [Micromodem](ERROR): Response from modem failed NMEA checksum: 00,4000,0*6B expected 0 2021-02-17T20:43:49.105Z,1613594629.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:43:49.109Z,1613594629.109 [Micromodem](INFO): Nmea in: $CATXP,400*46 2021-02-17T20:43:49.110Z,1613594629.110 [Micromodem](ERROR): Response from modem unexpected: $CATXP,400*46 2021-02-17T20:43:49.513Z,1613594629.513 [Micromodem](INFO): Nmea in: $CATXF,400*50 2021-02-17T20:43:49.513Z,1613594629.513 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50 2021-02-17T20:43:49.516Z,1613594629.516 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,204348.802472,3,0,40,4000,14500,1,0,0,0,2,0,3,0*71 2021-02-17T20:43:49.516Z,1613594629.516 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,204348.802472,3,0,40,4000,14500,1,0,0,0,2,0,3,0*71 2021-02-17T20:43:50.011Z,1613594630.011 [Micromodem](INFO): Nmea in: $CAERR,204349,NI ,29,Busy completing a previous request*73 2021-02-17T20:43:50.011Z,1613594630.011 [Micromodem](ERROR): Got error from modem: $CAERR,204349,NI ,29,Busy completing a previous request*73 2021-02-17T20:43:50.014Z,1613594630.014 [Micromodem](INFO): Nmea in: $SNTTA,0.136061,,,,204348.80*42 2021-02-17T20:43:50.032Z,1613594630.032 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.136061,,,,204348.80*42 2021-02-17T20:43:50.359Z,1613594630.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.419998 m, bearing: 244.797750 deg, deltaT: 4.913238 s, approachRate: 0.854833 m/s, LOS rate: -7.060080 deg/s, posRepo size: 4 2021-02-17T20:43:50.361Z,1613594630.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.419998 m, bearing: 244.797750 deg, approachRate: 0.854833 m/s, LOS rate: -7.060080 deg/s, cmd update: -12.000000 deg/s, cmd heading: 279.485603 deg, new cmd heading: 279.485603 deg. 2021-02-17T20:43:52.356Z,1613594632.356 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items 2021-02-17T20:43:52.776Z,1613594632.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:55.600Z,1613594635.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:43:56.396Z,1613594636.396 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T20:43:58.553Z,1613594638.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:44:00.430Z,1613594640.430 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:44:00.841Z,1613594640.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:44:01.270Z,1613594641.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:44:01.646Z,1613594641.646 [Micromodem](INFO): Nmea in: $SNTTA,0.141268,,,,204400.52*4D 2021-02-17T20:44:02.061Z,1613594642.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:44:02.438Z,1613594642.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:44:03.262Z,1613594643.262 [Micromodem](INFO): Nmea in: $SNTTA,0.142025,,,,204402.16*47 2021-02-17T20:44:03.699Z,1613594643.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.239990 m, bearing: 232.658264 deg, deltaT: 13.284145 s, approachRate: 0.663949 m/s, LOS rate: -0.913833 deg/s, posRepo size: 4 2021-02-17T20:44:03.701Z,1613594643.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.239990 m, bearing: 232.658264 deg, approachRate: 0.663949 m/s, LOS rate: -0.913833 deg/s, cmd update: -3.655331 deg/s, cmd heading: 120.152131 deg, new cmd heading: 115.910047 deg. 2021-02-17T20:44:06.142Z,1613594646.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:44:06.894Z,1613594646.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:44:07.291Z,1613594647.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:44:08.116Z,1613594648.116 [Micromodem](INFO): Nmea in: $SNTTA,0.144508,,,,204406.99*48 2021-02-17T20:44:08.543Z,1613594648.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.959991 m, bearing: 226.390008 deg, deltaT: 4.777902 s, approachRate: 0.778585 m/s, LOS rate: -1.311926 deg/s, posRepo size: 4 2021-02-17T20:44:08.545Z,1613594648.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 216.959991 m, bearing: 226.390008 deg, approachRate: 0.778585 m/s, LOS rate: -1.311926 deg/s, cmd update: -5.247706 deg/s, cmd heading: 102.628769 deg, new cmd heading: 101.153105 deg. 2021-02-17T20:44:10.941Z,1613594650.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:44:11.730Z,1613594651.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:44:12.196Z,1613594652.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:44:13.040Z,1613594653.040 [Micromodem](INFO): Nmea in: $SNTTA,0.147525,,,,204411.83*49 2021-02-17T20:44:13.433Z,1613594653.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.459991 m, bearing: 206.996287 deg, deltaT: 4.957057 s, approachRate: 0.907797 m/s, LOS rate: -3.912346 deg/s, posRepo size: 4 2021-02-17T20:44:13.439Z,1613594653.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.459991 m, bearing: 206.996287 deg, approachRate: 0.907797 m/s, LOS rate: -3.912346 deg/s, cmd update: -12.000000 deg/s, cmd heading: 76.636595 deg, new cmd heading: 74.847988 deg. 2021-02-17T20:44:15.814Z,1613594655.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:44:16.582Z,1613594656.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:44:16.992Z,1613594656.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:44:17.796Z,1613594657.796 [Micromodem](INFO): Nmea in: $SNTTA,0.150287,,,,204416.68*42 2021-02-17T20:44:18.223Z,1613594658.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.659988 m, bearing: 147.894714 deg, deltaT: 4.752322 s, approachRate: 0.883778 m/s, LOS rate: -12.436357 deg/s, posRepo size: 4 2021-02-17T20:44:18.224Z,1613594658.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.436357 deg/s. Setting heading cmd to target bearing of 147.894714deg and heading rate command to 0 deg/s. 2021-02-17T20:44:20.661Z,1613594660.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:44:21.422Z,1613594661.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:44:21.832Z,1613594661.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:44:22.659Z,1613594662.659 [Micromodem](INFO): Nmea in: $SNTTA,0.152837,,,,204421.52*4C 2021-02-17T20:44:23.114Z,1613594663.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.500000 m, bearing: 165.570192 deg, deltaT: 4.857187 s, approachRate: 0.790583 m/s, LOS rate: 3.639036 deg/s, posRepo size: 4 2021-02-17T20:44:23.116Z,1613594663.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 229.500000 m, bearing: 165.570192 deg, approachRate: 0.790583 m/s, LOS rate: 3.639036 deg/s, cmd update: 12.000000 deg/s, cmd heading: 147.894714 deg, new cmd heading: 147.894714 deg. 2021-02-17T20:44:25.577Z,1613594665.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:44:26.358Z,1613594666.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:44:26.723Z,1613594666.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:44:27.903Z,1613594667.903 [Micromodem](INFO): Nmea in: $SNTTA,0.154760,,,,204426.45*46 2021-02-17T20:44:27.922Z,1613594667.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.259995 m, bearing: 131.522164 deg, deltaT: 4.887589 s, approachRate: 0.564694 m/s, LOS rate: -6.966222 deg/s, posRepo size: 4 2021-02-17T20:44:27.924Z,1613594667.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 232.259995 m, bearing: 131.522164 deg, approachRate: 0.564694 m/s, LOS rate: -6.966222 deg/s, cmd update: -12.000000 deg/s, cmd heading: 206.497844 deg, new cmd heading: 210.484544 deg. 2021-02-17T20:44:30.377Z,1613594670.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:44:31.122Z,1613594671.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:44:31.539Z,1613594671.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:44:32.343Z,1613594672.343 [Micromodem](INFO): Nmea in: $SNTTA,0.156036,,0.160399,,204431.22*5D 2021-02-17T20:44:32.794Z,1613594672.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.119995 m, bearing: 70.144807 deg, deltaT: 4.773263 s, approachRate: 0.389671 m/s, LOS rate: -12.858575 deg/s, posRepo size: 4 2021-02-17T20:44:32.795Z,1613594672.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.858575 deg/s. Setting heading cmd to target bearing of 70.144807deg and heading rate command to 0 deg/s. 2021-02-17T20:44:35.183Z,1613594675.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:44:35.964Z,1613594675.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:44:36.372Z,1613594676.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:44:37.201Z,1613594677.201 [Micromodem](INFO): Nmea in: $SNTTA,0.157031,,,,204436.06*40 2021-02-17T20:44:37.628Z,1613594677.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.740005 m, bearing: 79.870388 deg, deltaT: 4.858237 s, approachRate: 0.333456 m/s, LOS rate: 2.001875 deg/s, posRepo size: 4 2021-02-17T20:44:37.630Z,1613594677.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 235.740005 m, bearing: 79.870388 deg, approachRate: 0.333456 m/s, LOS rate: 2.001875 deg/s, cmd update: 8.007499 deg/s, cmd heading: 70.144807 deg, new cmd heading: 70.144807 deg. 2021-02-17T20:44:40.142Z,1613594680.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:44:40.856Z,1613594680.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:44:41.241Z,1613594681.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:44:42.079Z,1613594682.079 [Micromodem](INFO): Nmea in: $SNTTA,0.158560,,,,204440.95*45 2021-02-17T20:44:42.508Z,1613594682.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.899979 m, bearing: 91.496094 deg, deltaT: 4.902527 s, approachRate: 0.440584 m/s, LOS rate: 2.371370 deg/s, posRepo size: 4 2021-02-17T20:44:42.509Z,1613594682.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 237.899979 m, bearing: 91.496094 deg, approachRate: 0.440584 m/s, LOS rate: 2.371370 deg/s, cmd update: 9.485481 deg/s, cmd heading: 109.396605 deg, new cmd heading: 112.441664 deg. 2021-02-17T20:44:44.870Z,1613594684.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:44:45.660Z,1613594685.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:44:46.078Z,1613594686.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:44:46.878Z,1613594686.878 [Micromodem](INFO): Nmea in: $SNTTA,0.159469,,,,204445.76*44 2021-02-17T20:44:47.334Z,1613594687.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 239.219986 m, bearing: 97.914559 deg, deltaT: 4.785563 s, approachRate: 0.275831 m/s, LOS rate: 1.341214 deg/s, posRepo size: 4 2021-02-17T20:44:47.336Z,1613594687.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 239.219986 m, bearing: 97.914559 deg, approachRate: 0.275831 m/s, LOS rate: 1.341214 deg/s, cmd update: 5.364857 deg/s, cmd heading: 154.796971 deg, new cmd heading: 158.785881 deg. 2021-02-17T20:44:49.735Z,1613594689.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:44:50.513Z,1613594690.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:44:50.916Z,1613594690.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:44:51.730Z,1613594691.730 [Micromodem](INFO): Nmea in: $SNTTA,0.160189,,,,204450.61*47 2021-02-17T20:44:52.187Z,1613594692.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.300003 m, bearing: 69.058902 deg, deltaT: 4.867645 s, approachRate: 0.221877 m/s, LOS rate: -5.928053 deg/s, posRepo size: 4 2021-02-17T20:44:52.189Z,1613594692.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 240.300003 m, bearing: 69.058902 deg, approachRate: 0.221877 m/s, LOS rate: -5.928053 deg/s, cmd update: -12.000000 deg/s, cmd heading: 180.889704 deg, new cmd heading: 183.067964 deg. 2021-02-17T20:44:54.627Z,1613594694.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:44:55.371Z,1613594695.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:44:55.781Z,1613594695.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:44:56.588Z,1613594696.588 [Micromodem](INFO): Nmea in: $SNTTA,0.161422,,,,204455.47*43 2021-02-17T20:44:57.063Z,1613594697.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.160004 m, bearing: 104.351869 deg, deltaT: 4.847934 s, approachRate: 0.383669 m/s, LOS rate: 7.280002 deg/s, posRepo size: 4 2021-02-17T20:44:57.065Z,1613594697.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 242.160004 m, bearing: 104.351869 deg, approachRate: 0.383669 m/s, LOS rate: 7.280002 deg/s, cmd update: 12.000000 deg/s, cmd heading: 122.868070 deg, new cmd heading: 117.601402 deg. 2021-02-17T20:44:59.488Z,1613594699.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:00.219Z,1613594700.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:45:00.622Z,1613594700.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:45:01.438Z,1613594701.438 [Micromodem](INFO): Nmea in: $SNTTA,0.163313,,,,204500.31*44 2021-02-17T20:45:02.268Z,1613594702.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:03.856Z,1613594703.856 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:45:05.097Z,1613594705.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:05.873Z,1613594705.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:45:06.287Z,1613594706.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:45:07.185Z,1613594707.185 [Micromodem](INFO): Nmea in: $SNTTA,0.165177,,,,204505.97*4B 2021-02-17T20:45:07.590Z,1613594707.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.799988 m, bearing: 114.254844 deg, deltaT: 10.612562 s, approachRate: 0.531444 m/s, LOS rate: 0.933137 deg/s, posRepo size: 4 2021-02-17T20:45:07.597Z,1613594707.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 247.799988 m, bearing: 114.254844 deg, approachRate: 0.531444 m/s, LOS rate: 0.933137 deg/s, cmd update: 3.732549 deg/s, cmd heading: 250.372502 deg, new cmd heading: 254.605982 deg. 2021-02-17T20:45:10.105Z,1613594710.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:10.722Z,1613594710.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:45:11.138Z,1613594711.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:45:11.940Z,1613594711.940 [Micromodem](INFO): Nmea in: $SNTTA,0.166999,,,,204510.82*40 2021-02-17T20:45:12.396Z,1613594712.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.619995 m, bearing: 142.649566 deg, deltaT: 4.736561 s, approachRate: 0.595370 m/s, LOS rate: 5.994797 deg/s, posRepo size: 4 2021-02-17T20:45:12.398Z,1613594712.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 250.619995 m, bearing: 142.649566 deg, approachRate: 0.595370 m/s, LOS rate: 5.994797 deg/s, cmd update: 12.000000 deg/s, cmd heading: 268.051957 deg, new cmd heading: 269.612017 deg. 2021-02-17T20:45:14.798Z,1613594714.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:15.573Z,1613594715.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:45:15.986Z,1613594715.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:45:16.799Z,1613594716.799 [Micromodem](INFO): Nmea in: $SNTTA,0.169549,,,,204515.67*40 2021-02-17T20:45:17.244Z,1613594717.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.459991 m, bearing: 199.368468 deg, deltaT: 4.864496 s, approachRate: 0.789392 m/s, LOS rate: 11.659770 deg/s, posRepo size: 4 2021-02-17T20:45:17.244Z,1613594717.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.659770 deg/s. Setting heading cmd to target bearing of 199.368468deg and heading rate command to 0 deg/s. 2021-02-17T20:45:19.645Z,1613594719.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:20.427Z,1613594720.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:45:20.895Z,1613594720.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:45:21.661Z,1613594721.661 [Micromodem](INFO): Nmea in: $SNTTA,0.172123,,,,204520.52*42 2021-02-17T20:45:22.112Z,1613594722.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.359985 m, bearing: 175.415828 deg, deltaT: 4.842302 s, approachRate: 0.805401 m/s, LOS rate: -4.946540 deg/s, posRepo size: 4 2021-02-17T20:45:22.114Z,1613594722.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 258.359985 m, bearing: 175.415828 deg, approachRate: 0.805401 m/s, LOS rate: -4.946540 deg/s, cmd update: -12.000000 deg/s, cmd heading: 199.368468 deg, new cmd heading: 199.368468 deg. 2021-02-17T20:45:24.518Z,1613594724.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:25.266Z,1613594725.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:45:25.675Z,1613594725.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:45:26.499Z,1613594726.499 [Micromodem](INFO): Nmea in: $SNTTA,0.175274,,,,204525.36*43 2021-02-17T20:45:27.309Z,1613594727.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:28.904Z,1613594728.904 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T20:45:30.161Z,1613594730.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:30.930Z,1613594730.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:45:31.338Z,1613594731.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:45:32.142Z,1613594732.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204531.03*5C 2021-02-17T20:45:32.580Z,1613594732.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.540009 m, bearing: 214.347879 deg, deltaT: 10.504888 s, approachRate: 0.873881 m/s, LOS rate: 3.706089 deg/s, posRepo size: 4 2021-02-17T20:45:32.581Z,1613594732.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 267.540009 m, bearing: 214.347879 deg, approachRate: 0.873881 m/s, LOS rate: 3.706089 deg/s, cmd update: 12.000000 deg/s, cmd heading: 73.598276 deg, new cmd heading: 68.634092 deg. 2021-02-17T20:45:35.035Z,1613594735.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:35.790Z,1613594735.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:45:36.176Z,1613594736.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:45:37.001Z,1613594737.001 [Micromodem](INFO): Nmea in: $SNTTA,0.181012,,,,204535.89*4F 2021-02-17T20:45:37.426Z,1613594737.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 272.039978 m, bearing: 228.295111 deg, deltaT: 4.868428 s, approachRate: 0.924317 m/s, LOS rate: 2.864833 deg/s, posRepo size: 4 2021-02-17T20:45:37.432Z,1613594737.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 272.039978 m, bearing: 228.295111 deg, approachRate: 0.924317 m/s, LOS rate: 2.864833 deg/s, cmd update: 11.459332 deg/s, cmd heading: 131.899102 deg, new cmd heading: 136.722635 deg. 2021-02-17T20:45:39.841Z,1613594739.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:40.622Z,1613594740.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:45:41.061Z,1613594741.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:45:41.837Z,1613594741.837 [Micromodem](INFO): Nmea in: $SNTTA,0.184149,,,,204540.72*43 2021-02-17T20:45:42.267Z,1613594742.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.359985 m, bearing: 170.583920 deg, deltaT: 4.827350 s, approachRate: 0.894902 m/s, LOS rate: -11.955046 deg/s, posRepo size: 4 2021-02-17T20:45:42.268Z,1613594742.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.955046 deg/s. Setting heading cmd to target bearing of 170.583920deg and heading rate command to 0 deg/s. 2021-02-17T20:45:44.696Z,1613594744.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:45.491Z,1613594745.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:45:45.870Z,1613594745.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:45:46.699Z,1613594746.699 [Micromodem](INFO): Nmea in: $SNTTA,0.186853,,,,204545.59*4F 2021-02-17T20:45:47.183Z,1613594747.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.379974 m, bearing: 148.407621 deg, deltaT: 4.866643 s, approachRate: 0.826029 m/s, LOS rate: -4.556796 deg/s, posRepo size: 4 2021-02-17T20:45:47.185Z,1613594747.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 280.379974 m, bearing: 148.407621 deg, approachRate: 0.826029 m/s, LOS rate: -4.556796 deg/s, cmd update: -12.000000 deg/s, cmd heading: 170.583920 deg, new cmd heading: 170.583920 deg. 2021-02-17T20:45:49.535Z,1613594749.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:50.330Z,1613594750.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:45:50.724Z,1613594750.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:45:51.559Z,1613594751.559 [Micromodem](INFO): Nmea in: $SNTTA,0.189250,,,,204550.42*47 2021-02-17T20:45:51.991Z,1613594751.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.039978 m, bearing: 154.469072 deg, deltaT: 4.831320 s, approachRate: 0.757558 m/s, LOS rate: 1.254616 deg/s, posRepo size: 4 2021-02-17T20:45:51.993Z,1613594751.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 284.039978 m, bearing: 154.469072 deg, approachRate: 0.757558 m/s, LOS rate: 1.254616 deg/s, cmd update: 5.018464 deg/s, cmd heading: 112.462362 deg, new cmd heading: 107.571114 deg. 2021-02-17T20:45:54.376Z,1613594754.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:45:55.169Z,1613594755.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:45:55.572Z,1613594755.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:45:56.385Z,1613594756.385 [Micromodem](INFO): Nmea in: $SNTTA,0.191057,,,,204555.27*4D 2021-02-17T20:45:56.812Z,1613594756.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.619995 m, bearing: 125.451355 deg, deltaT: 4.855681 s, approachRate: 0.531340 m/s, LOS rate: -5.976034 deg/s, posRepo size: 4 2021-02-17T20:45:56.814Z,1613594756.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 286.619995 m, bearing: 125.451355 deg, approachRate: 0.531340 m/s, LOS rate: -5.976034 deg/s, cmd update: -12.000000 deg/s, cmd heading: 136.824410 deg, new cmd heading: 138.700528 deg. 2021-02-17T20:45:59.225Z,1613594759.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:46:00.024Z,1613594760.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:46:00.520Z,1613594760.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:46:01.316Z,1613594761.316 [Micromodem](INFO): Nmea in: $SNTTA,0.192734,,,,204600.12*49 2021-02-17T20:46:01.704Z,1613594761.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 289.079987 m, bearing: 75.854845 deg, deltaT: 4.915095 s, approachRate: 0.500497 m/s, LOS rate: -10.090652 deg/s, posRepo size: 4 2021-02-17T20:46:01.706Z,1613594761.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 289.079987 m, bearing: 75.854845 deg, approachRate: 0.500497 m/s, LOS rate: -10.090652 deg/s, cmd update: -12.000000 deg/s, cmd heading: 77.826228 deg, new cmd heading: 73.681908 deg. 2021-02-17T20:46:04.095Z,1613594764.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:46:04.856Z,1613594764.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:46:05.262Z,1613594765.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:46:06.074Z,1613594766.074 [Micromodem](INFO): Nmea in: $SNTTA,0.193521,,,,204604.95*45 2021-02-17T20:46:06.552Z,1613594766.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.519989 m, bearing: 146.040987 deg, deltaT: 4.744250 s, approachRate: 0.303526 m/s, LOS rate: 14.793939 deg/s, posRepo size: 4 2021-02-17T20:46:06.553Z,1613594766.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.793939 deg/s. Setting heading cmd to target bearing of 146.040987deg and heading rate command to 0 deg/s. 2021-02-17T20:46:08.941Z,1613594768.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:46:09.705Z,1613594769.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:46:10.127Z,1613594770.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:46:10.922Z,1613594770.922 [Micromodem](INFO): Nmea in: $SNTTA,0.193550,,,,204609.80*4A 2021-02-17T20:46:11.380Z,1613594771.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.279999 m, bearing: 91.942447 deg, deltaT: 4.862483 s, approachRate: -0.049355 m/s, LOS rate: -11.125703 deg/s, posRepo size: 4 2021-02-17T20:46:11.382Z,1613594771.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 290.279999 m, bearing: 91.942447 deg, approachRate: -0.049355 m/s, LOS rate: -11.125703 deg/s, cmd update: -12.000000 deg/s, cmd heading: 146.040987 deg, new cmd heading: 146.040987 deg. 2021-02-17T20:46:13.834Z,1613594773.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:46:14.627Z,1613594774.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:46:14.979Z,1613594774.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:46:16.221Z,1613594776.221 [Micromodem](INFO): Nmea in: $SNTTA,0.193268,,,,204614.72*47 2021-02-17T20:46:16.245Z,1613594776.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 289.739990 m, bearing: 29.061126 deg, deltaT: 4.901779 s, approachRate: -0.110166 m/s, LOS rate: -12.828264 deg/s, posRepo size: 4 2021-02-17T20:46:16.246Z,1613594776.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.828264 deg/s. Setting heading cmd to target bearing of 29.061126deg and heading rate command to 0 deg/s. 2021-02-17T20:46:18.619Z,1613594778.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:46:19.408Z,1613594779.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:46:19.811Z,1613594779.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:46:20.624Z,1613594780.624 [Micromodem](INFO): Nmea in: $SNTTA,0.192436,,,,204619.50*46 2021-02-17T20:46:21.104Z,1613594781.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 288.540009 m, bearing: 17.732132 deg, deltaT: 4.785130 s, approachRate: -0.250773 m/s, LOS rate: -2.367541 deg/s, posRepo size: 4 2021-02-17T20:46:21.105Z,1613594781.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 288.540009 m, bearing: 17.732132 deg, approachRate: -0.250773 m/s, LOS rate: -2.367541 deg/s, cmd update: -9.470166 deg/s, cmd heading: 29.061126 deg, new cmd heading: 29.061126 deg. 2021-02-17T20:46:23.504Z,1613594783.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:46:24.260Z,1613594784.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:46:24.661Z,1613594784.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:46:25.507Z,1613594785.507 [Micromodem](INFO): Nmea in: $SNTTA,0.191832,,,,204624.35*40 2021-02-17T20:46:25.914Z,1613594785.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 287.579987 m, bearing: 17.298916 deg, deltaT: 4.884234 s, approachRate: -0.196555 m/s, LOS rate: -0.088697 deg/s, posRepo size: 4 2021-02-17T20:46:25.916Z,1613594785.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 287.579987 m, bearing: 17.298916 deg, approachRate: -0.196555 m/s, LOS rate: -0.088697 deg/s, cmd update: -0.354788 deg/s, cmd heading: 342.810125 deg, new cmd heading: 339.187683 deg. 2021-02-17T20:46:28.047Z,1613594788.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:46:28.726Z,1613594788.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:46:29.101Z,1613594789.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:46:29.956Z,1613594789.956 [Micromodem](INFO): Nmea in: $SNTTA,0.190855,,,,204628.82*40 2021-02-17T20:46:30.343Z,1613594790.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.139984 m, bearing: 24.169762 deg, deltaT: 4.438494 s, approachRate: -0.324435 m/s, LOS rate: 1.548013 deg/s, posRepo size: 4 2021-02-17T20:46:30.345Z,1613594790.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 286.139984 m, bearing: 24.169762 deg, approachRate: -0.324435 m/s, LOS rate: 1.548013 deg/s, cmd update: 6.192051 deg/s, cmd heading: 341.235364 deg, new cmd heading: 341.103260 deg. 2021-02-17T20:46:32.776Z,1613594792.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:46:33.543Z,1613594793.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:46:33.946Z,1613594793.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:46:34.761Z,1613594794.761 [Micromodem](INFO): Nmea in: $SNTTA,0.189304,,,,204633.64*45 2021-02-17T20:46:35.199Z,1613594795.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 283.619995 m, bearing: 21.870484 deg, deltaT: 4.834115 s, approachRate: -0.521293 m/s, LOS rate: -0.475636 deg/s, posRepo size: 4 2021-02-17T20:46:35.201Z,1613594795.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 283.619995 m, bearing: 21.870484 deg, approachRate: -0.521293 m/s, LOS rate: -0.475636 deg/s, cmd update: -1.902543 deg/s, cmd heading: 11.046054 deg, new cmd heading: 13.609861 deg. 2021-02-17T20:46:37.608Z,1613594797.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:46:38.389Z,1613594798.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:46:38.794Z,1613594798.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:46:39.607Z,1613594799.607 [Micromodem](INFO): Nmea in: $SNTTA,0.187695,,,,204638.48*43 2021-02-17T20:46:40.080Z,1613594800.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 281.339996 m, bearing: 22.657705 deg, deltaT: 4.863494 s, approachRate: -0.468799 m/s, LOS rate: 0.161863 deg/s, posRepo size: 4 2021-02-17T20:46:40.082Z,1613594800.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 281.339996 m, bearing: 22.657705 deg, approachRate: -0.468799 m/s, LOS rate: 0.161863 deg/s, cmd update: 0.647452 deg/s, cmd heading: 1.782911 deg, new cmd heading: 0.979589 deg. 2021-02-17T20:46:42.513Z,1613594802.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:46:43.258Z,1613594803.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:46:43.642Z,1613594803.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:46:44.494Z,1613594804.494 [Micromodem](INFO): Nmea in: $SNTTA,0.185950,,,,204643.35*41 2021-02-17T20:46:44.882Z,1613594804.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.700012 m, bearing: 20.268790 deg, deltaT: 4.870986 s, approachRate: -0.541981 m/s, LOS rate: -0.490438 deg/s, posRepo size: 4 2021-02-17T20:46:44.884Z,1613594804.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 278.700012 m, bearing: 20.268790 deg, approachRate: -0.541981 m/s, LOS rate: -0.490438 deg/s, cmd update: -1.961751 deg/s, cmd heading: 4.943533 deg, new cmd heading: 5.168199 deg. 2021-02-17T20:46:47.330Z,1613594807.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:46:48.094Z,1613594808.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:46:48.506Z,1613594808.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:46:49.311Z,1613594809.311 [Micromodem](INFO): Nmea in: $SNTTA,0.184465,,,,204648.19*4E 2021-02-17T20:46:49.760Z,1613594809.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.540009 m, bearing: 20.337713 deg, deltaT: 4.823628 s, approachRate: -0.447796 m/s, LOS rate: 0.014289 deg/s, posRepo size: 4 2021-02-17T20:46:49.761Z,1613594809.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 276.540009 m, bearing: 20.337713 deg, approachRate: -0.447796 m/s, LOS rate: 0.014289 deg/s, cmd update: 0.057155 deg/s, cmd heading: 355.480785 deg, new cmd heading: 354.726549 deg. 2021-02-17T20:46:52.154Z,1613594812.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:46:52.938Z,1613594812.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:46:53.355Z,1613594813.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:46:54.224Z,1613594814.224 [Micromodem](INFO): Nmea in: $SNTTA,0.183069,,,,204653.03*40 2021-02-17T20:46:54.632Z,1613594814.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.500000 m, bearing: 19.538840 deg, deltaT: 4.885289 s, approachRate: -0.417582 m/s, LOS rate: -0.163526 deg/s, posRepo size: 4 2021-02-17T20:46:54.634Z,1613594814.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 274.500000 m, bearing: 19.538840 deg, approachRate: -0.417582 m/s, LOS rate: -0.163526 deg/s, cmd update: -0.654105 deg/s, cmd heading: 355.760218 deg, new cmd heading: 355.782179 deg. 2021-02-17T20:46:56.996Z,1613594816.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:46:57.788Z,1613594817.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:46:58.186Z,1613594818.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:46:59.013Z,1613594819.013 [Micromodem](INFO): Nmea in: $SNTTA,0.181614,,,,204657.88*49 2021-02-17T20:46:59.447Z,1613594819.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 272.279999 m, bearing: 21.974559 deg, deltaT: 4.818627 s, approachRate: -0.460712 m/s, LOS rate: 0.505480 deg/s, posRepo size: 4 2021-02-17T20:46:59.454Z,1613594819.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 272.279999 m, bearing: 21.974559 deg, approachRate: -0.460712 m/s, LOS rate: 0.505480 deg/s, cmd update: 2.021919 deg/s, cmd heading: 352.610759 deg, new cmd heading: 352.361937 deg. 2021-02-17T20:47:01.854Z,1613594821.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:47:02.629Z,1613594822.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:47:03.070Z,1613594823.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:47:03.847Z,1613594823.847 [Micromodem](INFO): Nmea in: $SNTTA,0.180372,,,,204702.72*49 2021-02-17T20:47:04.307Z,1613594824.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.359985 m, bearing: 22.876306 deg, deltaT: 4.825670 s, approachRate: -0.397875 m/s, LOS rate: 0.186865 deg/s, posRepo size: 4 2021-02-17T20:47:04.309Z,1613594824.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 270.359985 m, bearing: 22.876306 deg, approachRate: -0.397875 m/s, LOS rate: 0.186865 deg/s, cmd update: 0.747459 deg/s, cmd heading: 2.375396 deg, new cmd heading: 3.206247 deg. 2021-02-17T20:47:06.713Z,1613594826.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:47:07.559Z,1613594827.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:47:07.905Z,1613594827.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:47:09.124Z,1613594829.124 [Micromodem](INFO): Nmea in: $SNTTA,0.179023,,,,204707.65*4B 2021-02-17T20:47:09.170Z,1613594829.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.319977 m, bearing: 23.981631 deg, deltaT: 4.899641 s, approachRate: -0.416359 m/s, LOS rate: 0.225593 deg/s, posRepo size: 4 2021-02-17T20:47:09.173Z,1613594829.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 268.319977 m, bearing: 23.981631 deg, approachRate: -0.416359 m/s, LOS rate: 0.225593 deg/s, cmd update: 0.902372 deg/s, cmd heading: 6.031577 deg, new cmd heading: 6.320742 deg. 2021-02-17T20:47:11.541Z,1613594831.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:47:12.325Z,1613594832.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:47:12.735Z,1613594832.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:47:13.547Z,1613594833.547 [Micromodem](INFO): Nmea in: $SNTTA,0.177417,,,,204712.42*47 2021-02-17T20:47:13.970Z,1613594833.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.919983 m, bearing: 25.255034 deg, deltaT: 4.833859 s, approachRate: -0.496496 m/s, LOS rate: 0.263434 deg/s, posRepo size: 4 2021-02-17T20:47:13.988Z,1613594833.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 265.919983 m, bearing: 25.255034 deg, approachRate: -0.496496 m/s, LOS rate: 0.263434 deg/s, cmd update: 1.053737 deg/s, cmd heading: 10.397552 deg, new cmd heading: 10.711656 deg. 2021-02-17T20:47:16.400Z,1613594836.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:47:17.173Z,1613594837.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:47:17.580Z,1613594837.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:47:18.391Z,1613594838.391 [Micromodem](INFO): Nmea in: $SNTTA,0.176004,,,,204717.27*46 2021-02-17T20:47:18.839Z,1613594838.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 263.820007 m, bearing: 26.762303 deg, deltaT: 4.863118 s, approachRate: -0.431817 m/s, LOS rate: 0.309939 deg/s, posRepo size: 4 2021-02-17T20:47:18.841Z,1613594838.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 263.820007 m, bearing: 26.762303 deg, approachRate: -0.431817 m/s, LOS rate: 0.309939 deg/s, cmd update: 1.239755 deg/s, cmd heading: 15.521926 deg, new cmd heading: 15.878311 deg. 2021-02-17T20:47:21.270Z,1613594841.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:47:22.088Z,1613594842.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:47:22.457Z,1613594842.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:47:23.652Z,1613594843.652 [Micromodem](INFO): Nmea in: $SNTTA,0.174255,,,,204722.18*48 2021-02-17T20:47:23.697Z,1613594843.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.179993 m, bearing: 27.282291 deg, deltaT: 4.811419 s, approachRate: -0.548698 m/s, LOS rate: 0.108074 deg/s, posRepo size: 4 2021-02-17T20:47:23.698Z,1613594843.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 261.179993 m, bearing: 27.282291 deg, approachRate: -0.548698 m/s, LOS rate: 0.108074 deg/s, cmd update: 0.432294 deg/s, cmd heading: 21.481287 deg, new cmd heading: 21.983101 deg. 2021-02-17T20:47:26.102Z,1613594846.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:47:26.869Z,1613594846.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:47:27.281Z,1613594847.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:47:28.087Z,1613594848.087 [Micromodem](INFO): Nmea in: $SNTTA,0.172622,,,,204726.96*48 2021-02-17T20:47:28.547Z,1613594848.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.660004 m, bearing: 27.513899 deg, deltaT: 4.849504 s, approachRate: -0.519638 m/s, LOS rate: 0.047759 deg/s, posRepo size: 4 2021-02-17T20:47:28.549Z,1613594848.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 258.660004 m, bearing: 27.513899 deg, approachRate: -0.519638 m/s, LOS rate: 0.047759 deg/s, cmd update: 0.191037 deg/s, cmd heading: 23.579665 deg, new cmd heading: 23.753119 deg. 2021-02-17T20:47:30.964Z,1613594850.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:47:31.722Z,1613594851.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:47:32.123Z,1613594852.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:47:32.959Z,1613594852.959 [Micromodem](INFO): Nmea in: $SNTTA,0.170715,,,,204731.82*4C 2021-02-17T20:47:33.400Z,1613594853.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.839981 m, bearing: 29.188820 deg, deltaT: 4.894708 s, approachRate: -0.576137 m/s, LOS rate: 0.342190 deg/s, posRepo size: 4 2021-02-17T20:47:33.402Z,1613594853.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 255.839981 m, bearing: 29.188820 deg, approachRate: -0.576137 m/s, LOS rate: 0.342190 deg/s, cmd update: 1.368761 deg/s, cmd heading: 24.504443 deg, new cmd heading: 24.582615 deg. 2021-02-17T20:47:35.551Z,1613594855.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:47:36.258Z,1613594856.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:47:36.667Z,1613594856.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:47:37.510Z,1613594857.510 [Micromodem](INFO): Nmea in: $SNTTA,0.169217,,,,204736.35*48 2021-02-17T20:47:37.940Z,1613594857.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.619980 m, bearing: 29.213952 deg, deltaT: 4.551643 s, approachRate: -0.487736 m/s, LOS rate: 0.005521 deg/s, posRepo size: 4 2021-02-17T20:47:37.947Z,1613594857.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 253.619980 m, bearing: 29.213952 deg, approachRate: -0.487736 m/s, LOS rate: 0.005521 deg/s, cmd update: 0.022086 deg/s, cmd heading: 30.790901 deg, new cmd heading: 31.277883 deg. 2021-02-17T20:47:40.321Z,1613594860.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:47:41.132Z,1613594861.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:47:41.535Z,1613594861.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:47:42.363Z,1613594862.363 [Micromodem](INFO): Nmea in: $SNTTA,0.167491,,,,204741.23*49 2021-02-17T20:47:42.789Z,1613594862.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.039993 m, bearing: 29.122065 deg, deltaT: 4.810931 s, approachRate: -0.536276 m/s, LOS rate: -0.019100 deg/s, posRepo size: 4 2021-02-17T20:47:42.791Z,1613594862.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 251.039993 m, bearing: 29.122065 deg, approachRate: -0.536276 m/s, LOS rate: -0.019100 deg/s, cmd update: -0.076398 deg/s, cmd heading: 30.897076 deg, new cmd heading: 30.905965 deg. 2021-02-17T20:47:45.186Z,1613594865.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:47:45.968Z,1613594865.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:47:46.375Z,1613594866.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:47:47.246Z,1613594867.246 [Micromodem](INFO): Nmea in: $SNTTA,0.165652,,,,204746.06*46 2021-02-17T20:47:47.588Z,1613594867.588 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-02-17T20:47:47.590Z,1613594867.590 [BPC1](INFO): Received data from all battery sticks. 2021-02-17T20:47:47.656Z,1613594867.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.219986 m, bearing: 28.865445 deg, deltaT: 4.877583 s, approachRate: -0.578157 m/s, LOS rate: -0.052612 deg/s, posRepo size: 4 2021-02-17T20:47:47.658Z,1613594867.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 248.219986 m, bearing: 28.865445 deg, approachRate: -0.578157 m/s, LOS rate: -0.052612 deg/s, cmd update: -0.210449 deg/s, cmd heading: 30.522886 deg, new cmd heading: 30.494879 deg. 2021-02-17T20:47:50.069Z,1613594870.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:47:50.816Z,1613594870.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:47:51.222Z,1613594871.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:47:52.058Z,1613594872.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204750.91*52 2021-02-17T20:47:52.509Z,1613594872.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.399994 m, bearing: 31.497141 deg, deltaT: 4.905934 s, approachRate: -0.574812 m/s, LOS rate: 0.536431 deg/s, posRepo size: 4 2021-02-17T20:47:52.510Z,1613594872.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 245.399994 m, bearing: 31.497141 deg, approachRate: -0.574812 m/s, LOS rate: 0.536431 deg/s, cmd update: 2.145725 deg/s, cmd heading: 29.491310 deg, new cmd heading: 29.423540 deg. 2021-02-17T20:47:54.870Z,1613594874.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:47:55.664Z,1613594875.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:47:56.076Z,1613594876.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:47:56.901Z,1613594876.901 [Micromodem](INFO): Nmea in: $SNTTA,0.161931,,,,204755.76*4D 2021-02-17T20:47:57.335Z,1613594877.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.699997 m, bearing: 30.286681 deg, deltaT: 4.724526 s, approachRate: -0.571485 m/s, LOS rate: -0.256208 deg/s, posRepo size: 4 2021-02-17T20:47:57.337Z,1613594877.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 242.699997 m, bearing: 30.286681 deg, approachRate: -0.571485 m/s, LOS rate: -0.256208 deg/s, cmd update: -1.024831 deg/s, cmd heading: 39.637335 deg, new cmd heading: 40.537645 deg. 2021-02-17T20:47:59.740Z,1613594879.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:48:00.514Z,1613594880.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:48:00.920Z,1613594880.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:48:01.735Z,1613594881.735 [Micromodem](INFO): Nmea in: $SNTTA,0.160046,,,,204800.61*4C 2021-02-17T20:48:02.179Z,1613594882.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 239.879990 m, bearing: 30.578381 deg, deltaT: 4.871930 s, approachRate: -0.578828 m/s, LOS rate: 0.059874 deg/s, posRepo size: 4 2021-02-17T20:48:02.185Z,1613594882.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 239.879990 m, bearing: 30.578381 deg, approachRate: -0.578828 m/s, LOS rate: 0.059874 deg/s, cmd update: 0.239495 deg/s, cmd heading: 34.648342 deg, new cmd heading: 34.243129 deg. 2021-02-17T20:48:04.576Z,1613594884.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:48:05.368Z,1613594885.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:48:05.766Z,1613594885.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:48:06.588Z,1613594886.588 [Micromodem](INFO): Nmea in: $SNTTA,0.158037,,,,204805.46*41 2021-02-17T20:48:07.018Z,1613594887.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.879990 m, bearing: 30.915495 deg, deltaT: 4.862679 s, approachRate: -0.616944 m/s, LOS rate: 0.069327 deg/s, posRepo size: 4 2021-02-17T20:48:07.025Z,1613594887.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 236.879990 m, bearing: 30.915495 deg, approachRate: -0.616944 m/s, LOS rate: 0.069327 deg/s, cmd update: 0.277307 deg/s, cmd heading: 35.812882 deg, new cmd heading: 35.902023 deg. 2021-02-17T20:48:09.429Z,1613594889.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:48:10.210Z,1613594890.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:48:10.614Z,1613594890.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:48:11.461Z,1613594891.461 [Micromodem](INFO): Nmea in: $SNTTA,0.156153,,,,204810.31*48 2021-02-17T20:48:11.867Z,1613594891.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.119995 m, bearing: 31.012204 deg, deltaT: 4.891242 s, approachRate: -0.564273 m/s, LOS rate: 0.019772 deg/s, posRepo size: 4 2021-02-17T20:48:11.869Z,1613594891.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 234.119995 m, bearing: 31.012204 deg, approachRate: -0.564273 m/s, LOS rate: 0.019772 deg/s, cmd update: 0.079087 deg/s, cmd heading: 37.169263 deg, new cmd heading: 37.260362 deg. 2021-02-17T20:48:14.278Z,1613594894.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:48:15.108Z,1613594895.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:48:15.503Z,1613594895.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:48:16.311Z,1613594896.311 [Micromodem](INFO): Nmea in: $SNTTA,0.154489,,,,204815.20*4D 2021-02-17T20:48:16.714Z,1613594896.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.539993 m, bearing: 30.773813 deg, deltaT: 4.817931 s, approachRate: -0.535500 m/s, LOS rate: -0.049480 deg/s, posRepo size: 4 2021-02-17T20:48:16.716Z,1613594896.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 231.539993 m, bearing: 30.773813 deg, approachRate: -0.535500 m/s, LOS rate: -0.049480 deg/s, cmd update: -0.197920 deg/s, cmd heading: 37.550612 deg, new cmd heading: 37.578733 deg. 2021-02-17T20:48:19.122Z,1613594899.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:48:19.904Z,1613594899.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:48:20.312Z,1613594900.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:48:21.123Z,1613594901.123 [Micromodem](INFO): Nmea in: $SNTTA,0.152579,,,,204820.00*41 2021-02-17T20:48:21.576Z,1613594901.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.659988 m, bearing: 30.807876 deg, deltaT: 4.787801 s, approachRate: -0.601530 m/s, LOS rate: 0.007114 deg/s, posRepo size: 4 2021-02-17T20:48:21.577Z,1613594901.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 228.659988 m, bearing: 30.807876 deg, approachRate: -0.601530 m/s, LOS rate: 0.007114 deg/s, cmd update: 0.028457 deg/s, cmd heading: 36.602963 deg, new cmd heading: 36.518169 deg. 2021-02-17T20:48:23.979Z,1613594903.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:48:24.758Z,1613594904.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:48:25.157Z,1613594905.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:48:25.975Z,1613594905.975 [Micromodem](INFO): Nmea in: $SNTTA,0.150693,,,,204824.85*4D 2021-02-17T20:48:26.410Z,1613594906.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.900009 m, bearing: 30.811219 deg, deltaT: 4.842650 s, approachRate: -0.569932 m/s, LOS rate: 0.000690 deg/s, posRepo size: 4 2021-02-17T20:48:26.412Z,1613594906.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.900009 m, bearing: 30.811219 deg, approachRate: -0.569932 m/s, LOS rate: 0.000690 deg/s, cmd update: 0.002762 deg/s, cmd heading: 36.740772 deg, new cmd heading: 36.752736 deg. 2021-02-17T20:48:28.817Z,1613594908.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:48:29.600Z,1613594909.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:48:30.011Z,1613594910.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:48:30.818Z,1613594910.818 [Micromodem](INFO): Nmea in: $SNTTA,0.148816,,,,204829.70*40 2021-02-17T20:48:31.285Z,1613594911.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.019974 m, bearing: 30.932899 deg, deltaT: 4.879086 s, approachRate: -0.590282 m/s, LOS rate: 0.024939 deg/s, posRepo size: 4 2021-02-17T20:48:31.287Z,1613594911.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.019974 m, bearing: 30.932899 deg, approachRate: -0.590282 m/s, LOS rate: 0.024939 deg/s, cmd update: 0.099756 deg/s, cmd heading: 36.754245 deg, new cmd heading: 36.755397 deg. 2021-02-17T20:48:33.676Z,1613594913.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:48:34.467Z,1613594914.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:48:34.854Z,1613594914.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:48:35.674Z,1613594915.674 [Micromodem](INFO): Nmea in: $SNTTA,0.146898,,,,204834.56*40 2021-02-17T20:48:36.127Z,1613594916.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.139984 m, bearing: 30.817240 deg, deltaT: 4.858540 s, approachRate: -0.592769 m/s, LOS rate: -0.023805 deg/s, posRepo size: 4 2021-02-17T20:48:36.128Z,1613594916.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 220.139984 m, bearing: 30.817240 deg, approachRate: -0.592769 m/s, LOS rate: -0.023805 deg/s, cmd update: -0.095221 deg/s, cmd heading: 37.238526 deg, new cmd heading: 37.278777 deg. 2021-02-17T20:48:38.521Z,1613594918.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:48:39.296Z,1613594919.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:48:39.707Z,1613594919.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:48:40.519Z,1613594920.519 [Micromodem](INFO): Nmea in: $SNTTA,0.145137,,,,204839.39*4B 2021-02-17T20:48:40.942Z,1613594920.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.559982 m, bearing: 30.864447 deg, deltaT: 4.854270 s, approachRate: -0.531491 m/s, LOS rate: 0.009725 deg/s, posRepo size: 4 2021-02-17T20:48:40.960Z,1613594920.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.559982 m, bearing: 30.864447 deg, approachRate: -0.531491 m/s, LOS rate: 0.009725 deg/s, cmd update: 0.038899 deg/s, cmd heading: 36.776312 deg, new cmd heading: 36.741564 deg. 2021-02-17T20:48:43.391Z,1613594923.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:48:44.147Z,1613594924.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:48:44.555Z,1613594924.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:48:45.371Z,1613594925.371 [Micromodem](INFO): Nmea in: $SNTTA,0.143300,,,,204844.24*4D 2021-02-17T20:48:45.811Z,1613594925.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.740005 m, bearing: 30.269735 deg, deltaT: 4.813758 s, approachRate: -0.585816 m/s, LOS rate: -0.123544 deg/s, posRepo size: 4 2021-02-17T20:48:45.813Z,1613594925.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.740005 m, bearing: 30.269735 deg, approachRate: -0.585816 m/s, LOS rate: -0.123544 deg/s, cmd update: -0.494176 deg/s, cmd heading: 36.963726 deg, new cmd heading: 36.979842 deg. 2021-02-17T20:48:48.222Z,1613594928.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:48:49.001Z,1613594929.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:48:49.399Z,1613594929.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:48:50.214Z,1613594930.214 [Micromodem](INFO): Nmea in: $SNTTA,0.141323,,,,204849.09*4C 2021-02-17T20:48:50.663Z,1613594930.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.860001 m, bearing: 31.085635 deg, deltaT: 4.864029 s, approachRate: -0.592103 m/s, LOS rate: 0.167742 deg/s, posRepo size: 4 2021-02-17T20:48:50.665Z,1613594930.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 211.860001 m, bearing: 31.085635 deg, approachRate: -0.592103 m/s, LOS rate: 0.167742 deg/s, cmd update: 0.670967 deg/s, cmd heading: 34.560148 deg, new cmd heading: 34.362410 deg. 2021-02-17T20:48:53.092Z,1613594933.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:48:53.843Z,1613594933.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:48:54.246Z,1613594934.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:48:55.176Z,1613594935.176 [Micromodem](INFO): Nmea in: $SNTTA,0.139360,,,,204853.94*4B 2021-02-17T20:48:55.538Z,1613594935.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.799988 m, bearing: 31.282895 deg, deltaT: 5.053065 s, approachRate: -0.605576 m/s, LOS rate: 0.039038 deg/s, posRepo size: 4 2021-02-17T20:48:55.540Z,1613594935.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.799988 m, bearing: 31.282895 deg, approachRate: -0.605576 m/s, LOS rate: 0.039038 deg/s, cmd update: 0.156150 deg/s, cmd heading: 37.939756 deg, new cmd heading: 38.102065 deg. 2021-02-17T20:48:57.908Z,1613594937.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:48:58.700Z,1613594938.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:48:59.112Z,1613594939.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:48:59.917Z,1613594939.917 [Micromodem](INFO): Nmea in: $SNTTA,0.137519,,,,204858.79*45 2021-02-17T20:49:00.377Z,1613594940.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.100006 m, bearing: 32.022140 deg, deltaT: 4.644044 s, approachRate: -0.581386 m/s, LOS rate: 0.159181 deg/s, posRepo size: 4 2021-02-17T20:49:00.378Z,1613594940.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 206.100006 m, bearing: 32.022140 deg, approachRate: -0.581386 m/s, LOS rate: 0.159181 deg/s, cmd update: 0.636725 deg/s, cmd heading: 38.663667 deg, new cmd heading: 38.733135 deg. 2021-02-17T20:49:02.812Z,1613594942.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:49:03.548Z,1613594943.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:49:03.954Z,1613594943.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:49:04.772Z,1613594944.772 [Micromodem](INFO): Nmea in: $SNTTA,0.135484,,,,204903.64*41 2021-02-17T20:49:05.203Z,1613594945.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.039978 m, bearing: 31.571450 deg, deltaT: 4.877033 s, approachRate: -0.627436 m/s, LOS rate: -0.092411 deg/s, posRepo size: 4 2021-02-17T20:49:05.205Z,1613594945.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.039978 m, bearing: 31.571450 deg, approachRate: -0.627436 m/s, LOS rate: -0.092411 deg/s, cmd update: -0.369643 deg/s, cmd heading: 41.781857 deg, new cmd heading: 42.019909 deg. 2021-02-17T20:49:07.613Z,1613594947.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:49:08.396Z,1613594948.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:49:08.802Z,1613594948.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:49:09.623Z,1613594949.623 [Micromodem](INFO): Nmea in: $SNTTA,0.133482,,,,204908.49*45 2021-02-17T20:49:10.092Z,1613594950.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.039993 m, bearing: 31.570371 deg, deltaT: 4.813919 s, approachRate: -0.623190 m/s, LOS rate: -0.000224 deg/s, posRepo size: 4 2021-02-17T20:49:10.094Z,1613594950.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.039993 m, bearing: 31.570371 deg, approachRate: -0.623190 m/s, LOS rate: -0.000224 deg/s, cmd update: -0.000897 deg/s, cmd heading: 40.000949 deg, new cmd heading: 39.837972 deg. 2021-02-17T20:49:12.504Z,1613594952.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:49:13.244Z,1613594953.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:49:13.650Z,1613594953.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:49:14.501Z,1613594954.501 [Micromodem](INFO): Nmea in: $SNTTA,0.131874,,,,204913.34*42 2021-02-17T20:49:14.894Z,1613594954.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.579987 m, bearing: 31.029771 deg, deltaT: 4.878082 s, approachRate: -0.504298 m/s, LOS rate: -0.110822 deg/s, posRepo size: 4 2021-02-17T20:49:14.896Z,1613594954.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.579987 m, bearing: 31.029771 deg, approachRate: -0.504298 m/s, LOS rate: -0.110822 deg/s, cmd update: -0.443288 deg/s, cmd heading: 39.996575 deg, new cmd heading: 39.996244 deg. 2021-02-17T20:49:17.330Z,1613594957.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:49:18.092Z,1613594958.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:49:18.502Z,1613594958.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:49:19.310Z,1613594959.310 [Micromodem](INFO): Nmea in: $SNTTA,0.130000,,,,204918.19*4C 2021-02-17T20:49:19.767Z,1613594959.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.819992 m, bearing: 30.771437 deg, deltaT: 4.828514 s, approachRate: -0.571603 m/s, LOS rate: -0.053502 deg/s, posRepo size: 4 2021-02-17T20:49:19.769Z,1613594959.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.819992 m, bearing: 30.771437 deg, approachRate: -0.571603 m/s, LOS rate: -0.053502 deg/s, cmd update: -0.214008 deg/s, cmd heading: 37.856095 deg, new cmd heading: 37.673090 deg. 2021-02-17T20:49:22.168Z,1613594962.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:49:22.962Z,1613594962.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:49:23.346Z,1613594963.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:49:24.170Z,1613594964.170 [Micromodem](INFO): Nmea in: $SNTTA,0.128245,,,,204923.06*40 2021-02-17T20:49:24.602Z,1613594964.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.179993 m, bearing: 31.803294 deg, deltaT: 4.840078 s, approachRate: -0.545446 m/s, LOS rate: 0.213190 deg/s, posRepo size: 4 2021-02-17T20:49:24.604Z,1613594964.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.179993 m, bearing: 31.803294 deg, approachRate: -0.545446 m/s, LOS rate: 0.213190 deg/s, cmd update: 0.852761 deg/s, cmd heading: 36.820267 deg, new cmd heading: 36.732902 deg. 2021-02-17T20:49:26.996Z,1613594966.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:49:27.788Z,1613594967.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:49:28.202Z,1613594968.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:49:29.010Z,1613594969.010 [Micromodem](INFO): Nmea in: $SNTTA,0.126141,,,,204927.88*4B 2021-02-17T20:49:29.485Z,1613594969.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.999985 m, bearing: 31.977054 deg, deltaT: 4.872648 s, approachRate: -0.652624 m/s, LOS rate: 0.035660 deg/s, posRepo size: 4 2021-02-17T20:49:29.491Z,1613594969.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.999985 m, bearing: 31.977054 deg, approachRate: -0.652624 m/s, LOS rate: 0.035660 deg/s, cmd update: 0.142641 deg/s, cmd heading: 40.975200 deg, new cmd heading: 41.332642 deg. 2021-02-17T20:49:31.852Z,1613594971.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:49:32.636Z,1613594972.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:49:33.067Z,1613594973.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:49:33.864Z,1613594973.864 [Micromodem](INFO): Nmea in: $SNTTA,0.124421,,,,204932.73*4A 2021-02-17T20:49:33.901Z,1613594973.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.999985 m, bearing: 33.989354 deg, deltaT: 4.471381 s, approachRate: 0.000000 m/s, LOS rate: 0.450040 deg/s, posRepo size: 4 2021-02-17T20:49:33.903Z,1613594973.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.999985 m, bearing: 33.989354 deg, approachRate: 0.000000 m/s, LOS rate: 0.450040 deg/s, cmd update: 1.800160 deg/s, cmd heading: 41.612700 deg, new cmd heading: 41.664890 deg. 2021-02-17T20:49:36.299Z,1613594976.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:49:37.086Z,1613594977.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:49:37.496Z,1613594977.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:49:38.313Z,1613594978.313 [Micromodem](INFO): Nmea in: $SNTTA,0.122655,,,,204937.18*45 2021-02-17T20:49:38.747Z,1613594978.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.780014 m, bearing: 31.394391 deg, deltaT: 4.799924 s, approachRate: -1.087511 m/s, LOS rate: -0.540626 deg/s, posRepo size: 4 2021-02-17T20:49:38.749Z,1613594978.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.780014 m, bearing: 31.394391 deg, approachRate: -1.087511 m/s, LOS rate: -0.540626 deg/s, cmd update: -2.162503 deg/s, cmd heading: 50.257492 deg, new cmd heading: 50.993640 deg. 2021-02-17T20:49:41.155Z,1613594981.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:49:41.934Z,1613594981.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:49:42.339Z,1613594982.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:49:43.163Z,1613594983.163 [Micromodem](INFO): Nmea in: $SNTTA,0.120888,,,,204942.03*41 2021-02-17T20:49:43.188Z,1613594983.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.780014 m, bearing: 30.501589 deg, deltaT: 4.441574 s, approachRate: 0.000000 m/s, LOS rate: -0.201010 deg/s, posRepo size: 4 2021-02-17T20:49:43.190Z,1613594983.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.780014 m, bearing: 30.501589 deg, approachRate: 0.000000 m/s, LOS rate: -0.201010 deg/s, cmd update: -0.804040 deg/s, cmd heading: 40.654463 deg, new cmd heading: 39.767869 deg. 2021-02-17T20:49:45.605Z,1613594985.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:49:46.377Z,1613594986.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:49:46.777Z,1613594986.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:49:47.604Z,1613594987.604 [Micromodem](INFO): Nmea in: $SNTTA,0.119303,,,0.121797,204946.47*52 2021-02-17T20:49:47.649Z,1613594987.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.780014 m, bearing: 21.251420 deg, deltaT: 4.448969 s, approachRate: 0.000000 m/s, LOS rate: -2.079171 deg/s, posRepo size: 4 2021-02-17T20:49:47.650Z,1613594987.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.780014 m, bearing: 21.251420 deg, approachRate: 0.000000 m/s, LOS rate: -2.079171 deg/s, cmd update: -8.316686 deg/s, cmd heading: 37.090626 deg, new cmd heading: 36.738629 deg. 2021-02-17T20:49:50.078Z,1613594990.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:49:50.819Z,1613594990.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:49:51.221Z,1613594991.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:49:52.068Z,1613594992.068 [Micromodem](INFO): Nmea in: $SNTTA,0.117580,,,,204950.91*48 2021-02-17T20:49:52.102Z,1613594992.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.780014 m, bearing: 31.320095 deg, deltaT: 4.445233 s, approachRate: 0.000000 m/s, LOS rate: 2.265050 deg/s, posRepo size: 4 2021-02-17T20:49:52.104Z,1613594992.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.780014 m, bearing: 31.320095 deg, approachRate: 0.000000 m/s, LOS rate: 2.265050 deg/s, cmd update: 9.060201 deg/s, cmd heading: 359.974870 deg, new cmd heading: 356.413873 deg. 2021-02-17T20:49:54.526Z,1613594994.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:49:55.260Z,1613594995.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:49:55.684Z,1613594995.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:49:56.508Z,1613594996.508 [Micromodem](INFO): Nmea in: $SNTTA,0.115960,,,,204955.35*43 2021-02-17T20:49:56.532Z,1613594996.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.419998 m, bearing: 29.917485 deg, deltaT: 4.445172 s, approachRate: -3.455438 m/s, LOS rate: -0.315536 deg/s, posRepo size: 4 2021-02-17T20:49:56.534Z,1613594996.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.419998 m, bearing: 29.917485 deg, approachRate: -3.455438 m/s, LOS rate: -0.315536 deg/s, cmd update: -1.262142 deg/s, cmd heading: 40.248042 deg, new cmd heading: 43.992949 deg. 2021-02-17T20:49:58.928Z,1613594998.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:49:59.721Z,1613594999.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:50:00.124Z,1613595000.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:50:00.930Z,1613595000.930 [Micromodem](INFO): Nmea in: $SNTTA,0.114679,,,,204959.82*45 2021-02-17T20:50:01.389Z,1613595001.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.780014 m, bearing: 32.334133 deg, deltaT: 4.824933 s, approachRate: 0.696386 m/s, LOS rate: 0.500867 deg/s, posRepo size: 4 2021-02-17T20:50:01.391Z,1613595001.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.780014 m, bearing: 32.334133 deg, approachRate: 0.696386 m/s, LOS rate: 0.500867 deg/s, cmd update: 2.003466 deg/s, cmd heading: 34.158141 deg, new cmd heading: 33.596245 deg. 2021-02-17T20:50:03.774Z,1613595003.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:04.557Z,1613595004.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:50:05.044Z,1613595005.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:50:05.784Z,1613595005.784 [Micromodem](INFO): Nmea in: $SNTTA,0.112875,,,,205004.65*48 2021-02-17T20:50:05.833Z,1613595005.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.780014 m, bearing: 32.361450 deg, deltaT: 4.465556 s, approachRate: 0.000000 m/s, LOS rate: 0.006117 deg/s, posRepo size: 4 2021-02-17T20:50:05.834Z,1613595005.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.780014 m, bearing: 32.361450 deg, approachRate: 0.000000 m/s, LOS rate: 0.006117 deg/s, cmd update: 0.024469 deg/s, cmd heading: 43.096498 deg, new cmd heading: 43.952670 deg. 2021-02-17T20:50:08.241Z,1613595008.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:09.003Z,1613595009.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:50:09.402Z,1613595009.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:50:10.228Z,1613595010.228 [Micromodem](INFO): Nmea in: $SNTTA,0.111189,,,,205009.10*4E 2021-02-17T20:50:10.273Z,1613595010.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.780014 m, bearing: 32.795761 deg, deltaT: 4.455368 s, approachRate: 0.000000 m/s, LOS rate: 0.097480 deg/s, posRepo size: 4 2021-02-17T20:50:10.274Z,1613595010.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.780014 m, bearing: 32.795761 deg, approachRate: 0.000000 m/s, LOS rate: 0.097480 deg/s, cmd update: 0.389922 deg/s, cmd heading: 43.205521 deg, new cmd heading: 43.215601 deg. 2021-02-17T20:50:12.671Z,1613595012.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:13.466Z,1613595013.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:50:13.862Z,1613595013.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:50:14.680Z,1613595014.680 [Micromodem](INFO): Nmea in: $SNTTA,0.109442,,,,205013.56*4C 2021-02-17T20:50:14.726Z,1613595014.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.780014 m, bearing: 34.127436 deg, deltaT: 4.434832 s, approachRate: 0.000000 m/s, LOS rate: 0.300276 deg/s, posRepo size: 4 2021-02-17T20:50:14.728Z,1613595014.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.780014 m, bearing: 34.127436 deg, approachRate: 0.000000 m/s, LOS rate: 0.300276 deg/s, cmd update: 1.201105 deg/s, cmd heading: 44.936077 deg, new cmd heading: 45.102613 deg. 2021-02-17T20:50:17.121Z,1613595017.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:17.885Z,1613595017.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:50:18.295Z,1613595018.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:50:19.117Z,1613595019.117 [Micromodem](INFO): Nmea in: $SNTTA,0.107650,,,,205017.98*45 2021-02-17T20:50:19.165Z,1613595019.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.280014 m, bearing: 32.853323 deg, deltaT: 4.444076 s, approachRate: -2.362696 m/s, LOS rate: -0.286699 deg/s, posRepo size: 4 2021-02-17T20:50:19.166Z,1613595019.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.280014 m, bearing: 32.853323 deg, approachRate: -2.362696 m/s, LOS rate: -0.286699 deg/s, cmd update: -1.146797 deg/s, cmd heading: 50.269681 deg, new cmd heading: 50.780344 deg. 2021-02-17T20:50:21.550Z,1613595021.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:22.328Z,1613595022.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:50:22.734Z,1613595022.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:50:23.228Z,1613595023.228 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T20:50:23.228Z,1613595023.228 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T20:50:23.228Z,1613595023.228 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T20:50:23.229Z,1613595023.229 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T20:50:23.229Z,1613595023.229 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T20:50:23.656Z,1613595023.656 [Micromodem](INFO): Nmea in: $SNTTA,0.106051,,,,205022.42*42 2021-02-17T20:50:23.743Z,1613595023.743 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60240000005D000004004A0000000000000000151D80030C5669BF92F9E5746705308C57684770AFC12BCCB958222C7EFFB4DA9C287E05158D36634C9D 2021-02-17T20:50:23.744Z,1613595023.744 [Micromodem](INFO): Outgoing frame #2, 26 bytes: 84E8A3D38E7163BE1753D94FB4229DB16C09D423DE265D2D3400 2021-02-17T20:50:23.744Z,1613595023.744 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T20:50:23.824Z,1613595023.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.819992 m, bearing: 32.389194 deg, deltaT: 4.479602 s, approachRate: -0.549161 m/s, LOS rate: -0.103609 deg/s, posRepo size: 4 2021-02-17T20:50:23.826Z,1613595023.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.819992 m, bearing: 32.389194 deg, approachRate: -0.549161 m/s, LOS rate: -0.103609 deg/s, cmd update: -0.414437 deg/s, cmd heading: 45.127808 deg, new cmd heading: 44.443197 deg. 2021-02-17T20:50:24.864Z,1613595024.864 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T20:50:25.268Z,1613595025.268 [Micromodem](INFO): Nmea in: $CADRQ,205023,1,10,0,64,1*70 2021-02-17T20:50:25.269Z,1613595025.269 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60240000005D000004004A0000000000000000151D80030C5669BF92F9E5746705308C57684770AFC12BCCB958222C7EFFB4DA9C287E05158D36634C9D*3B 2021-02-17T20:50:25.664Z,1613595025.664 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T20:50:26.073Z,1613595026.073 [Micromodem](INFO): Nmea in: $CADRQ,205025,1,10,0,64,2*75 2021-02-17T20:50:26.073Z,1613595026.073 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,84E8A3D38E7163BE1753D94FB4229DB16C09D423DE265D2D3400*3B 2021-02-17T20:50:26.173Z,1613595026.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:26.518Z,1613595026.518 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,26*4F 2021-02-17T20:50:26.875Z,1613595026.875 [Micromodem](INFO): Nmea in: $CATXP,90*7B 2021-02-17T20:50:26.877Z,1613595026.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:50:28.911Z,1613595028.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:29.299Z,1613595029.299 [Micromodem](INFO): Nmea in: $CATXF,90*6D 2021-02-17T20:50:29.299Z,1613595029.299 [Micromodem](ERROR): Response from modem unexpected: $CATXF,90*6D 2021-02-17T20:50:29.711Z,1613595029.711 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,205026.165997,3,0,200,4000,14500,1,1,10,1,2,2,3,90*49 2021-02-17T20:50:29.712Z,1613595029.712 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,205026.165997,3,0,200,4000,14500,1,1,10,1,2,2,3,90*49 2021-02-17T20:50:31.414Z,1613595031.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:32.145Z,1613595032.145 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-17T20:50:32.544Z,1613595032.544 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-17T20:50:32.545Z,1613595032.545 [Micromodem](INFO): Sent 82 bytes from file Logs/20210217T180521/Courier0036.lzma.parts 2021-02-17T20:50:32.545Z,1613595032.545 [Micromodem](INFO): Packets left to send: 0 2021-02-17T20:50:32.939Z,1613595032.939 [Micromodem](INFO): Nmea in: $CACST,6,0,20210217205030.976987,06,8043,39,0325,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,18.9,8.00,18,-5.00,-01,1.34,30,14500,4000*5E 2021-02-17T20:50:32.939Z,1613595032.939 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210217205030.976987,06,8043,39,0325,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,18.9,8.00,18,-5.00,-01,1.34,30,14500,4000*5E 2021-02-17T20:50:33.132Z,1613595033.132 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T20:50:33.132Z,1613595033.132 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T20:50:33.132Z,1613595033.132 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T20:50:33.132Z,1613595033.132 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T20:50:33.132Z,1613595033.132 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T20:50:34.178Z,1613595034.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:37.085Z,1613595037.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:38.197Z,1613595038.197 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:50:38.598Z,1613595038.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:50:39.427Z,1613595039.427 [Micromodem](INFO): Nmea in: $SNTTA,0.099922,,,,205038.29*4E 2021-02-17T20:50:39.505Z,1613595039.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.699997 m, bearing: 32.065156 deg, deltaT: 15.843103 s, approachRate: -0.575644 m/s, LOS rate: -0.020453 deg/s, posRepo size: 4 2021-02-17T20:50:39.511Z,1613595039.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.699997 m, bearing: 32.065156 deg, approachRate: -0.575644 m/s, LOS rate: -0.020453 deg/s, cmd update: -0.081812 deg/s, cmd heading: 38.562004 deg, new cmd heading: 38.379919 deg. 2021-02-17T20:50:41.862Z,1613595041.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:42.632Z,1613595042.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:50:43.069Z,1613595043.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:50:43.860Z,1613595043.860 [Micromodem](INFO): Nmea in: $SNTTA,0.098310,,,,205042.73*46 2021-02-17T20:50:43.913Z,1613595043.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.300003 m, bearing: 32.654031 deg, deltaT: 4.479284 s, approachRate: -0.535799 m/s, LOS rate: 0.131466 deg/s, posRepo size: 4 2021-02-17T20:50:43.921Z,1613595043.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.300003 m, bearing: 32.654031 deg, approachRate: -0.535799 m/s, LOS rate: 0.131466 deg/s, cmd update: 0.525865 deg/s, cmd heading: 38.195856 deg, new cmd heading: 38.165431 deg. 2021-02-17T20:50:46.308Z,1613595046.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:47.080Z,1613595047.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:50:47.497Z,1613595047.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:50:48.311Z,1613595048.311 [Micromodem](INFO): Nmea in: $SNTTA,0.096679,,,,205047.17*45 2021-02-17T20:50:48.335Z,1613595048.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.959991 m, bearing: 34.248034 deg, deltaT: 4.368017 s, approachRate: -0.535715 m/s, LOS rate: 0.364926 deg/s, posRepo size: 4 2021-02-17T20:50:48.337Z,1613595048.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.959991 m, bearing: 34.248034 deg, approachRate: -0.535715 m/s, LOS rate: 0.364926 deg/s, cmd update: 1.459703 deg/s, cmd heading: 40.494957 deg, new cmd heading: 40.716773 deg. 2021-02-17T20:50:50.760Z,1613595050.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:51.524Z,1613595051.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:50:51.926Z,1613595051.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:50:52.752Z,1613595052.752 [Micromodem](INFO): Nmea in: $SNTTA,0.094837,,,,205051.62*46 2021-02-17T20:50:52.792Z,1613595052.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.020004 m, bearing: 33.220708 deg, deltaT: 4.461689 s, approachRate: -0.658940 m/s, LOS rate: -0.230255 deg/s, posRepo size: 4 2021-02-17T20:50:52.794Z,1613595052.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.020004 m, bearing: 33.220708 deg, approachRate: -0.658940 m/s, LOS rate: -0.230255 deg/s, cmd update: -0.921019 deg/s, cmd heading: 47.001882 deg, new cmd heading: 47.616470 deg. 2021-02-17T20:50:55.192Z,1613595055.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:50:55.970Z,1613595055.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:50:56.371Z,1613595056.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:50:57.196Z,1613595057.196 [Micromodem](INFO): Nmea in: $SNTTA,0.093083,,,,205056.07*42 2021-02-17T20:50:57.242Z,1613595057.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.440002 m, bearing: 33.584993 deg, deltaT: 4.444599 s, approachRate: -0.580480 m/s, LOS rate: 0.081961 deg/s, posRepo size: 4 2021-02-17T20:50:57.246Z,1613595057.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.440002 m, bearing: 33.584993 deg, approachRate: -0.580480 m/s, LOS rate: 0.081961 deg/s, cmd update: 0.327845 deg/s, cmd heading: 42.904644 deg, new cmd heading: 42.515958 deg. 2021-02-17T20:50:59.625Z,1613595059.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:00.408Z,1613595060.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:00.813Z,1613595060.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:01.636Z,1613595061.636 [Micromodem](INFO): Nmea in: $SNTTA,0.091342,,,,205100.50*4E 2021-02-17T20:51:01.661Z,1613595061.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.800003 m, bearing: 33.782771 deg, deltaT: 4.423617 s, approachRate: -0.596797 m/s, LOS rate: 0.044710 deg/s, posRepo size: 4 2021-02-17T20:51:01.663Z,1613595061.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.800003 m, bearing: 33.782771 deg, approachRate: -0.596797 m/s, LOS rate: 0.044710 deg/s, cmd update: 0.178839 deg/s, cmd heading: 44.354903 deg, new cmd heading: 44.491840 deg. 2021-02-17T20:51:04.092Z,1613595064.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:04.853Z,1613595064.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:05.257Z,1613595065.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:06.084Z,1613595066.084 [Micromodem](INFO): Nmea in: $SNTTA,0.089742,,,,205104.95*4E 2021-02-17T20:51:06.136Z,1613595066.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.459991 m, bearing: 32.828222 deg, deltaT: 4.471855 s, approachRate: -0.523275 m/s, LOS rate: -0.213457 deg/s, posRepo size: 4 2021-02-17T20:51:06.143Z,1613595066.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.459991 m, bearing: 32.828222 deg, approachRate: -0.523275 m/s, LOS rate: -0.213457 deg/s, cmd update: -0.853829 deg/s, cmd heading: 45.153963 deg, new cmd heading: 45.229152 deg. 2021-02-17T20:51:06.896Z,1613595066.896 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T20:51:08.523Z,1613595068.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:09.297Z,1613595069.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:09.702Z,1613595069.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:10.524Z,1613595070.524 [Micromodem](INFO): Nmea in: $SNTTA,0.088051,,,,205109.39*41 2021-02-17T20:51:10.576Z,1613595070.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.880005 m, bearing: 32.967339 deg, deltaT: 4.442069 s, approachRate: -0.580807 m/s, LOS rate: 0.031318 deg/s, posRepo size: 4 2021-02-17T20:51:10.578Z,1613595070.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.880005 m, bearing: 32.967339 deg, approachRate: -0.580807 m/s, LOS rate: 0.031318 deg/s, cmd update: 0.125273 deg/s, cmd heading: 41.361553 deg, new cmd heading: 41.000556 deg. 2021-02-17T20:51:12.968Z,1613595072.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:13.746Z,1613595073.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:14.147Z,1613595074.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:15.003Z,1613595075.003 [Micromodem](INFO): Nmea in: $SNTTA,0.086274,,,,205113.84*47 2021-02-17T20:51:15.237Z,1613595075.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.300003 m, bearing: 33.235294 deg, deltaT: 4.434870 s, approachRate: -0.581754 m/s, LOS rate: 0.060420 deg/s, posRepo size: 4 2021-02-17T20:51:15.264Z,1613595075.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.300003 m, bearing: 33.235294 deg, approachRate: -0.581754 m/s, LOS rate: 0.060420 deg/s, cmd update: 0.241680 deg/s, cmd heading: 41.915105 deg, new cmd heading: 41.998476 deg. 2021-02-17T20:51:17.523Z,1613595077.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:18.302Z,1613595078.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:18.634Z,1613595078.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:19.521Z,1613595079.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.660004 m, bearing: 32.848313 deg, deltaT: 4.511156 s, approachRate: -0.585216 m/s, LOS rate: -0.085783 deg/s, posRepo size: 4 2021-02-17T20:51:19.536Z,1613595079.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.660004 m, bearing: 32.848313 deg, approachRate: -0.585216 m/s, LOS rate: -0.085783 deg/s, cmd update: -0.343133 deg/s, cmd heading: 43.010072 deg, new cmd heading: 43.110933 deg. 2021-02-17T20:51:19.860Z,1613595079.860 [Micromodem](INFO): Nmea in: $SNTTA,0.084555,,,,205118.40*42 2021-02-17T20:51:21.879Z,1613595081.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:22.674Z,1613595082.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:23.084Z,1613595083.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:23.908Z,1613595083.908 [Micromodem](INFO): Nmea in: $SNTTA,0.082665,,,,205122.77*49 2021-02-17T20:51:23.930Z,1613595083.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.779999 m, bearing: 33.321040 deg, deltaT: 4.415401 s, approachRate: -0.652264 m/s, LOS rate: 0.107063 deg/s, posRepo size: 4 2021-02-17T20:51:23.932Z,1613595083.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.779999 m, bearing: 33.321040 deg, approachRate: -0.652264 m/s, LOS rate: 0.107063 deg/s, cmd update: 0.428253 deg/s, cmd heading: 41.494649 deg, new cmd heading: 41.353525 deg. 2021-02-17T20:51:26.344Z,1613595086.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:27.121Z,1613595087.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:27.527Z,1613595087.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:28.348Z,1613595088.348 [Micromodem](INFO): Nmea in: $SNTTA,0.080920,,,,205127.21*43 2021-02-17T20:51:28.372Z,1613595088.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.200005 m, bearing: 34.451754 deg, deltaT: 4.419385 s, approachRate: -0.583790 m/s, LOS rate: 0.255853 deg/s, posRepo size: 4 2021-02-17T20:51:28.374Z,1613595088.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.200005 m, bearing: 34.451754 deg, approachRate: -0.583790 m/s, LOS rate: 0.255853 deg/s, cmd update: 1.023413 deg/s, cmd heading: 43.387257 deg, new cmd heading: 43.572919 deg. 2021-02-17T20:51:30.782Z,1613595090.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:31.573Z,1613595091.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:31.965Z,1613595091.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:32.796Z,1613595092.796 [Micromodem](INFO): Nmea in: $SNTTA,0.079279,,,,205131.67*47 2021-02-17T20:51:32.820Z,1613595092.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.680000 m, bearing: 32.435708 deg, deltaT: 4.453166 s, approachRate: -0.565890 m/s, LOS rate: -0.452722 deg/s, posRepo size: 4 2021-02-17T20:51:32.822Z,1613595092.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.680000 m, bearing: 32.435708 deg, approachRate: -0.565890 m/s, LOS rate: -0.452722 deg/s, cmd update: -1.810888 deg/s, cmd heading: 47.944575 deg, new cmd heading: 48.383835 deg. 2021-02-17T20:51:35.246Z,1613595095.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:36.017Z,1613595096.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:36.469Z,1613595096.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:37.240Z,1613595097.240 [Micromodem](INFO): Nmea in: $SNTTA,0.077642,,,,205136.11*43 2021-02-17T20:51:37.281Z,1613595097.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.279999 m, bearing: 32.529462 deg, deltaT: 4.468232 s, approachRate: -0.537126 m/s, LOS rate: 0.020982 deg/s, posRepo size: 4 2021-02-17T20:51:37.292Z,1613595097.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.279999 m, bearing: 32.529462 deg, approachRate: -0.537126 m/s, LOS rate: 0.020982 deg/s, cmd update: 0.083930 deg/s, cmd heading: 39.853345 deg, new cmd heading: 39.090624 deg. 2021-02-17T20:51:39.715Z,1613595099.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:40.472Z,1613595100.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:40.853Z,1613595100.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:41.692Z,1613595101.692 [Micromodem](INFO): Nmea in: $SNTTA,0.075909,,,,205140.57*42 2021-02-17T20:51:41.741Z,1613595101.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.639999 m, bearing: 34.569274 deg, deltaT: 4.444192 s, approachRate: -0.594034 m/s, LOS rate: 0.458984 deg/s, posRepo size: 4 2021-02-17T20:51:41.742Z,1613595101.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.639999 m, bearing: 34.569274 deg, approachRate: -0.594034 m/s, LOS rate: 0.458984 deg/s, cmd update: 1.835935 deg/s, cmd heading: 40.226102 deg, new cmd heading: 40.263023 deg. 2021-02-17T20:51:44.136Z,1613595104.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:44.958Z,1613595104.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:45.297Z,1613595105.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:46.177Z,1613595106.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.000000 m, bearing: 34.145584 deg, deltaT: 4.456842 s, approachRate: -0.592348 m/s, LOS rate: -0.095065 deg/s, posRepo size: 4 2021-02-17T20:51:46.178Z,1613595106.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.000000 m, bearing: 34.145584 deg, approachRate: -0.592348 m/s, LOS rate: -0.095065 deg/s, cmd update: -0.380261 deg/s, cmd heading: 48.407078 deg, new cmd heading: 49.177885 deg. 2021-02-17T20:51:46.524Z,1613595106.524 [Micromodem](INFO): Nmea in: $SNTTA,0.074141,,,,205145.05*45 2021-02-17T20:51:48.570Z,1613595108.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:49.342Z,1613595109.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:49.742Z,1613595109.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:50.568Z,1613595110.568 [Micromodem](INFO): Nmea in: $SNTTA,0.072364,,,,205149.44*4F 2021-02-17T20:51:50.593Z,1613595110.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.360001 m, bearing: 32.871050 deg, deltaT: 4.476573 s, approachRate: -0.589737 m/s, LOS rate: -0.284712 deg/s, posRepo size: 4 2021-02-17T20:51:50.594Z,1613595110.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.360001 m, bearing: 32.871050 deg, approachRate: -0.589737 m/s, LOS rate: -0.284712 deg/s, cmd update: -1.138848 deg/s, cmd heading: 46.704825 deg, new cmd heading: 46.568120 deg. 2021-02-17T20:51:52.993Z,1613595112.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:53.782Z,1613595113.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:54.185Z,1613595114.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:55.008Z,1613595115.008 [Micromodem](INFO): Nmea in: $SNTTA,0.070820,,,,205153.88*4D 2021-02-17T20:51:55.085Z,1613595115.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.900002 m, bearing: 32.962343 deg, deltaT: 4.403432 s, approachRate: -0.558655 m/s, LOS rate: 0.020732 deg/s, posRepo size: 4 2021-02-17T20:51:55.091Z,1613595115.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.900002 m, bearing: 32.962343 deg, approachRate: -0.558655 m/s, LOS rate: 0.020732 deg/s, cmd update: 0.082928 deg/s, cmd heading: 41.685515 deg, new cmd heading: 41.179432 deg. 2021-02-17T20:51:56.649Z,1613595116.649 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T20:51:57.488Z,1613595117.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:51:58.227Z,1613595118.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:51:58.629Z,1613595118.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:51:59.464Z,1613595119.464 [Micromodem](INFO): Nmea in: $SNTTA,0.068966,,,,205158.32*4D 2021-02-17T20:51:59.529Z,1613595119.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.260010 m, bearing: 32.713604 deg, deltaT: 4.450449 s, approachRate: -0.593197 m/s, LOS rate: -0.055891 deg/s, posRepo size: 4 2021-02-17T20:51:59.535Z,1613595119.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.260010 m, bearing: 32.713604 deg, approachRate: -0.593197 m/s, LOS rate: -0.055891 deg/s, cmd update: -0.223563 deg/s, cmd heading: 42.054588 deg, new cmd heading: 42.090900 deg. 2021-02-17T20:52:01.875Z,1613595121.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:52:02.669Z,1613595122.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:52:03.091Z,1613595123.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:52:03.896Z,1613595123.896 [Micromodem](INFO): Nmea in: $SNTTA,0.067224,,,,205202.76*43 2021-02-17T20:52:03.942Z,1613595123.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.680000 m, bearing: 33.178658 deg, deltaT: 4.439032 s, approachRate: -0.581210 m/s, LOS rate: 0.104765 deg/s, posRepo size: 4 2021-02-17T20:52:03.948Z,1613595123.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.680000 m, bearing: 33.178658 deg, approachRate: -0.581210 m/s, LOS rate: 0.104765 deg/s, cmd update: 0.419059 deg/s, cmd heading: 41.062176 deg, new cmd heading: 40.970100 deg. 2021-02-17T20:52:06.362Z,1613595126.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:52:06.729Z,1613595126.729 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T20:52:07.112Z,1613595127.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:52:07.519Z,1613595127.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:52:08.364Z,1613595128.364 [Micromodem](INFO): Nmea in: $SNTTA,0.065526,,0.071420,,205207.21*5D 2021-02-17T20:52:08.388Z,1613595128.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.159996 m, bearing: 33.866335 deg, deltaT: 4.412549 s, approachRate: -0.571099 m/s, LOS rate: 0.155846 deg/s, posRepo size: 4 2021-02-17T20:52:08.390Z,1613595128.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.159996 m, bearing: 33.866335 deg, approachRate: -0.571099 m/s, LOS rate: 0.155846 deg/s, cmd update: 0.623383 deg/s, cmd heading: 42.911274 deg, new cmd heading: 43.097923 deg. 2021-02-17T20:52:10.464Z,1613595130.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:52:11.170Z,1613595131.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:52:11.563Z,1613595131.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:52:11.582Z,1613595131.582 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T20:52:12.392Z,1613595132.392 [Micromodem](INFO): Nmea in: $SNTTA,0.063977,,,0.066472,205211.26*52 2021-02-17T20:52:12.431Z,1613595132.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.820007 m, bearing: 33.327092 deg, deltaT: 4.051195 s, approachRate: -0.577605 m/s, LOS rate: -0.133107 deg/s, posRepo size: 4 2021-02-17T20:52:12.433Z,1613595132.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.820007 m, bearing: 33.327092 deg, approachRate: -0.577605 m/s, LOS rate: -0.133107 deg/s, cmd update: -0.532429 deg/s, cmd heading: 45.434252 deg, new cmd heading: 45.709011 deg. 2021-02-17T20:52:14.835Z,1613595134.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:52:15.602Z,1613595135.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:52:16.001Z,1613595136.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:52:16.836Z,1613595136.836 [Micromodem](INFO): Nmea in: $SNTTA,0.062421,,,,205215.70*45 2021-02-17T20:52:16.884Z,1613595136.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 33.324250 deg, deltaT: 4.488629 s, approachRate: -0.521318 m/s, LOS rate: -0.000633 deg/s, posRepo size: 4 2021-02-17T20:52:16.886Z,1613595136.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.480003 m, bearing: 33.324250 deg, approachRate: -0.521318 m/s, LOS rate: -0.000633 deg/s, cmd update: -0.002532 deg/s, cmd heading: 43.066674 deg, new cmd heading: 42.828266 deg. 2021-02-17T20:52:19.282Z,1613595139.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:52:20.070Z,1613595140.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:52:20.461Z,1613595140.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:52:21.284Z,1613595141.284 [Micromodem](INFO): Nmea in: $SNTTA,0.060599,,,,205220.16*43 2021-02-17T20:52:21.332Z,1613595141.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.720001 m, bearing: 33.628498 deg, deltaT: 4.385586 s, approachRate: -0.629335 m/s, LOS rate: 0.069374 deg/s, posRepo size: 4 2021-02-17T20:52:21.334Z,1613595141.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.720001 m, bearing: 33.628498 deg, approachRate: -0.629335 m/s, LOS rate: 0.069374 deg/s, cmd update: 0.277498 deg/s, cmd heading: 43.055453 deg, new cmd heading: 43.054340 deg. 2021-02-17T20:52:23.701Z,1613595143.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:52:24.496Z,1613595144.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:52:24.890Z,1613595144.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:52:25.720Z,1613595145.720 [Micromodem](INFO): Nmea in: $SNTTA,0.058954,,,,205224.59*4A 2021-02-17T20:52:25.765Z,1613595145.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.260002 m, bearing: 33.285687 deg, deltaT: 4.449346 s, approachRate: -0.552890 m/s, LOS rate: -0.077047 deg/s, posRepo size: 4 2021-02-17T20:52:25.767Z,1613595145.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.260002 m, bearing: 33.285687 deg, approachRate: -0.552890 m/s, LOS rate: -0.077047 deg/s, cmd update: -0.308190 deg/s, cmd heading: 44.290173 deg, new cmd heading: 44.414336 deg. 2021-02-17T20:52:28.160Z,1613595148.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:52:28.930Z,1613595148.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:52:29.339Z,1613595149.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:52:30.160Z,1613595150.160 [Micromodem](INFO): Nmea in: $SNTTA,0.057239,,,,205229.02*46 2021-02-17T20:52:30.204Z,1613595150.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.800003 m, bearing: 34.001638 deg, deltaT: 4.458763 s, approachRate: -0.551722 m/s, LOS rate: 0.160572 deg/s, posRepo size: 4 2021-02-17T20:52:30.206Z,1613595150.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.800003 m, bearing: 34.001638 deg, approachRate: -0.551722 m/s, LOS rate: 0.160572 deg/s, cmd update: 0.642286 deg/s, cmd heading: 42.921039 deg, new cmd heading: 42.790439 deg. 2021-02-17T20:52:32.614Z,1613595152.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:52:33.381Z,1613595153.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:52:33.783Z,1613595153.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:52:34.608Z,1613595154.608 [Micromodem](INFO): Nmea in: $SNTTA,0.055544,,,,205233.48*4C 2021-02-17T20:52:34.657Z,1613595154.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.160004 m, bearing: 33.593906 deg, deltaT: 4.427313 s, approachRate: -0.596298 m/s, LOS rate: -0.092095 deg/s, posRepo size: 4 2021-02-17T20:52:34.658Z,1613595154.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.160004 m, bearing: 33.593906 deg, approachRate: -0.596298 m/s, LOS rate: -0.092095 deg/s, cmd update: -0.368378 deg/s, cmd heading: 45.775115 deg, new cmd heading: 46.066159 deg. 2021-02-17T20:52:37.067Z,1613595157.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:52:37.818Z,1613595157.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:52:38.222Z,1613595158.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:52:39.076Z,1613595159.076 [Micromodem](INFO): Nmea in: $SNTTA,0.053893,,,,205237.91*4D 2021-02-17T20:52:39.101Z,1613595159.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.700005 m, bearing: 32.257880 deg, deltaT: 4.460099 s, approachRate: -0.551557 m/s, LOS rate: -0.299551 deg/s, posRepo size: 4 2021-02-17T20:52:39.102Z,1613595159.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.700005 m, bearing: 32.257880 deg, approachRate: -0.551557 m/s, LOS rate: -0.299551 deg/s, cmd update: -1.198203 deg/s, cmd heading: 44.138061 deg, new cmd heading: 43.971122 deg. 2021-02-17T20:52:41.542Z,1613595161.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:52:42.265Z,1613595162.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:52:42.673Z,1613595162.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:52:43.511Z,1613595163.511 [Micromodem](INFO): Nmea in: $SNTTA,0.052313,,0.063138,,205242.36*51 2021-02-17T20:52:43.536Z,1613595163.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.420006 m, bearing: 34.223377 deg, deltaT: 4.463579 s, approachRate: -0.510801 m/s, LOS rate: 0.440341 deg/s, posRepo size: 4 2021-02-17T20:52:43.538Z,1613595163.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.420006 m, bearing: 34.223377 deg, approachRate: -0.510801 m/s, LOS rate: 0.440341 deg/s, cmd update: 1.761363 deg/s, cmd heading: 38.775275 deg, new cmd heading: 38.281196 deg. 2021-02-17T20:52:45.910Z,1613595165.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:52:46.726Z,1613595166.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:52:47.109Z,1613595167.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:52:47.954Z,1613595167.954 [Micromodem](INFO): Nmea in: $SNTTA,0.050472,,,,205246.82*49 2021-02-17T20:52:47.971Z,1613595167.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.540001 m, bearing: 34.638113 deg, deltaT: 4.442477 s, approachRate: -0.648288 m/s, LOS rate: 0.093357 deg/s, posRepo size: 4 2021-02-17T20:52:47.973Z,1613595167.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.540001 m, bearing: 34.638113 deg, approachRate: -0.648288 m/s, LOS rate: 0.093357 deg/s, cmd update: 0.373428 deg/s, cmd heading: 46.607216 deg, new cmd heading: 47.314345 deg. 2021-02-17T20:52:50.384Z,1613595170.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:52:51.153Z,1613595171.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:52:51.560Z,1613595171.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:52:52.384Z,1613595172.384 [Micromodem](INFO): Nmea in: $SNTTA,0.048945,,,,205251.25*42 2021-02-17T20:52:52.429Z,1613595172.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.260002 m, bearing: 34.022108 deg, deltaT: 4.405685 s, approachRate: -0.517513 m/s, LOS rate: -0.139820 deg/s, posRepo size: 4 2021-02-17T20:52:52.431Z,1613595172.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.260002 m, bearing: 34.022108 deg, approachRate: -0.517513 m/s, LOS rate: -0.139820 deg/s, cmd update: -0.559282 deg/s, cmd heading: 48.252365 deg, new cmd heading: 48.421903 deg. 2021-02-17T20:52:54.831Z,1613595174.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:52:55.593Z,1613595175.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:52:56.026Z,1613595176.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:52:56.820Z,1613595176.820 [Micromodem](INFO): Nmea in: $SNTTA,0.047184,,,,205255.69*44 2021-02-17T20:52:56.865Z,1613595176.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.620003 m, bearing: 32.002862 deg, deltaT: 4.490789 s, approachRate: -0.587870 m/s, LOS rate: -0.449642 deg/s, posRepo size: 4 2021-02-17T20:52:56.866Z,1613595176.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.620003 m, bearing: 32.002862 deg, approachRate: -0.587870 m/s, LOS rate: -0.449642 deg/s, cmd update: -1.798567 deg/s, cmd heading: 45.755582 deg, new cmd heading: 45.517754 deg. 2021-02-17T20:52:59.263Z,1613595179.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:00.074Z,1613595180.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:00.464Z,1613595180.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:01.278Z,1613595181.278 [Micromodem](INFO): Nmea in: $SNTTA,0.045490,,,,205300.17*4E 2021-02-17T20:53:01.340Z,1613595181.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.099998 m, bearing: 32.214273 deg, deltaT: 4.403753 s, approachRate: -0.572240 m/s, LOS rate: 0.048007 deg/s, posRepo size: 4 2021-02-17T20:53:01.341Z,1613595181.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.099998 m, bearing: 32.214273 deg, approachRate: -0.572240 m/s, LOS rate: 0.048007 deg/s, cmd update: 0.192028 deg/s, cmd heading: 37.787199 deg, new cmd heading: 36.950308 deg. 2021-02-17T20:53:03.714Z,1613595183.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:04.500Z,1613595184.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:04.994Z,1613595184.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:05.728Z,1613595185.728 [Micromodem](INFO): Nmea in: $SNTTA,0.043922,,0.061704,,205304.59*58 2021-02-17T20:53:05.753Z,1613595185.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 32.913350 deg, deltaT: 4.449499 s, approachRate: -0.539385 m/s, LOS rate: 0.157114 deg/s, posRepo size: 4 2021-02-17T20:53:05.755Z,1613595185.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.700005 m, bearing: 32.913350 deg, approachRate: -0.539385 m/s, LOS rate: 0.157114 deg/s, cmd update: 0.628454 deg/s, cmd heading: 38.641629 deg, new cmd heading: 38.724869 deg. 2021-02-17T20:53:08.158Z,1613595188.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:08.926Z,1613595188.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:09.330Z,1613595189.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:10.160Z,1613595190.160 [Micromodem](INFO): Nmea in: $SNTTA,0.042261,,,,205309.02*4C 2021-02-17T20:53:10.214Z,1613595190.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.000004 m, bearing: 33.293965 deg, deltaT: 4.449226 s, approachRate: -0.606847 m/s, LOS rate: 0.085546 deg/s, posRepo size: 4 2021-02-17T20:53:10.220Z,1613595190.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.000004 m, bearing: 33.293965 deg, approachRate: -0.606847 m/s, LOS rate: 0.085546 deg/s, cmd update: 0.342186 deg/s, cmd heading: 41.436567 deg, new cmd heading: 41.717905 deg. 2021-02-17T20:53:12.593Z,1613595192.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:13.374Z,1613595193.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:13.773Z,1613595193.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:14.600Z,1613595194.600 [Micromodem](INFO): Nmea in: $SNTTA,0.040572,,,,205313.47*41 2021-02-17T20:53:14.644Z,1613595194.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.720005 m, bearing: 32.999861 deg, deltaT: 4.432592 s, approachRate: -0.514371 m/s, LOS rate: -0.066350 deg/s, posRepo size: 4 2021-02-17T20:53:14.646Z,1613595194.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.720005 m, bearing: 32.999861 deg, approachRate: -0.514371 m/s, LOS rate: -0.066350 deg/s, cmd update: -0.265402 deg/s, cmd heading: 42.953981 deg, new cmd heading: 43.105658 deg. 2021-02-17T20:53:17.067Z,1613595197.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:17.813Z,1613595197.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:18.229Z,1613595198.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:19.067Z,1613595199.067 [Micromodem](INFO): Nmea in: $SNTTA,0.038645,,,,205317.91*46 2021-02-17T20:53:19.091Z,1613595199.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.780003 m, bearing: 33.846733 deg, deltaT: 4.467358 s, approachRate: -0.658108 m/s, LOS rate: 0.189569 deg/s, posRepo size: 4 2021-02-17T20:53:19.093Z,1613595199.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.780003 m, bearing: 33.846733 deg, approachRate: -0.658108 m/s, LOS rate: 0.189569 deg/s, cmd update: 0.758275 deg/s, cmd heading: 41.769386 deg, new cmd heading: 41.656203 deg. 2021-02-17T20:53:21.558Z,1613595201.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:22.257Z,1613595202.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:22.662Z,1613595202.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:23.503Z,1613595203.503 [Micromodem](INFO): Nmea in: $SNTTA,0.036903,,,,205322.35*4D 2021-02-17T20:53:23.533Z,1613595203.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.140003 m, bearing: 33.325897 deg, deltaT: 4.456371 s, approachRate: -0.592410 m/s, LOS rate: -0.116874 deg/s, posRepo size: 4 2021-02-17T20:53:23.537Z,1613595203.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.140003 m, bearing: 33.325897 deg, approachRate: -0.592410 m/s, LOS rate: -0.116874 deg/s, cmd update: -0.467498 deg/s, cmd heading: 45.148551 deg, new cmd heading: 45.460302 deg. 2021-02-17T20:53:25.918Z,1613595205.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:26.711Z,1613595206.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:27.106Z,1613595207.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:27.936Z,1613595207.936 [Micromodem](INFO): Nmea in: $SNTTA,0.035382,,,,205326.80*47 2021-02-17T20:53:27.978Z,1613595207.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.559998 m, bearing: 34.255253 deg, deltaT: 4.436703 s, approachRate: -0.581514 m/s, LOS rate: 0.209470 deg/s, posRepo size: 4 2021-02-17T20:53:27.984Z,1613595207.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.559998 m, bearing: 34.255253 deg, approachRate: -0.581514 m/s, LOS rate: 0.209470 deg/s, cmd update: 0.837880 deg/s, cmd heading: 43.074415 deg, new cmd heading: 42.877871 deg. 2021-02-17T20:53:30.363Z,1613595210.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:31.144Z,1613595211.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:31.569Z,1613595211.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:32.372Z,1613595212.372 [Micromodem](INFO): Nmea in: $SNTTA,0.033444,,,,205331.24*44 2021-02-17T20:53:32.421Z,1613595212.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.980003 m, bearing: 33.259340 deg, deltaT: 4.404175 s, approachRate: -0.585806 m/s, LOS rate: -0.226129 deg/s, posRepo size: 4 2021-02-17T20:53:32.427Z,1613595212.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.980003 m, bearing: 33.259340 deg, approachRate: -0.585806 m/s, LOS rate: -0.226129 deg/s, cmd update: -0.904517 deg/s, cmd heading: 46.767950 deg, new cmd heading: 47.148911 deg. 2021-02-17T20:53:34.806Z,1613595214.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:35.588Z,1613595215.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:35.999Z,1613595215.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:36.820Z,1613595216.820 [Micromodem](INFO): Nmea in: $SNTTA,0.031892,,,,205335.68*4D 2021-02-17T20:53:36.858Z,1613595216.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.700005 m, bearing: 32.001834 deg, deltaT: 4.476474 s, approachRate: -0.509329 m/s, LOS rate: -0.280914 deg/s, posRepo size: 4 2021-02-17T20:53:36.860Z,1613595216.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.700005 m, bearing: 32.001834 deg, approachRate: -0.509329 m/s, LOS rate: -0.280914 deg/s, cmd update: -1.123658 deg/s, cmd heading: 42.722435 deg, new cmd heading: 42.342653 deg. 2021-02-17T20:53:37.651Z,1613595217.651 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2021-02-17T20:53:37.651Z,1613595217.651 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-02-17T20:53:37.651Z,1613595217.651 [RDI_Pathfinder](ERROR): Communications Fault 2021-02-17T20:53:37.870Z,1613595217.870 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-02-17T20:53:38.115Z,1613595218.115 [RDI_Pathfinder](INFO): Powering down 2021-02-17T20:53:38.975Z,1613595218.975 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-02-17T20:53:38.975Z,1613595218.975 [RDI_Pathfinder] No Fault, FailCount= 1 2021-02-17T20:53:39.261Z,1613595219.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:40.048Z,1613595220.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:40.437Z,1613595220.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:41.268Z,1613595221.268 [Micromodem](INFO): Nmea in: $SNTTA,0.030123,,,,205340.14*46 2021-02-17T20:53:41.308Z,1613595221.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.940002 m, bearing: 34.160392 deg, deltaT: 4.417381 s, approachRate: -0.624805 m/s, LOS rate: 0.488651 deg/s, posRepo size: 4 2021-02-17T20:53:41.310Z,1613595221.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.940002 m, bearing: 34.160392 deg, approachRate: -0.624805 m/s, LOS rate: 0.488651 deg/s, cmd update: 1.954605 deg/s, cmd heading: 37.754438 deg, new cmd heading: 37.269082 deg. 2021-02-17T20:53:43.729Z,1613595223.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:44.482Z,1613595224.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:44.894Z,1613595224.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:45.708Z,1613595225.708 [Micromodem](INFO): Nmea in: $SNTTA,0.028270,,,,205344.58*46 2021-02-17T20:53:45.749Z,1613595225.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.240002 m, bearing: 34.326154 deg, deltaT: 4.465982 s, approachRate: -0.604570 m/s, LOS rate: 0.037117 deg/s, posRepo size: 4 2021-02-17T20:53:45.751Z,1613595225.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.240002 m, bearing: 34.326154 deg, approachRate: -0.604570 m/s, LOS rate: 0.037117 deg/s, cmd update: 0.148466 deg/s, cmd heading: 46.483507 deg, new cmd heading: 47.311454 deg. 2021-02-17T20:53:48.162Z,1613595228.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:48.920Z,1613595228.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:49.325Z,1613595229.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:50.152Z,1613595230.152 [Micromodem](INFO): Nmea in: $SNTTA,0.026927,,0.038839,,205349.01*57 2021-02-17T20:53:50.204Z,1613595230.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.959999 m, bearing: 32.380708 deg, deltaT: 4.416185 s, approachRate: -0.516283 m/s, LOS rate: -0.440526 deg/s, posRepo size: 4 2021-02-17T20:53:50.205Z,1613595230.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.96 m. 2021-02-17T20:53:50.206Z,1613595230.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.959999 m, bearing: 32.380708 deg, approachRate: -0.516283 m/s, LOS rate: -0.440526 deg/s, cmd update: -1.762106 deg/s, cmd heading: 47.139174 deg, new cmd heading: 47.207195 deg. 2021-02-17T20:53:50.550Z,1613595230.550 [PowerOnly](INFO): Powering up loadControl 2021-02-17T20:53:52.571Z,1613595232.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:53.364Z,1613595233.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:53.775Z,1613595233.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:54.597Z,1613595234.597 [Micromodem](INFO): Nmea in: $SNTTA,0.025303,,,,205353.46*47 2021-02-17T20:53:54.628Z,1613595234.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.439999 m, bearing: 30.879961 deg, deltaT: 4.479554 s, approachRate: -0.562556 m/s, LOS rate: -0.335021 deg/s, posRepo size: 4 2021-02-17T20:53:54.628Z,1613595234.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.44 m. 2021-02-17T20:53:54.629Z,1613595234.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 37.44 m. 2021-02-17T20:53:54.629Z,1613595234.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T20:53:54.633Z,1613595234.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.439999 m, bearing: 30.879961 deg, approachRate: -0.562556 m/s, LOS rate: -0.335021 deg/s, cmd update: -1.340085 deg/s, cmd heading: 39.245726 deg, new cmd heading: 38.529510 deg. 2021-02-17T20:53:57.040Z,1613595237.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:53:57.808Z,1613595237.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:53:58.214Z,1613595238.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:53:59.049Z,1613595239.049 [Micromodem](INFO): Nmea in: $SNTTA,0.023681,,,,205357.90*41 2021-02-17T20:53:59.143Z,1613595239.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.279999 m, bearing: 33.029559 deg, deltaT: 4.429728 s, approachRate: -0.487615 m/s, LOS rate: 0.485266 deg/s, posRepo size: 4 2021-02-17T20:53:59.145Z,1613595239.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.279999 m, bearing: 33.029559 deg, approachRate: -0.487615 m/s, LOS rate: 0.485266 deg/s, cmd update: 1.941065 deg/s, cmd heading: 33.330975 deg, new cmd heading: 32.656112 deg. 2021-02-17T20:54:01.475Z,1613595241.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:02.253Z,1613595242.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:02.670Z,1613595242.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:54:03.484Z,1613595243.484 [Micromodem](INFO): Nmea in: $SNTTA,0.021571,,,,205402.35*47 2021-02-17T20:54:03.530Z,1613595243.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.160004 m, bearing: 33.644118 deg, deltaT: 4.503884 s, approachRate: -0.692734 m/s, LOS rate: 0.136451 deg/s, posRepo size: 4 2021-02-17T20:54:03.536Z,1613595243.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.160004 m, bearing: 33.644118 deg, approachRate: -0.692734 m/s, LOS rate: 0.136451 deg/s, cmd update: 0.545804 deg/s, cmd heading: 42.104333 deg, new cmd heading: 42.832778 deg. 2021-02-17T20:54:05.903Z,1613595245.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:06.698Z,1613595246.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:07.133Z,1613595247.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:54:07.928Z,1613595247.928 [Micromodem](INFO): Nmea in: $SNTTA,0.020252,,,,205406.79*4C 2021-02-17T20:54:07.946Z,1613595247.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.939999 m, bearing: 31.132313 deg, deltaT: 4.365158 s, approachRate: -0.508574 m/s, LOS rate: -0.575421 deg/s, posRepo size: 4 2021-02-17T20:54:07.948Z,1613595247.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.939999 m, bearing: 31.132313 deg, approachRate: -0.508574 m/s, LOS rate: -0.575421 deg/s, cmd update: -2.301686 deg/s, cmd heading: 44.486759 deg, new cmd heading: 44.719375 deg. 2021-02-17T20:54:10.394Z,1613595250.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:11.152Z,1613595251.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:11.546Z,1613595251.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:54:12.384Z,1613595252.384 [Micromodem](INFO): Nmea in: $SNTTA,0.018467,,,0.063681,205411.25*5C 2021-02-17T20:54:12.447Z,1613595252.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.420002 m, bearing: 30.980792 deg, deltaT: 4.442175 s, approachRate: -0.567289 m/s, LOS rate: -0.034110 deg/s, posRepo size: 4 2021-02-17T20:54:12.453Z,1613595252.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.420002 m, bearing: 30.980792 deg, approachRate: -0.567289 m/s, LOS rate: -0.034110 deg/s, cmd update: -0.136438 deg/s, cmd heading: 34.261852 deg, new cmd heading: 33.147175 deg. 2021-02-17T20:54:14.798Z,1613595254.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:15.584Z,1613595255.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:15.995Z,1613595255.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:54:16.812Z,1613595256.812 [Micromodem](INFO): Nmea in: $SNTTA,0.016859,,,,205415.68*4A 2021-02-17T20:54:16.861Z,1613595256.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.079998 m, bearing: 33.161921 deg, deltaT: 4.503060 s, approachRate: -0.519648 m/s, LOS rate: 0.484366 deg/s, posRepo size: 4 2021-02-17T20:54:16.862Z,1613595256.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.079998 m, bearing: 33.161921 deg, approachRate: -0.519648 m/s, LOS rate: 0.484366 deg/s, cmd update: 1.937464 deg/s, cmd heading: 33.648006 deg, new cmd heading: 33.593546 deg. 2021-02-17T20:54:19.274Z,1613595259.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:20.049Z,1613595260.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:20.442Z,1613595260.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:54:21.271Z,1613595261.271 [Micromodem](INFO): Nmea in: $SNTTA,0.015106,,,,205420.14*47 2021-02-17T20:54:21.306Z,1613595261.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.440001 m, bearing: 33.034227 deg, deltaT: 4.413657 s, approachRate: -0.598143 m/s, LOS rate: -0.028932 deg/s, posRepo size: 4 2021-02-17T20:54:21.308Z,1613595261.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.440001 m, bearing: 33.034227 deg, approachRate: -0.598143 m/s, LOS rate: -0.028932 deg/s, cmd update: -0.115726 deg/s, cmd heading: 42.199263 deg, new cmd heading: 43.033351 deg. 2021-02-17T20:54:23.680Z,1613595263.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:24.474Z,1613595264.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:24.878Z,1613595264.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:54:25.700Z,1613595265.700 [Micromodem](INFO): Nmea in: $SNTTA,0.013522,,,,205424.57*40 2021-02-17T20:54:25.746Z,1613595265.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.799997 m, bearing: 31.316253 deg, deltaT: 4.468197 s, approachRate: -0.590843 m/s, LOS rate: -0.384489 deg/s, posRepo size: 4 2021-02-17T20:54:25.752Z,1613595265.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.799997 m, bearing: 31.316253 deg, approachRate: -0.590843 m/s, LOS rate: -0.384489 deg/s, cmd update: -1.537957 deg/s, cmd heading: 41.682178 deg, new cmd heading: 41.635553 deg. 2021-02-17T20:54:28.152Z,1613595268.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:28.916Z,1613595268.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:29.324Z,1613595269.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:54:30.144Z,1613595270.144 [Micromodem](INFO): Nmea in: $SNTTA,0.011665,,,,205429.01*4C 2021-02-17T20:54:30.211Z,1613595270.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.219997 m, bearing: 34.071869 deg, deltaT: 4.391232 s, approachRate: -0.587534 m/s, LOS rate: 0.627527 deg/s, posRepo size: 4 2021-02-17T20:54:30.217Z,1613595270.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.219997 m, bearing: 34.071869 deg, approachRate: -0.587534 m/s, LOS rate: 0.627527 deg/s, cmd update: 2.510107 deg/s, cmd heading: 34.922427 deg, new cmd heading: 34.196385 deg. 2021-02-17T20:54:32.572Z,1613595272.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:33.374Z,1613595273.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:33.770Z,1613595273.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:54:34.601Z,1613595274.601 [Micromodem](INFO): Nmea in: $SNTTA,0.009995,,,,205433.47*4C 2021-02-17T20:54:34.642Z,1613595274.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.759997 m, bearing: 36.939350 deg, deltaT: 4.501675 s, approachRate: -0.546463 m/s, LOS rate: 0.636981 deg/s, posRepo size: 4 2021-02-17T20:54:34.644Z,1613595274.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.759997 m, bearing: 36.939350 deg, approachRate: -0.546463 m/s, LOS rate: 0.636981 deg/s, cmd update: 2.547923 deg/s, cmd heading: 46.201577 deg, new cmd heading: 47.231059 deg. 2021-02-17T20:54:37.104Z,1613595277.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:37.808Z,1613595277.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:38.209Z,1613595278.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:54:39.072Z,1613595279.072 [Micromodem](INFO): Nmea in: $SNTTA,0.009182,,0.031287,,205437.90*5D 2021-02-17T20:54:39.141Z,1613595279.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.599998 m, bearing: 33.247944 deg, deltaT: 4.385968 s, approachRate: -0.492479 m/s, LOS rate: -0.841640 deg/s, posRepo size: 4 2021-02-17T20:54:39.144Z,1613595279.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.599998 m, bearing: 33.247944 deg, approachRate: -0.492479 m/s, LOS rate: -0.841640 deg/s, cmd update: -3.366560 deg/s, cmd heading: 57.397501 deg, new cmd heading: 58.710662 deg. 2021-02-17T20:54:41.145Z,1613595281.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:41.850Z,1613595281.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:42.251Z,1613595282.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:54:43.124Z,1613595283.124 [Micromodem](INFO): Nmea in: $SNTTA,0.007390,,,,205441.94*46 2021-02-17T20:54:43.182Z,1613595283.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.859999 m, bearing: 30.177360 deg, deltaT: 4.046186 s, approachRate: -0.430035 m/s, LOS rate: -0.758883 deg/s, posRepo size: 4 2021-02-17T20:54:43.185Z,1613595283.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.859999 m, bearing: 30.177360 deg, approachRate: -0.430035 m/s, LOS rate: -0.758883 deg/s, cmd update: -3.035534 deg/s, cmd heading: 43.776394 deg, new cmd heading: 42.058385 deg. 2021-02-17T20:54:45.211Z,1613595285.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:45.884Z,1613595285.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:46.293Z,1613595286.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:54:47.128Z,1613595287.128 [Micromodem](INFO): Nmea in: $SNTTA,0.006238,,,,205445.98*4C 2021-02-17T20:54:47.162Z,1613595287.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.180000 m, bearing: 33.744546 deg, deltaT: 4.053646 s, approachRate: -0.414441 m/s, LOS rate: 0.879994 deg/s, posRepo size: 4 2021-02-17T20:54:47.164Z,1613595287.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.180000 m, bearing: 33.744546 deg, approachRate: -0.414441 m/s, LOS rate: 0.879994 deg/s, cmd update: 3.519978 deg/s, cmd heading: 31.470866 deg, new cmd heading: 30.145908 deg. 2021-02-17T20:54:49.538Z,1613595289.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:50.328Z,1613595290.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:50.733Z,1613595290.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:54:51.561Z,1613595291.561 [Micromodem](INFO): Nmea in: $SNTTA,0.004774,,,,205450.42*40 2021-02-17T20:54:51.628Z,1613595291.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.839999 m, bearing: 30.119683 deg, deltaT: 4.472165 s, approachRate: -0.523237 m/s, LOS rate: -0.810539 deg/s, posRepo size: 4 2021-02-17T20:54:51.629Z,1613595291.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.839999 m, bearing: 30.119683 deg, approachRate: -0.523237 m/s, LOS rate: -0.810539 deg/s, cmd update: -3.242155 deg/s, cmd heading: 47.198166 deg, new cmd heading: 48.710302 deg. 2021-02-17T20:54:53.985Z,1613595293.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:54.772Z,1613595294.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:55.189Z,1613595295.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:54:56.006Z,1613595296.006 [Micromodem](INFO): Nmea in: $SNTTA,0.003621,,,,205454.87*4B 2021-02-17T20:54:56.109Z,1613595296.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.220001 m, bearing: 26.462243 deg, deltaT: 4.415900 s, approachRate: -0.366856 m/s, LOS rate: -0.828243 deg/s, posRepo size: 4 2021-02-17T20:54:56.115Z,1613595296.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.220001 m, bearing: 26.462243 deg, approachRate: -0.366856 m/s, LOS rate: -0.828243 deg/s, cmd update: -3.312973 deg/s, cmd heading: 32.867583 deg, new cmd heading: 31.261620 deg. 2021-02-17T20:54:58.454Z,1613595298.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:54:59.218Z,1613595299.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:54:59.621Z,1613595299.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:00.448Z,1613595300.448 [Micromodem](INFO): Nmea in: $SNTTA,0.002718,,,,205459.31*41 2021-02-17T20:55:00.483Z,1613595300.483 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T20:55:00.484Z,1613595300.484 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T20:55:00.484Z,1613595300.484 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T20:55:00.484Z,1613595300.484 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:55:00.484Z,1613595300.484 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T20:55:00.484Z,1613595300.484 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.140001 m 2021-02-17T20:55:00.484Z,1613595300.484 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T20:55:00.485Z,1613595300.485 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T20:55:00.485Z,1613595300.485 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T20:55:00.487Z,1613595300.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 54.848895 deg, deltaT: 4.529803 s, approachRate: -0.238421 m/s, LOS rate: 6.266642 deg/s, posRepo size: 4 2021-02-17T20:55:00.489Z,1613595300.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 54.848895 deg, approachRate: -0.238421 m/s, LOS rate: 6.266642 deg/s, cmd update: 12.000000 deg/s, cmd heading: 17.860741 deg, new cmd heading: 16.724027 deg. 2021-02-17T20:55:00.868Z,1613595300.868 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T205500: (41.552319, -70.708603) 2021-02-17T20:55:00.868Z,1613595300.868 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T20:55:00.868Z,1613595300.868 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T20:55:00.869Z,1613595300.869 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:55:00.869Z,1613595300.869 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T20:55:00.869Z,1613595300.869 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T20:55:00.869Z,1613595300.869 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T20:55:00.869Z,1613595300.869 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T20:55:00.869Z,1613595300.869 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T20:55:01.290Z,1613595301.290 [UniversalFixResidualReporter](INFO): Fix residual: 4.8 %DT, over the last 627.5 m. Residual distance 30.4 m at bearing 120.7 degrees. Fix at (41.5515, -70.7067) with 0.0 m made good. 2021-02-17T20:55:02.886Z,1613595302.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:55:03.661Z,1613595303.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:55:04.110Z,1613595304.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:04.908Z,1613595304.908 [Micromodem](INFO): Nmea in: $SNTTA,0.002883,,,,205503.75*42 2021-02-17T20:55:04.946Z,1613595304.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.259999 m, bearing: 34.282427 deg, deltaT: 4.338514 s, approachRate: 0.027659 m/s, LOS rate: -4.740441 deg/s, posRepo size: 4 2021-02-17T20:55:04.952Z,1613595304.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.259999 m, bearing: 34.282427 deg, approachRate: 0.027659 m/s, LOS rate: -4.740441 deg/s, cmd update: -12.000000 deg/s, cmd heading: 69.923570 deg, new cmd heading: 75.487431 deg. 2021-02-17T20:55:07.351Z,1613595307.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:55:08.118Z,1613595308.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:55:08.521Z,1613595308.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:09.340Z,1613595309.340 [Micromodem](INFO): Nmea in: $SNTTA,0.004911,,,,205508.21*44 2021-02-17T20:55:09.390Z,1613595309.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.639998 m, bearing: 17.136980 deg, deltaT: 4.448794 s, approachRate: 0.310196 m/s, LOS rate: -3.853954 deg/s, posRepo size: 4 2021-02-17T20:55:09.396Z,1613595309.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.639998 m, bearing: 17.136980 deg, approachRate: 0.310196 m/s, LOS rate: -3.853954 deg/s, cmd update: -12.000000 deg/s, cmd heading: 16.537801 deg, new cmd heading: 11.028037 deg. 2021-02-17T20:55:11.776Z,1613595311.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:55:12.553Z,1613595312.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:55:12.959Z,1613595312.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:13.780Z,1613595313.780 [Micromodem](INFO): Nmea in: $SNTTA,0.004230,,,,205512.65*47 2021-02-17T20:55:13.835Z,1613595313.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.359998 m, bearing: 1.943919 deg, deltaT: 4.480001 s, approachRate: 0.160714 m/s, LOS rate: -3.391307 deg/s, posRepo size: 4 2021-02-17T20:55:13.837Z,1613595313.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.359998 m, bearing: 1.943919 deg, approachRate: 0.160714 m/s, LOS rate: -3.391307 deg/s, cmd update: -12.000000 deg/s, cmd heading: 322.777512 deg, new cmd heading: 317.702748 deg. 2021-02-17T20:55:16.236Z,1613595316.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:55:16.998Z,1613595316.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:55:17.399Z,1613595317.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:18.232Z,1613595318.232 [Micromodem](INFO): Nmea in: $SNTTA,0.005136,,,,205517.09*4C 2021-02-17T20:55:18.266Z,1613595318.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.240001 m, bearing: 339.963759 deg, deltaT: 4.423298 s, approachRate: 0.651098 m/s, LOS rate: -4.969181 deg/s, posRepo size: 4 2021-02-17T20:55:18.268Z,1613595318.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.240001 m, bearing: 339.963759 deg, approachRate: 0.651098 m/s, LOS rate: -4.969181 deg/s, cmd update: -12.000000 deg/s, cmd heading: 269.700538 deg, new cmd heading: 264.518830 deg. 2021-02-17T20:55:20.644Z,1613595320.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:55:21.442Z,1613595321.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:55:21.841Z,1613595321.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:22.668Z,1613595322.668 [Micromodem](INFO): Nmea in: $SNTTA,0.007108,,,,205521.54*4E 2021-02-17T20:55:22.690Z,1613595322.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.739998 m, bearing: 345.675246 deg, deltaT: 4.487057 s, approachRate: 0.334294 m/s, LOS rate: 1.272880 deg/s, posRepo size: 4 2021-02-17T20:55:22.712Z,1613595322.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.739998 m, bearing: 345.675246 deg, approachRate: 0.334294 m/s, LOS rate: 1.272880 deg/s, cmd update: 5.091521 deg/s, cmd heading: 215.909121 deg, new cmd heading: 211.431801 deg. 2021-02-17T20:55:25.107Z,1613595325.107 [PowerOnly](INFO): Powering down loadControl 2021-02-17T20:55:25.155Z,1613595325.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:55:25.880Z,1613595325.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:55:26.287Z,1613595326.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:27.125Z,1613595327.125 [Micromodem](INFO): Nmea in: $SNTTA,0.008564,,,0.019864,205525.97*58 2021-02-17T20:55:27.158Z,1613595327.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.980000 m, bearing: 326.675927 deg, deltaT: 4.388576 s, approachRate: 0.738281 m/s, LOS rate: -4.329267 deg/s, posRepo size: 4 2021-02-17T20:55:27.160Z,1613595327.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.980000 m, bearing: 326.675927 deg, approachRate: 0.738281 m/s, LOS rate: -4.329267 deg/s, cmd update: -12.000000 deg/s, cmd heading: 238.276789 deg, new cmd heading: 240.558101 deg. 2021-02-17T20:55:29.537Z,1613595329.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:55:30.324Z,1613595330.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:55:30.356Z,1613595330.356 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:55:30.731Z,1613595330.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:31.572Z,1613595331.572 [Micromodem](INFO): Nmea in: $SNTTA,0.009534,,,,205530.42*4C 2021-02-17T20:55:31.594Z,1613595331.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.400001 m, bearing: 270.903143 deg, deltaT: 4.491380 s, approachRate: 0.093512 m/s, LOS rate: -12.417739 deg/s, posRepo size: 4 2021-02-17T20:55:31.595Z,1613595331.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.417739 deg/s. Setting heading cmd to target bearing of 270.903143deg and heading rate command to 0 deg/s. 2021-02-17T20:55:33.988Z,1613595333.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:55:34.782Z,1613595334.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:55:35.184Z,1613595335.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:36.015Z,1613595336.015 [Micromodem](INFO): Nmea in: $SNTTA,0.011167,,0.094942,,205534.87*56 2021-02-17T20:55:36.113Z,1613595336.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.860001 m, bearing: 303.511532 deg, deltaT: 4.405033 s, approachRate: 0.558452 m/s, LOS rate: 7.402530 deg/s, posRepo size: 4 2021-02-17T20:55:36.119Z,1613595336.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.860001 m, bearing: 303.511532 deg, approachRate: 0.558452 m/s, LOS rate: 7.402530 deg/s, cmd update: 12.000000 deg/s, cmd heading: 270.903143 deg, new cmd heading: 270.903143 deg. 2021-02-17T20:55:38.111Z,1613595338.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:55:38.808Z,1613595338.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:55:39.214Z,1613595339.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:40.068Z,1613595340.068 [Micromodem](INFO): Nmea in: $SNTTA,0.012488,,,,205538.90*47 2021-02-17T20:55:40.128Z,1613595340.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.840000 m, bearing: 286.503049 deg, deltaT: 4.045303 s, approachRate: 0.489456 m/s, LOS rate: -4.204501 deg/s, posRepo size: 4 2021-02-17T20:55:40.130Z,1613595340.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.840000 m, bearing: 286.503049 deg, approachRate: 0.489456 m/s, LOS rate: -4.204501 deg/s, cmd update: -12.000000 deg/s, cmd heading: 319.254684 deg, new cmd heading: 325.157436 deg. 2021-02-17T20:55:42.489Z,1613595342.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:55:43.257Z,1613595343.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:55:43.658Z,1613595343.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:44.496Z,1613595344.496 [Micromodem](INFO): Nmea in: $SNTTA,0.014067,,,,205543.35*47 2021-02-17T20:55:44.522Z,1613595344.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.239996 m, bearing: 272.721886 deg, deltaT: 4.513543 s, approachRate: 0.531732 m/s, LOS rate: -3.053292 deg/s, posRepo size: 4 2021-02-17T20:55:44.524Z,1613595344.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.239996 m, bearing: 272.721886 deg, approachRate: 0.531732 m/s, LOS rate: -3.053292 deg/s, cmd update: -12.000000 deg/s, cmd heading: 264.947699 deg, new cmd heading: 260.632211 deg. 2021-02-17T20:55:46.928Z,1613595346.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:55:47.701Z,1613595347.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:55:48.122Z,1613595348.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:48.928Z,1613595348.928 [Micromodem](INFO): Nmea in: $SNTTA,0.016045,,,,205547.79*49 2021-02-17T20:55:48.974Z,1613595348.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.959997 m, bearing: 306.368326 deg, deltaT: 4.358206 s, approachRate: 0.853562 m/s, LOS rate: 7.720250 deg/s, posRepo size: 4 2021-02-17T20:55:48.974Z,1613595348.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 24.96 m. Rolling out. 2021-02-17T20:55:48.975Z,1613595348.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T20:55:51.381Z,1613595351.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:55:52.140Z,1613595352.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:55:52.554Z,1613595352.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:53.384Z,1613595353.384 [Micromodem](INFO): Nmea in: $SNTTA,0.018137,,0.024887,,205552.23*57 2021-02-17T20:55:53.417Z,1613595353.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.959997 m, bearing: 247.352487 deg, deltaT: 4.454337 s, approachRate: 0.673501 m/s, LOS rate: -13.249074 deg/s, posRepo size: 4 2021-02-17T20:55:55.794Z,1613595355.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:55:56.584Z,1613595356.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:55:56.997Z,1613595356.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:55:57.812Z,1613595357.812 [Micromodem](INFO): Nmea in: $SNTTA,0.020168,,,,205556.68*42 2021-02-17T20:55:57.850Z,1613595357.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.419996 m, bearing: 267.225714 deg, deltaT: 4.475243 s, approachRate: 0.549691 m/s, LOS rate: 4.440703 deg/s, posRepo size: 4 2021-02-17T20:56:00.262Z,1613595360.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:01.047Z,1613595361.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:01.435Z,1613595361.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:02.264Z,1613595362.264 [Micromodem](INFO): Nmea in: $SNTTA,0.022179,,,,205601.14*4A 2021-02-17T20:56:02.298Z,1613595362.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.419998 m, bearing: 242.069035 deg, deltaT: 4.409347 s, approachRate: 0.680373 m/s, LOS rate: -5.705307 deg/s, posRepo size: 4 2021-02-17T20:56:04.692Z,1613595364.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:05.472Z,1613595365.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:05.879Z,1613595365.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:06.708Z,1613595366.708 [Micromodem](INFO): Nmea in: $SNTTA,0.023853,,,,205605.56*48 2021-02-17T20:56:06.741Z,1613595366.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.880001 m, bearing: 204.209023 deg, deltaT: 4.462338 s, approachRate: 0.551281 m/s, LOS rate: -8.484344 deg/s, posRepo size: 4 2021-02-17T20:56:09.168Z,1613595369.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:09.942Z,1613595369.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:10.323Z,1613595370.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:11.168Z,1613595371.168 [Micromodem](INFO): Nmea in: $SNTTA,0.025190,,,,205610.04*4B 2021-02-17T20:56:11.223Z,1613595371.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.859997 m, bearing: 189.903629 deg, deltaT: 4.414670 s, approachRate: 0.448504 m/s, LOS rate: -3.240422 deg/s, posRepo size: 4 2021-02-17T20:56:13.247Z,1613595373.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:13.959Z,1613595373.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:14.367Z,1613595374.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:15.200Z,1613595375.200 [Micromodem](INFO): Nmea in: $SNTTA,0.026376,,,,205614.05*47 2021-02-17T20:56:15.253Z,1613595375.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.660000 m, bearing: 195.514821 deg, deltaT: 4.044062 s, approachRate: 0.445098 m/s, LOS rate: 1.387514 deg/s, posRepo size: 4 2021-02-17T20:56:17.608Z,1613595377.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:18.408Z,1613595378.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:18.806Z,1613595378.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:19.651Z,1613595379.651 [Micromodem](INFO): Nmea in: $SNTTA,0.027842,,,,205618.50*46 2021-02-17T20:56:19.670Z,1613595379.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.820000 m, bearing: 197.299262 deg, deltaT: 4.493396 s, approachRate: 0.480705 m/s, LOS rate: 0.397125 deg/s, posRepo size: 4 2021-02-17T20:56:22.125Z,1613595382.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:22.845Z,1613595382.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:23.257Z,1613595383.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:24.116Z,1613595384.116 [Micromodem](INFO): Nmea in: $SNTTA,0.029646,,,,205622.94*43 2021-02-17T20:56:24.178Z,1613595384.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.579998 m, bearing: 201.897673 deg, deltaT: 4.418557 s, approachRate: 0.624638 m/s, LOS rate: 1.040704 deg/s, posRepo size: 4 2021-02-17T20:56:26.505Z,1613595386.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:27.290Z,1613595387.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:27.695Z,1613595387.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:28.528Z,1613595388.528 [Micromodem](INFO): Nmea in: $SNTTA,0.031504,,0.034266,,205627.38*57 2021-02-17T20:56:28.550Z,1613595388.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.339996 m, bearing: 201.948476 deg, deltaT: 4.451806 s, approachRate: 0.619973 m/s, LOS rate: 0.011412 deg/s, posRepo size: 4 2021-02-17T20:56:30.942Z,1613595390.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:31.738Z,1613595391.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:32.138Z,1613595392.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:32.964Z,1613595392.964 [Micromodem](INFO): Nmea in: $SNTTA,0.033526,,,,205631.83*49 2021-02-17T20:56:33.001Z,1613595393.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.400005 m, bearing: 203.845438 deg, deltaT: 4.406806 s, approachRate: 0.694382 m/s, LOS rate: 0.430462 deg/s, posRepo size: 4 2021-02-17T20:56:35.429Z,1613595395.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:36.176Z,1613595396.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:36.587Z,1613595396.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:37.404Z,1613595397.404 [Micromodem](INFO): Nmea in: $SNTTA,0.035615,,,,205636.27*45 2021-02-17T20:56:37.452Z,1613595397.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.579998 m, bearing: 204.163288 deg, deltaT: 4.490400 s, approachRate: 0.708176 m/s, LOS rate: 0.070784 deg/s, posRepo size: 4 2021-02-17T20:56:39.834Z,1613595399.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:40.620Z,1613595400.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:41.052Z,1613595401.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:41.864Z,1613595401.864 [Micromodem](INFO): Nmea in: $SNTTA,0.037778,,,,205640.71*4F 2021-02-17T20:56:41.886Z,1613595401.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.180004 m, bearing: 218.930403 deg, deltaT: 4.426777 s, approachRate: 0.813234 m/s, LOS rate: 3.335861 deg/s, posRepo size: 4 2021-02-17T20:56:44.300Z,1613595404.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:45.105Z,1613595405.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:45.470Z,1613595405.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:46.306Z,1613595406.306 [Micromodem](INFO): Nmea in: $SNTTA,0.040212,,,,205645.20*47 2021-02-17T20:56:46.362Z,1613595406.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.780006 m, bearing: 217.201177 deg, deltaT: 4.440289 s, approachRate: 0.810759 m/s, LOS rate: -0.389440 deg/s, posRepo size: 4 2021-02-17T20:56:48.725Z,1613595408.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:49.508Z,1613595409.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:49.921Z,1613595409.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:50.747Z,1613595410.747 [Micromodem](INFO): Nmea in: $SNTTA,0.042649,,,,205649.60*47 2021-02-17T20:56:50.766Z,1613595410.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.320000 m, bearing: 152.762071 deg, deltaT: 4.454641 s, approachRate: 0.794675 m/s, LOS rate: -14.465612 deg/s, posRepo size: 4 2021-02-17T20:56:53.180Z,1613595413.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:53.952Z,1613595413.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:54.357Z,1613595414.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:55.184Z,1613595415.184 [Micromodem](INFO): Nmea in: $SNTTA,0.044941,,,,205654.05*49 2021-02-17T20:56:55.238Z,1613595415.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.619995 m, bearing: 220.603103 deg, deltaT: 4.409927 s, approachRate: 0.748311 m/s, LOS rate: 15.383708 deg/s, posRepo size: 4 2021-02-17T20:56:57.602Z,1613595417.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:56:58.397Z,1613595418.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:56:58.817Z,1613595418.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:56:59.628Z,1613595419.628 [Micromodem](INFO): Nmea in: $SNTTA,0.047184,,0.087441,,205658.49*5F 2021-02-17T20:56:59.665Z,1613595419.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.919998 m, bearing: 160.730566 deg, deltaT: 4.486908 s, approachRate: 0.735474 m/s, LOS rate: -13.343830 deg/s, posRepo size: 4 2021-02-17T20:57:02.126Z,1613595422.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:02.840Z,1613595422.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:57:03.263Z,1613595423.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:57:04.116Z,1613595424.116 [Micromodem](INFO): Nmea in: $SNTTA,0.049625,,0.073594,,205702.93*56 2021-02-17T20:57:04.162Z,1613595424.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.580009 m, bearing: 166.260601 deg, deltaT: 4.415185 s, approachRate: 0.828960 m/s, LOS rate: 1.252504 deg/s, posRepo size: 4 2021-02-17T20:57:06.190Z,1613595426.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:06.888Z,1613595426.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:57:07.305Z,1613595427.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:57:08.142Z,1613595428.142 [Micromodem](INFO): Nmea in: $SNTTA,0.051928,,,,205707.01*41 2021-02-17T20:57:08.176Z,1613595428.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.000000 m, bearing: 173.139681 deg, deltaT: 4.024212 s, approachRate: 0.849853 m/s, LOS rate: 1.709423 deg/s, posRepo size: 4 2021-02-17T20:57:10.546Z,1613595430.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:11.324Z,1613595431.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:57:11.738Z,1613595431.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:57:12.568Z,1613595432.568 [Micromodem](INFO): Nmea in: $SNTTA,0.054502,,,,205711.42*40 2021-02-17T20:57:12.590Z,1613595432.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.960007 m, bearing: 183.715928 deg, deltaT: 4.476148 s, approachRate: 0.884691 m/s, LOS rate: 2.362801 deg/s, posRepo size: 4 2021-02-17T20:57:14.980Z,1613595434.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:15.768Z,1613595435.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:57:16.173Z,1613595436.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:57:16.996Z,1613595436.996 [Micromodem](INFO): Nmea in: $SNTTA,0.056821,,,,205715.86*42 2021-02-17T20:57:17.103Z,1613595437.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.379997 m, bearing: 183.701763 deg, deltaT: 4.427507 s, approachRate: 0.772442 m/s, LOS rate: -0.003200 deg/s, posRepo size: 4 2021-02-17T20:57:19.472Z,1613595439.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:20.214Z,1613595440.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:57:20.618Z,1613595440.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:57:21.444Z,1613595441.444 [Micromodem](INFO): Nmea in: $SNTTA,0.059483,,,,205720.31*43 2021-02-17T20:57:21.488Z,1613595441.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.400002 m, bearing: 249.426515 deg, deltaT: 4.520231 s, approachRate: 0.889336 m/s, LOS rate: 14.540131 deg/s, posRepo size: 4 2021-02-17T20:57:23.878Z,1613595443.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:24.662Z,1613595444.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:57:25.106Z,1613595445.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:57:25.904Z,1613595445.904 [Micromodem](INFO): Nmea in: $SNTTA,0.061920,,,,205724.75*48 2021-02-17T20:57:25.929Z,1613595445.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.060005 m, bearing: 185.258171 deg, deltaT: 4.368998 s, approachRate: 0.837722 m/s, LOS rate: -14.687198 deg/s, posRepo size: 4 2021-02-17T20:57:28.342Z,1613595448.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:29.134Z,1613595449.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:57:29.514Z,1613595449.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:57:30.344Z,1613595450.344 [Micromodem](INFO): Nmea in: $SNTTA,0.064599,,,,205729.23*4D 2021-02-17T20:57:30.400Z,1613595450.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.020004 m, bearing: 195.407409 deg, deltaT: 4.447863 s, approachRate: 0.890315 m/s, LOS rate: 2.281823 deg/s, posRepo size: 4 2021-02-17T20:57:32.754Z,1613595452.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:33.544Z,1613595453.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:57:33.955Z,1613595453.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:57:34.777Z,1613595454.777 [Micromodem](INFO): Nmea in: $SNTTA,0.067121,,,,205733.64*41 2021-02-17T20:57:34.831Z,1613595454.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.860001 m, bearing: 195.950286 deg, deltaT: 4.479866 s, approachRate: 0.857168 m/s, LOS rate: 0.121182 deg/s, posRepo size: 4 2021-02-17T20:57:37.245Z,1613595457.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:38.009Z,1613595458.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:57:38.394Z,1613595458.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:57:39.228Z,1613595459.228 [Micromodem](INFO): Nmea in: $SNTTA,0.069808,,,,205738.10*45 2021-02-17T20:57:39.290Z,1613595459.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.820000 m, bearing: 198.202323 deg, deltaT: 4.389151 s, approachRate: 0.902224 m/s, LOS rate: 0.513092 deg/s, posRepo size: 4 2021-02-17T20:57:41.644Z,1613595461.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:42.440Z,1613595462.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:57:42.838Z,1613595462.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:57:43.664Z,1613595463.664 [Micromodem](INFO): Nmea in: $SNTTA,0.072513,,,,205742.53*42 2021-02-17T20:57:43.708Z,1613595463.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.959999 m, bearing: 201.183864 deg, deltaT: 4.510512 s, approachRate: 0.917856 m/s, LOS rate: 0.661021 deg/s, posRepo size: 4 2021-02-17T20:57:46.153Z,1613595466.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:46.876Z,1613595466.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:57:47.283Z,1613595467.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:57:48.120Z,1613595468.120 [Micromodem](INFO): Nmea in: $SNTTA,0.074894,,,,205746.97*4A 2021-02-17T20:57:48.154Z,1613595468.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.680000 m, bearing: 193.315609 deg, deltaT: 4.399365 s, approachRate: 0.845577 m/s, LOS rate: -1.788498 deg/s, posRepo size: 4 2021-02-17T20:57:50.533Z,1613595470.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:51.320Z,1613595471.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:57:51.758Z,1613595471.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:57:52.556Z,1613595472.556 [Micromodem](INFO): Nmea in: $SNTTA,0.077540,,,0.080066,205751.41*56 2021-02-17T20:57:52.574Z,1613595472.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.519997 m, bearing: 199.251904 deg, deltaT: 4.457171 s, approachRate: 0.861532 m/s, LOS rate: 1.331853 deg/s, posRepo size: 4 2021-02-17T20:57:55.236Z,1613595475.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:55.768Z,1613595475.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:57:56.179Z,1613595476.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:57:57.000Z,1613595477.000 [Micromodem](INFO): Nmea in: $SNTTA,0.080228,,,,205755.86*4E 2021-02-17T20:57:57.099Z,1613595477.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.659996 m, bearing: 191.100196 deg, deltaT: 4.423487 s, approachRate: 0.935913 m/s, LOS rate: -1.842824 deg/s, posRepo size: 4 2021-02-17T20:57:59.111Z,1613595479.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:57:59.810Z,1613595479.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:00.218Z,1613595480.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:01.044Z,1613595481.044 [Micromodem](INFO): Nmea in: $SNTTA,0.082642,,,,205759.90*4F 2021-02-17T20:58:01.135Z,1613595481.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.080009 m, bearing: 207.137685 deg, deltaT: 4.049024 s, approachRate: 0.844651 m/s, LOS rate: 3.960828 deg/s, posRepo size: 4 2021-02-17T20:58:03.482Z,1613595483.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:58:04.255Z,1613595484.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:04.658Z,1613595484.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:05.480Z,1613595485.480 [Micromodem](INFO): Nmea in: $SNTTA,0.085262,,,,205804.35*46 2021-02-17T20:58:05.534Z,1613595485.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.220001 m, bearing: 233.675716 deg, deltaT: 4.503824 s, approachRate: 0.919217 m/s, LOS rate: 5.892333 deg/s, posRepo size: 4 2021-02-17T20:58:07.911Z,1613595487.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:58:08.702Z,1613595488.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:09.118Z,1613595489.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:09.968Z,1613595489.968 [Micromodem](INFO): Nmea in: $SNTTA,0.087977,,,,205808.79*4F 2021-02-17T20:58:09.990Z,1613595489.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.240005 m, bearing: 181.253905 deg, deltaT: 4.380954 s, approachRate: 0.917609 m/s, LOS rate: -11.965843 deg/s, posRepo size: 4 2021-02-17T20:58:12.378Z,1613595492.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:58:13.146Z,1613595493.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:13.546Z,1613595493.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:14.376Z,1613595494.376 [Micromodem](INFO): Nmea in: $SNTTA,0.090652,,,,205813.24*43 2021-02-17T20:58:14.430Z,1613595494.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.260010 m, bearing: 177.048749 deg, deltaT: 4.430121 s, approachRate: 0.907425 m/s, LOS rate: -0.949219 deg/s, posRepo size: 4 2021-02-17T20:58:16.802Z,1613595496.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:58:17.584Z,1613595497.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:17.989Z,1613595497.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:18.816Z,1613595498.816 [Micromodem](INFO): Nmea in: $SNTTA,0.093337,,,,205817.68*4A 2021-02-17T20:58:18.838Z,1613595498.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.220001 m, bearing: 229.971650 deg, deltaT: 4.484230 s, approachRate: 0.883093 m/s, LOS rate: 11.802004 deg/s, posRepo size: 4 2021-02-17T20:58:21.269Z,1613595501.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:58:22.053Z,1613595502.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:22.434Z,1613595502.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:23.268Z,1613595503.268 [Micromodem](INFO): Nmea in: $SNTTA,0.095932,,,,205822.15*4F 2021-02-17T20:58:23.320Z,1613595503.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.059998 m, bearing: 227.614756 deg, deltaT: 4.408081 s, approachRate: 0.871127 m/s, LOS rate: -0.534676 deg/s, posRepo size: 4 2021-02-17T20:58:25.720Z,1613595505.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:58:26.474Z,1613595506.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:26.885Z,1613595506.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:27.700Z,1613595507.700 [Micromodem](INFO): Nmea in: $SNTTA,0.098332,,,,205826.57*4A 2021-02-17T20:58:27.742Z,1613595507.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.779999 m, bearing: 231.664253 deg, deltaT: 4.498564 s, approachRate: 0.826931 m/s, LOS rate: 0.900175 deg/s, posRepo size: 4 2021-02-17T20:58:30.181Z,1613595510.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:58:30.916Z,1613595510.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:31.322Z,1613595511.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:31.340Z,1613595511.340 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T20:58:32.160Z,1613595512.160 [Micromodem](INFO): Nmea in: $SNTTA,0.101323,,,,205831.01*4E 2021-02-17T20:58:32.214Z,1613595512.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.099991 m, bearing: 176.676121 deg, deltaT: 4.392121 s, approachRate: 0.983578 m/s, LOS rate: -12.519721 deg/s, posRepo size: 4 2021-02-17T20:58:32.214Z,1613595512.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.10 m. Resuming terminal guidance. 2021-02-17T20:58:32.215Z,1613595512.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T20:58:34.572Z,1613595514.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:58:35.366Z,1613595515.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:35.769Z,1613595515.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:36.599Z,1613595516.599 [Micromodem](INFO): Nmea in: $SNTTA,0.103771,,,,205835.46*48 2021-02-17T20:58:36.618Z,1613595516.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.819992 m, bearing: 185.668557 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T20:58:36.619Z,1613595516.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 185.668557deg and heading rate command to 0 deg/s. 2021-02-17T20:58:39.017Z,1613595519.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:58:39.804Z,1613595519.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:40.218Z,1613595520.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:41.052Z,1613595521.052 [Micromodem](INFO): Nmea in: $SNTTA,0.106372,,,,205839.90*4D 2021-02-17T20:58:41.128Z,1613595521.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.660004 m, bearing: 211.078308 deg, deltaT: 4.427857 s, approachRate: 0.867239 m/s, LOS rate: 5.738612 deg/s, posRepo size: 2 2021-02-17T20:58:41.130Z,1613595521.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.660004 m, bearing: 211.078308 deg, approachRate: 0.867239 m/s, LOS rate: 5.738612 deg/s, cmd update: 12.000000 deg/s, cmd heading: 185.668557 deg, new cmd heading: 185.668557 deg. 2021-02-17T20:58:43.491Z,1613595523.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:58:44.254Z,1613595524.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:44.656Z,1613595524.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:45.481Z,1613595525.481 [Micromodem](INFO): Nmea in: $SNTTA,0.108498,,,,205844.35*45 2021-02-17T20:58:45.525Z,1613595525.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 200.119365 deg, deltaT: 4.513844 s, approachRate: 0.717790 m/s, LOS rate: -2.427852 deg/s, posRepo size: 3 2021-02-17T20:58:45.531Z,1613595525.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.899994 m, bearing: 200.119365 deg, approachRate: 0.717790 m/s, LOS rate: -2.427852 deg/s, cmd update: -9.711406 deg/s, cmd heading: 239.833402 deg, new cmd heading: 244.207042 deg. 2021-02-17T20:58:47.921Z,1613595527.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:58:48.698Z,1613595528.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:49.117Z,1613595529.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:49.924Z,1613595529.924 [Micromodem](INFO): Nmea in: $SNTTA,0.111282,,,,205848.79*44 2021-02-17T20:58:49.960Z,1613595529.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 237.140316 deg, deltaT: 4.381225 s, approachRate: 0.000000 m/s, LOS rate: 8.449909 deg/s, posRepo size: 4 2021-02-17T20:58:49.962Z,1613595529.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.899994 m, bearing: 237.140316 deg, approachRate: 0.000000 m/s, LOS rate: 8.449909 deg/s, cmd update: 12.000000 deg/s, cmd heading: 197.283779 deg, new cmd heading: 193.227548 deg. 2021-02-17T20:58:52.381Z,1613595532.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:58:53.138Z,1613595533.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:53.542Z,1613595533.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:54.364Z,1613595534.364 [Micromodem](INFO): Nmea in: $SNTTA,0.113846,,,,205853.23*41 2021-02-17T20:58:54.418Z,1613595534.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 197.279427 deg, deltaT: 4.435536 s, approachRate: 0.000000 m/s, LOS rate: -8.986713 deg/s, posRepo size: 4 2021-02-17T20:58:54.420Z,1613595534.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.899994 m, bearing: 197.279427 deg, approachRate: 0.000000 m/s, LOS rate: -8.986713 deg/s, cmd update: -12.000000 deg/s, cmd heading: 250.358496 deg, new cmd heading: 255.799344 deg. 2021-02-17T20:58:56.829Z,1613595536.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:58:57.592Z,1613595537.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:58:57.986Z,1613595537.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:58:58.806Z,1613595538.806 [Micromodem](INFO): Nmea in: $SNTTA,0.116436,,,,205857.68*44 2021-02-17T20:58:59.241Z,1613595539.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.840012 m, bearing: 204.788346 deg, deltaT: 4.839296 s, approachRate: 2.467305 m/s, LOS rate: 1.551655 deg/s, posRepo size: 4 2021-02-17T20:58:59.243Z,1613595539.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.840012 m, bearing: 204.788346 deg, approachRate: 2.467305 m/s, LOS rate: 1.551655 deg/s, cmd update: 6.206621 deg/s, cmd heading: 192.086638 deg, new cmd heading: 187.044514 deg. 2021-02-17T20:59:01.641Z,1613595541.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:59:02.428Z,1613595542.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:59:02.834Z,1613595542.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:59:03.656Z,1613595543.656 [Micromodem](INFO): Nmea in: $SNTTA,0.119261,,,,205902.52*47 2021-02-17T20:59:03.698Z,1613595543.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.840012 m, bearing: 244.149401 deg, deltaT: 4.478474 s, approachRate: 0.000000 m/s, LOS rate: 8.788943 deg/s, posRepo size: 4 2021-02-17T20:59:03.700Z,1613595543.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.840012 m, bearing: 244.149401 deg, approachRate: 0.000000 m/s, LOS rate: 8.788943 deg/s, cmd update: 12.000000 deg/s, cmd heading: 219.881300 deg, new cmd heading: 222.354310 deg. 2021-02-17T20:59:06.160Z,1613595546.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:59:06.880Z,1613595546.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:59:07.283Z,1613595547.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:59:08.131Z,1613595548.131 [Micromodem](INFO): Nmea in: $SNTTA,0.121987,,,,205906.97*42 2021-02-17T20:59:08.522Z,1613595548.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.120010 m, bearing: 209.447491 deg, deltaT: 4.865087 s, approachRate: 1.701922 m/s, LOS rate: -7.132845 deg/s, posRepo size: 4 2021-02-17T20:59:08.524Z,1613595548.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.120010 m, bearing: 209.447491 deg, approachRate: 1.701922 m/s, LOS rate: -7.132845 deg/s, cmd update: -12.000000 deg/s, cmd heading: 278.265142 deg, new cmd heading: 282.554362 deg. 2021-02-17T20:59:10.144Z,1613595550.144 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T20:59:10.927Z,1613595550.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:59:11.721Z,1613595551.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:59:12.126Z,1613595552.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:59:12.941Z,1613595552.941 [Micromodem](INFO): Nmea in: $SNTTA,0.124780,,,,205911.81*4F 2021-02-17T20:59:13.424Z,1613595553.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.320007 m, bearing: 243.580911 deg, deltaT: 4.791126 s, approachRate: 0.876620 m/s, LOS rate: 7.124300 deg/s, posRepo size: 4 2021-02-17T20:59:13.426Z,1613595553.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.320007 m, bearing: 243.580911 deg, approachRate: 0.876620 m/s, LOS rate: 7.124300 deg/s, cmd update: 12.000000 deg/s, cmd heading: 220.771544 deg, new cmd heading: 215.198696 deg. 2021-02-17T20:59:15.787Z,1613595555.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:59:16.577Z,1613595556.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:59:16.989Z,1613595556.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:59:17.790Z,1613595557.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205916.67*56 2021-02-17T20:59:18.241Z,1613595558.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.399994 m, bearing: 235.650132 deg, deltaT: 4.849419 s, approachRate: 0.841335 m/s, LOS rate: -1.635408 deg/s, posRepo size: 4 2021-02-17T20:59:18.243Z,1613595558.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.399994 m, bearing: 235.650132 deg, approachRate: 0.841335 m/s, LOS rate: -1.635408 deg/s, cmd update: -6.541632 deg/s, cmd heading: 278.964597 deg, new cmd heading: 284.199046 deg. 2021-02-17T20:59:20.628Z,1613595560.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:59:21.418Z,1613595561.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:59:21.850Z,1613595561.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:59:22.632Z,1613595562.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205921.51*57 2021-02-17T20:59:23.142Z,1613595563.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.479996 m, bearing: 229.525474 deg, deltaT: 4.842172 s, approachRate: 0.842597 m/s, LOS rate: -1.264858 deg/s, posRepo size: 4 2021-02-17T20:59:23.148Z,1613595563.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.479996 m, bearing: 229.525474 deg, approachRate: 0.842597 m/s, LOS rate: -1.264858 deg/s, cmd update: -5.059430 deg/s, cmd heading: 247.289106 deg, new cmd heading: 244.051011 deg. 2021-02-17T20:59:25.491Z,1613595565.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:59:26.282Z,1613595566.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:59:26.682Z,1613595566.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:59:27.515Z,1613595567.515 [Micromodem](INFO): Nmea in: $SNTTA,0.132744,,,,205926.37*49 2021-02-17T20:59:27.914Z,1613595567.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.439987 m, bearing: 267.805679 deg, deltaT: 4.882782 s, approachRate: 0.811011 m/s, LOS rate: 7.839835 deg/s, posRepo size: 4 2021-02-17T20:59:27.916Z,1613595567.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.439987 m, bearing: 267.805679 deg, approachRate: 0.811011 m/s, LOS rate: 7.839835 deg/s, cmd update: 12.000000 deg/s, cmd heading: 222.584885 deg, new cmd heading: 220.642327 deg. 2021-02-17T20:59:30.385Z,1613595570.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:59:31.118Z,1613595571.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:59:31.533Z,1613595571.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:59:32.333Z,1613595572.333 [Micromodem](INFO): Nmea in: $SNTTA,0.135358,,,,205931.21*46 2021-02-17T20:59:32.762Z,1613595572.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.159988 m, bearing: 239.685135 deg, deltaT: 4.871807 s, approachRate: 0.763577 m/s, LOS rate: -5.772097 deg/s, posRepo size: 4 2021-02-17T20:59:32.764Z,1613595572.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.159988 m, bearing: 239.685135 deg, approachRate: 0.763577 m/s, LOS rate: -5.772097 deg/s, cmd update: -12.000000 deg/s, cmd heading: 281.044303 deg, new cmd heading: 285.369679 deg. 2021-02-17T20:59:35.203Z,1613595575.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:59:35.962Z,1613595575.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:59:36.383Z,1613595576.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:59:37.195Z,1613595577.195 [Micromodem](INFO): Nmea in: $SNTTA,0.138400,,,,205936.05*40 2021-02-17T20:59:37.625Z,1613595577.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.359985 m, bearing: 291.736395 deg, deltaT: 4.852443 s, approachRate: 0.865543 m/s, LOS rate: 10.726816 deg/s, posRepo size: 4 2021-02-17T20:59:37.631Z,1613595577.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.359985 m, bearing: 291.736395 deg, approachRate: 0.865543 m/s, LOS rate: 10.726816 deg/s, cmd update: 12.000000 deg/s, cmd heading: 222.812765 deg, new cmd heading: 218.366453 deg. 2021-02-17T20:59:40.066Z,1613595580.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:59:40.863Z,1613595580.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:59:41.219Z,1613595581.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:59:42.062Z,1613595582.062 [Micromodem](INFO): Nmea in: $SNTTA,0.140914,,,,205940.95*4F 2021-02-17T20:59:42.462Z,1613595582.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.739990 m, bearing: 241.299600 deg, deltaT: 4.895208 s, approachRate: 0.894754 m/s, LOS rate: -10.303299 deg/s, posRepo size: 4 2021-02-17T20:59:42.464Z,1613595582.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 211.739990 m, bearing: 241.299600 deg, approachRate: 0.894754 m/s, LOS rate: -10.303299 deg/s, cmd update: -12.000000 deg/s, cmd heading: 281.507310 deg, new cmd heading: 285.308034 deg. 2021-02-17T20:59:44.864Z,1613595584.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:59:45.662Z,1613595585.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:59:46.116Z,1613595586.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:59:46.877Z,1613595586.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205945.75*53 2021-02-17T20:59:47.346Z,1613595587.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.639999 m, bearing: 236.388804 deg, deltaT: 4.774820 s, approachRate: 0.816787 m/s, LOS rate: -1.028478 deg/s, posRepo size: 4 2021-02-17T20:59:47.364Z,1613595587.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.639999 m, bearing: 236.388804 deg, approachRate: 0.816787 m/s, LOS rate: -1.028478 deg/s, cmd update: -4.113911 deg/s, cmd heading: 224.210141 deg, new cmd heading: 219.100204 deg. 2021-02-17T20:59:49.723Z,1613595589.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:59:50.511Z,1613595590.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:59:50.910Z,1613595590.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:59:51.731Z,1613595591.731 [Micromodem](INFO): Nmea in: $SNTTA,0.146432,,,,205950.60*4B 2021-02-17T20:59:52.188Z,1613595592.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.719986 m, bearing: 234.501814 deg, deltaT: 4.841681 s, approachRate: 0.842680 m/s, LOS rate: -0.389739 deg/s, posRepo size: 4 2021-02-17T20:59:52.190Z,1613595592.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 219.719986 m, bearing: 234.501814 deg, approachRate: 0.842680 m/s, LOS rate: -0.389739 deg/s, cmd update: -1.558954 deg/s, cmd heading: 204.358560 deg, new cmd heading: 202.537661 deg. 2021-02-17T20:59:54.562Z,1613595594.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T20:59:55.352Z,1613595595.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T20:59:55.764Z,1613595595.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T20:59:56.569Z,1613595596.569 [Micromodem](INFO): Nmea in: $SNTTA,0.149310,,,,205955.44*40 2021-02-17T20:59:56.997Z,1613595596.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.580002 m, bearing: 252.625584 deg, deltaT: 4.834610 s, approachRate: 1.005255 m/s, LOS rate: 3.748755 deg/s, posRepo size: 4 2021-02-17T20:59:57.019Z,1613595597.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 224.580002 m, bearing: 252.625584 deg, approachRate: 1.005255 m/s, LOS rate: 3.748755 deg/s, cmd update: 12.000000 deg/s, cmd heading: 196.816213 deg, new cmd heading: 196.171597 deg. 2021-02-17T20:59:59.446Z,1613595599.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:00.206Z,1613595600.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:00:00.621Z,1613595600.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:00:01.420Z,1613595601.420 [Micromodem](INFO): Nmea in: $SNTTA,0.152150,,,,210000.30*42 2021-02-17T21:00:01.880Z,1613595601.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.419983 m, bearing: 198.663470 deg, deltaT: 4.885399 s, approachRate: 0.786012 m/s, LOS rate: -11.045590 deg/s, posRepo size: 4 2021-02-17T21:00:01.882Z,1613595601.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 228.419983 m, bearing: 198.663470 deg, approachRate: 0.786012 m/s, LOS rate: -11.045590 deg/s, cmd update: -12.000000 deg/s, cmd heading: 255.594230 deg, new cmd heading: 260.365046 deg. 2021-02-17T21:00:04.309Z,1613595604.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:05.108Z,1613595605.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:00:05.459Z,1613595605.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:00:06.684Z,1613595606.684 [Micromodem](INFO): Nmea in: $SNTTA,0.155457,,,,210005.20*43 2021-02-17T21:00:06.706Z,1613595606.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.559998 m, bearing: 209.345435 deg, deltaT: 4.853032 s, approachRate: 0.853078 m/s, LOS rate: 2.201091 deg/s, posRepo size: 4 2021-02-17T21:00:06.708Z,1613595606.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 232.559998 m, bearing: 209.345435 deg, approachRate: 0.853078 m/s, LOS rate: 2.201091 deg/s, cmd update: 8.804364 deg/s, cmd heading: 197.361349 deg, new cmd heading: 192.903205 deg. 2021-02-17T21:00:09.169Z,1613595609.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:09.896Z,1613595609.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:00:10.318Z,1613595610.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:00:11.116Z,1613595611.116 [Micromodem](INFO): Nmea in: $SNTTA,0.157686,,,,210009.99*41 2021-02-17T21:00:11.946Z,1613595611.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:13.530Z,1613595613.530 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:00:14.766Z,1613595614.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:15.557Z,1613595615.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:00:15.966Z,1613595615.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:00:16.775Z,1613595616.775 [Micromodem](INFO): Nmea in: $SNTTA,0.161081,,,,210015.65*4B 2021-02-17T21:00:17.220Z,1613595617.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 241.739990 m, bearing: 206.714227 deg, deltaT: 10.451250 s, approachRate: 0.878363 m/s, LOS rate: -0.251760 deg/s, posRepo size: 4 2021-02-17T21:00:17.222Z,1613595617.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 241.739990 m, bearing: 206.714227 deg, approachRate: 0.878363 m/s, LOS rate: -0.251760 deg/s, cmd update: -1.007040 deg/s, cmd heading: 289.413405 deg, new cmd heading: 293.196130 deg. 2021-02-17T21:00:19.622Z,1613595619.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:20.400Z,1613595620.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:00:20.806Z,1613595620.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:00:21.618Z,1613595621.618 [Micromodem](INFO): Nmea in: $SNTTA,0.164083,,,,210020.49*44 2021-02-17T21:00:22.107Z,1613595622.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.239990 m, bearing: 274.708706 deg, deltaT: 4.843372 s, approachRate: 0.929105 m/s, LOS rate: 14.038665 deg/s, posRepo size: 4 2021-02-17T21:00:22.112Z,1613595622.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.038665 deg/s. Setting heading cmd to target bearing of 274.708706deg and heading rate command to 0 deg/s. 2021-02-17T21:00:24.150Z,1613595624.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:24.850Z,1613595624.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:00:25.250Z,1613595625.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:00:26.110Z,1613595626.110 [Micromodem](INFO): Nmea in: $SNTTA,0.166576,,0.167795,,210024.94*58 2021-02-17T21:00:26.497Z,1613595626.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.779999 m, bearing: 248.957062 deg, deltaT: 4.529867 s, approachRate: 0.781482 m/s, LOS rate: -5.684857 deg/s, posRepo size: 4 2021-02-17T21:00:26.500Z,1613595626.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 249.779999 m, bearing: 248.957062 deg, approachRate: 0.781482 m/s, LOS rate: -5.684857 deg/s, cmd update: -12.000000 deg/s, cmd heading: 274.708706 deg, new cmd heading: 274.708706 deg. 2021-02-17T21:00:28.900Z,1613595628.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:29.704Z,1613595629.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:00:30.114Z,1613595630.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:00:30.918Z,1613595630.918 [Micromodem](INFO): Nmea in: $SNTTA,0.168824,,,,210029.80*41 2021-02-17T21:00:31.356Z,1613595631.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.320007 m, bearing: 282.069874 deg, deltaT: 4.769956 s, approachRate: 0.742147 m/s, LOS rate: 6.941953 deg/s, posRepo size: 4 2021-02-17T21:00:31.358Z,1613595631.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 253.320007 m, bearing: 282.069874 deg, approachRate: 0.742147 m/s, LOS rate: 6.941953 deg/s, cmd update: 12.000000 deg/s, cmd heading: 217.231128 deg, new cmd heading: 212.153724 deg. 2021-02-17T21:00:33.764Z,1613595633.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:34.542Z,1613595634.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:00:34.953Z,1613595634.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:00:35.779Z,1613595635.779 [Micromodem](INFO): Nmea in: $SNTTA,0.171269,,,,210034.64*4C 2021-02-17T21:00:36.221Z,1613595636.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.919983 m, bearing: 253.415974 deg, deltaT: 4.877513 s, approachRate: 0.738076 m/s, LOS rate: -5.874695 deg/s, posRepo size: 4 2021-02-17T21:00:36.227Z,1613595636.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 256.919983 m, bearing: 253.415974 deg, approachRate: 0.738076 m/s, LOS rate: -5.874695 deg/s, cmd update: -12.000000 deg/s, cmd heading: 275.763471 deg, new cmd heading: 280.687095 deg. 2021-02-17T21:00:38.596Z,1613595638.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:39.404Z,1613595639.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:00:39.794Z,1613595639.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:00:40.618Z,1613595640.618 [Micromodem](INFO): Nmea in: $SNTTA,0.174301,,,,210039.50*4C 2021-02-17T21:00:41.113Z,1613595641.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.059998 m, bearing: 245.632481 deg, deltaT: 4.821685 s, approachRate: 0.858624 m/s, LOS rate: -1.614268 deg/s, posRepo size: 4 2021-02-17T21:00:41.119Z,1613595641.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 261.059998 m, bearing: 245.632481 deg, approachRate: 0.858624 m/s, LOS rate: -1.614268 deg/s, cmd update: -6.457073 deg/s, cmd heading: 217.904869 deg, new cmd heading: 212.134537 deg. 2021-02-17T21:00:43.458Z,1613595643.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:44.236Z,1613595644.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:00:44.649Z,1613595644.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:00:45.453Z,1613595645.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210044.33*5D 2021-02-17T21:00:45.904Z,1613595645.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.380005 m, bearing: 230.203220 deg, deltaT: 4.835117 s, approachRate: 0.893465 m/s, LOS rate: -3.191083 deg/s, posRepo size: 4 2021-02-17T21:00:45.906Z,1613595645.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 265.380005 m, bearing: 230.203220 deg, approachRate: 0.893465 m/s, LOS rate: -3.191083 deg/s, cmd update: -12.000000 deg/s, cmd heading: 186.683321 deg, new cmd heading: 183.895035 deg. 2021-02-17T21:00:48.343Z,1613595648.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:49.115Z,1613595649.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:00:49.494Z,1613595649.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:00:50.331Z,1613595650.331 [Micromodem](INFO): Nmea in: $SNTTA,0.179988,,,,210049.21*4B 2021-02-17T21:00:50.738Z,1613595650.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.420013 m, bearing: 238.997472 deg, deltaT: 4.916527 s, approachRate: 1.025116 m/s, LOS rate: 1.788712 deg/s, posRepo size: 4 2021-02-17T21:00:50.740Z,1613595650.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 270.420013 m, bearing: 238.997472 deg, approachRate: 1.025116 m/s, LOS rate: 1.788712 deg/s, cmd update: 7.154848 deg/s, cmd heading: 127.685212 deg, new cmd heading: 123.441292 deg. 2021-02-17T21:00:53.160Z,1613595653.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:53.932Z,1613595653.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:00:54.338Z,1613595654.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:00:55.175Z,1613595655.175 [Micromodem](INFO): Nmea in: $SNTTA,0.182469,,,,210054.02*40 2021-02-17T21:00:55.578Z,1613595655.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 273.779968 m, bearing: 212.275859 deg, deltaT: 4.909982 s, approachRate: 0.684311 m/s, LOS rate: -5.442304 deg/s, posRepo size: 4 2021-02-17T21:00:55.596Z,1613595655.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 273.779968 m, bearing: 212.275859 deg, approachRate: 0.684311 m/s, LOS rate: -5.442304 deg/s, cmd update: -12.000000 deg/s, cmd heading: 162.815832 deg, new cmd heading: 164.845104 deg. 2021-02-17T21:00:57.987Z,1613595657.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:00:58.783Z,1613595658.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:00:59.203Z,1613595659.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:00:59.000Z,1613595660.000 [Micromodem](INFO): Nmea in: $SNTTA,0.185115,,,,210058.88*47 2021-02-17T21:01:00.471Z,1613595660.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.860016 m, bearing: 194.859368 deg, deltaT: 4.742744 s, approachRate: 0.860272 m/s, LOS rate: -3.672239 deg/s, posRepo size: 4 2021-02-17T21:01:00.478Z,1613595660.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 277.860016 m, bearing: 194.859368 deg, approachRate: 0.860272 m/s, LOS rate: -3.672239 deg/s, cmd update: -12.000000 deg/s, cmd heading: 106.125370 deg, new cmd heading: 100.704010 deg. 2021-02-17T21:01:02.835Z,1613595662.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:01:03.640Z,1613595663.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:01:04.073Z,1613595664.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:01:04.851Z,1613595664.851 [Micromodem](INFO): Nmea in: $SNTTA,0.187265,,,,210103.73*4A 2021-02-17T21:01:05.321Z,1613595665.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.979980 m, bearing: 157.244765 deg, deltaT: 4.828793 s, approachRate: 0.646117 m/s, LOS rate: -7.789649 deg/s, posRepo size: 4 2021-02-17T21:01:05.327Z,1613595665.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 280.979980 m, bearing: 157.244765 deg, approachRate: 0.646117 m/s, LOS rate: -7.789649 deg/s, cmd update: -12.000000 deg/s, cmd heading: 47.960001 deg, new cmd heading: 42.497373 deg. 2021-02-17T21:01:07.689Z,1613595667.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:01:08.476Z,1613595668.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:01:08.882Z,1613595668.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:01:09.694Z,1613595669.694 [Micromodem](INFO): Nmea in: $SNTTA,0.188750,,,,210108.57*4B 2021-02-17T21:01:10.188Z,1613595670.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 283.139984 m, bearing: 113.330761 deg, deltaT: 4.870592 s, approachRate: 0.443479 m/s, LOS rate: -9.016154 deg/s, posRepo size: 4 2021-02-17T21:01:10.190Z,1613595670.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 283.139984 m, bearing: 113.330761 deg, approachRate: 0.443479 m/s, LOS rate: -9.016154 deg/s, cmd update: -12.000000 deg/s, cmd heading: 349.554967 deg, new cmd heading: 344.283319 deg. 2021-02-17T21:01:12.533Z,1613595672.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:01:13.345Z,1613595673.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:01:13.730Z,1613595673.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:01:14.553Z,1613595674.553 [Micromodem](INFO): Nmea in: $SNTTA,0.189570,,,,210113.44*42 2021-02-17T21:01:14.970Z,1613595674.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.339996 m, bearing: 114.333084 deg, deltaT: 4.854770 s, approachRate: 0.247182 m/s, LOS rate: 0.206462 deg/s, posRepo size: 4 2021-02-17T21:01:14.972Z,1613595674.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 284.339996 m, bearing: 114.333084 deg, approachRate: 0.247182 m/s, LOS rate: 0.206462 deg/s, cmd update: 0.825846 deg/s, cmd heading: 291.304110 deg, new cmd heading: 286.707906 deg. 2021-02-17T21:01:17.379Z,1613595677.379 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:01:17.417Z,1613595677.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:01:18.177Z,1613595678.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:01:18.579Z,1613595678.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:01:19.398Z,1613595679.398 [Micromodem](INFO): Nmea in: $SNTTA,0.189856,,,,210118.27*45 2021-02-17T21:01:19.835Z,1613595679.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.759979 m, bearing: 123.643377 deg, deltaT: 4.844245 s, approachRate: 0.086697 m/s, LOS rate: 1.921928 deg/s, posRepo size: 4 2021-02-17T21:01:19.837Z,1613595679.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 284.759979 m, bearing: 123.643377 deg, approachRate: 0.086697 m/s, LOS rate: 1.921928 deg/s, cmd update: 7.687713 deg/s, cmd heading: 295.308229 deg, new cmd heading: 295.638004 deg. 2021-02-17T21:01:21.442Z,1613595681.442 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:01:22.256Z,1613595682.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:01:23.068Z,1613595683.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:01:23.431Z,1613595683.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:01:24.265Z,1613595684.265 [Micromodem](INFO): Nmea in: $SNTTA,0.189998,,,,210123.16*4C 2021-02-17T21:01:24.674Z,1613595684.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 285.000000 m, bearing: 163.994727 deg, deltaT: 4.896394 s, approachRate: 0.049020 m/s, LOS rate: 8.241034 deg/s, posRepo size: 4 2021-02-17T21:01:24.676Z,1613595684.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 285.000000 m, bearing: 163.994727 deg, approachRate: 0.049020 m/s, LOS rate: 8.241034 deg/s, cmd update: 12.000000 deg/s, cmd heading: 332.949289 deg, new cmd heading: 335.580070 deg. 2021-02-17T21:01:27.145Z,1613595687.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:01:27.868Z,1613595687.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:01:28.273Z,1613595688.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:01:29.112Z,1613595689.112 [Micromodem](INFO): Nmea in: $SNTTA,0.190597,,,,210127.96*4B 2021-02-17T21:01:29.514Z,1613595689.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.199982 m, bearing: 154.364324 deg, deltaT: 4.850950 s, approachRate: 0.247370 m/s, LOS rate: -1.985261 deg/s, posRepo size: 4 2021-02-17T21:01:29.516Z,1613595689.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 286.199982 m, bearing: 154.364324 deg, approachRate: 0.247370 m/s, LOS rate: -1.985261 deg/s, cmd update: -7.941045 deg/s, cmd heading: 30.969423 deg, new cmd heading: 35.136219 deg. 2021-02-17T21:01:31.961Z,1613595691.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:01:32.718Z,1613595692.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:01:33.128Z,1613595693.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:01:33.936Z,1613595693.936 [Micromodem](INFO): Nmea in: $SNTTA,0.190525,,,,210132.81*40 2021-02-17T21:01:34.425Z,1613595694.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 285.660004 m, bearing: 48.396808 deg, deltaT: 4.791141 s, approachRate: -0.112703 m/s, LOS rate: -22.117387 deg/s, posRepo size: 4 2021-02-17T21:01:34.426Z,1613595694.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.117387 deg/s. Setting heading cmd to target bearing of 48.396808deg and heading rate command to 0 deg/s. 2021-02-17T21:01:36.787Z,1613595696.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:01:37.574Z,1613595697.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:01:37.970Z,1613595697.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:01:38.803Z,1613595698.803 [Micromodem](INFO): Nmea in: $SNTTA,0.190051,,,,210137.67*4B 2021-02-17T21:01:39.226Z,1613595699.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.880005 m, bearing: 54.212683 deg, deltaT: 4.865879 s, approachRate: -0.160300 m/s, LOS rate: 1.195236 deg/s, posRepo size: 4 2021-02-17T21:01:39.244Z,1613595699.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 284.880005 m, bearing: 54.212683 deg, approachRate: -0.160300 m/s, LOS rate: 1.195236 deg/s, cmd update: 4.780945 deg/s, cmd heading: 48.396808 deg, new cmd heading: 48.396808 deg. 2021-02-17T21:01:41.619Z,1613595701.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:01:42.421Z,1613595702.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:01:42.818Z,1613595702.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:01:43.635Z,1613595703.635 [Micromodem](INFO): Nmea in: $SNTTA,0.188656,,,,210142.51*44 2021-02-17T21:01:44.149Z,1613595704.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.660004 m, bearing: 46.752942 deg, deltaT: 4.809713 s, approachRate: -0.461566 m/s, LOS rate: -1.550974 deg/s, posRepo size: 4 2021-02-17T21:01:44.155Z,1613595704.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 282.660004 m, bearing: 46.752942 deg, approachRate: -0.461566 m/s, LOS rate: -1.550974 deg/s, cmd update: -6.203897 deg/s, cmd heading: 71.391937 deg, new cmd heading: 73.780669 deg. 2021-02-17T21:01:46.155Z,1613595706.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:01:46.862Z,1613595706.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:01:47.267Z,1613595707.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:01:48.107Z,1613595708.107 [Micromodem](INFO): Nmea in: $SNTTA,0.186985,,,,210146.95*47 2021-02-17T21:01:48.513Z,1613595708.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.319977 m, bearing: 47.838563 deg, deltaT: 4.552428 s, approachRate: -0.514017 m/s, LOS rate: 0.238471 deg/s, posRepo size: 4 2021-02-17T21:01:48.515Z,1613595708.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 280.319977 m, bearing: 47.838563 deg, approachRate: -0.514017 m/s, LOS rate: 0.238471 deg/s, cmd update: 0.953883 deg/s, cmd heading: 43.173951 deg, new cmd heading: 41.218446 deg. 2021-02-17T21:01:50.914Z,1613595710.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:01:51.704Z,1613595711.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:01:52.121Z,1613595712.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:01:52.947Z,1613595712.947 [Micromodem](INFO): Nmea in: $SNTTA,0.185274,,,,210151.80*43 2021-02-17T21:01:53.393Z,1613595713.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.739990 m, bearing: 49.484198 deg, deltaT: 4.764573 s, approachRate: -0.541494 m/s, LOS rate: 0.345390 deg/s, posRepo size: 4 2021-02-17T21:01:53.395Z,1613595713.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 277.739990 m, bearing: 49.484198 deg, approachRate: -0.541494 m/s, LOS rate: 0.345390 deg/s, cmd update: 1.381559 deg/s, cmd heading: 47.722556 deg, new cmd heading: 48.129176 deg. 2021-02-17T21:01:55.779Z,1613595715.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:01:56.560Z,1613595716.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:01:57.003Z,1613595717.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:01:57.799Z,1613595717.799 [Micromodem](INFO): Nmea in: $SNTTA,0.183330,,,,210156.65*48 2021-02-17T21:01:58.249Z,1613595718.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.799988 m, bearing: 48.651612 deg, deltaT: 4.847309 s, approachRate: -0.606523 m/s, LOS rate: -0.171763 deg/s, posRepo size: 4 2021-02-17T21:01:58.250Z,1613595718.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 274.799988 m, bearing: 48.651612 deg, approachRate: -0.606523 m/s, LOS rate: -0.171763 deg/s, cmd update: -0.687050 deg/s, cmd heading: 54.419459 deg, new cmd heading: 55.020208 deg. 2021-02-17T21:02:00.616Z,1613595720.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:02:01.400Z,1613595721.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:02:01.815Z,1613595721.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:02:02.618Z,1613595722.618 [Micromodem](INFO): Nmea in: $SNTTA,0.181481,,,,210201.49*48 2021-02-17T21:02:03.119Z,1613595723.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 271.979980 m, bearing: 48.034118 deg, deltaT: 4.842500 s, approachRate: -0.582345 m/s, LOS rate: -0.127515 deg/s, posRepo size: 4 2021-02-17T21:02:03.121Z,1613595723.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 271.979980 m, bearing: 48.034118 deg, approachRate: -0.582345 m/s, LOS rate: -0.127515 deg/s, cmd update: -0.510062 deg/s, cmd heading: 51.108887 deg, new cmd heading: 50.777447 deg. 2021-02-17T21:02:05.497Z,1613595725.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:02:06.256Z,1613595726.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:02:06.654Z,1613595726.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:02:07.470Z,1613595727.470 [Micromodem](INFO): Nmea in: $SNTTA,0.179557,,,,210206.35*49 2021-02-17T21:02:07.898Z,1613595727.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 269.100006 m, bearing: 47.004170 deg, deltaT: 4.828149 s, approachRate: -0.596497 m/s, LOS rate: -0.213322 deg/s, posRepo size: 4 2021-02-17T21:02:07.900Z,1613595727.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 269.100006 m, bearing: 47.004170 deg, approachRate: -0.596497 m/s, LOS rate: -0.213322 deg/s, cmd update: -0.853286 deg/s, cmd heading: 48.634095 deg, new cmd heading: 48.422999 deg. 2021-02-17T21:02:10.338Z,1613595730.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:02:11.114Z,1613595731.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:02:11.520Z,1613595731.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:02:12.322Z,1613595732.322 [Micromodem](INFO): Nmea in: $SNTTA,0.177664,,,,210211.21*47 2021-02-17T21:02:12.746Z,1613595732.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 266.339966 m, bearing: 47.995015 deg, deltaT: 4.897307 s, approachRate: -0.563583 m/s, LOS rate: 0.202325 deg/s, posRepo size: 4 2021-02-17T21:02:12.748Z,1613595732.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 266.339966 m, bearing: 47.995015 deg, approachRate: -0.563583 m/s, LOS rate: 0.202325 deg/s, cmd update: 0.809298 deg/s, cmd heading: 44.455088 deg, new cmd heading: 44.144340 deg. 2021-02-17T21:02:15.227Z,1613595735.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:02:15.945Z,1613595735.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:02:16.368Z,1613595736.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:02:17.162Z,1613595737.162 [Micromodem](INFO): Nmea in: $SNTTA,0.175755,,,,210216.04*46 2021-02-17T21:02:17.594Z,1613595737.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 263.339996 m, bearing: 49.048070 deg, deltaT: 4.851942 s, approachRate: -0.618303 m/s, LOS rate: 0.217038 deg/s, posRepo size: 4 2021-02-17T21:02:17.596Z,1613595737.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 263.339996 m, bearing: 49.048070 deg, approachRate: -0.618303 m/s, LOS rate: 0.217038 deg/s, cmd update: 0.868151 deg/s, cmd heading: 48.373706 deg, new cmd heading: 48.673339 deg. 2021-02-17T21:02:20.027Z,1613595740.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:02:20.793Z,1613595740.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:02:21.198Z,1613595741.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:02:22.021Z,1613595742.021 [Micromodem](INFO): Nmea in: $SNTTA,0.174072,,,0.176583,210220.89*55 2021-02-17T21:02:22.477Z,1613595742.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 260.879974 m, bearing: 49.273398 deg, deltaT: 4.891028 s, approachRate: -0.502966 m/s, LOS rate: 0.046070 deg/s, posRepo size: 4 2021-02-17T21:02:22.479Z,1613595742.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 260.879974 m, bearing: 49.273398 deg, approachRate: -0.502966 m/s, LOS rate: 0.046070 deg/s, cmd update: 0.184279 deg/s, cmd heading: 52.621477 deg, new cmd heading: 52.934003 deg. 2021-02-17T21:02:24.856Z,1613595744.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:02:25.640Z,1613595745.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:02:26.108Z,1613595746.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:02:26.857Z,1613595746.857 [Micromodem](INFO): Nmea in: $SNTTA,0.172197,,,,210225.73*49 2021-02-17T21:02:27.331Z,1613595747.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.119995 m, bearing: 47.845987 deg, deltaT: 4.747398 s, approachRate: -0.581367 m/s, LOS rate: -0.300672 deg/s, posRepo size: 4 2021-02-17T21:02:27.333Z,1613595747.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 258.119995 m, bearing: 47.845987 deg, approachRate: -0.581367 m/s, LOS rate: -0.300672 deg/s, cmd update: -1.202689 deg/s, cmd heading: 53.497761 deg, new cmd heading: 53.582371 deg. 2021-02-17T21:02:29.716Z,1613595749.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:02:30.506Z,1613595750.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:02:30.898Z,1613595750.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:02:31.718Z,1613595751.718 [Micromodem](INFO): Nmea in: $SNTTA,0.170252,,,,210230.60*47 2021-02-17T21:02:32.177Z,1613595752.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.239990 m, bearing: 47.971233 deg, deltaT: 4.860467 s, approachRate: -0.592537 m/s, LOS rate: 0.025768 deg/s, posRepo size: 4 2021-02-17T21:02:32.178Z,1613595752.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 255.239990 m, bearing: 47.971233 deg, approachRate: -0.592537 m/s, LOS rate: 0.025768 deg/s, cmd update: 0.103073 deg/s, cmd heading: 47.651804 deg, new cmd heading: 47.117808 deg. 2021-02-17T21:02:34.543Z,1613595754.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:02:35.336Z,1613595755.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:02:35.748Z,1613595755.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:02:36.556Z,1613595756.556 [Micromodem](INFO): Nmea in: $SNTTA,0.168267,,,0.171811,210235.43*5D 2021-02-17T21:02:37.081Z,1613595757.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.179993 m, bearing: 49.068673 deg, deltaT: 4.857556 s, approachRate: -0.629946 m/s, LOS rate: 0.225924 deg/s, posRepo size: 4 2021-02-17T21:02:37.091Z,1613595757.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 252.179993 m, bearing: 49.068673 deg, approachRate: -0.629946 m/s, LOS rate: 0.225924 deg/s, cmd update: 0.903698 deg/s, cmd heading: 48.152478 deg, new cmd heading: 48.201691 deg. 2021-02-17T21:02:39.411Z,1613595759.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:02:40.200Z,1613595760.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:02:40.592Z,1613595760.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:02:41.412Z,1613595761.412 [Micromodem](INFO): Nmea in: $SNTTA,0.166271,,,,210240.29*4B 2021-02-17T21:02:41.833Z,1613595761.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.239975 m, bearing: 49.184848 deg, deltaT: 4.887799 s, approachRate: -0.601501 m/s, LOS rate: 0.023768 deg/s, posRepo size: 4 2021-02-17T21:02:41.835Z,1613595761.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 249.239975 m, bearing: 49.184848 deg, approachRate: -0.601501 m/s, LOS rate: 0.023768 deg/s, cmd update: 0.095073 deg/s, cmd heading: 52.565960 deg, new cmd heading: 52.890573 deg. 2021-02-17T21:02:44.259Z,1613595764.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:02:45.065Z,1613595765.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:02:45.443Z,1613595765.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:02:46.275Z,1613595766.275 [Micromodem](INFO): Nmea in: $SNTTA,0.164471,,,,210245.16*46 2021-02-17T21:02:46.689Z,1613595766.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.479980 m, bearing: 47.544684 deg, deltaT: 4.866304 s, approachRate: -0.567164 m/s, LOS rate: -0.337045 deg/s, posRepo size: 4 2021-02-17T21:02:46.691Z,1613595766.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 246.479980 m, bearing: 47.544684 deg, approachRate: -0.567164 m/s, LOS rate: -0.337045 deg/s, cmd update: -1.348181 deg/s, cmd heading: 53.028974 deg, new cmd heading: 53.061797 deg. 2021-02-17T21:02:49.149Z,1613595769.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:02:49.884Z,1613595769.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:02:50.303Z,1613595770.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:02:51.124Z,1613595771.124 [Micromodem](INFO): Nmea in: $SNTTA,0.162642,,,,210249.98*48 2021-02-17T21:02:51.545Z,1613595771.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.659973 m, bearing: 47.512565 deg, deltaT: 4.813681 s, approachRate: -0.585832 m/s, LOS rate: -0.006672 deg/s, posRepo size: 4 2021-02-17T21:02:51.551Z,1613595771.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 243.659973 m, bearing: 47.512565 deg, approachRate: -0.585832 m/s, LOS rate: -0.006672 deg/s, cmd update: -0.026690 deg/s, cmd heading: 46.538933 deg, new cmd heading: 46.016734 deg. 2021-02-17T21:02:53.948Z,1613595773.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:02:54.728Z,1613595774.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:02:55.143Z,1613595775.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:02:55.946Z,1613595775.946 [Micromodem](INFO): Nmea in: $SNTTA,0.160569,,,,210254.82*47 2021-02-17T21:02:56.409Z,1613595776.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.660004 m, bearing: 48.347737 deg, deltaT: 4.818582 s, approachRate: -0.622583 m/s, LOS rate: 0.173323 deg/s, posRepo size: 4 2021-02-17T21:02:56.410Z,1613595776.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 240.660004 m, bearing: 48.347737 deg, approachRate: -0.622583 m/s, LOS rate: 0.173323 deg/s, cmd update: 0.693292 deg/s, cmd heading: 46.410755 deg, new cmd heading: 46.398797 deg. 2021-02-17T21:02:58.799Z,1613595778.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:02:59.577Z,1613595779.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:02:59.991Z,1613595779.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:03:00.794Z,1613595780.794 [Micromodem](INFO): Nmea in: $SNTTA,0.158730,,,,210259.67*44 2021-02-17T21:03:01.265Z,1613595781.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.839996 m, bearing: 49.209129 deg, deltaT: 4.832077 s, approachRate: -0.583601 m/s, LOS rate: 0.178266 deg/s, posRepo size: 4 2021-02-17T21:03:01.271Z,1613595781.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 237.839996 m, bearing: 49.209129 deg, approachRate: -0.583601 m/s, LOS rate: 0.178266 deg/s, cmd update: 0.713062 deg/s, cmd heading: 49.771929 deg, new cmd heading: 50.088429 deg. 2021-02-17T21:03:03.657Z,1613595783.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:03:04.442Z,1613595784.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:03:04.835Z,1613595784.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:03:05.653Z,1613595785.653 [Micromodem](INFO): Nmea in: $SNTTA,0.156899,,,,210304.53*48 2021-02-17T21:03:06.151Z,1613595786.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.139984 m, bearing: 49.367689 deg, deltaT: 4.858710 s, approachRate: -0.555706 m/s, LOS rate: 0.032634 deg/s, posRepo size: 4 2021-02-17T21:03:06.153Z,1613595786.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 235.139984 m, bearing: 49.367689 deg, approachRate: -0.555706 m/s, LOS rate: 0.032634 deg/s, cmd update: 0.130536 deg/s, cmd heading: 53.236478 deg, new cmd heading: 53.572726 deg. 2021-02-17T21:03:08.170Z,1613595788.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:03:08.869Z,1613595788.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:03:09.275Z,1613595789.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:03:10.110Z,1613595790.110 [Micromodem](INFO): Nmea in: $SNTTA,0.155193,,,,210308.96*4D 2021-02-17T21:03:10.535Z,1613595790.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.559998 m, bearing: 48.049865 deg, deltaT: 4.476132 s, approachRate: -0.576388 m/s, LOS rate: -0.294411 deg/s, posRepo size: 4 2021-02-17T21:03:10.537Z,1613595790.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 232.559998 m, bearing: 48.049865 deg, approachRate: -0.576388 m/s, LOS rate: -0.294411 deg/s, cmd update: -1.177645 deg/s, cmd heading: 53.820782 deg, new cmd heading: 53.871849 deg. 2021-02-17T21:03:12.940Z,1613595792.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:03:13.716Z,1613595793.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:03:14.130Z,1613595794.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:03:14.935Z,1613595794.935 [Micromodem](INFO): Nmea in: $SNTTA,0.153178,,,,210313.81*42 2021-02-17T21:03:15.393Z,1613595795.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.559982 m, bearing: 47.993509 deg, deltaT: 4.825631 s, approachRate: -0.621684 m/s, LOS rate: -0.011678 deg/s, posRepo size: 4 2021-02-17T21:03:15.399Z,1613595795.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 229.559982 m, bearing: 47.993509 deg, approachRate: -0.621684 m/s, LOS rate: -0.011678 deg/s, cmd update: -0.046714 deg/s, cmd heading: 48.161547 deg, new cmd heading: 47.638591 deg. 2021-02-17T21:03:17.771Z,1613595797.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:03:18.566Z,1613595798.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:03:18.970Z,1613595798.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:03:19.783Z,1613595799.783 [Micromodem](INFO): Nmea in: $SNTTA,0.151228,,,,210318.66*44 2021-02-17T21:03:20.225Z,1613595800.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.559982 m, bearing: 48.452324 deg, deltaT: 4.829151 s, approachRate: -0.621227 m/s, LOS rate: 0.095009 deg/s, posRepo size: 4 2021-02-17T21:03:20.226Z,1613595800.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 226.559982 m, bearing: 48.452324 deg, approachRate: -0.621227 m/s, LOS rate: 0.095009 deg/s, cmd update: 0.380037 deg/s, cmd heading: 47.935023 deg, new cmd heading: 47.915107 deg. 2021-02-17T21:03:22.635Z,1613595802.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:03:23.418Z,1613595803.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:03:23.818Z,1613595803.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:03:24.638Z,1613595804.638 [Micromodem](INFO): Nmea in: $SNTTA,0.149318,,,,210323.51*43 2021-02-17T21:03:25.397Z,1613595805.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.739990 m, bearing: 50.163351 deg, deltaT: 4.887830 s, approachRate: -0.576941 m/s, LOS rate: 0.350059 deg/s, posRepo size: 4 2021-02-17T21:03:25.399Z,1613595805.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.739990 m, bearing: 50.163351 deg, approachRate: -0.576941 m/s, LOS rate: 0.350059 deg/s, cmd update: 1.400235 deg/s, cmd heading: 49.791058 deg, new cmd heading: 50.062769 deg. 2021-02-17T21:03:27.230Z,1613595807.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:03:27.997Z,1613595807.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:03:28.392Z,1613595808.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:03:29.211Z,1613595809.211 [Micromodem](INFO): Nmea in: $SNTTA,0.147582,,,,210328.09*4E 2021-02-17T21:03:29.637Z,1613595809.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.160004 m, bearing: 49.441707 deg, deltaT: 4.558576 s, approachRate: -0.565963 m/s, LOS rate: -0.158305 deg/s, posRepo size: 4 2021-02-17T21:03:29.639Z,1613595809.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.160004 m, bearing: 49.441707 deg, approachRate: -0.565963 m/s, LOS rate: -0.158305 deg/s, cmd update: -0.633218 deg/s, cmd heading: 56.179788 deg, new cmd heading: 56.729226 deg. 2021-02-17T21:03:32.135Z,1613595812.135 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 55 2021-02-17T21:03:32.180Z,1613595812.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:03:32.829Z,1613595812.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:03:33.236Z,1613595813.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:03:34.092Z,1613595814.092 [Micromodem](INFO): Nmea in: $SNTTA,0.145807,,,,210332.92*45 2021-02-17T21:03:34.474Z,1613595814.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.519989 m, bearing: 47.305842 deg, deltaT: 4.948408 s, approachRate: -0.533508 m/s, LOS rate: -0.431627 deg/s, posRepo size: 4 2021-02-17T21:03:34.476Z,1613595814.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.519989 m, bearing: 47.305842 deg, approachRate: -0.533508 m/s, LOS rate: -0.431627 deg/s, cmd update: -1.726507 deg/s, cmd heading: 53.053224 deg, new cmd heading: 52.868416 deg. 2021-02-17T21:03:36.898Z,1613595816.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:03:37.300Z,1613595817.300 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T21:03:37.685Z,1613595817.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:03:38.111Z,1613595818.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:03:38.898Z,1613595818.898 [Micromodem](INFO): Nmea in: $SNTTA,0.143850,,,,210337.78*40 2021-02-17T21:03:39.337Z,1613595819.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.580002 m, bearing: 47.971588 deg, deltaT: 4.719846 s, approachRate: -0.622899 m/s, LOS rate: 0.141052 deg/s, posRepo size: 4 2021-02-17T21:03:39.339Z,1613595819.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.580002 m, bearing: 47.971588 deg, approachRate: -0.622899 m/s, LOS rate: 0.141052 deg/s, cmd update: 0.564209 deg/s, cmd heading: 44.885943 deg, new cmd heading: 44.153868 deg. 2021-02-17T21:03:41.731Z,1613595821.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:03:42.154Z,1613595822.154 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:03:42.533Z,1613595822.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:03:42.942Z,1613595822.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:03:43.762Z,1613595823.762 [Micromodem](INFO): Nmea in: $SNTTA,0.141894,,,,210342.62*43 2021-02-17T21:03:44.198Z,1613595824.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.639984 m, bearing: 49.606865 deg, deltaT: 4.864238 s, approachRate: -0.604415 m/s, LOS rate: 0.336184 deg/s, posRepo size: 4 2021-02-17T21:03:44.200Z,1613595824.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.639984 m, bearing: 49.606865 deg, approachRate: -0.604415 m/s, LOS rate: 0.336184 deg/s, cmd update: 1.344734 deg/s, cmd heading: 47.630413 deg, new cmd heading: 47.868013 deg. 2021-02-17T21:03:46.601Z,1613595826.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:03:47.375Z,1613595827.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:03:47.453Z,1613595827.453 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:03:47.790Z,1613595827.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:03:48.591Z,1613595828.591 [Micromodem](INFO): Nmea in: $SNTTA,0.140066,,,,210347.47*45 2021-02-17T21:03:49.110Z,1613595829.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.879990 m, bearing: 49.880390 deg, deltaT: 4.827981 s, approachRate: -0.571666 m/s, LOS rate: 0.056654 deg/s, posRepo size: 4 2021-02-17T21:03:49.117Z,1613595829.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 209.879990 m, bearing: 49.880390 deg, approachRate: -0.571666 m/s, LOS rate: 0.056654 deg/s, cmd update: 0.226617 deg/s, cmd heading: 54.122922 deg, new cmd heading: 54.802021 deg. 2021-02-17T21:03:51.118Z,1613595831.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:03:51.816Z,1613595831.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:03:52.230Z,1613595832.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:03:52.262Z,1613595832.262 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T21:03:53.076Z,1613595833.076 [Micromodem](INFO): Nmea in: $SNTTA,0.138346,,,,210351.92*44 2021-02-17T21:03:53.487Z,1613595833.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.300003 m, bearing: 49.072006 deg, deltaT: 4.541095 s, approachRate: -0.568142 m/s, LOS rate: -0.178015 deg/s, posRepo size: 4 2021-02-17T21:03:53.489Z,1613595833.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.300003 m, bearing: 49.072006 deg, approachRate: -0.568142 m/s, LOS rate: -0.178015 deg/s, cmd update: -0.712061 deg/s, cmd heading: 55.151414 deg, new cmd heading: 55.228317 deg. 2021-02-17T21:03:55.876Z,1613595835.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:03:56.664Z,1613595836.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:03:57.121Z,1613595837.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:03:57.881Z,1613595837.881 [Micromodem](INFO): Nmea in: $SNTTA,0.136336,,,,210356.76*40 2021-02-17T21:03:58.349Z,1613595838.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.299988 m, bearing: 50.366255 deg, deltaT: 4.773619 s, approachRate: -0.628457 m/s, LOS rate: 0.271125 deg/s, posRepo size: 4 2021-02-17T21:03:58.350Z,1613595838.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.299988 m, bearing: 50.366255 deg, approachRate: -0.628457 m/s, LOS rate: 0.271125 deg/s, cmd update: 1.084501 deg/s, cmd heading: 51.750469 deg, new cmd heading: 51.445183 deg. 2021-02-17T21:04:00.739Z,1613595840.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:04:01.512Z,1613595841.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:04:01.921Z,1613595841.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:04:02.334Z,1613595842.334 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:04:02.739Z,1613595842.739 [Micromodem](INFO): Nmea in: $SNTTA,0.134550,,,,210401.61*47 2021-02-17T21:04:03.188Z,1613595843.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.599991 m, bearing: 50.100264 deg, deltaT: 4.833536 s, approachRate: -0.558597 m/s, LOS rate: -0.055030 deg/s, posRepo size: 4 2021-02-17T21:04:03.190Z,1613595843.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.599991 m, bearing: 50.100264 deg, approachRate: -0.558597 m/s, LOS rate: -0.055030 deg/s, cmd update: -0.220122 deg/s, cmd heading: 56.992278 deg, new cmd heading: 57.463702 deg. 2021-02-17T21:04:05.568Z,1613595845.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:04:06.366Z,1613595846.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:04:06.775Z,1613595846.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:04:07.190Z,1613595847.190 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T21:04:07.587Z,1613595847.587 [Micromodem](INFO): Nmea in: $SNTTA,0.132513,,,,210406.46*44 2021-02-17T21:04:08.006Z,1613595848.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.539993 m, bearing: 50.207836 deg, deltaT: 4.880356 s, approachRate: -0.627003 m/s, LOS rate: 0.022042 deg/s, posRepo size: 4 2021-02-17T21:04:08.029Z,1613595848.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.539993 m, bearing: 50.207836 deg, approachRate: -0.627003 m/s, LOS rate: 0.022042 deg/s, cmd update: 0.088167 deg/s, cmd heading: 55.918894 deg, new cmd heading: 55.836019 deg. 2021-02-17T21:04:10.449Z,1613595850.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:04:11.209Z,1613595851.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:04:11.614Z,1613595851.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:04:12.429Z,1613595852.429 [Micromodem](INFO): Nmea in: $SNTTA,0.130876,,,,210411.30*4F 2021-02-17T21:04:12.434Z,1613595852.434 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 83 2021-02-17T21:04:12.444Z,1613595852.444 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T21:04:12.861Z,1613595852.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.079987 m, bearing: 49.088836 deg, deltaT: 4.822713 s, approachRate: -0.510088 m/s, LOS rate: -0.232027 deg/s, posRepo size: 4 2021-02-17T21:04:12.863Z,1613595852.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.079987 m, bearing: 49.088836 deg, approachRate: -0.510088 m/s, LOS rate: -0.232027 deg/s, cmd update: -0.928108 deg/s, cmd heading: 56.344460 deg, new cmd heading: 56.380169 deg. 2021-02-17T21:04:15.282Z,1613595855.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:04:16.103Z,1613595856.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:04:16.469Z,1613595856.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:04:17.302Z,1613595857.302 [Micromodem](INFO): Nmea in: $SNTTA,0.128749,,,,210416.19*49 2021-02-17T21:04:17.706Z,1613595857.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.019989 m, bearing: 50.449495 deg, deltaT: 4.881572 s, approachRate: -0.626847 m/s, LOS rate: 0.278734 deg/s, posRepo size: 4 2021-02-17T21:04:17.728Z,1613595857.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 193.019989 m, bearing: 50.449495 deg, approachRate: -0.626847 m/s, LOS rate: 0.278734 deg/s, cmd update: 1.114935 deg/s, cmd heading: 51.813731 deg, new cmd heading: 51.472105 deg. 2021-02-17T21:04:20.156Z,1613595860.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:04:20.904Z,1613595860.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:04:21.332Z,1613595861.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:04:22.132Z,1613595862.132 [Micromodem](INFO): Nmea in: $SNTTA,0.126739,,,,210421.00*4C 2021-02-17T21:04:22.137Z,1613595862.137 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:04:22.550Z,1613595862.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.899994 m, bearing: 51.458171 deg, deltaT: 4.857997 s, approachRate: -0.642239 m/s, LOS rate: 0.207632 deg/s, posRepo size: 4 2021-02-17T21:04:22.552Z,1613595862.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.899994 m, bearing: 51.458171 deg, approachRate: -0.642239 m/s, LOS rate: 0.207632 deg/s, cmd update: 0.830528 deg/s, cmd heading: 57.220923 deg, new cmd heading: 57.624605 deg. 2021-02-17T21:04:24.959Z,1613595864.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:04:25.758Z,1613595865.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:04:26.163Z,1613595866.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:04:26.973Z,1613595866.973 [Micromodem](INFO): Nmea in: $SNTTA,0.124836,,,,210425.85*47 2021-02-17T21:04:27.425Z,1613595867.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.080002 m, bearing: 50.254497 deg, deltaT: 4.822106 s, approachRate: -0.584805 m/s, LOS rate: -0.249616 deg/s, posRepo size: 4 2021-02-17T21:04:27.427Z,1613595867.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.080002 m, bearing: 50.254497 deg, approachRate: -0.584805 m/s, LOS rate: -0.249616 deg/s, cmd update: -0.998463 deg/s, cmd heading: 61.207468 deg, new cmd heading: 61.570761 deg. 2021-02-17T21:04:29.827Z,1613595869.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:04:30.600Z,1613595870.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:04:31.017Z,1613595871.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:04:31.828Z,1613595871.828 [Micromodem](INFO): Nmea in: $SNTTA,0.123052,,,,210430.69*4C 2021-02-17T21:04:31.861Z,1613595871.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.080002 m, bearing: 50.532051 deg, deltaT: 4.468754 s, approachRate: 0.000000 m/s, LOS rate: 0.062110 deg/s, posRepo size: 4 2021-02-17T21:04:31.863Z,1613595871.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.080002 m, bearing: 50.532051 deg, approachRate: 0.000000 m/s, LOS rate: 0.062110 deg/s, cmd update: 0.248441 deg/s, cmd heading: 56.719545 deg, new cmd heading: 56.341371 deg. 2021-02-17T21:04:34.290Z,1613595874.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:04:35.104Z,1613595875.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:04:35.186Z,1613595875.186 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:04:35.473Z,1613595875.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:04:36.674Z,1613595876.674 [Micromodem](INFO): Nmea in: $SNTTA,0.121143,,,,210435.20*47 2021-02-17T21:04:36.702Z,1613595876.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.500000 m, bearing: 50.741069 deg, deltaT: 4.855322 s, approachRate: -1.149255 m/s, LOS rate: 0.043049 deg/s, posRepo size: 4 2021-02-17T21:04:36.705Z,1613595876.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.500000 m, bearing: 50.741069 deg, approachRate: -1.149255 m/s, LOS rate: 0.043049 deg/s, cmd update: 0.172197 deg/s, cmd heading: 57.925853 deg, new cmd heading: 58.015865 deg. 2021-02-17T21:04:39.164Z,1613595879.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:04:39.899Z,1613595879.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:04:40.303Z,1613595880.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:04:41.118Z,1613595881.118 [Micromodem](INFO): Nmea in: $SNTTA,0.119258,,,,210439.99*4B 2021-02-17T21:04:41.542Z,1613595881.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.679993 m, bearing: 48.516186 deg, deltaT: 4.842710 s, approachRate: -0.582320 m/s, LOS rate: -0.459429 deg/s, posRepo size: 4 2021-02-17T21:04:41.544Z,1613595881.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.679993 m, bearing: 48.516186 deg, approachRate: -0.582320 m/s, LOS rate: -0.459429 deg/s, cmd update: -1.837717 deg/s, cmd heading: 58.759762 deg, new cmd heading: 58.821947 deg. 2021-02-17T21:04:43.948Z,1613595883.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:04:44.746Z,1613595884.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:04:45.165Z,1613595885.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:04:45.972Z,1613595885.972 [Micromodem](INFO): Nmea in: $SNTTA,0.117340,,,,210444.84*4B 2021-02-17T21:04:46.010Z,1613595886.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.679993 m, bearing: 48.253237 deg, deltaT: 4.405951 s, approachRate: 0.000000 m/s, LOS rate: -0.059680 deg/s, posRepo size: 4 2021-02-17T21:04:46.012Z,1613595886.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.679993 m, bearing: 48.253237 deg, approachRate: 0.000000 m/s, LOS rate: -0.059680 deg/s, cmd update: -0.238721 deg/s, cmd heading: 50.658601 deg, new cmd heading: 49.886038 deg. 2021-02-17T21:04:47.205Z,1613595887.205 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T21:04:48.447Z,1613595888.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:04:49.184Z,1613595889.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:04:49.589Z,1613595889.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:04:50.412Z,1613595890.412 [Micromodem](INFO): Nmea in: $SNTTA,0.115599,,,,210449.28*40 2021-02-17T21:04:50.470Z,1613595890.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.679993 m, bearing: 50.085610 deg, deltaT: 4.483786 s, approachRate: 0.000000 m/s, LOS rate: 0.408666 deg/s, posRepo size: 4 2021-02-17T21:04:50.472Z,1613595890.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.679993 m, bearing: 50.085610 deg, approachRate: 0.000000 m/s, LOS rate: 0.408666 deg/s, cmd update: 1.634665 deg/s, cmd heading: 49.596413 deg, new cmd heading: 49.493664 deg. 2021-02-17T21:04:52.863Z,1613595892.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:04:53.630Z,1613595893.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:04:54.091Z,1613595894.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:04:54.864Z,1613595894.864 [Micromodem](INFO): Nmea in: $SNTTA,0.113864,,,,210453.72*4D 2021-02-17T21:04:54.882Z,1613595894.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.679993 m, bearing: 50.469897 deg, deltaT: 4.399035 s, approachRate: 0.000000 m/s, LOS rate: 0.087357 deg/s, posRepo size: 4 2021-02-17T21:04:54.884Z,1613595894.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.679993 m, bearing: 50.469897 deg, approachRate: 0.000000 m/s, LOS rate: 0.087357 deg/s, cmd update: 0.349428 deg/s, cmd heading: 56.819377 deg, new cmd heading: 57.514090 deg. 2021-02-17T21:04:57.328Z,1613595897.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:04:58.108Z,1613595898.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:04:58.480Z,1613595898.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:04:59.302Z,1613595899.302 [Micromodem](INFO): Nmea in: $SNTTA,0.112028,,,,210458.20*40 2021-02-17T21:04:59.718Z,1613595899.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.880005 m, bearing: 49.659782 deg, deltaT: 4.900121 s, approachRate: -2.204025 m/s, LOS rate: -0.165326 deg/s, posRepo size: 4 2021-02-17T21:04:59.720Z,1613595899.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.880005 m, bearing: 49.659782 deg, approachRate: -2.204025 m/s, LOS rate: -0.165326 deg/s, cmd update: -0.661302 deg/s, cmd heading: 58.533089 deg, new cmd heading: 58.657615 deg. 2021-02-17T21:05:02.234Z,1613595902.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:02.922Z,1613595902.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:05:03.326Z,1613595903.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:05:04.164Z,1613595904.164 [Micromodem](INFO): Nmea in: $SNTTA,0.110159,,,,210503.01*49 2021-02-17T21:05:04.209Z,1613595904.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.059998 m, bearing: 48.642073 deg, deltaT: 4.392176 s, approachRate: -0.642052 m/s, LOS rate: -0.231709 deg/s, posRepo size: 4 2021-02-17T21:05:04.214Z,1613595904.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.059998 m, bearing: 48.642073 deg, approachRate: -0.642052 m/s, LOS rate: -0.231709 deg/s, cmd update: -0.926838 deg/s, cmd heading: 55.631674 deg, new cmd heading: 55.327705 deg. 2021-02-17T21:05:06.589Z,1613595906.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:07.369Z,1613595907.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:05:07.787Z,1613595907.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:05:08.596Z,1613595908.596 [Micromodem](INFO): Nmea in: $SNTTA,0.108587,,0.167461,,210507.46*5D 2021-02-17T21:05:08.634Z,1613595908.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.180008 m, bearing: 48.668267 deg, deltaT: 4.470940 s, approachRate: -0.644158 m/s, LOS rate: 0.005859 deg/s, posRepo size: 4 2021-02-17T21:05:08.636Z,1613595908.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.180008 m, bearing: 48.668267 deg, approachRate: -0.644158 m/s, LOS rate: 0.005859 deg/s, cmd update: 0.023435 deg/s, cmd heading: 51.472489 deg, new cmd heading: 51.104194 deg. 2021-02-17T21:05:11.107Z,1613595911.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:11.813Z,1613595911.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:05:12.228Z,1613595912.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:05:13.040Z,1613595913.040 [Micromodem](INFO): Nmea in: $SNTTA,0.106792,,,,210511.90*44 2021-02-17T21:05:13.130Z,1613595913.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.960007 m, bearing: 49.053647 deg, deltaT: 4.420895 s, approachRate: -0.502161 m/s, LOS rate: 0.087172 deg/s, posRepo size: 4 2021-02-17T21:05:13.133Z,1613595913.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.960007 m, bearing: 49.053647 deg, approachRate: -0.502161 m/s, LOS rate: 0.087172 deg/s, cmd update: 0.348689 deg/s, cmd heading: 51.576096 deg, new cmd heading: 51.587175 deg. 2021-02-17T21:05:15.473Z,1613595915.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:16.258Z,1613595916.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:05:16.658Z,1613595916.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:05:17.484Z,1613595917.484 [Micromodem](INFO): Nmea in: $SNTTA,0.105195,,,,210516.35*4E 2021-02-17T21:05:17.522Z,1613595917.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.619995 m, bearing: 49.623233 deg, deltaT: 4.552477 s, approachRate: -0.514008 m/s, LOS rate: 0.125116 deg/s, posRepo size: 4 2021-02-17T21:05:17.524Z,1613595917.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.619995 m, bearing: 49.623233 deg, approachRate: -0.514008 m/s, LOS rate: 0.125116 deg/s, cmd update: 0.500463 deg/s, cmd heading: 53.159743 deg, new cmd heading: 53.272077 deg. 2021-02-17T21:05:20.110Z,1613595920.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:20.717Z,1613595920.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:05:21.121Z,1613595921.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:05:21.944Z,1613595921.944 [Micromodem](INFO): Nmea in: $SNTTA,0.103369,,,,210520.81*43 2021-02-17T21:05:21.959Z,1613595921.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.860016 m, bearing: 49.256910 deg, deltaT: 4.332146 s, approachRate: -0.637093 m/s, LOS rate: -0.084559 deg/s, posRepo size: 4 2021-02-17T21:05:21.961Z,1613595921.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.860016 m, bearing: 49.256910 deg, approachRate: -0.637093 m/s, LOS rate: -0.084559 deg/s, cmd update: -0.338237 deg/s, cmd heading: 55.333082 deg, new cmd heading: 55.541615 deg. 2021-02-17T21:05:24.415Z,1613595924.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:25.162Z,1613595925.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:05:25.571Z,1613595925.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:05:26.388Z,1613595926.388 [Micromodem](INFO): Nmea in: $SNTTA,0.101892,,,,210525.25*45 2021-02-17T21:05:26.536Z,1613595926.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.640015 m, bearing: 48.778465 deg, deltaT: 4.466143 s, approachRate: -0.497073 m/s, LOS rate: -0.107127 deg/s, posRepo size: 4 2021-02-17T21:05:26.540Z,1613595926.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.640015 m, bearing: 48.778465 deg, approachRate: -0.497073 m/s, LOS rate: -0.107127 deg/s, cmd update: -0.428508 deg/s, cmd heading: 53.825450 deg, new cmd heading: 53.644019 deg. 2021-02-17T21:05:28.823Z,1613595928.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:29.601Z,1613595929.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:05:30.012Z,1613595930.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:05:30.832Z,1613595930.832 [Micromodem](INFO): Nmea in: $SNTTA,0.100072,,,,210529.69*46 2021-02-17T21:05:30.874Z,1613595930.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.940002 m, bearing: 48.874914 deg, deltaT: 4.456463 s, approachRate: -0.605864 m/s, LOS rate: 0.021643 deg/s, posRepo size: 4 2021-02-17T21:05:30.880Z,1613595930.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.940002 m, bearing: 48.874914 deg, approachRate: -0.605864 m/s, LOS rate: 0.021643 deg/s, cmd update: 0.086570 deg/s, cmd heading: 51.912004 deg, new cmd heading: 51.736458 deg. 2021-02-17T21:05:33.288Z,1613595933.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:34.105Z,1613595934.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:05:34.457Z,1613595934.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:05:35.660Z,1613595935.660 [Micromodem](INFO): Nmea in: $SNTTA,0.098333,,,,210534.20*41 2021-02-17T21:05:36.148Z,1613595936.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:38.907Z,1613595938.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:41.751Z,1613595941.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:42.548Z,1613595942.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:05:42.933Z,1613595942.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:05:43.776Z,1613595943.776 [Micromodem](INFO): Nmea in: $SNTTA,0.095059,,,,210542.64*42 2021-02-17T21:05:43.794Z,1613595943.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.440002 m, bearing: 49.145359 deg, deltaT: 12.923974 s, approachRate: -0.580317 m/s, LOS rate: 0.020926 deg/s, posRepo size: 4 2021-02-17T21:05:43.796Z,1613595943.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.440002 m, bearing: 49.145359 deg, approachRate: -0.580317 m/s, LOS rate: 0.020926 deg/s, cmd update: 0.083703 deg/s, cmd heading: 53.030867 deg, new cmd heading: 53.065926 deg. 2021-02-17T21:05:46.222Z,1613595946.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:46.982Z,1613595946.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:05:47.378Z,1613595947.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:05:48.204Z,1613595948.204 [Micromodem](INFO): Nmea in: $SNTTA,0.093107,,,,210547.07*4E 2021-02-17T21:05:48.252Z,1613595948.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.440002 m, bearing: 50.137202 deg, deltaT: 4.426197 s, approachRate: -0.677783 m/s, LOS rate: 0.224085 deg/s, posRepo size: 4 2021-02-17T21:05:48.254Z,1613595948.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.440002 m, bearing: 50.137202 deg, approachRate: -0.677783 m/s, LOS rate: 0.224085 deg/s, cmd update: 0.896338 deg/s, cmd heading: 53.400013 deg, new cmd heading: 53.437898 deg. 2021-02-17T21:05:50.632Z,1613595950.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:51.416Z,1613595951.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:05:51.822Z,1613595951.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:05:52.644Z,1613595952.644 [Micromodem](INFO): Nmea in: $SNTTA,0.091528,,,,210551.51*41 2021-02-17T21:05:52.686Z,1613595952.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.040009 m, bearing: 48.413187 deg, deltaT: 4.466770 s, approachRate: -0.537300 m/s, LOS rate: -0.385965 deg/s, posRepo size: 4 2021-02-17T21:05:52.692Z,1613595952.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.040009 m, bearing: 48.413187 deg, approachRate: -0.537300 m/s, LOS rate: -0.385965 deg/s, cmd update: -1.543858 deg/s, cmd heading: 57.418092 deg, new cmd heading: 57.780255 deg. 2021-02-17T21:05:55.152Z,1613595955.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:05:55.860Z,1613595955.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:05:56.274Z,1613595956.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:05:57.120Z,1613595957.120 [Micromodem](INFO): Nmea in: $SNTTA,0.090000,,,,210555.95*43 2021-02-17T21:05:57.203Z,1613595957.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.880005 m, bearing: 50.119447 deg, deltaT: 4.417132 s, approachRate: -0.489006 m/s, LOS rate: 0.386282 deg/s, posRepo size: 4 2021-02-17T21:05:57.205Z,1613595957.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.880005 m, bearing: 50.119447 deg, approachRate: -0.489006 m/s, LOS rate: 0.386282 deg/s, cmd update: 1.545129 deg/s, cmd heading: 50.598945 deg, new cmd heading: 49.826940 deg. 2021-02-17T21:05:59.520Z,1613595959.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:00.304Z,1613595960.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:00.719Z,1613595960.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:01.537Z,1613595961.537 [Micromodem](INFO): Nmea in: $SNTTA,0.088224,,,,210600.40*45 2021-02-17T21:06:01.574Z,1613595961.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.120010 m, bearing: 48.972658 deg, deltaT: 4.465113 s, approachRate: -0.618124 m/s, LOS rate: -0.256833 deg/s, posRepo size: 4 2021-02-17T21:06:01.576Z,1613595961.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.120010 m, bearing: 48.972658 deg, approachRate: -0.618124 m/s, LOS rate: -0.256833 deg/s, cmd update: -1.027332 deg/s, cmd heading: 57.497761 deg, new cmd heading: 58.131141 deg. 2021-02-17T21:06:03.969Z,1613595963.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:04.749Z,1613595964.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:05.161Z,1613595965.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:05.976Z,1613595965.976 [Micromodem](INFO): Nmea in: $SNTTA,0.086287,,,,210604.84*4E 2021-02-17T21:06:06.013Z,1613595966.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.180008 m, bearing: 50.523507 deg, deltaT: 4.421666 s, approachRate: -0.664908 m/s, LOS rate: 0.350739 deg/s, posRepo size: 4 2021-02-17T21:06:06.018Z,1613595966.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.180008 m, bearing: 50.523507 deg, approachRate: -0.664908 m/s, LOS rate: 0.350739 deg/s, cmd update: 1.402955 deg/s, cmd heading: 52.954813 deg, new cmd heading: 52.515714 deg. 2021-02-17T21:06:08.434Z,1613595968.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:09.192Z,1613595969.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:09.603Z,1613595969.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:10.424Z,1613595970.424 [Micromodem](INFO): Nmea in: $SNTTA,0.084806,,,,210609.28*44 2021-02-17T21:06:10.481Z,1613595970.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.960007 m, bearing: 48.539624 deg, deltaT: 4.513627 s, approachRate: -0.491844 m/s, LOS rate: -0.439532 deg/s, posRepo size: 4 2021-02-17T21:06:10.493Z,1613595970.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.960007 m, bearing: 48.539624 deg, approachRate: -0.491844 m/s, LOS rate: -0.439532 deg/s, cmd update: -1.758128 deg/s, cmd heading: 59.255951 deg, new cmd heading: 59.822782 deg. 2021-02-17T21:06:12.842Z,1613595972.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:13.636Z,1613595973.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:14.107Z,1613595974.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:14.864Z,1613595974.864 [Micromodem](INFO): Nmea in: $SNTTA,0.082841,,,,210613.73*44 2021-02-17T21:06:14.919Z,1613595974.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.139999 m, bearing: 49.434601 deg, deltaT: 4.358931 s, approachRate: -0.646949 m/s, LOS rate: 0.205320 deg/s, posRepo size: 4 2021-02-17T21:06:14.921Z,1613595974.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.139999 m, bearing: 49.434601 deg, approachRate: -0.646949 m/s, LOS rate: 0.205320 deg/s, cmd update: 0.821281 deg/s, cmd heading: 51.553392 deg, new cmd heading: 50.785663 deg. 2021-02-17T21:06:17.336Z,1613595977.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:18.126Z,1613595978.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:18.497Z,1613595978.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:19.329Z,1613595979.329 [Micromodem](INFO): Nmea in: $SNTTA,0.081498,,,,210618.22*40 2021-02-17T21:06:19.392Z,1613595979.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.040009 m, bearing: 50.078845 deg, deltaT: 4.455591 s, approachRate: -0.471316 m/s, LOS rate: 0.144592 deg/s, posRepo size: 4 2021-02-17T21:06:19.393Z,1613595979.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.040009 m, bearing: 50.078845 deg, approachRate: -0.471316 m/s, LOS rate: 0.144592 deg/s, cmd update: 0.578369 deg/s, cmd heading: 55.212758 deg, new cmd heading: 55.601524 deg. 2021-02-17T21:06:21.731Z,1613595981.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:22.524Z,1613595982.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:22.930Z,1613595982.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:23.754Z,1613595983.754 [Micromodem](INFO): Nmea in: $SNTTA,0.079688,,,,210622.61*4A 2021-02-17T21:06:23.803Z,1613595983.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.340004 m, bearing: 48.998104 deg, deltaT: 4.475175 s, approachRate: -0.603329 m/s, LOS rate: -0.241497 deg/s, posRepo size: 4 2021-02-17T21:06:23.806Z,1613595983.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.340004 m, bearing: 48.998104 deg, approachRate: -0.603329 m/s, LOS rate: -0.241497 deg/s, cmd update: -0.965988 deg/s, cmd heading: 57.798688 deg, new cmd heading: 58.025905 deg. 2021-02-17T21:06:26.217Z,1613595986.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:26.977Z,1613595986.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:27.375Z,1613595987.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:28.220Z,1613595988.220 [Micromodem](INFO): Nmea in: $SNTTA,0.077775,,,,210627.07*42 2021-02-17T21:06:28.225Z,1613595988.225 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:06:28.271Z,1613595988.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.519997 m, bearing: 48.608776 deg, deltaT: 4.407046 s, approachRate: -0.639886 m/s, LOS rate: -0.088342 deg/s, posRepo size: 4 2021-02-17T21:06:28.273Z,1613595988.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.519997 m, bearing: 48.608776 deg, approachRate: -0.639886 m/s, LOS rate: -0.088342 deg/s, cmd update: -0.353368 deg/s, cmd heading: 53.537776 deg, new cmd heading: 53.083122 deg. 2021-02-17T21:06:30.621Z,1613595990.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:31.413Z,1613595991.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:31.820Z,1613595991.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:32.640Z,1613595992.640 [Micromodem](INFO): Nmea in: $SNTTA,0.076280,,,,210631.51*48 2021-02-17T21:06:32.678Z,1613595992.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.300003 m, bearing: 47.811543 deg, deltaT: 4.520966 s, approachRate: -0.491044 m/s, LOS rate: -0.176341 deg/s, posRepo size: 4 2021-02-17T21:06:32.680Z,1613595992.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.300003 m, bearing: 47.811543 deg, approachRate: -0.491044 m/s, LOS rate: -0.176341 deg/s, cmd update: -0.705365 deg/s, cmd heading: 51.941601 deg, new cmd heading: 51.812634 deg. 2021-02-17T21:06:35.141Z,1613595995.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:35.856Z,1613595995.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:36.279Z,1613595996.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:37.120Z,1613595997.120 [Micromodem](INFO): Nmea in: $SNTTA,0.074413,,,,210635.95*4A 2021-02-17T21:06:37.173Z,1613595997.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.419998 m, bearing: 50.482440 deg, deltaT: 4.378460 s, approachRate: -0.657767 m/s, LOS rate: 0.610008 deg/s, posRepo size: 4 2021-02-17T21:06:37.175Z,1613595997.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.419998 m, bearing: 50.482440 deg, approachRate: -0.657767 m/s, LOS rate: 0.610008 deg/s, cmd update: 2.440034 deg/s, cmd heading: 48.850235 deg, new cmd heading: 48.513736 deg. 2021-02-17T21:06:39.509Z,1613595999.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:40.319Z,1613596000.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:40.706Z,1613596000.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:41.540Z,1613596001.540 [Micromodem](INFO): Nmea in: $SNTTA,0.072589,,,,210640.41*45 2021-02-17T21:06:41.562Z,1613596001.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.360001 m, bearing: 48.988504 deg, deltaT: 4.470764 s, approachRate: -0.684446 m/s, LOS rate: -0.334157 deg/s, posRepo size: 4 2021-02-17T21:06:41.564Z,1613596001.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.360001 m, bearing: 48.988504 deg, approachRate: -0.684446 m/s, LOS rate: -0.334157 deg/s, cmd update: -1.336627 deg/s, cmd heading: 59.720041 deg, new cmd heading: 60.723825 deg. 2021-02-17T21:06:43.965Z,1613596003.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:44.750Z,1613596004.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:45.150Z,1613596005.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:45.976Z,1613596005.976 [Micromodem](INFO): Nmea in: $SNTTA,0.070799,,,,210644.84*49 2021-02-17T21:06:46.018Z,1613596006.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.960007 m, bearing: 48.700359 deg, deltaT: 4.411679 s, approachRate: -0.544009 m/s, LOS rate: -0.065314 deg/s, posRepo size: 4 2021-02-17T21:06:46.021Z,1613596006.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.960007 m, bearing: 48.700359 deg, approachRate: -0.544009 m/s, LOS rate: -0.065314 deg/s, cmd update: -0.261257 deg/s, cmd heading: 53.817963 deg, new cmd heading: 53.216597 deg. 2021-02-17T21:06:48.433Z,1613596008.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:49.189Z,1613596009.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:49.611Z,1613596009.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:50.423Z,1613596010.423 [Micromodem](INFO): Nmea in: $SNTTA,0.069135,,,,210649.28*4A 2021-02-17T21:06:50.472Z,1613596010.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.500000 m, bearing: 48.629577 deg, deltaT: 4.468366 s, approachRate: -0.550538 m/s, LOS rate: -0.015841 deg/s, posRepo size: 4 2021-02-17T21:06:50.473Z,1613596010.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.500000 m, bearing: 48.629577 deg, approachRate: -0.550538 m/s, LOS rate: -0.015841 deg/s, cmd update: -0.063362 deg/s, cmd heading: 52.656132 deg, new cmd heading: 52.536419 deg. 2021-02-17T21:06:52.843Z,1613596012.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:53.635Z,1613596013.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:54.095Z,1613596014.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:54.860Z,1613596014.860 [Micromodem](INFO): Nmea in: $SNTTA,0.067376,,,,210653.73*44 2021-02-17T21:06:54.944Z,1613596014.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.860001 m, bearing: 48.209265 deg, deltaT: 4.407847 s, approachRate: -0.598932 m/s, LOS rate: -0.095356 deg/s, posRepo size: 4 2021-02-17T21:06:54.945Z,1613596014.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.860001 m, bearing: 48.209265 deg, approachRate: -0.598932 m/s, LOS rate: -0.095356 deg/s, cmd update: -0.381422 deg/s, cmd heading: 52.374744 deg, new cmd heading: 52.343758 deg. 2021-02-17T21:06:57.316Z,1613596017.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:06:58.110Z,1613596018.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:06:58.483Z,1613596018.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:06:59.324Z,1613596019.324 [Micromodem](INFO): Nmea in: $SNTTA,0.065778,,,,210658.20*41 2021-02-17T21:06:59.378Z,1613596019.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.460007 m, bearing: 49.099952 deg, deltaT: 4.451611 s, approachRate: -0.539129 m/s, LOS rate: 0.200082 deg/s, posRepo size: 4 2021-02-17T21:06:59.384Z,1613596019.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.460007 m, bearing: 49.099952 deg, approachRate: -0.539129 m/s, LOS rate: 0.200082 deg/s, cmd update: 0.800328 deg/s, cmd heading: 50.676738 deg, new cmd heading: 50.496761 deg. 2021-02-17T21:07:01.729Z,1613596021.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:07:02.520Z,1613596022.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:07:02.926Z,1613596022.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:07:03.748Z,1613596023.748 [Micromodem](INFO): Nmea in: $SNTTA,0.064050,,,,210702.61*46 2021-02-17T21:07:03.794Z,1613596023.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.879997 m, bearing: 48.964322 deg, deltaT: 4.478928 s, approachRate: -0.576033 m/s, LOS rate: -0.030282 deg/s, posRepo size: 4 2021-02-17T21:07:03.800Z,1613596023.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.879997 m, bearing: 48.964322 deg, approachRate: -0.576033 m/s, LOS rate: -0.030282 deg/s, cmd update: -0.121128 deg/s, cmd heading: 54.261388 deg, new cmd heading: 54.589013 deg. 2021-02-17T21:07:06.231Z,1613596026.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:07:06.964Z,1613596026.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:07:07.372Z,1613596027.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:07:08.196Z,1613596028.196 [Micromodem](INFO): Nmea in: $SNTTA,0.062269,,,,210707.06*4C 2021-02-17T21:07:08.229Z,1613596028.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.239998 m, bearing: 49.516266 deg, deltaT: 4.408784 s, approachRate: -0.598804 m/s, LOS rate: 0.125192 deg/s, posRepo size: 4 2021-02-17T21:07:08.231Z,1613596028.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.239998 m, bearing: 49.516266 deg, approachRate: -0.598804 m/s, LOS rate: 0.125192 deg/s, cmd update: 0.500768 deg/s, cmd heading: 53.727364 deg, new cmd heading: 53.674590 deg. 2021-02-17T21:07:10.632Z,1613596030.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:07:11.410Z,1613596031.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:07:11.814Z,1613596031.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:07:12.636Z,1613596032.636 [Micromodem](INFO): Nmea in: $SNTTA,0.060280,,,,210711.50*4D 2021-02-17T21:07:12.674Z,1613596032.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.240005 m, bearing: 47.488164 deg, deltaT: 4.507279 s, approachRate: -0.665588 m/s, LOS rate: -0.449961 deg/s, posRepo size: 4 2021-02-17T21:07:12.676Z,1613596032.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.240005 m, bearing: 47.488164 deg, approachRate: -0.665588 m/s, LOS rate: -0.449961 deg/s, cmd update: -1.799846 deg/s, cmd heading: 55.982400 deg, new cmd heading: 56.171343 deg. 2021-02-17T21:07:15.177Z,1613596035.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:07:15.857Z,1613596035.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:07:16.265Z,1613596036.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:07:17.116Z,1613596037.116 [Micromodem](INFO): Nmea in: $SNTTA,0.058635,,,,210715.95*41 2021-02-17T21:07:17.185Z,1613596037.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.900002 m, bearing: 49.836588 deg, deltaT: 4.388824 s, approachRate: -0.533173 m/s, LOS rate: 0.535092 deg/s, posRepo size: 4 2021-02-17T21:07:17.186Z,1613596037.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.900002 m, bearing: 49.836588 deg, approachRate: -0.533173 m/s, LOS rate: 0.535092 deg/s, cmd update: 2.140367 deg/s, cmd heading: 48.075777 deg, new cmd heading: 47.185362 deg. 2021-02-17T21:07:19.503Z,1613596039.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:07:20.314Z,1613596040.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:07:20.707Z,1613596040.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:07:21.536Z,1613596041.536 [Micromodem](INFO): Nmea in: $SNTTA,0.056866,,,,210720.41*48 2021-02-17T21:07:21.584Z,1613596041.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.199997 m, bearing: 49.560532 deg, deltaT: 4.483478 s, approachRate: -0.602212 m/s, LOS rate: -0.061572 deg/s, posRepo size: 4 2021-02-17T21:07:21.585Z,1613596041.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.199997 m, bearing: 49.560532 deg, approachRate: -0.602212 m/s, LOS rate: -0.061572 deg/s, cmd update: -0.246287 deg/s, cmd heading: 57.672028 deg, new cmd heading: 58.549731 deg. 2021-02-17T21:07:23.963Z,1613596043.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:07:24.742Z,1613596044.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:07:25.164Z,1613596045.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:07:25.976Z,1613596045.976 [Micromodem](INFO): Nmea in: $SNTTA,0.055264,,,,210724.83*49 2021-02-17T21:07:26.018Z,1613596046.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.680000 m, bearing: 47.606466 deg, deltaT: 4.419697 s, approachRate: -0.570174 m/s, LOS rate: -0.442127 deg/s, posRepo size: 4 2021-02-17T21:07:26.020Z,1613596046.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.680000 m, bearing: 47.606466 deg, approachRate: -0.570174 m/s, LOS rate: -0.442127 deg/s, cmd update: -1.768507 deg/s, cmd heading: 56.583566 deg, new cmd heading: 56.478844 deg. 2021-02-17T21:07:28.426Z,1613596048.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:07:29.184Z,1613596049.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:07:29.595Z,1613596049.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:07:30.412Z,1613596050.412 [Micromodem](INFO): Nmea in: $SNTTA,0.053322,,,,210729.28*40 2021-02-17T21:07:30.474Z,1613596050.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.860001 m, bearing: 49.037183 deg, deltaT: 4.437489 s, approachRate: -0.635494 m/s, LOS rate: 0.322416 deg/s, posRepo size: 4 2021-02-17T21:07:30.480Z,1613596050.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.860001 m, bearing: 49.037183 deg, approachRate: -0.635494 m/s, LOS rate: 0.322416 deg/s, cmd update: 1.289663 deg/s, cmd heading: 48.764339 deg, new cmd heading: 47.951289 deg. 2021-02-17T21:07:32.850Z,1613596052.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:07:33.634Z,1613596053.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:07:34.091Z,1613596054.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:07:34.873Z,1613596054.873 [Micromodem](INFO): Nmea in: $SNTTA,0.051479,,,,210733.73*4E 2021-02-17T21:07:34.894Z,1613596054.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.980003 m, bearing: 49.470667 deg, deltaT: 4.425897 s, approachRate: -0.650715 m/s, LOS rate: 0.097943 deg/s, posRepo size: 4 2021-02-17T21:07:34.896Z,1613596054.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.980003 m, bearing: 49.470667 deg, approachRate: -0.650715 m/s, LOS rate: 0.097943 deg/s, cmd update: 0.391771 deg/s, cmd heading: 54.493313 deg, new cmd heading: 55.057612 deg. 2021-02-17T21:07:37.349Z,1613596057.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:07:38.107Z,1613596058.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:07:38.477Z,1613596058.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:07:39.312Z,1613596059.312 [Micromodem](INFO): Nmea in: $SNTTA,0.049767,,,,210738.20*46 2021-02-17T21:07:39.366Z,1613596059.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.400009 m, bearing: 48.819549 deg, deltaT: 4.440574 s, approachRate: -0.581005 m/s, LOS rate: -0.146629 deg/s, posRepo size: 4 2021-02-17T21:07:39.368Z,1613596059.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.400009 m, bearing: 48.819549 deg, approachRate: -0.581005 m/s, LOS rate: -0.146629 deg/s, cmd update: -0.586517 deg/s, cmd heading: 56.233008 deg, new cmd heading: 56.416950 deg. 2021-02-17T21:07:41.724Z,1613596061.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:07:42.522Z,1613596062.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:07:42.922Z,1613596062.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:07:43.748Z,1613596063.748 [Micromodem](INFO): Nmea in: $SNTTA,0.048012,,,,210742.61*4A 2021-02-17T21:07:43.786Z,1613596063.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.880005 m, bearing: 48.424668 deg, deltaT: 4.482777 s, approachRate: -0.562153 m/s, LOS rate: -0.088088 deg/s, posRepo size: 4 2021-02-17T21:07:43.788Z,1613596063.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.880005 m, bearing: 48.424668 deg, approachRate: -0.562153 m/s, LOS rate: -0.088088 deg/s, cmd update: -0.352354 deg/s, cmd heading: 53.603809 deg, new cmd heading: 53.365414 deg. 2021-02-17T21:07:46.210Z,1613596066.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:07:46.966Z,1613596066.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:07:47.371Z,1613596067.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:07:48.192Z,1613596068.192 [Micromodem](INFO): Nmea in: $SNTTA,0.046063,,,,210747.06*46 2021-02-17T21:07:48.246Z,1613596068.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.940002 m, bearing: 48.660590 deg, deltaT: 4.403228 s, approachRate: -0.667693 m/s, LOS rate: 0.053579 deg/s, posRepo size: 4 2021-02-17T21:07:48.252Z,1613596068.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.940002 m, bearing: 48.660590 deg, approachRate: -0.667693 m/s, LOS rate: 0.053579 deg/s, cmd update: 0.214317 deg/s, cmd heading: 52.052347 deg, new cmd heading: 51.889114 deg. 2021-02-17T21:07:50.611Z,1613596070.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:07:51.404Z,1613596071.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:07:51.822Z,1613596071.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:07:52.632Z,1613596072.632 [Micromodem](INFO): Nmea in: $SNTTA,0.044149,,,,210751.49*41 2021-02-17T21:07:52.669Z,1613596072.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.180000 m, bearing: 49.726875 deg, deltaT: 4.508066 s, approachRate: -0.612236 m/s, LOS rate: 0.236528 deg/s, posRepo size: 4 2021-02-17T21:07:52.672Z,1613596072.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.180000 m, bearing: 49.726875 deg, approachRate: -0.612236 m/s, LOS rate: 0.236528 deg/s, cmd update: 0.946113 deg/s, cmd heading: 53.018449 deg, new cmd heading: 53.099630 deg. 2021-02-17T21:07:55.229Z,1613596075.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:07:55.853Z,1613596075.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:07:56.259Z,1613596076.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:07:57.132Z,1613596077.132 [Micromodem](INFO): Nmea in: $SNTTA,0.042482,,,,210755.94*41 2021-02-17T21:07:57.166Z,1613596077.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.540001 m, bearing: 49.280894 deg, deltaT: 4.380486 s, approachRate: -0.602673 m/s, LOS rate: -0.101811 deg/s, posRepo size: 4 2021-02-17T21:07:57.168Z,1613596077.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.540001 m, bearing: 49.280894 deg, approachRate: -0.602673 m/s, LOS rate: -0.101811 deg/s, cmd update: -0.407243 deg/s, cmd heading: 57.163233 deg, new cmd heading: 57.630649 deg. 2021-02-17T21:07:59.520Z,1613596079.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:00.302Z,1613596080.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:00.712Z,1613596080.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:01.524Z,1613596081.524 [Micromodem](INFO): Nmea in: $SNTTA,0.040562,,,,210800.39*44 2021-02-17T21:08:01.560Z,1613596081.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.599998 m, bearing: 48.417411 deg, deltaT: 4.489171 s, approachRate: -0.654910 m/s, LOS rate: -0.192348 deg/s, posRepo size: 4 2021-02-17T21:08:01.562Z,1613596081.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.599998 m, bearing: 48.417411 deg, approachRate: -0.654910 m/s, LOS rate: -0.192348 deg/s, cmd update: -0.769392 deg/s, cmd heading: 55.335044 deg, new cmd heading: 55.172493 deg. 2021-02-17T21:08:03.955Z,1613596083.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:04.742Z,1613596084.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:05.147Z,1613596085.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:05.976Z,1613596085.976 [Micromodem](INFO): Nmea in: $SNTTA,0.038975,,,,210804.83*44 2021-02-17T21:08:06.001Z,1613596086.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.260006 m, bearing: 48.070714 deg, deltaT: 4.429189 s, approachRate: -0.528312 m/s, LOS rate: -0.078276 deg/s, posRepo size: 4 2021-02-17T21:08:06.003Z,1613596086.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.260006 m, bearing: 48.070714 deg, approachRate: -0.528312 m/s, LOS rate: -0.078276 deg/s, cmd update: -0.313102 deg/s, cmd heading: 51.927304 deg, new cmd heading: 51.610780 deg. 2021-02-17T21:08:08.417Z,1613596088.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:09.180Z,1613596089.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:09.585Z,1613596089.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:10.408Z,1613596090.408 [Micromodem](INFO): Nmea in: $SNTTA,0.037169,,,,210809.27*4D 2021-02-17T21:08:10.457Z,1613596090.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.560005 m, bearing: 48.683693 deg, deltaT: 4.437658 s, approachRate: -0.608429 m/s, LOS rate: 0.138131 deg/s, posRepo size: 4 2021-02-17T21:08:10.459Z,1613596090.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.560005 m, bearing: 48.683693 deg, approachRate: -0.608429 m/s, LOS rate: 0.138131 deg/s, cmd update: 0.552525 deg/s, cmd heading: 50.545780 deg, new cmd heading: 50.403438 deg. 2021-02-17T21:08:12.847Z,1613596092.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:13.256Z,1613596093.256 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:08:13.630Z,1613596093.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:14.054Z,1613596094.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:14.856Z,1613596094.856 [Micromodem](INFO): Nmea in: $SNTTA,0.035430,,,,210813.72*4D 2021-02-17T21:08:14.879Z,1613596094.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.980000 m, bearing: 47.468090 deg, deltaT: 4.439677 s, approachRate: -0.581125 m/s, LOS rate: -0.273804 deg/s, posRepo size: 4 2021-02-17T21:08:14.881Z,1613596094.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.980000 m, bearing: 47.468090 deg, approachRate: -0.581125 m/s, LOS rate: -0.273804 deg/s, cmd update: -1.095217 deg/s, cmd heading: 53.012786 deg, new cmd heading: 53.240144 deg. 2021-02-17T21:08:17.340Z,1613596097.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:18.106Z,1613596098.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:18.474Z,1613596098.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:19.313Z,1613596099.313 [Micromodem](INFO): Nmea in: $SNTTA,0.033588,,,,210818.20*45 2021-02-17T21:08:19.393Z,1613596099.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.160004 m, bearing: 47.193523 deg, deltaT: 4.433179 s, approachRate: -0.636111 m/s, LOS rate: -0.061935 deg/s, posRepo size: 4 2021-02-17T21:08:19.395Z,1613596099.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.160004 m, bearing: 47.193523 deg, approachRate: -0.636111 m/s, LOS rate: -0.061935 deg/s, cmd update: -0.247738 deg/s, cmd heading: 48.157892 deg, new cmd heading: 47.618162 deg. 2021-02-17T21:08:21.721Z,1613596101.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:22.519Z,1613596102.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:22.920Z,1613596102.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:23.744Z,1613596103.744 [Micromodem](INFO): Nmea in: $SNTTA,0.031837,,,,210822.61*42 2021-02-17T21:08:23.766Z,1613596103.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.639999 m, bearing: 49.925746 deg, deltaT: 4.486636 s, approachRate: -0.561669 m/s, LOS rate: 0.608969 deg/s, posRepo size: 4 2021-02-17T21:08:23.768Z,1613596103.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.639999 m, bearing: 49.925746 deg, approachRate: -0.561669 m/s, LOS rate: 0.608969 deg/s, cmd update: 2.435876 deg/s, cmd heading: 47.050251 deg, new cmd heading: 46.952411 deg. 2021-02-17T21:08:26.198Z,1613596106.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:26.962Z,1613596106.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:27.379Z,1613596107.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:28.188Z,1613596108.188 [Micromodem](INFO): Nmea in: $SNTTA,0.045897,,,,210827.05*4C 2021-02-17T21:08:28.222Z,1613596108.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.940002 m, bearing: 47.672217 deg, deltaT: 4.418944 s, approachRate: -0.611005 m/s, LOS rate: -0.509970 deg/s, posRepo size: 4 2021-02-17T21:08:28.224Z,1613596108.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.940002 m, bearing: 47.672217 deg, approachRate: -0.611005 m/s, LOS rate: -0.509970 deg/s, cmd update: -2.039880 deg/s, cmd heading: 57.848441 deg, new cmd heading: 58.866557 deg. 2021-02-17T21:08:30.607Z,1613596110.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:31.400Z,1613596111.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:31.808Z,1613596111.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:32.641Z,1613596112.641 [Micromodem](INFO): Nmea in: $SNTTA,0.028329,,0.057586,,210831.49*51 2021-02-17T21:08:32.673Z,1613596112.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.299999 m, bearing: 47.184050 deg, deltaT: 4.453329 s, approachRate: -0.592816 m/s, LOS rate: -0.109619 deg/s, posRepo size: 4 2021-02-17T21:08:32.675Z,1613596112.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.299999 m, bearing: 47.184050 deg, approachRate: -0.592816 m/s, LOS rate: -0.109619 deg/s, cmd update: -0.438474 deg/s, cmd heading: 48.760185 deg, new cmd heading: 47.915510 deg. 2021-02-17T21:08:35.153Z,1613596115.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:35.847Z,1613596115.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:36.259Z,1613596116.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:37.116Z,1613596117.116 [Micromodem](INFO): Nmea in: $SNTTA,0.026726,,,,210835.94*47 2021-02-17T21:08:37.162Z,1613596117.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.900002 m, bearing: 48.498182 deg, deltaT: 4.427091 s, approachRate: -0.542116 m/s, LOS rate: 0.296839 deg/s, posRepo size: 4 2021-02-17T21:08:37.163Z,1613596117.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.90 m. 2021-02-17T21:08:37.165Z,1613596117.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.900002 m, bearing: 48.498182 deg, approachRate: -0.542116 m/s, LOS rate: 0.296839 deg/s, cmd update: 1.187355 deg/s, cmd heading: 46.820791 deg, new cmd heading: 46.610300 deg. 2021-02-17T21:08:37.481Z,1613596117.481 [PowerOnly](INFO): Powering up loadControl 2021-02-17T21:08:39.528Z,1613596119.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:40.294Z,1613596120.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:40.694Z,1613596120.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:41.520Z,1613596121.520 [Micromodem](INFO): Nmea in: $SNTTA,0.024960,,,,210840.39*4C 2021-02-17T21:08:41.561Z,1613596121.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.200001 m, bearing: 48.230165 deg, deltaT: 4.488662 s, approachRate: -0.601516 m/s, LOS rate: -0.059710 deg/s, posRepo size: 4 2021-02-17T21:08:41.562Z,1613596121.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.20 m. 2021-02-17T21:08:41.562Z,1613596121.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 37.20 m. 2021-02-17T21:08:41.562Z,1613596121.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T21:08:41.565Z,1613596121.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.200001 m, bearing: 48.230165 deg, approachRate: -0.601516 m/s, LOS rate: -0.059710 deg/s, cmd update: -0.238839 deg/s, cmd heading: 52.155208 deg, new cmd heading: 52.614086 deg. 2021-02-17T21:08:43.956Z,1613596123.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:44.738Z,1613596124.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:45.155Z,1613596125.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:45.968Z,1613596125.968 [Micromodem](INFO): Nmea in: $SNTTA,0.023323,,0.032662,,210844.83*5E 2021-02-17T21:08:45.990Z,1613596125.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.740002 m, bearing: 46.654816 deg, deltaT: 4.380011 s, approachRate: -0.561642 m/s, LOS rate: -0.359668 deg/s, posRepo size: 4 2021-02-17T21:08:45.992Z,1613596125.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.740002 m, bearing: 46.654816 deg, approachRate: -0.561642 m/s, LOS rate: -0.359668 deg/s, cmd update: -1.438671 deg/s, cmd heading: 51.109093 deg, new cmd heading: 51.005212 deg. 2021-02-17T21:08:48.428Z,1613596128.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:49.176Z,1613596129.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:49.581Z,1613596129.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:50.408Z,1613596130.408 [Micromodem](INFO): Nmea in: $SNTTA,0.021647,,,,210849.27*45 2021-02-17T21:08:50.470Z,1613596130.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.279999 m, bearing: 47.333986 deg, deltaT: 4.443296 s, approachRate: -0.553644 m/s, LOS rate: 0.152853 deg/s, posRepo size: 4 2021-02-17T21:08:50.476Z,1613596130.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.279999 m, bearing: 47.333986 deg, approachRate: -0.553644 m/s, LOS rate: 0.152853 deg/s, cmd update: 0.611411 deg/s, cmd heading: 44.716671 deg, new cmd heading: 44.038144 deg. 2021-02-17T21:08:52.839Z,1613596132.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:53.620Z,1613596133.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:54.052Z,1613596134.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:54.852Z,1613596134.852 [Micromodem](INFO): Nmea in: $SNTTA,0.020115,,,,210853.71*4C 2021-02-17T21:08:54.890Z,1613596134.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.519999 m, bearing: 48.225418 deg, deltaT: 4.470303 s, approachRate: -0.617408 m/s, LOS rate: 0.199412 deg/s, posRepo size: 4 2021-02-17T21:08:54.892Z,1613596134.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.519999 m, bearing: 48.225418 deg, approachRate: -0.617408 m/s, LOS rate: 0.199412 deg/s, cmd update: 0.797648 deg/s, cmd heading: 47.449892 deg, new cmd heading: 47.707486 deg. 2021-02-17T21:08:57.292Z,1613596137.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:08:58.105Z,1613596138.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:08:58.471Z,1613596138.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:08:59.302Z,1613596139.302 [Micromodem](INFO): Nmea in: $SNTTA,0.017890,,,,210858.20*43 2021-02-17T21:08:59.352Z,1613596139.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.639999 m, bearing: 47.796731 deg, deltaT: 4.445450 s, approachRate: -0.647853 m/s, LOS rate: -0.096433 deg/s, posRepo size: 4 2021-02-17T21:08:59.354Z,1613596139.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.639999 m, bearing: 47.796731 deg, approachRate: -0.647853 m/s, LOS rate: -0.096433 deg/s, cmd update: -0.385731 deg/s, cmd heading: 50.989479 deg, new cmd heading: 51.345112 deg. 2021-02-17T21:09:01.750Z,1613596141.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:09:02.511Z,1613596142.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:09:02.913Z,1613596142.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:09:03.740Z,1613596143.740 [Micromodem](INFO): Nmea in: $SNTTA,0.016246,,,,210902.60*49 2021-02-17T21:09:03.782Z,1613596143.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.180000 m, bearing: 48.582005 deg, deltaT: 4.466426 s, approachRate: -0.550776 m/s, LOS rate: 0.175817 deg/s, posRepo size: 4 2021-02-17T21:09:03.784Z,1613596143.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.180000 m, bearing: 48.582005 deg, approachRate: -0.550776 m/s, LOS rate: 0.175817 deg/s, cmd update: 0.703268 deg/s, cmd heading: 49.264653 deg, new cmd heading: 49.108777 deg. 2021-02-17T21:09:06.200Z,1613596146.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:09:06.968Z,1613596146.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:09:07.373Z,1613596147.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:09:08.208Z,1613596148.208 [Micromodem](INFO): Nmea in: $SNTTA,0.014368,,,,210907.06*43 2021-02-17T21:09:08.264Z,1613596148.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.299999 m, bearing: 49.381370 deg, deltaT: 4.410092 s, approachRate: -0.653048 m/s, LOS rate: 0.181258 deg/s, posRepo size: 4 2021-02-17T21:09:08.266Z,1613596148.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.299999 m, bearing: 49.381370 deg, approachRate: -0.653048 m/s, LOS rate: 0.181258 deg/s, cmd update: 0.725032 deg/s, cmd heading: 52.368047 deg, new cmd heading: 52.700740 deg. 2021-02-17T21:09:10.619Z,1613596150.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:09:11.397Z,1613596151.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:09:11.813Z,1613596151.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:09:12.628Z,1613596152.628 [Micromodem](INFO): Nmea in: $SNTTA,0.012786,,,,210911.49*4D 2021-02-17T21:09:12.646Z,1613596152.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 47.643349 deg, deltaT: 4.475071 s, approachRate: -0.522896 m/s, LOS rate: -0.388378 deg/s, posRepo size: 4 2021-02-17T21:09:12.648Z,1613596152.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.960001 m, bearing: 47.643349 deg, approachRate: -0.522896 m/s, LOS rate: -0.388378 deg/s, cmd update: -1.553513 deg/s, cmd heading: 55.609738 deg, new cmd heading: 55.888593 deg. 2021-02-17T21:09:15.122Z,1613596155.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:09:15.840Z,1613596155.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:09:16.252Z,1613596156.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:09:17.108Z,1613596157.108 [Micromodem](INFO): Nmea in: $SNTTA,0.011210,,,,210915.93*47 2021-02-17T21:09:17.157Z,1613596157.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.619999 m, bearing: 46.818303 deg, deltaT: 4.411566 s, approachRate: -0.530424 m/s, LOS rate: -0.187019 deg/s, posRepo size: 4 2021-02-17T21:09:17.159Z,1613596157.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.619999 m, bearing: 46.818303 deg, approachRate: -0.530424 m/s, LOS rate: -0.187019 deg/s, cmd update: -0.748075 deg/s, cmd heading: 48.750143 deg, new cmd heading: 48.004587 deg. 2021-02-17T21:09:19.507Z,1613596159.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:09:20.290Z,1613596160.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:09:20.698Z,1613596160.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:09:21.516Z,1613596161.516 [Micromodem](INFO): Nmea in: $SNTTA,0.010057,,,,210920.38*40 2021-02-17T21:09:21.554Z,1613596161.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.860000 m, bearing: 48.628447 deg, deltaT: 4.470160 s, approachRate: -0.617427 m/s, LOS rate: 0.404939 deg/s, posRepo size: 4 2021-02-17T21:09:21.556Z,1613596161.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.860000 m, bearing: 48.628447 deg, approachRate: -0.617427 m/s, LOS rate: 0.404939 deg/s, cmd update: 1.619757 deg/s, cmd heading: 45.406117 deg, new cmd heading: 45.101999 deg. 2021-02-17T21:09:23.941Z,1613596163.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:09:24.728Z,1613596164.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:09:25.139Z,1613596165.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:09:25.965Z,1613596165.965 [Micromodem](INFO): Nmea in: $SNTTA,0.007788,,0.039076,0.084370,210924.82*45 2021-02-17T21:09:25.980Z,1613596165.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.459998 m, bearing: 48.986851 deg, deltaT: 4.415467 s, approachRate: -0.543544 m/s, LOS rate: 0.081170 deg/s, posRepo size: 4 2021-02-17T21:09:25.981Z,1613596165.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.459998 m, bearing: 48.986851 deg, approachRate: -0.543544 m/s, LOS rate: 0.081170 deg/s, cmd update: 0.324680 deg/s, cmd heading: 52.558058 deg, new cmd heading: 53.232862 deg. 2021-02-17T21:09:28.406Z,1613596168.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:09:29.173Z,1613596169.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:09:29.577Z,1613596169.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:09:30.408Z,1613596170.408 [Micromodem](INFO): Nmea in: $SNTTA,0.006021,,,,210929.26*40 2021-02-17T21:09:30.458Z,1613596170.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.880000 m, bearing: 45.631019 deg, deltaT: 4.459727 s, approachRate: -0.578510 m/s, LOS rate: -0.752475 deg/s, posRepo size: 4 2021-02-17T21:09:30.460Z,1613596170.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.880000 m, bearing: 45.631019 deg, approachRate: -0.578510 m/s, LOS rate: -0.752475 deg/s, cmd update: -3.009899 deg/s, cmd heading: 54.004118 deg, new cmd heading: 54.147281 deg. 2021-02-17T21:09:32.824Z,1613596172.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:09:33.622Z,1613596173.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:09:34.041Z,1613596174.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:09:34.848Z,1613596174.848 [Micromodem](INFO): Nmea in: $SNTTA,0.004679,,,,210933.71*40 2021-02-17T21:09:34.890Z,1613596174.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.779999 m, bearing: 49.664617 deg, deltaT: 4.449790 s, approachRate: -0.471933 m/s, LOS rate: 0.906470 deg/s, posRepo size: 4 2021-02-17T21:09:34.896Z,1613596174.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.779999 m, bearing: 49.664617 deg, approachRate: -0.471933 m/s, LOS rate: 0.906470 deg/s, cmd update: 3.625878 deg/s, cmd heading: 40.604768 deg, new cmd heading: 39.334858 deg. 2021-02-17T21:09:37.304Z,1613596177.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:09:38.114Z,1613596178.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:09:38.465Z,1613596178.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:09:39.293Z,1613596179.293 [Micromodem](INFO): Nmea in: $SNTTA,0.003493,,,,210938.20*4E 2021-02-17T21:09:39.364Z,1613596179.364 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T21:09:39.365Z,1613596179.365 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T21:09:39.365Z,1613596179.365 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T21:09:39.365Z,1613596179.365 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T21:09:39.365Z,1613596179.365 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T21:09:39.365Z,1613596179.365 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.979999 m 2021-02-17T21:09:39.365Z,1613596179.365 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T21:09:39.366Z,1613596179.366 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T21:09:39.366Z,1613596179.366 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T21:09:39.372Z,1613596179.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.979999 m, bearing: 61.995701 deg, deltaT: 4.441184 s, approachRate: -0.405297 m/s, LOS rate: 2.776531 deg/s, posRepo size: 4 2021-02-17T21:09:39.374Z,1613596179.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.979999 m, bearing: 61.995701 deg, approachRate: -0.405297 m/s, LOS rate: 2.776531 deg/s, cmd update: 11.106122 deg/s, cmd heading: 56.704287 deg, new cmd heading: 58.369761 deg. 2021-02-17T21:09:39.722Z,1613596179.722 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T210939: (41.552319, -70.708603) 2021-02-17T21:09:39.722Z,1613596179.722 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T21:09:39.722Z,1613596179.722 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T21:09:39.722Z,1613596179.722 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T21:09:39.722Z,1613596179.722 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T21:09:39.722Z,1613596179.722 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T21:09:39.722Z,1613596179.722 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T21:09:39.722Z,1613596179.722 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T21:09:39.723Z,1613596179.723 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T21:09:40.169Z,1613596180.169 [UniversalFixResidualReporter](INFO): Fix residual: 5.7 %DT, over the last 580.7 m. Residual distance 33.0 m at bearing 139.7 degrees. Fix at (41.5515, -70.7067) with 0.0 m made good. 2021-02-17T21:09:41.734Z,1613596181.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:09:42.521Z,1613596182.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:09:42.917Z,1613596182.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:09:43.747Z,1613596183.747 [Micromodem](INFO): Nmea in: $SNTTA,0.003034,,,,210942.61*4F 2021-02-17T21:09:43.766Z,1613596183.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 40.116761 deg, deltaT: 4.451356 s, approachRate: -0.107832 m/s, LOS rate: -4.915118 deg/s, posRepo size: 4 2021-02-17T21:09:43.768Z,1613596183.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 40.116761 deg, approachRate: -0.107832 m/s, LOS rate: -4.915118 deg/s, cmd update: -12.000000 deg/s, cmd heading: 106.197455 deg, new cmd heading: 110.651365 deg. 2021-02-17T21:09:46.177Z,1613596186.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:09:46.948Z,1613596186.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:09:47.405Z,1613596187.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:09:48.187Z,1613596188.187 [Micromodem](INFO): Nmea in: $SNTTA,0.003364,,0.039076,,210947.04*5A 2021-02-17T21:09:48.221Z,1613596188.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.039999 m, bearing: 75.681815 deg, deltaT: 4.432807 s, approachRate: 0.121819 m/s, LOS rate: 8.023145 deg/s, posRepo size: 4 2021-02-17T21:09:48.223Z,1613596188.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.039999 m, bearing: 75.681815 deg, approachRate: 0.121819 m/s, LOS rate: 8.023145 deg/s, cmd update: 12.000000 deg/s, cmd heading: 53.053366 deg, new cmd heading: 47.921337 deg. 2021-02-17T21:09:50.615Z,1613596190.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:09:51.400Z,1613596191.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:09:51.797Z,1613596191.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:09:52.629Z,1613596192.629 [Micromodem](INFO): Nmea in: $SNTTA,0.005390,,,,210951.49*4C 2021-02-17T21:09:52.674Z,1613596192.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.179999 m, bearing: 75.636094 deg, deltaT: 4.463787 s, approachRate: 0.255388 m/s, LOS rate: -0.010243 deg/s, posRepo size: 4 2021-02-17T21:09:52.676Z,1613596192.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.179999 m, bearing: 75.636094 deg, approachRate: 0.255388 m/s, LOS rate: -0.010243 deg/s, cmd update: -0.040971 deg/s, cmd heading: 106.620299 deg, new cmd heading: 111.619847 deg. 2021-02-17T21:09:55.133Z,1613596195.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:09:55.844Z,1613596195.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:09:56.254Z,1613596196.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:09:57.078Z,1613596197.078 [Micromodem](INFO): Nmea in: $SNTTA,0.004487,,0.021487,,210955.93*59 2021-02-17T21:09:57.154Z,1613596197.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.900000 m, bearing: 44.815415 deg, deltaT: 4.422951 s, approachRate: 0.162787 m/s, LOS rate: -6.968352 deg/s, posRepo size: 4 2021-02-17T21:09:57.156Z,1613596197.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.900000 m, bearing: 44.815415 deg, approachRate: 0.162787 m/s, LOS rate: -6.968352 deg/s, cmd update: -12.000000 deg/s, cmd heading: 106.439087 deg, new cmd heading: 106.419698 deg. 2021-02-17T21:09:59.503Z,1613596199.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:00.286Z,1613596200.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:00.686Z,1613596200.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:01.516Z,1613596201.516 [Micromodem](INFO): Nmea in: $SNTTA,0.007613,,,,211000.38*4A 2021-02-17T21:10:01.554Z,1613596201.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.899997 m, bearing: 58.768239 deg, deltaT: 4.489169 s, approachRate: 0.668275 m/s, LOS rate: 3.108108 deg/s, posRepo size: 4 2021-02-17T21:10:01.556Z,1613596201.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.899997 m, bearing: 58.768239 deg, approachRate: 0.668275 m/s, LOS rate: 3.108108 deg/s, cmd update: 12.000000 deg/s, cmd heading: 52.716370 deg, new cmd heading: 47.957649 deg. 2021-02-17T21:10:03.947Z,1613596203.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:04.730Z,1613596204.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:05.129Z,1613596205.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:05.956Z,1613596205.956 [Micromodem](INFO): Nmea in: $SNTTA,0.007824,,0.044012,,211004.82*58 2021-02-17T21:10:05.994Z,1613596205.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.899998 m, bearing: 62.809866 deg, deltaT: 4.372486 s, approachRate: 0.686109 m/s, LOS rate: 0.924332 deg/s, posRepo size: 4 2021-02-17T21:10:05.996Z,1613596205.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.899998 m, bearing: 62.809866 deg, approachRate: 0.686109 m/s, LOS rate: 0.924332 deg/s, cmd update: 3.697327 deg/s, cmd heading: 105.381539 deg, new cmd heading: 110.756963 deg. 2021-02-17T21:10:08.431Z,1613596208.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:09.174Z,1613596209.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:09.590Z,1613596209.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:10.416Z,1613596210.416 [Micromodem](INFO): Nmea in: $SNTTA,0.009636,,,,211009.26*45 2021-02-17T21:10:10.450Z,1613596210.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.579999 m, bearing: 85.545688 deg, deltaT: 4.456657 s, approachRate: 0.376964 m/s, LOS rate: 5.101542 deg/s, posRepo size: 4 2021-02-17T21:10:10.454Z,1613596210.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.579999 m, bearing: 85.545688 deg, approachRate: 0.376964 m/s, LOS rate: 5.101542 deg/s, cmd update: 12.000000 deg/s, cmd heading: 121.814688 deg, new cmd heading: 123.512748 deg. 2021-02-17T21:10:12.009Z,1613596212.009 [PowerOnly](INFO): Powering down loadControl 2021-02-17T21:10:12.822Z,1613596212.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:13.612Z,1613596213.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:14.073Z,1613596214.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:14.850Z,1613596214.850 [Micromodem](INFO): Nmea in: $SNTTA,0.011084,,,,211013.70*4B 2021-02-17T21:10:14.904Z,1613596214.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.680002 m, bearing: 55.747034 deg, deltaT: 4.451448 s, approachRate: 0.471757 m/s, LOS rate: -6.694148 deg/s, posRepo size: 4 2021-02-17T21:10:14.904Z,1613596214.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.68 m. Rolling out. 2021-02-17T21:10:14.905Z,1613596214.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T21:10:17.309Z,1613596217.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:18.114Z,1613596218.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:18.462Z,1613596218.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:19.343Z,1613596219.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.879999 m, bearing: 65.190235 deg, deltaT: 4.426546 s, approachRate: 0.271091 m/s, LOS rate: 2.133311 deg/s, posRepo size: 4 2021-02-17T21:10:19.684Z,1613596219.684 [Micromodem](INFO): Nmea in: $SNTTA,0.011411,,,,211018.20*4D 2021-02-17T21:10:21.707Z,1613596221.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:22.509Z,1613596222.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:22.918Z,1613596222.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:23.736Z,1613596223.736 [Micromodem](INFO): Nmea in: $SNTTA,0.012598,,,,211022.60*43 2021-02-17T21:10:23.778Z,1613596223.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 145.080513 deg, deltaT: 4.511078 s, approachRate: 0.239411 m/s, LOS rate: 17.709798 deg/s, posRepo size: 4 2021-02-17T21:10:26.185Z,1613596226.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:26.950Z,1613596226.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:27.350Z,1613596227.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:28.176Z,1613596228.176 [Micromodem](INFO): Nmea in: $SNTTA,0.013495,,,,211027.04*49 2021-02-17T21:10:28.224Z,1613596228.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.280001 m, bearing: 162.389646 deg, deltaT: 4.390718 s, approachRate: 0.300634 m/s, LOS rate: 3.942210 deg/s, posRepo size: 4 2021-02-17T21:10:30.595Z,1613596230.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:31.394Z,1613596231.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:31.794Z,1613596231.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:32.624Z,1613596232.624 [Micromodem](INFO): Nmea in: $SNTTA,0.014376,,0.040089,,211031.48*50 2021-02-17T21:10:32.670Z,1613596232.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.600000 m, bearing: 162.788803 deg, deltaT: 4.471987 s, approachRate: 0.295171 m/s, LOS rate: 0.089257 deg/s, posRepo size: 4 2021-02-17T21:10:35.125Z,1613596235.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:35.832Z,1613596235.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:36.243Z,1613596236.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:37.108Z,1613596237.108 [Micromodem](INFO): Nmea in: $SNTTA,0.014958,,,0.128346,211035.92*5A 2021-02-17T21:10:37.178Z,1613596237.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.980001 m, bearing: 195.430482 deg, deltaT: 4.400669 s, approachRate: 0.313589 m/s, LOS rate: 7.417436 deg/s, posRepo size: 4 2021-02-17T21:10:39.162Z,1613596239.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:39.874Z,1613596239.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:40.285Z,1613596240.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:41.120Z,1613596241.120 [Micromodem](INFO): Nmea in: $SNTTA,0.015260,,,,211039.97*46 2021-02-17T21:10:41.154Z,1613596241.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.860001 m, bearing: 227.905217 deg, deltaT: 4.074320 s, approachRate: -0.029453 m/s, LOS rate: 7.970590 deg/s, posRepo size: 4 2021-02-17T21:10:43.540Z,1613596243.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:44.316Z,1613596244.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:44.722Z,1613596244.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:45.544Z,1613596245.544 [Micromodem](INFO): Nmea in: $SNTTA,0.015777,,,,211044.41*44 2021-02-17T21:10:45.566Z,1613596245.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.700001 m, bearing: 223.006045 deg, deltaT: 4.464402 s, approachRate: 0.188155 m/s, LOS rate: -1.097386 deg/s, posRepo size: 4 2021-02-17T21:10:47.991Z,1613596247.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:48.760Z,1613596248.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:49.166Z,1613596249.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:49.992Z,1613596249.992 [Micromodem](INFO): Nmea in: $SNTTA,0.016789,,,,211048.85*42 2021-02-17T21:10:50.014Z,1613596250.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.259996 m, bearing: 181.439700 deg, deltaT: 4.399010 s, approachRate: 0.354624 m/s, LOS rate: -9.449023 deg/s, posRepo size: 4 2021-02-17T21:10:52.112Z,1613596252.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:52.806Z,1613596252.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:53.206Z,1613596253.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:54.056Z,1613596254.056 [Micromodem](INFO): Nmea in: $SNTTA,0.017960,,,,211052.90*45 2021-02-17T21:10:54.147Z,1613596254.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.939999 m, bearing: 193.592573 deg, deltaT: 4.030681 s, approachRate: 0.416804 m/s, LOS rate: 3.015092 deg/s, posRepo size: 4 2021-02-17T21:10:56.466Z,1613596256.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:10:57.244Z,1613596257.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:10:57.651Z,1613596257.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:10:58.476Z,1613596258.476 [Micromodem](INFO): Nmea in: $SNTTA,0.019422,,,,211057.34*4B 2021-02-17T21:10:58.498Z,1613596258.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.219999 m, bearing: 187.017095 deg, deltaT: 4.536568 s, approachRate: 0.502583 m/s, LOS rate: -1.449439 deg/s, posRepo size: 4 2021-02-17T21:11:00.895Z,1613596260.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:01.690Z,1613596261.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:02.114Z,1613596262.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:02.916Z,1613596262.916 [Micromodem](INFO): Nmea in: $SNTTA,0.021095,,,,211101.78*42 2021-02-17T21:11:02.953Z,1613596262.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.859997 m, bearing: 190.904115 deg, deltaT: 4.365769 s, approachRate: 0.604704 m/s, LOS rate: 0.890340 deg/s, posRepo size: 4 2021-02-17T21:11:05.148Z,1613596265.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:05.728Z,1613596265.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:06.139Z,1613596266.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:06.960Z,1613596266.960 [Micromodem](INFO): Nmea in: $SNTTA,0.022964,,0.025909,,211105.82*5E 2021-02-17T21:11:06.982Z,1613596266.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.680000 m, bearing: 204.724019 deg, deltaT: 4.053839 s, approachRate: 0.695638 m/s, LOS rate: 3.409091 deg/s, posRepo size: 4 2021-02-17T21:11:09.425Z,1613596269.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:10.217Z,1613596270.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:10.585Z,1613596270.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:11.409Z,1613596271.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211110.31*5E 2021-02-17T21:11:11.462Z,1613596271.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.139999 m, bearing: 170.330875 deg, deltaT: 4.435657 s, approachRate: 0.554596 m/s, LOS rate: -7.753788 deg/s, posRepo size: 4 2021-02-17T21:11:13.831Z,1613596273.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:14.621Z,1613596274.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:15.068Z,1613596275.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:15.848Z,1613596275.848 [Micromodem](INFO): Nmea in: $SNTTA,0.026898,,,,211114.71*4D 2021-02-17T21:11:15.870Z,1613596275.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.439999 m, bearing: 166.077498 deg, deltaT: 4.433604 s, approachRate: 0.744315 m/s, LOS rate: -0.959350 deg/s, posRepo size: 4 2021-02-17T21:11:18.315Z,1613596278.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:19.103Z,1613596279.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:19.483Z,1613596279.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:20.316Z,1613596280.316 [Micromodem](INFO): Nmea in: $SNTTA,0.029041,,,,211119.19*4D 2021-02-17T21:11:20.368Z,1613596280.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.680000 m, bearing: 157.322179 deg, deltaT: 4.450573 s, approachRate: 0.727997 m/s, LOS rate: -1.967234 deg/s, posRepo size: 4 2021-02-17T21:11:22.763Z,1613596282.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:23.517Z,1613596283.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:23.933Z,1613596283.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:24.748Z,1613596284.748 [Micromodem](INFO): Nmea in: $SNTTA,0.032748,,,,211123.61*4F 2021-02-17T21:11:24.785Z,1613596284.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.100002 m, bearing: 155.634917 deg, deltaT: 4.476998 s, approachRate: 0.763905 m/s, LOS rate: -0.376873 deg/s, posRepo size: 4 2021-02-17T21:11:27.188Z,1613596287.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:27.960Z,1613596287.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:28.366Z,1613596288.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:29.188Z,1613596289.188 [Micromodem](INFO): Nmea in: $SNTTA,0.034075,,,,211128.05*49 2021-02-17T21:11:29.222Z,1613596289.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 234.064326 deg, deltaT: 4.407051 s, approachRate: 0.803257 m/s, LOS rate: 17.796346 deg/s, posRepo size: 4 2021-02-17T21:11:31.611Z,1613596291.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:32.404Z,1613596292.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:32.812Z,1613596292.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:33.635Z,1613596293.635 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211132.50*59 2021-02-17T21:11:33.654Z,1613596293.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.060001 m, bearing: 160.016716 deg, deltaT: 4.468428 s, approachRate: 0.765371 m/s, LOS rate: -16.571289 deg/s, posRepo size: 4 2021-02-17T21:11:36.126Z,1613596296.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:36.850Z,1613596296.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:37.262Z,1613596297.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:38.116Z,1613596298.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211136.94*55 2021-02-17T21:11:38.169Z,1613596298.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.240005 m, bearing: 166.245616 deg, deltaT: 4.451998 s, approachRate: 0.714287 m/s, LOS rate: 1.399125 deg/s, posRepo size: 4 2021-02-17T21:11:40.509Z,1613596300.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:41.297Z,1613596301.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:41.716Z,1613596301.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:42.524Z,1613596302.524 [Micromodem](INFO): Nmea in: $SNTTA,0.040460,,,,211141.39*4A 2021-02-17T21:11:42.565Z,1613596302.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.540005 m, bearing: 233.601813 deg, deltaT: 4.448716 s, approachRate: 0.741787 m/s, LOS rate: 15.140593 deg/s, posRepo size: 4 2021-02-17T21:11:44.946Z,1613596304.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:45.736Z,1613596305.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:46.145Z,1613596306.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:46.964Z,1613596306.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211145.83*57 2021-02-17T21:11:46.997Z,1613596306.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.139999 m, bearing: 224.419922 deg, deltaT: 4.420976 s, approachRate: 0.814299 m/s, LOS rate: -2.076892 deg/s, posRepo size: 4 2021-02-17T21:11:49.424Z,1613596309.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:50.180Z,1613596310.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:50.585Z,1613596310.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:51.408Z,1613596311.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211150.27*5D 2021-02-17T21:11:51.462Z,1613596311.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.040001 m, bearing: 171.062047 deg, deltaT: 4.427930 s, approachRate: 0.880773 m/s, LOS rate: -12.050298 deg/s, posRepo size: 4 2021-02-17T21:11:53.445Z,1613596313.445 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:11:53.515Z,1613596313.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:54.220Z,1613596314.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:54.635Z,1613596314.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:55.467Z,1613596315.467 [Micromodem](INFO): Nmea in: $SNTTA,0.047545,,,,211154.31*47 2021-02-17T21:11:55.509Z,1613596315.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.460007 m, bearing: 217.274069 deg, deltaT: 4.132622 s, approachRate: 0.827563 m/s, LOS rate: 11.182253 deg/s, posRepo size: 4 2021-02-17T21:11:57.892Z,1613596317.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:11:58.672Z,1613596318.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:11:59.108Z,1613596319.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:11:59.900Z,1613596319.900 [Micromodem](INFO): Nmea in: $SNTTA,0.049897,,,,211158.76*44 2021-02-17T21:11:59.937Z,1613596319.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.059998 m, bearing: 217.525624 deg, deltaT: 4.370830 s, approachRate: 0.823640 m/s, LOS rate: 0.057553 deg/s, posRepo size: 4 2021-02-17T21:12:02.349Z,1613596322.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:03.133Z,1613596323.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:12:03.525Z,1613596323.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:12:04.356Z,1613596324.356 [Micromodem](INFO): Nmea in: $SNTTA,0.052385,,,,211203.22*4A 2021-02-17T21:12:04.389Z,1613596324.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.720009 m, bearing: 172.920924 deg, deltaT: 4.440674 s, approachRate: 0.824202 m/s, LOS rate: -10.044579 deg/s, posRepo size: 4 2021-02-17T21:12:06.775Z,1613596326.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:07.557Z,1613596327.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:12:07.961Z,1613596327.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:12:08.772Z,1613596328.772 [Micromodem](INFO): Nmea in: $SNTTA,0.054922,,,,211207.65*4C 2021-02-17T21:12:09.592Z,1613596329.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:11.194Z,1613596331.194 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:12:12.480Z,1613596332.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:13.216Z,1613596333.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:12:13.621Z,1613596333.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:12:14.430Z,1613596334.430 [Micromodem](INFO): Nmea in: $SNTTA,0.057919,,,,211213.31*43 2021-02-17T21:12:15.270Z,1613596335.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:16.845Z,1613596336.845 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:12:18.143Z,1613596338.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:18.864Z,1613596338.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:12:19.270Z,1613596339.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:12:20.120Z,1613596340.120 [Micromodem](INFO): Nmea in: $SNTTA,0.061126,,,,211218.95*47 2021-02-17T21:12:20.172Z,1613596340.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.979996 m, bearing: 194.114618 deg, deltaT: 15.741443 s, approachRate: 0.842362 m/s, LOS rate: 1.346363 deg/s, posRepo size: 4 2021-02-17T21:12:22.517Z,1613596342.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:23.308Z,1613596343.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:12:23.714Z,1613596343.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:12:24.536Z,1613596344.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211223.40*5B 2021-02-17T21:12:24.558Z,1613596344.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.520004 m, bearing: 189.156434 deg, deltaT: 4.484242 s, approachRate: 0.789433 m/s, LOS rate: -1.105691 deg/s, posRepo size: 4 2021-02-17T21:12:26.978Z,1613596346.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:27.754Z,1613596347.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:12:28.158Z,1613596348.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:12:28.980Z,1613596348.980 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211227.84*57 2021-02-17T21:12:29.018Z,1613596349.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.120003 m, bearing: 203.481895 deg, deltaT: 4.402340 s, approachRate: 0.817747 m/s, LOS rate: 3.254056 deg/s, posRepo size: 4 2021-02-17T21:12:31.439Z,1613596351.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:32.213Z,1613596352.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:12:32.610Z,1613596352.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:12:33.440Z,1613596353.440 [Micromodem](INFO): Nmea in: $SNTTA,0.068599,,,,211232.30*49 2021-02-17T21:12:33.494Z,1613596353.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.900002 m, bearing: 194.560835 deg, deltaT: 4.475015 s, approachRate: 0.844690 m/s, LOS rate: -1.993526 deg/s, posRepo size: 4 2021-02-17T21:12:35.849Z,1613596355.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:36.645Z,1613596356.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:12:37.107Z,1613596357.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:12:37.872Z,1613596357.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211236.74*58 2021-02-17T21:12:37.894Z,1613596357.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.260002 m, bearing: 190.961625 deg, deltaT: 4.414712 s, approachRate: 0.761092 m/s, LOS rate: -0.815276 deg/s, posRepo size: 4 2021-02-17T21:12:40.330Z,1613596360.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:41.112Z,1613596361.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:12:41.511Z,1613596361.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:12:42.327Z,1613596362.327 [Micromodem](INFO): Nmea in: $SNTTA,0.226900,,,,211241.20*48 2021-02-17T21:12:42.749Z,1613596362.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 340.500000 m, bearing: 192.139123 deg, deltaT: 4.909743 s, approachRate: 47.709217 m/s, LOS rate: 0.239829 deg/s, posRepo size: 4 2021-02-17T21:12:42.749Z,1613596362.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 340.50 m. Resuming terminal guidance. 2021-02-17T21:12:42.749Z,1613596362.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T21:12:45.165Z,1613596365.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:45.932Z,1613596365.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:12:46.337Z,1613596366.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:12:47.160Z,1613596367.160 [Micromodem](INFO): Nmea in: $SNTTA,0.075814,,,,211246.02*4F 2021-02-17T21:12:47.214Z,1613596367.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.120003 m, bearing: 193.850126 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T21:12:47.214Z,1613596367.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 193.850126deg and heading rate command to 0 deg/s. 2021-02-17T21:12:49.594Z,1613596369.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:50.381Z,1613596370.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:12:50.787Z,1613596370.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:12:51.608Z,1613596371.608 [Micromodem](INFO): Nmea in: $SNTTA,0.078072,,,0.085514,211250.47*5F 2021-02-17T21:12:51.642Z,1613596371.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.420006 m, bearing: 196.895721 deg, deltaT: 4.461004 s, approachRate: 0.739744 m/s, LOS rate: 0.682715 deg/s, posRepo size: 2 2021-02-17T21:12:51.644Z,1613596371.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.420006 m, bearing: 196.895721 deg, approachRate: 0.739744 m/s, LOS rate: 0.682715 deg/s, cmd update: 2.730861 deg/s, cmd heading: 193.850126 deg, new cmd heading: 193.850126 deg. 2021-02-17T21:12:54.116Z,1613596374.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:54.821Z,1613596374.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:12:55.228Z,1613596375.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:12:56.096Z,1613596376.096 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211254.91*57 2021-02-17T21:12:56.142Z,1613596376.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.019997 m, bearing: 173.996214 deg, deltaT: 4.421316 s, approachRate: 0.814235 m/s, LOS rate: -5.179342 deg/s, posRepo size: 3 2021-02-17T21:12:56.144Z,1613596376.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.019997 m, bearing: 173.996214 deg, approachRate: 0.814235 m/s, LOS rate: -5.179342 deg/s, cmd update: -12.000000 deg/s, cmd heading: 205.879605 deg, new cmd heading: 207.245319 deg. 2021-02-17T21:12:58.193Z,1613596378.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:12:58.863Z,1613596378.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:12:59.265Z,1613596379.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:00.124Z,1613596380.124 [Micromodem](INFO): Nmea in: $SNTTA,0.082541,,,,211258.95*4B 2021-02-17T21:13:00.186Z,1613596380.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.959999 m, bearing: 192.019895 deg, deltaT: 4.024419 s, approachRate: 0.730541 m/s, LOS rate: 4.478579 deg/s, posRepo size: 4 2021-02-17T21:13:00.192Z,1613596380.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.959999 m, bearing: 192.019895 deg, approachRate: 0.730541 m/s, LOS rate: 4.478579 deg/s, cmd update: 12.000000 deg/s, cmd heading: 157.392428 deg, new cmd heading: 151.345171 deg. 2021-02-17T21:13:02.553Z,1613596382.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:13:03.309Z,1613596383.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:13:03.713Z,1613596383.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:04.540Z,1613596384.540 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211303.40*58 2021-02-17T21:13:04.573Z,1613596384.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.380005 m, bearing: 182.470239 deg, deltaT: 4.498605 s, approachRate: 0.760237 m/s, LOS rate: -2.122804 deg/s, posRepo size: 4 2021-02-17T21:13:04.575Z,1613596384.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.380005 m, bearing: 182.470239 deg, approachRate: 0.760237 m/s, LOS rate: -2.122804 deg/s, cmd update: -8.491216 deg/s, cmd heading: 211.230261 deg, new cmd heading: 216.082461 deg. 2021-02-17T21:13:06.968Z,1613596386.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:13:07.751Z,1613596387.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:13:08.162Z,1613596388.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:08.976Z,1613596388.976 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211307.84*54 2021-02-17T21:13:09.015Z,1613596389.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.279999 m, bearing: 214.901602 deg, deltaT: 4.416292 s, approachRate: 0.883092 m/s, LOS rate: 7.343574 deg/s, posRepo size: 4 2021-02-17T21:13:09.017Z,1613596389.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.279999 m, bearing: 214.901602 deg, approachRate: 0.883092 m/s, LOS rate: 7.343574 deg/s, cmd update: 12.000000 deg/s, cmd heading: 173.707917 deg, new cmd heading: 170.079017 deg. 2021-02-17T21:13:11.435Z,1613596391.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:13:12.193Z,1613596392.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:13:12.605Z,1613596392.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:13.420Z,1613596393.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211312.28*56 2021-02-17T21:13:13.470Z,1613596393.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.760010 m, bearing: 178.570802 deg, deltaT: 4.503649 s, approachRate: 0.772709 m/s, LOS rate: -8.066970 deg/s, posRepo size: 4 2021-02-17T21:13:13.472Z,1613596393.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.760010 m, bearing: 178.570802 deg, approachRate: 0.772709 m/s, LOS rate: -8.066970 deg/s, cmd update: -12.000000 deg/s, cmd heading: 227.647091 deg, new cmd heading: 232.295807 deg. 2021-02-17T21:13:15.858Z,1613596395.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:13:16.636Z,1613596396.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:13:17.108Z,1613596397.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:17.868Z,1613596397.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211316.73*5C 2021-02-17T21:13:17.906Z,1613596397.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.300003 m, bearing: 239.655929 deg, deltaT: 4.379828 s, approachRate: 0.808249 m/s, LOS rate: 13.946924 deg/s, posRepo size: 4 2021-02-17T21:13:17.906Z,1613596397.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.946924 deg/s. Setting heading cmd to target bearing of 239.655929deg and heading rate command to 0 deg/s. 2021-02-17T21:13:20.401Z,1613596400.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:13:21.116Z,1613596401.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:13:21.495Z,1613596401.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:22.321Z,1613596402.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211321.21*5F 2021-02-17T21:13:22.355Z,1613596402.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.180008 m, bearing: 181.784105 deg, deltaT: 4.450996 s, approachRate: 0.647047 m/s, LOS rate: -13.001994 deg/s, posRepo size: 4 2021-02-17T21:13:22.356Z,1613596402.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.001994 deg/s. Setting heading cmd to target bearing of 181.784105deg and heading rate command to 0 deg/s. 2021-02-17T21:13:24.737Z,1613596404.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:13:25.529Z,1613596405.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:13:25.937Z,1613596405.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:26.761Z,1613596406.761 [Micromodem](INFO): Nmea in: $SNTTA,0.096821,,,0.099383,211325.62*50 2021-02-17T21:13:26.805Z,1613596406.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.380005 m, bearing: 191.052235 deg, deltaT: 4.455370 s, approachRate: 0.942682 m/s, LOS rate: 2.080215 deg/s, posRepo size: 4 2021-02-17T21:13:26.807Z,1613596406.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.380005 m, bearing: 191.052235 deg, approachRate: 0.942682 m/s, LOS rate: 2.080215 deg/s, cmd update: 8.320862 deg/s, cmd heading: 181.784105 deg, new cmd heading: 181.784105 deg. 2021-02-17T21:13:29.209Z,1613596409.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:13:29.976Z,1613596409.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:13:30.380Z,1613596410.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:31.220Z,1613596411.220 [Micromodem](INFO): Nmea in: $SNTTA,0.099399,,,,211330.07*46 2021-02-17T21:13:31.266Z,1613596411.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.380005 m, bearing: 252.279840 deg, deltaT: 4.410156 s, approachRate: 0.680248 m/s, LOS rate: 13.883320 deg/s, posRepo size: 4 2021-02-17T21:13:31.267Z,1613596411.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.883320 deg/s. Setting heading cmd to target bearing of 252.279840deg and heading rate command to 0 deg/s. 2021-02-17T21:13:33.625Z,1613596413.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:13:34.430Z,1613596414.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:13:34.818Z,1613596414.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:35.648Z,1613596415.648 [Micromodem](INFO): Nmea in: $SNTTA,0.101207,,,,211334.52*44 2021-02-17T21:13:35.686Z,1613596415.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.800003 m, bearing: 193.338135 deg, deltaT: 4.524452 s, approachRate: 0.755892 m/s, LOS rate: -13.027369 deg/s, posRepo size: 4 2021-02-17T21:13:35.687Z,1613596415.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.027369 deg/s. Setting heading cmd to target bearing of 193.338135deg and heading rate command to 0 deg/s. 2021-02-17T21:13:38.151Z,1613596418.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:13:38.857Z,1613596418.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:13:39.261Z,1613596419.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:40.132Z,1613596420.132 [Micromodem](INFO): Nmea in: $SNTTA,0.103337,,,,211338.95*43 2021-02-17T21:13:40.180Z,1613596420.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.279999 m, bearing: 222.878812 deg, deltaT: 4.377617 s, approachRate: 0.794952 m/s, LOS rate: 6.748118 deg/s, posRepo size: 4 2021-02-17T21:13:40.182Z,1613596420.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.279999 m, bearing: 222.878812 deg, approachRate: 0.794952 m/s, LOS rate: 6.748118 deg/s, cmd update: 12.000000 deg/s, cmd heading: 193.338135 deg, new cmd heading: 193.338135 deg. 2021-02-17T21:13:42.521Z,1613596422.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:13:43.300Z,1613596423.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:13:43.726Z,1613596423.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:44.137Z,1613596424.137 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:13:44.532Z,1613596424.532 [Micromodem](INFO): Nmea in: $SNTTA,0.105249,,,,211343.39*47 2021-02-17T21:13:44.569Z,1613596424.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.920013 m, bearing: 236.816237 deg, deltaT: 4.460751 s, approachRate: 0.591832 m/s, LOS rate: 3.124457 deg/s, posRepo size: 4 2021-02-17T21:13:44.571Z,1613596424.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.920013 m, bearing: 236.816237 deg, approachRate: 0.591832 m/s, LOS rate: 3.124457 deg/s, cmd update: 12.000000 deg/s, cmd heading: 246.913456 deg, new cmd heading: 251.825956 deg. 2021-02-17T21:13:46.970Z,1613596426.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:13:47.746Z,1613596427.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:13:48.156Z,1613596428.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:48.976Z,1613596428.976 [Micromodem](INFO): Nmea in: $SNTTA,0.107150,,,,211347.84*4C 2021-02-17T21:13:49.035Z,1613596429.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.800003 m, bearing: 212.673335 deg, deltaT: 4.436879 s, approachRate: 0.649103 m/s, LOS rate: -5.441415 deg/s, posRepo size: 4 2021-02-17T21:13:49.041Z,1613596429.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.800003 m, bearing: 212.673335 deg, approachRate: 0.649103 m/s, LOS rate: -5.441415 deg/s, cmd update: -12.000000 deg/s, cmd heading: 300.112181 deg, new cmd heading: 305.388510 deg. 2021-02-17T21:13:51.430Z,1613596431.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:13:52.196Z,1613596432.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:13:52.599Z,1613596432.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:53.420Z,1613596433.420 [Micromodem](INFO): Nmea in: $SNTTA,0.109346,,,,211352.29*44 2021-02-17T21:13:53.483Z,1613596433.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.160019 m, bearing: 233.870650 deg, deltaT: 4.479601 s, approachRate: 3.428880 m/s, LOS rate: 4.731965 deg/s, posRepo size: 4 2021-02-17T21:13:53.485Z,1613596433.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.160019 m, bearing: 233.870650 deg, approachRate: 3.428880 m/s, LOS rate: 4.731965 deg/s, cmd update: 12.000000 deg/s, cmd heading: 246.827224 deg, new cmd heading: 241.435407 deg. 2021-02-17T21:13:55.860Z,1613596435.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:13:56.632Z,1613596436.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:13:57.073Z,1613596437.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:13:57.860Z,1613596437.860 [Micromodem](INFO): Nmea in: $SNTTA,0.110803,,,,211356.72*4C 2021-02-17T21:13:57.897Z,1613596437.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.319992 m, bearing: 260.023089 deg, deltaT: 4.421667 s, approachRate: -2.225411 m/s, LOS rate: 5.914611 deg/s, posRepo size: 4 2021-02-17T21:13:57.899Z,1613596437.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.319992 m, bearing: 260.023089 deg, approachRate: -2.225411 m/s, LOS rate: 5.914611 deg/s, cmd update: 12.000000 deg/s, cmd heading: 300.279005 deg, new cmd heading: 305.194373 deg. 2021-02-17T21:14:00.273Z,1613596440.273 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:14:00.298Z,1613596440.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:01.108Z,1613596441.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:14:01.514Z,1613596441.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:14:02.340Z,1613596442.340 [Micromodem](INFO): Nmea in: $SNTTA,0.111709,,,0.137908,211401.20*50 2021-02-17T21:14:02.390Z,1613596442.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.319992 m, bearing: 327.873860 deg, deltaT: 4.458474 s, approachRate: 0.000000 m/s, LOS rate: 15.218384 deg/s, posRepo size: 4 2021-02-17T21:14:02.390Z,1613596442.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.218384 deg/s. Setting heading cmd to target bearing of 327.873860deg and heading rate command to 0 deg/s. 2021-02-17T21:14:04.767Z,1613596444.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:05.552Z,1613596445.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:14:05.961Z,1613596445.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:14:06.780Z,1613596446.780 [Micromodem](INFO): Nmea in: $SNTTA,0.112165,,,,211405.64*41 2021-02-17T21:14:06.828Z,1613596446.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.319992 m, bearing: 255.599913 deg, deltaT: 4.480628 s, approachRate: 0.000000 m/s, LOS rate: -16.130316 deg/s, posRepo size: 4 2021-02-17T21:14:06.828Z,1613596446.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.130316 deg/s. Setting heading cmd to target bearing of 255.599913deg and heading rate command to 0 deg/s. 2021-02-17T21:14:09.244Z,1613596449.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:09.996Z,1613596449.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:14:10.424Z,1613596450.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:14:11.224Z,1613596451.224 [Micromodem](INFO): Nmea in: $SNTTA,0.112021,,,,211410.14*43 2021-02-17T21:14:11.642Z,1613596451.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.819992 m, bearing: 5.673040 deg, deltaT: 4.883993 s, approachRate: 0.307126 m/s, LOS rate: 22.537529 deg/s, posRepo size: 4 2021-02-17T21:14:11.643Z,1613596451.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.537529 deg/s. Setting heading cmd to target bearing of 5.673040deg and heading rate command to 0 deg/s. 2021-02-17T21:14:14.126Z,1613596454.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:14.844Z,1613596454.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:14:15.253Z,1613596455.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:14:16.116Z,1613596456.116 [Micromodem](INFO): Nmea in: $SNTTA,0.111505,,,,211414.94*4F 2021-02-17T21:14:16.162Z,1613596456.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.819992 m, bearing: 317.214230 deg, deltaT: 4.364979 s, approachRate: 0.000000 m/s, LOS rate: -11.101730 deg/s, posRepo size: 4 2021-02-17T21:14:16.164Z,1613596456.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.819992 m, bearing: 317.214230 deg, approachRate: 0.000000 m/s, LOS rate: -11.101730 deg/s, cmd update: -12.000000 deg/s, cmd heading: 5.673040 deg, new cmd heading: 5.673040 deg. 2021-02-17T21:14:18.508Z,1613596458.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:19.294Z,1613596459.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:14:19.707Z,1613596459.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:14:20.520Z,1613596460.520 [Micromodem](INFO): Nmea in: $SNTTA,0.111070,,,,211419.38*43 2021-02-17T21:14:20.558Z,1613596460.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.619995 m, bearing: 265.967867 deg, deltaT: 4.491009 s, approachRate: -0.267200 m/s, LOS rate: -11.410879 deg/s, posRepo size: 4 2021-02-17T21:14:20.560Z,1613596460.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.619995 m, bearing: 265.967867 deg, approachRate: -0.267200 m/s, LOS rate: -11.410879 deg/s, cmd update: -12.000000 deg/s, cmd heading: 311.921211 deg, new cmd heading: 307.211079 deg. 2021-02-17T21:14:22.962Z,1613596462.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:23.733Z,1613596463.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:14:24.145Z,1613596464.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:14:24.960Z,1613596464.960 [Micromodem](INFO): Nmea in: $SNTTA,0.110707,,,,211423.82*4D 2021-02-17T21:14:24.997Z,1613596464.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.900009 m, bearing: 316.324475 deg, deltaT: 4.403225 s, approachRate: -0.163513 m/s, LOS rate: 11.436301 deg/s, posRepo size: 4 2021-02-17T21:14:24.999Z,1613596464.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.900009 m, bearing: 316.324475 deg, approachRate: -0.163513 m/s, LOS rate: 11.436301 deg/s, cmd update: 12.000000 deg/s, cmd heading: 259.040797 deg, new cmd heading: 253.939105 deg. 2021-02-17T21:14:27.440Z,1613596467.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:28.177Z,1613596468.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:14:28.582Z,1613596468.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:14:29.404Z,1613596469.404 [Micromodem](INFO): Nmea in: $SNTTA,0.110207,,,,211428.27*4C 2021-02-17T21:14:29.458Z,1613596469.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.240005 m, bearing: 326.474054 deg, deltaT: 4.455177 s, approachRate: -0.148143 m/s, LOS rate: 2.278154 deg/s, posRepo size: 4 2021-02-17T21:14:29.460Z,1613596469.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.240005 m, bearing: 326.474054 deg, approachRate: -0.148143 m/s, LOS rate: 2.278154 deg/s, cmd update: 9.112616 deg/s, cmd heading: 312.431631 deg, new cmd heading: 317.671491 deg. 2021-02-17T21:14:31.835Z,1613596471.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:32.620Z,1613596472.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:14:33.038Z,1613596473.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:14:33.864Z,1613596473.864 [Micromodem](INFO): Nmea in: $SNTTA,0.109828,,,,211432.71*4B 2021-02-17T21:14:33.886Z,1613596473.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.700012 m, bearing: 274.736737 deg, deltaT: 4.452559 s, approachRate: -0.121277 m/s, LOS rate: -11.619682 deg/s, posRepo size: 4 2021-02-17T21:14:33.887Z,1613596473.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.619682 deg/s. Setting heading cmd to target bearing of 274.736737deg and heading rate command to 0 deg/s. 2021-02-17T21:14:36.324Z,1613596476.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:37.105Z,1613596477.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:14:37.470Z,1613596477.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:14:38.300Z,1613596478.300 [Micromodem](INFO): Nmea in: $SNTTA,0.109400,,,,211437.20*4C 2021-02-17T21:14:38.721Z,1613596478.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.980011 m, bearing: 14.346703 deg, deltaT: 4.881472 s, approachRate: -0.147497 m/s, LOS rate: 20.405723 deg/s, posRepo size: 4 2021-02-17T21:14:38.722Z,1613596478.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.405723 deg/s. Setting heading cmd to target bearing of 14.346703deg and heading rate command to 0 deg/s. 2021-02-17T21:14:41.179Z,1613596481.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:41.912Z,1613596481.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:14:42.323Z,1613596482.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:14:43.148Z,1613596483.148 [Micromodem](INFO): Nmea in: $SNTTA,0.108743,,,0.111286,211442.00*5A 2021-02-17T21:14:43.211Z,1613596483.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 29.873509 deg, deltaT: 4.405919 s, approachRate: -0.245129 m/s, LOS rate: 3.524079 deg/s, posRepo size: 4 2021-02-17T21:14:43.217Z,1613596483.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.899994 m, bearing: 29.873509 deg, approachRate: -0.245129 m/s, LOS rate: 3.524079 deg/s, cmd update: 12.000000 deg/s, cmd heading: 14.346703 deg, new cmd heading: 14.346703 deg. 2021-02-17T21:14:45.570Z,1613596485.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:46.362Z,1613596486.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:14:46.775Z,1613596486.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:14:47.600Z,1613596487.600 [Micromodem](INFO): Nmea in: $SNTTA,0.107627,,0.108789,,211446.45*51 2021-02-17T21:14:47.632Z,1613596487.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.280014 m, bearing: 32.999451 deg, deltaT: 4.465995 s, approachRate: -0.362737 m/s, LOS rate: 0.699943 deg/s, posRepo size: 4 2021-02-17T21:14:47.634Z,1613596487.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.280014 m, bearing: 32.999451 deg, approachRate: -0.362737 m/s, LOS rate: 0.699943 deg/s, cmd update: 2.799772 deg/s, cmd heading: 68.098005 deg, new cmd heading: 72.823125 deg. 2021-02-17T21:14:50.031Z,1613596490.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:50.800Z,1613596490.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:14:51.207Z,1613596491.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:14:52.045Z,1613596492.045 [Micromodem](INFO): Nmea in: $SNTTA,0.106568,,,,211450.89*4E 2021-02-17T21:14:52.127Z,1613596492.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.660004 m, bearing: 19.118951 deg, deltaT: 4.405001 s, approachRate: -0.367766 m/s, LOS rate: -3.151078 deg/s, posRepo size: 4 2021-02-17T21:14:52.129Z,1613596492.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.660004 m, bearing: 19.118951 deg, approachRate: -0.367766 m/s, LOS rate: -3.151078 deg/s, cmd update: -12.000000 deg/s, cmd heading: 80.441973 deg, new cmd heading: 81.786583 deg. 2021-02-17T21:14:54.461Z,1613596494.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:55.256Z,1613596495.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:14:55.649Z,1613596495.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:14:56.480Z,1613596496.480 [Micromodem](INFO): Nmea in: $SNTTA,0.104985,,,,211455.35*41 2021-02-17T21:14:56.502Z,1613596496.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.200012 m, bearing: 21.432727 deg, deltaT: 4.516662 s, approachRate: -0.544648 m/s, LOS rate: 0.512276 deg/s, posRepo size: 4 2021-02-17T21:14:56.524Z,1613596496.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.200012 m, bearing: 21.432727 deg, approachRate: -0.544648 m/s, LOS rate: 0.512276 deg/s, cmd update: 2.049103 deg/s, cmd heading: 26.291360 deg, new cmd heading: 22.179572 deg. 2021-02-17T21:14:58.895Z,1613596498.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:14:59.688Z,1613596499.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:00.114Z,1613596500.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:00.916Z,1613596500.916 [Micromodem](INFO): Nmea in: $SNTTA,0.103535,,,,211459.78*44 2021-02-17T21:15:00.953Z,1613596500.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.100006 m, bearing: 23.175126 deg, deltaT: 4.371156 s, approachRate: -0.480424 m/s, LOS rate: 0.398613 deg/s, posRepo size: 4 2021-02-17T21:15:00.955Z,1613596500.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.100006 m, bearing: 23.175126 deg, approachRate: -0.480424 m/s, LOS rate: 0.398613 deg/s, cmd update: 1.594451 deg/s, cmd heading: 35.256737 deg, new cmd heading: 36.114711 deg. 2021-02-17T21:15:03.366Z,1613596503.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:15:04.132Z,1613596504.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:04.549Z,1613596504.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:05.365Z,1613596505.365 [Micromodem](INFO): Nmea in: $SNTTA,0.101701,,,,211504.22*45 2021-02-17T21:15:05.433Z,1613596505.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.340012 m, bearing: 22.875198 deg, deltaT: 4.444689 s, approachRate: -0.620965 m/s, LOS rate: -0.067480 deg/s, posRepo size: 4 2021-02-17T21:15:05.435Z,1613596505.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.340012 m, bearing: 22.875198 deg, approachRate: -0.620965 m/s, LOS rate: -0.067480 deg/s, cmd update: -0.269920 deg/s, cmd heading: 42.336873 deg, new cmd heading: 43.066736 deg. 2021-02-17T21:15:07.804Z,1613596507.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:15:08.585Z,1613596508.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:08.981Z,1613596508.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:09.812Z,1613596509.812 [Micromodem](INFO): Nmea in: $SNTTA,0.100080,,,,211508.67*47 2021-02-17T21:15:09.858Z,1613596509.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.940002 m, bearing: 20.831109 deg, deltaT: 4.482068 s, approachRate: -0.535469 m/s, LOS rate: -0.456059 deg/s, posRepo size: 4 2021-02-17T21:15:09.860Z,1613596509.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.940002 m, bearing: 20.831109 deg, approachRate: -0.535469 m/s, LOS rate: -0.456059 deg/s, cmd update: -1.824238 deg/s, cmd heading: 41.127024 deg, new cmd heading: 41.018878 deg. 2021-02-17T21:15:12.268Z,1613596512.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:15:13.025Z,1613596513.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:13.426Z,1613596513.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:14.260Z,1613596514.260 [Micromodem](INFO): Nmea in: $SNTTA,0.098580,,,,211513.12*4A 2021-02-17T21:15:14.318Z,1613596514.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.479996 m, bearing: 19.693046 deg, deltaT: 4.397068 s, approachRate: -0.559465 m/s, LOS rate: -0.258823 deg/s, posRepo size: 4 2021-02-17T21:15:14.325Z,1613596514.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.479996 m, bearing: 19.693046 deg, approachRate: -0.559465 m/s, LOS rate: -0.258823 deg/s, cmd update: -1.035293 deg/s, cmd heading: 33.100963 deg, new cmd heading: 32.259207 deg. 2021-02-17T21:15:16.670Z,1613596516.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:15:17.482Z,1613596517.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:17.870Z,1613596517.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:18.712Z,1613596518.712 [Micromodem](INFO): Nmea in: $SNTTA,0.096903,,,,211517.57*46 2021-02-17T21:15:18.734Z,1613596518.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.199997 m, bearing: 21.762969 deg, deltaT: 4.476162 s, approachRate: -0.509365 m/s, LOS rate: 0.462433 deg/s, posRepo size: 4 2021-02-17T21:15:18.752Z,1613596518.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.199997 m, bearing: 21.762969 deg, approachRate: -0.509365 m/s, LOS rate: 0.462433 deg/s, cmd update: 1.849730 deg/s, cmd heading: 28.482281 deg, new cmd heading: 28.051652 deg. 2021-02-17T21:15:21.163Z,1613596521.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:15:21.908Z,1613596521.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:22.324Z,1613596522.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:23.152Z,1613596523.152 [Micromodem](INFO): Nmea in: $SNTTA,0.095249,,,,211522.00*44 2021-02-17T21:15:23.186Z,1613596523.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.679993 m, bearing: 21.061090 deg, deltaT: 4.417232 s, approachRate: -0.570494 m/s, LOS rate: -0.158896 deg/s, posRepo size: 4 2021-02-17T21:15:23.188Z,1613596523.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.679993 m, bearing: 21.061090 deg, approachRate: -0.570494 m/s, LOS rate: -0.158896 deg/s, cmd update: -0.635582 deg/s, cmd heading: 36.682126 deg, new cmd heading: 37.486270 deg. 2021-02-17T21:15:25.561Z,1613596525.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:15:26.354Z,1613596526.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:26.761Z,1613596526.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:27.580Z,1613596527.580 [Micromodem](INFO): Nmea in: $SNTTA,0.093454,,,,211526.44*4C 2021-02-17T21:15:27.663Z,1613596527.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.980011 m, bearing: 21.404800 deg, deltaT: 4.462852 s, approachRate: -0.604990 m/s, LOS rate: 0.077016 deg/s, posRepo size: 4 2021-02-17T21:15:27.665Z,1613596527.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.980011 m, bearing: 21.404800 deg, approachRate: -0.604990 m/s, LOS rate: 0.077016 deg/s, cmd update: 0.308064 deg/s, cmd heading: 33.845247 deg, new cmd heading: 33.562783 deg. 2021-02-17T21:15:30.008Z,1613596530.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:15:30.805Z,1613596530.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:31.249Z,1613596531.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:32.028Z,1613596532.028 [Micromodem](INFO): Nmea in: $SNTTA,0.091650,,,,211530.90*46 2021-02-17T21:15:32.106Z,1613596532.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.339996 m, bearing: 20.207337 deg, deltaT: 4.434210 s, approachRate: -0.595374 m/s, LOS rate: -0.270051 deg/s, posRepo size: 4 2021-02-17T21:15:32.112Z,1613596532.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.339996 m, bearing: 20.207337 deg, approachRate: -0.595374 m/s, LOS rate: -0.270051 deg/s, cmd update: -1.080205 deg/s, cmd heading: 35.211213 deg, new cmd heading: 35.352238 deg. 2021-02-17T21:15:33.236Z,1613596533.236 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:15:34.496Z,1613596534.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:15:35.257Z,1613596535.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:35.646Z,1613596535.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:36.480Z,1613596536.480 [Micromodem](INFO): Nmea in: $SNTTA,0.090129,,,,211535.35*44 2021-02-17T21:15:36.522Z,1613596536.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.820007 m, bearing: 20.008764 deg, deltaT: 4.516065 s, approachRate: -0.558005 m/s, LOS rate: -0.043970 deg/s, posRepo size: 4 2021-02-17T21:15:36.524Z,1613596536.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.820007 m, bearing: 20.008764 deg, approachRate: -0.558005 m/s, LOS rate: -0.043970 deg/s, cmd update: -0.175881 deg/s, cmd heading: 30.337042 deg, new cmd heading: 29.947065 deg. 2021-02-17T21:15:38.892Z,1613596538.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:15:39.689Z,1613596539.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:40.113Z,1613596540.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:40.916Z,1613596540.916 [Micromodem](INFO): Nmea in: $SNTTA,0.088121,,,,211539.78*40 2021-02-17T21:15:40.948Z,1613596540.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.000000 m, bearing: 20.749073 deg, deltaT: 4.358915 s, approachRate: -0.646952 m/s, LOS rate: 0.169838 deg/s, posRepo size: 4 2021-02-17T21:15:40.950Z,1613596540.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.000000 m, bearing: 20.749073 deg, approachRate: -0.646952 m/s, LOS rate: 0.169838 deg/s, cmd update: 0.679351 deg/s, cmd heading: 29.569752 deg, new cmd heading: 29.495144 deg. 2021-02-17T21:15:43.368Z,1613596543.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:15:44.129Z,1613596544.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:44.542Z,1613596544.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:45.380Z,1613596545.380 [Micromodem](INFO): Nmea in: $SNTTA,0.086264,,,,211544.22*49 2021-02-17T21:15:45.414Z,1613596545.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.240005 m, bearing: 20.722200 deg, deltaT: 4.438337 s, approachRate: -0.621853 m/s, LOS rate: -0.006055 deg/s, posRepo size: 4 2021-02-17T21:15:45.436Z,1613596545.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.240005 m, bearing: 20.722200 deg, approachRate: -0.621853 m/s, LOS rate: -0.006055 deg/s, cmd update: -0.024219 deg/s, cmd heading: 32.582384 deg, new cmd heading: 32.891984 deg. 2021-02-17T21:15:47.800Z,1613596547.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:15:48.572Z,1613596548.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:48.977Z,1613596548.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:49.800Z,1613596549.800 [Micromodem](INFO): Nmea in: $SNTTA,0.084453,,,,211548.66*45 2021-02-17T21:15:49.841Z,1613596549.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.480003 m, bearing: 20.292764 deg, deltaT: 4.479460 s, approachRate: -0.616146 m/s, LOS rate: -0.095868 deg/s, posRepo size: 4 2021-02-17T21:15:49.844Z,1613596549.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.480003 m, bearing: 20.292764 deg, approachRate: -0.616146 m/s, LOS rate: -0.095868 deg/s, cmd update: -0.383471 deg/s, cmd heading: 32.473796 deg, new cmd heading: 32.464125 deg. 2021-02-17T21:15:52.259Z,1613596552.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:15:53.020Z,1613596553.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:53.439Z,1613596553.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:54.260Z,1613596554.260 [Micromodem](INFO): Nmea in: $SNTTA,0.082779,,,,211553.11*42 2021-02-17T21:15:54.318Z,1613596554.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.959999 m, bearing: 19.716091 deg, deltaT: 4.408792 s, approachRate: -0.571586 m/s, LOS rate: -0.130801 deg/s, posRepo size: 4 2021-02-17T21:15:54.324Z,1613596554.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.959999 m, bearing: 19.716091 deg, approachRate: -0.571586 m/s, LOS rate: -0.130801 deg/s, cmd update: -0.523203 deg/s, cmd heading: 30.783163 deg, new cmd heading: 30.603920 deg. 2021-02-17T21:15:56.672Z,1613596556.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:15:57.460Z,1613596557.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:15:57.871Z,1613596557.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:15:58.688Z,1613596558.688 [Micromodem](INFO): Nmea in: $SNTTA,0.081156,,,,211557.55*4E 2021-02-17T21:15:58.710Z,1613596558.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.500000 m, bearing: 19.615444 deg, deltaT: 4.488292 s, approachRate: -0.548092 m/s, LOS rate: -0.022424 deg/s, posRepo size: 4 2021-02-17T21:15:58.712Z,1613596558.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.500000 m, bearing: 19.615444 deg, approachRate: -0.548092 m/s, LOS rate: -0.022424 deg/s, cmd update: -0.089697 deg/s, cmd heading: 28.437815 deg, new cmd heading: 28.240494 deg. 2021-02-17T21:16:01.160Z,1613596561.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:01.912Z,1613596561.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:16:02.309Z,1613596562.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:16:03.140Z,1613596563.140 [Micromodem](INFO): Nmea in: $SNTTA,0.079275,,,,211602.00*48 2021-02-17T21:16:03.198Z,1613596563.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.680000 m, bearing: 20.333253 deg, deltaT: 4.393034 s, approachRate: -0.641925 m/s, LOS rate: 0.163397 deg/s, posRepo size: 4 2021-02-17T21:16:03.200Z,1613596563.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.680000 m, bearing: 20.333253 deg, approachRate: -0.641925 m/s, LOS rate: 0.163397 deg/s, cmd update: 0.653588 deg/s, cmd heading: 28.043270 deg, new cmd heading: 28.001436 deg. 2021-02-17T21:16:05.560Z,1613596565.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:06.349Z,1613596566.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:16:06.769Z,1613596566.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:16:07.576Z,1613596567.576 [Micromodem](INFO): Nmea in: $SNTTA,0.077272,,,,211606.44*45 2021-02-17T21:16:07.618Z,1613596567.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.680000 m, bearing: 20.589820 deg, deltaT: 4.498361 s, approachRate: -0.666910 m/s, LOS rate: 0.057036 deg/s, posRepo size: 4 2021-02-17T21:16:07.620Z,1613596567.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.680000 m, bearing: 20.589820 deg, approachRate: -0.666910 m/s, LOS rate: 0.057036 deg/s, cmd update: 0.228143 deg/s, cmd heading: 30.978090 deg, new cmd heading: 31.237207 deg. 2021-02-17T21:16:10.029Z,1613596570.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:10.794Z,1613596570.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:16:11.198Z,1613596571.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:16:12.020Z,1613596572.020 [Micromodem](INFO): Nmea in: $SNTTA,0.075589,,,,211610.89*42 2021-02-17T21:16:12.124Z,1613596572.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.160004 m, bearing: 19.224814 deg, deltaT: 4.383821 s, approachRate: -0.574840 m/s, LOS rate: -0.311374 deg/s, posRepo size: 4 2021-02-17T21:16:12.131Z,1613596572.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.160004 m, bearing: 19.224814 deg, approachRate: -0.574840 m/s, LOS rate: -0.311374 deg/s, cmd update: -1.245495 deg/s, cmd heading: 31.980086 deg, new cmd heading: 32.095292 deg. 2021-02-17T21:16:14.482Z,1613596574.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:15.236Z,1613596575.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:16:15.642Z,1613596575.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:16:16.468Z,1613596576.468 [Micromodem](INFO): Nmea in: $SNTTA,0.073786,,,,211615.33*4D 2021-02-17T21:16:16.490Z,1613596576.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.280006 m, bearing: 19.438947 deg, deltaT: 4.537437 s, approachRate: -0.634719 m/s, LOS rate: 0.047193 deg/s, posRepo size: 4 2021-02-17T21:16:16.492Z,1613596576.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.280006 m, bearing: 19.438947 deg, approachRate: -0.634719 m/s, LOS rate: 0.047193 deg/s, cmd update: 0.188770 deg/s, cmd heading: 26.329005 deg, new cmd heading: 25.907045 deg. 2021-02-17T21:16:18.890Z,1613596578.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:19.680Z,1613596579.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:16:20.113Z,1613596580.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:16:20.912Z,1613596580.912 [Micromodem](INFO): Nmea in: $SNTTA,0.071733,,0.089839,,211619.77*50 2021-02-17T21:16:20.950Z,1613596580.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.459999 m, bearing: 20.308521 deg, deltaT: 4.366946 s, approachRate: -0.645762 m/s, LOS rate: 0.199126 deg/s, posRepo size: 4 2021-02-17T21:16:20.952Z,1613596580.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.459999 m, bearing: 20.308521 deg, approachRate: -0.645762 m/s, LOS rate: 0.199126 deg/s, cmd update: 0.796505 deg/s, cmd heading: 27.150379 deg, new cmd heading: 27.234804 deg. 2021-02-17T21:16:23.366Z,1613596583.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:24.124Z,1613596584.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:16:24.536Z,1613596584.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:16:25.360Z,1613596585.360 [Micromodem](INFO): Nmea in: $SNTTA,0.069855,,,,211624.21*46 2021-02-17T21:16:25.419Z,1613596585.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.640007 m, bearing: 19.649534 deg, deltaT: 4.487358 s, approachRate: -0.628430 m/s, LOS rate: -0.146854 deg/s, posRepo size: 4 2021-02-17T21:16:25.421Z,1613596585.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.640007 m, bearing: 19.649534 deg, approachRate: -0.628430 m/s, LOS rate: -0.146854 deg/s, cmd update: -0.587416 deg/s, cmd heading: 30.730971 deg, new cmd heading: 31.066731 deg. 2021-02-17T21:16:27.796Z,1613596587.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:28.577Z,1613596588.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:16:28.985Z,1613596588.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:16:29.804Z,1613596589.804 [Micromodem](INFO): Nmea in: $SNTTA,0.068289,,,,211628.67*42 2021-02-17T21:16:29.853Z,1613596589.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.240005 m, bearing: 19.167022 deg, deltaT: 4.431642 s, approachRate: -0.541560 m/s, LOS rate: -0.108879 deg/s, posRepo size: 4 2021-02-17T21:16:29.855Z,1613596589.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.240005 m, bearing: 19.167022 deg, approachRate: -0.541560 m/s, LOS rate: -0.108879 deg/s, cmd update: -0.435515 deg/s, cmd heading: 28.125445 deg, new cmd heading: 27.878789 deg. 2021-02-17T21:16:32.257Z,1613596592.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:33.022Z,1613596593.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:16:33.418Z,1613596593.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:16:34.248Z,1613596594.248 [Micromodem](INFO): Nmea in: $SNTTA,0.066329,,,,211633.11*4C 2021-02-17T21:16:34.302Z,1613596594.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.300003 m, bearing: 19.975392 deg, deltaT: 4.402579 s, approachRate: -0.667791 m/s, LOS rate: 0.183613 deg/s, posRepo size: 4 2021-02-17T21:16:34.308Z,1613596594.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.300003 m, bearing: 19.975392 deg, approachRate: -0.667791 m/s, LOS rate: 0.183613 deg/s, cmd update: 0.734451 deg/s, cmd heading: 26.206308 deg, new cmd heading: 26.005134 deg. 2021-02-17T21:16:36.663Z,1613596596.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:37.458Z,1613596597.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:16:37.876Z,1613596597.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:16:38.688Z,1613596598.688 [Micromodem](INFO): Nmea in: $SNTTA,0.064631,,,,211637.55*46 2021-02-17T21:16:38.729Z,1613596598.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.779999 m, bearing: 19.736554 deg, deltaT: 4.487180 s, approachRate: -0.561601 m/s, LOS rate: -0.053227 deg/s, posRepo size: 4 2021-02-17T21:16:38.731Z,1613596598.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.779999 m, bearing: 19.736554 deg, approachRate: -0.561601 m/s, LOS rate: -0.053227 deg/s, cmd update: -0.212907 deg/s, cmd heading: 29.498980 deg, new cmd heading: 29.797300 deg. 2021-02-17T21:16:41.186Z,1613596601.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:41.900Z,1613596601.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:16:42.313Z,1613596602.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:16:43.132Z,1613596603.132 [Micromodem](INFO): Nmea in: $SNTTA,0.062739,,,,211641.99*48 2021-02-17T21:16:43.181Z,1613596603.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.960007 m, bearing: 19.820919 deg, deltaT: 4.415478 s, approachRate: -0.638661 m/s, LOS rate: 0.019107 deg/s, posRepo size: 4 2021-02-17T21:16:43.183Z,1613596603.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.960007 m, bearing: 19.820919 deg, approachRate: -0.638661 m/s, LOS rate: 0.019107 deg/s, cmd update: 0.076426 deg/s, cmd heading: 28.558057 deg, new cmd heading: 28.464672 deg. 2021-02-17T21:16:45.572Z,1613596605.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:46.344Z,1613596606.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:16:46.759Z,1613596606.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:16:47.577Z,1613596607.577 [Micromodem](INFO): Nmea in: $SNTTA,0.061158,,0.121307,,211646.44*55 2021-02-17T21:16:47.608Z,1613596607.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.379997 m, bearing: 19.140188 deg, deltaT: 4.462904 s, approachRate: -0.578101 m/s, LOS rate: -0.152531 deg/s, posRepo size: 4 2021-02-17T21:16:47.610Z,1613596607.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.379997 m, bearing: 19.140188 deg, approachRate: -0.578101 m/s, LOS rate: -0.152531 deg/s, cmd update: -0.610124 deg/s, cmd heading: 28.899149 deg, new cmd heading: 28.929902 deg. 2021-02-17T21:16:50.005Z,1613596610.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:50.806Z,1613596610.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:16:51.200Z,1613596611.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:16:52.025Z,1613596612.025 [Micromodem](INFO): Nmea in: $SNTTA,0.059176,,,,211650.89*4C 2021-02-17T21:16:52.106Z,1613596612.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.620010 m, bearing: 19.165147 deg, deltaT: 4.416795 s, approachRate: -0.624885 m/s, LOS rate: 0.005651 deg/s, posRepo size: 4 2021-02-17T21:16:52.112Z,1613596612.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.620010 m, bearing: 19.165147 deg, approachRate: -0.624885 m/s, LOS rate: 0.005651 deg/s, cmd update: 0.022604 deg/s, cmd heading: 26.204412 deg, new cmd heading: 25.909435 deg. 2021-02-17T21:16:54.460Z,1613596614.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:55.232Z,1613596615.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:16:55.642Z,1613596615.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:16:56.464Z,1613596616.464 [Micromodem](INFO): Nmea in: $SNTTA,0.057328,,,0.067746,211655.32*54 2021-02-17T21:16:56.501Z,1613596616.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.860001 m, bearing: 18.568400 deg, deltaT: 4.523574 s, approachRate: -0.610139 m/s, LOS rate: -0.131919 deg/s, posRepo size: 4 2021-02-17T21:16:56.503Z,1613596616.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.860001 m, bearing: 18.568400 deg, approachRate: -0.610139 m/s, LOS rate: -0.131919 deg/s, cmd update: -0.527677 deg/s, cmd heading: 26.306665 deg, new cmd heading: 26.314702 deg. 2021-02-17T21:16:58.893Z,1613596618.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:16:59.676Z,1613596619.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:00.130Z,1613596620.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:17:00.911Z,1613596620.911 [Micromodem](INFO): Nmea in: $SNTTA,0.055575,,,,211659.77*4F 2021-02-17T21:17:00.953Z,1613596620.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.859993 m, bearing: 19.101891 deg, deltaT: 4.385239 s, approachRate: -0.684115 m/s, LOS rate: 0.121656 deg/s, posRepo size: 4 2021-02-17T21:17:00.954Z,1613596620.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.859993 m, bearing: 19.101891 deg, approachRate: -0.684115 m/s, LOS rate: 0.121656 deg/s, cmd update: 0.486624 deg/s, cmd heading: 23.992713 deg, new cmd heading: 23.770181 deg. 2021-02-17T21:17:03.359Z,1613596623.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:04.126Z,1613596624.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:04.526Z,1613596624.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:17:05.352Z,1613596625.352 [Micromodem](INFO): Nmea in: $SNTTA,0.053613,,,,211704.22*43 2021-02-17T21:17:05.404Z,1613596625.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.279999 m, bearing: 19.343511 deg, deltaT: 4.411051 s, approachRate: -0.584893 m/s, LOS rate: 0.054776 deg/s, posRepo size: 4 2021-02-17T21:17:05.406Z,1613596625.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.279999 m, bearing: 19.343511 deg, approachRate: -0.584893 m/s, LOS rate: 0.054776 deg/s, cmd update: 0.219104 deg/s, cmd heading: 26.139255 deg, new cmd heading: 26.363853 deg. 2021-02-17T21:17:07.797Z,1613596627.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:08.567Z,1613596628.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:08.969Z,1613596628.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:17:09.792Z,1613596629.792 [Micromodem](INFO): Nmea in: $SNTTA,0.051893,,,,211708.66*4B 2021-02-17T21:17:09.830Z,1613596629.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.700005 m, bearing: 18.546438 deg, deltaT: 4.495779 s, approachRate: -0.573870 m/s, LOS rate: -0.177294 deg/s, posRepo size: 4 2021-02-17T21:17:09.836Z,1613596629.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.700005 m, bearing: 18.546438 deg, approachRate: -0.573870 m/s, LOS rate: -0.177294 deg/s, cmd update: -0.709174 deg/s, cmd heading: 27.124304 deg, new cmd heading: 27.210238 deg. 2021-02-17T21:17:12.250Z,1613596632.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:13.022Z,1613596633.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:13.414Z,1613596633.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:17:14.244Z,1613596634.244 [Micromodem](INFO): Nmea in: $SNTTA,0.049983,,,,211713.11*48 2021-02-17T21:17:14.296Z,1613596634.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.820000 m, bearing: 18.825277 deg, deltaT: 4.392752 s, approachRate: -0.655627 m/s, LOS rate: 0.063477 deg/s, posRepo size: 4 2021-02-17T21:17:14.298Z,1613596634.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.820000 m, bearing: 18.825277 deg, approachRate: -0.655627 m/s, LOS rate: 0.063477 deg/s, cmd update: 0.253908 deg/s, cmd heading: 24.009099 deg, new cmd heading: 23.679263 deg. 2021-02-17T21:17:16.658Z,1613596636.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:17.452Z,1613596637.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:17.865Z,1613596637.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:17:18.680Z,1613596638.680 [Micromodem](INFO): Nmea in: $SNTTA,0.048133,,,,211717.54*4F 2021-02-17T21:17:18.702Z,1613596638.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.060005 m, bearing: 19.951800 deg, deltaT: 4.494573 s, approachRate: -0.614073 m/s, LOS rate: 0.250641 deg/s, posRepo size: 4 2021-02-17T21:17:18.704Z,1613596638.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.060005 m, bearing: 19.951800 deg, approachRate: -0.614073 m/s, LOS rate: 0.250641 deg/s, cmd update: 1.002563 deg/s, cmd heading: 25.150308 deg, new cmd heading: 25.246013 deg. 2021-02-17T21:17:21.161Z,1613596641.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:21.896Z,1613596641.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:22.319Z,1613596642.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:17:22.337Z,1613596642.337 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:17:23.129Z,1613596643.129 [Micromodem](INFO): Nmea in: $SNTTA,0.046377,,,,211721.99*47 2021-02-17T21:17:23.197Z,1613596643.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.300003 m, bearing: 19.723846 deg, deltaT: 4.440173 s, approachRate: -0.621598 m/s, LOS rate: -0.051339 deg/s, posRepo size: 4 2021-02-17T21:17:23.199Z,1613596643.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.300003 m, bearing: 19.723846 deg, approachRate: -0.621598 m/s, LOS rate: -0.051339 deg/s, cmd update: -0.205356 deg/s, cmd heading: 29.597766 deg, new cmd heading: 30.029356 deg. 2021-02-17T21:17:24.348Z,1613596644.348 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:17:25.548Z,1613596645.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:26.362Z,1613596646.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:26.746Z,1613596646.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:17:27.580Z,1613596647.580 [Micromodem](INFO): Nmea in: $SNTTA,0.044278,,,,211726.45*4D 2021-02-17T21:17:27.602Z,1613596647.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.300003 m, bearing: 18.387197 deg, deltaT: 4.417723 s, approachRate: -0.679083 m/s, LOS rate: -0.302565 deg/s, posRepo size: 4 2021-02-17T21:17:27.624Z,1613596647.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.300003 m, bearing: 18.387197 deg, approachRate: -0.679083 m/s, LOS rate: -0.302565 deg/s, cmd update: -1.210261 deg/s, cmd heading: 28.689720 deg, new cmd heading: 28.603705 deg. 2021-02-17T21:17:29.996Z,1613596649.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:30.784Z,1613596650.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:31.190Z,1613596651.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:17:32.014Z,1613596652.014 [Micromodem](INFO): Nmea in: $SNTTA,0.042490,,,,211730.87*42 2021-02-17T21:17:32.117Z,1613596652.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.600002 m, bearing: 18.237616 deg, deltaT: 4.456410 s, approachRate: -0.605869 m/s, LOS rate: -0.033565 deg/s, posRepo size: 4 2021-02-17T21:17:32.123Z,1613596652.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.600002 m, bearing: 18.237616 deg, approachRate: -0.605869 m/s, LOS rate: -0.033565 deg/s, cmd update: -0.134262 deg/s, cmd heading: 23.303331 deg, new cmd heading: 22.718381 deg. 2021-02-17T21:17:34.477Z,1613596654.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:35.230Z,1613596655.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:35.639Z,1613596655.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:17:36.464Z,1613596656.464 [Micromodem](INFO): Nmea in: $SNTTA,0.040588,,,,211735.32*43 2021-02-17T21:17:36.512Z,1613596656.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.720005 m, bearing: 19.406043 deg, deltaT: 4.501427 s, approachRate: -0.639796 m/s, LOS rate: 0.259568 deg/s, posRepo size: 4 2021-02-17T21:17:36.514Z,1613596656.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.720005 m, bearing: 19.406043 deg, approachRate: -0.639796 m/s, LOS rate: 0.259568 deg/s, cmd update: 1.038272 deg/s, cmd heading: 22.698715 deg, new cmd heading: 22.648888 deg. 2021-02-17T21:17:38.884Z,1613596658.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:39.672Z,1613596659.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:40.116Z,1613596660.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:17:40.904Z,1613596660.904 [Micromodem](INFO): Nmea in: $SNTTA,0.038648,,,,211739.76*4F 2021-02-17T21:17:40.926Z,1613596660.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.780003 m, bearing: 19.475212 deg, deltaT: 4.358637 s, approachRate: -0.674523 m/s, LOS rate: 0.015869 deg/s, posRepo size: 4 2021-02-17T21:17:40.928Z,1613596660.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.780003 m, bearing: 19.475212 deg, approachRate: -0.674523 m/s, LOS rate: 0.015869 deg/s, cmd update: 0.063478 deg/s, cmd heading: 27.228316 deg, new cmd heading: 27.671107 deg. 2021-02-17T21:17:43.363Z,1613596663.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:44.120Z,1613596664.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:44.520Z,1613596664.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,,4000,0*6B 2021-02-17T21:17:44.520Z,1613596664.520 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,,4000,0*6B expected 6F 2021-02-17T21:17:44.520Z,1613596664.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:44.524Z,1613596664.524 [Micromodem](INFO): Nmea in: $CATXP,400*46 2021-02-17T21:17:44.525Z,1613596664.525 [Micromodem](ERROR): Response from modem unexpected: $CATXP,400*46 2021-02-17T21:17:44.930Z,1613596664.930 [Micromodem](INFO): Nmea in: $CATXF,400*50 2021-02-17T21:17:44.931Z,1613596664.931 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50 2021-02-17T21:17:44.933Z,1613596664.933 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,211744.214757,3,0,40,4000,14500,1,0,0,0,2,0,3,0*74 2021-02-17T21:17:44.933Z,1613596664.933 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,211744.214757,3,0,40,4000,14500,1,0,0,0,2,0,3,0*74 2021-02-17T21:17:45.349Z,1613596665.349 [Micromodem](INFO): Nmea in: $CAERR,211744,NI ,29,Busy completing a previous request*7E 2021-02-17T21:17:45.349Z,1613596665.349 [Micromodem](ERROR): Got error from modem: $CAERR,211744,NI ,29,Busy completing a previous request*7E 2021-02-17T21:17:45.351Z,1613596665.351 [Micromodem](INFO): Nmea in: $SNTTA,0.036854,,,,211744.21*4A 2021-02-17T21:17:45.351Z,1613596665.351 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.036854,,,,211744.21*4A 2021-02-17T21:17:45.436Z,1613596665.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.140003 m, bearing: 18.370535 deg, deltaT: 4.446860 s, approachRate: -0.593677 m/s, LOS rate: -0.248417 deg/s, posRepo size: 4 2021-02-17T21:17:45.438Z,1613596665.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.140003 m, bearing: 18.370535 deg, approachRate: -0.593677 m/s, LOS rate: -0.248417 deg/s, cmd update: -0.993669 deg/s, cmd heading: 27.510591 deg, new cmd heading: 27.541381 deg. 2021-02-17T21:17:47.794Z,1613596667.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:50.244Z,1613596670.244 [lineCaptureDepth:NeedComms] Running Loop=1 2021-02-17T21:17:50.244Z,1613596670.244 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms 2021-02-17T21:17:50.244Z,1613596670.244 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1 2021-02-17T21:17:50.244Z,1613596670.244 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-02-17T21:17:50.244Z,1613596670.244 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2021-02-17T21:17:50.245Z,1613596670.245 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2021-02-17T21:17:50.245Z,1613596670.245 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2021-02-17T21:17:50.246Z,1613596670.246 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-02-17T21:17:50.246Z,1613596670.246 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-02-17T21:17:50.246Z,1613596670.246 [lineCaptureDepth:NeedComms:A] Running Loop=1 2021-02-17T21:17:50.252Z,1613596670.252 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613591270.000000 second since 1970/01/01T00:00:00Z 2021-02-17T21:17:50.252Z,1613596670.252 [lineCaptureDepth:NeedComms:A] Stopped 2021-02-17T21:17:50.600Z,1613596670.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:51.391Z,1613596671.391 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:17:53.470Z,1613596673.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:55.831Z,1613596675.831 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:56.238Z,1613596676.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:17:56.317Z,1613596676.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:17:57.104Z,1613596677.104 [Micromodem](INFO): Nmea in: $SNTTA,0.031895,0.062589,,,211755.92*56 2021-02-17T21:17:57.106Z,1613596677.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:17:57.865Z,1613596677.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:17:58.298Z,1613596678.298 [Micromodem](INFO): Nmea in: $SNTTA,0.031216,,,,211757.20*42 2021-02-17T21:17:58.345Z,1613596678.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.619999 m, bearing: 18.095802 deg, deltaT: 12.975207 s, approachRate: -0.656637 m/s, LOS rate: -0.021174 deg/s, posRepo size: 4 2021-02-17T21:17:58.347Z,1613596678.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.619999 m, bearing: 18.095802 deg, approachRate: -0.656637 m/s, LOS rate: -0.021174 deg/s, cmd update: -0.084695 deg/s, cmd heading: 14.641361 deg, new cmd heading: 14.196547 deg. 2021-02-17T21:18:00.705Z,1613596680.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:01.496Z,1613596681.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:01.902Z,1613596681.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:18:02.724Z,1613596682.724 [Micromodem](INFO): Nmea in: $SNTTA,0.029534,,,,211801.59*4E 2021-02-17T21:18:02.801Z,1613596682.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.100002 m, bearing: 16.567952 deg, deltaT: 4.464465 s, approachRate: -0.564457 m/s, LOS rate: -0.342225 deg/s, posRepo size: 4 2021-02-17T21:18:02.807Z,1613596682.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.100002 m, bearing: 16.567952 deg, approachRate: -0.564457 m/s, LOS rate: -0.342225 deg/s, cmd update: -1.368899 deg/s, cmd heading: 14.261673 deg, new cmd heading: 14.226070 deg. 2021-02-17T21:18:05.174Z,1613596685.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:05.940Z,1613596685.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:06.346Z,1613596686.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:18:07.172Z,1613596687.172 [Micromodem](INFO): Nmea in: $SNTTA,0.027685,,,,211806.03*41 2021-02-17T21:18:07.238Z,1613596687.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.340000 m, bearing: 18.301062 deg, deltaT: 4.381218 s, approachRate: -0.629962 m/s, LOS rate: 0.395577 deg/s, posRepo size: 4 2021-02-17T21:18:07.244Z,1613596687.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.340000 m, bearing: 18.301062 deg, approachRate: -0.629962 m/s, LOS rate: 0.395577 deg/s, cmd update: 1.582308 deg/s, cmd heading: 8.256862 deg, new cmd heading: 7.612464 deg. 2021-02-17T21:18:09.596Z,1613596689.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:10.414Z,1613596690.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:10.818Z,1613596690.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:18:11.640Z,1613596691.640 [Micromodem](INFO): Nmea in: $SNTTA,0.026055,,,,211810.50*4A 2021-02-17T21:18:11.682Z,1613596691.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.999996 m, bearing: 17.883600 deg, deltaT: 4.503865 s, approachRate: -0.519555 m/s, LOS rate: -0.092690 deg/s, posRepo size: 4 2021-02-17T21:18:11.682Z,1613596691.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.00 m. 2021-02-17T21:18:11.684Z,1613596691.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.999996 m, bearing: 17.883600 deg, approachRate: -0.519555 m/s, LOS rate: -0.092690 deg/s, cmd update: -0.370758 deg/s, cmd heading: 15.377142 deg, new cmd heading: 16.033167 deg. 2021-02-17T21:18:12.065Z,1613596692.065 [PowerOnly](INFO): Powering up loadControl 2021-02-17T21:18:14.150Z,1613596694.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:14.861Z,1613596694.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:15.263Z,1613596695.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:18:16.108Z,1613596696.108 [Micromodem](INFO): Nmea in: $SNTTA,0.024364,,,,211814.95*44 2021-02-17T21:18:16.203Z,1613596696.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.480000 m, bearing: 19.556227 deg, deltaT: 4.424537 s, approachRate: -0.569550 m/s, LOS rate: 0.378034 deg/s, posRepo size: 4 2021-02-17T21:18:16.204Z,1613596696.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.48 m. 2021-02-17T21:18:16.204Z,1613596696.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.48 m. 2021-02-17T21:18:16.204Z,1613596696.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T21:18:16.206Z,1613596696.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.480000 m, bearing: 19.556227 deg, approachRate: -0.569550 m/s, LOS rate: 0.378034 deg/s, cmd update: 1.512137 deg/s, cmd heading: 13.735229 deg, new cmd heading: 13.547137 deg. 2021-02-17T21:18:18.523Z,1613596698.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:19.306Z,1613596699.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:19.705Z,1613596699.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:18:20.532Z,1613596700.532 [Micromodem](INFO): Nmea in: $SNTTA,0.022891,,,,211819.39*48 2021-02-17T21:18:20.554Z,1613596700.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.200001 m, bearing: 20.288648 deg, deltaT: 4.487710 s, approachRate: -0.508054 m/s, LOS rate: 0.163206 deg/s, posRepo size: 4 2021-02-17T21:18:20.576Z,1613596700.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.200001 m, bearing: 20.288648 deg, approachRate: -0.508054 m/s, LOS rate: 0.163206 deg/s, cmd update: 0.652824 deg/s, cmd heading: 20.521269 deg, new cmd heading: 21.081052 deg. 2021-02-17T21:18:22.957Z,1613596702.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:23.763Z,1613596703.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:24.156Z,1613596704.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:18:24.595Z,1613596704.595 [lineCaptureDepth:NeedComms:C] Running Loop=1 2021-02-17T21:18:24.984Z,1613596704.984 [Micromodem](INFO): Nmea in: $SNTTA,0.021395,,,,211823.85*4A 2021-02-17T21:18:25.006Z,1613596705.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.920000 m, bearing: 21.502228 deg, deltaT: 4.406185 s, approachRate: -0.517455 m/s, LOS rate: 0.275426 deg/s, posRepo size: 4 2021-02-17T21:18:25.008Z,1613596705.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.920000 m, bearing: 21.502228 deg, approachRate: -0.517455 m/s, LOS rate: 0.275426 deg/s, cmd update: 1.101705 deg/s, cmd heading: 23.397743 deg, new cmd heading: 23.669284 deg. 2021-02-17T21:18:25.009Z,1613596705.009 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-17T21:18:25.009Z,1613596705.009 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-17T21:18:25.009Z,1613596705.009 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-17T21:18:25.009Z,1613596705.009 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-17T21:18:25.009Z,1613596705.009 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-17T21:18:25.009Z,1613596705.009 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-17T21:18:25.010Z,1613596705.010 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-17T21:18:25.175Z,1613596705.175 [Radio_Surface](INFO): Powering up 2021-02-17T21:18:27.462Z,1613596707.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:28.220Z,1613596708.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:28.637Z,1613596708.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:18:29.445Z,1613596709.445 [Micromodem](INFO): Nmea in: $SNTTA,0.020067,,,,211828.31*41 2021-02-17T21:18:29.511Z,1613596709.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.880001 m, bearing: 25.342748 deg, deltaT: 4.546849 s, approachRate: -0.448662 m/s, LOS rate: 0.844655 deg/s, posRepo size: 4 2021-02-17T21:18:29.513Z,1613596709.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.880001 m, bearing: 25.342748 deg, approachRate: -0.448662 m/s, LOS rate: 0.844655 deg/s, cmd update: 3.378621 deg/s, cmd heading: 28.403263 deg, new cmd heading: 28.819389 deg. 2021-02-17T21:18:30.447Z,1613596710.447 [DataOverHttps](INFO): Radio surface powered ON. 2021-02-17T21:18:31.863Z,1613596711.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:32.668Z,1613596712.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:33.082Z,1613596713.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:18:33.892Z,1613596713.892 [Micromodem](INFO): Nmea in: $SNTTA,0.019327,,,,211832.76*44 2021-02-17T21:18:33.914Z,1613596713.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.799999 m, bearing: 21.559641 deg, deltaT: 4.392679 s, approachRate: -0.245864 m/s, LOS rate: -0.861230 deg/s, posRepo size: 4 2021-02-17T21:18:33.916Z,1613596713.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.799999 m, bearing: 21.559641 deg, approachRate: -0.245864 m/s, LOS rate: -0.861230 deg/s, cmd update: -3.444920 deg/s, cmd heading: 43.204106 deg, new cmd heading: 44.555852 deg. 2021-02-17T21:18:36.378Z,1613596716.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:37.137Z,1613596717.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:37.523Z,1613596717.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:18:38.348Z,1613596718.348 [Micromodem](INFO): Nmea in: $SNTTA,0.018799,,,,211837.23*41 2021-02-17T21:18:38.424Z,1613596718.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.020000 m, bearing: 21.786280 deg, deltaT: 4.403430 s, approachRate: -0.177134 m/s, LOS rate: 0.051469 deg/s, posRepo size: 4 2021-02-17T21:18:38.426Z,1613596718.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.020000 m, bearing: 21.786280 deg, approachRate: -0.177134 m/s, LOS rate: 0.051469 deg/s, cmd update: 0.205875 deg/s, cmd heading: 27.997613 deg, new cmd heading: 26.306905 deg. 2021-02-17T21:18:38.495Z,1613596718.495 [BuoyancyServo](FAULT): Overload Error 2021-02-17T21:18:38.495Z,1613596718.495 [BuoyancyServo] Hardware Fault, FailCount= 1 2021-02-17T21:18:38.495Z,1613596718.495 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T21:18:38.563Z,1613596718.563 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T21:18:40.411Z,1613596720.411 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T21:18:40.411Z,1613596720.411 [BuoyancyServo](INFO): Powering down 2021-02-17T21:18:40.757Z,1613596720.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:40.766Z,1613596720.766 [BuoyancyServo](FAULT): LCB fault: Current Limiter Activated. 2021-02-17T21:18:41.165Z,1613596721.165 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=13604, MT Status=1, MTMSN=539 2021-02-17T21:18:41.166Z,1613596721.166 [NAL9602](INFO): Data available in MT queue 2021-02-17T21:18:41.308Z,1613596721.308 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T21:18:41.308Z,1613596721.308 [BuoyancyServo] No Fault, FailCount= 1 2021-02-17T21:18:41.549Z,1613596721.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:41.767Z,1613596721.767 [NAL9602](INFO): Received command:sched "configSet LineCapture.navigationGain NaN none persist; configSet LineCapture.rolloutSpeed 0 m/s persist; restart logs" 2021-02-17T21:18:41.807Z,1613596721.807 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T21:18:41.808Z,1613596721.808 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T21:18:41.864Z,1613596721.864 [CommandLine](IMPORTANT): got command schedule "configSet LineCapture.navigationGain NaN none persist; configSet LineCapture.rolloutSpeed 0 m/s persist; restart logs" 2021-02-17T21:18:41.865Z,1613596721.865 [CommandLine](IMPORTANT): Scheduled #9: "configSet LineCapture.navigationGain NaN none persist; configSet LineCapture.rolloutSpeed 0 m/s persist; restart logs" 2021-02-17T21:18:41.865Z,1613596721.865 [CommandLine](FAULT): Scheduling was paused by a command at 2021-02-17T05:51:04Z 2021-02-17T21:18:41.951Z,1613596721.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:18:42.784Z,1613596722.784 [Micromodem](INFO): Nmea in: $SNTTA,0.018557,,,0.021064,211841.64*5C 2021-02-17T21:18:42.841Z,1613596722.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.600000 m, bearing: 23.426214 deg, deltaT: 4.489455 s, approachRate: -0.093553 m/s, LOS rate: 0.365286 deg/s, posRepo size: 4 2021-02-17T21:18:42.842Z,1613596722.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.600000 m, bearing: 23.426214 deg, approachRate: -0.093553 m/s, LOS rate: 0.365286 deg/s, cmd update: 1.461143 deg/s, cmd heading: 28.922128 deg, new cmd heading: 29.009005 deg. 2021-02-17T21:18:45.341Z,1613596725.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:45.994Z,1613596725.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:46.395Z,1613596726.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:18:47.227Z,1613596727.227 [Micromodem](INFO): Nmea in: $SNTTA,0.018785,,,,211846.08*43 2021-02-17T21:18:47.261Z,1613596727.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.959997 m, bearing: 23.310660 deg, deltaT: 4.415062 s, approachRate: 0.081538 m/s, LOS rate: -0.026172 deg/s, posRepo size: 4 2021-02-17T21:18:47.263Z,1613596727.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.959997 m, bearing: 23.310660 deg, approachRate: 0.081538 m/s, LOS rate: -0.026172 deg/s, cmd update: -0.104690 deg/s, cmd heading: 35.367365 deg, new cmd heading: 35.997257 deg. 2021-02-17T21:18:49.641Z,1613596729.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:50.437Z,1613596730.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:50.849Z,1613596730.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:18:51.664Z,1613596731.664 [Micromodem](INFO): Nmea in: $SNTTA,0.019053,,,,211850.53*47 2021-02-17T21:18:51.702Z,1613596731.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.379997 m, bearing: 22.111966 deg, deltaT: 4.463905 s, approachRate: 0.094088 m/s, LOS rate: -0.268531 deg/s, posRepo size: 4 2021-02-17T21:18:51.702Z,1613596731.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 28.38 m. 2021-02-17T21:18:51.704Z,1613596731.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.379997 m, bearing: 22.111966 deg, approachRate: 0.094088 m/s, LOS rate: -0.268531 deg/s, cmd update: -1.074122 deg/s, cmd heading: 34.899219 deg, new cmd heading: 34.857323 deg. 2021-02-17T21:18:54.165Z,1613596734.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:54.876Z,1613596734.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:55.290Z,1613596735.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:18:56.140Z,1613596736.140 [Micromodem](INFO): Nmea in: $SNTTA,0.019422,,,,211854.97*49 2021-02-17T21:18:56.204Z,1613596736.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.979998 m, bearing: 23.917191 deg, deltaT: 4.408543 s, approachRate: 0.136099 m/s, LOS rate: 0.409484 deg/s, posRepo size: 4 2021-02-17T21:18:56.206Z,1613596736.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.979998 m, bearing: 23.917191 deg, approachRate: 0.136099 m/s, LOS rate: 0.409484 deg/s, cmd update: 1.637934 deg/s, cmd heading: 30.163749 deg, new cmd heading: 29.633141 deg. 2021-02-17T21:18:58.216Z,1613596738.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:18:58.921Z,1613596738.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:18:59.339Z,1613596739.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:00.156Z,1613596740.156 [Micromodem](INFO): Nmea in: $SNTTA,0.019667,,,,211859.01*48 2021-02-17T21:19:00.190Z,1613596740.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.340000 m, bearing: 23.613289 deg, deltaT: 4.050851 s, approachRate: 0.088871 m/s, LOS rate: -0.075022 deg/s, posRepo size: 4 2021-02-17T21:19:00.192Z,1613596740.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.340000 m, bearing: 23.613289 deg, approachRate: 0.088871 m/s, LOS rate: -0.075022 deg/s, cmd update: -0.300088 deg/s, cmd heading: 36.798789 deg, new cmd heading: 37.501529 deg. 2021-02-17T21:19:00.255Z,1613596740.255 [BuoyancyServo](FAULT): Overload Error 2021-02-17T21:19:00.255Z,1613596740.255 [BuoyancyServo] Hardware Fault, FailCount= 2 2021-02-17T21:19:00.255Z,1613596740.255 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T21:19:00.359Z,1613596740.359 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T21:19:00.587Z,1613596740.587 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T21:19:00.950Z,1613596740.950 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211901.00,A,4133.12402,N,07042.52751,W,0.311,0.00,170221,,,A*77 2021-02-17T21:19:00.952Z,1613596740.952 [NAL9602](INFO): GPS fix at 20210217T211901: (41.552067, -70.708792) 2021-02-17T21:19:00.996Z,1613596740.996 [lineCaptureDepth:NeedComms:C] Stopped 2021-02-17T21:19:00.996Z,1613596740.996 [lineCaptureDepth:NeedComms:D] Running Loop=1 2021-02-17T21:19:01.383Z,1613596741.383 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:19:02.239Z,1613596742.239 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T21:19:02.243Z,1613596742.243 [BuoyancyServo](INFO): Powering down 2021-02-17T21:19:02.578Z,1613596742.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:02.586Z,1613596742.586 [BuoyancyServo](FAULT): LCB fault: Current Limiter Activated. 2021-02-17T21:19:03.130Z,1613596743.130 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T21:19:03.130Z,1613596743.130 [BuoyancyServo] No Fault, FailCount= 2 2021-02-17T21:19:03.362Z,1613596743.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:19:03.397Z,1613596743.397 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:19:03.507Z,1613596743.507 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T21:19:03.516Z,1613596743.516 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T21:19:03.766Z,1613596743.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:04.605Z,1613596744.605 [Micromodem](INFO): Nmea in: $SNTTA,0.020050,,0.055175,,211903.45*53 2021-02-17T21:19:04.629Z,1613596744.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.819998 m, bearing: 24.656971 deg, deltaT: 4.442331 s, approachRate: 0.108051 m/s, LOS rate: 0.234940 deg/s, posRepo size: 4 2021-02-17T21:19:04.631Z,1613596744.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.819998 m, bearing: 24.656971 deg, approachRate: 0.108051 m/s, LOS rate: 0.234940 deg/s, cmd update: 0.939761 deg/s, cmd heading: 35.465709 deg, new cmd heading: 35.337946 deg. 2021-02-17T21:19:07.024Z,1613596747.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:07.804Z,1613596747.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:19:08.211Z,1613596748.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:09.036Z,1613596749.036 [Micromodem](INFO): Nmea in: $SNTTA,0.020380,,,,211907.90*4C 2021-02-17T21:19:11.185Z,1613596751.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.359999 m, bearing: 24.968122 deg, deltaT: 4.595212 s, approachRate: 0.117514 m/s, LOS rate: 0.067712 deg/s, posRepo size: 4 2021-02-17T21:19:11.186Z,1613596751.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.359999 m, bearing: 24.968122 deg, approachRate: 0.117514 m/s, LOS rate: 0.067712 deg/s, cmd update: 0.270848 deg/s, cmd heading: 39.783464 deg, new cmd heading: 42.026525 deg. 2021-02-17T21:19:11.350Z,1613596751.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:12.140Z,1613596752.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:19:12.543Z,1613596752.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:13.375Z,1613596753.375 [Micromodem](INFO): Nmea in: $SNTTA,0.021084,,,,211912.23*46 2021-02-17T21:19:13.409Z,1613596753.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.379999 m, bearing: 23.054025 deg, deltaT: 4.176180 s, approachRate: 0.244242 m/s, LOS rate: -0.458337 deg/s, posRepo size: 4 2021-02-17T21:19:13.409Z,1613596753.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 31.38 m. 2021-02-17T21:19:13.412Z,1613596753.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.379999 m, bearing: 23.054025 deg, approachRate: 0.244242 m/s, LOS rate: -0.458337 deg/s, cmd update: -1.833348 deg/s, cmd heading: 40.913625 deg, new cmd heading: 41.032063 deg. 2021-02-17T21:19:15.784Z,1613596755.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:16.582Z,1613596756.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:19:16.982Z,1613596756.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:17.000Z,1613596757.000 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=13605, MT Status=1, MTMSN=540 2021-02-17T21:19:17.057Z,1613596757.057 [NAL9602](INFO): Sent 98 bytes from file Logs/20210217T180521/Courier0039.lzma 2021-02-17T21:19:17.058Z,1613596757.058 [NAL9602](INFO): Packets left to send: 0 2021-02-17T21:19:17.720Z,1613596757.720 [NAL9602](INFO): Received command:sched "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 12 hour;set lineCaptureDepth.NeedCommsTime 90 minute;set lineCaptureDepth.MicromodemCommsInterval 30 minute;set lineCaptureDepth.Repeat 100 count" 3witv 1 2 2021-02-17T21:19:17.747Z,1613596757.747 [CommandLine](IMPORTANT): got command schedule "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 12 hour;set lineCaptureDepth.NeedCommsTime 90 minute;set lineCaptureDepth.MicromodemCommsInterval 30 minute;set lineCaptureDepth.Repeat 100 count" 3witv 1 2.000000 2021-02-17T21:19:17.748Z,1613596757.748 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=3witv 2021-02-17T21:19:17.750Z,1613596757.750 [CommandLine](IMPORTANT): Scheduled #10 (#1 of 2 with id='3witv'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 12 hour;set lineCaptureDepth.NeedCommsTime 90 minute;set lineCaptureDepth.MicromodemCommsInterval 30 minute;set lineCaptureDepth.Repeat 100 count" 2021-02-17T21:19:17.750Z,1613596757.750 [CommandLine](FAULT): Scheduling was paused by a command at 2021-02-17T05:51:04Z 2021-02-17T21:19:18.033Z,1613596758.033 [Micromodem](INFO): Nmea in: $SNTTA,0.021672,,,,211916.67*4D 2021-02-17T21:19:18.063Z,1613596758.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.279999 m, bearing: 23.315011 deg, deltaT: 4.897392 s, approachRate: 0.183771 m/s, LOS rate: 0.053291 deg/s, posRepo size: 4 2021-02-17T21:19:18.072Z,1613596758.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.279999 m, bearing: 23.315011 deg, approachRate: 0.183771 m/s, LOS rate: 0.053291 deg/s, cmd update: 0.213164 deg/s, cmd heading: 31.934570 deg, new cmd heading: 31.583833 deg. 2021-02-17T21:19:20.484Z,1613596760.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:21.250Z,1613596761.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:19:21.655Z,1613596761.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:22.511Z,1613596762.511 [BuoyancyServo](FAULT): Overload Error 2021-02-17T21:19:22.511Z,1613596762.511 [BuoyancyServo] Hardware Fault, FailCount= 3 2021-02-17T21:19:22.511Z,1613596762.511 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T21:19:22.552Z,1613596762.552 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T21:19:22.592Z,1613596762.592 [Micromodem](INFO): Nmea in: $SNTTA,0.022133,,,,211921.34*4E 2021-02-17T21:19:22.618Z,1613596762.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.999996 m, bearing: 16.143871 deg, deltaT: 4.599504 s, approachRate: 0.156538 m/s, LOS rate: -1.559112 deg/s, posRepo size: 4 2021-02-17T21:19:22.624Z,1613596762.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.999996 m, bearing: 16.143871 deg, approachRate: 0.156538 m/s, LOS rate: -1.559112 deg/s, cmd update: -6.236447 deg/s, cmd heading: 32.915852 deg, new cmd heading: 32.947098 deg. 2021-02-17T21:19:25.141Z,1613596765.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:25.149Z,1613596765.149 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T21:19:25.149Z,1613596765.149 [BuoyancyServo](INFO): Powering down 2021-02-17T21:19:25.360Z,1613596765.360 [BuoyancyServo](FAULT): LCB fault: Current Limiter Activated. 2021-02-17T21:19:25.706Z,1613596765.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:19:25.824Z,1613596765.824 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T21:19:25.824Z,1613596765.824 [BuoyancyServo] No Fault, FailCount= 3 2021-02-17T21:19:26.134Z,1613596766.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:26.231Z,1613596766.231 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T21:19:26.240Z,1613596766.240 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T21:19:26.939Z,1613596766.939 [Micromodem](INFO): Nmea in: $SNTTA,0.022899,,,,211925.80*4C 2021-02-17T21:19:26.960Z,1613596766.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.139996 m, bearing: 23.054843 deg, deltaT: 4.070133 s, approachRate: 0.280089 m/s, LOS rate: 1.697972 deg/s, posRepo size: 4 2021-02-17T21:19:26.961Z,1613596766.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.139996 m, bearing: 23.054843 deg, approachRate: 0.280089 m/s, LOS rate: 1.697972 deg/s, cmd update: 6.791888 deg/s, cmd heading: 7.532410 deg, new cmd heading: 4.927390 deg. 2021-02-17T21:19:29.377Z,1613596769.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:30.145Z,1613596770.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:19:30.551Z,1613596770.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:31.381Z,1613596771.381 [Micromodem](INFO): Nmea in: $SNTTA,0.023508,,,,211930.23*45 2021-02-17T21:19:31.453Z,1613596771.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.040001 m, bearing: 20.958907 deg, deltaT: 4.433924 s, approachRate: 0.202982 m/s, LOS rate: -0.472704 deg/s, posRepo size: 4 2021-02-17T21:19:31.455Z,1613596771.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.040001 m, bearing: 20.958907 deg, approachRate: 0.202982 m/s, LOS rate: -0.472704 deg/s, cmd update: -1.890818 deg/s, cmd heading: 37.647137 deg, new cmd heading: 40.888824 deg. 2021-02-17T21:19:33.810Z,1613596773.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:34.599Z,1613596774.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:19:35.006Z,1613596775.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:35.021Z,1613596775.021 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=13606, MT Status=1, MTMSN=541 2021-02-17T21:19:35.085Z,1613596775.085 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0031.lzma 2021-02-17T21:19:35.086Z,1613596775.086 [NAL9602](INFO): Packets left to send: 10 2021-02-17T21:19:35.692Z,1613596775.692 [NAL9602](INFO): Received command:sched "set lineCaptureDepth.WaitOnDockTimeout 0.01 minute;set lineCaptureDepth.MinAltitude 3 meter;set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" 3witv 2 2 2021-02-17T21:19:35.713Z,1613596775.713 [CommandLine](IMPORTANT): got command schedule "set lineCaptureDepth.WaitOnDockTimeout 0.01 minute;set lineCaptureDepth.MinAltitude 3 meter;set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" 3witv 2 2.000000 2021-02-17T21:19:35.713Z,1613596775.713 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=3witv 2021-02-17T21:19:35.714Z,1613596775.714 [CommandLine](IMPORTANT): Scheduled #11 (#2 of 2 with id='3witv'): "set lineCaptureDepth.WaitOnDockTimeout 0.01 minute;set lineCaptureDepth.MinAltitude 3 meter;set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" 2021-02-17T21:19:35.714Z,1613596775.714 [CommandLine](FAULT): Scheduling was paused by a command at 2021-02-17T05:51:04Z 2021-02-17T21:19:35.727Z,1613596775.727 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T21:19:35.832Z,1613596775.832 [Micromodem](INFO): Nmea in: $SNTTA,0.024211,,,,211934.69*47 2021-02-17T21:19:35.862Z,1613596775.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.119999 m, bearing: 19.560661 deg, deltaT: 4.754263 s, approachRate: 0.227164 m/s, LOS rate: -0.294104 deg/s, posRepo size: 4 2021-02-17T21:19:35.872Z,1613596775.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.119999 m, bearing: 19.560661 deg, approachRate: 0.227164 m/s, LOS rate: -0.294104 deg/s, cmd update: -1.176414 deg/s, cmd heading: 28.657758 deg, new cmd heading: 28.408223 deg. 2021-02-17T21:19:38.273Z,1613596778.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:39.041Z,1613596779.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:19:39.444Z,1613596779.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:40.352Z,1613596780.352 [Micromodem](INFO): Nmea in: $SNTTA,0.024831,,,,211939.13*4F 2021-02-17T21:19:40.382Z,1613596780.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.080002 m, bearing: 18.985469 deg, deltaT: 4.533893 s, approachRate: 0.211739 m/s, LOS rate: -0.126865 deg/s, posRepo size: 4 2021-02-17T21:19:40.382Z,1613596780.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 37.08 m. Rolling out. 2021-02-17T21:19:40.382Z,1613596780.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T21:19:42.816Z,1613596782.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:43.306Z,1613596783.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:19:43.455Z,1613596783.455 [BuoyancyServo](FAULT): Overload Error 2021-02-17T21:19:43.456Z,1613596783.456 [BuoyancyServo] Hardware Fault, FailCount= 4 2021-02-17T21:19:43.456Z,1613596783.456 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T21:19:43.468Z,1613596783.468 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T21:19:43.711Z,1613596783.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:44.540Z,1613596784.540 [Micromodem](INFO): Nmea in: $SNTTA,0.025442,,,,211943.39*43 2021-02-17T21:19:44.558Z,1613596784.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.980000 m, bearing: 20.370539 deg, deltaT: 3.922510 s, approachRate: 0.229444 m/s, LOS rate: 0.353108 deg/s, posRepo size: 4 2021-02-17T21:19:45.408Z,1613596785.408 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T21:19:45.409Z,1613596785.409 [BuoyancyServo](INFO): Powering down 2021-02-17T21:19:46.227Z,1613596786.227 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T21:19:46.227Z,1613596786.227 [BuoyancyServo] No Fault, FailCount= 4 2021-02-17T21:19:46.545Z,1613596786.545 [NAL9602](INFO): SBD MO Status=1, MOMSN=13607, MT Status=0, MTMSN=0 2021-02-17T21:19:46.599Z,1613596786.599 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0031.lzma 2021-02-17T21:19:46.599Z,1613596786.599 [NAL9602](INFO): Packets left to send: 9 2021-02-17T21:19:46.601Z,1613596786.601 [PowerOnly](INFO): Powering down loadControl 2021-02-17T21:19:46.671Z,1613596786.671 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T21:19:46.679Z,1613596786.679 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T21:19:47.277Z,1613596787.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:47.750Z,1613596787.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:19:49.839Z,1613596789.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:49.963Z,1613596789.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:50.414Z,1613596790.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.699997 m, bearing: 21.872632 deg, deltaT: 5.816273 s, approachRate: 0.123790 m/s, LOS rate: 0.258257 deg/s, posRepo size: 4 2021-02-17T21:19:52.807Z,1613596792.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:53.589Z,1613596793.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:19:54.006Z,1613596794.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:54.817Z,1613596794.817 [Micromodem](INFO): Nmea in: $SNTTA,0.027021,,0.057596,,211953.68*53 2021-02-17T21:19:54.848Z,1613596794.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.259998 m, bearing: 24.996698 deg, deltaT: 4.456865 s, approachRate: 0.350022 m/s, LOS rate: 0.700956 deg/s, posRepo size: 4 2021-02-17T21:19:57.267Z,1613596797.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:19:58.034Z,1613596798.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:19:58.044Z,1613596798.044 [NAL9602](INFO): SBD MO Status=1, MOMSN=13608, MT Status=0, MTMSN=0 2021-02-17T21:19:58.097Z,1613596798.097 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0031.lzma 2021-02-17T21:19:58.098Z,1613596798.098 [NAL9602](INFO): Packets left to send: 8 2021-02-17T21:19:58.440Z,1613596798.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:19:59.264Z,1613596799.264 [Micromodem](INFO): Nmea in: $SNTTA,0.027628,,,,211958.12*4C 2021-02-17T21:20:01.346Z,1613596801.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.220001 m, bearing: 24.955416 deg, deltaT: 4.395766 s, approachRate: 0.218393 m/s, LOS rate: -0.009391 deg/s, posRepo size: 4 2021-02-17T21:20:01.462Z,1613596801.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:02.223Z,1613596802.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:20:02.633Z,1613596802.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:20:03.456Z,1613596803.456 [Micromodem](INFO): Nmea in: $SNTTA,0.028302,,,,212002.31*4A 2021-02-17T21:20:03.498Z,1613596803.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.179996 m, bearing: 22.733839 deg, deltaT: 4.249866 s, approachRate: 0.225888 m/s, LOS rate: -0.522741 deg/s, posRepo size: 4 2021-02-17T21:20:05.883Z,1613596805.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:06.344Z,1613596806.344 [BuoyancyServo](FAULT): Overload Error 2021-02-17T21:20:06.344Z,1613596806.344 [BuoyancyServo] Hardware Fault, FailCount= 5 2021-02-17T21:20:06.344Z,1613596806.344 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T21:20:06.349Z,1613596806.349 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T21:20:06.669Z,1613596806.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:20:07.106Z,1613596807.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:20:07.920Z,1613596807.920 [Micromodem](INFO): Nmea in: $SNTTA,0.029058,,,0.088051,212006.76*5A 2021-02-17T21:20:07.969Z,1613596807.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.380001 m, bearing: 20.053406 deg, deltaT: 4.392917 s, approachRate: 0.273168 m/s, LOS rate: -0.610171 deg/s, posRepo size: 4 2021-02-17T21:20:08.290Z,1613596808.290 [NAL9602](INFO): SBD MO Status=1, MOMSN=13609, MT Status=0, MTMSN=0 2021-02-17T21:20:08.347Z,1613596808.347 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0031.lzma 2021-02-17T21:20:08.347Z,1613596808.347 [NAL9602](INFO): Packets left to send: 7 2021-02-17T21:20:08.401Z,1613596808.401 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T21:20:08.402Z,1613596808.402 [BuoyancyServo](INFO): Powering down 2021-02-17T21:20:10.875Z,1613596810.875 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T21:20:11.218Z,1613596811.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:11.273Z,1613596811.273 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T21:20:11.273Z,1613596811.273 [BuoyancyServo] No Fault, FailCount= 5 2021-02-17T21:20:11.366Z,1613596811.366 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T21:20:11.371Z,1613596811.371 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T21:20:11.702Z,1613596811.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:20:12.135Z,1613596812.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:20:12.936Z,1613596812.936 [Micromodem](INFO): Nmea in: $SNTTA,0.029806,,,,212011.79*4A 2021-02-17T21:20:12.979Z,1613596812.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.520000 m, bearing: 19.798546 deg, deltaT: 5.029832 s, approachRate: 0.226648 m/s, LOS rate: -0.050670 deg/s, posRepo size: 4 2021-02-17T21:20:15.389Z,1613596815.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:16.156Z,1613596816.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:20:16.562Z,1613596816.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:20:17.380Z,1613596817.380 [Micromodem](INFO): Nmea in: $SNTTA,0.030500,,,,212016.24*46 2021-02-17T21:20:17.434Z,1613596817.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.479996 m, bearing: 17.134923 deg, deltaT: 4.477659 s, approachRate: 0.214397 m/s, LOS rate: -0.594870 deg/s, posRepo size: 4 2021-02-17T21:20:19.814Z,1613596819.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:20.593Z,1613596820.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:20:21.006Z,1613596821.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:20:21.824Z,1613596821.824 [Micromodem](INFO): Nmea in: $SNTTA,0.031173,,0.032310,,212020.68*57 2021-02-17T21:20:21.862Z,1613596821.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.560001 m, bearing: 16.552035 deg, deltaT: 4.451589 s, approachRate: 0.242611 m/s, LOS rate: -0.130939 deg/s, posRepo size: 4 2021-02-17T21:20:22.630Z,1613596822.630 [NAL9602](INFO): SBD MO Status=1, MOMSN=13610, MT Status=0, MTMSN=0 2021-02-17T21:20:22.679Z,1613596822.679 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0031.lzma 2021-02-17T21:20:22.679Z,1613596822.679 [NAL9602](INFO): Packets left to send: 6 2021-02-17T21:20:25.919Z,1613596825.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:26.394Z,1613596826.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:20:26.793Z,1613596826.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:20:27.620Z,1613596827.620 [Micromodem](INFO): Nmea in: $SNTTA,0.032261,,0.080347,,212026.48*5B 2021-02-17T21:20:27.658Z,1613596827.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.239998 m, bearing: 18.558201 deg, deltaT: 5.794088 s, approachRate: 0.289950 m/s, LOS rate: 0.346244 deg/s, posRepo size: 4 2021-02-17T21:20:30.185Z,1613596830.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:30.838Z,1613596830.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:20:31.255Z,1613596831.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:20:32.068Z,1613596832.068 [Micromodem](INFO): Nmea in: $SNTTA,0.032767,,,,212030.93*4F 2021-02-17T21:20:32.166Z,1613596832.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.960003 m, bearing: 15.116375 deg, deltaT: 4.402818 s, approachRate: 0.163533 m/s, LOS rate: -0.781733 deg/s, posRepo size: 4 2021-02-17T21:20:33.402Z,1613596833.402 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T21:20:33.402Z,1613596833.402 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T21:20:33.402Z,1613596833.402 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T21:20:33.402Z,1613596833.402 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T21:20:33.402Z,1613596833.402 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T21:20:34.106Z,1613596834.106 [NAL9602](INFO): SBD MO Status=1, MOMSN=13611, MT Status=0, MTMSN=0 2021-02-17T21:20:34.175Z,1613596834.175 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0031.lzma 2021-02-17T21:20:34.175Z,1613596834.175 [NAL9602](INFO): Packets left to send: 5 2021-02-17T21:20:34.211Z,1613596834.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:34.874Z,1613596834.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:20:35.283Z,1613596835.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:20:37.404Z,1613596837.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:37.487Z,1613596837.487 [Micromodem](INFO): Nmea in: $SNTTA,0.033459,,,,212034.96*41 2021-02-17T21:20:37.870Z,1613596837.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.039997 m, bearing: 16.368943 deg, deltaT: 5.863543 s, approachRate: 0.184188 m/s, LOS rate: 0.213620 deg/s, posRepo size: 4 2021-02-17T21:20:40.316Z,1613596840.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:41.105Z,1613596841.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:20:41.474Z,1613596841.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:20:42.312Z,1613596842.312 [Micromodem](INFO): Nmea in: $SNTTA,0.034627,,,,212041.19*48 2021-02-17T21:20:42.380Z,1613596842.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.779999 m, bearing: 18.703262 deg, deltaT: 4.378200 s, approachRate: 0.397424 m/s, LOS rate: 0.533169 deg/s, posRepo size: 4 2021-02-17T21:20:44.724Z,1613596844.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:45.526Z,1613596845.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:20:45.918Z,1613596845.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:20:46.015Z,1613596846.015 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T21:20:46.748Z,1613596846.748 [Micromodem](INFO): Nmea in: $SNTTA,0.035344,,0.062838,,212045.61*5B 2021-02-17T21:20:46.797Z,1613596846.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.799999 m, bearing: 27.105660 deg, deltaT: 4.488165 s, approachRate: 0.227264 m/s, LOS rate: 1.872123 deg/s, posRepo size: 4 2021-02-17T21:20:47.158Z,1613596847.158 [NAL9602](INFO): SBD MO Status=1, MOMSN=13612, MT Status=0, MTMSN=0 2021-02-17T21:20:47.207Z,1613596847.207 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0031.lzma 2021-02-17T21:20:47.207Z,1613596847.207 [NAL9602](INFO): Packets left to send: 4 2021-02-17T21:20:50.386Z,1613596850.386 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:20:50.444Z,1613596850.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:50.899Z,1613596850.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:20:51.299Z,1613596851.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:20:52.160Z,1613596852.160 [Micromodem](INFO): Nmea in: $SNTTA,0.036111,,,,212050.99*40 2021-02-17T21:20:52.193Z,1613596852.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.999996 m, bearing: 15.083933 deg, deltaT: 5.330476 s, approachRate: 0.225120 m/s, LOS rate: -2.255282 deg/s, posRepo size: 4 2021-02-17T21:20:54.544Z,1613596854.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:55.338Z,1613596855.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:20:55.740Z,1613596855.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:20:56.560Z,1613596856.560 [Micromodem](INFO): Nmea in: $SNTTA,0.037043,,,,212055.43*45 2021-02-17T21:20:56.609Z,1613596856.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.379993 m, bearing: 15.949306 deg, deltaT: 4.501697 s, approachRate: 0.306550 m/s, LOS rate: 0.192233 deg/s, posRepo size: 4 2021-02-17T21:20:58.996Z,1613596858.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:20:59.782Z,1613596859.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:20:59.792Z,1613596859.792 [NAL9602](INFO): SBD MO Status=1, MOMSN=13613, MT Status=0, MTMSN=0 2021-02-17T21:20:59.844Z,1613596859.844 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0031.lzma 2021-02-17T21:20:59.844Z,1613596859.844 [NAL9602](INFO): Packets left to send: 3 2021-02-17T21:21:00.199Z,1613596860.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:21:01.016Z,1613596861.016 [Micromodem](INFO): Nmea in: $SNTTA,0.037676,,,,212059.87*41 2021-02-17T21:21:03.156Z,1613596863.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.340000 m, bearing: 14.644277 deg, deltaT: 4.402995 s, approachRate: 0.218035 m/s, LOS rate: -0.296396 deg/s, posRepo size: 4 2021-02-17T21:21:03.159Z,1613596863.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:03.597Z,1613596863.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:21:04.003Z,1613596864.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:21:04.836Z,1613596864.836 [Micromodem](INFO): Nmea in: $SNTTA,0.038343,,,,212103.69*43 2021-02-17T21:21:04.857Z,1613596864.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.360001 m, bearing: 15.337092 deg, deltaT: 3.847029 s, approachRate: 0.265140 m/s, LOS rate: 0.180091 deg/s, posRepo size: 4 2021-02-17T21:21:07.295Z,1613596867.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:08.042Z,1613596868.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:21:08.447Z,1613596868.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:21:09.276Z,1613596869.276 [Micromodem](INFO): Nmea in: $SNTTA,0.039126,,,,212108.13*45 2021-02-17T21:21:09.338Z,1613596869.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.500008 m, bearing: 15.279031 deg, deltaT: 4.410331 s, approachRate: 0.258486 m/s, LOS rate: -0.013165 deg/s, posRepo size: 4 2021-02-17T21:21:11.302Z,1613596871.302 [NAL9602](INFO): SBD MO Status=1, MOMSN=13614, MT Status=0, MTMSN=0 2021-02-17T21:21:11.355Z,1613596871.355 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0031.lzma 2021-02-17T21:21:11.355Z,1613596871.355 [NAL9602](INFO): Packets left to send: 2 2021-02-17T21:21:11.391Z,1613596871.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:12.140Z,1613596872.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:21:14.235Z,1613596874.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:14.310Z,1613596874.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:21:14.706Z,1613596874.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.460003 m, bearing: 12.593049 deg, deltaT: 5.485174 s, approachRate: 0.175016 m/s, LOS rate: -0.489680 deg/s, posRepo size: 4 2021-02-17T21:21:17.167Z,1613596877.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:17.906Z,1613596877.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:21:18.307Z,1613596878.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:21:19.140Z,1613596879.140 [Micromodem](INFO): Nmea in: $SNTTA,0.041062,,,,212118.00*48 2021-02-17T21:21:19.199Z,1613596879.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.380005 m, bearing: 26.418426 deg, deltaT: 4.366135 s, approachRate: 0.439749 m/s, LOS rate: 3.166502 deg/s, posRepo size: 4 2021-02-17T21:21:21.155Z,1613596881.155 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T21:21:21.579Z,1613596881.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:22.350Z,1613596882.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:21:22.751Z,1613596882.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:21:23.576Z,1613596883.576 [Micromodem](INFO): Nmea in: $SNTTA,0.041830,,,,212122.44*4E 2021-02-17T21:21:23.590Z,1613596883.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.580006 m, bearing: 326.181257 deg, deltaT: 4.485051 s, approachRate: 0.267556 m/s, LOS rate: -13.430656 deg/s, posRepo size: 4 2021-02-17T21:21:25.190Z,1613596885.190 [NAL9602](INFO): SBD MO Status=1, MOMSN=13615, MT Status=0, MTMSN=0 2021-02-17T21:21:25.239Z,1613596885.239 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0031.lzma 2021-02-17T21:21:25.239Z,1613596885.239 [NAL9602](INFO): Packets left to send: 1 2021-02-17T21:21:25.841Z,1613596885.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:28.196Z,1613596888.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:21:28.585Z,1613596888.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:21:28.639Z,1613596888.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:29.412Z,1613596889.412 [Micromodem](INFO): Nmea in: $SNTTA,0.042949,,0.054330,,212128.29*5C 2021-02-17T21:21:29.451Z,1613596889.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.320000 m, bearing: 326.179919 deg, deltaT: 5.808317 s, approachRate: 0.299569 m/s, LOS rate: -0.000230 deg/s, posRepo size: 4 2021-02-17T21:21:31.829Z,1613596891.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:32.612Z,1613596892.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:21:33.024Z,1613596893.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:21:33.846Z,1613596893.846 [Micromodem](INFO): Nmea in: $SNTTA,0.043690,,,,212132.70*4E 2021-02-17T21:21:33.890Z,1613596893.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.339996 m, bearing: 19.912001 deg, deltaT: 4.459892 s, approachRate: 0.228704 m/s, LOS rate: 12.047842 deg/s, posRepo size: 4 2021-02-17T21:21:35.082Z,1613596895.082 [NAL9602](INFO): SBD MO Status=1, MOMSN=13616, MT Status=0, MTMSN=0 2021-02-17T21:21:35.131Z,1613596895.131 [NAL9602](INFO): Sent 7 bytes from file Logs/20210217T180521/Express0031.lzma 2021-02-17T21:21:35.132Z,1613596895.132 [NAL9602](INFO): Packets left to send: 0 2021-02-17T21:21:38.328Z,1613596898.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:38.805Z,1613596898.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:21:39.211Z,1613596899.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:21:40.031Z,1613596900.031 [Micromodem](INFO): Nmea in: $SNTTA,0.044840,,,,212138.89*46 2021-02-17T21:21:40.055Z,1613596900.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.199997 m, bearing: 332.034183 deg, deltaT: 6.152259 s, approachRate: 0.302328 m/s, LOS rate: -7.782152 deg/s, posRepo size: 4 2021-02-17T21:21:42.469Z,1613596902.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:43.246Z,1613596903.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:21:43.656Z,1613596903.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:21:44.468Z,1613596904.468 [Micromodem](INFO): Nmea in: $SNTTA,0.045338,,,,212143.33*4E 2021-02-17T21:21:44.518Z,1613596904.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.980003 m, bearing: 334.194900 deg, deltaT: 4.501155 s, approachRate: 0.173290 m/s, LOS rate: 0.480036 deg/s, posRepo size: 4 2021-02-17T21:21:44.923Z,1613596904.923 [NAL9602](INFO): SBD MO Status=1, MOMSN=13617, MT Status=0, MTMSN=0 2021-02-17T21:21:44.971Z,1613596904.971 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0034.lzma 2021-02-17T21:21:44.971Z,1613596904.971 [NAL9602](INFO): Packets left to send: 1 2021-02-17T21:21:48.145Z,1613596908.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:48.598Z,1613596908.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:21:49.003Z,1613596909.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:21:49.828Z,1613596909.828 [Micromodem](INFO): Nmea in: $SNTTA,0.046286,,0.049073,,212148.69*5A 2021-02-17T21:21:49.850Z,1613596909.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.919998 m, bearing: 313.242912 deg, deltaT: 5.304484 s, approachRate: 2.816484 m/s, LOS rate: -3.949863 deg/s, posRepo size: 4 2021-02-17T21:21:50.288Z,1613596910.288 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003941 2021-02-17T21:21:52.296Z,1613596912.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:52.650Z,1613596912.650 [NAL9602](INFO): SBD MO Status=1, MOMSN=13618, MT Status=0, MTMSN=0 2021-02-17T21:21:52.703Z,1613596912.703 [NAL9602](INFO): Sent 48 bytes from file Logs/20210217T180521/Express0034.lzma 2021-02-17T21:21:52.703Z,1613596912.703 [NAL9602](INFO): Packets left to send: 0 2021-02-17T21:21:53.077Z,1613596913.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:21:53.459Z,1613596913.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:21:54.288Z,1613596914.288 [Micromodem](INFO): Nmea in: $SNTTA,0.046959,,,,212153.17*47 2021-02-17T21:21:54.302Z,1613596914.302 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20210217T180521/Courier0042.lzma 2021-02-17T21:21:54.350Z,1613596914.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.380005 m, bearing: 329.762926 deg, deltaT: 4.441089 s, approachRate: -2.823630 m/s, LOS rate: 3.719812 deg/s, posRepo size: 4 2021-02-17T21:21:55.305Z,1613596915.305 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Courier0042.lzma.bak 2021-02-17T21:21:55.305Z,1613596915.305 [DataOverHttps](INFO): SBD MOMSN=82869 2021-02-17T21:21:56.417Z,1613596916.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:21:57.126Z,1613596917.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:21:57.503Z,1613596917.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:21:58.348Z,1613596918.348 [Micromodem](INFO): Nmea in: $SNTTA,0.047493,,,,212157.21*4C 2021-02-17T21:21:58.428Z,1613596918.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.100006 m, bearing: 16.118271 deg, deltaT: 4.033964 s, approachRate: 0.178485 m/s, LOS rate: 11.491261 deg/s, posRepo size: 4 2021-02-17T21:22:00.773Z,1613596920.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:01.542Z,1613596921.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:01.947Z,1613596921.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:22:02.771Z,1613596922.771 [Micromodem](INFO): Nmea in: $SNTTA,0.048106,,,,212201.63*4C 2021-02-17T21:22:02.793Z,1613596922.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.000000 m, bearing: 325.978209 deg, deltaT: 4.496396 s, approachRate: 0.200159 m/s, LOS rate: -11.151165 deg/s, posRepo size: 4 2021-02-17T21:22:04.343Z,1613596924.343 [DataOverHttps](INFO): Sending 152 bytes from file Logs/20210217T180521/Express0037.lzma 2021-02-17T21:22:05.221Z,1613596925.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:05.345Z,1613596925.345 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0037.lzma.bak 2021-02-17T21:22:05.345Z,1613596925.345 [DataOverHttps](INFO): SBD MOMSN=82871 2021-02-17T21:22:05.980Z,1613596925.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:06.408Z,1613596926.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:22:07.208Z,1613596927.208 [Micromodem](INFO): Nmea in: $SNTTA,0.048949,,0.147471,,212206.07*54 2021-02-17T21:22:07.257Z,1613596927.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.260002 m, bearing: 323.894974 deg, deltaT: 4.419705 s, approachRate: 0.285087 m/s, LOS rate: -0.471352 deg/s, posRepo size: 4 2021-02-17T21:22:09.641Z,1613596929.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:10.430Z,1613596930.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:10.836Z,1613596930.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:22:11.652Z,1613596931.652 [Micromodem](INFO): Nmea in: $SNTTA,0.049754,,,,212210.52*4E 2021-02-17T21:22:11.685Z,1613596931.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.459999 m, bearing: 19.114281 deg, deltaT: 4.452414 s, approachRate: 0.269516 m/s, LOS rate: 12.402106 deg/s, posRepo size: 4 2021-02-17T21:22:14.144Z,1613596934.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:14.384Z,1613596934.384 [DataOverHttps](INFO): Sending 815 bytes from file Logs/20210217T180521/Express0040.lzma 2021-02-17T21:22:14.870Z,1613596934.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:15.279Z,1613596935.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:22:15.385Z,1613596935.385 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0040.lzma.bak 2021-02-17T21:22:15.385Z,1613596935.385 [DataOverHttps](INFO): SBD MOMSN=82873 2021-02-17T21:22:16.128Z,1613596936.128 [Micromodem](INFO): Nmea in: $SNTTA,0.050277,,,,212214.96*4E 2021-02-17T21:22:16.182Z,1613596936.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.300003 m, bearing: 19.903738 deg, deltaT: 4.415125 s, approachRate: 0.190256 m/s, LOS rate: 0.178807 deg/s, posRepo size: 4 2021-02-17T21:22:18.528Z,1613596938.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:19.317Z,1613596939.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:19.719Z,1613596939.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:22:20.545Z,1613596940.545 [Micromodem](INFO): Nmea in: $SNTTA,0.051077,,0.055414,,212219.41*55 2021-02-17T21:22:20.569Z,1613596940.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.500000 m, bearing: 20.164346 deg, deltaT: 4.488281 s, approachRate: 0.267362 m/s, LOS rate: 0.058064 deg/s, posRepo size: 4 2021-02-17T21:22:22.971Z,1613596942.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:23.761Z,1613596943.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:23.764Z,1613596943.764 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T21:22:24.167Z,1613596944.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:22:24.426Z,1613596944.426 [DataOverHttps](INFO): Sending 1891 bytes from file Logs/20210217T180521/Express0043.lzma 2021-02-17T21:22:24.996Z,1613596944.996 [Micromodem](INFO): Nmea in: $SNTTA,0.051810,,,,212223.85*42 2021-02-17T21:22:25.134Z,1613596945.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.640007 m, bearing: 285.745827 deg, deltaT: 4.410155 s, approachRate: 0.258496 m/s, LOS rate: -21.409346 deg/s, posRepo size: 4 2021-02-17T21:22:25.425Z,1613596945.425 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0043.lzma.bak 2021-02-17T21:22:25.425Z,1613596945.425 [DataOverHttps](INFO): SBD MOMSN=82883 2021-02-17T21:22:26.634Z,1613596946.634 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T21:22:26.635Z,1613596946.635 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T21:22:26.635Z,1613596946.635 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T21:22:26.639Z,1613596946.639 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T21:22:26.639Z,1613596946.639 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T21:22:26.639Z,1613596946.639 [lineCaptureDepth:NeedComms:D] Stopped 2021-02-17T21:22:26.640Z,1613596946.640 [lineCaptureDepth:NeedComms:E] Running Loop=1 2021-02-17T21:22:27.442Z,1613596947.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:28.201Z,1613596948.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:28.613Z,1613596948.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:22:28.629Z,1613596948.629 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212229.00,A,4133.09595,N,07042.53212,W,0.039,219.63,170221,,,A*75 2021-02-17T21:22:28.632Z,1613596948.632 [NAL9602](INFO): GPS fix at 20210217T212229: (41.551599, -70.708869) 2021-02-17T21:22:28.652Z,1613596948.652 [lineCaptureDepth:NeedComms:E] Stopped 2021-02-17T21:22:28.652Z,1613596948.652 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms 2021-02-17T21:22:28.652Z,1613596948.652 [lineCaptureDepth:NeedComms] Stopped 2021-02-17T21:22:28.653Z,1613596948.653 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms 2021-02-17T21:22:28.653Z,1613596948.653 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped 2021-02-17T21:22:28.653Z,1613596948.653 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2021-02-17T21:22:29.433Z,1613596949.433 [Micromodem](INFO): Nmea in: $SNTTA,0.052554,,0.095029,,212228.29*58 2021-02-17T21:22:29.468Z,1613596949.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.660004 m, bearing: 24.601781 deg, deltaT: 4.447733 s, approachRate: 0.229330 m/s, LOS rate: 22.226148 deg/s, posRepo size: 4 2021-02-17T21:22:29.469Z,1613596949.469 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-17T21:22:29.470Z,1613596949.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-17T21:22:29.470Z,1613596949.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-17T21:22:29.470Z,1613596949.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-17T21:22:29.470Z,1613596949.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-17T21:22:29.470Z,1613596949.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-17T21:22:29.470Z,1613596949.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-17T21:22:31.852Z,1613596951.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:32.644Z,1613596952.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:33.068Z,1613596953.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:22:33.888Z,1613596953.888 [Micromodem](INFO): Nmea in: $SNTTA,0.053166,,,,212232.73*41 2021-02-17T21:22:33.913Z,1613596953.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.559998 m, bearing: 12.656701 deg, deltaT: 4.440993 s, approachRate: 0.202656 m/s, LOS rate: -2.689732 deg/s, posRepo size: 4 2021-02-17T21:22:36.343Z,1613596956.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:37.146Z,1613596957.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:37.513Z,1613596957.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:22:38.330Z,1613596958.330 [Micromodem](INFO): Nmea in: $SNTTA,0.053351,,,,212237.23*47 2021-02-17T21:22:38.398Z,1613596958.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.799995 m, bearing: 14.324848 deg, deltaT: 4.432893 s, approachRate: 0.054140 m/s, LOS rate: 0.376311 deg/s, posRepo size: 4 2021-02-17T21:22:39.164Z,1613596959.164 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:22:40.739Z,1613596960.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:41.544Z,1613596961.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:41.943Z,1613596961.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:22:42.768Z,1613596962.768 [Micromodem](INFO): Nmea in: $SNTTA,0.053265,,,,212241.63*44 2021-02-17T21:22:42.810Z,1613596962.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.680000 m, bearing: 16.836041 deg, deltaT: 4.476358 s, approachRate: -0.026806 m/s, LOS rate: 0.560990 deg/s, posRepo size: 4 2021-02-17T21:22:43.565Z,1613596963.565 [NAL9602](INFO): SBD MO Status=0, MOMSN=13619, MT Status=0, MTMSN=0 2021-02-17T21:22:43.565Z,1613596963.565 [NAL9602](INFO): No messages in MT queue 2021-02-17T21:22:45.225Z,1613596965.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:45.977Z,1613596965.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:46.381Z,1613596966.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:22:47.204Z,1613596967.204 [Micromodem](INFO): Nmea in: $SNTTA,0.052296,,,,212246.06*4D 2021-02-17T21:22:47.258Z,1613596967.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.180000 m, bearing: 17.249791 deg, deltaT: 4.404622 s, approachRate: -0.340551 m/s, LOS rate: 0.093936 deg/s, posRepo size: 4 2021-02-17T21:22:49.643Z,1613596969.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:50.420Z,1613596970.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:50.834Z,1613596970.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:22:51.648Z,1613596971.648 [Micromodem](INFO): Nmea in: $SNTTA,0.051460,,,,212250.51*44 2021-02-17T21:22:51.685Z,1613596971.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.980003 m, bearing: 16.220618 deg, deltaT: 4.478573 s, approachRate: -0.267942 m/s, LOS rate: -0.229799 deg/s, posRepo size: 4 2021-02-17T21:22:54.146Z,1613596974.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:54.482Z,1613596974.482 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:22:54.864Z,1613596974.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:55.291Z,1613596975.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:22:56.144Z,1613596976.144 [Micromodem](INFO): Nmea in: $SNTTA,0.050431,,,,212254.95*4D 2021-02-17T21:22:56.202Z,1613596976.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.180008 m, bearing: 17.272724 deg, deltaT: 4.409414 s, approachRate: -0.408216 m/s, LOS rate: 0.238604 deg/s, posRepo size: 4 2021-02-17T21:22:57.551Z,1613596977.551 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T21:22:58.190Z,1613596978.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:22:58.904Z,1613596978.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:22:59.327Z,1613596979.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:00.216Z,1613596980.216 [Micromodem](INFO): Nmea in: $SNTTA,0.049228,,,,212258.99*4B 2021-02-17T21:23:00.380Z,1613596980.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.500000 m, bearing: 16.656939 deg, deltaT: 4.059883 s, approachRate: -0.413807 m/s, LOS rate: -0.151675 deg/s, posRepo size: 4 2021-02-17T21:23:02.257Z,1613596982.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:23:02.965Z,1613596982.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:23:03.366Z,1613596983.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:04.192Z,1613596984.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212303.06*59 2021-02-17T21:23:04.225Z,1613596984.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.820000 m, bearing: 15.654428 deg, deltaT: 4.038509 s, approachRate: -0.415995 m/s, LOS rate: -0.248238 deg/s, posRepo size: 4 2021-02-17T21:23:06.618Z,1613596986.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:23:07.421Z,1613596987.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:23:07.815Z,1613596987.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:08.656Z,1613596988.656 [Micromodem](INFO): Nmea in: $SNTTA,0.046929,,,0.074117,212307.51*5B 2021-02-17T21:23:08.678Z,1613596988.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.200005 m, bearing: 16.064065 deg, deltaT: 4.477684 s, approachRate: -0.361793 m/s, LOS rate: 0.091484 deg/s, posRepo size: 4 2021-02-17T21:23:11.131Z,1613596991.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:23:11.851Z,1613596991.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:23:12.254Z,1613596992.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:13.152Z,1613596993.152 [Micromodem](INFO): Nmea in: $SNTTA,0.045562,,,,212311.94*4F 2021-02-17T21:23:13.195Z,1613596993.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.160004 m, bearing: 15.725020 deg, deltaT: 4.413622 s, approachRate: -0.462206 m/s, LOS rate: -0.076818 deg/s, posRepo size: 4 2021-02-17T21:23:14.284Z,1613596994.284 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T21:23:15.499Z,1613596995.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:23:16.293Z,1613596996.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:23:16.697Z,1613596996.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:17.524Z,1613596997.524 [Micromodem](INFO): Nmea in: $SNTTA,0.044582,,,,212316.38*41 2021-02-17T21:23:17.561Z,1613596997.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.419998 m, bearing: 14.259350 deg, deltaT: 4.490741 s, approachRate: -0.387465 m/s, LOS rate: -0.326376 deg/s, posRepo size: 4 2021-02-17T21:23:19.953Z,1613596999.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:23:20.736Z,1613597000.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:23:21.150Z,1613597001.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:21.964Z,1613597001.964 [Micromodem](INFO): Nmea in: $SNTTA,0.043069,,,,212320.82*42 2021-02-17T21:23:22.001Z,1613597002.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.200005 m, bearing: 14.522461 deg, deltaT: 4.411546 s, approachRate: -0.503223 m/s, LOS rate: 0.059641 deg/s, posRepo size: 4 2021-02-17T21:23:24.435Z,1613597004.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:23:25.182Z,1613597005.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:23:25.591Z,1613597005.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:26.412Z,1613597006.412 [Micromodem](INFO): Nmea in: $SNTTA,0.041581,,,,212325.27*49 2021-02-17T21:23:26.419Z,1613597006.419 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T21:23:26.465Z,1613597006.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.220009 m, bearing: 16.141241 deg, deltaT: 4.423817 s, approachRate: -0.447576 m/s, LOS rate: 0.365924 deg/s, posRepo size: 4 2021-02-17T21:23:28.861Z,1613597008.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:23:29.629Z,1613597009.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:23:30.047Z,1613597010.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:30.875Z,1613597010.875 [Micromodem](INFO): Nmea in: $SNTTA,0.040396,,,,212329.72*44 2021-02-17T21:23:30.943Z,1613597010.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.179996 m, bearing: 14.744743 deg, deltaT: 4.539045 s, approachRate: -0.449436 m/s, LOS rate: -0.307664 deg/s, posRepo size: 4 2021-02-17T21:23:33.298Z,1613597013.298 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T21:23:33.321Z,1613597013.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:23:34.132Z,1613597014.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:23:34.476Z,1613597014.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:35.393Z,1613597015.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.020004 m, bearing: 13.700962 deg, deltaT: 4.371375 s, approachRate: -0.494122 m/s, LOS rate: -0.238776 deg/s, posRepo size: 4 2021-02-17T21:23:35.697Z,1613597015.697 [Micromodem](INFO): Nmea in: $SNTTA,0.038807,,,,212334.22*41 2021-02-17T21:23:37.744Z,1613597017.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:23:38.215Z,1613597018.215 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T21:23:38.514Z,1613597018.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:23:38.933Z,1613597018.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:39.777Z,1613597019.777 [Micromodem](INFO): Nmea in: $SNTTA,0.037549,,,,212338.60*43 2021-02-17T21:23:39.868Z,1613597019.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.160004 m, bearing: 15.688086 deg, deltaT: 4.506452 s, approachRate: -0.412742 m/s, LOS rate: 0.440951 deg/s, posRepo size: 4 2021-02-17T21:23:41.933Z,1613597021.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:23:42.716Z,1613597022.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:23:43.161Z,1613597023.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:43.949Z,1613597023.949 [Micromodem](INFO): Nmea in: $SNTTA,0.036720,,,,212342.80*4C 2021-02-17T21:23:43.970Z,1613597023.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.660000 m, bearing: 13.624686 deg, deltaT: 4.159859 s, approachRate: -0.360590 m/s, LOS rate: -0.496026 deg/s, posRepo size: 4 2021-02-17T21:23:46.441Z,1613597026.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:23:47.166Z,1613597027.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:23:47.570Z,1613597027.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:48.393Z,1613597028.393 [Micromodem](INFO): Nmea in: $SNTTA,0.035436,,,,212347.25*41 2021-02-17T21:23:48.484Z,1613597028.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.680004 m, bearing: 13.311528 deg, deltaT: 4.415795 s, approachRate: -0.448389 m/s, LOS rate: -0.070918 deg/s, posRepo size: 4 2021-02-17T21:23:50.826Z,1613597030.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:23:51.608Z,1613597031.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:23:52.017Z,1613597032.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:52.845Z,1613597032.845 [Micromodem](INFO): Nmea in: $SNTTA,0.033959,,,,212351.70*44 2021-02-17T21:23:52.923Z,1613597032.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.760002 m, bearing: 16.248520 deg, deltaT: 4.647550 s, approachRate: -0.413121 m/s, LOS rate: 0.631944 deg/s, posRepo size: 4 2021-02-17T21:23:55.297Z,1613597035.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:23:56.078Z,1613597036.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:23:56.479Z,1613597036.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:23:57.301Z,1613597037.301 [Micromodem](INFO): Nmea in: $SNTTA,0.032799,,,,212356.17*41 2021-02-17T21:23:57.359Z,1613597037.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.019997 m, bearing: 13.288209 deg, deltaT: 4.236618 s, approachRate: -0.410706 m/s, LOS rate: -0.698744 deg/s, posRepo size: 4 2021-02-17T21:23:58.159Z,1613597038.159 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:23:58.163Z,1613597038.163 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:23:59.707Z,1613597039.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:00.503Z,1613597040.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:00.906Z,1613597040.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:01.728Z,1613597041.728 [Micromodem](INFO): Nmea in: $SNTTA,0.031310,,,,212400.59*49 2021-02-17T21:24:01.769Z,1613597041.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.800003 m, bearing: 12.560988 deg, deltaT: 4.490846 s, approachRate: -0.494337 m/s, LOS rate: -0.161934 deg/s, posRepo size: 4 2021-02-17T21:24:03.346Z,1613597043.346 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items 2021-02-17T21:24:04.182Z,1613597044.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:04.948Z,1613597044.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:05.353Z,1613597045.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:06.176Z,1613597046.176 [Micromodem](INFO): Nmea in: $SNTTA,0.030370,,,,212405.04*43 2021-02-17T21:24:06.229Z,1613597046.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.179996 m, bearing: 10.514638 deg, deltaT: 4.429247 s, approachRate: -0.365752 m/s, LOS rate: -0.462008 deg/s, posRepo size: 4 2021-02-17T21:24:08.196Z,1613597048.196 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T21:24:08.594Z,1613597048.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:09.400Z,1613597049.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:09.800Z,1613597049.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:10.628Z,1613597050.628 [Micromodem](INFO): Nmea in: $SNTTA,0.029117,0.186856,,,212409.49*57 2021-02-17T21:24:10.670Z,1613597050.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.259998 m, bearing: 12.662164 deg, deltaT: 4.455103 s, approachRate: -0.430966 m/s, LOS rate: 0.482037 deg/s, posRepo size: 4 2021-02-17T21:24:13.044Z,1613597053.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:13.832Z,1613597053.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:14.247Z,1613597054.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:14.264Z,1613597054.264 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:24:15.077Z,1613597055.077 [Micromodem](INFO): Nmea in: $SNTTA,0.027912,,,,212413.92*43 2021-02-17T21:24:15.154Z,1613597055.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.459999 m, bearing: 13.626213 deg, deltaT: 4.413578 s, approachRate: -0.407832 m/s, LOS rate: 0.218428 deg/s, posRepo size: 4 2021-02-17T21:24:17.499Z,1613597057.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:18.281Z,1613597058.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:18.373Z,1613597058.373 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T21:24:18.681Z,1613597058.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:19.514Z,1613597059.514 [Micromodem](INFO): Nmea in: $SNTTA,0.026724,,0.045294,,212418.37*5D 2021-02-17T21:24:19.555Z,1613597059.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.660000 m, bearing: 8.932125 deg, deltaT: 4.518439 s, approachRate: -0.398367 m/s, LOS rate: -1.038874 deg/s, posRepo size: 4 2021-02-17T21:24:21.943Z,1613597061.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:22.726Z,1613597062.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:23.147Z,1613597063.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:23.178Z,1613597063.178 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T21:24:23.952Z,1613597063.952 [Micromodem](INFO): Nmea in: $SNTTA,0.025409,,,,212422.82*45 2021-02-17T21:24:23.989Z,1613597063.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.920002 m, bearing: 8.314516 deg, deltaT: 4.372343 s, approachRate: -0.397955 m/s, LOS rate: -0.141254 deg/s, posRepo size: 4 2021-02-17T21:24:26.405Z,1613597066.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:27.170Z,1613597067.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:27.570Z,1613597067.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:28.412Z,1613597068.412 [Micromodem](INFO): Nmea in: $SNTTA,0.024338,,,,212427.26*4A 2021-02-17T21:24:28.417Z,1613597068.417 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:24:28.439Z,1613597068.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.299995 m, bearing: 10.028600 deg, deltaT: 4.474342 s, approachRate: -0.362066 m/s, LOS rate: 0.383092 deg/s, posRepo size: 4 2021-02-17T21:24:30.817Z,1613597070.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:31.613Z,1613597071.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:32.014Z,1613597072.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:32.840Z,1613597072.840 [Micromodem](INFO): Nmea in: $SNTTA,0.022869,,,,212431.70*47 2021-02-17T21:24:32.876Z,1613597072.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.139996 m, bearing: 9.175677 deg, deltaT: 4.442888 s, approachRate: -0.486170 m/s, LOS rate: -0.191975 deg/s, posRepo size: 4 2021-02-17T21:24:33.248Z,1613597073.248 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:24:33.261Z,1613597073.261 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T21:24:35.296Z,1613597075.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:36.068Z,1613597076.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:36.468Z,1613597076.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:37.296Z,1613597077.296 [Micromodem](INFO): Nmea in: $SNTTA,0.021824,,,,212436.16*4A 2021-02-17T21:24:37.330Z,1613597077.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.399998 m, bearing: 6.883784 deg, deltaT: 4.433155 s, approachRate: -0.392496 m/s, LOS rate: -0.516989 deg/s, posRepo size: 4 2021-02-17T21:24:38.184Z,1613597078.184 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:24:39.714Z,1613597079.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:40.496Z,1613597080.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:40.902Z,1613597080.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:41.730Z,1613597081.730 [Micromodem](INFO): Nmea in: $SNTTA,0.020608,,,,212440.58*40 2021-02-17T21:24:41.791Z,1613597081.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.600000 m, bearing: 4.093189 deg, deltaT: 4.452084 s, approachRate: -0.404304 m/s, LOS rate: -0.626806 deg/s, posRepo size: 4 2021-02-17T21:24:43.343Z,1613597083.343 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:24:44.177Z,1613597084.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:44.946Z,1613597084.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:45.347Z,1613597085.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:46.176Z,1613597086.176 [Micromodem](INFO): Nmea in: $SNTTA,0.019209,,,,212445.03*44 2021-02-17T21:24:46.233Z,1613597086.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.559998 m, bearing: 4.036305 deg, deltaT: 4.403637 s, approachRate: -0.463254 m/s, LOS rate: -0.012918 deg/s, posRepo size: 4 2021-02-17T21:24:48.591Z,1613597088.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:49.390Z,1613597089.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:49.791Z,1613597089.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:50.619Z,1613597090.619 [Micromodem](INFO): Nmea in: $SNTTA,0.018144,,,,212449.48*4C 2021-02-17T21:24:50.638Z,1613597090.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.939999 m, bearing: 3.591664 deg, deltaT: 4.517479 s, approachRate: -0.358607 m/s, LOS rate: -0.098427 deg/s, posRepo size: 4 2021-02-17T21:24:53.045Z,1613597093.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:53.828Z,1613597093.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:54.234Z,1613597094.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:55.066Z,1613597095.066 [Micromodem](INFO): Nmea in: $SNTTA,0.016803,,,,212453.92*44 2021-02-17T21:24:55.159Z,1613597095.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.020000 m, bearing: 0.306504 deg, deltaT: 4.368145 s, approachRate: -0.439545 m/s, LOS rate: -0.752072 deg/s, posRepo size: 4 2021-02-17T21:24:57.489Z,1613597097.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:24:58.273Z,1613597098.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:24:58.683Z,1613597098.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:24:59.507Z,1613597099.507 [Micromodem](INFO): Nmea in: $SNTTA,0.015786,,,,212458.36*40 2021-02-17T21:24:59.526Z,1613597099.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.459999 m, bearing: 0.774813 deg, deltaT: 4.524944 s, approachRate: -0.344756 m/s, LOS rate: 0.103495 deg/s, posRepo size: 4 2021-02-17T21:25:01.932Z,1613597101.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:02.716Z,1613597102.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:25:03.155Z,1613597103.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:25:03.944Z,1613597103.944 [Micromodem](INFO): Nmea in: $SNTTA,0.014700,,,,212502.81*4D 2021-02-17T21:25:03.998Z,1613597103.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.779999 m, bearing: 355.129320 deg, deltaT: 4.363635 s, approachRate: -0.385000 m/s, LOS rate: -1.293760 deg/s, posRepo size: 4 2021-02-17T21:25:06.428Z,1613597106.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:07.169Z,1613597107.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:25:07.566Z,1613597107.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:25:08.392Z,1613597108.392 [Micromodem](INFO): Nmea in: $SNTTA,0.013558,,,,212507.26*4D 2021-02-17T21:25:08.453Z,1613597108.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.100002 m, bearing: 5.073768 deg, deltaT: 4.443458 s, approachRate: -0.378083 m/s, LOS rate: 2.237997 deg/s, posRepo size: 4 2021-02-17T21:25:10.825Z,1613597110.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:11.604Z,1613597111.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:25:12.017Z,1613597112.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:25:12.844Z,1613597112.844 [Micromodem](INFO): Nmea in: $SNTTA,0.012694,,,,212511.69*43 2021-02-17T21:25:12.866Z,1613597112.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.840000 m, bearing: 354.436138 deg, deltaT: 4.501351 s, approachRate: -0.279916 m/s, LOS rate: -2.363208 deg/s, posRepo size: 4 2021-02-17T21:25:15.302Z,1613597115.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:16.062Z,1613597116.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:25:16.454Z,1613597116.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:25:17.284Z,1613597117.284 [Micromodem](INFO): Nmea in: $SNTTA,0.011816,,,,212516.15*48 2021-02-17T21:25:17.342Z,1613597117.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.580000 m, bearing: 344.097390 deg, deltaT: 4.392604 s, approachRate: -0.286846 m/s, LOS rate: -2.353672 deg/s, posRepo size: 4 2021-02-17T21:25:19.832Z,1613597119.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:20.492Z,1613597120.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:25:20.899Z,1613597120.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:25:21.724Z,1613597121.724 [Micromodem](INFO): Nmea in: $SNTTA,0.010814,,0.059389,,212520.58*57 2021-02-17T21:25:21.749Z,1613597121.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.019999 m, bearing: 343.571165 deg, deltaT: 4.482795 s, approachRate: -0.347997 m/s, LOS rate: -0.117388 deg/s, posRepo size: 4 2021-02-17T21:25:24.197Z,1613597124.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:24.937Z,1613597124.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:25:25.343Z,1613597125.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:25:26.155Z,1613597126.155 [Micromodem](INFO): Nmea in: $SNTTA,0.009955,0.043840,,,212525.03*55 2021-02-17T21:25:26.985Z,1613597126.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:28.576Z,1613597128.576 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:25:29.802Z,1613597129.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:30.598Z,1613597130.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:25:31.003Z,1613597131.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:25:31.840Z,1613597131.840 [Micromodem](INFO): Nmea in: $SNTTA,0.008902,,,,212530.69*4B 2021-02-17T21:25:31.917Z,1613597131.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.260000 m, bearing: 331.438071 deg, deltaT: 10.090123 s, approachRate: -0.273535 m/s, LOS rate: -1.202472 deg/s, posRepo size: 4 2021-02-17T21:25:34.302Z,1613597134.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:35.080Z,1613597135.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:25:35.447Z,1613597135.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:25:36.297Z,1613597136.297 [Micromodem](INFO): Nmea in: $SNTTA,0.008185,,,0.010679,212535.17*57 2021-02-17T21:25:36.372Z,1613597136.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.120000 m, bearing: 322.690430 deg, deltaT: 4.447448 s, approachRate: -0.256327 m/s, LOS rate: -1.966890 deg/s, posRepo size: 4 2021-02-17T21:25:38.700Z,1613597138.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:39.484Z,1613597139.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:25:39.903Z,1613597139.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:25:40.716Z,1613597140.716 [Micromodem](INFO): Nmea in: $SNTTA,0.007266,,,,212539.57*49 2021-02-17T21:25:40.734Z,1613597140.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.859999 m, bearing: 24.203014 deg, deltaT: 4.500917 s, approachRate: -0.279943 m/s, LOS rate: 13.666680 deg/s, posRepo size: 4 2021-02-17T21:25:43.300Z,1613597143.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:43.928Z,1613597143.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:25:44.334Z,1613597144.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:25:45.160Z,1613597145.160 [Micromodem](INFO): Nmea in: $SNTTA,0.007172,,,,212544.02*45 2021-02-17T21:25:45.234Z,1613597145.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.039997 m, bearing: 39.221146 deg, deltaT: 4.366721 s, approachRate: 0.041220 m/s, LOS rate: 3.439224 deg/s, posRepo size: 4 2021-02-17T21:25:47.268Z,1613597147.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:47.970Z,1613597147.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:25:48.387Z,1613597148.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:25:49.200Z,1613597149.200 [Micromodem](INFO): Nmea in: $SNTTA,0.007018,,,,212548.06*40 2021-02-17T21:25:49.267Z,1613597149.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.739998 m, bearing: 25.066210 deg, deltaT: 4.059281 s, approachRate: -0.073905 m/s, LOS rate: -3.487055 deg/s, posRepo size: 4 2021-02-17T21:25:51.632Z,1613597151.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:52.414Z,1613597152.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:25:52.844Z,1613597152.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:25:53.652Z,1613597153.652 [Micromodem](INFO): Nmea in: $SNTTA,0.007011,,,,212552.50*41 2021-02-17T21:25:53.698Z,1613597153.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.619997 m, bearing: 6.593749 deg, deltaT: 4.533577 s, approachRate: -0.026469 m/s, LOS rate: -4.074589 deg/s, posRepo size: 4 2021-02-17T21:25:56.144Z,1613597156.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:25:56.864Z,1613597156.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:25:57.267Z,1613597157.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:25:58.140Z,1613597158.140 [Micromodem](INFO): Nmea in: $SNTTA,0.007420,,,,212556.95*4A 2021-02-17T21:25:58.221Z,1613597158.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.220001 m, bearing: 332.010031 deg, deltaT: 4.321331 s, approachRate: 0.138847 m/s, LOS rate: -8.003026 deg/s, posRepo size: 4 2021-02-17T21:26:00.204Z,1613597160.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:00.902Z,1613597160.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:01.309Z,1613597161.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:02.152Z,1613597162.152 [Micromodem](INFO): Nmea in: $SNTTA,0.008029,,,,212600.99*44 2021-02-17T21:26:02.202Z,1613597162.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 356.476643 deg, deltaT: 4.060033 s, approachRate: 0.206894 m/s, LOS rate: 6.026210 deg/s, posRepo size: 4 2021-02-17T21:26:04.558Z,1613597164.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:05.340Z,1613597165.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:05.747Z,1613597165.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:06.568Z,1613597166.568 [Micromodem](INFO): Nmea in: $SNTTA,0.008497,,,,212605.43*47 2021-02-17T21:26:06.590Z,1613597166.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.899998 m, bearing: 355.308408 deg, deltaT: 4.459311 s, approachRate: 0.188370 m/s, LOS rate: -0.261977 deg/s, posRepo size: 4 2021-02-17T21:26:08.991Z,1613597168.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:09.784Z,1613597169.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:10.191Z,1613597170.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:11.019Z,1613597171.019 [Micromodem](INFO): Nmea in: $SNTTA,0.009318,,,,212609.87*42 2021-02-17T21:26:11.043Z,1613597171.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.159999 m, bearing: 4.458051 deg, deltaT: 4.432163 s, approachRate: 0.284286 m/s, LOS rate: 2.064377 deg/s, posRepo size: 4 2021-02-17T21:26:13.456Z,1613597173.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:14.233Z,1613597174.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:14.642Z,1613597174.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:15.461Z,1613597175.461 [Micromodem](INFO): Nmea in: $SNTTA,0.010303,,0.058803,,212614.32*5A 2021-02-17T21:26:15.514Z,1613597175.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.899998 m, bearing: 43.862860 deg, deltaT: 4.497508 s, approachRate: 0.386881 m/s, LOS rate: 8.761476 deg/s, posRepo size: 4 2021-02-17T21:26:17.881Z,1613597177.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:18.678Z,1613597178.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:19.139Z,1613597179.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:19.155Z,1613597179.155 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:26:19.908Z,1613597179.908 [Micromodem](INFO): Nmea in: $SNTTA,0.011378,,,,212618.77*42 2021-02-17T21:26:19.923Z,1613597179.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.280001 m, bearing: 1.042525 deg, deltaT: 4.384326 s, approachRate: 0.314758 m/s, LOS rate: -9.766686 deg/s, posRepo size: 4 2021-02-17T21:26:22.345Z,1613597182.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:23.138Z,1613597183.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:23.523Z,1613597183.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:24.360Z,1613597184.360 [Micromodem](INFO): Nmea in: $SNTTA,0.012213,,,,212623.23*44 2021-02-17T21:26:24.410Z,1613597184.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.479998 m, bearing: 43.026531 deg, deltaT: 4.428367 s, approachRate: 0.270980 m/s, LOS rate: 9.480697 deg/s, posRepo size: 4 2021-02-17T21:26:26.772Z,1613597186.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:27.560Z,1613597187.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:27.966Z,1613597187.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:28.792Z,1613597188.792 [Micromodem](INFO): Nmea in: $SNTTA,0.013522,,,,212627.65*46 2021-02-17T21:26:28.814Z,1613597188.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.519997 m, bearing: 337.283429 deg, deltaT: 4.491335 s, approachRate: 0.454208 m/s, LOS rate: -14.637765 deg/s, posRepo size: 4 2021-02-17T21:26:31.246Z,1613597191.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:32.006Z,1613597192.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:32.415Z,1613597192.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:33.240Z,1613597193.240 [Micromodem](INFO): Nmea in: $SNTTA,0.014523,,,,212632.09*4E 2021-02-17T21:26:33.274Z,1613597193.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.959997 m, bearing: 347.648897 deg, deltaT: 4.396097 s, approachRate: 0.327563 m/s, LOS rate: 2.357880 deg/s, posRepo size: 4 2021-02-17T21:26:35.664Z,1613597195.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:36.453Z,1613597196.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:36.853Z,1613597196.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:37.278Z,1613597197.278 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T21:26:37.684Z,1613597197.684 [Micromodem](INFO): Nmea in: $SNTTA,0.015870,,,0.018369,212636.54*53 2021-02-17T21:26:37.706Z,1613597197.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.000002 m, bearing: 359.863215 deg, deltaT: 4.463094 s, approachRate: 0.457083 m/s, LOS rate: 2.736738 deg/s, posRepo size: 4 2021-02-17T21:26:40.169Z,1613597200.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:40.897Z,1613597200.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:41.312Z,1613597201.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:42.144Z,1613597202.144 [Micromodem](INFO): Nmea in: $SNTTA,0.016954,,,,212640.98*4D 2021-02-17T21:26:42.178Z,1613597202.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.619999 m, bearing: 359.318330 deg, deltaT: 4.450009 s, approachRate: 0.364044 m/s, LOS rate: -0.122446 deg/s, posRepo size: 4 2021-02-17T21:26:44.554Z,1613597204.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:45.342Z,1613597205.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:45.743Z,1613597205.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:46.568Z,1613597206.568 [Micromodem](INFO): Nmea in: $SNTTA,0.017971,,,,212645.43*48 2021-02-17T21:26:46.590Z,1613597206.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.239998 m, bearing: 48.724906 deg, deltaT: 4.456446 s, approachRate: 0.363518 m/s, LOS rate: 11.086541 deg/s, posRepo size: 4 2021-02-17T21:26:49.013Z,1613597209.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:49.785Z,1613597209.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:50.186Z,1613597210.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:51.013Z,1613597211.013 [Micromodem](INFO): Nmea in: $SNTTA,0.018846,,,,212649.87*46 2021-02-17T21:26:51.096Z,1613597211.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.440001 m, bearing: 335.880782 deg, deltaT: 4.405367 s, approachRate: 0.272396 m/s, LOS rate: -16.535313 deg/s, posRepo size: 4 2021-02-17T21:26:53.124Z,1613597213.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:53.832Z,1613597213.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:54.232Z,1613597214.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:55.073Z,1613597215.073 [Micromodem](INFO): Nmea in: $SNTTA,0.019759,,0.035546,,212653.92*56 2021-02-17T21:26:55.149Z,1613597215.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.819998 m, bearing: 5.677532 deg, deltaT: 4.062232 s, approachRate: 0.339714 m/s, LOS rate: 7.335067 deg/s, posRepo size: 4 2021-02-17T21:26:57.490Z,1613597217.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:26:58.264Z,1613597218.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:26:58.670Z,1613597218.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:26:59.500Z,1613597219.500 [Micromodem](INFO): Nmea in: $SNTTA,0.020917,,,,212658.35*41 2021-02-17T21:26:59.522Z,1613597219.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.559998 m, bearing: 11.042908 deg, deltaT: 4.520458 s, approachRate: 0.384917 m/s, LOS rate: 1.186910 deg/s, posRepo size: 4 2021-02-17T21:27:01.914Z,1613597221.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:02.708Z,1613597222.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:27:03.136Z,1613597223.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:27:03.945Z,1613597223.945 [Micromodem](INFO): Nmea in: $SNTTA,0.022288,,0.142999,,212702.80*5E 2021-02-17T21:27:03.960Z,1613597223.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.600002 m, bearing: 38.042009 deg, deltaT: 4.360333 s, approachRate: 0.467855 m/s, LOS rate: 6.191981 deg/s, posRepo size: 4 2021-02-17T21:27:06.404Z,1613597226.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:07.152Z,1613597227.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:27:07.569Z,1613597227.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:27:08.384Z,1613597228.384 [Micromodem](INFO): Nmea in: $SNTTA,0.023285,0.054443,,,212707.24*55 2021-02-17T21:27:08.435Z,1613597228.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.099998 m, bearing: 47.509843 deg, deltaT: 4.460762 s, approachRate: 0.336265 m/s, LOS rate: 2.122470 deg/s, posRepo size: 4 2021-02-17T21:27:10.819Z,1613597230.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:11.597Z,1613597231.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:27:12.003Z,1613597232.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:27:12.828Z,1613597232.828 [Micromodem](INFO): Nmea in: $SNTTA,0.024087,,,,212711.69*40 2021-02-17T21:27:12.854Z,1613597232.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.419998 m, bearing: 72.393926 deg, deltaT: 4.457073 s, approachRate: 0.296158 m/s, LOS rate: 5.583055 deg/s, posRepo size: 4 2021-02-17T21:27:15.286Z,1613597235.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:16.051Z,1613597236.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:27:16.455Z,1613597236.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:27:17.280Z,1613597237.280 [Micromodem](INFO): Nmea in: $SNTTA,0.025610,,,0.044227,212716.14*5D 2021-02-17T21:27:17.314Z,1613597237.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.340000 m, bearing: 68.327218 deg, deltaT: 4.415889 s, approachRate: 0.434794 m/s, LOS rate: -0.920926 deg/s, posRepo size: 4 2021-02-17T21:27:19.694Z,1613597239.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:20.484Z,1613597240.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:27:20.891Z,1613597240.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:27:21.721Z,1613597241.721 [Micromodem](INFO): Nmea in: $SNTTA,0.026969,,,,212720.57*44 2021-02-17T21:27:21.744Z,1613597241.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.319996 m, bearing: 64.551879 deg, deltaT: 4.453286 s, approachRate: 0.444615 m/s, LOS rate: -0.847765 deg/s, posRepo size: 4 2021-02-17T21:27:24.179Z,1613597244.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:24.940Z,1613597244.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:27:25.334Z,1613597245.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:27:26.166Z,1613597246.166 [Micromodem](INFO): Nmea in: $SNTTA,0.028521,,,,212725.03*4E 2021-02-17T21:27:26.226Z,1613597246.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.540001 m, bearing: 69.158001 deg, deltaT: 4.419625 s, approachRate: 0.502306 m/s, LOS rate: 1.042198 deg/s, posRepo size: 4 2021-02-17T21:27:28.584Z,1613597248.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:29.377Z,1613597249.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:27:29.788Z,1613597249.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:27:30.611Z,1613597250.611 [Micromodem](INFO): Nmea in: $SNTTA,0.030401,,,,212729.46*49 2021-02-17T21:27:30.630Z,1613597250.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.360001 m, bearing: 72.865640 deg, deltaT: 4.516790 s, approachRate: 0.624337 m/s, LOS rate: 0.820857 deg/s, posRepo size: 4 2021-02-17T21:27:33.025Z,1613597253.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:33.831Z,1613597253.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:27:34.222Z,1613597254.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:27:35.092Z,1613597255.092 [Micromodem](INFO): Nmea in: $SNTTA,0.031968,0.066418,,,212733.92*5B 2021-02-17T21:27:35.156Z,1613597255.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.120003 m, bearing: 355.716826 deg, deltaT: 4.370188 s, approachRate: 0.631552 m/s, LOS rate: -17.653430 deg/s, posRepo size: 4 2021-02-17T21:27:37.143Z,1613597257.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:37.764Z,1613597257.764 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.254936 2021-02-17T21:27:37.858Z,1613597257.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:27:37.957Z,1613597257.957 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T21:27:37.957Z,1613597257.957 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T21:27:37.957Z,1613597257.957 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T21:27:37.957Z,1613597257.957 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T21:27:37.958Z,1613597257.958 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T21:27:38.422Z,1613597258.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:27:38.520Z,1613597258.520 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D602D0000005D00000400610000000000000000151D80030C5669BF92F9E56A3BB99FB34A6A1BEE2D01E26BE7B09C8306106FC9476347C24A68A0EA90AD 2021-02-17T21:27:38.521Z,1613597258.521 [Micromodem](INFO): Outgoing frame #2, 37 bytes: 8FC4F7955CB8D3495EB1961C2A65D74FE7673F3F14BE8A679A55DC68C9DB04298B09231380 2021-02-17T21:27:38.521Z,1613597258.521 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T21:27:38.826Z,1613597258.826 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T21:27:39.240Z,1613597259.240 [Micromodem](INFO): Nmea in: $CADRQ,212738,1,10,0,64,1*7B 2021-02-17T21:27:39.241Z,1613597259.241 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D602D0000005D00000400610000000000000000151D80030C5669BF92F9E56A3BB99FB34A6A1BEE2D01E26BE7B09C8306106FC9476347C24A68A0EA90AD*44 2021-02-17T21:27:39.394Z,1613597259.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.420002 m, bearing: 16.422363 deg, deltaT: 4.226074 s, approachRate: 0.780866 m/s, LOS rate: 4.899475 deg/s, posRepo size: 4 2021-02-17T21:27:39.644Z,1613597259.644 [Micromodem](INFO): Nmea in: $SNTTA,0.034208,,,,212737.94*42 2021-02-17T21:27:39.645Z,1613597259.645 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.034208,,,,212737.94*42 2021-02-17T21:27:40.920Z,1613597260.920 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T21:27:41.332Z,1613597261.332 [Micromodem](INFO): Nmea in: $CADRQ,212739,1,10,0,64,2*79 2021-02-17T21:27:41.333Z,1613597261.333 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,8FC4F7955CB8D3495EB1961C2A65D74FE7673F3F14BE8A679A55DC68C9DB04298B09231380*37 2021-02-17T21:27:41.449Z,1613597261.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:41.719Z,1613597261.719 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,37*4F 2021-02-17T21:27:42.119Z,1613597262.119 [Micromodem](INFO): Nmea in: $CATXP,101*42 2021-02-17T21:27:42.120Z,1613597262.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:27:44.274Z,1613597264.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:44.556Z,1613597264.556 [Micromodem](INFO): Nmea in: $CATXF,101*54 2021-02-17T21:27:44.556Z,1613597264.556 [Micromodem](ERROR): Response from modem unexpected: $CATXF,101*54 2021-02-17T21:27:44.967Z,1613597264.967 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,212741.427170,3,0,200,4000,14500,1,1,10,1,2,2,3,101*72 2021-02-17T21:27:44.968Z,1613597264.968 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,212741.427170,3,0,200,4000,14500,1,1,10,1,2,2,3,101*72 2021-02-17T21:27:46.985Z,1613597266.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:49.837Z,1613597269.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:52.342Z,1613597272.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:53.432Z,1613597273.432 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:27:53.849Z,1613597273.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:27:54.671Z,1613597274.671 [Micromodem](INFO): Nmea in: $SNTTA,0.041027,,,,212753.52*47 2021-02-17T21:27:54.690Z,1613597274.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.920002 m, bearing: 30.968412 deg, deltaT: 15.424754 s, approachRate: 0.680724 m/s, LOS rate: 0.943033 deg/s, posRepo size: 4 2021-02-17T21:27:57.151Z,1613597277.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:27:57.880Z,1613597277.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:27:58.290Z,1613597278.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:27:59.124Z,1613597279.124 [Micromodem](INFO): Nmea in: $SNTTA,0.042834,,,,212757.97*43 2021-02-17T21:27:59.180Z,1613597279.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.440002 m, bearing: 5.505861 deg, deltaT: 4.450634 s, approachRate: 0.566212 m/s, LOS rate: -5.721107 deg/s, posRepo size: 4 2021-02-17T21:28:01.569Z,1613597281.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:02.348Z,1613597282.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:28:02.755Z,1613597282.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:28:03.583Z,1613597283.583 [Micromodem](INFO): Nmea in: $SNTTA,0.045078,,,,212802.44*45 2021-02-17T21:28:03.655Z,1613597283.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.800011 m, bearing: 8.008640 deg, deltaT: 4.481669 s, approachRate: 0.749723 m/s, LOS rate: 0.558448 deg/s, posRepo size: 4 2021-02-17T21:28:06.149Z,1613597286.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:06.864Z,1613597286.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:28:07.262Z,1613597287.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:28:08.116Z,1613597288.116 [Micromodem](INFO): Nmea in: $SNTTA,0.047196,,,,212806.95*4E 2021-02-17T21:28:08.151Z,1613597288.151 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2021-02-17T21:28:08.151Z,1613597288.151 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-02-17T21:28:08.151Z,1613597288.151 [RDI_Pathfinder](ERROR): Communications Fault 2021-02-17T21:28:08.202Z,1613597288.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.980003 m, bearing: 22.996854 deg, deltaT: 4.478817 s, approachRate: 0.710007 m/s, LOS rate: 3.346467 deg/s, posRepo size: 4 2021-02-17T21:28:08.428Z,1613597288.428 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-02-17T21:28:08.659Z,1613597288.659 [RDI_Pathfinder](INFO): Powering down 2021-02-17T21:28:08.796Z,1613597288.796 [Radio_Surface](INFO): Powering down 2021-02-17T21:28:09.421Z,1613597289.421 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-02-17T21:28:09.421Z,1613597289.421 [RDI_Pathfinder] No Fault, FailCount= 1 2021-02-17T21:28:10.625Z,1613597290.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:11.304Z,1613597291.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:28:11.711Z,1613597291.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:28:12.536Z,1613597292.536 [Micromodem](INFO): Nmea in: $SNTTA,0.049563,,,,212811.39*4E 2021-02-17T21:28:12.581Z,1613597292.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.459999 m, bearing: 34.960050 deg, deltaT: 4.430887 s, approachRate: 0.785395 m/s, LOS rate: 2.699955 deg/s, posRepo size: 4 2021-02-17T21:28:13.925Z,1613597293.925 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T21:28:14.659Z,1613597294.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:14.927Z,1613597294.927 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2021-02-17T21:28:15.340Z,1613597295.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:28:15.746Z,1613597295.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:28:16.556Z,1613597296.556 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212815.43*54 2021-02-17T21:28:17.400Z,1613597297.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:18.991Z,1613597298.991 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:28:20.218Z,1613597300.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:20.996Z,1613597300.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:28:21.402Z,1613597301.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:28:22.232Z,1613597302.232 [Micromodem](INFO): Nmea in: $SNTTA,0.054026,,,,212821.08*47 2021-02-17T21:28:22.299Z,1613597302.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.360008 m, bearing: 29.221520 deg, deltaT: 9.692101 s, approachRate: 0.711921 m/s, LOS rate: -0.592083 deg/s, posRepo size: 4 2021-02-17T21:28:24.675Z,1613597304.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:25.445Z,1613597305.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:28:25.854Z,1613597305.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:28:26.676Z,1613597306.676 [Micromodem](INFO): Nmea in: $SNTTA,0.056176,,,,212825.53*4B 2021-02-17T21:28:26.716Z,1613597306.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.660004 m, bearing: 26.216988 deg, deltaT: 4.476004 s, approachRate: 0.737264 m/s, LOS rate: -0.671253 deg/s, posRepo size: 4 2021-02-17T21:28:29.136Z,1613597309.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:29.964Z,1613597309.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:28:30.379Z,1613597310.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:28:31.192Z,1613597311.192 [Micromodem](INFO): Nmea in: $SNTTA,0.058174,,,,212830.05*40 2021-02-17T21:28:31.230Z,1613597311.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.659996 m, bearing: 23.772313 deg, deltaT: 4.524830 s, approachRate: 0.663007 m/s, LOS rate: -0.540280 deg/s, posRepo size: 4 2021-02-17T21:28:33.778Z,1613597313.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:34.401Z,1613597314.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:28:34.806Z,1613597314.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:28:35.632Z,1613597315.632 [Micromodem](INFO): Nmea in: $SNTTA,0.060374,,0.066929,,212834.49*59 2021-02-17T21:28:35.766Z,1613597315.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.660004 m, bearing: 27.717405 deg, deltaT: 4.438214 s, approachRate: 0.675949 m/s, LOS rate: 0.888892 deg/s, posRepo size: 4 2021-02-17T21:28:38.115Z,1613597318.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:38.850Z,1613597318.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:28:39.256Z,1613597319.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:28:40.100Z,1613597320.100 [Micromodem](INFO): Nmea in: $SNTTA,0.062290,,,,212838.94*40 2021-02-17T21:28:40.245Z,1613597320.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.720001 m, bearing: 30.420840 deg, deltaT: 4.429578 s, approachRate: 0.690810 m/s, LOS rate: 0.610314 deg/s, posRepo size: 4 2021-02-17T21:28:42.223Z,1613597322.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:42.888Z,1613597322.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:28:43.315Z,1613597323.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:28:43.694Z,1613597323.694 [Micromodem](ERROR): Buffer fill timout failure. 2021-02-17T21:28:44.116Z,1613597324.116 [Micromodem](INFO): Nmea in: $SNTTA,0.064092,,,,212842.98*47 2021-02-17T21:28:44.192Z,1613597324.192 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D602D0000005D00000400610000000000000000151D80030C5669BF92F9E56A3BB99FB34A6A1BEE2D01E26BE7B09C8306106FC9476347C24A68A0EA90AD 2021-02-17T21:28:44.192Z,1613597324.192 [Micromodem](INFO): Outgoing frame #2, 37 bytes: 8FC4F7955CB8D3495EB1961C2A65D74FE7673F3F14BE8A679A55DC68C9DB04298B09231380 2021-02-17T21:28:44.193Z,1613597324.193 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T21:28:44.258Z,1613597324.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 28.794005 deg, deltaT: 4.053976 s, approachRate: 0.621613 m/s, LOS rate: -0.401294 deg/s, posRepo size: 4 2021-02-17T21:28:45.336Z,1613597325.336 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T21:28:45.727Z,1613597325.727 [Micromodem](INFO): Nmea in: $CADRQ,212844,1,10,0,64,1*7F 2021-02-17T21:28:45.728Z,1613597325.728 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D602D0000005D00000400610000000000000000151D80030C5669BF92F9E56A3BB99FB34A6A1BEE2D01E26BE7B09C8306106FC9476347C24A68A0EA90AD*44 2021-02-17T21:28:46.124Z,1613597326.124 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T21:28:46.524Z,1613597326.524 [Micromodem](INFO): Nmea in: $CADRQ,212845,1,10,0,64,2*7D 2021-02-17T21:28:46.525Z,1613597326.525 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,8FC4F7955CB8D3495EB1961C2A65D74FE7673F3F14BE8A679A55DC68C9DB04298B09231380*37 2021-02-17T21:28:46.714Z,1613597326.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:46.940Z,1613597326.940 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,37*4F 2021-02-17T21:28:47.324Z,1613597327.324 [Micromodem](INFO): Nmea in: $CATXP,101*42 2021-02-17T21:28:47.325Z,1613597327.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:28:49.384Z,1613597329.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:49.756Z,1613597329.756 [Micromodem](INFO): Nmea in: $CATXF,101*54 2021-02-17T21:28:49.756Z,1613597329.756 [Micromodem](ERROR): Response from modem unexpected: $CATXF,101*54 2021-02-17T21:28:50.153Z,1613597330.153 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,212846.618119,3,0,200,4000,14500,1,1,10,1,2,2,3,101*7B 2021-02-17T21:28:50.153Z,1613597330.153 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,212846.618119,3,0,200,4000,14500,1,1,10,1,2,2,3,101*7B 2021-02-17T21:28:52.178Z,1613597332.178 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31 2021-02-17T21:28:52.178Z,1613597332.178 [Micromodem](ERROR): Response from modem unexpected: $CAMSG,Bad Modulation Header,0*31 2021-02-17T21:28:52.247Z,1613597332.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:52.601Z,1613597332.601 [Micromodem](INFO): Nmea in: $CACST,6,1,20210217212851.381439,06,503,27,0104,0150,07,01,01,00,04,-1,-01,-01,1,3,1,0,150,6.9,3.00,00,0.00,-01,-3.85,26,14500,4000*7C 2021-02-17T21:28:52.601Z,1613597332.601 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20210217212851.381439,06,503,27,0104,0150,07,01,01,00,04,-1,-01,-01,1,3,1,0,150,6.9,3.00,00,0.00,-01,-3.85,26,14500,4000*7C 2021-02-17T21:28:55.170Z,1613597335.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:57.853Z,1613597337.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:28:58.635Z,1613597338.635 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:28:59.076Z,1613597339.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:28:59.864Z,1613597339.864 [Micromodem](INFO): Nmea in: $SNTTA,0.071508,,,,212858.72*4A 2021-02-17T21:28:59.889Z,1613597339.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.340004 m, bearing: 30.766020 deg, deltaT: 15.862694 s, approachRate: 0.699755 m/s, LOS rate: 0.124318 deg/s, posRepo size: 4 2021-02-17T21:29:02.310Z,1613597342.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:03.089Z,1613597343.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:29:03.494Z,1613597343.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:29:04.316Z,1613597344.316 [Micromodem](INFO): Nmea in: $SNTTA,0.073285,,0.077747,,212903.18*53 2021-02-17T21:29:04.360Z,1613597344.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.099998 m, bearing: 30.102949 deg, deltaT: 4.332265 s, approachRate: 0.637079 m/s, LOS rate: -0.153054 deg/s, posRepo size: 4 2021-02-17T21:29:06.765Z,1613597346.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:07.525Z,1613597347.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:29:07.949Z,1613597347.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:29:08.756Z,1613597348.756 [Micromodem](INFO): Nmea in: $SNTTA,0.075245,,,,212907.61*49 2021-02-17T21:29:08.820Z,1613597348.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.979996 m, bearing: 31.975162 deg, deltaT: 4.431881 s, approachRate: 0.649836 m/s, LOS rate: 0.422442 deg/s, posRepo size: 4 2021-02-17T21:29:11.215Z,1613597351.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:11.987Z,1613597351.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:29:12.378Z,1613597352.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:29:13.212Z,1613597353.212 [Micromodem](INFO): Nmea in: $SNTTA,0.077176,,,,212912.08*43 2021-02-17T21:29:13.256Z,1613597353.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.919998 m, bearing: 28.750226 deg, deltaT: 4.467121 s, approachRate: 0.658143 m/s, LOS rate: -0.721927 deg/s, posRepo size: 4 2021-02-17T21:29:15.664Z,1613597355.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:16.417Z,1613597356.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:29:16.817Z,1613597356.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:29:17.644Z,1613597357.644 [Micromodem](INFO): Nmea in: $SNTTA,0.079219,,,,212916.50*4E 2021-02-17T21:29:17.683Z,1613597357.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.979996 m, bearing: 29.033539 deg, deltaT: 4.435631 s, approachRate: 0.689867 m/s, LOS rate: 0.063872 deg/s, posRepo size: 4 2021-02-17T21:29:20.130Z,1613597360.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:20.861Z,1613597360.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:29:21.261Z,1613597361.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:29:22.096Z,1613597362.096 [Micromodem](INFO): Nmea in: $SNTTA,0.080830,,,,212920.95*45 2021-02-17T21:29:22.154Z,1613597362.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.380005 m, bearing: 24.710053 deg, deltaT: 4.446140 s, approachRate: 0.539796 m/s, LOS rate: -0.972413 deg/s, posRepo size: 4 2021-02-17T21:29:24.523Z,1613597364.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:25.300Z,1613597365.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:29:25.706Z,1613597365.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:29:26.532Z,1613597366.532 [Micromodem](INFO): Nmea in: $SNTTA,0.082885,,0.104653,,212925.39*51 2021-02-17T21:29:26.608Z,1613597366.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.559998 m, bearing: 33.523234 deg, deltaT: 4.428010 s, approachRate: 0.718154 m/s, LOS rate: 1.990325 deg/s, posRepo size: 4 2021-02-17T21:29:28.975Z,1613597368.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:29.749Z,1613597369.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:29:30.162Z,1613597370.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:29:30.976Z,1613597370.976 [Micromodem](INFO): Nmea in: $SNTTA,0.084592,,,,212929.84*4D 2021-02-17T21:29:30.000Z,1613597371.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.960007 m, bearing: 20.672771 deg, deltaT: 4.462739 s, approachRate: 0.537788 m/s, LOS rate: -2.879501 deg/s, posRepo size: 4 2021-02-17T21:29:33.432Z,1613597373.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:34.184Z,1613597374.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:29:34.611Z,1613597374.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:29:35.412Z,1613597375.412 [Micromodem](INFO): Nmea in: $SNTTA,0.086413,,,,212934.27*42 2021-02-17T21:29:35.451Z,1613597375.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.779999 m, bearing: 30.325941 deg, deltaT: 4.429426 s, approachRate: 0.636650 m/s, LOS rate: 2.179327 deg/s, posRepo size: 4 2021-02-17T21:29:37.894Z,1613597377.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:38.648Z,1613597378.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:29:39.055Z,1613597379.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:29:39.868Z,1613597379.868 [Micromodem](INFO): Nmea in: $SNTTA,0.088411,,,,212938.73*43 2021-02-17T21:29:39.932Z,1613597379.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.839996 m, bearing: 28.935027 deg, deltaT: 4.455913 s, approachRate: 0.686727 m/s, LOS rate: -0.312150 deg/s, posRepo size: 4 2021-02-17T21:29:42.289Z,1613597382.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:43.085Z,1613597383.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:29:43.483Z,1613597383.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:29:44.297Z,1613597384.297 [Micromodem](INFO): Nmea in: $SNTTA,0.090408,,,,212943.17*4C 2021-02-17T21:29:44.833Z,1613597384.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:46.707Z,1613597386.707 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:29:47.549Z,1613597387.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:48.331Z,1613597388.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:29:48.730Z,1613597388.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:29:49.568Z,1613597389.568 [Micromodem](INFO): Nmea in: $SNTTA,0.092467,,,,212948.42*4C 2021-02-17T21:29:49.570Z,1613597389.570 [Micromodem](ERROR): Buffer fill timout failure. 2021-02-17T21:29:49.632Z,1613597389.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.900009 m, bearing: 35.099850 deg, deltaT: 9.663193 s, approachRate: 0.627123 m/s, LOS rate: 0.637970 deg/s, posRepo size: 4 2021-02-17T21:29:50.102Z,1613597390.102 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D602D0000005D00000400610000000000000000151D80030C5669BF92F9E56A3BB99FB34A6A1BEE2D01E26BE7B09C8306106FC9476347C24A68A0EA90AD 2021-02-17T21:29:50.103Z,1613597390.103 [Micromodem](INFO): Outgoing frame #2, 37 bytes: 8FC4F7955CB8D3495EB1961C2A65D74FE7673F3F14BE8A679A55DC68C9DB04298B09231380 2021-02-17T21:29:50.103Z,1613597390.103 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T21:29:50.760Z,1613597390.760 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T21:29:51.164Z,1613597391.164 [Micromodem](INFO): Nmea in: $CADRQ,212950,1,10,0,64,1*7B 2021-02-17T21:29:51.165Z,1613597391.165 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D602D0000005D00000400610000000000000000151D80030C5669BF92F9E56A3BB99FB34A6A1BEE2D01E26BE7B09C8306106FC9476347C24A68A0EA90AD*44 2021-02-17T21:29:51.578Z,1613597391.578 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T21:29:51.960Z,1613597391.960 [Micromodem](INFO): Nmea in: $CADRQ,212951,1,10,0,64,2*79 2021-02-17T21:29:51.961Z,1613597391.961 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,8FC4F7955CB8D3495EB1961C2A65D74FE7673F3F14BE8A679A55DC68C9DB04298B09231380*37 2021-02-17T21:29:52.080Z,1613597392.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:52.368Z,1613597392.368 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,37*4F 2021-02-17T21:29:52.767Z,1613597392.767 [Micromodem](INFO): Nmea in: $CATXP,101*42 2021-02-17T21:29:52.768Z,1613597392.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:29:54.819Z,1613597394.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:55.198Z,1613597395.198 [Micromodem](INFO): Nmea in: $CATXF,101*54 2021-02-17T21:29:55.198Z,1613597395.198 [Micromodem](ERROR): Response from modem unexpected: $CATXF,101*54 2021-02-17T21:29:55.615Z,1613597395.615 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,212952.053276,3,0,200,4000,14500,1,1,10,1,2,2,3,101*7C 2021-02-17T21:29:55.615Z,1613597395.615 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,212952.053276,3,0,200,4000,14500,1,1,10,1,2,2,3,101*7C 2021-02-17T21:29:57.732Z,1613597397.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:29:58.026Z,1613597398.026 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-17T21:29:58.436Z,1613597398.436 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-17T21:29:58.437Z,1613597398.437 [Micromodem](INFO): Sent 93 bytes from file Logs/20210217T180521/Courier0045.lzma.parts 2021-02-17T21:29:58.437Z,1613597398.437 [Micromodem](INFO): Packets left to send: 0 2021-02-17T21:29:58.831Z,1613597398.831 [Micromodem](INFO): Nmea in: $CACST,6,0,20210217212956.863700,06,1406,31,0270,0150,59,02,02,00,02,1,010,001,0,4,1,0,150,9.6,4.00,06,-1.00,-01,-1.13,35,14500,4000*43 2021-02-17T21:29:58.831Z,1613597398.831 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210217212956.863700,06,1406,31,0270,0150,59,02,02,00,02,1,010,001,0,4,1,0,150,9.6,4.00,06,-1.00,-01,-1.13,35,14500,4000*43 2021-02-17T21:29:58.976Z,1613597398.976 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T21:29:58.976Z,1613597398.976 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T21:29:58.977Z,1613597398.977 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T21:29:58.977Z,1613597398.977 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T21:29:58.977Z,1613597398.977 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T21:30:00.475Z,1613597400.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:03.316Z,1613597403.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:04.087Z,1613597404.087 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:30:04.486Z,1613597404.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:30:05.312Z,1613597405.312 [Micromodem](INFO): Nmea in: $SNTTA,0.098943,,,,213004.18*42 2021-02-17T21:30:05.354Z,1613597405.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.620010 m, bearing: 34.487333 deg, deltaT: 15.841969 s, approachRate: 0.613560 m/s, LOS rate: -0.038664 deg/s, posRepo size: 4 2021-02-17T21:30:07.750Z,1613597407.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:08.529Z,1613597408.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:30:08.930Z,1613597408.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:30:09.777Z,1613597409.777 [Micromodem](INFO): Nmea in: $SNTTA,0.100737,0.104205,,,213008.62*52 2021-02-17T21:30:09.807Z,1613597409.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.320007 m, bearing: 30.154507 deg, deltaT: 4.373844 s, approachRate: 0.617305 m/s, LOS rate: -0.990622 deg/s, posRepo size: 4 2021-02-17T21:30:09.808Z,1613597409.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.32 m. Resuming terminal guidance. 2021-02-17T21:30:09.808Z,1613597409.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T21:30:12.206Z,1613597412.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:12.974Z,1613597412.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:30:13.393Z,1613597413.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:30:14.200Z,1613597414.200 [Micromodem](INFO): Nmea in: $SNTTA,0.102805,,,,213013.06*4A 2021-02-17T21:30:14.224Z,1613597414.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.440002 m, bearing: 28.819181 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T21:30:14.225Z,1613597414.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 28.819181deg and heading rate command to 0 deg/s. 2021-02-17T21:30:16.666Z,1613597416.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:17.414Z,1613597417.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:30:17.818Z,1613597417.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:30:18.640Z,1613597418.640 [Micromodem](INFO): Nmea in: $SNTTA,0.104826,,,,213017.50*4A 2021-02-17T21:30:18.697Z,1613597418.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.440002 m, bearing: 34.606212 deg, deltaT: 4.453770 s, approachRate: 0.673587 m/s, LOS rate: 1.299356 deg/s, posRepo size: 2 2021-02-17T21:30:18.703Z,1613597418.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.440002 m, bearing: 34.606212 deg, approachRate: 0.673587 m/s, LOS rate: 1.299356 deg/s, cmd update: 5.197423 deg/s, cmd heading: 28.819181 deg, new cmd heading: 28.819181 deg. 2021-02-17T21:30:21.105Z,1613597421.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:21.860Z,1613597421.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:30:22.266Z,1613597422.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:30:23.084Z,1613597423.084 [Micromodem](INFO): Nmea in: $SNTTA,0.106760,,,,213021.95*49 2021-02-17T21:30:23.922Z,1613597423.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:25.525Z,1613597425.525 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:30:26.772Z,1613597426.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:27.546Z,1613597427.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:30:27.957Z,1613597427.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:30:28.351Z,1613597428.351 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,0F2,000,00D 1,186,80,80,9C,FF 2021-02-17T21:30:28.760Z,1613597428.760 [Micromodem](INFO): Nmea in: $SNTTA,0.109216,,,,213027.63*4D 2021-02-17T21:30:29.628Z,1613597429.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:30.373Z,1613597430.373 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T21:30:32.418Z,1613597432.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:35.241Z,1613597435.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:36.030Z,1613597436.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:30:36.435Z,1613597436.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:30:37.256Z,1613597437.256 [Micromodem](INFO): Nmea in: $SNTTA,0.111690,,,,213036.12*48 2021-02-17T21:30:37.280Z,1613597437.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.040009 m, bearing: 90.228336 deg, deltaT: 18.588554 s, approachRate: 0.516447 m/s, LOS rate: 2.992278 deg/s, posRepo size: 3 2021-02-17T21:30:37.282Z,1613597437.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.040009 m, bearing: 90.228336 deg, approachRate: 0.516447 m/s, LOS rate: 2.992278 deg/s, cmd update: 11.969113 deg/s, cmd heading: 125.453155 deg, new cmd heading: 127.586338 deg. 2021-02-17T21:30:39.690Z,1613597439.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:40.474Z,1613597440.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:30:40.874Z,1613597440.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:30:41.700Z,1613597441.700 [Micromodem](INFO): Nmea in: $SNTTA,0.112447,,,,213040.56*42 2021-02-17T21:30:41.725Z,1613597441.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.040009 m, bearing: 148.046153 deg, deltaT: 4.460987 s, approachRate: 0.000000 m/s, LOS rate: 12.960768 deg/s, posRepo size: 4 2021-02-17T21:30:41.726Z,1613597441.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.960768 deg/s. Setting heading cmd to target bearing of 148.046153deg and heading rate command to 0 deg/s. 2021-02-17T21:30:44.134Z,1613597444.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:44.917Z,1613597444.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:30:45.321Z,1613597445.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:30:46.156Z,1613597446.156 [Micromodem](INFO): Nmea in: $SNTTA,0.112809,,,,213045.01*43 2021-02-17T21:30:46.180Z,1613597446.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 132.945561 deg, deltaT: 4.432197 s, approachRate: 0.487340 m/s, LOS rate: -3.407022 deg/s, posRepo size: 4 2021-02-17T21:30:46.182Z,1613597446.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.199997 m, bearing: 132.945561 deg, approachRate: 0.487340 m/s, LOS rate: -3.407022 deg/s, cmd update: -12.000000 deg/s, cmd heading: 148.046153 deg, new cmd heading: 148.046153 deg. 2021-02-17T21:30:48.618Z,1613597448.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:49.365Z,1613597449.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:30:49.767Z,1613597449.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:30:50.620Z,1613597450.620 [Micromodem](INFO): Nmea in: $SNTTA,0.112583,,,,213049.45*40 2021-02-17T21:30:50.658Z,1613597450.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 103.219711 deg, deltaT: 4.469494 s, approachRate: 0.000000 m/s, LOS rate: -6.650831 deg/s, posRepo size: 4 2021-02-17T21:30:50.661Z,1613597450.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.199997 m, bearing: 103.219711 deg, approachRate: 0.000000 m/s, LOS rate: -6.650831 deg/s, cmd update: -12.000000 deg/s, cmd heading: 94.457932 deg, new cmd heading: 89.296900 deg. 2021-02-17T21:30:53.029Z,1613597453.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:53.805Z,1613597453.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:30:54.209Z,1613597454.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:30:55.052Z,1613597455.052 [Micromodem](INFO): Nmea in: $SNTTA,0.112202,,,,213053.89*45 2021-02-17T21:30:55.099Z,1613597455.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 91.739057 deg, deltaT: 4.412524 s, approachRate: 0.000000 m/s, LOS rate: -2.601834 deg/s, posRepo size: 4 2021-02-17T21:30:55.101Z,1613597455.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.199997 m, bearing: 91.739057 deg, approachRate: 0.000000 m/s, LOS rate: -2.601834 deg/s, cmd update: -10.407334 deg/s, cmd heading: 41.474726 deg, new cmd heading: 36.014198 deg. 2021-02-17T21:30:57.466Z,1613597457.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:30:58.249Z,1613597458.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:30:58.651Z,1613597458.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:30:59.481Z,1613597459.481 [Micromodem](INFO): Nmea in: $SNTTA,0.112270,,,0.114783,213058.34*5B 2021-02-17T21:30:59.513Z,1613597459.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 161.992266 deg, deltaT: 4.487490 s, approachRate: -0.187190 m/s, LOS rate: 15.655345 deg/s, posRepo size: 4 2021-02-17T21:30:59.514Z,1613597459.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.655345 deg/s. Setting heading cmd to target bearing of 161.992266deg and heading rate command to 0 deg/s. 2021-02-17T21:31:01.916Z,1613597461.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:02.688Z,1613597462.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:31:03.099Z,1613597463.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:31:03.916Z,1613597463.916 [Micromodem](INFO): Nmea in: $SNTTA,0.113128,,,,213102.78*44 2021-02-17T21:31:03.956Z,1613597463.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 125.734425 deg, deltaT: 4.412131 s, approachRate: 0.000000 m/s, LOS rate: -8.217762 deg/s, posRepo size: 4 2021-02-17T21:31:03.958Z,1613597463.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.359985 m, bearing: 125.734425 deg, approachRate: 0.000000 m/s, LOS rate: -8.217762 deg/s, cmd update: -12.000000 deg/s, cmd heading: 161.992266 deg, new cmd heading: 161.992266 deg. 2021-02-17T21:31:06.357Z,1613597466.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:07.132Z,1613597467.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:31:07.549Z,1613597467.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:31:08.360Z,1613597468.360 [Micromodem](INFO): Nmea in: $SNTTA,0.114148,,,,213107.22*4F 2021-02-17T21:31:08.385Z,1613597468.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 114.588526 deg, deltaT: 4.431166 s, approachRate: 0.000000 m/s, LOS rate: -2.515342 deg/s, posRepo size: 4 2021-02-17T21:31:08.386Z,1613597468.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.359985 m, bearing: 114.588526 deg, approachRate: 0.000000 m/s, LOS rate: -2.515342 deg/s, cmd update: -10.061369 deg/s, cmd heading: 108.785284 deg, new cmd heading: 103.863544 deg. 2021-02-17T21:31:10.798Z,1613597470.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:11.600Z,1613597471.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:31:11.981Z,1613597471.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:31:12.809Z,1613597472.809 [Micromodem](INFO): Nmea in: $SNTTA,0.115810,,,,213111.69*42 2021-02-17T21:31:13.254Z,1613597473.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.880005 m, bearing: 51.392993 deg, deltaT: 4.893238 s, approachRate: 1.128091 m/s, LOS rate: -12.914870 deg/s, posRepo size: 4 2021-02-17T21:31:13.255Z,1613597473.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.914870 deg/s. Setting heading cmd to target bearing of 51.392993deg and heading rate command to 0 deg/s. 2021-02-17T21:31:15.644Z,1613597475.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:16.424Z,1613597476.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:31:16.836Z,1613597476.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:31:17.652Z,1613597477.652 [Micromodem](INFO): Nmea in: $SNTTA,0.117390,,,,213116.51*4F 2021-02-17T21:31:17.677Z,1613597477.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.880005 m, bearing: 83.301677 deg, deltaT: 4.398563 s, approachRate: 0.000000 m/s, LOS rate: 7.254343 deg/s, posRepo size: 4 2021-02-17T21:31:17.679Z,1613597477.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.880005 m, bearing: 83.301677 deg, approachRate: 0.000000 m/s, LOS rate: 7.254343 deg/s, cmd update: 12.000000 deg/s, cmd heading: 51.392993 deg, new cmd heading: 51.392993 deg. 2021-02-17T21:31:20.130Z,1613597480.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:20.868Z,1613597480.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:31:21.279Z,1613597481.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:31:22.107Z,1613597482.107 [Micromodem](INFO): Nmea in: $SNTTA,0.119002,,,,213120.95*44 2021-02-17T21:31:22.132Z,1613597482.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.880005 m, bearing: 53.769974 deg, deltaT: 4.458260 s, approachRate: 0.000000 m/s, LOS rate: -6.624042 deg/s, posRepo size: 4 2021-02-17T21:31:22.134Z,1613597482.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.880005 m, bearing: 53.769974 deg, approachRate: 0.000000 m/s, LOS rate: -6.624042 deg/s, cmd update: -12.000000 deg/s, cmd heading: 104.900335 deg, new cmd heading: 109.775143 deg. 2021-02-17T21:31:24.552Z,1613597484.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:25.318Z,1613597485.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:31:25.718Z,1613597485.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:31:26.572Z,1613597486.572 [Micromodem](INFO): Nmea in: $SNTTA,0.120686,,,,213125.40*49 2021-02-17T21:31:26.637Z,1613597486.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.880005 m, bearing: 58.499334 deg, deltaT: 4.451630 s, approachRate: 0.000000 m/s, LOS rate: 1.062388 deg/s, posRepo size: 4 2021-02-17T21:31:26.640Z,1613597486.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.880005 m, bearing: 58.499334 deg, approachRate: 0.000000 m/s, LOS rate: 1.062388 deg/s, cmd update: 4.249553 deg/s, cmd heading: 51.477426 deg, new cmd heading: 45.972270 deg. 2021-02-17T21:31:28.989Z,1613597488.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:29.771Z,1613597489.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:31:30.167Z,1613597490.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:31:30.980Z,1613597490.980 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213129.86*5A 2021-02-17T21:31:31.822Z,1613597491.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:33.396Z,1613597493.396 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:31:34.645Z,1613597494.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:35.414Z,1613597495.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:31:35.829Z,1613597495.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:31:36.632Z,1613597496.632 [Micromodem](INFO): Nmea in: $SNTTA,0.124161,,,,213135.50*43 2021-02-17T21:31:37.090Z,1613597497.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.360001 m, bearing: 54.797819 deg, deltaT: 10.510935 s, approachRate: 1.187335 m/s, LOS rate: -0.352158 deg/s, posRepo size: 4 2021-02-17T21:31:37.092Z,1613597497.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.360001 m, bearing: 54.797819 deg, approachRate: 1.187335 m/s, LOS rate: -0.352158 deg/s, cmd update: -1.408634 deg/s, cmd heading: 96.109371 deg, new cmd heading: 97.852882 deg. 2021-02-17T21:31:39.466Z,1613597499.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:40.265Z,1613597500.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:31:40.677Z,1613597500.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:31:41.496Z,1613597501.496 [Micromodem](INFO): Nmea in: $SNTTA,0.125950,,,,213140.35*49 2021-02-17T21:31:41.538Z,1613597501.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.360001 m, bearing: 97.967705 deg, deltaT: 4.435560 s, approachRate: 0.000000 m/s, LOS rate: 9.732680 deg/s, posRepo size: 4 2021-02-17T21:31:41.540Z,1613597501.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.360001 m, bearing: 97.967705 deg, approachRate: 0.000000 m/s, LOS rate: 9.732680 deg/s, cmd update: 12.000000 deg/s, cmd heading: 89.851475 deg, new cmd heading: 89.270668 deg. 2021-02-17T21:31:43.941Z,1613597503.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:44.706Z,1613597504.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:31:45.124Z,1613597505.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:31:45.924Z,1613597505.924 [Micromodem](INFO): Nmea in: $SNTTA,0.127281,,,,213144.79*40 2021-02-17T21:31:46.367Z,1613597506.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.979980 m, bearing: 100.533643 deg, deltaT: 4.848444 s, approachRate: 0.952879 m/s, LOS rate: 0.529229 deg/s, posRepo size: 4 2021-02-17T21:31:46.369Z,1613597506.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.979980 m, bearing: 100.533643 deg, approachRate: 0.952879 m/s, LOS rate: 0.529229 deg/s, cmd update: 2.116917 deg/s, cmd heading: 147.757189 deg, new cmd heading: 152.780221 deg. 2021-02-17T21:31:48.774Z,1613597508.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:49.581Z,1613597509.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:31:49.966Z,1613597509.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:31:50.787Z,1613597510.787 [Micromodem](INFO): Nmea in: $SNTTA,0.128518,,,,213149.67*4A 2021-02-17T21:31:51.215Z,1613597511.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.900009 m, bearing: 106.202181 deg, deltaT: 4.868153 s, approachRate: 0.394406 m/s, LOS rate: 1.164412 deg/s, posRepo size: 4 2021-02-17T21:31:51.217Z,1613597511.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.900009 m, bearing: 106.202181 deg, approachRate: 0.394406 m/s, LOS rate: 1.164412 deg/s, cmd update: 4.657650 deg/s, cmd heading: 158.105324 deg, new cmd heading: 158.907227 deg. 2021-02-17T21:31:53.648Z,1613597513.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:54.400Z,1613597514.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:31:54.806Z,1613597514.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:31:55.619Z,1613597515.619 [Micromodem](INFO): Nmea in: $SNTTA,0.129148,,,,213154.49*4A 2021-02-17T21:31:56.088Z,1613597516.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.679993 m, bearing: 168.095067 deg, deltaT: 4.837676 s, approachRate: 0.161231 m/s, LOS rate: 12.793930 deg/s, posRepo size: 4 2021-02-17T21:31:56.089Z,1613597516.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.793930 deg/s. Setting heading cmd to target bearing of 168.095067deg and heading rate command to 0 deg/s. 2021-02-17T21:31:58.498Z,1613597518.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:31:59.250Z,1613597519.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:31:59.661Z,1613597519.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:32:00.492Z,1613597520.492 [Micromodem](INFO): Nmea in: $SNTTA,0.128894,,,,213159.34*44 2021-02-17T21:32:00.512Z,1613597520.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.679993 m, bearing: 108.822768 deg, deltaT: 4.434449 s, approachRate: 0.000000 m/s, LOS rate: -13.366328 deg/s, posRepo size: 4 2021-02-17T21:32:00.513Z,1613597520.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.366328 deg/s. Setting heading cmd to target bearing of 108.822768deg and heading rate command to 0 deg/s. 2021-02-17T21:32:02.912Z,1613597522.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:32:03.702Z,1613597523.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:32:04.103Z,1613597524.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:32:04.935Z,1613597524.935 [Micromodem](INFO): Nmea in: $SNTTA,0.128404,,,,213203.79*44 2021-02-17T21:32:05.351Z,1613597525.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.539978 m, bearing: 218.253818 deg, deltaT: 4.847314 s, approachRate: -0.235185 m/s, LOS rate: 22.575606 deg/s, posRepo size: 4 2021-02-17T21:32:05.352Z,1613597525.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.575606 deg/s. Setting heading cmd to target bearing of 218.253818deg and heading rate command to 0 deg/s. 2021-02-17T21:32:07.766Z,1613597527.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:32:08.545Z,1613597528.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:32:08.954Z,1613597528.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:32:09.761Z,1613597529.761 [Micromodem](INFO): Nmea in: $SNTTA,0.127172,,,,213208.63*4F 2021-02-17T21:32:10.207Z,1613597530.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.679977 m, bearing: 180.288048 deg, deltaT: 4.862053 s, approachRate: -0.382555 m/s, LOS rate: -7.808588 deg/s, posRepo size: 4 2021-02-17T21:32:10.209Z,1613597530.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.679977 m, bearing: 180.288048 deg, approachRate: -0.382555 m/s, LOS rate: -7.808588 deg/s, cmd update: -12.000000 deg/s, cmd heading: 218.253818 deg, new cmd heading: 218.253818 deg. 2021-02-17T21:32:12.635Z,1613597532.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:32:13.393Z,1613597533.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:32:13.794Z,1613597533.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:32:14.624Z,1613597534.624 [Micromodem](INFO): Nmea in: $SNTTA,0.126847,,,,213213.48*42 2021-02-17T21:32:15.172Z,1613597535.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.199997 m, bearing: 102.595629 deg, deltaT: 4.834477 s, approachRate: -0.099283 m/s, LOS rate: -16.070491 deg/s, posRepo size: 4 2021-02-17T21:32:15.172Z,1613597535.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.070491 deg/s. Setting heading cmd to target bearing of 102.595629deg and heading rate command to 0 deg/s. 2021-02-17T21:32:17.458Z,1613597537.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:32:18.245Z,1613597538.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:32:18.651Z,1613597538.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:32:19.472Z,1613597539.472 [Micromodem](INFO): Nmea in: $SNTTA,0.126312,,,,213218.33*4E 2021-02-17T21:32:19.514Z,1613597539.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.199997 m, bearing: 109.137865 deg, deltaT: 4.458367 s, approachRate: 0.000000 m/s, LOS rate: 1.467406 deg/s, posRepo size: 4 2021-02-17T21:32:19.516Z,1613597539.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.199997 m, bearing: 109.137865 deg, approachRate: 0.000000 m/s, LOS rate: 1.467406 deg/s, cmd update: 5.869625 deg/s, cmd heading: 102.595629 deg, new cmd heading: 102.595629 deg. 2021-02-17T21:32:21.918Z,1613597541.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:32:22.689Z,1613597542.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:32:23.098Z,1613597543.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:32:23.916Z,1613597543.916 [Micromodem](INFO): Nmea in: $SNTTA,0.125245,,,,213222.78*48 2021-02-17T21:32:23.965Z,1613597543.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.199997 m, bearing: 182.556340 deg, deltaT: 4.476924 s, approachRate: 0.000000 m/s, LOS rate: 16.399313 deg/s, posRepo size: 4 2021-02-17T21:32:23.965Z,1613597543.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.399313 deg/s. Setting heading cmd to target bearing of 182.556340deg and heading rate command to 0 deg/s. 2021-02-17T21:32:26.361Z,1613597546.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:32:27.130Z,1613597547.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:32:27.534Z,1613597547.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:32:28.349Z,1613597548.349 [Micromodem](INFO): Nmea in: $SNTTA,0.124715,,,,213227.22*43 2021-02-17T21:32:28.787Z,1613597548.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.080002 m, bearing: 195.658145 deg, deltaT: 4.781498 s, approachRate: -0.652514 m/s, LOS rate: 2.740105 deg/s, posRepo size: 4 2021-02-17T21:32:28.789Z,1613597548.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.080002 m, bearing: 195.658145 deg, approachRate: -0.652514 m/s, LOS rate: 2.740105 deg/s, cmd update: 10.960419 deg/s, cmd heading: 182.556340 deg, new cmd heading: 182.556340 deg. 2021-02-17T21:32:31.217Z,1613597551.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:32:31.982Z,1613597551.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:32:32.384Z,1613597552.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:32:33.199Z,1613597553.199 [Micromodem](INFO): Nmea in: $SNTTA,0.124578,,,,213232.07*49 2021-02-17T21:32:33.644Z,1613597553.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.779999 m, bearing: 173.209513 deg, deltaT: 4.878956 s, approachRate: -0.061489 m/s, LOS rate: -4.601114 deg/s, posRepo size: 4 2021-02-17T21:32:33.646Z,1613597553.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.779999 m, bearing: 173.209513 deg, approachRate: -0.061489 m/s, LOS rate: -4.601114 deg/s, cmd update: -12.000000 deg/s, cmd heading: 235.766566 deg, new cmd heading: 240.322100 deg. 2021-02-17T21:32:36.085Z,1613597556.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:32:36.824Z,1613597556.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:32:37.238Z,1613597557.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:32:38.078Z,1613597558.078 [Micromodem](INFO): Nmea in: $SNTTA,0.124009,,,,213236.91*41 2021-02-17T21:32:38.470Z,1613597558.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.880005 m, bearing: 224.547660 deg, deltaT: 4.871320 s, approachRate: -0.184754 m/s, LOS rate: 10.538857 deg/s, posRepo size: 4 2021-02-17T21:32:38.472Z,1613597558.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.880005 m, bearing: 224.547660 deg, approachRate: -0.184754 m/s, LOS rate: 10.538857 deg/s, cmd update: 12.000000 deg/s, cmd heading: 177.025148 deg, new cmd heading: 172.859816 deg. 2021-02-17T21:32:40.907Z,1613597560.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:32:41.680Z,1613597561.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:32:42.095Z,1613597562.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:32:42.897Z,1613597562.897 [Micromodem](INFO): Nmea in: $SNTTA,0.122539,,,,213241.77*49 2021-02-17T21:32:43.324Z,1613597563.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.660004 m, bearing: 239.347423 deg, deltaT: 4.823101 s, approachRate: -0.460285 m/s, LOS rate: 3.068516 deg/s, posRepo size: 4 2021-02-17T21:32:43.326Z,1613597563.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.660004 m, bearing: 239.347423 deg, approachRate: -0.460285 m/s, LOS rate: 3.068516 deg/s, cmd update: 12.000000 deg/s, cmd heading: 234.690189 deg, new cmd heading: 239.429301 deg. 2021-02-17T21:32:45.746Z,1613597565.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:32:46.526Z,1613597566.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:32:46.926Z,1613597566.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:32:47.752Z,1613597567.752 [Micromodem](INFO): Nmea in: $SNTTA,0.120736,,,,213246.61*46 2021-02-17T21:32:47.777Z,1613597567.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.660004 m, bearing: 225.207169 deg, deltaT: 4.440802 s, approachRate: 0.000000 m/s, LOS rate: -3.184167 deg/s, posRepo size: 4 2021-02-17T21:32:47.778Z,1613597567.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.660004 m, bearing: 225.207169 deg, approachRate: 0.000000 m/s, LOS rate: -3.184167 deg/s, cmd update: -12.000000 deg/s, cmd heading: 287.994802 deg, new cmd heading: 292.867294 deg. 2021-02-17T21:32:50.189Z,1613597570.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:32:50.964Z,1613597570.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:32:51.369Z,1613597571.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:32:52.196Z,1613597572.196 [Micromodem](INFO): Nmea in: $SNTTA,0.118868,,,,213251.05*4D 2021-02-17T21:32:52.240Z,1613597572.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.660004 m, bearing: 224.939590 deg, deltaT: 4.442998 s, approachRate: 0.000000 m/s, LOS rate: -0.060225 deg/s, posRepo size: 4 2021-02-17T21:32:52.242Z,1613597572.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.660004 m, bearing: 224.939590 deg, approachRate: 0.000000 m/s, LOS rate: -0.060225 deg/s, cmd update: -0.240900 deg/s, cmd heading: 234.480801 deg, new cmd heading: 229.802277 deg. 2021-02-17T21:32:54.651Z,1613597574.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:32:55.409Z,1613597575.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:32:55.832Z,1613597575.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:32:56.640Z,1613597576.640 [Micromodem](INFO): Nmea in: $SNTTA,0.116552,,,,213255.50*43 2021-02-17T21:32:56.680Z,1613597576.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.660004 m, bearing: 225.899791 deg, deltaT: 4.444704 s, approachRate: 0.000000 m/s, LOS rate: 0.216033 deg/s, posRepo size: 4 2021-02-17T21:32:56.682Z,1613597576.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.660004 m, bearing: 225.899791 deg, approachRate: 0.000000 m/s, LOS rate: 0.216033 deg/s, cmd update: 0.864131 deg/s, cmd heading: 233.410964 deg, new cmd heading: 233.312353 deg. 2021-02-17T21:32:59.110Z,1613597579.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:32:59.852Z,1613597579.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:00.263Z,1613597580.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:01.100Z,1613597581.100 [Micromodem](INFO): Nmea in: $SNTTA,0.114081,,,,213259.94*4E 2021-02-17T21:33:01.146Z,1613597581.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.179993 m, bearing: 225.013656 deg, deltaT: 4.420703 s, approachRate: -2.823083 m/s, LOS rate: -0.200451 deg/s, posRepo size: 4 2021-02-17T21:33:01.148Z,1613597581.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.179993 m, bearing: 225.013656 deg, approachRate: -2.823083 m/s, LOS rate: -0.200451 deg/s, cmd update: -0.801805 deg/s, cmd heading: 237.234458 deg, new cmd heading: 237.623365 deg. 2021-02-17T21:33:03.508Z,1613597583.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:33:04.307Z,1613597584.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:04.703Z,1613597584.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:05.534Z,1613597585.534 [Micromodem](INFO): Nmea in: $SNTTA,0.111866,,,,213304.39*44 2021-02-17T21:33:05.609Z,1613597585.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.179993 m, bearing: 225.221882 deg, deltaT: 4.466373 s, approachRate: 0.000000 m/s, LOS rate: 0.046621 deg/s, posRepo size: 4 2021-02-17T21:33:05.615Z,1613597585.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.179993 m, bearing: 225.221882 deg, approachRate: 0.000000 m/s, LOS rate: 0.046621 deg/s, cmd update: 0.186483 deg/s, cmd heading: 233.656718 deg, new cmd heading: 233.294770 deg. 2021-02-17T21:33:07.961Z,1613597587.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:33:08.753Z,1613597588.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:09.154Z,1613597589.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:09.976Z,1613597589.976 [Micromodem](INFO): Nmea in: $SNTTA,0.109378,,,,213308.84*43 2021-02-17T21:33:09.998Z,1613597589.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.860001 m, bearing: 224.754410 deg, deltaT: 4.469675 s, approachRate: -1.637701 m/s, LOS rate: -0.104587 deg/s, posRepo size: 4 2021-02-17T21:33:10.000Z,1613597590.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.860001 m, bearing: 224.754410 deg, approachRate: -1.637701 m/s, LOS rate: -0.104587 deg/s, cmd update: -0.418350 deg/s, cmd heading: 234.491007 deg, new cmd heading: 234.559375 deg. 2021-02-17T21:33:12.402Z,1613597592.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:33:13.184Z,1613597593.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:13.627Z,1613597593.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:14.420Z,1613597594.420 [Micromodem](INFO): Nmea in: $SNTTA,0.106989,,,,213313.27*4B 2021-02-17T21:33:14.444Z,1613597594.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.320007 m, bearing: 224.743700 deg, deltaT: 4.399013 s, approachRate: -0.804724 m/s, LOS rate: -0.002435 deg/s, posRepo size: 4 2021-02-17T21:33:14.446Z,1613597594.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.320007 m, bearing: 224.743700 deg, approachRate: -0.804724 m/s, LOS rate: -0.002435 deg/s, cmd update: -0.009738 deg/s, cmd heading: 232.650800 deg, new cmd heading: 232.477741 deg. 2021-02-17T21:33:16.866Z,1613597596.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:33:17.633Z,1613597597.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:18.060Z,1613597598.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:18.864Z,1613597598.864 [Micromodem](INFO): Nmea in: $SNTTA,0.104390,,,,213317.72*4F 2021-02-17T21:33:18.869Z,1613597598.869 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:33:18.914Z,1613597598.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.419998 m, bearing: 224.819870 deg, deltaT: 4.437593 s, approachRate: -0.878857 m/s, LOS rate: 0.017165 deg/s, posRepo size: 4 2021-02-17T21:33:18.916Z,1613597598.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.419998 m, bearing: 224.819870 deg, approachRate: -0.878857 m/s, LOS rate: 0.017165 deg/s, cmd update: 0.068659 deg/s, cmd heading: 232.607585 deg, new cmd heading: 232.603246 deg. 2021-02-17T21:33:21.308Z,1613597601.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:33:22.089Z,1613597602.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:22.478Z,1613597602.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:23.308Z,1613597603.308 [Micromodem](INFO): Nmea in: $SNTTA,0.102259,,,,213322.18*47 2021-02-17T21:33:23.349Z,1613597603.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.180008 m, bearing: 225.213480 deg, deltaT: 4.466774 s, approachRate: -0.725354 m/s, LOS rate: 0.088120 deg/s, posRepo size: 4 2021-02-17T21:33:23.350Z,1613597603.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.180008 m, bearing: 225.213480 deg, approachRate: -0.725354 m/s, LOS rate: 0.088120 deg/s, cmd update: 0.352478 deg/s, cmd heading: 232.914020 deg, new cmd heading: 232.942675 deg. 2021-02-17T21:33:25.748Z,1613597605.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:33:26.538Z,1613597606.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:26.922Z,1613597606.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:27.756Z,1613597607.756 [Micromodem](INFO): Nmea in: $SNTTA,0.099739,,,,213326.62*4E 2021-02-17T21:33:27.781Z,1613597607.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.400009 m, bearing: 224.763904 deg, deltaT: 4.422125 s, approachRate: -0.854792 m/s, LOS rate: -0.101665 deg/s, posRepo size: 4 2021-02-17T21:33:27.782Z,1613597607.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.400009 m, bearing: 224.763904 deg, approachRate: -0.854792 m/s, LOS rate: -0.101665 deg/s, cmd update: -0.406661 deg/s, cmd heading: 234.474020 deg, new cmd heading: 234.623340 deg. 2021-02-17T21:33:28.959Z,1613597608.959 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:33:30.178Z,1613597610.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:33:30.960Z,1613597610.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:31.366Z,1613597611.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:32.188Z,1613597612.188 [Micromodem](INFO): Nmea in: $SNTTA,0.097361,,,,213331.05*4E 2021-02-17T21:33:32.233Z,1613597612.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.860001 m, bearing: 224.968003 deg, deltaT: 4.454904 s, approachRate: -0.794632 m/s, LOS rate: 0.045815 deg/s, posRepo size: 4 2021-02-17T21:33:32.236Z,1613597612.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.860001 m, bearing: 224.968003 deg, approachRate: -0.794632 m/s, LOS rate: 0.045815 deg/s, cmd update: 0.183258 deg/s, cmd heading: 232.662426 deg, new cmd heading: 232.491020 deg. 2021-02-17T21:33:34.636Z,1613597614.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:33:35.409Z,1613597615.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:35.827Z,1613597615.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:36.636Z,1613597616.636 [Micromodem](INFO): Nmea in: $SNTTA,0.094768,,,,213335.50*44 2021-02-17T21:33:36.676Z,1613597616.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.960007 m, bearing: 224.576183 deg, deltaT: 4.448010 s, approachRate: -0.876795 m/s, LOS rate: -0.088089 deg/s, posRepo size: 4 2021-02-17T21:33:36.678Z,1613597616.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.960007 m, bearing: 224.576183 deg, approachRate: -0.876795 m/s, LOS rate: -0.088089 deg/s, cmd update: -0.352356 deg/s, cmd heading: 233.477604 deg, new cmd heading: 233.553832 deg. 2021-02-17T21:33:38.667Z,1613597618.667 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T21:33:39.143Z,1613597619.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:33:39.848Z,1613597619.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:40.275Z,1613597620.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:41.104Z,1613597621.104 [Micromodem](INFO): Nmea in: $SNTTA,0.092440,,,,213339.94*4F 2021-02-17T21:33:41.128Z,1613597621.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.480011 m, bearing: 226.016478 deg, deltaT: 4.442614 s, approachRate: -0.783322 m/s, LOS rate: 0.324200 deg/s, posRepo size: 4 2021-02-17T21:33:41.130Z,1613597621.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.480011 m, bearing: 226.016478 deg, approachRate: -0.783322 m/s, LOS rate: 0.324200 deg/s, cmd update: 1.296800 deg/s, cmd heading: 231.912226 deg, new cmd heading: 231.762321 deg. 2021-02-17T21:33:43.541Z,1613597623.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:33:44.301Z,1613597624.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:44.703Z,1613597624.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:45.535Z,1613597625.535 [Micromodem](INFO): Nmea in: $SNTTA,0.089959,,,,213344.39*4D 2021-02-17T21:33:45.613Z,1613597625.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.760010 m, bearing: 226.081584 deg, deltaT: 4.471110 s, approachRate: -0.832008 m/s, LOS rate: 0.014561 deg/s, posRepo size: 4 2021-02-17T21:33:45.614Z,1613597625.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.760010 m, bearing: 226.081584 deg, approachRate: -0.832008 m/s, LOS rate: 0.014561 deg/s, cmd update: 0.058245 deg/s, cmd heading: 237.710658 deg, new cmd heading: 238.279410 deg. 2021-02-17T21:33:47.953Z,1613597627.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:33:48.738Z,1613597628.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:48.796Z,1613597628.796 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T21:33:49.143Z,1613597629.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:49.967Z,1613597629.967 [Micromodem](INFO): Nmea in: $SNTTA,0.087405,,,,213348.82*4B 2021-02-17T21:33:49.993Z,1613597629.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.919998 m, bearing: 224.220767 deg, deltaT: 4.437198 s, approachRate: -0.865414 m/s, LOS rate: -0.419368 deg/s, posRepo size: 4 2021-02-17T21:33:49.994Z,1613597629.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.919998 m, bearing: 224.220767 deg, approachRate: -0.865414 m/s, LOS rate: -0.419368 deg/s, cmd update: -1.677470 deg/s, cmd heading: 237.968170 deg, new cmd heading: 237.991320 deg. 2021-02-17T21:33:52.402Z,1613597632.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:33:53.190Z,1613597633.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:53.621Z,1613597633.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:54.412Z,1613597634.412 [Micromodem](INFO): Nmea in: $SNTTA,0.085093,,,,213353.28*48 2021-02-17T21:33:54.452Z,1613597634.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.200005 m, bearing: 222.466679 deg, deltaT: 4.418691 s, approachRate: -0.841877 m/s, LOS rate: -0.396970 deg/s, posRepo size: 4 2021-02-17T21:33:54.454Z,1613597634.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.200005 m, bearing: 222.466679 deg, approachRate: -0.841877 m/s, LOS rate: -0.396970 deg/s, cmd update: -1.587880 deg/s, cmd heading: 230.529085 deg, new cmd heading: 229.820854 deg. 2021-02-17T21:33:56.861Z,1613597636.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:33:57.625Z,1613597637.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:33:58.037Z,1613597638.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:33:58.852Z,1613597638.852 [Micromodem](INFO): Nmea in: $SNTTA,0.082536,,,,213357.71*4D 2021-02-17T21:33:58.890Z,1613597638.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.600006 m, bearing: 225.216322 deg, deltaT: 4.443679 s, approachRate: -0.810139 m/s, LOS rate: 0.618776 deg/s, posRepo size: 4 2021-02-17T21:33:58.892Z,1613597638.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.600006 m, bearing: 225.216322 deg, approachRate: -0.810139 m/s, LOS rate: 0.618776 deg/s, cmd update: 2.475105 deg/s, cmd heading: 223.472974 deg, new cmd heading: 222.811558 deg. 2021-02-17T21:34:01.292Z,1613597641.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:02.088Z,1613597642.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:34:02.493Z,1613597642.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:34:03.308Z,1613597643.308 [Micromodem](INFO): Nmea in: $SNTTA,0.080097,,,,213402.17*46 2021-02-17T21:34:03.360Z,1613597643.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.940002 m, bearing: 226.230031 deg, deltaT: 4.452321 s, approachRate: -0.822044 m/s, LOS rate: 0.227681 deg/s, posRepo size: 4 2021-02-17T21:34:03.362Z,1613597643.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.940002 m, bearing: 226.230031 deg, approachRate: -0.822044 m/s, LOS rate: 0.227681 deg/s, cmd update: 0.910724 deg/s, cmd heading: 234.482508 deg, new cmd heading: 235.557396 deg. 2021-02-17T21:34:03.719Z,1613597643.719 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2021-02-17T21:34:03.719Z,1613597643.719 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-02-17T21:34:03.719Z,1613597643.719 [RDI_Pathfinder](ERROR): Communications Fault 2021-02-17T21:34:03.827Z,1613597643.827 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-02-17T21:34:04.183Z,1613597644.183 [RDI_Pathfinder](INFO): Powering down 2021-02-17T21:34:05.265Z,1613597645.265 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-02-17T21:34:05.265Z,1613597645.265 [RDI_Pathfinder] No Fault, FailCount= 1 2021-02-17T21:34:05.718Z,1613597645.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:06.518Z,1613597646.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:34:06.918Z,1613597646.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:34:07.761Z,1613597647.761 [Micromodem](INFO): Nmea in: $SNTTA,0.077696,,,,213406.61*4C 2021-02-17T21:34:07.785Z,1613597647.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.400002 m, bearing: 225.564907 deg, deltaT: 4.447192 s, approachRate: -0.796008 m/s, LOS rate: -0.149560 deg/s, posRepo size: 4 2021-02-17T21:34:07.787Z,1613597647.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.400002 m, bearing: 225.564907 deg, approachRate: -0.796008 m/s, LOS rate: -0.149560 deg/s, cmd update: -0.598242 deg/s, cmd heading: 238.532712 deg, new cmd heading: 238.911914 deg. 2021-02-17T21:34:10.244Z,1613597650.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:10.963Z,1613597650.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:34:11.361Z,1613597651.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:34:12.188Z,1613597652.188 [Micromodem](INFO): Nmea in: $SNTTA,0.075410,,,,213411.05*46 2021-02-17T21:34:12.231Z,1613597652.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.920006 m, bearing: 224.116566 deg, deltaT: 4.421140 s, approachRate: -0.787126 m/s, LOS rate: -0.327595 deg/s, posRepo size: 4 2021-02-17T21:34:12.233Z,1613597652.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.920006 m, bearing: 224.116566 deg, approachRate: -0.787126 m/s, LOS rate: -0.327595 deg/s, cmd update: -1.310378 deg/s, cmd heading: 235.895005 deg, new cmd heading: 235.624828 deg. 2021-02-17T21:34:14.617Z,1613597654.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:15.400Z,1613597655.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:34:15.806Z,1613597655.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:34:16.628Z,1613597656.628 [Micromodem](INFO): Nmea in: $SNTTA,0.072875,,,,213415.49*42 2021-02-17T21:34:16.666Z,1613597656.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.139999 m, bearing: 224.405182 deg, deltaT: 4.475643 s, approachRate: -0.844573 m/s, LOS rate: 0.064486 deg/s, posRepo size: 4 2021-02-17T21:34:16.668Z,1613597656.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.139999 m, bearing: 224.405182 deg, approachRate: -0.844573 m/s, LOS rate: 0.064486 deg/s, cmd update: 0.257944 deg/s, cmd heading: 230.009052 deg, new cmd heading: 229.490205 deg. 2021-02-17T21:34:19.114Z,1613597659.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:19.844Z,1613597659.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:34:20.257Z,1613597660.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:34:21.100Z,1613597661.100 [Micromodem](INFO): Nmea in: $SNTTA,0.070452,,,,213419.93*42 2021-02-17T21:34:21.124Z,1613597661.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.480003 m, bearing: 225.094389 deg, deltaT: 4.412388 s, approachRate: -0.829482 m/s, LOS rate: 0.156198 deg/s, posRepo size: 4 2021-02-17T21:34:21.126Z,1613597661.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.480003 m, bearing: 225.094389 deg, approachRate: -0.829482 m/s, LOS rate: 0.156198 deg/s, cmd update: 0.624793 deg/s, cmd heading: 231.146166 deg, new cmd heading: 231.261152 deg. 2021-02-17T21:34:23.524Z,1613597663.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:24.289Z,1613597664.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:34:24.714Z,1613597664.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:34:25.516Z,1613597665.516 [Micromodem](INFO): Nmea in: $SNTTA,0.067990,,,,213424.38*48 2021-02-17T21:34:25.569Z,1613597665.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.820007 m, bearing: 225.048968 deg, deltaT: 4.464129 s, approachRate: -0.819868 m/s, LOS rate: -0.010175 deg/s, posRepo size: 4 2021-02-17T21:34:25.570Z,1613597665.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.820007 m, bearing: 225.048968 deg, approachRate: -0.819868 m/s, LOS rate: -0.010175 deg/s, cmd update: -0.040698 deg/s, cmd heading: 233.934557 deg, new cmd heading: 234.201592 deg. 2021-02-17T21:34:27.945Z,1613597667.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:28.732Z,1613597668.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:34:29.138Z,1613597669.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:34:29.960Z,1613597669.960 [Micromodem](INFO): Nmea in: $SNTTA,0.065586,,,,213428.82*4C 2021-02-17T21:34:30.012Z,1613597670.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.100006 m, bearing: 223.782802 deg, deltaT: 4.417288 s, approachRate: -0.842146 m/s, LOS rate: -0.286639 deg/s, posRepo size: 4 2021-02-17T21:34:30.014Z,1613597670.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.100006 m, bearing: 223.782802 deg, approachRate: -0.842146 m/s, LOS rate: -0.286639 deg/s, cmd update: -1.146556 deg/s, cmd heading: 233.754568 deg, new cmd heading: 233.737363 deg. 2021-02-17T21:34:32.420Z,1613597672.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:33.212Z,1613597673.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:34:33.582Z,1613597673.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:34:34.420Z,1613597674.420 [Micromodem](INFO): Nmea in: $SNTTA,0.063087,,,,213433.30*4D 2021-02-17T21:34:34.478Z,1613597674.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.380005 m, bearing: 224.716352 deg, deltaT: 4.435786 s, approachRate: -0.838634 m/s, LOS rate: 0.210459 deg/s, posRepo size: 4 2021-02-17T21:34:34.484Z,1613597674.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.380005 m, bearing: 224.716352 deg, approachRate: -0.838634 m/s, LOS rate: 0.210459 deg/s, cmd update: 0.841835 deg/s, cmd heading: 228.668636 deg, new cmd heading: 228.120365 deg. 2021-02-17T21:34:36.833Z,1613597676.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:37.620Z,1613597677.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:34:38.031Z,1613597678.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:34:38.855Z,1613597678.855 [Micromodem](INFO): Nmea in: $SNTTA,0.060588,,,,213437.71*45 2021-02-17T21:34:38.874Z,1613597678.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.720001 m, bearing: 224.862013 deg, deltaT: 4.499464 s, approachRate: -0.813431 m/s, LOS rate: 0.032373 deg/s, posRepo size: 4 2021-02-17T21:34:38.876Z,1613597678.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.720001 m, bearing: 224.862013 deg, approachRate: -0.813431 m/s, LOS rate: 0.032373 deg/s, cmd update: 0.129492 deg/s, cmd heading: 232.442465 deg, new cmd heading: 232.772397 deg. 2021-02-17T21:34:41.297Z,1613597681.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:42.085Z,1613597682.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:34:42.485Z,1613597682.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:34:43.308Z,1613597683.308 [Micromodem](INFO): Nmea in: $SNTTA,0.058430,,,,213442.17*4E 2021-02-17T21:34:43.362Z,1613597683.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.480003 m, bearing: 225.838361 deg, deltaT: 4.387241 s, approachRate: -0.738505 m/s, LOS rate: 0.222543 deg/s, posRepo size: 4 2021-02-17T21:34:43.375Z,1613597683.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.480003 m, bearing: 225.838361 deg, approachRate: -0.738505 m/s, LOS rate: 0.222543 deg/s, cmd update: 0.890171 deg/s, cmd heading: 233.012724 deg, new cmd heading: 233.074338 deg. 2021-02-17T21:34:45.725Z,1613597685.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:46.526Z,1613597686.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:34:46.920Z,1613597686.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:34:47.747Z,1613597687.747 [Micromodem](INFO): Nmea in: $SNTTA,0.055901,,,,213446.61*49 2021-02-17T21:34:47.771Z,1613597687.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.699997 m, bearing: 224.201410 deg, deltaT: 4.501455 s, approachRate: -0.839730 m/s, LOS rate: -0.363649 deg/s, posRepo size: 4 2021-02-17T21:34:47.773Z,1613597687.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.699997 m, bearing: 224.201410 deg, approachRate: -0.839730 m/s, LOS rate: -0.363649 deg/s, cmd update: -1.454597 deg/s, cmd heading: 237.016198 deg, new cmd heading: 237.360883 deg. 2021-02-17T21:34:50.241Z,1613597690.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:50.961Z,1613597690.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:34:51.362Z,1613597691.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:34:52.212Z,1613597692.212 [Micromodem](INFO): Nmea in: $SNTTA,0.053745,,,,213451.05*45 2021-02-17T21:34:52.264Z,1613597692.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.160004 m, bearing: 222.544857 deg, deltaT: 4.408633 s, approachRate: -0.802968 m/s, LOS rate: -0.375752 deg/s, posRepo size: 4 2021-02-17T21:34:52.266Z,1613597692.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.160004 m, bearing: 222.544857 deg, approachRate: -0.802968 m/s, LOS rate: -0.375752 deg/s, cmd update: -1.503008 deg/s, cmd heading: 230.621072 deg, new cmd heading: 229.936479 deg. 2021-02-17T21:34:54.603Z,1613597694.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:55.401Z,1613597695.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:34:55.807Z,1613597695.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:34:56.628Z,1613597696.628 [Micromodem](INFO): Nmea in: $SNTTA,0.051052,,,,213455.49*4A 2021-02-17T21:34:56.669Z,1613597696.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.500000 m, bearing: 224.706434 deg, deltaT: 4.470622 s, approachRate: -0.818679 m/s, LOS rate: 0.483507 deg/s, posRepo size: 4 2021-02-17T21:34:56.670Z,1613597696.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.500000 m, bearing: 224.706434 deg, approachRate: -0.818679 m/s, LOS rate: 0.483507 deg/s, cmd update: 1.934028 deg/s, cmd heading: 223.877404 deg, new cmd heading: 223.273610 deg. 2021-02-17T21:34:59.107Z,1613597699.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:34:59.840Z,1613597699.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:00.252Z,1613597700.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:01.096Z,1613597701.096 [Micromodem](INFO): Nmea in: $SNTTA,0.048919,,,,213459.93*4F 2021-02-17T21:35:01.120Z,1613597701.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.140007 m, bearing: 225.187334 deg, deltaT: 4.412711 s, approachRate: -0.761435 m/s, LOS rate: 0.108981 deg/s, posRepo size: 4 2021-02-17T21:35:01.122Z,1613597701.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.140007 m, bearing: 225.187334 deg, approachRate: -0.761435 m/s, LOS rate: 0.108981 deg/s, cmd update: 0.435922 deg/s, cmd heading: 232.411708 deg, new cmd heading: 233.263804 deg. 2021-02-17T21:35:03.511Z,1613597703.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:35:04.289Z,1613597704.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:04.698Z,1613597704.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:05.527Z,1613597705.527 [Micromodem](INFO): Nmea in: $SNTTA,0.046542,,,,213504.37*44 2021-02-17T21:35:05.552Z,1613597705.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.360001 m, bearing: 222.632830 deg, deltaT: 4.455142 s, approachRate: -0.848459 m/s, LOS rate: -0.573383 deg/s, posRepo size: 4 2021-02-17T21:35:05.554Z,1613597705.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.360001 m, bearing: 222.632830 deg, approachRate: -0.848459 m/s, LOS rate: -0.573383 deg/s, cmd update: -2.293534 deg/s, cmd heading: 234.353760 deg, new cmd heading: 234.535582 deg. 2021-02-17T21:35:07.951Z,1613597707.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:35:08.730Z,1613597708.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:09.139Z,1613597709.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:09.963Z,1613597709.963 [Micromodem](INFO): Nmea in: $SNTTA,0.044166,,,,213508.82*46 2021-02-17T21:35:09.986Z,1613597709.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.120003 m, bearing: 222.454029 deg, deltaT: 4.452879 s, approachRate: -0.727619 m/s, LOS rate: -0.040154 deg/s, posRepo size: 4 2021-02-17T21:35:09.988Z,1613597709.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.120003 m, bearing: 222.454029 deg, approachRate: -0.727619 m/s, LOS rate: -0.040154 deg/s, cmd update: -0.160616 deg/s, cmd heading: 224.149907 deg, new cmd heading: 223.226689 deg. 2021-02-17T21:35:12.451Z,1613597712.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:35:13.204Z,1613597713.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:13.579Z,1613597713.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:14.412Z,1613597714.412 [Micromodem](INFO): Nmea in: $SNTTA,0.041574,,,,213513.29*4F 2021-02-17T21:35:14.466Z,1613597714.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.220009 m, bearing: 225.162391 deg, deltaT: 4.406786 s, approachRate: -0.884997 m/s, LOS rate: 0.614589 deg/s, posRepo size: 4 2021-02-17T21:35:14.468Z,1613597714.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.220009 m, bearing: 225.162391 deg, approachRate: -0.884997 m/s, LOS rate: 0.614589 deg/s, cmd update: 2.458355 deg/s, cmd heading: 223.441470 deg, new cmd heading: 223.365747 deg. 2021-02-17T21:35:16.835Z,1613597716.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:35:17.621Z,1613597717.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:18.026Z,1613597718.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:18.848Z,1613597718.848 [Micromodem](INFO): Nmea in: $SNTTA,0.039166,,,,213517.71*4E 2021-02-17T21:35:18.870Z,1613597718.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.620003 m, bearing: 224.786484 deg, deltaT: 4.505211 s, approachRate: -0.799076 m/s, LOS rate: -0.083438 deg/s, posRepo size: 4 2021-02-17T21:35:18.897Z,1613597718.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.620003 m, bearing: 224.786484 deg, approachRate: -0.799076 m/s, LOS rate: -0.083438 deg/s, cmd update: -0.333752 deg/s, cmd heading: 234.515305 deg, new cmd heading: 235.428754 deg. 2021-02-17T21:35:21.305Z,1613597721.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:35:22.084Z,1613597722.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:22.466Z,1613597722.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:23.301Z,1613597723.301 [Micromodem](INFO): Nmea in: $SNTTA,0.036978,,,,213522.17*40 2021-02-17T21:35:23.359Z,1613597723.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.960007 m, bearing: 222.290446 deg, deltaT: 4.382893 s, approachRate: -0.835064 m/s, LOS rate: -0.569496 deg/s, posRepo size: 4 2021-02-17T21:35:23.361Z,1613597723.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.960007 m, bearing: 222.290446 deg, approachRate: -0.835064 m/s, LOS rate: -0.569496 deg/s, cmd update: -2.277982 deg/s, cmd heading: 233.052307 deg, new cmd heading: 232.893162 deg. 2021-02-17T21:35:25.745Z,1613597725.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:35:26.528Z,1613597726.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:26.935Z,1613597726.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:27.760Z,1613597727.760 [Micromodem](INFO): Nmea in: $SNTTA,0.034226,,,,213526.62*44 2021-02-17T21:35:27.782Z,1613597727.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.119999 m, bearing: 221.665757 deg, deltaT: 4.495014 s, approachRate: -0.854282 m/s, LOS rate: -0.138974 deg/s, posRepo size: 4 2021-02-17T21:35:27.784Z,1613597727.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.119999 m, bearing: 221.665757 deg, approachRate: -0.854282 m/s, LOS rate: -0.138974 deg/s, cmd update: -0.555895 deg/s, cmd heading: 222.812702 deg, new cmd heading: 221.890700 deg. 2021-02-17T21:35:30.232Z,1613597730.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:35:30.972Z,1613597730.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:31.378Z,1613597731.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:32.220Z,1613597732.220 [Micromodem](INFO): Nmea in: $SNTTA,0.031779,,,,213531.06*4A 2021-02-17T21:35:32.282Z,1613597732.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.520004 m, bearing: 224.581934 deg, deltaT: 4.418158 s, approachRate: -0.814818 m/s, LOS rate: 0.660044 deg/s, posRepo size: 4 2021-02-17T21:35:32.288Z,1613597732.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.520004 m, bearing: 224.581934 deg, approachRate: -0.814818 m/s, LOS rate: 0.660044 deg/s, cmd update: 2.640174 deg/s, cmd heading: 220.356631 deg, new cmd heading: 220.086189 deg. 2021-02-17T21:35:34.629Z,1613597734.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:35:35.416Z,1613597735.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:35.827Z,1613597735.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:36.644Z,1613597736.644 [Micromodem](INFO): Nmea in: $SNTTA,0.029484,,,,213535.50*45 2021-02-17T21:35:36.678Z,1613597736.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.039997 m, bearing: 224.462897 deg, deltaT: 4.480619 s, approachRate: -0.776680 m/s, LOS rate: -0.026567 deg/s, posRepo size: 4 2021-02-17T21:35:36.680Z,1613597736.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.039997 m, bearing: 224.462897 deg, approachRate: -0.776680 m/s, LOS rate: -0.026567 deg/s, cmd update: -0.106268 deg/s, cmd heading: 232.185393 deg, new cmd heading: 233.247569 deg. 2021-02-17T21:35:39.108Z,1613597739.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:35:39.860Z,1613597739.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:40.271Z,1613597740.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:41.108Z,1613597741.108 [Micromodem](INFO): Nmea in: $SNTTA,0.026986,,,,213539.95*40 2021-02-17T21:35:41.132Z,1613597741.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.259998 m, bearing: 222.558818 deg, deltaT: 4.424879 s, approachRate: -0.854260 m/s, LOS rate: -0.430312 deg/s, posRepo size: 4 2021-02-17T21:35:41.134Z,1613597741.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.259998 m, bearing: 222.558818 deg, approachRate: -0.854260 m/s, LOS rate: -0.430312 deg/s, cmd update: -1.721249 deg/s, cmd heading: 231.715146 deg, new cmd heading: 231.669354 deg. 2021-02-17T21:35:43.524Z,1613597743.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:35:44.304Z,1613597744.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:44.727Z,1613597744.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:45.532Z,1613597745.532 [Micromodem](INFO): Nmea in: $SNTTA,0.024540,,,,213544.39*48 2021-02-17T21:35:45.573Z,1613597745.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.719997 m, bearing: 223.398153 deg, deltaT: 4.497193 s, approachRate: -0.787158 m/s, LOS rate: 0.186635 deg/s, posRepo size: 4 2021-02-17T21:35:45.573Z,1613597745.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.72 m. 2021-02-17T21:35:45.575Z,1613597745.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.719997 m, bearing: 223.398153 deg, approachRate: -0.787158 m/s, LOS rate: 0.186635 deg/s, cmd update: 0.746541 deg/s, cmd heading: 224.020607 deg, new cmd heading: 223.329481 deg. 2021-02-17T21:35:45.933Z,1613597745.933 [PowerOnly](INFO): Powering up loadControl 2021-02-17T21:35:47.972Z,1613597747.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:35:48.749Z,1613597748.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:49.159Z,1613597749.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:50.108Z,1613597750.108 [Micromodem](INFO): Nmea in: $SNTTA,0.022053,,,,213548.83*44 2021-02-17T21:35:50.133Z,1613597750.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.360001 m, bearing: 226.683282 deg, deltaT: 4.403641 s, approachRate: -0.763004 m/s, LOS rate: 0.746003 deg/s, posRepo size: 4 2021-02-17T21:35:50.133Z,1613597750.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.36 m. 2021-02-17T21:35:50.133Z,1613597750.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.36 m. 2021-02-17T21:35:50.134Z,1613597750.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T21:35:50.136Z,1613597750.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.360001 m, bearing: 226.683282 deg, approachRate: -0.763004 m/s, LOS rate: 0.746003 deg/s, cmd update: 2.984012 deg/s, cmd heading: 227.328224 deg, new cmd heading: 227.724413 deg. 2021-02-17T21:35:52.420Z,1613597752.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:35:53.211Z,1613597753.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:53.599Z,1613597753.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:54.432Z,1613597754.432 [Micromodem](INFO): Nmea in: $SNTTA,0.020396,,0.039966,,213553.30*53 2021-02-17T21:35:54.487Z,1613597754.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.880001 m, bearing: 225.726414 deg, deltaT: 4.412822 s, approachRate: -0.788611 m/s, LOS rate: -0.216838 deg/s, posRepo size: 4 2021-02-17T21:35:54.489Z,1613597754.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.880001 m, bearing: 225.726414 deg, approachRate: -0.788611 m/s, LOS rate: -0.216838 deg/s, cmd update: -0.867353 deg/s, cmd heading: 240.495635 deg, new cmd heading: 241.904501 deg. 2021-02-17T21:35:56.854Z,1613597756.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:35:57.641Z,1613597757.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:35:58.089Z,1613597758.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:35:58.868Z,1613597758.868 [Micromodem](INFO): Nmea in: $SNTTA,0.018093,,,,213557.73*40 2021-02-17T21:35:58.891Z,1613597758.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.340000 m, bearing: 221.307992 deg, deltaT: 4.460164 s, approachRate: -0.793693 m/s, LOS rate: -0.990641 deg/s, posRepo size: 4 2021-02-17T21:35:58.893Z,1613597758.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.340000 m, bearing: 221.307992 deg, approachRate: -0.793693 m/s, LOS rate: -0.990641 deg/s, cmd update: -3.962565 deg/s, cmd heading: 236.626964 deg, new cmd heading: 236.266464 deg. 2021-02-17T21:36:01.321Z,1613597761.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:36:02.090Z,1613597762.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:36:02.486Z,1613597762.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:36:03.321Z,1613597763.321 [Micromodem](INFO): Nmea in: $SNTTA,0.015354,,,,213602.18*4B 2021-02-17T21:36:03.382Z,1613597763.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.860001 m, bearing: 221.102553 deg, deltaT: 4.436716 s, approachRate: -0.784364 m/s, LOS rate: -0.046304 deg/s, posRepo size: 4 2021-02-17T21:36:03.388Z,1613597763.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.860001 m, bearing: 221.102553 deg, approachRate: -0.784364 m/s, LOS rate: -0.046304 deg/s, cmd update: -0.185217 deg/s, cmd heading: 219.046099 deg, new cmd heading: 217.180745 deg. 2021-02-17T21:36:05.732Z,1613597765.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:36:06.528Z,1613597766.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:36:06.930Z,1613597766.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:36:07.752Z,1613597767.752 [Micromodem](INFO): Nmea in: $SNTTA,0.012970,,,,213606.61*4A 2021-02-17T21:36:07.797Z,1613597767.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.199999 m, bearing: 225.314526 deg, deltaT: 4.472802 s, approachRate: -0.818279 m/s, LOS rate: 0.941686 deg/s, posRepo size: 4 2021-02-17T21:36:07.798Z,1613597767.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.199999 m, bearing: 225.314526 deg, approachRate: -0.818279 m/s, LOS rate: 0.941686 deg/s, cmd update: 3.766742 deg/s, cmd heading: 218.217657 deg, new cmd heading: 218.141338 deg. 2021-02-17T21:36:10.243Z,1613597770.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:36:10.968Z,1613597770.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:36:11.374Z,1613597771.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:36:12.220Z,1613597772.220 [Micromodem](INFO): Nmea in: $SNTTA,0.010724,,,,213611.05*43 2021-02-17T21:36:12.268Z,1613597772.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.840000 m, bearing: 226.067281 deg, deltaT: 4.436731 s, approachRate: -0.757314 m/s, LOS rate: 0.169664 deg/s, posRepo size: 4 2021-02-17T21:36:12.270Z,1613597772.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.840000 m, bearing: 226.067281 deg, approachRate: -0.757314 m/s, LOS rate: 0.169664 deg/s, cmd update: 0.678657 deg/s, cmd heading: 234.864077 deg, new cmd heading: 236.611879 deg. 2021-02-17T21:36:14.620Z,1613597774.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:36:15.418Z,1613597775.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:36:15.826Z,1613597775.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:36:16.644Z,1613597776.644 [Micromodem](INFO): Nmea in: $SNTTA,0.009018,,,,213615.50*47 2021-02-17T21:36:16.682Z,1613597776.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.419999 m, bearing: 220.208782 deg, deltaT: 4.452482 s, approachRate: -0.768111 m/s, LOS rate: -1.315783 deg/s, posRepo size: 4 2021-02-17T21:36:16.684Z,1613597776.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.419999 m, bearing: 220.208782 deg, approachRate: -0.768111 m/s, LOS rate: -1.315783 deg/s, cmd update: -5.263131 deg/s, cmd heading: 237.897617 deg, new cmd heading: 238.174930 deg. 2021-02-17T21:36:19.121Z,1613597779.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:36:19.856Z,1613597779.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:36:20.277Z,1613597780.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:36:21.104Z,1613597781.104 [Micromodem](INFO): Nmea in: $SNTTA,0.007186,,,,213619.94*4B 2021-02-17T21:36:21.128Z,1613597781.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.540000 m, bearing: 217.025409 deg, deltaT: 4.420857 s, approachRate: -0.651457 m/s, LOS rate: -0.720081 deg/s, posRepo size: 4 2021-02-17T21:36:21.130Z,1613597781.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.540000 m, bearing: 217.025409 deg, approachRate: -0.651457 m/s, LOS rate: -0.720081 deg/s, cmd update: -2.880323 deg/s, cmd heading: 214.714424 deg, new cmd heading: 212.348794 deg. 2021-02-17T21:36:23.533Z,1613597783.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:36:24.305Z,1613597784.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:36:24.706Z,1613597784.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:36:25.533Z,1613597785.533 [Micromodem](INFO): Nmea in: $SNTTA,0.005711,,,,213624.39*48 2021-02-17T21:36:25.609Z,1613597785.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.279999 m, bearing: 217.034384 deg, deltaT: 4.518340 s, approachRate: -0.278864 m/s, LOS rate: 0.001986 deg/s, posRepo size: 4 2021-02-17T21:36:25.615Z,1613597785.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.279999 m, bearing: 217.034384 deg, approachRate: -0.278864 m/s, LOS rate: 0.001986 deg/s, cmd update: 0.007945 deg/s, cmd heading: 201.654278 deg, new cmd heading: 200.512219 deg. 2021-02-17T21:36:27.968Z,1613597787.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:36:28.762Z,1613597788.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:36:29.155Z,1613597789.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:36:29.221Z,1613597789.221 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T21:36:29.996Z,1613597789.996 [Micromodem](INFO): Nmea in: $SNTTA,0.003165,,,,213628.85*40 2021-02-17T21:36:30.017Z,1613597790.017 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T21:36:30.018Z,1613597790.018 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T21:36:30.019Z,1613597790.019 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T21:36:30.020Z,1613597790.020 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T21:36:30.020Z,1613597790.020 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T21:36:30.021Z,1613597790.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 2021-02-17T21:36:30.021Z,1613597790.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T21:36:30.021Z,1613597790.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T21:36:30.021Z,1613597790.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T21:36:30.051Z,1613597790.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 225.835861 deg, deltaT: 4.375544 s, approachRate: -0.836467 m/s, LOS rate: 2.011516 deg/s, posRepo size: 4 2021-02-17T21:36:30.062Z,1613597790.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.619999 m, bearing: 225.835861 deg, approachRate: -0.836467 m/s, LOS rate: 2.011516 deg/s, cmd update: 8.046064 deg/s, cmd heading: 201.689044 deg, new cmd heading: 201.692502 deg. 2021-02-17T21:36:30.433Z,1613597790.433 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T213630: (41.552319, -70.708603) 2021-02-17T21:36:30.434Z,1613597790.434 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T21:36:30.434Z,1613597790.434 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T21:36:30.434Z,1613597790.434 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T21:36:30.434Z,1613597790.434 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T21:36:30.434Z,1613597790.434 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T21:36:30.434Z,1613597790.434 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T21:36:30.434Z,1613597790.434 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T21:36:30.434Z,1613597790.434 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T21:36:32.420Z,1613597792.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:36:33.229Z,1613597793.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:36:33.594Z,1613597793.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:36:34.433Z,1613597794.433 [Micromodem](INFO): Nmea in: $SNTTA,0.003106,,,,213633.31*40 2021-02-17T21:36:34.499Z,1613597794.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 205.037812 deg, deltaT: 4.440262 s, approachRate: -0.013513 m/s, LOS rate: -4.683969 deg/s, posRepo size: 4 2021-02-17T21:36:34.501Z,1613597794.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.559999 m, bearing: 205.037812 deg, approachRate: -0.013513 m/s, LOS rate: -4.683969 deg/s, cmd update: -12.000000 deg/s, cmd heading: 237.393560 deg, new cmd heading: 241.168153 deg. 2021-02-17T21:36:36.839Z,1613597796.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:36:37.643Z,1613597797.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:36:38.079Z,1613597798.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:36:38.868Z,1613597798.868 [Micromodem](INFO): Nmea in: $SNTTA,0.005249,,,,213637.73*4C 2021-02-17T21:36:38.906Z,1613597798.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.240000 m, bearing: 215.436147 deg, deltaT: 4.453182 s, approachRate: 0.377259 m/s, LOS rate: 2.335035 deg/s, posRepo size: 4 2021-02-17T21:36:38.908Z,1613597798.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.240000 m, bearing: 215.436147 deg, approachRate: 0.377259 m/s, LOS rate: 2.335035 deg/s, cmd update: 9.340139 deg/s, cmd heading: 184.114050 deg, new cmd heading: 178.833354 deg. 2021-02-17T21:36:41.323Z,1613597801.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:36:42.090Z,1613597802.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:36:42.482Z,1613597802.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:36:43.316Z,1613597803.316 [Micromodem](INFO): Nmea in: $SNTTA,0.005762,,,0.010244,213642.18*52 2021-02-17T21:36:43.366Z,1613597803.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.639998 m, bearing: 240.110464 deg, deltaT: 4.425630 s, approachRate: 0.542295 m/s, LOS rate: 5.575323 deg/s, posRepo size: 4 2021-02-17T21:36:43.368Z,1613597803.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.639998 m, bearing: 240.110464 deg, approachRate: 0.542295 m/s, LOS rate: 5.575323 deg/s, cmd update: 12.000000 deg/s, cmd heading: 225.599350 deg, new cmd heading: 229.883400 deg. 2021-02-17T21:36:45.755Z,1613597805.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:36:46.520Z,1613597806.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:36:46.931Z,1613597806.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:36:47.756Z,1613597807.756 [Micromodem](INFO): Nmea in: $SNTTA,0.008437,,,,213646.61*4B 2021-02-17T21:36:47.778Z,1613597807.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.759997 m, bearing: 212.389732 deg, deltaT: 4.495766 s, approachRate: 0.693986 m/s, LOS rate: -6.165964 deg/s, posRepo size: 4 2021-02-17T21:36:47.780Z,1613597807.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.759997 m, bearing: 212.389732 deg, approachRate: 0.693986 m/s, LOS rate: -6.165964 deg/s, cmd update: -12.000000 deg/s, cmd heading: 279.499163 deg, new cmd heading: 284.043287 deg. 2021-02-17T21:36:50.228Z,1613597810.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:36:50.964Z,1613597810.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:36:51.370Z,1613597811.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:36:52.226Z,1613597812.226 [Micromodem](INFO): Nmea in: $SNTTA,0.010025,,,,213651.05*41 2021-02-17T21:36:52.260Z,1613597812.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.000000 m, bearing: 233.274866 deg, deltaT: 4.383722 s, approachRate: 0.739099 m/s, LOS rate: 4.764247 deg/s, posRepo size: 4 2021-02-17T21:36:52.261Z,1613597812.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.00 m. Rolling out. 2021-02-17T21:36:52.261Z,1613597812.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T21:36:54.637Z,1613597814.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:36:55.410Z,1613597815.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:36:55.814Z,1613597815.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:36:56.640Z,1613597816.640 [Micromodem](INFO): Nmea in: $SNTTA,0.012466,,,,213655.50*44 2021-02-17T21:36:56.686Z,1613597816.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.479998 m, bearing: 284.455850 deg, deltaT: 4.517462 s, approachRate: 0.770344 m/s, LOS rate: 11.329588 deg/s, posRepo size: 4 2021-02-17T21:36:59.102Z,1613597819.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:00.017Z,1613597820.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:00.384Z,1613597820.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:01.232Z,1613597821.232 [Micromodem](INFO): Nmea in: $SNTTA,0.014741,,,,213700.10*41 2021-02-17T21:37:01.290Z,1613597821.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.679996 m, bearing: 248.683909 deg, deltaT: 4.498116 s, approachRate: 0.933724 m/s, LOS rate: -7.952650 deg/s, posRepo size: 4 2021-02-17T21:37:03.644Z,1613597823.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:04.421Z,1613597824.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:04.834Z,1613597824.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:05.648Z,1613597825.648 [Micromodem](INFO): Nmea in: $SNTTA,0.017077,,,,213704.51*41 2021-02-17T21:37:05.670Z,1613597825.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.740000 m, bearing: 225.685392 deg, deltaT: 4.481689 s, approachRate: 0.682779 m/s, LOS rate: -5.131663 deg/s, posRepo size: 4 2021-02-17T21:37:08.108Z,1613597828.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:08.861Z,1613597828.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:09.266Z,1613597829.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:10.115Z,1613597830.115 [Micromodem](INFO): Nmea in: $SNTTA,0.019429,,,,213708.95*44 2021-02-17T21:37:10.140Z,1613597830.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.219999 m, bearing: 229.416164 deg, deltaT: 4.398258 s, approachRate: 0.791222 m/s, LOS rate: 0.848239 deg/s, posRepo size: 4 2021-02-17T21:37:12.530Z,1613597832.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:13.307Z,1613597833.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:13.710Z,1613597833.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:14.536Z,1613597834.536 [Micromodem](INFO): Nmea in: $SNTTA,0.021704,,,,213713.39*4F 2021-02-17T21:37:14.561Z,1613597834.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.639999 m, bearing: 224.679278 deg, deltaT: 4.452635 s, approachRate: 0.768085 m/s, LOS rate: -1.063839 deg/s, posRepo size: 4 2021-02-17T21:37:16.956Z,1613597836.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:17.749Z,1613597837.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:18.158Z,1613597838.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:18.976Z,1613597838.976 [Micromodem](INFO): Nmea in: $SNTTA,0.024002,,,,213717.84*49 2021-02-17T21:37:19.019Z,1613597839.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.119999 m, bearing: 231.516693 deg, deltaT: 4.486809 s, approachRate: 0.775607 m/s, LOS rate: 1.523893 deg/s, posRepo size: 4 2021-02-17T21:37:20.588Z,1613597840.588 [PowerOnly](INFO): Powering down loadControl 2021-02-17T21:37:21.425Z,1613597841.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:22.210Z,1613597842.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:22.598Z,1613597842.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:23.436Z,1613597843.436 [Micromodem](INFO): Nmea in: $SNTTA,0.026448,,,,213722.30*48 2021-02-17T21:37:23.490Z,1613597843.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.780003 m, bearing: 231.359326 deg, deltaT: 4.404496 s, approachRate: 0.830970 m/s, LOS rate: -0.035729 deg/s, posRepo size: 4 2021-02-17T21:37:25.843Z,1613597845.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:26.636Z,1613597846.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:27.079Z,1613597847.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:27.876Z,1613597847.876 [Micromodem](INFO): Nmea in: $SNTTA,0.028938,,,,213726.72*4E 2021-02-17T21:37:27.898Z,1613597847.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.799999 m, bearing: 225.252249 deg, deltaT: 4.463275 s, approachRate: 0.900683 m/s, LOS rate: -1.368295 deg/s, posRepo size: 4 2021-02-17T21:37:30.325Z,1613597850.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:31.109Z,1613597851.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:31.489Z,1613597851.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:32.342Z,1613597852.342 [Micromodem](INFO): Nmea in: $SNTTA,0.031452,,,0.063153,213731.19*50 2021-02-17T21:37:32.402Z,1613597852.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.399998 m, bearing: 230.887223 deg, deltaT: 4.432337 s, approachRate: 0.812212 m/s, LOS rate: 1.271333 deg/s, posRepo size: 4 2021-02-17T21:37:34.732Z,1613597854.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:35.531Z,1613597855.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:35.930Z,1613597855.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:36.756Z,1613597856.756 [Micromodem](INFO): Nmea in: $SNTTA,0.033791,,,,213735.62*4A 2021-02-17T21:37:36.790Z,1613597856.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.820004 m, bearing: 240.765807 deg, deltaT: 4.463116 s, approachRate: 0.766282 m/s, LOS rate: 2.213383 deg/s, posRepo size: 4 2021-02-17T21:37:39.242Z,1613597859.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:39.974Z,1613597859.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:40.374Z,1613597860.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:41.220Z,1613597861.220 [Micromodem](INFO): Nmea in: $SNTTA,0.036235,,0.048760,,213740.06*57 2021-02-17T21:37:41.269Z,1613597861.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.419998 m, bearing: 239.512222 deg, deltaT: 4.407620 s, approachRate: 0.816766 m/s, LOS rate: -0.284413 deg/s, posRepo size: 4 2021-02-17T21:37:43.619Z,1613597863.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:44.417Z,1613597864.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:44.817Z,1613597864.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:45.644Z,1613597865.644 [Micromodem](INFO): Nmea in: $SNTTA,0.038466,,,,213744.50*4D 2021-02-17T21:37:45.690Z,1613597865.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.780003 m, bearing: 237.014203 deg, deltaT: 4.488454 s, approachRate: 0.748588 m/s, LOS rate: -0.556543 deg/s, posRepo size: 4 2021-02-17T21:37:48.103Z,1613597868.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:48.865Z,1613597868.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:49.262Z,1613597869.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:50.100Z,1613597870.100 [Micromodem](INFO): Nmea in: $SNTTA,0.041050,,,,213748.95*47 2021-02-17T21:37:50.138Z,1613597870.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.860001 m, bearing: 233.675853 deg, deltaT: 4.396843 s, approachRate: 0.927938 m/s, LOS rate: -0.759261 deg/s, posRepo size: 4 2021-02-17T21:37:52.538Z,1613597872.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:53.300Z,1613597873.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:53.708Z,1613597873.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:54.528Z,1613597874.528 [Micromodem](INFO): Nmea in: $SNTTA,0.043457,,,,213753.39*4A 2021-02-17T21:37:54.568Z,1613597874.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.280006 m, bearing: 241.373530 deg, deltaT: 4.474821 s, approachRate: 0.764278 m/s, LOS rate: 1.720220 deg/s, posRepo size: 4 2021-02-17T21:37:56.957Z,1613597876.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:37:57.744Z,1613597877.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:37:58.155Z,1613597878.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:37:58.980Z,1613597878.980 [Micromodem](INFO): Nmea in: $SNTTA,0.045937,0.051332,,,213757.83*5A 2021-02-17T21:37:58.998Z,1613597878.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.120003 m, bearing: 230.307449 deg, deltaT: 4.435251 s, approachRate: 0.865790 m/s, LOS rate: -2.495029 deg/s, posRepo size: 4 2021-02-17T21:38:01.445Z,1613597881.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:02.217Z,1613597882.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:38:02.613Z,1613597882.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:38:03.436Z,1613597883.436 [Micromodem](INFO): Nmea in: $SNTTA,0.048249,,,,213802.30*4A 2021-02-17T21:38:03.483Z,1613597883.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.540009 m, bearing: 236.452707 deg, deltaT: 4.436822 s, approachRate: 0.770823 m/s, LOS rate: 1.385058 deg/s, posRepo size: 4 2021-02-17T21:38:05.839Z,1613597885.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:06.642Z,1613597886.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:38:07.079Z,1613597887.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:38:07.868Z,1613597887.868 [Micromodem](INFO): Nmea in: $SNTTA,0.050899,0.069987,,,213806.73*50 2021-02-17T21:38:07.914Z,1613597887.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.500000 m, bearing: 226.603055 deg, deltaT: 4.467752 s, approachRate: 0.886350 m/s, LOS rate: -2.204610 deg/s, posRepo size: 4 2021-02-17T21:38:10.326Z,1613597890.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:11.093Z,1613597891.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:38:11.481Z,1613597891.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:38:12.316Z,1613597892.316 [Micromodem](INFO): Nmea in: $SNTTA,0.053250,,,,213811.18*40 2021-02-17T21:38:12.369Z,1613597892.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.979996 m, bearing: 231.006150 deg, deltaT: 4.410607 s, approachRate: 0.789006 m/s, LOS rate: 0.998297 deg/s, posRepo size: 4 2021-02-17T21:38:14.733Z,1613597894.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:15.520Z,1613597895.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:38:15.927Z,1613597895.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:38:16.751Z,1613597896.751 [Micromodem](INFO): Nmea in: $SNTTA,0.055690,,,,213815.61*44 2021-02-17T21:38:16.770Z,1613597896.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.580002 m, bearing: 243.986242 deg, deltaT: 4.465456 s, approachRate: 0.806190 m/s, LOS rate: 2.906778 deg/s, posRepo size: 4 2021-02-17T21:38:19.224Z,1613597899.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:19.966Z,1613597899.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:38:20.387Z,1613597900.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:38:20.412Z,1613597900.412 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:38:21.220Z,1613597901.220 [Micromodem](INFO): Nmea in: $SNTTA,0.058022,,,,213820.05*42 2021-02-17T21:38:21.269Z,1613597901.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.120003 m, bearing: 235.961343 deg, deltaT: 4.422288 s, approachRate: 0.800491 m/s, LOS rate: -1.814649 deg/s, posRepo size: 4 2021-02-17T21:38:23.615Z,1613597903.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:24.409Z,1613597904.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:38:24.814Z,1613597904.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:38:25.644Z,1613597905.644 [Micromodem](INFO): Nmea in: $SNTTA,0.060316,,,,213824.49*41 2021-02-17T21:38:25.666Z,1613597905.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.660004 m, bearing: 234.980364 deg, deltaT: 4.460556 s, approachRate: 0.793623 m/s, LOS rate: -0.219923 deg/s, posRepo size: 4 2021-02-17T21:38:28.103Z,1613597908.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:28.862Z,1613597908.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:38:29.276Z,1613597909.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:38:29.303Z,1613597909.303 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T21:38:30.104Z,1613597910.104 [Micromodem](INFO): Nmea in: $SNTTA,0.062993,,,,213828.95*49 2021-02-17T21:38:30.128Z,1613597910.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.619995 m, bearing: 237.365849 deg, deltaT: 4.422449 s, approachRate: 0.895430 m/s, LOS rate: 0.539404 deg/s, posRepo size: 4 2021-02-17T21:38:32.528Z,1613597912.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:33.299Z,1613597913.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:38:33.702Z,1613597913.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:38:34.525Z,1613597914.525 [Micromodem](INFO): Nmea in: $SNTTA,0.065388,,,,213833.38*43 2021-02-17T21:38:34.582Z,1613597914.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.280006 m, bearing: 235.278625 deg, deltaT: 4.480640 s, approachRate: 0.816850 m/s, LOS rate: -0.465832 deg/s, posRepo size: 4 2021-02-17T21:38:36.961Z,1613597916.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:37.741Z,1613597917.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:38:38.157Z,1613597918.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:38:38.972Z,1613597918.972 [Micromodem](INFO): Nmea in: $SNTTA,0.068013,,,,213837.83*4B 2021-02-17T21:38:39.009Z,1613597919.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.180008 m, bearing: 241.567344 deg, deltaT: 4.478332 s, approachRate: 0.870860 m/s, LOS rate: 1.404255 deg/s, posRepo size: 4 2021-02-17T21:38:41.423Z,1613597921.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:42.208Z,1613597922.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:38:42.590Z,1613597922.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:38:43.428Z,1613597923.428 [Micromodem](INFO): Nmea in: $SNTTA,0.070234,,,,213842.29*47 2021-02-17T21:38:43.480Z,1613597923.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.419998 m, bearing: 234.033536 deg, deltaT: 4.373521 s, approachRate: 0.740820 m/s, LOS rate: -1.722596 deg/s, posRepo size: 4 2021-02-17T21:38:45.834Z,1613597925.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:46.631Z,1613597926.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:38:47.061Z,1613597927.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:38:47.856Z,1613597927.856 [Micromodem](INFO): Nmea in: $SNTTA,0.072808,,,,213846.72*4A 2021-02-17T21:38:47.898Z,1613597927.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.440010 m, bearing: 233.301613 deg, deltaT: 4.468533 s, approachRate: 0.899627 m/s, LOS rate: -0.163795 deg/s, posRepo size: 4 2021-02-17T21:38:50.096Z,1613597930.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:50.696Z,1613597930.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:38:51.110Z,1613597931.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:38:51.912Z,1613597931.912 [Micromodem](INFO): Nmea in: $SNTTA,0.075014,,,,213850.78*45 2021-02-17T21:38:52.738Z,1613597932.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:54.332Z,1613597934.332 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:38:55.269Z,1613597935.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:55.953Z,1613597935.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:38:56.354Z,1613597936.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:38:57.205Z,1613597937.205 [Micromodem](INFO): Nmea in: $SNTTA,0.077724,,,,213856.04*4E 2021-02-17T21:38:57.990Z,1613597937.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:38:59.594Z,1613597939.594 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:39:00.811Z,1613597940.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:01.604Z,1613597941.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:39:02.011Z,1613597942.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:39:02.832Z,1613597942.832 [Micromodem](INFO): Nmea in: $SNTTA,0.080741,,,,213901.69*4D 2021-02-17T21:39:02.869Z,1613597942.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.320000 m, bearing: 239.659699 deg, deltaT: 15.040554 s, approachRate: 0.789864 m/s, LOS rate: 0.422730 deg/s, posRepo size: 4 2021-02-17T21:39:05.275Z,1613597945.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:06.084Z,1613597946.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:39:06.454Z,1613597946.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:39:07.292Z,1613597947.292 [Micromodem](INFO): Nmea in: $SNTTA,0.083283,,,,213906.17*4B 2021-02-17T21:39:08.127Z,1613597948.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:09.692Z,1613597949.692 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:39:10.945Z,1613597950.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:11.709Z,1613597951.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:39:12.110Z,1613597952.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:39:12.936Z,1613597952.936 [Micromodem](INFO): Nmea in: $SNTTA,0.086420,,,,213911.79*4F 2021-02-17T21:39:12.972Z,1613597952.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.779999 m, bearing: 241.178160 deg, deltaT: 10.037905 s, approachRate: 0.842805 m/s, LOS rate: 0.151273 deg/s, posRepo size: 4 2021-02-17T21:39:15.381Z,1613597955.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:16.152Z,1613597956.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:39:16.554Z,1613597956.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:39:17.380Z,1613597957.380 [Micromodem](INFO): Nmea in: $SNTTA,0.088941,,,,213916.24*44 2021-02-17T21:39:17.434Z,1613597957.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.500000 m, bearing: 237.554908 deg, deltaT: 4.418572 s, approachRate: 0.841901 m/s, LOS rate: -0.820005 deg/s, posRepo size: 4 2021-02-17T21:39:19.798Z,1613597959.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:20.594Z,1613597960.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:39:21.011Z,1613597961.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:39:21.820Z,1613597961.820 [Micromodem](INFO): Nmea in: $SNTTA,0.091354,,,,213920.68*4F 2021-02-17T21:39:21.862Z,1613597961.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.220001 m, bearing: 240.850584 deg, deltaT: 4.497216 s, approachRate: 0.827179 m/s, LOS rate: 0.732826 deg/s, posRepo size: 4 2021-02-17T21:39:24.291Z,1613597964.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:25.040Z,1613597965.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:39:25.442Z,1613597965.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:39:26.264Z,1613597966.264 [Micromodem](INFO): Nmea in: $SNTTA,0.093720,,,,213925.13*43 2021-02-17T21:39:26.317Z,1613597966.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.639999 m, bearing: 235.100521 deg, deltaT: 4.391340 s, approachRate: 0.778805 m/s, LOS rate: -1.309410 deg/s, posRepo size: 4 2021-02-17T21:39:28.702Z,1613597968.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:29.480Z,1613597969.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:39:30.014Z,1613597970.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:39:30.708Z,1613597970.708 [Micromodem](INFO): Nmea in: $SNTTA,0.096466,,,,213929.57*4B 2021-02-17T21:39:30.745Z,1613597970.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.839996 m, bearing: 242.784784 deg, deltaT: 4.480036 s, approachRate: 0.937492 m/s, LOS rate: 1.715224 deg/s, posRepo size: 4 2021-02-17T21:39:33.156Z,1613597973.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:33.924Z,1613597973.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:39:34.347Z,1613597974.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:39:35.159Z,1613597975.159 [Micromodem](INFO): Nmea in: $SNTTA,0.099244,,,,213934.01*4D 2021-02-17T21:39:35.225Z,1613597975.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.020004 m, bearing: 240.164505 deg, deltaT: 4.428094 s, approachRate: 0.718144 m/s, LOS rate: -0.591740 deg/s, posRepo size: 4 2021-02-17T21:39:37.587Z,1613597977.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:38.374Z,1613597978.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:39:38.776Z,1613597978.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:39:39.604Z,1613597979.604 [Micromodem](INFO): Nmea in: $SNTTA,0.101279,,,,213938.46*4C 2021-02-17T21:39:39.634Z,1613597979.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.040009 m, bearing: 236.807221 deg, deltaT: 4.505566 s, approachRate: 0.892231 m/s, LOS rate: -0.745141 deg/s, posRepo size: 4 2021-02-17T21:39:39.634Z,1613597979.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.04 m. Resuming terminal guidance. 2021-02-17T21:39:39.634Z,1613597979.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T21:39:42.037Z,1613597982.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:42.831Z,1613597982.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:39:43.220Z,1613597983.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:39:44.067Z,1613597984.067 [Micromodem](INFO): Nmea in: $SNTTA,0.103590,,,,213942.92*4A 2021-02-17T21:39:44.111Z,1613597984.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.520004 m, bearing: 237.571437 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T21:39:44.111Z,1613597984.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 237.571437deg and heading rate command to 0 deg/s. 2021-02-17T21:39:46.474Z,1613597986.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:47.258Z,1613597987.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:39:47.668Z,1613597987.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:39:48.495Z,1613597988.495 [Micromodem](INFO): Nmea in: $SNTTA,0.106051,,,,213947.34*4E 2021-02-17T21:39:48.520Z,1613597988.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.240005 m, bearing: 253.570691 deg, deltaT: 4.462622 s, approachRate: 0.833591 m/s, LOS rate: 3.585169 deg/s, posRepo size: 2 2021-02-17T21:39:48.521Z,1613597988.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.240005 m, bearing: 253.570691 deg, approachRate: 0.833591 m/s, LOS rate: 3.585169 deg/s, cmd update: 12.000000 deg/s, cmd heading: 237.571437 deg, new cmd heading: 237.571437 deg. 2021-02-17T21:39:50.923Z,1613597990.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:51.708Z,1613597991.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:39:52.106Z,1613597992.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:39:52.932Z,1613597992.932 [Micromodem](INFO): Nmea in: $SNTTA,0.108228,,,,213951.79*42 2021-02-17T21:39:52.954Z,1613597992.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.240005 m, bearing: 285.540102 deg, deltaT: 4.447312 s, approachRate: 0.000000 m/s, LOS rate: 7.188480 deg/s, posRepo size: 3 2021-02-17T21:39:52.976Z,1613597992.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.240005 m, bearing: 285.540102 deg, approachRate: 0.000000 m/s, LOS rate: 7.188480 deg/s, cmd update: 12.000000 deg/s, cmd heading: 290.693987 deg, new cmd heading: 295.661339 deg. 2021-02-17T21:39:55.371Z,1613597995.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:39:56.148Z,1613597996.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:39:56.555Z,1613597996.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:39:57.380Z,1613597997.380 [Micromodem](INFO): Nmea in: $SNTTA,0.110681,,,,213956.23*44 2021-02-17T21:39:57.429Z,1613597997.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.200012 m, bearing: 245.502380 deg, deltaT: 4.418185 s, approachRate: 1.575309 m/s, LOS rate: -9.062029 deg/s, posRepo size: 4 2021-02-17T21:39:57.436Z,1613597997.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.200012 m, bearing: 245.502380 deg, approachRate: 1.575309 m/s, LOS rate: -9.062029 deg/s, cmd update: -12.000000 deg/s, cmd heading: 343.939417 deg, new cmd heading: 349.368661 deg. 2021-02-17T21:39:59.795Z,1613597999.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:00.590Z,1613598000.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:01.008Z,1613598001.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:01.821Z,1613598001.821 [Micromodem](INFO): Nmea in: $SNTTA,0.112456,,,,214000.67*43 2021-02-17T21:40:01.863Z,1613598001.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.200012 m, bearing: 279.468992 deg, deltaT: 4.493632 s, approachRate: 0.000000 m/s, LOS rate: 7.558833 deg/s, posRepo size: 4 2021-02-17T21:40:01.865Z,1613598001.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.200012 m, bearing: 279.468992 deg, approachRate: 0.000000 m/s, LOS rate: 7.558833 deg/s, cmd update: 12.000000 deg/s, cmd heading: 290.096903 deg, new cmd heading: 285.311447 deg. 2021-02-17T21:40:04.274Z,1613598004.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:05.046Z,1613598005.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:05.454Z,1613598005.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:06.268Z,1613598006.268 [Micromodem](INFO): Nmea in: $SNTTA,0.114133,,,,214005.13*45 2021-02-17T21:40:06.318Z,1613598006.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.200012 m, bearing: 295.535209 deg, deltaT: 4.387483 s, approachRate: 0.000000 m/s, LOS rate: 3.661830 deg/s, posRepo size: 4 2021-02-17T21:40:06.320Z,1613598006.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.200012 m, bearing: 295.535209 deg, approachRate: 0.000000 m/s, LOS rate: 3.661830 deg/s, cmd update: 12.000000 deg/s, cmd heading: 342.833701 deg, new cmd heading: 348.342889 deg. 2021-02-17T21:40:08.689Z,1613598008.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:09.490Z,1613598009.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:09.999Z,1613598009.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:10.792Z,1613598010.792 [Micromodem](INFO): Nmea in: $SNTTA,0.115120,,,,214009.57*4A 2021-02-17T21:40:10.823Z,1613598010.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.680008 m, bearing: 352.972456 deg, deltaT: 4.570403 s, approachRate: 1.417817 m/s, LOS rate: 12.567217 deg/s, posRepo size: 4 2021-02-17T21:40:10.823Z,1613598010.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.567217 deg/s. Setting heading cmd to target bearing of 352.972456deg and heading rate command to 0 deg/s. 2021-02-17T21:40:13.250Z,1613598013.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:14.008Z,1613598014.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:14.419Z,1613598014.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:15.258Z,1613598015.258 [Micromodem](INFO): Nmea in: $SNTTA,0.115563,,,,214014.09*4E 2021-02-17T21:40:15.321Z,1613598015.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.680008 m, bearing: 293.839683 deg, deltaT: 4.424114 s, approachRate: 0.000000 m/s, LOS rate: -13.366014 deg/s, posRepo size: 4 2021-02-17T21:40:15.322Z,1613598015.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.366014 deg/s. Setting heading cmd to target bearing of 293.839683deg and heading rate command to 0 deg/s. 2021-02-17T21:40:17.659Z,1613598017.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:18.454Z,1613598018.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:18.866Z,1613598018.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:19.680Z,1613598019.680 [Micromodem](INFO): Nmea in: $SNTTA,0.115725,,,,214018.54*4A 2021-02-17T21:40:19.723Z,1613598019.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.680008 m, bearing: 13.392340 deg, deltaT: 4.483387 s, approachRate: 0.000000 m/s, LOS rate: 17.743874 deg/s, posRepo size: 4 2021-02-17T21:40:19.724Z,1613598019.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.743874 deg/s. Setting heading cmd to target bearing of 13.392340deg and heading rate command to 0 deg/s. 2021-02-17T21:40:22.141Z,1613598022.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:22.896Z,1613598022.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:23.301Z,1613598023.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:24.128Z,1613598024.128 [Micromodem](INFO): Nmea in: $SNTTA,0.115561,,,,214022.98*41 2021-02-17T21:40:24.213Z,1613598024.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.680008 m, bearing: 348.021743 deg, deltaT: 4.388999 s, approachRate: 0.000000 m/s, LOS rate: -5.780496 deg/s, posRepo size: 4 2021-02-17T21:40:24.214Z,1613598024.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.680008 m, bearing: 348.021743 deg, approachRate: 0.000000 m/s, LOS rate: -5.780496 deg/s, cmd update: -12.000000 deg/s, cmd heading: 13.392340 deg, new cmd heading: 13.392340 deg. 2021-02-17T21:40:26.565Z,1613598026.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:27.345Z,1613598027.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:27.751Z,1613598027.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:28.572Z,1613598028.572 [Micromodem](INFO): Nmea in: $SNTTA,0.115814,,,,214027.43*4D 2021-02-17T21:40:28.596Z,1613598028.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.680008 m, bearing: 20.602593 deg, deltaT: 4.500614 s, approachRate: 0.000000 m/s, LOS rate: 7.239199 deg/s, posRepo size: 4 2021-02-17T21:40:28.598Z,1613598028.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.680008 m, bearing: 20.602593 deg, approachRate: 0.000000 m/s, LOS rate: 7.239199 deg/s, cmd update: 12.000000 deg/s, cmd heading: 319.422170 deg, new cmd heading: 314.945930 deg. 2021-02-17T21:40:31.016Z,1613598031.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:31.792Z,1613598031.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:32.214Z,1613598032.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:33.016Z,1613598033.016 [Micromodem](INFO): Nmea in: $SNTTA,0.115947,,,,214031.88*4A 2021-02-17T21:40:33.089Z,1613598033.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.680008 m, bearing: 304.702525 deg, deltaT: 4.409134 s, approachRate: 0.000000 m/s, LOS rate: -17.214278 deg/s, posRepo size: 4 2021-02-17T21:40:33.090Z,1613598033.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.214278 deg/s. Setting heading cmd to target bearing of 304.702525deg and heading rate command to 0 deg/s. 2021-02-17T21:40:35.470Z,1613598035.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:36.233Z,1613598036.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:36.633Z,1613598036.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:37.464Z,1613598037.464 [Micromodem](INFO): Nmea in: $SNTTA,0.116107,,,,214036.32*43 2021-02-17T21:40:37.488Z,1613598037.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.120010 m, bearing: 32.785536 deg, deltaT: 4.474786 s, approachRate: 0.321804 m/s, LOS rate: 19.684296 deg/s, posRepo size: 4 2021-02-17T21:40:37.489Z,1613598037.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.684296 deg/s. Setting heading cmd to target bearing of 32.785536deg and heading rate command to 0 deg/s. 2021-02-17T21:40:39.884Z,1613598039.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:40.672Z,1613598040.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:41.091Z,1613598041.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:41.919Z,1613598041.919 [Micromodem](INFO): Nmea in: $SNTTA,0.115718,,,,214040.76*49 2021-02-17T21:40:41.938Z,1613598041.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.120010 m, bearing: 18.115723 deg, deltaT: 4.419190 s, approachRate: 0.000000 m/s, LOS rate: -3.319571 deg/s, posRepo size: 4 2021-02-17T21:40:41.940Z,1613598041.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.120010 m, bearing: 18.115723 deg, approachRate: 0.000000 m/s, LOS rate: -3.319571 deg/s, cmd update: -12.000000 deg/s, cmd heading: 32.785536 deg, new cmd heading: 32.785536 deg. 2021-02-17T21:40:44.359Z,1613598044.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:45.124Z,1613598045.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:45.535Z,1613598045.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:46.353Z,1613598046.353 [Micromodem](INFO): Nmea in: $SNTTA,0.115787,,,,214045.21*48 2021-02-17T21:40:46.430Z,1613598046.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.120010 m, bearing: 307.676963 deg, deltaT: 4.442638 s, approachRate: 0.000000 m/s, LOS rate: -15.855162 deg/s, posRepo size: 4 2021-02-17T21:40:46.436Z,1613598046.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.855162 deg/s. Setting heading cmd to target bearing of 307.676963deg and heading rate command to 0 deg/s. 2021-02-17T21:40:48.783Z,1613598048.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:49.563Z,1613598049.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:49.967Z,1613598049.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:50.812Z,1613598050.812 [Micromodem](INFO): Nmea in: $SNTTA,0.115425,,0.116612,,214049.65*52 2021-02-17T21:40:50.834Z,1613598050.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.120010 m, bearing: 54.305082 deg, deltaT: 4.452655 s, approachRate: 0.000000 m/s, LOS rate: 23.947089 deg/s, posRepo size: 4 2021-02-17T21:40:50.835Z,1613598050.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.947089 deg/s. Setting heading cmd to target bearing of 54.305082deg and heading rate command to 0 deg/s. 2021-02-17T21:40:53.247Z,1613598053.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:54.007Z,1613598054.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:54.410Z,1613598054.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:55.236Z,1613598055.236 [Micromodem](INFO): Nmea in: $SNTTA,0.115067,,,,214054.09*4B 2021-02-17T21:40:55.286Z,1613598055.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.120010 m, bearing: 321.318490 deg, deltaT: 4.441072 s, approachRate: 0.000000 m/s, LOS rate: -20.937871 deg/s, posRepo size: 4 2021-02-17T21:40:55.287Z,1613598055.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.937871 deg/s. Setting heading cmd to target bearing of 321.318490deg and heading rate command to 0 deg/s. 2021-02-17T21:40:57.673Z,1613598057.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:40:58.466Z,1613598058.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:40:58.863Z,1613598058.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:40:59.674Z,1613598059.674 [Micromodem](INFO): Nmea in: $SNTTA,0.115099,,,,214058.55*4F 2021-02-17T21:41:00.149Z,1613598060.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.620010 m, bearing: 33.859088 deg, deltaT: 4.853914 s, approachRate: -0.309029 m/s, LOS rate: 14.944761 deg/s, posRepo size: 4 2021-02-17T21:41:00.150Z,1613598060.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.944761 deg/s. Setting heading cmd to target bearing of 33.859088deg and heading rate command to 0 deg/s. 2021-02-17T21:41:02.527Z,1613598062.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:03.305Z,1613598063.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:41:03.702Z,1613598063.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:41:04.528Z,1613598064.528 [Micromodem](INFO): Nmea in: $SNTTA,0.115577,,,,214103.39*4F 2021-02-17T21:41:04.553Z,1613598064.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.620010 m, bearing: 27.629203 deg, deltaT: 4.417399 s, approachRate: 0.000000 m/s, LOS rate: -1.410306 deg/s, posRepo size: 4 2021-02-17T21:41:04.555Z,1613598064.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.620010 m, bearing: 27.629203 deg, approachRate: 0.000000 m/s, LOS rate: -1.410306 deg/s, cmd update: -5.641225 deg/s, cmd heading: 33.859088 deg, new cmd heading: 33.859088 deg. 2021-02-17T21:41:06.953Z,1613598066.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:07.748Z,1613598067.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:41:08.166Z,1613598068.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:41:08.996Z,1613598068.996 [Micromodem](INFO): Nmea in: $SNTTA,0.115861,,,,214107.83*40 2021-02-17T21:41:09.027Z,1613598069.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.620010 m, bearing: 311.880071 deg, deltaT: 4.469639 s, approachRate: 0.000000 m/s, LOS rate: -16.947484 deg/s, posRepo size: 4 2021-02-17T21:41:09.028Z,1613598069.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.947484 deg/s. Setting heading cmd to target bearing of 311.880071deg and heading rate command to 0 deg/s. 2021-02-17T21:41:11.428Z,1613598071.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:12.210Z,1613598072.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:41:12.590Z,1613598072.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:41:13.421Z,1613598073.421 [Micromodem](INFO): Nmea in: $SNTTA,0.115795,,0.116938,,214112.30*52 2021-02-17T21:41:13.843Z,1613598073.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.520004 m, bearing: 53.210578 deg, deltaT: 4.873799 s, approachRate: 0.184660 m/s, LOS rate: 20.790869 deg/s, posRepo size: 4 2021-02-17T21:41:13.844Z,1613598073.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.790869 deg/s. Setting heading cmd to target bearing of 53.210578deg and heading rate command to 0 deg/s. 2021-02-17T21:41:16.276Z,1613598076.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:17.038Z,1613598077.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:41:17.458Z,1613598077.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:41:18.272Z,1613598078.272 [Micromodem](INFO): Nmea in: $SNTTA,0.115468,,,,214117.13*4D 2021-02-17T21:41:18.334Z,1613598078.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.520004 m, bearing: 329.273776 deg, deltaT: 4.385784 s, approachRate: 0.000000 m/s, LOS rate: -19.138383 deg/s, posRepo size: 4 2021-02-17T21:41:18.335Z,1613598078.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.138383 deg/s. Setting heading cmd to target bearing of 329.273776deg and heading rate command to 0 deg/s. 2021-02-17T21:41:20.699Z,1613598080.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:21.482Z,1613598081.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:41:21.887Z,1613598081.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:41:22.708Z,1613598082.708 [Micromodem](INFO): Nmea in: $SNTTA,0.115613,,,,214121.57*46 2021-02-17T21:41:22.730Z,1613598082.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.520004 m, bearing: 336.343431 deg, deltaT: 4.510464 s, approachRate: 0.000000 m/s, LOS rate: 1.567390 deg/s, posRepo size: 4 2021-02-17T21:41:22.752Z,1613598082.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.520004 m, bearing: 336.343431 deg, approachRate: 0.000000 m/s, LOS rate: 1.567390 deg/s, cmd update: 6.269560 deg/s, cmd heading: 329.273776 deg, new cmd heading: 329.273776 deg. 2021-02-17T21:41:25.159Z,1613598085.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:25.920Z,1613598085.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:41:26.331Z,1613598086.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:41:27.149Z,1613598087.149 [Micromodem](INFO): Nmea in: $SNTTA,0.115976,,,,214126.01*4E 2021-02-17T21:41:27.218Z,1613598087.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.520004 m, bearing: 32.728047 deg, deltaT: 4.399693 s, approachRate: 0.000000 m/s, LOS rate: 12.815581 deg/s, posRepo size: 4 2021-02-17T21:41:27.219Z,1613598087.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.815581 deg/s. Setting heading cmd to target bearing of 32.728047deg and heading rate command to 0 deg/s. 2021-02-17T21:41:29.592Z,1613598089.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:30.369Z,1613598090.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:41:30.771Z,1613598090.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:41:31.603Z,1613598091.603 [Micromodem](INFO): Nmea in: $SNTTA,0.116353,,,,214130.45*47 2021-02-17T21:41:31.622Z,1613598091.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.540009 m, bearing: 305.461113 deg, deltaT: 4.491531 s, approachRate: 0.227095 m/s, LOS rate: -19.429219 deg/s, posRepo size: 4 2021-02-17T21:41:31.623Z,1613598091.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.429219 deg/s. Setting heading cmd to target bearing of 305.461113deg and heading rate command to 0 deg/s. 2021-02-17T21:41:34.036Z,1613598094.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:34.808Z,1613598094.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:41:35.221Z,1613598095.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:41:36.028Z,1613598096.028 [Micromodem](INFO): Nmea in: $SNTTA,0.116464,,,,214134.89*40 2021-02-17T21:41:36.844Z,1613598096.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:38.448Z,1613598098.448 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:41:39.670Z,1613598099.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:40.469Z,1613598100.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:41:40.875Z,1613598100.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:41:41.273Z,1613598101.273 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,21,80,61,E4 E,189,80,80,50,FF 2021-02-17T21:41:41.683Z,1613598101.683 [Micromodem](INFO): Nmea in: $SNTTA,0.115907,,,,214140.56*4A 2021-02-17T21:41:42.519Z,1613598102.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:45.371Z,1613598105.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:48.212Z,1613598108.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:48.953Z,1613598108.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:41:49.353Z,1613598109.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:41:49.759Z,1613598109.759 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,C1,80,61,E4 E,189,80,80,50,FF 2021-02-17T21:41:50.197Z,1613598110.197 [Micromodem](INFO): Nmea in: $SNTTA,0.116494,,,,214149.04*40 2021-02-17T21:41:50.992Z,1613598110.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:53.835Z,1613598113.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:56.651Z,1613598116.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:41:57.432Z,1613598117.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:41:57.845Z,1613598117.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:41:58.664Z,1613598118.664 [Micromodem](INFO): Nmea in: $SNTTA,0.119205,,,,214157.52*4D 2021-02-17T21:41:58.698Z,1613598118.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.860016 m, bearing: 303.103387 deg, deltaT: 27.030701 s, approachRate: 0.159819 m/s, LOS rate: -0.087224 deg/s, posRepo size: 4 2021-02-17T21:41:58.700Z,1613598118.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.860016 m, bearing: 303.103387 deg, approachRate: 0.159819 m/s, LOS rate: -0.087224 deg/s, cmd update: -0.348896 deg/s, cmd heading: 305.461113 deg, new cmd heading: 305.461113 deg. 2021-02-17T21:42:01.121Z,1613598121.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:42:01.896Z,1613598121.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:42:02.309Z,1613598122.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:42:03.124Z,1613598123.124 [Micromodem](INFO): Nmea in: $SNTTA,0.120862,,,,214201.98*4A 2021-02-17T21:42:03.217Z,1613598123.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.860016 m, bearing: 303.899568 deg, deltaT: 4.457424 s, approachRate: 0.000000 m/s, LOS rate: 0.178619 deg/s, posRepo size: 4 2021-02-17T21:42:03.218Z,1613598123.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.860016 m, bearing: 303.899568 deg, approachRate: 0.000000 m/s, LOS rate: 0.178619 deg/s, cmd update: 0.714477 deg/s, cmd heading: 303.909272 deg, new cmd heading: 303.745463 deg. 2021-02-17T21:42:05.566Z,1613598125.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:42:06.340Z,1613598126.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:42:06.746Z,1613598126.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:42:07.568Z,1613598127.568 [Micromodem](INFO): Nmea in: $SNTTA,0.122501,,,,214206.42*40 2021-02-17T21:42:07.608Z,1613598127.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.860016 m, bearing: 316.514135 deg, deltaT: 4.477377 s, approachRate: 0.000000 m/s, LOS rate: 2.817401 deg/s, posRepo size: 4 2021-02-17T21:42:07.610Z,1613598127.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.860016 m, bearing: 316.514135 deg, approachRate: 0.000000 m/s, LOS rate: 2.817401 deg/s, cmd update: 11.269605 deg/s, cmd heading: 307.112097 deg, new cmd heading: 307.382152 deg. 2021-02-17T21:42:09.991Z,1613598129.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:42:10.785Z,1613598130.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:42:11.213Z,1613598131.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:42:12.004Z,1613598132.004 [Micromodem](INFO): Nmea in: $SNTTA,0.124114,,,,214210.87*48 2021-02-17T21:42:12.448Z,1613598132.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.240005 m, bearing: 305.779810 deg, deltaT: 4.783788 s, approachRate: 1.542708 m/s, LOS rate: -2.243896 deg/s, posRepo size: 4 2021-02-17T21:42:12.450Z,1613598132.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.240005 m, bearing: 305.779810 deg, approachRate: 1.542708 m/s, LOS rate: -2.243896 deg/s, cmd update: -8.975586 deg/s, cmd heading: 1.070818 deg, new cmd heading: 5.923262 deg. 2021-02-17T21:42:14.845Z,1613598134.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:42:15.634Z,1613598135.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:42:16.057Z,1613598136.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:42:16.855Z,1613598136.855 [Micromodem](INFO): Nmea in: $SNTTA,0.125577,,,,214215.72*47 2021-02-17T21:42:17.309Z,1613598137.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.339996 m, bearing: 24.048818 deg, deltaT: 4.879277 s, approachRate: 0.430390 m/s, LOS rate: 16.041109 deg/s, posRepo size: 4 2021-02-17T21:42:17.310Z,1613598137.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.041109 deg/s. Setting heading cmd to target bearing of 24.048818deg and heading rate command to 0 deg/s. 2021-02-17T21:42:19.712Z,1613598139.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:42:20.499Z,1613598140.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:42:20.885Z,1613598140.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:42:21.710Z,1613598141.710 [Micromodem](INFO): Nmea in: $SNTTA,0.126498,,,,214220.59*4B 2021-02-17T21:42:22.147Z,1613598142.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.779984 m, bearing: 38.582427 deg, deltaT: 4.837132 s, approachRate: 0.297694 m/s, LOS rate: 3.004592 deg/s, posRepo size: 4 2021-02-17T21:42:22.149Z,1613598142.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.779984 m, bearing: 38.582427 deg, approachRate: 0.297694 m/s, LOS rate: 3.004592 deg/s, cmd update: 12.000000 deg/s, cmd heading: 24.048818 deg, new cmd heading: 24.048818 deg. 2021-02-17T21:42:24.549Z,1613598144.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:42:25.345Z,1613598145.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:42:25.740Z,1613598145.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:42:26.559Z,1613598146.559 [Micromodem](INFO): Nmea in: $SNTTA,0.126949,,,0.129461,214225.43*53 2021-02-17T21:42:26.970Z,1613598146.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.380005 m, bearing: 51.615149 deg, deltaT: 4.872961 s, approachRate: 0.123133 m/s, LOS rate: 2.674497 deg/s, posRepo size: 4 2021-02-17T21:42:26.972Z,1613598146.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.380005 m, bearing: 51.615149 deg, approachRate: 0.123133 m/s, LOS rate: 2.674497 deg/s, cmd update: 10.697990 deg/s, cmd heading: 82.313211 deg, new cmd heading: 86.952135 deg. 2021-02-17T21:42:29.436Z,1613598149.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:42:30.210Z,1613598150.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:42:30.587Z,1613598150.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:42:31.413Z,1613598151.413 [Micromodem](INFO): Nmea in: $SNTTA,0.127289,,,,214230.30*42 2021-02-17T21:42:31.830Z,1613598151.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.859985 m, bearing: 338.970541 deg, deltaT: 4.863739 s, approachRate: 0.098685 m/s, LOS rate: -14.935957 deg/s, posRepo size: 4 2021-02-17T21:42:31.831Z,1613598151.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.935957 deg/s. Setting heading cmd to target bearing of 338.970541deg and heading rate command to 0 deg/s. 2021-02-17T21:42:34.254Z,1613598154.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:42:35.025Z,1613598155.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:42:35.429Z,1613598155.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:42:36.259Z,1613598156.259 [Micromodem](INFO): Nmea in: $SNTTA,0.126563,,,,214235.11*46 2021-02-17T21:42:36.685Z,1613598156.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.720001 m, bearing: 346.912002 deg, deltaT: 4.821521 s, approachRate: -0.236437 m/s, LOS rate: 1.647086 deg/s, posRepo size: 4 2021-02-17T21:42:36.687Z,1613598156.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.720001 m, bearing: 346.912002 deg, approachRate: -0.236437 m/s, LOS rate: 1.647086 deg/s, cmd update: 6.588345 deg/s, cmd heading: 338.970541 deg, new cmd heading: 338.970541 deg. 2021-02-17T21:42:39.100Z,1613598159.100 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T21:42:39.126Z,1613598159.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:42:39.952Z,1613598159.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:42:40.280Z,1613598160.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:42:41.504Z,1613598161.504 [Micromodem](INFO): Nmea in: $SNTTA,0.125779,,,,214240.04*4A 2021-02-17T21:42:41.557Z,1613598161.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.459991 m, bearing: 88.142095 deg, deltaT: 4.885255 s, approachRate: -0.257921 m/s, LOS rate: 20.721556 deg/s, posRepo size: 4 2021-02-17T21:42:41.558Z,1613598161.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.721556 deg/s. Setting heading cmd to target bearing of 88.142095deg and heading rate command to 0 deg/s. 2021-02-17T21:42:43.942Z,1613598163.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:42:44.348Z,1613598164.348 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:42:44.725Z,1613598164.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:42:45.125Z,1613598165.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:42:45.941Z,1613598165.941 [Micromodem](INFO): Nmea in: $SNTTA,0.124304,,,,214244.81*4C 2021-02-17T21:42:46.401Z,1613598166.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.300018 m, bearing: 83.813586 deg, deltaT: 4.777550 s, approachRate: -0.452109 m/s, LOS rate: -0.906010 deg/s, posRepo size: 4 2021-02-17T21:42:46.403Z,1613598166.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.300018 m, bearing: 83.813586 deg, approachRate: -0.452109 m/s, LOS rate: -0.906010 deg/s, cmd update: -3.624041 deg/s, cmd heading: 88.142095 deg, new cmd heading: 88.142095 deg. 2021-02-17T21:42:48.781Z,1613598168.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:42:49.573Z,1613598169.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:42:49.975Z,1613598169.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:42:50.820Z,1613598170.820 [Micromodem](INFO): Nmea in: $SNTTA,0.123295,,,,214249.66*46 2021-02-17T21:42:50.842Z,1613598170.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.300018 m, bearing: 95.566286 deg, deltaT: 4.501271 s, approachRate: 0.000000 m/s, LOS rate: 2.610974 deg/s, posRepo size: 4 2021-02-17T21:42:50.844Z,1613598170.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.300018 m, bearing: 95.566286 deg, approachRate: 0.000000 m/s, LOS rate: 2.610974 deg/s, cmd update: 10.443895 deg/s, cmd heading: 71.843383 deg, new cmd heading: 70.433530 deg. 2021-02-17T21:42:53.254Z,1613598173.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:42:54.060Z,1613598174.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:42:54.423Z,1613598174.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:42:55.242Z,1613598175.242 [Micromodem](INFO): Nmea in: $SNTTA,0.121887,,,,214254.15*45 2021-02-17T21:42:55.668Z,1613598175.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.699997 m, bearing: 85.498976 deg, deltaT: 4.883655 s, approachRate: -0.737157 m/s, LOS rate: -2.061429 deg/s, posRepo size: 4 2021-02-17T21:42:55.676Z,1613598175.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.699997 m, bearing: 85.498976 deg, approachRate: -0.737157 m/s, LOS rate: -2.061429 deg/s, cmd update: -8.245717 deg/s, cmd heading: 122.788367 deg, new cmd heading: 126.299166 deg. 2021-02-17T21:42:58.110Z,1613598178.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:42:58.881Z,1613598178.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:42:59.323Z,1613598179.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:42:59.350Z,1613598179.350 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T21:43:00.115Z,1613598180.115 [Micromodem](INFO): Nmea in: $SNTTA,0.120396,,,,214258.97*49 2021-02-17T21:43:00.533Z,1613598180.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.420013 m, bearing: 86.373117 deg, deltaT: 4.820548 s, approachRate: -0.472972 m/s, LOS rate: 0.181336 deg/s, posRepo size: 4 2021-02-17T21:43:00.535Z,1613598180.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.420013 m, bearing: 86.373117 deg, approachRate: -0.472972 m/s, LOS rate: 0.181336 deg/s, cmd update: 0.725346 deg/s, cmd heading: 83.141608 deg, new cmd heading: 79.889480 deg. 2021-02-17T21:43:02.923Z,1613598182.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:43:03.708Z,1613598183.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:43:04.130Z,1613598184.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:43:04.154Z,1613598184.154 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T21:43:04.936Z,1613598184.936 [Micromodem](INFO): Nmea in: $SNTTA,0.119034,,,,214303.79*47 2021-02-17T21:43:04.973Z,1613598184.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.420013 m, bearing: 89.136714 deg, deltaT: 4.402271 s, approachRate: 0.000000 m/s, LOS rate: 0.627766 deg/s, posRepo size: 4 2021-02-17T21:43:04.975Z,1613598184.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.420013 m, bearing: 89.136714 deg, approachRate: 0.000000 m/s, LOS rate: 0.627766 deg/s, cmd update: 2.511065 deg/s, cmd heading: 86.350664 deg, new cmd heading: 86.648086 deg. 2021-02-17T21:43:07.401Z,1613598187.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:43:08.180Z,1613598188.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:43:08.569Z,1613598188.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:43:09.385Z,1613598189.385 [Micromodem](INFO): Nmea in: $SNTTA,0.116343,,,,214308.26*4A 2021-02-17T21:43:09.798Z,1613598189.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.300018 m, bearing: 90.444627 deg, deltaT: 4.883232 s, approachRate: -1.253267 m/s, LOS rate: 0.267838 deg/s, posRepo size: 4 2021-02-17T21:43:09.800Z,1613598189.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.300018 m, bearing: 90.444627 deg, approachRate: -1.253267 m/s, LOS rate: 0.267838 deg/s, cmd update: 1.071350 deg/s, cmd heading: 98.586731 deg, new cmd heading: 99.495952 deg. 2021-02-17T21:43:12.252Z,1613598192.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:43:13.006Z,1613598193.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:43:13.406Z,1613598193.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:43:14.248Z,1613598194.248 [Micromodem](INFO): Nmea in: $SNTTA,0.114300,,,,214313.09*48 2021-02-17T21:43:14.265Z,1613598194.265 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:43:14.305Z,1613598194.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.300018 m, bearing: 88.525337 deg, deltaT: 4.386106 s, approachRate: 0.000000 m/s, LOS rate: -0.437584 deg/s, posRepo size: 4 2021-02-17T21:43:14.311Z,1613598194.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.300018 m, bearing: 88.525337 deg, approachRate: 0.000000 m/s, LOS rate: -0.437584 deg/s, cmd update: -1.750336 deg/s, cmd heading: 103.295443 deg, new cmd heading: 103.803409 deg. 2021-02-17T21:43:16.657Z,1613598196.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:43:17.449Z,1613598197.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:43:17.851Z,1613598197.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:43:18.683Z,1613598198.683 [Micromodem](INFO): Nmea in: $SNTTA,0.112466,,,,214317.53*42 2021-02-17T21:43:18.703Z,1613598198.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.479996 m, bearing: 87.240428 deg, deltaT: 4.473805 s, approachRate: -1.300911 m/s, LOS rate: -0.287207 deg/s, posRepo size: 4 2021-02-17T21:43:18.705Z,1613598198.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.479996 m, bearing: 87.240428 deg, approachRate: -1.300911 m/s, LOS rate: -0.287207 deg/s, cmd update: -1.148829 deg/s, cmd heading: 95.462198 deg, new cmd heading: 94.768836 deg. 2021-02-17T21:43:21.133Z,1613598201.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:43:21.905Z,1613598201.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:43:22.302Z,1613598202.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:43:23.124Z,1613598203.124 [Micromodem](INFO): Nmea in: $SNTTA,0.110371,,,,214321.99*42 2021-02-17T21:43:23.205Z,1613598203.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.479996 m, bearing: 86.983709 deg, deltaT: 4.430620 s, approachRate: 0.000000 m/s, LOS rate: -0.057942 deg/s, posRepo size: 4 2021-02-17T21:43:23.212Z,1613598203.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.479996 m, bearing: 86.983709 deg, approachRate: 0.000000 m/s, LOS rate: -0.057942 deg/s, cmd update: -0.231768 deg/s, cmd heading: 90.382717 deg, new cmd heading: 89.842403 deg. 2021-02-17T21:43:25.563Z,1613598205.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:43:26.332Z,1613598206.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:43:26.745Z,1613598206.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:43:27.564Z,1613598207.564 [Micromodem](INFO): Nmea in: $SNTTA,0.108608,,,,214326.42*41 2021-02-17T21:43:27.604Z,1613598207.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.720001 m, bearing: 87.877057 deg, deltaT: 4.484875 s, approachRate: -1.284315 m/s, LOS rate: 0.199191 deg/s, posRepo size: 4 2021-02-17T21:43:27.606Z,1613598207.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.720001 m, bearing: 87.877057 deg, approachRate: -1.284315 m/s, LOS rate: 0.199191 deg/s, cmd update: 0.796765 deg/s, cmd heading: 89.341132 deg, new cmd heading: 89.252585 deg. 2021-02-17T21:43:30.099Z,1613598210.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:43:30.776Z,1613598210.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:43:31.214Z,1613598211.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:43:32.009Z,1613598212.009 [Micromodem](INFO): Nmea in: $SNTTA,0.106507,,,0.109027,214330.86*5F 2021-02-17T21:43:32.028Z,1613598212.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.539993 m, bearing: 88.080993 deg, deltaT: 4.389197 s, approachRate: -0.724508 m/s, LOS rate: 0.046463 deg/s, posRepo size: 4 2021-02-17T21:43:32.030Z,1613598212.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.539993 m, bearing: 88.080993 deg, approachRate: -0.724508 m/s, LOS rate: 0.046463 deg/s, cmd update: 0.185852 deg/s, cmd heading: 92.838242 deg, new cmd heading: 93.167132 deg. 2021-02-17T21:43:34.470Z,1613598214.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:43:35.220Z,1613598215.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:43:35.627Z,1613598215.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:43:36.448Z,1613598216.448 [Micromodem](INFO): Nmea in: $SNTTA,0.104563,,,,214335.31*45 2021-02-17T21:43:36.496Z,1613598216.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.600006 m, bearing: 87.960959 deg, deltaT: 4.486983 s, approachRate: -0.655226 m/s, LOS rate: -0.026752 deg/s, posRepo size: 4 2021-02-17T21:43:36.498Z,1613598216.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.600006 m, bearing: 87.960959 deg, approachRate: -0.655226 m/s, LOS rate: -0.026752 deg/s, cmd update: -0.107006 deg/s, cmd heading: 93.671423 deg, new cmd heading: 93.746082 deg. 2021-02-17T21:43:38.887Z,1613598218.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:43:39.664Z,1613598219.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:43:40.268Z,1613598220.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:43:40.892Z,1613598220.892 [Micromodem](INFO): Nmea in: $SNTTA,0.102431,,,,214339.75*49 2021-02-17T21:43:40.933Z,1613598220.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.480011 m, bearing: 87.902096 deg, deltaT: 4.408748 s, approachRate: -0.707683 m/s, LOS rate: -0.013351 deg/s, posRepo size: 4 2021-02-17T21:43:40.935Z,1613598220.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.480011 m, bearing: 87.902096 deg, approachRate: -0.707683 m/s, LOS rate: -0.013351 deg/s, cmd update: -0.053405 deg/s, cmd heading: 93.200942 deg, new cmd heading: 93.153599 deg. 2021-02-17T21:43:43.351Z,1613598223.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:43:44.112Z,1613598224.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:43:44.514Z,1613598224.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:43:45.340Z,1613598225.340 [Micromodem](INFO): Nmea in: $SNTTA,0.100407,,,,214344.20*44 2021-02-17T21:43:45.362Z,1613598225.362 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T21:43:45.398Z,1613598225.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.419998 m, bearing: 87.582519 deg, deltaT: 4.429202 s, approachRate: -0.690872 m/s, LOS rate: -0.072152 deg/s, posRepo size: 4 2021-02-17T21:43:45.404Z,1613598225.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.419998 m, bearing: 87.582519 deg, approachRate: -0.690872 m/s, LOS rate: -0.072152 deg/s, cmd update: -0.288610 deg/s, cmd heading: 92.963554 deg, new cmd heading: 92.938851 deg. 2021-02-17T21:43:47.784Z,1613598227.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:43:48.553Z,1613598228.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:43:48.958Z,1613598228.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:43:49.784Z,1613598229.784 [Micromodem](INFO): Nmea in: $SNTTA,0.098394,,,,214348.64*45 2021-02-17T21:43:49.799Z,1613598229.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.420013 m, bearing: 88.302270 deg, deltaT: 4.501664 s, approachRate: -0.666417 m/s, LOS rate: 0.159886 deg/s, posRepo size: 4 2021-02-17T21:43:49.801Z,1613598229.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.420013 m, bearing: 88.302270 deg, approachRate: -0.666417 m/s, LOS rate: 0.159886 deg/s, cmd update: 0.639543 deg/s, cmd heading: 91.665426 deg, new cmd heading: 91.559978 deg. 2021-02-17T21:43:52.245Z,1613598232.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:43:52.996Z,1613598232.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:43:53.419Z,1613598233.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:43:54.228Z,1613598234.228 [Micromodem](INFO): Nmea in: $SNTTA,0.096417,,,,214353.08*47 2021-02-17T21:43:54.277Z,1613598234.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.419998 m, bearing: 87.781291 deg, deltaT: 4.403389 s, approachRate: -0.681297 m/s, LOS rate: -0.118313 deg/s, posRepo size: 4 2021-02-17T21:43:54.280Z,1613598234.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.419998 m, bearing: 87.781291 deg, approachRate: -0.681297 m/s, LOS rate: -0.118313 deg/s, cmd update: -0.473253 deg/s, cmd heading: 94.481547 deg, new cmd heading: 94.763135 deg. 2021-02-17T21:43:56.653Z,1613598236.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:43:57.451Z,1613598237.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:43:57.852Z,1613598237.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:43:58.676Z,1613598238.676 [Micromodem](INFO): Nmea in: $SNTTA,0.094392,,,,214357.54*42 2021-02-17T21:43:58.712Z,1613598238.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.360001 m, bearing: 87.622461 deg, deltaT: 4.470379 s, approachRate: -0.684505 m/s, LOS rate: -0.035529 deg/s, posRepo size: 4 2021-02-17T21:43:58.714Z,1613598238.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.360001 m, bearing: 87.622461 deg, approachRate: -0.684505 m/s, LOS rate: -0.035529 deg/s, cmd update: -0.142117 deg/s, cmd heading: 92.365905 deg, new cmd heading: 92.174263 deg. 2021-02-17T21:44:01.134Z,1613598241.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:01.884Z,1613598241.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:44:02.295Z,1613598242.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:44:03.119Z,1613598243.119 [Micromodem](INFO): Nmea in: $SNTTA,0.092422,,,,214401.97*43 2021-02-17T21:44:03.152Z,1613598243.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.419998 m, bearing: 87.048958 deg, deltaT: 4.415648 s, approachRate: -0.665815 m/s, LOS rate: -0.129880 deg/s, posRepo size: 4 2021-02-17T21:44:03.154Z,1613598243.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.419998 m, bearing: 87.048958 deg, approachRate: -0.665815 m/s, LOS rate: -0.129880 deg/s, cmd update: -0.519519 deg/s, cmd heading: 91.738374 deg, new cmd heading: 91.678160 deg. 2021-02-17T21:44:05.587Z,1613598245.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:06.328Z,1613598246.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:44:06.750Z,1613598246.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:44:07.560Z,1613598247.560 [Micromodem](INFO): Nmea in: $SNTTA,0.090321,,,,214406.41*49 2021-02-17T21:44:07.600Z,1613598247.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.180008 m, bearing: 87.117670 deg, deltaT: 4.588673 s, approachRate: -0.706084 m/s, LOS rate: 0.014974 deg/s, posRepo size: 4 2021-02-17T21:44:07.602Z,1613598247.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.180008 m, bearing: 87.117670 deg, approachRate: -0.706084 m/s, LOS rate: 0.014974 deg/s, cmd update: 0.059897 deg/s, cmd heading: 89.352366 deg, new cmd heading: 89.204997 deg. 2021-02-17T21:44:09.992Z,1613598249.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:10.777Z,1613598250.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:44:11.209Z,1613598251.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:44:12.009Z,1613598252.009 [Micromodem](INFO): Nmea in: $SNTTA,0.088471,,,,214410.86*4E 2021-02-17T21:44:12.091Z,1613598252.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.479996 m, bearing: 87.100239 deg, deltaT: 4.312557 s, approachRate: -0.626082 m/s, LOS rate: -0.004042 deg/s, posRepo size: 4 2021-02-17T21:44:12.093Z,1613598252.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.479996 m, bearing: 87.100239 deg, approachRate: -0.626082 m/s, LOS rate: -0.004042 deg/s, cmd update: -0.016167 deg/s, cmd heading: 89.610402 deg, new cmd heading: 89.638156 deg. 2021-02-17T21:44:14.459Z,1613598254.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:15.224Z,1613598255.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:44:15.634Z,1613598255.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:44:16.448Z,1613598256.448 [Micromodem](INFO): Nmea in: $SNTTA,0.086345,,,,214415.31*49 2021-02-17T21:44:16.497Z,1613598256.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.300003 m, bearing: 88.409866 deg, deltaT: 4.461698 s, approachRate: -0.712731 m/s, LOS rate: 0.293527 deg/s, posRepo size: 4 2021-02-17T21:44:16.499Z,1613598256.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.300003 m, bearing: 88.409866 deg, approachRate: -0.712731 m/s, LOS rate: 0.293527 deg/s, cmd update: 1.174107 deg/s, cmd heading: 89.538263 deg, new cmd heading: 89.531613 deg. 2021-02-17T21:44:18.883Z,1613598258.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:19.666Z,1613598259.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:44:20.092Z,1613598260.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:44:20.892Z,1613598260.892 [Micromodem](INFO): Nmea in: $SNTTA,0.084328,,,,214419.75*4C 2021-02-17T21:44:20.930Z,1613598260.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.239998 m, bearing: 87.755998 deg, deltaT: 4.435038 s, approachRate: -0.689961 m/s, LOS rate: -0.147432 deg/s, posRepo size: 4 2021-02-17T21:44:20.932Z,1613598260.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.239998 m, bearing: 87.755998 deg, approachRate: -0.689961 m/s, LOS rate: -0.147432 deg/s, cmd update: -0.589729 deg/s, cmd heading: 94.750232 deg, new cmd heading: 95.225694 deg. 2021-02-17T21:44:23.359Z,1613598263.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:24.132Z,1613598264.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:44:24.515Z,1613598264.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:44:25.356Z,1613598265.356 [Micromodem](INFO): Nmea in: $SNTTA,0.082063,,,,214424.22*4A 2021-02-17T21:44:25.405Z,1613598265.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.940002 m, bearing: 88.097276 deg, deltaT: 4.412917 s, approachRate: -0.747804 m/s, LOS rate: 0.077336 deg/s, posRepo size: 4 2021-02-17T21:44:25.411Z,1613598265.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.940002 m, bearing: 88.097276 deg, approachRate: -0.747804 m/s, LOS rate: 0.077336 deg/s, cmd update: 0.309344 deg/s, cmd heading: 92.147700 deg, new cmd heading: 91.872343 deg. 2021-02-17T21:44:27.760Z,1613598267.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:28.552Z,1613598268.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:44:28.968Z,1613598268.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:44:29.780Z,1613598269.780 [Micromodem](INFO): Nmea in: $SNTTA,0.080177,,,,214428.64*42 2021-02-17T21:44:29.822Z,1613598269.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.120003 m, bearing: 88.574153 deg, deltaT: 4.482227 s, approachRate: -0.629151 m/s, LOS rate: 0.106393 deg/s, posRepo size: 4 2021-02-17T21:44:29.828Z,1613598269.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.120003 m, bearing: 88.574153 deg, approachRate: -0.629151 m/s, LOS rate: 0.106393 deg/s, cmd update: 0.425571 deg/s, cmd heading: 93.534082 deg, new cmd heading: 93.658595 deg. 2021-02-17T21:44:32.253Z,1613598272.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:33.004Z,1613598273.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:44:33.401Z,1613598273.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:44:34.237Z,1613598274.237 [Micromodem](INFO): Nmea in: $SNTTA,0.078203,,,,214433.09*44 2021-02-17T21:44:34.321Z,1613598274.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.000000 m, bearing: 86.939654 deg, deltaT: 4.397474 s, approachRate: -0.709499 m/s, LOS rate: -0.371690 deg/s, posRepo size: 4 2021-02-17T21:44:34.329Z,1613598274.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.000000 m, bearing: 86.939654 deg, approachRate: -0.709499 m/s, LOS rate: -0.371690 deg/s, cmd update: -1.486761 deg/s, cmd heading: 95.405765 deg, new cmd heading: 95.620023 deg. 2021-02-17T21:44:36.658Z,1613598276.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:37.449Z,1613598277.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:44:37.846Z,1613598277.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:44:38.672Z,1613598278.672 [Micromodem](INFO): Nmea in: $SNTTA,0.076140,,,,214437.53*45 2021-02-17T21:44:38.713Z,1613598278.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.059998 m, bearing: 86.767110 deg, deltaT: 4.505693 s, approachRate: -0.652508 m/s, LOS rate: -0.038295 deg/s, posRepo size: 4 2021-02-17T21:44:38.715Z,1613598278.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.059998 m, bearing: 86.767110 deg, approachRate: -0.652508 m/s, LOS rate: -0.038295 deg/s, cmd update: -0.153179 deg/s, cmd heading: 88.719045 deg, new cmd heading: 88.127370 deg. 2021-02-17T21:44:41.131Z,1613598281.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:41.890Z,1613598281.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:44:42.304Z,1613598282.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:44:43.119Z,1613598283.119 [Micromodem](INFO): Nmea in: $SNTTA,0.074233,,,,214441.97*49 2021-02-17T21:44:43.148Z,1613598283.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.300003 m, bearing: 87.269785 deg, deltaT: 4.402037 s, approachRate: -0.626981 m/s, LOS rate: 0.114191 deg/s, posRepo size: 4 2021-02-17T21:44:43.150Z,1613598283.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.300003 m, bearing: 87.269785 deg, approachRate: -0.626981 m/s, LOS rate: 0.114191 deg/s, cmd update: 0.456765 deg/s, cmd heading: 88.043877 deg, new cmd heading: 87.979041 deg. 2021-02-17T21:44:45.546Z,1613598285.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:46.334Z,1613598286.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:44:46.735Z,1613598286.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:44:47.572Z,1613598287.572 [Micromodem](INFO): Nmea in: $SNTTA,0.072125,0.086537,0.087674,,214446.42*41 2021-02-17T21:44:47.596Z,1613598287.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.000008 m, bearing: 87.435410 deg, deltaT: 4.491702 s, approachRate: -0.734687 m/s, LOS rate: 0.036874 deg/s, posRepo size: 4 2021-02-17T21:44:47.598Z,1613598287.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.000008 m, bearing: 87.435410 deg, approachRate: -0.734687 m/s, LOS rate: 0.036874 deg/s, cmd update: 0.147494 deg/s, cmd heading: 90.096656 deg, new cmd heading: 90.269607 deg. 2021-02-17T21:44:49.978Z,1613598289.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:50.773Z,1613598290.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:44:51.212Z,1613598291.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:44:52.000Z,1613598292.000 [Micromodem](INFO): Nmea in: $SNTTA,0.070180,,,,214450.86*46 2021-02-17T21:44:52.040Z,1613598292.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.120010 m, bearing: 86.839995 deg, deltaT: 4.389347 s, approachRate: -0.656133 m/s, LOS rate: -0.135650 deg/s, posRepo size: 4 2021-02-17T21:44:52.046Z,1613598292.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.120010 m, bearing: 86.839995 deg, approachRate: -0.656133 m/s, LOS rate: -0.135650 deg/s, cmd update: -0.542600 deg/s, cmd heading: 90.742243 deg, new cmd heading: 90.808067 deg. 2021-02-17T21:44:54.462Z,1613598294.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:55.219Z,1613598295.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:44:55.622Z,1613598295.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:44:56.448Z,1613598296.448 [Micromodem](INFO): Nmea in: $SNTTA,0.068027,,,,214455.30*4B 2021-02-17T21:44:56.502Z,1613598296.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.879997 m, bearing: 87.139895 deg, deltaT: 4.473269 s, approachRate: -0.724305 m/s, LOS rate: 0.067043 deg/s, posRepo size: 4 2021-02-17T21:44:56.506Z,1613598296.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.879997 m, bearing: 87.139895 deg, approachRate: -0.724305 m/s, LOS rate: 0.067043 deg/s, cmd update: 0.268171 deg/s, cmd heading: 88.311884 deg, new cmd heading: 88.079626 deg. 2021-02-17T21:44:58.879Z,1613598298.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:44:59.660Z,1613598299.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:00.093Z,1613598300.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:00.888Z,1613598300.888 [Micromodem](INFO): Nmea in: $SNTTA,0.066064,,,,214459.74*4E 2021-02-17T21:45:00.934Z,1613598300.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.940010 m, bearing: 87.181245 deg, deltaT: 4.427660 s, approachRate: -0.664005 m/s, LOS rate: 0.009339 deg/s, posRepo size: 4 2021-02-17T21:45:00.940Z,1613598300.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.940010 m, bearing: 87.181245 deg, approachRate: -0.664005 m/s, LOS rate: 0.009339 deg/s, cmd update: 0.037356 deg/s, cmd heading: 89.500935 deg, new cmd heading: 89.615419 deg. 2021-02-17T21:45:03.356Z,1613598303.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:45:04.104Z,1613598304.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:04.513Z,1613598304.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:04.531Z,1613598304.531 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:45:05.343Z,1613598305.343 [Micromodem](INFO): Nmea in: $SNTTA,0.064251,,,,214504.20*40 2021-02-17T21:45:05.377Z,1613598305.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.180000 m, bearing: 87.240053 deg, deltaT: 4.438547 s, approachRate: -0.621827 m/s, LOS rate: 0.013249 deg/s, posRepo size: 4 2021-02-17T21:45:05.379Z,1613598305.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.180000 m, bearing: 87.240053 deg, approachRate: -0.621827 m/s, LOS rate: 0.013249 deg/s, cmd update: 0.052997 deg/s, cmd heading: 89.666744 deg, new cmd heading: 89.682861 deg. 2021-02-17T21:45:07.772Z,1613598307.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:45:08.549Z,1613598308.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:08.954Z,1613598308.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:09.780Z,1613598309.780 [Micromodem](INFO): Nmea in: $SNTTA,0.062028,,,,214508.63*41 2021-02-17T21:45:09.817Z,1613598309.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.880005 m, bearing: 87.139014 deg, deltaT: 4.468879 s, approachRate: -0.738439 m/s, LOS rate: -0.022609 deg/s, posRepo size: 4 2021-02-17T21:45:09.819Z,1613598309.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.880005 m, bearing: 87.139014 deg, approachRate: -0.738439 m/s, LOS rate: -0.022609 deg/s, cmd update: -0.090438 deg/s, cmd heading: 89.903592 deg, new cmd heading: 89.924921 deg. 2021-02-17T21:45:12.277Z,1613598312.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:45:12.992Z,1613598312.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:13.399Z,1613598313.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:14.224Z,1613598314.224 [Micromodem](INFO): Nmea in: $SNTTA,0.060085,,,,214513.08*43 2021-02-17T21:45:14.290Z,1613598314.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.940002 m, bearing: 85.699401 deg, deltaT: 4.411070 s, approachRate: -0.666506 m/s, LOS rate: -0.326364 deg/s, posRepo size: 4 2021-02-17T21:45:14.292Z,1613598314.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.940002 m, bearing: 85.699401 deg, approachRate: -0.666506 m/s, LOS rate: -0.326364 deg/s, cmd update: -1.305454 deg/s, cmd heading: 89.504665 deg, new cmd heading: 89.462708 deg. 2021-02-17T21:45:16.331Z,1613598316.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:45:17.064Z,1613598317.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:17.438Z,1613598317.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:18.272Z,1613598318.272 [Micromodem](INFO): Nmea in: $SNTTA,0.058324,,,,214517.15*48 2021-02-17T21:45:18.325Z,1613598318.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.360008 m, bearing: 87.047066 deg, deltaT: 4.034345 s, approachRate: -0.639508 m/s, LOS rate: 0.334048 deg/s, posRepo size: 4 2021-02-17T21:45:18.327Z,1613598318.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.360008 m, bearing: 87.047066 deg, approachRate: -0.639508 m/s, LOS rate: 0.334048 deg/s, cmd update: 1.336192 deg/s, cmd heading: 84.238467 deg, new cmd heading: 83.631403 deg. 2021-02-17T21:45:20.683Z,1613598320.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:45:21.482Z,1613598321.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:21.882Z,1613598321.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:22.720Z,1613598322.720 [Micromodem](INFO): Nmea in: $SNTTA,0.056191,,,,214521.57*49 2021-02-17T21:45:22.742Z,1613598322.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.060005 m, bearing: 85.497316 deg, deltaT: 4.464667 s, approachRate: -0.739138 m/s, LOS rate: -0.347114 deg/s, posRepo size: 4 2021-02-17T21:45:22.744Z,1613598322.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.060005 m, bearing: 85.497316 deg, approachRate: -0.739138 m/s, LOS rate: -0.347114 deg/s, cmd update: -1.388457 deg/s, cmd heading: 90.204637 deg, new cmd heading: 90.762013 deg. 2021-02-17T21:45:25.184Z,1613598325.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:45:25.920Z,1613598325.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:26.339Z,1613598326.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:27.148Z,1613598327.148 [Micromodem](INFO): Nmea in: $SNTTA,0.054263,,,,214526.01*41 2021-02-17T21:45:27.218Z,1613598327.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.239998 m, bearing: 87.508957 deg, deltaT: 4.417284 s, approachRate: -0.638403 m/s, LOS rate: 0.455402 deg/s, posRepo size: 4 2021-02-17T21:45:27.228Z,1613598327.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.239998 m, bearing: 87.508957 deg, approachRate: -0.638403 m/s, LOS rate: 0.455402 deg/s, cmd update: 1.821609 deg/s, cmd heading: 84.071594 deg, new cmd heading: 83.414698 deg. 2021-02-17T21:45:29.274Z,1613598329.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:45:29.960Z,1613598329.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:30.371Z,1613598330.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:31.220Z,1613598331.220 [Micromodem](INFO): Nmea in: $SNTTA,0.052490,,0.058258,,214530.04*53 2021-02-17T21:45:31.274Z,1613598331.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.540001 m, bearing: 87.033187 deg, deltaT: 4.059491 s, approachRate: -0.665107 m/s, LOS rate: -0.117200 deg/s, posRepo size: 4 2021-02-17T21:45:31.280Z,1613598331.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.540001 m, bearing: 87.033187 deg, approachRate: -0.665107 m/s, LOS rate: -0.117200 deg/s, cmd update: -0.468798 deg/s, cmd heading: 91.430110 deg, new cmd heading: 92.327489 deg. 2021-02-17T21:45:33.623Z,1613598333.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:45:34.421Z,1613598334.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:34.463Z,1613598334.463 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:45:34.810Z,1613598334.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:35.644Z,1613598335.644 [Micromodem](INFO): Nmea in: $SNTTA,0.050465,,,,214534.51*43 2021-02-17T21:45:35.666Z,1613598335.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.540001 m, bearing: 86.916787 deg, deltaT: 4.451165 s, approachRate: -0.673981 m/s, LOS rate: -0.026150 deg/s, posRepo size: 4 2021-02-17T21:45:35.668Z,1613598335.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.540001 m, bearing: 86.916787 deg, approachRate: -0.673981 m/s, LOS rate: -0.026150 deg/s, cmd update: -0.104602 deg/s, cmd heading: 89.334011 deg, new cmd heading: 89.140400 deg. 2021-02-17T21:45:38.105Z,1613598338.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:45:38.848Z,1613598338.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:39.267Z,1613598339.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:40.100Z,1613598340.100 [Micromodem](INFO): Nmea in: $SNTTA,0.048296,,,,214538.93*42 2021-02-17T21:45:40.126Z,1613598340.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.240005 m, bearing: 87.040809 deg, deltaT: 4.432876 s, approachRate: -0.744437 m/s, LOS rate: 0.027978 deg/s, posRepo size: 4 2021-02-17T21:45:40.128Z,1613598340.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.240005 m, bearing: 87.040809 deg, approachRate: -0.744437 m/s, LOS rate: 0.027978 deg/s, cmd update: 0.111912 deg/s, cmd heading: 88.871998 deg, new cmd heading: 88.824245 deg. 2021-02-17T21:45:42.524Z,1613598342.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:45:43.298Z,1613598343.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:43.719Z,1613598343.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:44.545Z,1613598344.545 [Micromodem](INFO): Nmea in: $SNTTA,0.046401,,0.068762,0.061456,214543.38*44 2021-02-17T21:45:44.550Z,1613598344.550 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T21:45:44.589Z,1613598344.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.540001 m, bearing: 87.262019 deg, deltaT: 4.437391 s, approachRate: -0.608467 m/s, LOS rate: 0.049851 deg/s, posRepo size: 4 2021-02-17T21:45:44.591Z,1613598344.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.540001 m, bearing: 87.262019 deg, approachRate: -0.608467 m/s, LOS rate: 0.049851 deg/s, cmd update: 0.199405 deg/s, cmd heading: 89.370358 deg, new cmd heading: 89.422522 deg. 2021-02-17T21:45:46.942Z,1613598346.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:45:47.741Z,1613598347.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:48.154Z,1613598348.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:48.972Z,1613598348.972 [Micromodem](INFO): Nmea in: $SNTTA,0.044489,,,,214547.83*4F 2021-02-17T21:45:49.004Z,1613598349.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.540009 m, bearing: 86.072678 deg, deltaT: 4.464891 s, approachRate: -0.671907 m/s, LOS rate: -0.266376 deg/s, posRepo size: 4 2021-02-17T21:45:49.006Z,1613598349.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.540009 m, bearing: 86.072678 deg, approachRate: -0.671907 m/s, LOS rate: -0.266376 deg/s, cmd update: -1.065505 deg/s, cmd heading: 90.260683 deg, new cmd heading: 90.343667 deg. 2021-02-17T21:45:49.379Z,1613598349.379 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T21:45:51.420Z,1613598351.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:45:52.207Z,1613598352.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:52.586Z,1613598352.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:53.420Z,1613598353.420 [Micromodem](INFO): Nmea in: $SNTTA,0.042426,,,,214552.29*48 2021-02-17T21:45:53.469Z,1613598353.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.479996 m, bearing: 86.902122 deg, deltaT: 4.436722 s, approachRate: -0.689701 m/s, LOS rate: 0.186950 deg/s, posRepo size: 4 2021-02-17T21:45:53.471Z,1613598353.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.479996 m, bearing: 86.902122 deg, approachRate: -0.689701 m/s, LOS rate: 0.186950 deg/s, cmd update: 0.747799 deg/s, cmd heading: 85.551554 deg, new cmd heading: 85.060046 deg. 2021-02-17T21:45:54.240Z,1613598354.240 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T21:45:55.868Z,1613598355.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:45:56.630Z,1613598356.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:45:57.033Z,1613598357.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:45:57.856Z,1613598357.856 [Micromodem](INFO): Nmea in: $SNTTA,0.040478,,,,214556.71*48 2021-02-17T21:45:57.878Z,1613598357.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.660000 m, bearing: 87.836656 deg, deltaT: 4.468380 s, approachRate: -0.631100 m/s, LOS rate: 0.209144 deg/s, posRepo size: 4 2021-02-17T21:45:57.900Z,1613598357.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.660000 m, bearing: 87.836656 deg, approachRate: -0.631100 m/s, LOS rate: 0.209144 deg/s, cmd update: 0.836575 deg/s, cmd heading: 88.902931 deg, new cmd heading: 89.193650 deg. 2021-02-17T21:46:00.299Z,1613598360.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:01.089Z,1613598361.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:01.475Z,1613598361.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:46:02.308Z,1613598362.309 [Micromodem](INFO): Nmea in: $SNTTA,0.038347,,0.055072,,214601.17*56 2021-02-17T21:46:02.342Z,1613598362.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.299999 m, bearing: 87.834225 deg, deltaT: 4.404557 s, approachRate: -0.762846 m/s, LOS rate: -0.000552 deg/s, posRepo size: 4 2021-02-17T21:46:02.344Z,1613598362.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.299999 m, bearing: 87.834225 deg, approachRate: -0.762846 m/s, LOS rate: -0.000552 deg/s, cmd update: -0.002208 deg/s, cmd heading: 92.591020 deg, new cmd heading: 92.962450 deg. 2021-02-17T21:46:04.718Z,1613598364.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:05.513Z,1613598365.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:05.918Z,1613598365.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:46:06.740Z,1613598366.740 [Micromodem](INFO): Nmea in: $SNTTA,0.036517,,,,214605.60*44 2021-02-17T21:46:06.779Z,1613598366.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.720005 m, bearing: 86.272891 deg, deltaT: 4.484175 s, approachRate: -0.575355 m/s, LOS rate: -0.348187 deg/s, posRepo size: 4 2021-02-17T21:46:06.781Z,1613598366.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.720005 m, bearing: 86.272891 deg, approachRate: -0.575355 m/s, LOS rate: -0.348187 deg/s, cmd update: -1.392750 deg/s, cmd heading: 92.581126 deg, new cmd heading: 92.580242 deg. 2021-02-17T21:46:09.253Z,1613598369.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:09.957Z,1613598369.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:10.361Z,1613598370.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:46:11.220Z,1613598371.220 [Micromodem](INFO): Nmea in: $SNTTA,0.034462,,,,214610.04*43 2021-02-17T21:46:11.278Z,1613598371.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.479996 m, bearing: 85.777935 deg, deltaT: 4.416837 s, approachRate: -0.733559 m/s, LOS rate: -0.112061 deg/s, posRepo size: 4 2021-02-17T21:46:11.284Z,1613598371.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.479996 m, bearing: 85.777935 deg, approachRate: -0.733559 m/s, LOS rate: -0.112061 deg/s, cmd update: -0.448245 deg/s, cmd heading: 86.424057 deg, new cmd heading: 85.757086 deg. 2021-02-17T21:46:13.614Z,1613598373.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:14.400Z,1613598374.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:14.807Z,1613598374.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:46:15.631Z,1613598375.631 [Micromodem](INFO): Nmea in: $SNTTA,0.032661,,,,214614.48*48 2021-02-17T21:46:15.650Z,1613598375.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.779995 m, bearing: 86.852665 deg, deltaT: 4.451663 s, approachRate: -0.606515 m/s, LOS rate: 0.241422 deg/s, posRepo size: 4 2021-02-17T21:46:15.652Z,1613598375.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.779995 m, bearing: 86.852665 deg, approachRate: -0.606515 m/s, LOS rate: 0.241422 deg/s, cmd update: 0.965689 deg/s, cmd heading: 84.428610 deg, new cmd heading: 84.249358 deg. 2021-02-17T21:46:18.099Z,1613598378.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:18.844Z,1613598378.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:19.263Z,1613598379.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:46:20.103Z,1613598380.103 [Micromodem](INFO): Nmea in: $SNTTA,0.030650,,,,214618.93*42 2021-02-17T21:46:20.127Z,1613598380.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.899998 m, bearing: 87.716158 deg, deltaT: 4.431403 s, approachRate: -0.649906 m/s, LOS rate: 0.194858 deg/s, posRepo size: 4 2021-02-17T21:46:20.129Z,1613598380.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.899998 m, bearing: 87.716158 deg, approachRate: -0.649906 m/s, LOS rate: 0.194858 deg/s, cmd update: 0.779431 deg/s, cmd heading: 88.704142 deg, new cmd heading: 89.138124 deg. 2021-02-17T21:46:22.535Z,1613598382.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:23.288Z,1613598383.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:23.700Z,1613598383.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:46:24.525Z,1613598384.525 [Micromodem](INFO): Nmea in: $SNTTA,0.028651,,,,214623.37*4C 2021-02-17T21:46:24.573Z,1613598384.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.719997 m, bearing: 86.303907 deg, deltaT: 4.490053 s, approachRate: -0.708232 m/s, LOS rate: -0.314529 deg/s, posRepo size: 4 2021-02-17T21:46:24.574Z,1613598384.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.719997 m, bearing: 86.303907 deg, approachRate: -0.708232 m/s, LOS rate: -0.314529 deg/s, cmd update: -1.258115 deg/s, cmd heading: 92.197755 deg, new cmd heading: 92.519389 deg. 2021-02-17T21:46:26.940Z,1613598386.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:27.737Z,1613598387.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:28.137Z,1613598388.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:46:28.964Z,1613598388.964 [Micromodem](INFO): Nmea in: $SNTTA,0.026492,,0.037766,,214627.82*58 2021-02-17T21:46:28.986Z,1613598388.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.540001 m, bearing: 85.955964 deg, deltaT: 4.397935 s, approachRate: -0.723066 m/s, LOS rate: -0.079115 deg/s, posRepo size: 4 2021-02-17T21:46:28.986Z,1613598388.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.54 m. 2021-02-17T21:46:28.988Z,1613598388.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.540001 m, bearing: 85.955964 deg, approachRate: -0.723066 m/s, LOS rate: -0.079115 deg/s, cmd update: -0.316461 deg/s, cmd heading: 86.649801 deg, new cmd heading: 86.126323 deg. 2021-02-17T21:46:29.373Z,1613598389.373 [PowerOnly](INFO): Powering up loadControl 2021-02-17T21:46:31.419Z,1613598391.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:32.207Z,1613598392.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:32.582Z,1613598392.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:46:33.416Z,1613598393.416 [Micromodem](INFO): Nmea in: $SNTTA,0.024541,,,,214632.29*4D 2021-02-17T21:46:33.483Z,1613598393.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.600002 m, bearing: 86.781733 deg, deltaT: 4.463664 s, approachRate: -0.658651 m/s, LOS rate: 0.184998 deg/s, posRepo size: 4 2021-02-17T21:46:33.483Z,1613598393.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.60 m. 2021-02-17T21:46:33.484Z,1613598393.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.60 m. 2021-02-17T21:46:33.484Z,1613598393.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T21:46:33.486Z,1613598393.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.600002 m, bearing: 86.781733 deg, approachRate: -0.658651 m/s, LOS rate: 0.184998 deg/s, cmd update: 0.739993 deg/s, cmd heading: 85.244635 deg, new cmd heading: 85.096324 deg. 2021-02-17T21:46:35.847Z,1613598395.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:36.622Z,1613598396.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:37.033Z,1613598397.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:46:37.852Z,1613598397.852 [Micromodem](INFO): Nmea in: $SNTTA,0.022627,0.033870,,,214636.71*50 2021-02-17T21:46:37.890Z,1613598397.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.719997 m, bearing: 86.604224 deg, deltaT: 4.448212 s, approachRate: -0.647452 m/s, LOS rate: -0.039906 deg/s, posRepo size: 4 2021-02-17T21:46:37.892Z,1613598397.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.719997 m, bearing: 86.604224 deg, approachRate: -0.647452 m/s, LOS rate: -0.039906 deg/s, cmd update: -0.159623 deg/s, cmd heading: 88.553573 deg, new cmd heading: 88.855841 deg. 2021-02-17T21:46:40.296Z,1613598400.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:41.093Z,1613598401.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:41.479Z,1613598401.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:46:42.304Z,1613598402.304 [Micromodem](INFO): Nmea in: $SNTTA,0.020582,,,,214641.18*40 2021-02-17T21:46:42.338Z,1613598402.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.659998 m, bearing: 85.620806 deg, deltaT: 4.424686 s, approachRate: -0.691574 m/s, LOS rate: -0.222257 deg/s, posRepo size: 4 2021-02-17T21:46:42.340Z,1613598402.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.659998 m, bearing: 85.620806 deg, approachRate: -0.691574 m/s, LOS rate: -0.222257 deg/s, cmd update: -0.889028 deg/s, cmd heading: 87.847928 deg, new cmd heading: 87.778316 deg. 2021-02-17T21:46:44.716Z,1613598404.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:45.508Z,1613598405.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:45.914Z,1613598405.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:46:46.736Z,1613598406.736 [Micromodem](INFO): Nmea in: $SNTTA,0.018432,,,,214645.59*40 2021-02-17T21:46:46.763Z,1613598406.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.420002 m, bearing: 86.337689 deg, deltaT: 4.444406 s, approachRate: -0.729005 m/s, LOS rate: 0.161300 deg/s, posRepo size: 4 2021-02-17T21:46:46.765Z,1613598406.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.420002 m, bearing: 86.337689 deg, approachRate: -0.729005 m/s, LOS rate: 0.161300 deg/s, cmd update: 0.645200 deg/s, cmd heading: 83.893149 deg, new cmd heading: 83.527385 deg. 2021-02-17T21:46:49.250Z,1613598409.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:49.975Z,1613598409.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:50.363Z,1613598410.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:46:51.212Z,1613598411.212 [Micromodem](INFO): Nmea in: $SNTTA,0.016883,,,0.070138,214650.06*55 2021-02-17T21:46:51.265Z,1613598411.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.140001 m, bearing: 86.730500 deg, deltaT: 4.429639 s, approachRate: -0.514715 m/s, LOS rate: 0.088678 deg/s, posRepo size: 4 2021-02-17T21:46:51.268Z,1613598411.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.140001 m, bearing: 86.730500 deg, approachRate: -0.514715 m/s, LOS rate: 0.088678 deg/s, cmd update: 0.354712 deg/s, cmd heading: 86.750943 deg, new cmd heading: 87.064126 deg. 2021-02-17T21:46:53.605Z,1613598413.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:54.396Z,1613598414.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:54.810Z,1613598414.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:46:55.624Z,1613598415.624 [Micromodem](INFO): Nmea in: $SNTTA,0.014668,,,,214654.48*41 2021-02-17T21:46:55.668Z,1613598415.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.779999 m, bearing: 86.355810 deg, deltaT: 4.518197 s, approachRate: -0.743660 m/s, LOS rate: -0.082929 deg/s, posRepo size: 4 2021-02-17T21:46:55.670Z,1613598415.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.779999 m, bearing: 86.355810 deg, approachRate: -0.743660 m/s, LOS rate: -0.082929 deg/s, cmd update: -0.331717 deg/s, cmd heading: 88.352279 deg, new cmd heading: 88.484566 deg. 2021-02-17T21:46:58.093Z,1613598418.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:46:58.844Z,1613598418.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:46:59.287Z,1613598419.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:00.096Z,1613598420.096 [Micromodem](INFO): Nmea in: $SNTTA,0.012701,,0.038382,,214658.93*5F 2021-02-17T21:47:00.121Z,1613598420.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.840000 m, bearing: 86.112020 deg, deltaT: 4.383996 s, approachRate: -0.670621 m/s, LOS rate: -0.055609 deg/s, posRepo size: 4 2021-02-17T21:47:00.143Z,1613598420.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.840000 m, bearing: 86.112020 deg, approachRate: -0.670621 m/s, LOS rate: -0.055609 deg/s, cmd update: -0.222436 deg/s, cmd heading: 86.898026 deg, new cmd heading: 86.751291 deg. 2021-02-17T21:47:02.512Z,1613598422.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:47:03.290Z,1613598423.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:47:03.697Z,1613598423.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:04.527Z,1613598424.527 [Micromodem](INFO): Nmea in: $SNTTA,0.010841,,,,214703.38*44 2021-02-17T21:47:04.552Z,1613598424.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.019999 m, bearing: 85.232729 deg, deltaT: 4.452004 s, approachRate: -0.633423 m/s, LOS rate: -0.197505 deg/s, posRepo size: 4 2021-02-17T21:47:04.554Z,1613598424.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.019999 m, bearing: 85.232729 deg, approachRate: -0.633423 m/s, LOS rate: -0.197505 deg/s, cmd update: -0.790018 deg/s, cmd heading: 85.906844 deg, new cmd heading: 85.814022 deg. 2021-02-17T21:47:06.958Z,1613598426.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:47:07.733Z,1613598427.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:47:08.134Z,1613598428.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:08.960Z,1613598428.960 [Micromodem](INFO): Nmea in: $SNTTA,0.008991,,,,214707.82*44 2021-02-17T21:47:09.001Z,1613598429.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.260000 m, bearing: 84.704652 deg, deltaT: 4.455373 s, approachRate: -0.619476 m/s, LOS rate: -0.118526 deg/s, posRepo size: 4 2021-02-17T21:47:09.005Z,1613598429.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.260000 m, bearing: 84.704652 deg, approachRate: -0.619476 m/s, LOS rate: -0.118526 deg/s, cmd update: -0.474103 deg/s, cmd heading: 82.390205 deg, new cmd heading: 82.062003 deg. 2021-02-17T21:47:11.418Z,1613598431.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:47:12.207Z,1613598432.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:47:12.578Z,1613598432.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:13.412Z,1613598433.412 [Micromodem](INFO): Nmea in: $SNTTA,0.006961,,,,214712.29*40 2021-02-17T21:47:13.477Z,1613598433.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.200003 m, bearing: 87.090649 deg, deltaT: 4.404312 s, approachRate: -0.694773 m/s, LOS rate: 0.541741 deg/s, posRepo size: 4 2021-02-17T21:47:13.479Z,1613598433.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.200003 m, bearing: 87.090649 deg, approachRate: -0.694773 m/s, LOS rate: 0.541741 deg/s, cmd update: 2.166964 deg/s, cmd heading: 80.300205 deg, new cmd heading: 80.071369 deg. 2021-02-17T21:47:15.823Z,1613598435.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:47:16.617Z,1613598436.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:47:17.037Z,1613598437.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:17.844Z,1613598437.844 [Micromodem](INFO): Nmea in: $SNTTA,0.005325,,,,214716.70*41 2021-02-17T21:47:17.886Z,1613598437.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.740000 m, bearing: 83.114584 deg, deltaT: 4.492726 s, approachRate: -0.547552 m/s, LOS rate: -0.885001 deg/s, posRepo size: 4 2021-02-17T21:47:17.892Z,1613598437.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.740000 m, bearing: 83.114584 deg, approachRate: -0.547552 m/s, LOS rate: -0.885001 deg/s, cmd update: -3.540002 deg/s, cmd heading: 90.023743 deg, new cmd heading: 90.900247 deg. 2021-02-17T21:47:20.288Z,1613598440.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:47:21.090Z,1613598441.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:47:21.472Z,1613598441.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:22.302Z,1613598442.302 [Micromodem](INFO): Nmea in: $SNTTA,0.003734,,,,214721.17*46 2021-02-17T21:47:22.336Z,1613598442.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.399999 m, bearing: 80.476827 deg, deltaT: 4.407734 s, approachRate: -0.530885 m/s, LOS rate: -0.598438 deg/s, posRepo size: 4 2021-02-17T21:47:22.338Z,1613598442.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.399999 m, bearing: 80.476827 deg, approachRate: -0.530885 m/s, LOS rate: -0.598438 deg/s, cmd update: -2.393754 deg/s, cmd heading: 74.401112 deg, new cmd heading: 72.838247 deg. 2021-02-17T21:47:24.725Z,1613598444.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:47:25.500Z,1613598445.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:47:25.914Z,1613598445.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:26.728Z,1613598446.728 [Micromodem](INFO): Nmea in: $SNTTA,0.002954,,,,214725.58*40 2021-02-17T21:47:26.764Z,1613598446.764 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T21:47:26.764Z,1613598446.764 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T21:47:26.764Z,1613598446.764 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T21:47:26.764Z,1613598446.764 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T21:47:26.764Z,1613598446.764 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T21:47:26.764Z,1613598446.764 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.559999 m 2021-02-17T21:47:26.765Z,1613598446.765 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T21:47:26.765Z,1613598446.765 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T21:47:26.765Z,1613598446.765 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T21:47:26.767Z,1613598446.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 84.644431 deg, deltaT: 4.466093 s, approachRate: -0.188084 m/s, LOS rate: 0.933166 deg/s, posRepo size: 4 2021-02-17T21:47:26.769Z,1613598446.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.559999 m, bearing: 84.644431 deg, approachRate: -0.188084 m/s, LOS rate: 0.933166 deg/s, cmd update: 3.732662 deg/s, cmd heading: 63.710021 deg, new cmd heading: 62.737757 deg. 2021-02-17T21:47:27.207Z,1613598447.207 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T214727: (41.552319, -70.708603) 2021-02-17T21:47:27.208Z,1613598447.208 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T21:47:27.208Z,1613598447.208 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T21:47:27.208Z,1613598447.208 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T21:47:27.208Z,1613598447.208 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T21:47:27.208Z,1613598447.208 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T21:47:27.208Z,1613598447.208 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T21:47:27.208Z,1613598447.208 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T21:47:27.208Z,1613598447.208 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T21:47:29.235Z,1613598449.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:47:29.944Z,1613598449.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:47:30.355Z,1613598450.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:31.188Z,1613598451.188 [Micromodem](INFO): Nmea in: $SNTTA,0.004751,,,,214730.03*47 2021-02-17T21:47:31.247Z,1613598451.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.220001 m, bearing: 59.637414 deg, deltaT: 4.410679 s, approachRate: 0.149637 m/s, LOS rate: -5.669653 deg/s, posRepo size: 4 2021-02-17T21:47:31.249Z,1613598451.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.220001 m, bearing: 59.637414 deg, approachRate: 0.149637 m/s, LOS rate: -5.669653 deg/s, cmd update: -12.000000 deg/s, cmd heading: 80.155477 deg, new cmd heading: 81.947420 deg. 2021-02-17T21:47:33.607Z,1613598453.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:47:34.389Z,1613598454.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:47:34.795Z,1613598454.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:35.624Z,1613598455.624 [Micromodem](INFO): Nmea in: $SNTTA,0.005751,0.016131,,,214734.47*58 2021-02-17T21:47:35.646Z,1613598455.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.699999 m, bearing: 66.577269 deg, deltaT: 4.623423 s, approachRate: 0.752689 m/s, LOS rate: 1.501021 deg/s, posRepo size: 4 2021-02-17T21:47:35.648Z,1613598455.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.699999 m, bearing: 66.577269 deg, approachRate: 0.752689 m/s, LOS rate: 1.501021 deg/s, cmd update: 6.004084 deg/s, cmd heading: 24.618840 deg, new cmd heading: 21.605424 deg. 2021-02-17T21:47:38.089Z,1613598458.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:47:38.837Z,1613598458.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:47:39.250Z,1613598459.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:40.090Z,1613598460.090 [Micromodem](INFO): Nmea in: $SNTTA,0.007258,,,,214738.92*48 2021-02-17T21:47:40.114Z,1613598460.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.859999 m, bearing: 70.658785 deg, deltaT: 4.259631 s, approachRate: 0.507086 m/s, LOS rate: 0.958185 deg/s, posRepo size: 4 2021-02-17T21:47:40.116Z,1613598460.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.859999 m, bearing: 70.658785 deg, approachRate: 0.507086 m/s, LOS rate: 0.958185 deg/s, cmd update: 3.832741 deg/s, cmd heading: 50.194670 deg, new cmd heading: 52.952700 deg. 2021-02-17T21:47:42.500Z,1613598462.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:47:43.282Z,1613598463.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:47:43.682Z,1613598463.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:44.508Z,1613598464.508 [Micromodem](INFO): Nmea in: $SNTTA,0.008713,,0.039128,,214743.37*51 2021-02-17T21:47:44.554Z,1613598464.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.139999 m, bearing: 62.320668 deg, deltaT: 4.478894 s, approachRate: 0.509054 m/s, LOS rate: -1.861647 deg/s, posRepo size: 4 2021-02-17T21:47:44.556Z,1613598464.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.139999 m, bearing: 62.320668 deg, approachRate: 0.509054 m/s, LOS rate: -1.861647 deg/s, cmd update: -7.446586 deg/s, cmd heading: 67.361090 deg, new cmd heading: 68.973597 deg. 2021-02-17T21:47:46.933Z,1613598466.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:47:47.725Z,1613598467.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:47:48.174Z,1613598468.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:48.952Z,1613598468.952 [Micromodem](INFO): Nmea in: $SNTTA,0.009889,,,,214747.81*4A 2021-02-17T21:47:48.997Z,1613598468.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.779997 m, bearing: 51.539825 deg, deltaT: 4.408339 s, approachRate: 0.598864 m/s, LOS rate: -2.445556 deg/s, posRepo size: 4 2021-02-17T21:47:48.997Z,1613598468.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.78 m. Rolling out. 2021-02-17T21:47:48.997Z,1613598468.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T21:47:51.414Z,1613598471.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:47:52.200Z,1613598472.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:47:52.575Z,1613598472.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:53.405Z,1613598473.405 [Micromodem](INFO): Nmea in: $SNTTA,0.011703,,,,214752.28*49 2021-02-17T21:47:53.461Z,1613598473.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.420000 m, bearing: 61.262535 deg, deltaT: 4.449865 s, approachRate: 0.593277 m/s, LOS rate: 2.184945 deg/s, posRepo size: 4 2021-02-17T21:47:55.831Z,1613598475.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:47:56.614Z,1613598476.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:47:57.030Z,1613598477.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:47:57.840Z,1613598477.840 [Micromodem](INFO): Nmea in: $SNTTA,0.013312,,,,214756.70*46 2021-02-17T21:47:57.878Z,1613598477.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.700001 m, bearing: 26.617705 deg, deltaT: 4.489581 s, approachRate: 0.507843 m/s, LOS rate: -7.716718 deg/s, posRepo size: 4 2021-02-17T21:48:00.289Z,1613598480.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:01.070Z,1613598481.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:01.458Z,1613598481.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:48:02.292Z,1613598482.292 [Micromodem](INFO): Nmea in: $SNTTA,0.015820,,,,214801.16*47 2021-02-17T21:48:02.358Z,1613598482.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.819998 m, bearing: 358.707656 deg, deltaT: 4.394032 s, approachRate: 0.710053 m/s, LOS rate: -6.351810 deg/s, posRepo size: 4 2021-02-17T21:48:03.892Z,1613598483.892 [PowerOnly](INFO): Powering down loadControl 2021-02-17T21:48:04.736Z,1613598484.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:05.501Z,1613598485.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:05.921Z,1613598485.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:48:06.728Z,1613598486.728 [Micromodem](INFO): Nmea in: $SNTTA,0.016744,,,,214805.59*46 2021-02-17T21:48:06.766Z,1613598486.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.259996 m, bearing: 47.789956 deg, deltaT: 4.487099 s, approachRate: 0.320920 m/s, LOS rate: 10.938538 deg/s, posRepo size: 4 2021-02-17T21:48:09.208Z,1613598489.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:09.946Z,1613598489.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:10.345Z,1613598490.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:48:11.189Z,1613598491.189 [Micromodem](INFO): Nmea in: $SNTTA,0.018619,,0.025956,,214810.03*59 2021-02-17T21:48:11.259Z,1613598491.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.079998 m, bearing: 349.391415 deg, deltaT: 4.399321 s, approachRate: 0.641008 m/s, LOS rate: -13.274445 deg/s, posRepo size: 4 2021-02-17T21:48:13.590Z,1613598493.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:14.401Z,1613598494.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:14.797Z,1613598494.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:48:15.624Z,1613598495.624 [Micromodem](INFO): Nmea in: $SNTTA,0.020563,,,,214814.49*45 2021-02-17T21:48:15.665Z,1613598495.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.659998 m, bearing: 0.036396 deg, deltaT: 4.496439 s, approachRate: 0.573787 m/s, LOS rate: 2.367424 deg/s, posRepo size: 4 2021-02-17T21:48:18.039Z,1613598498.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:18.829Z,1613598498.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:19.247Z,1613598499.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:48:20.085Z,1613598500.085 [Micromodem](INFO): Nmea in: $SNTTA,0.022391,,,,214818.91*45 2021-02-17T21:48:20.140Z,1613598500.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.779999 m, bearing: 5.142454 deg, deltaT: 4.412971 s, approachRate: 0.707007 m/s, LOS rate: 1.157057 deg/s, posRepo size: 4 2021-02-17T21:48:22.504Z,1613598502.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:23.294Z,1613598503.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:23.683Z,1613598503.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:48:24.515Z,1613598504.515 [Micromodem](INFO): Nmea in: $SNTTA,0.023947,,,,214823.38*4E 2021-02-17T21:48:24.539Z,1613598504.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.360001 m, bearing: 9.675655 deg, deltaT: 4.446714 s, approachRate: 0.580204 m/s, LOS rate: 1.019450 deg/s, posRepo size: 4 2021-02-17T21:48:26.928Z,1613598506.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:27.716Z,1613598507.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:28.123Z,1613598508.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:48:28.947Z,1613598508.947 [Micromodem](INFO): Nmea in: $SNTTA,0.025755,,,,214827.80*42 2021-02-17T21:48:28.966Z,1613598508.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.760002 m, bearing: 57.876257 deg, deltaT: 4.449925 s, approachRate: 0.539335 m/s, LOS rate: 10.831778 deg/s, posRepo size: 4 2021-02-17T21:48:31.415Z,1613598511.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:32.187Z,1613598512.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:32.583Z,1613598512.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:48:33.400Z,1613598513.400 [Micromodem](INFO): Nmea in: $SNTTA,0.027698,,,,214832.27*49 2021-02-17T21:48:33.472Z,1613598513.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.700001 m, bearing: 10.677533 deg, deltaT: 4.414079 s, approachRate: 0.666050 m/s, LOS rate: -10.692769 deg/s, posRepo size: 4 2021-02-17T21:48:35.811Z,1613598515.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:36.610Z,1613598516.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:37.019Z,1613598517.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:48:37.840Z,1613598517.840 [Micromodem](INFO): Nmea in: $SNTTA,0.029467,0.064967,,,214836.69*5F 2021-02-17T21:48:37.862Z,1613598517.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.520000 m, bearing: 24.080792 deg, deltaT: 4.497025 s, approachRate: 0.627081 m/s, LOS rate: 2.980472 deg/s, posRepo size: 4 2021-02-17T21:48:40.297Z,1613598520.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:41.090Z,1613598521.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:41.458Z,1613598521.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:48:42.290Z,1613598522.290 [Micromodem](INFO): Nmea in: $SNTTA,0.031796,,0.055823,,214841.17*51 2021-02-17T21:48:42.373Z,1613598522.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.060001 m, bearing: 25.959075 deg, deltaT: 4.395197 s, approachRate: 0.805425 m/s, LOS rate: 0.427349 deg/s, posRepo size: 4 2021-02-17T21:48:44.710Z,1613598524.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:45.506Z,1613598525.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:45.898Z,1613598525.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:48:46.732Z,1613598526.732 [Micromodem](INFO): Nmea in: $SNTTA,0.033630,0.048156,,,214845.59*57 2021-02-17T21:48:46.774Z,1613598526.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.580002 m, bearing: 18.881576 deg, deltaT: 4.475225 s, approachRate: 0.563100 m/s, LOS rate: -1.581484 deg/s, posRepo size: 4 2021-02-17T21:48:49.222Z,1613598529.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:49.938Z,1613598529.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:50.342Z,1613598530.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:48:51.173Z,1613598531.173 [Micromodem](INFO): Nmea in: $SNTTA,0.035548,,0.063479,,214850.02*56 2021-02-17T21:48:51.241Z,1613598531.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.579998 m, bearing: 24.841962 deg, deltaT: 4.409829 s, approachRate: 0.680298 m/s, LOS rate: 1.351614 deg/s, posRepo size: 4 2021-02-17T21:48:53.598Z,1613598533.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:54.385Z,1613598534.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:54.804Z,1613598534.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:48:55.648Z,1613598535.648 [Micromodem](INFO): Nmea in: $SNTTA,0.037624,,,,214854.47*49 2021-02-17T21:48:55.663Z,1613598535.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.640007 m, bearing: 26.170450 deg, deltaT: 4.557696 s, approachRate: 0.671394 m/s, LOS rate: 0.291483 deg/s, posRepo size: 4 2021-02-17T21:48:58.037Z,1613598538.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:48:58.829Z,1613598538.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:48:59.247Z,1613598539.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:00.075Z,1613598540.075 [Micromodem](INFO): Nmea in: $SNTTA,0.039302,,,,214858.91*41 2021-02-17T21:49:00.116Z,1613598540.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.220001 m, bearing: 21.337588 deg, deltaT: 4.331628 s, approachRate: 0.595618 m/s, LOS rate: -1.115715 deg/s, posRepo size: 4 2021-02-17T21:49:02.526Z,1613598542.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:49:03.269Z,1613598543.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:49:03.674Z,1613598543.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:04.504Z,1613598544.504 [Micromodem](INFO): Nmea in: $SNTTA,0.041233,,,,214903.35*4C 2021-02-17T21:49:04.549Z,1613598544.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.039997 m, bearing: 22.598915 deg, deltaT: 4.486281 s, approachRate: 0.628582 m/s, LOS rate: 0.281152 deg/s, posRepo size: 4 2021-02-17T21:49:06.929Z,1613598546.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:49:07.714Z,1613598547.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:49:08.127Z,1613598548.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:08.956Z,1613598548.956 [Micromodem](INFO): Nmea in: $SNTTA,0.043350,,,,214907.80*40 2021-02-17T21:49:09.014Z,1613598549.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.280006 m, bearing: 31.213814 deg, deltaT: 4.586932 s, approachRate: 0.706357 m/s, LOS rate: 1.878140 deg/s, posRepo size: 4 2021-02-17T21:49:11.394Z,1613598551.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:49:12.169Z,1613598552.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:49:12.562Z,1613598552.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:13.392Z,1613598553.392 [Micromodem](INFO): Nmea in: $SNTTA,0.045274,,,,214912.26*49 2021-02-17T21:49:13.443Z,1613598553.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.279999 m, bearing: 33.869061 deg, deltaT: 4.272655 s, approachRate: 0.702138 m/s, LOS rate: 0.621451 deg/s, posRepo size: 4 2021-02-17T21:49:15.814Z,1613598555.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:49:16.606Z,1613598556.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:49:17.014Z,1613598557.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:17.832Z,1613598557.832 [Micromodem](INFO): Nmea in: $SNTTA,0.047288,,,,214916.69*47 2021-02-17T21:49:17.867Z,1613598557.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.100006 m, bearing: 22.952243 deg, deltaT: 4.460370 s, approachRate: 0.632236 m/s, LOS rate: -2.447514 deg/s, posRepo size: 4 2021-02-17T21:49:20.276Z,1613598560.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:49:21.083Z,1613598561.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:49:21.451Z,1613598561.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:22.324Z,1613598562.324 [Micromodem](INFO): Nmea in: $SNTTA,0.049102,,,,214921.17*45 2021-02-17T21:49:22.382Z,1613598562.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.980011 m, bearing: 29.486562 deg, deltaT: 4.538530 s, approachRate: 0.634568 m/s, LOS rate: 1.439743 deg/s, posRepo size: 4 2021-02-17T21:49:24.711Z,1613598564.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:49:25.489Z,1613598565.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:49:25.901Z,1613598565.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:26.716Z,1613598566.716 [Micromodem](INFO): Nmea in: $SNTTA,0.051452,,,,214925.57*4C 2021-02-17T21:49:26.757Z,1613598566.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.280006 m, bearing: 19.424759 deg, deltaT: 4.350535 s, approachRate: 0.758526 m/s, LOS rate: -2.312774 deg/s, posRepo size: 4 2021-02-17T21:49:29.154Z,1613598569.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:49:29.933Z,1613598569.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:49:30.356Z,1613598570.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:31.177Z,1613598571.177 [Micromodem](INFO): Nmea in: $SNTTA,0.053348,,,,214930.02*46 2021-02-17T21:49:31.239Z,1613598571.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.160004 m, bearing: 20.452547 deg, deltaT: 4.412914 s, approachRate: 0.652629 m/s, LOS rate: 0.232905 deg/s, posRepo size: 4 2021-02-17T21:49:33.276Z,1613598573.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:49:33.980Z,1613598573.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:49:34.403Z,1613598574.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:35.224Z,1613598575.224 [Micromodem](INFO): Nmea in: $SNTTA,0.055228,,,,214934.07*46 2021-02-17T21:49:35.272Z,1613598575.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.099998 m, bearing: 26.544393 deg, deltaT: 4.038671 s, approachRate: 0.727961 m/s, LOS rate: 1.508379 deg/s, posRepo size: 4 2021-02-17T21:49:37.644Z,1613598577.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:49:38.426Z,1613598578.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:49:38.835Z,1613598578.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:39.652Z,1613598579.652 [Micromodem](INFO): Nmea in: $SNTTA,0.057426,,,,214938.51*43 2021-02-17T21:49:39.855Z,1613598579.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 29.116031 deg, deltaT: 4.494962 s, approachRate: 0.720808 m/s, LOS rate: 0.572116 deg/s, posRepo size: 4 2021-02-17T21:49:42.108Z,1613598582.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:49:42.865Z,1613598582.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:49:43.280Z,1613598583.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:44.111Z,1613598584.111 [Micromodem](INFO): Nmea in: $SNTTA,0.059095,,,,214942.95*44 2021-02-17T21:49:44.140Z,1613598584.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.980003 m, bearing: 31.647910 deg, deltaT: 4.392271 s, approachRate: 0.601056 m/s, LOS rate: 0.576440 deg/s, posRepo size: 4 2021-02-17T21:49:46.534Z,1613598586.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:49:47.305Z,1613598587.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:49:47.718Z,1613598587.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:48.548Z,1613598588.548 [Micromodem](INFO): Nmea in: $SNTTA,0.061179,,,,214947.39*4F 2021-02-17T21:49:48.573Z,1613598588.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.920006 m, bearing: 35.421740 deg, deltaT: 4.475109 s, approachRate: 0.656968 m/s, LOS rate: 0.843293 deg/s, posRepo size: 4 2021-02-17T21:49:50.965Z,1613598590.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:49:51.749Z,1613598591.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:49:52.165Z,1613598592.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:52.983Z,1613598592.983 [Micromodem](INFO): Nmea in: $SNTTA,0.063050,,,,214951.83*41 2021-02-17T21:49:53.002Z,1613598593.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.680000 m, bearing: 28.995003 deg, deltaT: 4.436145 s, approachRate: 0.622161 m/s, LOS rate: -1.448721 deg/s, posRepo size: 4 2021-02-17T21:49:55.426Z,1613598595.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:49:56.211Z,1613598596.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:49:56.598Z,1613598596.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:49:57.439Z,1613598597.439 [Micromodem](INFO): Nmea in: $SNTTA,0.065258,,,,214956.30*42 2021-02-17T21:49:57.473Z,1613598597.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.980003 m, bearing: 24.686996 deg, deltaT: 4.435922 s, approachRate: 0.743927 m/s, LOS rate: -0.971164 deg/s, posRepo size: 4 2021-02-17T21:49:59.849Z,1613598599.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:00.641Z,1613598600.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:01.075Z,1613598601.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:01.940Z,1613598601.940 [Micromodem](INFO): Nmea in: $SNTTA,0.067110,,,,215000.72*42 2021-02-17T21:50:01.962Z,1613598601.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.860001 m, bearing: 29.438969 deg, deltaT: 4.455542 s, approachRate: 0.646385 m/s, LOS rate: 1.066531 deg/s, posRepo size: 4 2021-02-17T21:50:04.335Z,1613598604.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:05.098Z,1613598605.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:05.501Z,1613598605.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:06.320Z,1613598606.320 [Micromodem](INFO): Nmea in: $SNTTA,0.069107,,,,215005.18*43 2021-02-17T21:50:06.373Z,1613598606.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.739998 m, bearing: 32.167705 deg, deltaT: 4.430502 s, approachRate: 0.650039 m/s, LOS rate: 0.615898 deg/s, posRepo size: 4 2021-02-17T21:50:08.740Z,1613598608.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:09.537Z,1613598609.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:09.968Z,1613598609.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:10.760Z,1613598610.760 [Micromodem](INFO): Nmea in: $SNTTA,0.071290,,,,215009.62*46 2021-02-17T21:50:10.798Z,1613598610.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.980003 m, bearing: 29.863554 deg, deltaT: 4.478116 s, approachRate: 0.723520 m/s, LOS rate: -0.514536 deg/s, posRepo size: 4 2021-02-17T21:50:13.248Z,1613598613.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:13.973Z,1613598613.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:14.403Z,1613598614.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:15.292Z,1613598615.292 [Micromodem](INFO): Nmea in: $SNTTA,0.073367,,,,215014.06*43 2021-02-17T21:50:15.334Z,1613598615.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.220001 m, bearing: 31.058578 deg, deltaT: 4.407820 s, approachRate: 0.735057 m/s, LOS rate: 0.271114 deg/s, posRepo size: 4 2021-02-17T21:50:17.624Z,1613598617.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:18.416Z,1613598618.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:18.829Z,1613598618.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:19.662Z,1613598619.662 [Micromodem](INFO): Nmea in: $SNTTA,0.075250,,,,215018.50*4F 2021-02-17T21:50:19.686Z,1613598619.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.040001 m, bearing: 40.009093 deg, deltaT: 4.486170 s, approachRate: 0.628599 m/s, LOS rate: 1.995135 deg/s, posRepo size: 4 2021-02-17T21:50:22.116Z,1613598622.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:22.866Z,1613598622.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:23.273Z,1613598623.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:24.125Z,1613598624.125 [Micromodem](INFO): Nmea in: $SNTTA,0.077250,,,,215022.95*4D 2021-02-17T21:50:24.134Z,1613598624.134 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T21:50:24.214Z,1613598624.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.040009 m, bearing: 35.454853 deg, deltaT: 4.401391 s, approachRate: 0.681604 m/s, LOS rate: -1.034728 deg/s, posRepo size: 4 2021-02-17T21:50:26.522Z,1613598626.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:27.310Z,1613598627.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:27.716Z,1613598627.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:28.600Z,1613598628.600 [Micromodem](INFO): Nmea in: $SNTTA,0.079496,,,,215027.39*4C 2021-02-17T21:50:28.641Z,1613598628.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.579994 m, bearing: 30.811704 deg, deltaT: 4.447008 s, approachRate: 0.796038 m/s, LOS rate: -1.044106 deg/s, posRepo size: 4 2021-02-17T21:50:30.955Z,1613598630.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:31.758Z,1613598631.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:32.183Z,1613598632.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:32.980Z,1613598632.980 [Micromodem](INFO): Nmea in: $SNTTA,0.081401,,,,215031.84*44 2021-02-17T21:50:33.025Z,1613598633.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.279999 m, bearing: 39.413200 deg, deltaT: 4.468439 s, approachRate: 0.604239 m/s, LOS rate: 1.924944 deg/s, posRepo size: 4 2021-02-17T21:50:35.429Z,1613598635.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:36.210Z,1613598636.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:36.599Z,1613598636.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:37.428Z,1613598637.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215036.29*56 2021-02-17T21:50:37.466Z,1613598637.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.060005 m, bearing: 34.026107 deg, deltaT: 4.484364 s, approachRate: 0.842930 m/s, LOS rate: -1.201306 deg/s, posRepo size: 4 2021-02-17T21:50:39.858Z,1613598639.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:40.637Z,1613598640.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:41.082Z,1613598641.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:41.928Z,1613598641.928 [Micromodem](INFO): Nmea in: $SNTTA,0.085486,,,,215040.72*40 2021-02-17T21:50:41.943Z,1613598641.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.400009 m, bearing: 34.215488 deg, deltaT: 4.408560 s, approachRate: 0.530786 m/s, LOS rate: 0.042957 deg/s, posRepo size: 4 2021-02-17T21:50:44.311Z,1613598644.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:45.094Z,1613598645.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:45.487Z,1613598645.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:46.316Z,1613598646.316 [Micromodem](INFO): Nmea in: $SNTTA,0.087668,,,,215045.18*49 2021-02-17T21:50:46.388Z,1613598646.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.639999 m, bearing: 36.448167 deg, deltaT: 4.412616 s, approachRate: 0.734256 m/s, LOS rate: 0.505976 deg/s, posRepo size: 4 2021-02-17T21:50:48.733Z,1613598648.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:49.532Z,1613598649.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:49.950Z,1613598649.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:50.767Z,1613598650.767 [Micromodem](INFO): Nmea in: $SNTTA,0.089671,,,,215049.61*4D 2021-02-17T21:50:50.786Z,1613598650.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.639999 m, bearing: 38.866676 deg, deltaT: 4.469976 s, approachRate: 0.671145 m/s, LOS rate: 0.541056 deg/s, posRepo size: 4 2021-02-17T21:50:53.229Z,1613598653.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:53.969Z,1613598653.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:54.392Z,1613598654.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:55.300Z,1613598655.300 [Micromodem](INFO): Nmea in: $SNTTA,0.091763,,,,215054.11*4D 2021-02-17T21:50:55.329Z,1613598655.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.639999 m, bearing: 38.437665 deg, deltaT: 4.433939 s, approachRate: 0.000000 m/s, LOS rate: -0.096756 deg/s, posRepo size: 4 2021-02-17T21:50:57.659Z,1613598657.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:50:58.413Z,1613598658.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:50:58.820Z,1613598658.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:50:59.644Z,1613598659.644 [Micromodem](INFO): Nmea in: $SNTTA,0.093787,,,,215058.50*4C 2021-02-17T21:50:59.666Z,1613598659.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.820007 m, bearing: 35.191846 deg, deltaT: 4.474659 s, approachRate: 1.381113 m/s, LOS rate: -0.725378 deg/s, posRepo size: 4 2021-02-17T21:51:02.112Z,1613598662.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:02.858Z,1613598662.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:51:03.279Z,1613598663.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:51:04.104Z,1613598664.104 [Micromodem](INFO): Nmea in: $SNTTA,0.095744,,,,215102.94*43 2021-02-17T21:51:04.128Z,1613598664.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.759995 m, bearing: 39.457856 deg, deltaT: 4.402155 s, approachRate: 0.667852 m/s, LOS rate: 0.969073 deg/s, posRepo size: 4 2021-02-17T21:51:06.538Z,1613598666.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:07.306Z,1613598667.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:51:07.706Z,1613598667.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:51:08.597Z,1613598668.597 [Micromodem](INFO): Nmea in: $SNTTA,0.097838,,,,215107.39*47 2021-02-17T21:51:08.632Z,1613598668.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.880005 m, bearing: 36.053382 deg, deltaT: 4.466891 s, approachRate: 0.698475 m/s, LOS rate: -0.762157 deg/s, posRepo size: 4 2021-02-17T21:51:10.972Z,1613598670.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:11.750Z,1613598671.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:51:12.154Z,1613598672.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:51:12.976Z,1613598672.976 [Micromodem](INFO): Nmea in: $SNTTA,0.099797,,,,215111.83*45 2021-02-17T21:51:12.998Z,1613598672.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.880005 m, bearing: 46.257661 deg, deltaT: 4.443321 s, approachRate: 0.675171 m/s, LOS rate: 2.296543 deg/s, posRepo size: 4 2021-02-17T21:51:15.429Z,1613598675.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:16.209Z,1613598676.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:51:16.594Z,1613598676.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:51:17.432Z,1613598677.432 [Micromodem](INFO): Nmea in: $SNTTA,0.102062,,,,215116.29*4C 2021-02-17T21:51:17.480Z,1613598677.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.880005 m, bearing: 43.575514 deg, deltaT: 4.436436 s, approachRate: 0.000000 m/s, LOS rate: -0.604572 deg/s, posRepo size: 4 2021-02-17T21:51:19.855Z,1613598679.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:20.634Z,1613598680.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:51:21.065Z,1613598681.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:51:21.936Z,1613598681.936 [Micromodem](INFO): Nmea in: $SNTTA,0.103998,,,,215120.76*4E 2021-02-17T21:51:22.320Z,1613598682.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.119995 m, bearing: 39.229895 deg, deltaT: 4.918020 s, approachRate: 1.268801 m/s, LOS rate: -0.883611 deg/s, posRepo size: 4 2021-02-17T21:51:22.320Z,1613598682.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 156.12 m. Resuming terminal guidance. 2021-02-17T21:51:22.320Z,1613598682.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T21:51:24.714Z,1613598684.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:25.497Z,1613598685.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:51:25.886Z,1613598685.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:51:26.707Z,1613598686.707 [Micromodem](INFO): Nmea in: $SNTTA,0.106363,,,,215125.58*4C 2021-02-17T21:51:27.549Z,1613598687.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:29.136Z,1613598689.136 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:51:30.375Z,1613598690.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:31.146Z,1613598691.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:51:31.547Z,1613598691.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:51:32.376Z,1613598692.376 [Micromodem](INFO): Nmea in: $SNTTA,0.108958,,,,215131.23*49 2021-02-17T21:51:32.434Z,1613598692.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.279999 m, bearing: 42.592148 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T21:51:32.434Z,1613598692.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 42.592148deg and heading rate command to 0 deg/s. 2021-02-17T21:51:34.798Z,1613598694.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:35.645Z,1613598695.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:51:35.994Z,1613598695.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:51:36.829Z,1613598696.829 [Micromodem](INFO): Nmea in: $SNTTA,0.111058,,,,215135.73*49 2021-02-17T21:51:37.330Z,1613598697.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:39.219Z,1613598699.219 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:51:40.090Z,1613598700.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:40.834Z,1613598700.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:51:41.238Z,1613598701.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:51:41.642Z,1613598701.642 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,DFF,000,,E4 3,186,80,80,81,FF 2021-02-17T21:51:42.088Z,1613598702.088 [Micromodem](INFO): Nmea in: $SNTTA,0.113399,,,,215140.92*48 2021-02-17T21:51:42.877Z,1613598702.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:45.702Z,1613598705.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:48.553Z,1613598708.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:49.325Z,1613598709.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:51:49.739Z,1613598709.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:51:50.602Z,1613598710.602 [Micromodem](INFO): Nmea in: $SNTTA,0.117304,,,,215149.41*4F 2021-02-17T21:51:51.398Z,1613598711.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:52.951Z,1613598712.951 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:51:54.255Z,1613598714.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:54.973Z,1613598714.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:51:55.378Z,1613598715.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:51:56.210Z,1613598716.210 [Micromodem](INFO): Nmea in: $SNTTA,0.119908,,,,215155.06*49 2021-02-17T21:51:57.032Z,1613598717.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:51:58.607Z,1613598718.607 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:51:59.850Z,1613598719.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:00.629Z,1613598720.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:52:01.042Z,1613598721.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:52:01.863Z,1613598721.863 [Micromodem](INFO): Nmea in: $SNTTA,0.122535,,,,215200.71*40 2021-02-17T21:52:02.356Z,1613598722.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:04.333Z,1613598724.333 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:52:05.189Z,1613598725.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:05.922Z,1613598725.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:52:06.303Z,1613598726.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:52:07.113Z,1613598727.113 [Micromodem](INFO): Nmea in: $SNTTA,0.125237,,,,215206.00*42 2021-02-17T21:52:07.928Z,1613598727.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:09.530Z,1613598729.530 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:52:10.752Z,1613598730.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:11.536Z,1613598731.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:52:11.952Z,1613598731.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:52:12.753Z,1613598732.753 [Micromodem](INFO): Nmea in: $SNTTA,0.127851,,,,215211.62*48 2021-02-17T21:52:13.583Z,1613598733.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:15.203Z,1613598735.203 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:52:16.463Z,1613598736.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:17.213Z,1613598737.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:52:17.598Z,1613598737.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:52:18.427Z,1613598738.427 [Micromodem](INFO): Nmea in: $SNTTA,0.130801,,,,215217.30*4A 2021-02-17T21:52:19.275Z,1613598739.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:20.827Z,1613598740.827 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:52:22.091Z,1613598742.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:22.856Z,1613598742.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:52:23.261Z,1613598743.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:52:24.092Z,1613598744.092 [Micromodem](INFO): Nmea in: $SNTTA,0.133185,,,,215222.94*44 2021-02-17T21:52:24.896Z,1613598744.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:26.483Z,1613598746.483 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:52:27.713Z,1613598747.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:28.505Z,1613598748.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:52:28.921Z,1613598748.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:52:29.741Z,1613598749.741 [Micromodem](INFO): Nmea in: $SNTTA,0.136031,,,,215228.59*44 2021-02-17T21:52:30.231Z,1613598750.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:32.162Z,1613598752.162 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:52:32.978Z,1613598752.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:33.756Z,1613598753.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:52:34.202Z,1613598754.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:52:34.990Z,1613598754.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215233.84*56 2021-02-17T21:52:35.803Z,1613598755.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:37.391Z,1613598757.391 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:52:38.636Z,1613598758.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:39.419Z,1613598759.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:52:39.828Z,1613598759.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:52:40.649Z,1613598760.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215239.50*55 2021-02-17T21:52:41.477Z,1613598761.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:42.713Z,1613598762.713 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:52:44.359Z,1613598764.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:45.115Z,1613598765.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:52:45.495Z,1613598765.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:52:46.292Z,1613598766.292 [Micromodem](INFO): Nmea in: $SNTTA,0.144271,,,,215245.20*42 2021-02-17T21:52:47.124Z,1613598767.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:48.704Z,1613598768.704 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:52:49.932Z,1613598769.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:50.724Z,1613598770.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:52:51.130Z,1613598771.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:52:51.940Z,1613598771.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215250.81*56 2021-02-17T21:52:52.780Z,1613598772.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:54.359Z,1613598774.359 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:52:55.597Z,1613598775.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:52:56.387Z,1613598776.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:52:56.812Z,1613598776.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:52:57.610Z,1613598777.610 [Micromodem](INFO): Nmea in: $SNTTA,0.149043,,,,215256.47*4F 2021-02-17T21:52:58.119Z,1613598778.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:00.020Z,1613598780.020 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:53:00.856Z,1613598780.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:01.634Z,1613598781.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:53:02.066Z,1613598782.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:53:02.849Z,1613598782.849 [Micromodem](INFO): Nmea in: $SNTTA,0.151447,,,,215301.72*43 2021-02-17T21:53:03.668Z,1613598783.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:05.276Z,1613598785.276 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:53:06.510Z,1613598786.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:07.288Z,1613598787.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:53:07.712Z,1613598787.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,2*46 2021-02-17T21:53:07.712Z,1613598787.712 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,24000,2*46 expected 42 2021-02-17T21:53:07.712Z,1613598787.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:53:07.716Z,1613598787.716 [Micromodem](INFO): Nmea in: $CATXF,400*50 2021-02-17T21:53:07.717Z,1613598787.717 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50 2021-02-17T21:53:08.101Z,1613598788.101 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,215307.377545,3,0,40,4000,14500,1,0,0,0,2,0,3,0*76 2021-02-17T21:53:08.101Z,1613598788.101 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,215307.377545,3,0,40,4000,14500,1,0,0,0,2,0,3,0*76 2021-02-17T21:53:08.103Z,1613598788.103 [Micromodem](INFO): Nmea in: $CAERR,215307,NI ,29,Busy completing a previous request*79 2021-02-17T21:53:08.103Z,1613598788.103 [Micromodem](ERROR): Got error from modem: $CAERR,215307,NI ,29,Busy completing a previous request*79 2021-02-17T21:53:08.525Z,1613598788.525 [Micromodem](INFO): Nmea in: $SNTTA,0.154091,,,,215307.37*4E 2021-02-17T21:53:08.526Z,1613598788.526 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.154091,,,,215307.37*4E 2021-02-17T21:53:09.369Z,1613598789.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:10.933Z,1613598790.933 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:53:12.217Z,1613598792.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:14.979Z,1613598794.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:17.807Z,1613598797.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:19.010Z,1613598799.010 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:53:19.410Z,1613598799.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:53:20.224Z,1613598800.224 [Micromodem](INFO): Nmea in: $SNTTA,0.159306,,,,215319.09*4C 2021-02-17T21:53:20.636Z,1613598800.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:21.430Z,1613598801.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:53:21.834Z,1613598801.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:53:22.647Z,1613598802.647 [Micromodem](INFO): Nmea in: $SNTTA,0.160217,,,,215321.51*41 2021-02-17T21:53:23.222Z,1613598803.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:25.157Z,1613598805.157 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:53:25.920Z,1613598805.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:26.685Z,1613598806.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:53:27.098Z,1613598807.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:53:27.899Z,1613598807.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215326.77*5F 2021-02-17T21:53:28.715Z,1613598808.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:30.314Z,1613598810.314 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:53:31.572Z,1613598811.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:32.338Z,1613598812.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:53:32.742Z,1613598812.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:53:33.556Z,1613598813.556 [Micromodem](INFO): Nmea in: $SNTTA,0.165494,,,,215332.42*49 2021-02-17T21:53:33.982Z,1613598813.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.659988 m, bearing: 39.198240 deg, deltaT: 121.628643 s, approachRate: 0.701973 m/s, LOS rate: -0.027904 deg/s, posRepo size: 2 2021-02-17T21:53:33.984Z,1613598813.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 249.659988 m, bearing: 39.198240 deg, approachRate: 0.701973 m/s, LOS rate: -0.027904 deg/s, cmd update: -0.111615 deg/s, cmd heading: 42.592148 deg, new cmd heading: 42.592148 deg. 2021-02-17T21:53:36.477Z,1613598816.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:37.234Z,1613598817.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:53:37.611Z,1613598817.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:53:38.486Z,1613598818.486 [Micromodem](INFO): Nmea in: $SNTTA,0.167504,,,,215337.32*41 2021-02-17T21:53:38.869Z,1613598818.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.939987 m, bearing: 64.736895 deg, deltaT: 4.952684 s, approachRate: 0.460356 m/s, LOS rate: 5.156528 deg/s, posRepo size: 3 2021-02-17T21:53:38.871Z,1613598818.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 251.939987 m, bearing: 64.736895 deg, approachRate: 0.460356 m/s, LOS rate: 5.156528 deg/s, cmd update: 12.000000 deg/s, cmd heading: 42.036657 deg, new cmd heading: 42.001786 deg. 2021-02-17T21:53:41.278Z,1613598821.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:42.036Z,1613598822.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:53:42.440Z,1613598822.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:53:43.253Z,1613598823.253 [Micromodem](INFO): Nmea in: $SNTTA,0.169708,,,,215342.12*41 2021-02-17T21:53:43.682Z,1613598823.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.699997 m, bearing: 78.778179 deg, deltaT: 4.742346 s, approachRate: 0.581993 m/s, LOS rate: 2.960831 deg/s, posRepo size: 4 2021-02-17T21:53:43.684Z,1613598823.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 254.699997 m, bearing: 78.778179 deg, approachRate: 0.581993 m/s, LOS rate: 2.960831 deg/s, cmd update: 11.843323 deg/s, cmd heading: 98.801927 deg, new cmd heading: 103.540247 deg. 2021-02-17T21:53:46.131Z,1613598826.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:46.881Z,1613598826.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:53:47.291Z,1613598827.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:53:48.106Z,1613598828.106 [Micromodem](INFO): Nmea in: $SNTTA,0.171827,,,,215346.97*43 2021-02-17T21:53:48.538Z,1613598828.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 257.819977 m, bearing: 51.706328 deg, deltaT: 4.826531 s, approachRate: 0.646423 m/s, LOS rate: -5.608967 deg/s, posRepo size: 4 2021-02-17T21:53:48.540Z,1613598828.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 257.819977 m, bearing: 51.706328 deg, approachRate: 0.646423 m/s, LOS rate: -5.608967 deg/s, cmd update: -12.000000 deg/s, cmd heading: 156.152688 deg, new cmd heading: 160.991941 deg. 2021-02-17T21:53:50.958Z,1613598830.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:51.794Z,1613598831.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:53:52.170Z,1613598832.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:53:52.971Z,1613598832.971 [Micromodem](INFO): Nmea in: $SNTTA,0.173127,,,,215351.88*40 2021-02-17T21:53:53.413Z,1613598833.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 259.739990 m, bearing: 94.680171 deg, deltaT: 4.896111 s, approachRate: 0.392151 m/s, LOS rate: 8.777138 deg/s, posRepo size: 4 2021-02-17T21:53:53.419Z,1613598833.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 259.739990 m, bearing: 94.680171 deg, approachRate: 0.392151 m/s, LOS rate: 8.777138 deg/s, cmd update: 12.000000 deg/s, cmd heading: 97.454735 deg, new cmd heading: 92.751935 deg. 2021-02-17T21:53:55.788Z,1613598835.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:53:56.582Z,1613598836.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:53:56.990Z,1613598836.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:53:57.803Z,1613598837.803 [Micromodem](INFO): Nmea in: $SNTTA,0.174121,,,,215356.66*46 2021-02-17T21:53:58.278Z,1613598838.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.239990 m, bearing: 132.403586 deg, deltaT: 4.820561 s, approachRate: 0.311167 m/s, LOS rate: 7.825524 deg/s, posRepo size: 4 2021-02-17T21:53:58.296Z,1613598838.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 261.239990 m, bearing: 132.403586 deg, approachRate: 0.311167 m/s, LOS rate: 7.825524 deg/s, cmd update: 12.000000 deg/s, cmd heading: 155.309400 deg, new cmd heading: 160.537992 deg. 2021-02-17T21:54:00.637Z,1613598840.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:54:01.434Z,1613598841.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:54:01.835Z,1613598841.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:54:02.712Z,1613598842.712 [Micromodem](INFO): Nmea in: $SNTTA,0.174948,,,,215401.52*43 2021-02-17T21:54:03.139Z,1613598843.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.379974 m, bearing: 171.736856 deg, deltaT: 4.880642 s, approachRate: 0.233573 m/s, LOS rate: 8.059036 deg/s, posRepo size: 4 2021-02-17T21:54:03.142Z,1613598843.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 262.379974 m, bearing: 171.736856 deg, approachRate: 0.233573 m/s, LOS rate: 8.059036 deg/s, cmd update: 12.000000 deg/s, cmd heading: 213.925165 deg, new cmd heading: 218.867894 deg. 2021-02-17T21:54:05.519Z,1613598845.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:54:06.292Z,1613598846.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:54:06.678Z,1613598846.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:54:07.502Z,1613598847.502 [Micromodem](INFO): Nmea in: $SNTTA,0.174678,,,,215406.38*44 2021-02-17T21:54:07.917Z,1613598847.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.959991 m, bearing: 103.694996 deg, deltaT: 4.799445 s, approachRate: -0.087507 m/s, LOS rate: -14.177027 deg/s, posRepo size: 4 2021-02-17T21:54:07.918Z,1613598847.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.177027 deg/s. Setting heading cmd to target bearing of 103.694996deg and heading rate command to 0 deg/s. 2021-02-17T21:54:10.368Z,1613598850.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:54:11.132Z,1613598851.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:54:11.531Z,1613598851.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:54:12.346Z,1613598852.346 [Micromodem](INFO): Nmea in: $SNTTA,0.174155,,,,215411.21*42 2021-02-17T21:54:12.774Z,1613598852.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.059998 m, bearing: 212.328725 deg, deltaT: 4.873603 s, approachRate: -0.184667 m/s, LOS rate: 22.290230 deg/s, posRepo size: 4 2021-02-17T21:54:12.775Z,1613598852.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.290230 deg/s. Setting heading cmd to target bearing of 212.328725deg and heading rate command to 0 deg/s. 2021-02-17T21:54:15.255Z,1613598855.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:54:16.046Z,1613598856.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:54:16.381Z,1613598856.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:54:17.250Z,1613598857.250 [Micromodem](INFO): Nmea in: $SNTTA,0.172733,,,,215416.13*44 2021-02-17T21:54:17.617Z,1613598857.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.899994 m, bearing: 218.035539 deg, deltaT: 4.916226 s, approachRate: -0.439362 m/s, LOS rate: 1.160812 deg/s, posRepo size: 4 2021-02-17T21:54:17.619Z,1613598857.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 258.899994 m, bearing: 218.035539 deg, approachRate: -0.439362 m/s, LOS rate: 1.160812 deg/s, cmd update: 4.643248 deg/s, cmd heading: 212.328725 deg, new cmd heading: 212.328725 deg. 2021-02-17T21:54:20.240Z,1613598860.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:54:20.842Z,1613598860.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:54:21.251Z,1613598861.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:54:22.092Z,1613598862.092 [Micromodem](INFO): Nmea in: $SNTTA,0.171273,,,,215420.93*4B 2021-02-17T21:54:22.488Z,1613598862.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.739990 m, bearing: 213.740402 deg, deltaT: 4.800080 s, approachRate: -0.449993 m/s, LOS rate: -0.894805 deg/s, posRepo size: 4 2021-02-17T21:54:22.490Z,1613598862.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 256.739990 m, bearing: 213.740402 deg, approachRate: -0.449993 m/s, LOS rate: -0.894805 deg/s, cmd update: -3.579221 deg/s, cmd heading: 234.643631 deg, new cmd heading: 236.367845 deg. 2021-02-17T21:54:24.889Z,1613598864.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:54:25.292Z,1613598865.292 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T21:54:25.681Z,1613598865.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:54:26.102Z,1613598866.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:54:26.903Z,1613598866.903 [Micromodem](INFO): Nmea in: $SNTTA,0.168897,,,,215425.76*4D 2021-02-17T21:54:27.357Z,1613598867.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.139984 m, bearing: 214.253841 deg, deltaT: 4.832404 s, approachRate: -0.744972 m/s, LOS rate: 0.106249 deg/s, posRepo size: 4 2021-02-17T21:54:27.359Z,1613598867.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 253.139984 m, bearing: 214.253841 deg, approachRate: -0.744972 m/s, LOS rate: 0.106249 deg/s, cmd update: 0.424997 deg/s, cmd heading: 217.361701 deg, new cmd heading: 215.887746 deg. 2021-02-17T21:54:29.757Z,1613598869.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:54:30.550Z,1613598870.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:54:30.941Z,1613598870.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:54:31.758Z,1613598871.758 [Micromodem](INFO): Nmea in: $SNTTA,0.166737,,,,215430.63*46 2021-02-17T21:54:32.224Z,1613598872.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.959991 m, bearing: 210.817545 deg, deltaT: 4.856378 s, approachRate: -0.654808 m/s, LOS rate: -0.707584 deg/s, posRepo size: 4 2021-02-17T21:54:32.226Z,1613598872.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 249.959991 m, bearing: 210.817545 deg, approachRate: -0.654808 m/s, LOS rate: -0.707584 deg/s, cmd update: -2.830336 deg/s, cmd heading: 219.425595 deg, new cmd heading: 219.605233 deg. 2021-02-17T21:54:34.589Z,1613598874.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:54:35.382Z,1613598875.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:54:35.782Z,1613598875.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:54:36.607Z,1613598876.607 [Micromodem](INFO): Nmea in: $SNTTA,0.164139,,,,215435.46*4E 2021-02-17T21:54:37.026Z,1613598877.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.999985 m, bearing: 209.827947 deg, deltaT: 4.817161 s, approachRate: -0.822062 m/s, LOS rate: -0.205432 deg/s, posRepo size: 4 2021-02-17T21:54:37.028Z,1613598877.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 245.999985 m, bearing: 209.827947 deg, approachRate: -0.822062 m/s, LOS rate: -0.205432 deg/s, cmd update: -0.821728 deg/s, cmd heading: 205.780372 deg, new cmd heading: 204.638518 deg. 2021-02-17T21:54:39.462Z,1613598879.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:54:40.242Z,1613598880.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:54:40.649Z,1613598880.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:54:41.451Z,1613598881.451 [Micromodem](INFO): Nmea in: $SNTTA,0.161796,,,,215440.32*49 2021-02-17T21:54:41.878Z,1613598881.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.520004 m, bearing: 210.848541 deg, deltaT: 4.890949 s, approachRate: -0.711514 m/s, LOS rate: 0.208670 deg/s, posRepo size: 4 2021-02-17T21:54:41.880Z,1613598881.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 242.520004 m, bearing: 210.848541 deg, approachRate: -0.711514 m/s, LOS rate: 0.208670 deg/s, cmd update: 0.834680 deg/s, cmd heading: 201.761268 deg, new cmd heading: 201.461603 deg. 2021-02-17T21:54:44.320Z,1613598884.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:54:45.096Z,1613598885.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:54:45.496Z,1613598885.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:54:46.321Z,1613598886.321 [Micromodem](INFO): Nmea in: $SNTTA,0.159112,,,,215445.18*45 2021-02-17T21:54:46.742Z,1613598886.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.440002 m, bearing: 211.981696 deg, deltaT: 4.863379 s, approachRate: -0.838923 m/s, LOS rate: 0.232998 deg/s, posRepo size: 4 2021-02-17T21:54:46.744Z,1613598886.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 238.440002 m, bearing: 211.981696 deg, approachRate: -0.838923 m/s, LOS rate: 0.232998 deg/s, cmd update: 0.931990 deg/s, cmd heading: 205.815943 deg, new cmd heading: 206.125661 deg. 2021-02-17T21:54:49.192Z,1613598889.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:54:49.922Z,1613598889.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:54:50.326Z,1613598890.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:54:51.138Z,1613598891.138 [Micromodem](INFO): Nmea in: $SNTTA,0.156437,,,,215450.00*45 2021-02-17T21:54:51.600Z,1613598891.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.419998 m, bearing: 211.980645 deg, deltaT: 4.841734 s, approachRate: -0.830282 m/s, LOS rate: -0.000217 deg/s, posRepo size: 4 2021-02-17T21:54:51.602Z,1613598891.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 234.419998 m, bearing: 211.980645 deg, approachRate: -0.830282 m/s, LOS rate: -0.000217 deg/s, cmd update: -0.000869 deg/s, cmd heading: 210.319775 deg, new cmd heading: 210.670274 deg. 2021-02-17T21:54:53.981Z,1613598893.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:54:54.773Z,1613598894.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:54:55.207Z,1613598895.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:54:56.089Z,1613598896.089 [Micromodem](INFO): Nmea in: $SNTTA,0.153933,,,,215454.86*43 2021-02-17T21:54:56.456Z,1613598896.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.699997 m, bearing: 211.476850 deg, deltaT: 4.894483 s, approachRate: -0.760040 m/s, LOS rate: -0.102931 deg/s, posRepo size: 4 2021-02-17T21:54:56.458Z,1613598896.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 230.699997 m, bearing: 211.476850 deg, approachRate: -0.760040 m/s, LOS rate: -0.102931 deg/s, cmd update: -0.411725 deg/s, cmd heading: 210.315509 deg, new cmd heading: 210.315210 deg. 2021-02-17T21:54:58.836Z,1613598898.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:54:59.659Z,1613598899.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:55:00.031Z,1613598900.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:55:00.860Z,1613598900.860 [Micromodem](INFO): Nmea in: $SNTTA,0.151283,,,,215459.74*41 2021-02-17T21:55:01.290Z,1613598901.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.739975 m, bearing: 210.854592 deg, deltaT: 4.762643 s, approachRate: -0.831476 m/s, LOS rate: -0.130654 deg/s, posRepo size: 4 2021-02-17T21:55:01.292Z,1613598901.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 226.739975 m, bearing: 210.854592 deg, approachRate: -0.831476 m/s, LOS rate: -0.130654 deg/s, cmd update: -0.522615 deg/s, cmd heading: 208.354587 deg, new cmd heading: 208.183994 deg. 2021-02-17T21:55:03.680Z,1613598903.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:55:04.464Z,1613598904.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:55:04.870Z,1613598904.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:55:05.688Z,1613598905.688 [Micromodem](INFO): Nmea in: $SNTTA,0.149125,,,,215504.55*4D 2021-02-17T21:55:06.210Z,1613598906.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.439987 m, bearing: 211.347759 deg, deltaT: 4.827651 s, approachRate: -0.683560 m/s, LOS rate: 0.102155 deg/s, posRepo size: 4 2021-02-17T21:55:06.217Z,1613598906.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.439987 m, bearing: 211.347759 deg, approachRate: -0.683560 m/s, LOS rate: 0.102155 deg/s, cmd update: 0.408619 deg/s, cmd heading: 205.831595 deg, new cmd heading: 205.566556 deg. 2021-02-17T21:55:08.542Z,1613598908.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:55:09.318Z,1613598909.318 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-02-17T21:55:09.320Z,1613598909.320 [BPC1](INFO): Received data from all battery sticks. 2021-02-17T21:55:09.324Z,1613598909.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:55:09.729Z,1613598909.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:55:10.536Z,1613598910.536 [Micromodem](INFO): Nmea in: $SNTTA,0.146475,,,,215509.41*4A 2021-02-17T21:55:10.958Z,1613598910.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.479996 m, bearing: 211.457138 deg, deltaT: 4.894127 s, approachRate: -0.809131 m/s, LOS rate: 0.022349 deg/s, posRepo size: 4 2021-02-17T21:55:10.960Z,1613598910.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 219.479996 m, bearing: 211.457138 deg, approachRate: -0.809131 m/s, LOS rate: 0.022349 deg/s, cmd update: 0.089396 deg/s, cmd heading: 207.829667 deg, new cmd heading: 207.978746 deg. 2021-02-17T21:55:13.398Z,1613598913.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:55:14.182Z,1613598914.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:55:14.572Z,1613598914.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:55:15.390Z,1613598915.390 [Micromodem](INFO): Nmea in: $SNTTA,0.144475,,,,215514.26*45 2021-02-17T21:55:15.814Z,1613598915.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.819992 m, bearing: 212.386085 deg, deltaT: 4.851196 s, approachRate: -0.754454 m/s, LOS rate: 0.191488 deg/s, posRepo size: 4 2021-02-17T21:55:15.816Z,1613598915.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.819992 m, bearing: 212.386085 deg, approachRate: -0.754454 m/s, LOS rate: 0.191488 deg/s, cmd update: 0.765953 deg/s, cmd heading: 208.263372 deg, new cmd heading: 208.296402 deg. 2021-02-17T21:55:18.260Z,1613598918.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:55:19.008Z,1613598919.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:55:19.414Z,1613598919.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:55:20.231Z,1613598920.231 [Micromodem](INFO): Nmea in: $SNTTA,0.141638,,,,215519.09*4B 2021-02-17T21:55:20.661Z,1613598920.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.279984 m, bearing: 212.350991 deg, deltaT: 4.836559 s, approachRate: -0.731927 m/s, LOS rate: -0.007256 deg/s, posRepo size: 4 2021-02-17T21:55:20.663Z,1613598920.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.279984 m, bearing: 212.350991 deg, approachRate: -0.731927 m/s, LOS rate: -0.007256 deg/s, cmd update: -0.029024 deg/s, cmd heading: 211.955642 deg, new cmd heading: 212.259114 deg. 2021-02-17T21:55:23.113Z,1613598923.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:55:23.864Z,1613598923.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:55:24.261Z,1613598924.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:55:25.097Z,1613598925.097 [Micromodem](INFO): Nmea in: $SNTTA,0.138926,,,,215523.95*49 2021-02-17T21:55:25.512Z,1613598925.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.199997 m, bearing: 212.099367 deg, deltaT: 4.924078 s, approachRate: -0.828579 m/s, LOS rate: -0.051101 deg/s, posRepo size: 4 2021-02-17T21:55:25.514Z,1613598925.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.199997 m, bearing: 212.099367 deg, approachRate: -0.828579 m/s, LOS rate: -0.051101 deg/s, cmd update: -0.204403 deg/s, cmd heading: 211.812262 deg, new cmd heading: 211.803372 deg. 2021-02-17T21:55:27.915Z,1613598927.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:55:28.716Z,1613598928.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:55:29.114Z,1613598929.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:55:29.929Z,1613598929.929 [Micromodem](INFO): Nmea in: $SNTTA,0.136483,,,,215528.80*4A 2021-02-17T21:55:30.393Z,1613598930.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.479996 m, bearing: 211.686796 deg, deltaT: 4.735568 s, approachRate: -0.785545 m/s, LOS rate: -0.087122 deg/s, posRepo size: 4 2021-02-17T21:55:30.394Z,1613598930.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.479996 m, bearing: 211.686796 deg, approachRate: -0.785545 m/s, LOS rate: -0.087122 deg/s, cmd update: -0.348487 deg/s, cmd heading: 210.843544 deg, new cmd heading: 210.751980 deg. 2021-02-17T21:55:32.775Z,1613598932.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:55:33.552Z,1613598933.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:55:33.958Z,1613598933.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:55:34.775Z,1613598934.775 [Micromodem](INFO): Nmea in: $SNTTA,0.133934,,,,215533.63*49 2021-02-17T21:55:35.277Z,1613598935.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.520004 m, bearing: 210.643635 deg, deltaT: 4.861668 s, approachRate: -0.814533 m/s, LOS rate: -0.214569 deg/s, posRepo size: 4 2021-02-17T21:55:35.279Z,1613598935.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.520004 m, bearing: 210.643635 deg, approachRate: -0.814533 m/s, LOS rate: -0.214569 deg/s, cmd update: -0.858274 deg/s, cmd heading: 209.154885 deg, new cmd heading: 208.985296 deg. 2021-02-17T21:55:37.612Z,1613598937.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:55:38.406Z,1613598938.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:55:38.812Z,1613598938.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:55:39.623Z,1613598939.623 [Micromodem](INFO): Nmea in: $SNTTA,0.131327,,,,215538.49*40 2021-02-17T21:55:40.086Z,1613598940.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.800003 m, bearing: 211.278105 deg, deltaT: 4.831534 s, approachRate: -0.769942 m/s, LOS rate: 0.131319 deg/s, posRepo size: 4 2021-02-17T21:55:40.096Z,1613598940.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.800003 m, bearing: 211.278105 deg, approachRate: -0.769942 m/s, LOS rate: 0.131319 deg/s, cmd update: 0.525274 deg/s, cmd heading: 204.994108 deg, new cmd heading: 204.609489 deg. 2021-02-17T21:55:42.473Z,1613598942.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:55:43.262Z,1613598943.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:55:43.674Z,1613598943.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:55:44.484Z,1613598944.484 [Micromodem](INFO): Nmea in: $SNTTA,0.128739,,,,215543.34*45 2021-02-17T21:55:44.529Z,1613598944.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.800003 m, bearing: 207.951584 deg, deltaT: 4.492680 s, approachRate: 0.000000 m/s, LOS rate: -0.740431 deg/s, posRepo size: 4 2021-02-17T21:55:44.530Z,1613598944.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.800003 m, bearing: 207.951584 deg, approachRate: 0.000000 m/s, LOS rate: -0.740431 deg/s, cmd update: -2.961725 deg/s, cmd heading: 207.353519 deg, new cmd heading: 207.562948 deg. 2021-02-17T21:55:46.905Z,1613598946.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:55:47.709Z,1613598947.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:55:48.119Z,1613598948.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:55:48.921Z,1613598948.921 [Micromodem](INFO): Nmea in: $SNTTA,0.126615,,,,215547.79*49 2021-02-17T21:55:49.381Z,1613598949.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.720001 m, bearing: 211.388180 deg, deltaT: 4.804150 s, approachRate: -1.473726 m/s, LOS rate: 0.715339 deg/s, posRepo size: 4 2021-02-17T21:55:49.382Z,1613598949.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.720001 m, bearing: 211.388180 deg, approachRate: -1.473726 m/s, LOS rate: 0.715339 deg/s, cmd update: 2.861356 deg/s, cmd heading: 193.122330 deg, new cmd heading: 191.802029 deg. 2021-02-17T21:55:51.764Z,1613598951.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:55:52.541Z,1613598952.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:55:52.945Z,1613598952.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:55:53.785Z,1613598953.785 [Micromodem](INFO): Nmea in: $SNTTA,0.124133,,,,215552.63*47 2021-02-17T21:55:53.832Z,1613598953.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.720001 m, bearing: 210.735119 deg, deltaT: 4.503658 s, approachRate: 0.000000 m/s, LOS rate: -0.145007 deg/s, posRepo size: 4 2021-02-17T21:55:53.834Z,1613598953.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.720001 m, bearing: 210.735119 deg, approachRate: 0.000000 m/s, LOS rate: -0.145007 deg/s, cmd update: -0.580028 deg/s, cmd heading: 206.008934 deg, new cmd heading: 207.074947 deg. 2021-02-17T21:55:56.251Z,1613598956.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:55:56.998Z,1613598956.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:55:57.390Z,1613598957.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:55:58.216Z,1613598958.216 [Micromodem](INFO): Nmea in: $SNTTA,0.121983,,,,215557.08*49 2021-02-17T21:55:58.630Z,1613598958.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.699997 m, bearing: 213.928724 deg, deltaT: 4.843425 s, approachRate: -1.449389 m/s, LOS rate: 0.659369 deg/s, posRepo size: 4 2021-02-17T21:55:58.632Z,1613598958.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.699997 m, bearing: 213.928724 deg, approachRate: -1.449389 m/s, LOS rate: 0.659369 deg/s, cmd update: 2.637477 deg/s, cmd heading: 203.202029 deg, new cmd heading: 202.997742 deg. 2021-02-17T21:56:01.074Z,1613598961.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:01.850Z,1613598961.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:56:02.246Z,1613598962.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:56:03.084Z,1613598963.084 [Micromodem](INFO): Nmea in: $SNTTA,0.119352,,,,215601.93*46 2021-02-17T21:56:03.886Z,1613598963.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:05.472Z,1613598965.472 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T21:56:06.697Z,1613598966.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:07.488Z,1613598967.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:56:07.900Z,1613598967.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:56:08.298Z,1613598968.298 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,046,000,,E4 6,186,80,80,82,FF 2021-02-17T21:56:08.704Z,1613598968.704 [Micromodem](INFO): Nmea in: $SNTTA,0.116460,,,,215607.57*41 2021-02-17T21:56:09.544Z,1613598969.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:12.370Z,1613598972.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:15.257Z,1613598975.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:15.974Z,1613598975.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:56:16.383Z,1613598976.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:56:16.783Z,1613598976.783 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,243,000,004 6,186,80,80,82,FF 2021-02-17T21:56:17.209Z,1613598977.209 [Micromodem](INFO): Nmea in: $SNTTA,0.112405,,,,215616.06*42 2021-02-17T21:56:18.006Z,1613598978.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:20.847Z,1613598980.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:23.663Z,1613598983.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:24.456Z,1613598984.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:56:24.867Z,1613598984.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:56:25.684Z,1613598985.684 [Micromodem](INFO): Nmea in: $SNTTA,0.108832,,,,215624.54*47 2021-02-17T21:56:25.706Z,1613598985.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.080002 m, bearing: 205.320145 deg, deltaT: 27.047208 s, approachRate: -0.725398 m/s, LOS rate: -0.318280 deg/s, posRepo size: 4 2021-02-17T21:56:25.708Z,1613598985.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.080002 m, bearing: 205.320145 deg, approachRate: -0.725398 m/s, LOS rate: -0.318280 deg/s, cmd update: -1.273119 deg/s, cmd heading: 274.538951 deg, new cmd heading: 275.544109 deg. 2021-02-17T21:56:28.155Z,1613598988.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:28.901Z,1613598988.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:56:29.305Z,1613598989.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:56:30.132Z,1613598990.132 [Micromodem](INFO): Nmea in: $SNTTA,0.107504,,,,215628.99*4D 2021-02-17T21:56:30.220Z,1613598990.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.100006 m, bearing: 208.339211 deg, deltaT: 4.427472 s, approachRate: -0.447207 m/s, LOS rate: 0.681894 deg/s, posRepo size: 4 2021-02-17T21:56:30.222Z,1613598990.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.100006 m, bearing: 208.339211 deg, approachRate: -0.447207 m/s, LOS rate: 0.681894 deg/s, cmd update: 2.727576 deg/s, cmd heading: 268.897165 deg, new cmd heading: 268.312820 deg. 2021-02-17T21:56:32.560Z,1613598992.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:33.349Z,1613598993.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:56:33.750Z,1613598993.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:56:34.577Z,1613598994.577 [Micromodem](INFO): Nmea in: $SNTTA,0.106423,,,,215633.43*45 2021-02-17T21:56:34.620Z,1613598994.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.539993 m, bearing: 207.435577 deg, deltaT: 4.484746 s, approachRate: -0.347849 m/s, LOS rate: -0.201491 deg/s, posRepo size: 4 2021-02-17T21:56:34.621Z,1613598994.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.539993 m, bearing: 207.435577 deg, approachRate: -0.347849 m/s, LOS rate: -0.201491 deg/s, cmd update: -0.805962 deg/s, cmd heading: 281.118825 deg, new cmd heading: 282.160268 deg. 2021-02-17T21:56:37.099Z,1613598997.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:37.794Z,1613598997.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:56:38.213Z,1613598998.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:56:39.020Z,1613598999.020 [Micromodem](INFO): Nmea in: $SNTTA,0.105259,,,,215637.88*4E 2021-02-17T21:56:39.101Z,1613598999.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.800003 m, bearing: 215.420301 deg, deltaT: 4.396092 s, approachRate: -0.395804 m/s, LOS rate: 1.816323 deg/s, posRepo size: 4 2021-02-17T21:56:39.102Z,1613598999.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.800003 m, bearing: 215.420301 deg, approachRate: -0.395804 m/s, LOS rate: 1.816323 deg/s, cmd update: 7.265293 deg/s, cmd heading: 277.575929 deg, new cmd heading: 277.199235 deg. 2021-02-17T21:56:41.501Z,1613599001.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:42.253Z,1613599002.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:56:42.643Z,1613599002.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:56:43.472Z,1613599003.472 [Micromodem](INFO): Nmea in: $SNTTA,0.104435,,0.148197,,215642.34*5A 2021-02-17T21:56:43.524Z,1613599003.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.839996 m, bearing: 276.886935 deg, deltaT: 4.470656 s, approachRate: -0.214735 m/s, LOS rate: 13.748907 deg/s, posRepo size: 4 2021-02-17T21:56:43.525Z,1613599003.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.748907 deg/s. Setting heading cmd to target bearing of 276.886935deg and heading rate command to 0 deg/s. 2021-02-17T21:56:45.882Z,1613599005.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:46.681Z,1613599006.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:56:47.100Z,1613599007.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:56:47.908Z,1613599007.908 [Micromodem](INFO): Nmea in: $SNTTA,0.103957,,,,215646.76*4A 2021-02-17T21:56:47.950Z,1613599007.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.119995 m, bearing: 304.987699 deg, deltaT: 4.430339 s, approachRate: -0.162516 m/s, LOS rate: 6.342802 deg/s, posRepo size: 4 2021-02-17T21:56:47.952Z,1613599007.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.119995 m, bearing: 304.987699 deg, approachRate: -0.162516 m/s, LOS rate: 6.342802 deg/s, cmd update: 12.000000 deg/s, cmd heading: 276.886935 deg, new cmd heading: 276.886935 deg. 2021-02-17T21:56:50.093Z,1613599010.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:50.721Z,1613599010.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:56:51.130Z,1613599011.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:56:51.948Z,1613599011.948 [Micromodem](INFO): Nmea in: $SNTTA,0.103874,,,,215650.80*44 2021-02-17T21:56:51.980Z,1613599011.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.880005 m, bearing: 280.006774 deg, deltaT: 4.028796 s, approachRate: -0.059569 m/s, LOS rate: -6.200593 deg/s, posRepo size: 4 2021-02-17T21:56:51.982Z,1613599011.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.880005 m, bearing: 280.006774 deg, approachRate: -0.059569 m/s, LOS rate: -6.200593 deg/s, cmd update: -12.000000 deg/s, cmd heading: 325.279084 deg, new cmd heading: 330.229228 deg. 2021-02-17T21:56:54.400Z,1613599014.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:55.181Z,1613599015.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:56:55.566Z,1613599015.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:56:56.400Z,1613599016.400 [Micromodem](INFO): Nmea in: $SNTTA,0.103823,,,,215655.27*4E 2021-02-17T21:56:56.448Z,1613599016.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.880005 m, bearing: 270.961445 deg, deltaT: 4.438774 s, approachRate: 0.000000 m/s, LOS rate: -2.037799 deg/s, posRepo size: 4 2021-02-17T21:56:56.450Z,1613599016.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.880005 m, bearing: 270.961445 deg, approachRate: 0.000000 m/s, LOS rate: -2.037799 deg/s, cmd update: -8.151196 deg/s, cmd heading: 272.213283 deg, new cmd heading: 266.716010 deg. 2021-02-17T21:56:58.811Z,1613599018.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:56:59.605Z,1613599019.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:00.027Z,1613599020.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:00.840Z,1613599020.840 [Micromodem](INFO): Nmea in: $SNTTA,0.103713,,,,215659.69*44 2021-02-17T21:57:00.862Z,1613599020.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.639999 m, bearing: 275.179661 deg, deltaT: 4.462395 s, approachRate: -0.053784 m/s, LOS rate: 0.945281 deg/s, posRepo size: 4 2021-02-17T21:57:00.864Z,1613599020.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.639999 m, bearing: 275.179661 deg, approachRate: -0.053784 m/s, LOS rate: 0.945281 deg/s, cmd update: 3.781123 deg/s, cmd heading: 235.702863 deg, new cmd heading: 232.495645 deg. 2021-02-17T21:57:03.282Z,1613599023.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:57:04.066Z,1613599024.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:04.453Z,1613599024.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:05.284Z,1613599025.284 [Micromodem](INFO): Nmea in: $SNTTA,0.103309,,,,215704.15*49 2021-02-17T21:57:05.349Z,1613599025.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.639999 m, bearing: 215.992520 deg, deltaT: 4.410568 s, approachRate: 0.000000 m/s, LOS rate: -13.419392 deg/s, posRepo size: 4 2021-02-17T21:57:05.350Z,1613599025.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.419392 deg/s. Setting heading cmd to target bearing of 215.992520deg and heading rate command to 0 deg/s. 2021-02-17T21:57:07.698Z,1613599027.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:57:08.493Z,1613599028.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:08.898Z,1613599028.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:09.724Z,1613599029.724 [Micromodem](INFO): Nmea in: $SNTTA,0.102393,,,0.104935,215708.58*5A 2021-02-17T21:57:09.785Z,1613599029.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.480011 m, bearing: 198.075855 deg, deltaT: 4.483732 s, approachRate: -0.481739 m/s, LOS rate: -3.995927 deg/s, posRepo size: 4 2021-02-17T21:57:09.786Z,1613599029.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.480011 m, bearing: 198.075855 deg, approachRate: -0.481739 m/s, LOS rate: -3.995927 deg/s, cmd update: -12.000000 deg/s, cmd heading: 215.992520 deg, new cmd heading: 215.992520 deg. 2021-02-17T21:57:12.208Z,1613599032.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:57:12.936Z,1613599032.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:13.341Z,1613599033.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:14.173Z,1613599034.173 [Micromodem](INFO): Nmea in: $SNTTA,0.101138,,0.123532,,215713.02*51 2021-02-17T21:57:14.252Z,1613599034.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.559998 m, bearing: 202.898993 deg, deltaT: 4.412719 s, approachRate: -0.435109 m/s, LOS rate: 1.093008 deg/s, posRepo size: 4 2021-02-17T21:57:14.254Z,1613599034.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.559998 m, bearing: 202.898993 deg, approachRate: -0.435109 m/s, LOS rate: 1.093008 deg/s, cmd update: 4.372033 deg/s, cmd heading: 163.040526 deg, new cmd heading: 157.327674 deg. 2021-02-17T21:57:16.587Z,1613599036.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:57:17.381Z,1613599037.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:17.792Z,1613599037.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:18.626Z,1613599038.626 [Micromodem](INFO): Nmea in: $SNTTA,0.099513,,0.100663,,215717.47*5F 2021-02-17T21:57:18.646Z,1613599038.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.919998 m, bearing: 198.467006 deg, deltaT: 4.470117 s, approachRate: -0.590588 m/s, LOS rate: -0.991470 deg/s, posRepo size: 4 2021-02-17T21:57:18.648Z,1613599038.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.919998 m, bearing: 198.467006 deg, approachRate: -0.590588 m/s, LOS rate: -0.991470 deg/s, cmd update: -3.965880 deg/s, cmd heading: 182.584033 deg, new cmd heading: 184.335001 deg. 2021-02-17T21:57:21.065Z,1613599041.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:57:21.824Z,1613599041.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:22.236Z,1613599042.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:23.063Z,1613599043.063 [Micromodem](INFO): Nmea in: $SNTTA,0.097405,,,,215721.91*45 2021-02-17T21:57:23.124Z,1613599043.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.740005 m, bearing: 196.114129 deg, deltaT: 4.427911 s, approachRate: -0.718170 m/s, LOS rate: -0.531374 deg/s, posRepo size: 4 2021-02-17T21:57:23.126Z,1613599043.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.740005 m, bearing: 196.114129 deg, approachRate: -0.718170 m/s, LOS rate: -0.531374 deg/s, cmd update: -2.125496 deg/s, cmd heading: 165.039361 deg, new cmd heading: 163.238364 deg. 2021-02-17T21:57:25.217Z,1613599045.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:57:25.864Z,1613599045.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:26.279Z,1613599046.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:27.120Z,1613599047.120 [Micromodem](INFO): Nmea in: $SNTTA,0.095469,,,,215725.95*4D 2021-02-17T21:57:27.176Z,1613599047.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.040009 m, bearing: 197.038854 deg, deltaT: 4.037839 s, approachRate: -0.668674 m/s, LOS rate: 0.229015 deg/s, posRepo size: 4 2021-02-17T21:57:27.186Z,1613599047.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.040009 m, bearing: 197.038854 deg, approachRate: -0.668674 m/s, LOS rate: 0.229015 deg/s, cmd update: 0.916060 deg/s, cmd heading: 156.457340 deg, new cmd heading: 155.521586 deg. 2021-02-17T21:57:29.530Z,1613599049.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:57:30.314Z,1613599050.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:30.720Z,1613599050.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:31.543Z,1613599051.543 [Micromodem](INFO): Nmea in: $SNTTA,0.093337,,,,215730.40*4B 2021-02-17T21:57:31.568Z,1613599051.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.860001 m, bearing: 196.305538 deg, deltaT: 4.474344 s, approachRate: -0.710720 m/s, LOS rate: -0.163894 deg/s, posRepo size: 4 2021-02-17T21:57:31.569Z,1613599051.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.860001 m, bearing: 196.305538 deg, approachRate: -0.710720 m/s, LOS rate: -0.163894 deg/s, cmd update: -0.655574 deg/s, cmd heading: 160.535963 deg, new cmd heading: 160.909550 deg. 2021-02-17T21:57:33.985Z,1613599053.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:57:34.777Z,1613599054.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:35.189Z,1613599055.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:35.989Z,1613599055.989 [Micromodem](INFO): Nmea in: $SNTTA,0.091549,,,0.094056,215734.86*58 2021-02-17T21:57:36.026Z,1613599056.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.220001 m, bearing: 198.367231 deg, deltaT: 4.419273 s, approachRate: -0.597383 m/s, LOS rate: 0.466523 deg/s, posRepo size: 4 2021-02-17T21:57:36.028Z,1613599056.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.220001 m, bearing: 198.367231 deg, approachRate: -0.597383 m/s, LOS rate: 0.466523 deg/s, cmd update: 1.866092 deg/s, cmd heading: 157.621687 deg, new cmd heading: 157.345859 deg. 2021-02-17T21:57:38.431Z,1613599058.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:57:39.213Z,1613599059.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:39.601Z,1613599059.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:40.436Z,1613599060.436 [Micromodem](INFO): Nmea in: $SNTTA,0.089883,,0.092651,,215739.30*5D 2021-02-17T21:57:40.490Z,1613599060.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.699997 m, bearing: 200.745106 deg, deltaT: 4.419322 s, approachRate: -0.570224 m/s, LOS rate: 0.538063 deg/s, posRepo size: 4 2021-02-17T21:57:40.496Z,1613599060.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.699997 m, bearing: 200.745106 deg, approachRate: -0.570224 m/s, LOS rate: 0.538063 deg/s, cmd update: 2.152254 deg/s, cmd heading: 165.867882 deg, new cmd heading: 166.738304 deg. 2021-02-17T21:57:42.846Z,1613599062.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:57:43.641Z,1613599063.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:44.091Z,1613599064.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:44.880Z,1613599064.880 [Micromodem](INFO): Nmea in: $SNTTA,0.088196,,,,215743.73*4C 2021-02-17T21:57:44.917Z,1613599064.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.059998 m, bearing: 201.353184 deg, deltaT: 4.474656 s, approachRate: -0.589989 m/s, LOS rate: 0.135894 deg/s, posRepo size: 4 2021-02-17T21:57:44.919Z,1613599064.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.059998 m, bearing: 201.353184 deg, approachRate: -0.589989 m/s, LOS rate: 0.135894 deg/s, cmd update: 0.543575 deg/s, cmd heading: 175.499436 deg, new cmd heading: 176.399773 deg. 2021-02-17T21:57:47.321Z,1613599067.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:57:48.097Z,1613599068.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:48.492Z,1613599068.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:49.325Z,1613599069.325 [Micromodem](INFO): Nmea in: $SNTTA,0.086356,,,,215748.18*4A 2021-02-17T21:57:49.395Z,1613599069.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.360001 m, bearing: 201.622786 deg, deltaT: 4.410890 s, approachRate: -0.612121 m/s, LOS rate: 0.061122 deg/s, posRepo size: 4 2021-02-17T21:57:49.397Z,1613599069.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.360001 m, bearing: 201.622786 deg, approachRate: -0.612121 m/s, LOS rate: 0.061122 deg/s, cmd update: 0.244487 deg/s, cmd heading: 177.897076 deg, new cmd heading: 178.160547 deg. 2021-02-17T21:57:51.738Z,1613599071.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:57:52.534Z,1613599072.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:52.935Z,1613599072.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:53.760Z,1613599073.760 [Micromodem](INFO): Nmea in: $SNTTA,0.084145,,,,215752.62*4E 2021-02-17T21:57:53.797Z,1613599073.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.000000 m, bearing: 203.089446 deg, deltaT: 4.479857 s, approachRate: -0.750024 m/s, LOS rate: 0.327390 deg/s, posRepo size: 4 2021-02-17T21:57:53.799Z,1613599073.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.000000 m, bearing: 203.089446 deg, approachRate: -0.750024 m/s, LOS rate: 0.327390 deg/s, cmd update: 1.309560 deg/s, cmd heading: 178.992296 deg, new cmd heading: 179.092036 deg. 2021-02-17T21:57:56.244Z,1613599076.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:57:56.978Z,1613599076.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:57:57.378Z,1613599077.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:57:58.220Z,1613599078.220 [Micromodem](INFO): Nmea in: $SNTTA,0.082120,,,,215757.06*4C 2021-02-17T21:57:58.270Z,1613599078.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.000000 m, bearing: 202.175280 deg, deltaT: 4.414868 s, approachRate: -0.679522 m/s, LOS rate: -0.207065 deg/s, posRepo size: 4 2021-02-17T21:57:58.272Z,1613599078.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.000000 m, bearing: 202.175280 deg, approachRate: -0.679522 m/s, LOS rate: -0.207065 deg/s, cmd update: -0.828261 deg/s, cmd heading: 184.771851 deg, new cmd heading: 185.383460 deg. 2021-02-17T21:58:00.628Z,1613599080.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:01.417Z,1613599081.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:01.823Z,1613599081.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:58:02.644Z,1613599082.644 [Micromodem](INFO): Nmea in: $SNTTA,0.080054,,,,215801.50*43 2021-02-17T21:58:02.678Z,1613599082.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.880005 m, bearing: 204.617878 deg, deltaT: 4.470264 s, approachRate: -0.697944 m/s, LOS rate: 0.546410 deg/s, posRepo size: 4 2021-02-17T21:58:02.680Z,1613599082.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.880005 m, bearing: 204.617878 deg, approachRate: -0.697944 m/s, LOS rate: 0.546410 deg/s, cmd update: 2.185642 deg/s, cmd heading: 181.068072 deg, new cmd heading: 180.733850 deg. 2021-02-17T21:58:05.288Z,1613599085.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:05.860Z,1613599085.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:06.271Z,1613599086.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:58:07.108Z,1613599087.108 [Micromodem](INFO): Nmea in: $SNTTA,0.077954,,,,215805.94*4E 2021-02-17T21:58:07.132Z,1613599087.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.699997 m, bearing: 202.908227 deg, deltaT: 4.415791 s, approachRate: -0.720145 m/s, LOS rate: -0.387168 deg/s, posRepo size: 4 2021-02-17T21:58:07.134Z,1613599087.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.699997 m, bearing: 202.908227 deg, approachRate: -0.720145 m/s, LOS rate: -0.387168 deg/s, cmd update: -1.548670 deg/s, cmd heading: 190.719022 deg, new cmd heading: 191.683541 deg. 2021-02-17T21:58:09.548Z,1613599089.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:10.309Z,1613599090.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:10.712Z,1613599090.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:58:11.543Z,1613599091.543 [Micromodem](INFO): Nmea in: $SNTTA,0.075957,,,,215810.39*4C 2021-02-17T21:58:11.571Z,1613599091.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.639999 m, bearing: 204.716889 deg, deltaT: 4.464091 s, approachRate: -0.685469 m/s, LOS rate: 0.405158 deg/s, posRepo size: 4 2021-02-17T21:58:11.574Z,1613599091.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.639999 m, bearing: 204.716889 deg, approachRate: -0.685469 m/s, LOS rate: 0.405158 deg/s, cmd update: 1.620631 deg/s, cmd heading: 183.805324 deg, new cmd heading: 183.160491 deg. 2021-02-17T21:58:13.956Z,1613599093.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:14.752Z,1613599094.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:15.187Z,1613599095.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:58:15.996Z,1613599095.996 [Micromodem](INFO): Nmea in: $SNTTA,0.073779,,,,215814.84*4A 2021-02-17T21:58:16.018Z,1613599096.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.400002 m, bearing: 206.073487 deg, deltaT: 4.423628 s, approachRate: -0.732430 m/s, LOS rate: 0.306671 deg/s, posRepo size: 4 2021-02-17T21:58:16.020Z,1613599096.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.400002 m, bearing: 206.073487 deg, approachRate: -0.732430 m/s, LOS rate: 0.306671 deg/s, cmd update: 1.226684 deg/s, cmd heading: 190.974543 deg, new cmd heading: 191.687579 deg. 2021-02-17T21:58:18.429Z,1613599098.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:19.219Z,1613599099.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:19.602Z,1613599099.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:58:20.436Z,1613599100.436 [Micromodem](INFO): Nmea in: $SNTTA,0.071532,,,,215819.30*47 2021-02-17T21:58:20.460Z,1613599100.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.100006 m, bearing: 207.395443 deg, deltaT: 4.538147 s, approachRate: -0.727168 m/s, LOS rate: 0.291299 deg/s, posRepo size: 4 2021-02-17T21:58:20.462Z,1613599100.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.100006 m, bearing: 207.395443 deg, approachRate: -0.727168 m/s, LOS rate: 0.291299 deg/s, cmd update: 1.165194 deg/s, cmd heading: 196.541591 deg, new cmd heading: 196.962745 deg. 2021-02-17T21:58:22.842Z,1613599102.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:23.636Z,1613599103.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:24.049Z,1613599104.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:58:24.868Z,1613599104.868 [Micromodem](INFO): Nmea in: $SNTTA,0.069345,,,,215823.72*47 2021-02-17T21:58:24.890Z,1613599104.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.800003 m, bearing: 208.031047 deg, deltaT: 4.357181 s, approachRate: -0.757371 m/s, LOS rate: 0.145875 deg/s, posRepo size: 4 2021-02-17T21:58:24.892Z,1613599104.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.800003 m, bearing: 208.031047 deg, approachRate: -0.757371 m/s, LOS rate: 0.145875 deg/s, cmd update: 0.583500 deg/s, cmd heading: 201.618534 deg, new cmd heading: 202.103602 deg. 2021-02-17T21:58:27.322Z,1613599107.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:28.099Z,1613599108.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:28.485Z,1613599108.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:58:29.320Z,1613599109.320 [Micromodem](INFO): Nmea in: $SNTTA,0.067105,,,,215828.18*48 2021-02-17T21:58:29.379Z,1613599109.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.440002 m, bearing: 205.908169 deg, deltaT: 4.433563 s, approachRate: -0.757856 m/s, LOS rate: -0.478820 deg/s, posRepo size: 4 2021-02-17T21:58:29.381Z,1613599109.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.440002 m, bearing: 205.908169 deg, approachRate: -0.757856 m/s, LOS rate: -0.478820 deg/s, cmd update: -1.915279 deg/s, cmd heading: 204.205500 deg, new cmd heading: 204.478459 deg. 2021-02-17T21:58:31.760Z,1613599111.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:32.532Z,1613599112.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:32.929Z,1613599112.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:58:33.760Z,1613599113.760 [Micromodem](INFO): Nmea in: $SNTTA,0.064947,,,,215832.62*43 2021-02-17T21:58:33.802Z,1613599113.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.200005 m, bearing: 205.113695 deg, deltaT: 4.485608 s, approachRate: -0.722310 m/s, LOS rate: -0.177116 deg/s, posRepo size: 4 2021-02-17T21:58:33.808Z,1613599113.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.200005 m, bearing: 205.113695 deg, approachRate: -0.722310 m/s, LOS rate: -0.177116 deg/s, cmd update: -0.708465 deg/s, cmd heading: 195.621857 deg, new cmd heading: 194.830252 deg. 2021-02-17T21:58:36.242Z,1613599116.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:36.968Z,1613599116.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:37.374Z,1613599117.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:58:38.220Z,1613599118.220 [Micromodem](INFO): Nmea in: $SNTTA,0.062617,,,,215837.05*4B 2021-02-17T21:58:38.266Z,1613599118.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.720001 m, bearing: 208.084554 deg, deltaT: 4.397203 s, approachRate: -0.791413 m/s, LOS rate: 0.675625 deg/s, posRepo size: 4 2021-02-17T21:58:38.268Z,1613599118.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.720001 m, bearing: 208.084554 deg, approachRate: -0.791413 m/s, LOS rate: 0.675625 deg/s, cmd update: 2.702499 deg/s, cmd heading: 192.503789 deg, new cmd heading: 192.166318 deg. 2021-02-17T21:58:40.618Z,1613599120.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:41.418Z,1613599121.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:41.819Z,1613599121.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:58:42.644Z,1613599122.644 [Micromodem](INFO): Nmea in: $SNTTA,0.060435,,,,215841.50*4A 2021-02-17T21:58:42.666Z,1613599122.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.360001 m, bearing: 207.871534 deg, deltaT: 4.464223 s, approachRate: -0.752651 m/s, LOS rate: -0.047717 deg/s, posRepo size: 4 2021-02-17T21:58:42.668Z,1613599122.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.360001 m, bearing: 207.871534 deg, approachRate: -0.752651 m/s, LOS rate: -0.047717 deg/s, cmd update: -0.190869 deg/s, cmd heading: 204.568331 deg, new cmd heading: 205.680855 deg. 2021-02-17T21:58:45.128Z,1613599125.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:45.856Z,1613599125.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:46.261Z,1613599126.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:58:47.107Z,1613599127.107 [Micromodem](INFO): Nmea in: $SNTTA,0.057964,,,,215845.94*4B 2021-02-17T21:58:47.131Z,1613599127.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.760010 m, bearing: 208.112176 deg, deltaT: 4.449787 s, approachRate: -0.809025 m/s, LOS rate: 0.054079 deg/s, posRepo size: 4 2021-02-17T21:58:47.133Z,1613599127.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.760010 m, bearing: 208.112176 deg, approachRate: -0.809025 m/s, LOS rate: 0.054079 deg/s, cmd update: 0.216317 deg/s, cmd heading: 203.719037 deg, new cmd heading: 203.637572 deg. 2021-02-17T21:58:49.524Z,1613599129.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:50.305Z,1613599130.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:50.707Z,1613599130.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:58:51.534Z,1613599131.534 [Micromodem](INFO): Nmea in: $SNTTA,0.055545,,,,215850.39*45 2021-02-17T21:58:51.572Z,1613599131.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.040009 m, bearing: 207.203938 deg, deltaT: 4.496144 s, approachRate: -0.827376 m/s, LOS rate: -0.202004 deg/s, posRepo size: 4 2021-02-17T21:58:51.574Z,1613599131.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.040009 m, bearing: 207.203938 deg, approachRate: -0.827376 m/s, LOS rate: -0.202004 deg/s, cmd update: -0.808015 deg/s, cmd heading: 204.682789 deg, new cmd heading: 204.772030 deg. 2021-02-17T21:58:53.957Z,1613599133.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:54.744Z,1613599134.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:55.154Z,1613599135.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:58:55.976Z,1613599135.976 [Micromodem](INFO): Nmea in: $SNTTA,0.053208,,,,215854.83*48 2021-02-17T21:58:55.998Z,1613599135.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.680000 m, bearing: 207.978755 deg, deltaT: 4.375450 s, approachRate: -0.767923 m/s, LOS rate: 0.177083 deg/s, posRepo size: 4 2021-02-17T21:58:56.000Z,1613599136.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.680000 m, bearing: 207.978755 deg, approachRate: -0.767923 m/s, LOS rate: 0.177083 deg/s, cmd update: 0.708331 deg/s, cmd heading: 201.114189 deg, new cmd heading: 200.772929 deg. 2021-02-17T21:58:58.443Z,1613599138.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:58:59.211Z,1613599139.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:58:59.594Z,1613599139.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:00.428Z,1613599140.428 [Micromodem](INFO): Nmea in: $SNTTA,0.050803,,,,215859.29*47 2021-02-17T21:59:00.481Z,1613599140.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.959999 m, bearing: 208.201952 deg, deltaT: 4.439779 s, approachRate: -0.837880 m/s, LOS rate: 0.050272 deg/s, posRepo size: 4 2021-02-17T21:59:00.483Z,1613599140.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.959999 m, bearing: 208.201952 deg, approachRate: -0.837880 m/s, LOS rate: 0.050272 deg/s, cmd update: 0.201088 deg/s, cmd heading: 204.259014 deg, new cmd heading: 204.588664 deg. 2021-02-17T21:59:02.838Z,1613599142.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:59:03.637Z,1613599143.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:59:04.042Z,1613599144.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:04.880Z,1613599144.880 [Micromodem](INFO): Nmea in: $SNTTA,0.048888,,,,215903.72*4D 2021-02-17T21:59:04.915Z,1613599144.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.080002 m, bearing: 209.517583 deg, deltaT: 4.484352 s, approachRate: -0.642233 m/s, LOS rate: 0.293383 deg/s, posRepo size: 4 2021-02-17T21:59:04.917Z,1613599144.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.080002 m, bearing: 209.517583 deg, approachRate: -0.642233 m/s, LOS rate: 0.293383 deg/s, cmd update: 1.173531 deg/s, cmd heading: 205.160206 deg, new cmd heading: 205.244226 deg. 2021-02-17T21:59:07.316Z,1613599147.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:59:08.099Z,1613599148.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:59:08.482Z,1613599148.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:09.320Z,1613599149.320 [Micromodem](INFO): Nmea in: $SNTTA,0.046214,,,,215908.18*4B 2021-02-17T21:59:09.371Z,1613599149.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.059998 m, bearing: 208.893399 deg, deltaT: 4.401357 s, approachRate: -0.913356 m/s, LOS rate: -0.141816 deg/s, posRepo size: 4 2021-02-17T21:59:09.377Z,1613599149.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.059998 m, bearing: 208.893399 deg, approachRate: -0.913356 m/s, LOS rate: -0.141816 deg/s, cmd update: -0.567265 deg/s, cmd heading: 210.328622 deg, new cmd heading: 210.879476 deg. 2021-02-17T21:59:11.733Z,1613599151.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:59:12.520Z,1613599152.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:59:12.931Z,1613599152.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:13.748Z,1613599153.748 [Micromodem](INFO): Nmea in: $SNTTA,0.043964,,,,215912.60*46 2021-02-17T21:59:13.770Z,1613599153.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.880005 m, bearing: 209.672300 deg, deltaT: 4.488045 s, approachRate: -0.708547 m/s, LOS rate: 0.173550 deg/s, posRepo size: 4 2021-02-17T21:59:13.772Z,1613599153.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.880005 m, bearing: 209.672300 deg, approachRate: -0.708547 m/s, LOS rate: 0.173550 deg/s, cmd update: 0.694201 deg/s, cmd heading: 207.782714 deg, new cmd heading: 207.566763 deg. 2021-02-17T21:59:16.249Z,1613599156.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:59:16.969Z,1613599156.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:59:17.373Z,1613599157.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:18.220Z,1613599158.220 [Micromodem](INFO): Nmea in: $SNTTA,0.041544,,,,215917.05*4C 2021-02-17T21:59:18.272Z,1613599158.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.279999 m, bearing: 209.409338 deg, deltaT: 4.413236 s, approachRate: -0.815729 m/s, LOS rate: -0.059585 deg/s, posRepo size: 4 2021-02-17T21:59:18.274Z,1613599158.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.279999 m, bearing: 209.409338 deg, approachRate: -0.815729 m/s, LOS rate: -0.059585 deg/s, cmd update: -0.238340 deg/s, cmd heading: 210.846364 deg, new cmd heading: 211.172151 deg. 2021-02-17T21:59:20.616Z,1613599160.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:59:21.423Z,1613599161.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:59:21.814Z,1613599161.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:22.649Z,1613599162.649 [Micromodem](INFO): Nmea in: $SNTTA,0.039109,,,,215921.50*4B 2021-02-17T21:59:22.690Z,1613599162.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.440002 m, bearing: 209.570845 deg, deltaT: 4.464506 s, approachRate: -0.860117 m/s, LOS rate: 0.036176 deg/s, posRepo size: 4 2021-02-17T21:59:22.696Z,1613599162.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.440002 m, bearing: 209.570845 deg, approachRate: -0.860117 m/s, LOS rate: 0.036176 deg/s, cmd update: 0.144703 deg/s, cmd heading: 209.786130 deg, new cmd heading: 209.681452 deg. 2021-02-17T21:59:25.112Z,1613599165.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:59:25.872Z,1613599165.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:59:26.259Z,1613599166.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:27.124Z,1613599167.124 [Micromodem](INFO): Nmea in: $SNTTA,0.036763,,,,215925.96*40 2021-02-17T21:59:27.169Z,1613599167.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.900002 m, bearing: 207.751665 deg, deltaT: 4.424858 s, approachRate: -0.800026 m/s, LOS rate: -0.411127 deg/s, posRepo size: 4 2021-02-17T21:59:27.176Z,1613599167.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.900002 m, bearing: 207.751665 deg, approachRate: -0.800026 m/s, LOS rate: -0.411127 deg/s, cmd update: -1.644509 deg/s, cmd heading: 210.428750 deg, new cmd heading: 210.497032 deg. 2021-02-17T21:59:29.526Z,1613599169.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:59:30.301Z,1613599170.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:59:30.707Z,1613599170.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:31.528Z,1613599171.528 [Micromodem](INFO): Nmea in: $SNTTA,0.034428,,0.041684,,215930.38*5F 2021-02-17T21:59:31.581Z,1613599171.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.479996 m, bearing: 208.158512 deg, deltaT: 4.505355 s, approachRate: -0.759098 m/s, LOS rate: 0.090303 deg/s, posRepo size: 4 2021-02-17T21:59:31.587Z,1613599171.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.479996 m, bearing: 208.158512 deg, approachRate: -0.759098 m/s, LOS rate: 0.090303 deg/s, cmd update: 0.361212 deg/s, cmd heading: 203.064409 deg, new cmd heading: 202.388557 deg. 2021-02-17T21:59:33.956Z,1613599173.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:59:34.740Z,1613599174.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:59:35.150Z,1613599175.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:35.976Z,1613599175.976 [Micromodem](INFO): Nmea in: $SNTTA,0.031958,,,,215934.82*44 2021-02-17T21:59:35.998Z,1613599175.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.039997 m, bearing: 203.223413 deg, deltaT: 4.375914 s, approachRate: 1.042068 m/s, LOS rate: -1.127787 deg/s, posRepo size: 4 2021-02-17T21:59:36.000Z,1613599176.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.039997 m, bearing: 203.223413 deg, approachRate: 1.042068 m/s, LOS rate: -1.127787 deg/s, cmd update: -4.511148 deg/s, cmd heading: 204.654881 deg, new cmd heading: 204.808418 deg. 2021-02-17T21:59:38.412Z,1613599178.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:59:39.209Z,1613599179.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:59:39.601Z,1613599179.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:40.424Z,1613599180.424 [Micromodem](INFO): Nmea in: $SNTTA,0.029697,,,,215939.29*4D 2021-02-17T21:59:40.490Z,1613599180.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.339996 m, bearing: 208.436938 deg, deltaT: 4.438368 s, approachRate: -2.636104 m/s, LOS rate: 1.174649 deg/s, posRepo size: 4 2021-02-17T21:59:40.496Z,1613599180.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.339996 m, bearing: 208.436938 deg, approachRate: -2.636104 m/s, LOS rate: 1.174649 deg/s, cmd update: 4.698596 deg/s, cmd heading: 184.632846 deg, new cmd heading: 182.474803 deg. 2021-02-17T21:59:42.834Z,1613599182.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:59:43.628Z,1613599183.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:59:44.038Z,1613599184.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:44.861Z,1613599184.861 [Micromodem](INFO): Nmea in: $SNTTA,0.027655,,,,215943.71*4D 2021-02-17T21:59:44.926Z,1613599184.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.220001 m, bearing: 211.174491 deg, deltaT: 4.473885 s, approachRate: -0.697379 m/s, LOS rate: 0.611896 deg/s, posRepo size: 4 2021-02-17T21:59:44.932Z,1613599184.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.220001 m, bearing: 211.174491 deg, approachRate: -0.697379 m/s, LOS rate: 0.611896 deg/s, cmd update: 2.447585 deg/s, cmd heading: 205.578656 deg, new cmd heading: 207.725073 deg. 2021-02-17T21:59:47.319Z,1613599187.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:59:48.100Z,1613599188.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:59:48.478Z,1613599188.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:49.316Z,1613599189.316 [Micromodem](INFO): Nmea in: $SNTTA,0.025479,,,,215948.18*47 2021-02-17T21:59:49.370Z,1613599189.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.980000 m, bearing: 213.109757 deg, deltaT: 4.414090 s, approachRate: -0.734013 m/s, LOS rate: 0.438429 deg/s, posRepo size: 4 2021-02-17T21:59:49.375Z,1613599189.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.98 m. 2021-02-17T21:59:49.377Z,1613599189.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.980000 m, bearing: 213.109757 deg, approachRate: -0.734013 m/s, LOS rate: 0.438429 deg/s, cmd update: 1.753717 deg/s, cmd heading: 216.421681 deg, new cmd heading: 217.574339 deg. 2021-02-17T21:59:49.701Z,1613599189.701 [PowerOnly](INFO): Powering up loadControl 2021-02-17T21:59:51.729Z,1613599191.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:59:52.516Z,1613599192.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:59:52.922Z,1613599192.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:53.749Z,1613599193.749 [Micromodem](INFO): Nmea in: $SNTTA,0.023065,,0.070846,0.047965,215952.60*48 2021-02-17T21:59:53.770Z,1613599193.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.379997 m, bearing: 212.366468 deg, deltaT: 4.519967 s, approachRate: -0.796466 m/s, LOS rate: -0.164446 deg/s, posRepo size: 4 2021-02-17T21:59:53.770Z,1613599193.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.38 m. 2021-02-17T21:59:53.771Z,1613599193.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.38 m. 2021-02-17T21:59:53.771Z,1613599193.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T21:59:53.773Z,1613599193.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.379997 m, bearing: 212.366468 deg, approachRate: -0.796466 m/s, LOS rate: -0.164446 deg/s, cmd update: -0.657782 deg/s, cmd heading: 224.338677 deg, new cmd heading: 224.963352 deg. 2021-02-17T21:59:56.234Z,1613599196.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T21:59:56.960Z,1613599196.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T21:59:57.371Z,1613599197.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T21:59:58.216Z,1613599198.216 [Micromodem](INFO): Nmea in: $SNTTA,0.021012,,,,215957.04*49 2021-02-17T21:59:58.265Z,1613599198.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.080000 m, bearing: 210.356671 deg, deltaT: 4.364887 s, approachRate: -0.756033 m/s, LOS rate: -0.460446 deg/s, posRepo size: 4 2021-02-17T21:59:58.267Z,1613599198.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.080000 m, bearing: 210.356671 deg, approachRate: -0.756033 m/s, LOS rate: -0.460446 deg/s, cmd update: -1.841786 deg/s, cmd heading: 221.464013 deg, new cmd heading: 221.147549 deg. 2021-02-17T21:59:59.040Z,1613599199.040 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T21:59:59.041Z,1613599199.041 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T21:59:59.041Z,1613599199.041 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T21:59:59.041Z,1613599199.041 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T21:59:59.041Z,1613599199.041 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T21:59:59.484Z,1613599199.484 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60300000005D000004003E0000000000000000151D80030C5669BF92F9E591B88A767B9E37100224D4C1C2A1B95D271235A0674D6EAC1B59DCEA45CBEF 2021-02-17T21:59:59.485Z,1613599199.485 [Micromodem](INFO): Outgoing frame #2, 17 bytes: 7E0DEE42E7DB90DC6F78A0317A61DDFF00 2021-02-17T21:59:59.485Z,1613599199.485 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T21:59:59.812Z,1613599199.812 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T22:00:00.244Z,1613599200.244 [Micromodem](INFO): Nmea in: $CADRQ,215959,1,10,0,64,1*75 2021-02-17T22:00:00.244Z,1613599200.244 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60300000005D000004003E0000000000000000151D80030C5669BF92F9E591B88A767B9E37100224D4C1C2A1B95D271235A0674D6EAC1B59DCEA45CBEF*39 2021-02-17T22:00:00.401Z,1613599200.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:00.623Z,1613599200.623 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T22:00:01.011Z,1613599201.011 [Micromodem](INFO): Nmea in: $CADRQ,220000,1,10,0,64,2*75 2021-02-17T22:00:01.012Z,1613599201.012 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,7E0DEE42E7DB90DC6F78A0317A61DDFF00*4E 2021-02-17T22:00:01.449Z,1613599201.449 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D 2021-02-17T22:00:01.449Z,1613599201.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:00:01.834Z,1613599201.834 [Micromodem](INFO): Nmea in: $CATXP,81*7B 2021-02-17T22:00:01.846Z,1613599201.846 [Micromodem](ERROR): Response from modem unexpected: $CATXP,81*7B 2021-02-17T22:00:03.112Z,1613599203.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:04.257Z,1613599204.257 [Micromodem](INFO): Nmea in: $CATXF,81*6D 2021-02-17T22:00:04.257Z,1613599204.257 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D 2021-02-17T22:00:04.662Z,1613599204.662 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,220001.078508,3,0,200,4000,14500,1,1,10,1,2,2,3,81*4C 2021-02-17T22:00:04.662Z,1613599204.662 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,220001.078508,3,0,200,4000,14500,1,1,10,1,2,2,3,81*4C 2021-02-17T22:00:05.883Z,1613599205.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:06.718Z,1613599206.718 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-17T22:00:07.097Z,1613599207.097 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-17T22:00:07.098Z,1613599207.098 [Micromodem](INFO): Sent 73 bytes from file Logs/20210217T180521/Courier0048.lzma.parts 2021-02-17T22:00:07.098Z,1613599207.098 [Micromodem](INFO): Packets left to send: 0 2021-02-17T22:00:07.493Z,1613599207.493 [Micromodem](INFO): Nmea in: $CACST,6,0,20210217220005.718092,06,7675,38,0239,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,18.5,4.00,10,-1.00,-01,1.55,37,14500,4000*57 2021-02-17T22:00:07.493Z,1613599207.493 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210217220005.718092,06,7675,38,0239,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,18.5,4.00,10,-1.00,-01,1.55,37,14500,4000*57 2021-02-17T22:00:07.772Z,1613599207.772 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T22:00:07.773Z,1613599207.773 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T22:00:07.773Z,1613599207.773 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T22:00:07.773Z,1613599207.773 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T22:00:07.773Z,1613599207.773 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T22:00:08.388Z,1613599208.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:11.212Z,1613599211.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:12.758Z,1613599212.758 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:00:13.197Z,1613599213.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:00:13.988Z,1613599213.988 [Micromodem](INFO): Nmea in: $SNTTA,0.013188,,,0.027814,220012.84*5A 2021-02-17T22:00:14.027Z,1613599214.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.560001 m, bearing: 215.703262 deg, deltaT: 15.821456 s, approachRate: -0.728125 m/s, LOS rate: 0.337933 deg/s, posRepo size: 4 2021-02-17T22:00:14.032Z,1613599214.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.560001 m, bearing: 215.703262 deg, approachRate: -0.728125 m/s, LOS rate: 0.337933 deg/s, cmd update: 1.351731 deg/s, cmd heading: 192.323880 deg, new cmd heading: 191.548451 deg. 2021-02-17T22:00:16.446Z,1613599216.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:17.214Z,1613599217.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:00:17.606Z,1613599217.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:00:18.452Z,1613599218.452 [Micromodem](INFO): Nmea in: $SNTTA,0.010861,,,,220017.30*4B 2021-02-17T22:00:18.498Z,1613599218.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.079996 m, bearing: 220.710678 deg, deltaT: 4.442732 s, approachRate: -0.783303 m/s, LOS rate: 1.127103 deg/s, posRepo size: 4 2021-02-17T22:00:18.500Z,1613599218.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.079996 m, bearing: 220.710678 deg, approachRate: -0.783303 m/s, LOS rate: 1.127103 deg/s, cmd update: 4.508412 deg/s, cmd heading: 198.301208 deg, new cmd heading: 198.937136 deg. 2021-02-17T22:00:20.851Z,1613599220.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:21.659Z,1613599221.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:00:22.070Z,1613599222.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:00:22.880Z,1613599222.880 [Micromodem](INFO): Nmea in: $SNTTA,0.008649,,,,220021.74*43 2021-02-17T22:00:22.902Z,1613599222.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.719999 m, bearing: 224.541089 deg, deltaT: 4.432969 s, approachRate: -0.757956 m/s, LOS rate: 0.864074 deg/s, posRepo size: 4 2021-02-17T22:00:22.928Z,1613599222.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.719999 m, bearing: 224.541089 deg, approachRate: -0.757956 m/s, LOS rate: 0.864074 deg/s, cmd update: 3.456294 deg/s, cmd heading: 218.380413 deg, new cmd heading: 220.277363 deg. 2021-02-17T22:00:25.338Z,1613599225.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:26.101Z,1613599226.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:00:26.494Z,1613599226.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:00:27.328Z,1613599227.328 [Micromodem](INFO): Nmea in: $SNTTA,0.006603,,,,220026.18*4E 2021-02-17T22:00:27.391Z,1613599227.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.599998 m, bearing: 226.138766 deg, deltaT: 4.430105 s, approachRate: -0.704273 m/s, LOS rate: 0.360641 deg/s, posRepo size: 4 2021-02-17T22:00:27.393Z,1613599227.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.599998 m, bearing: 226.138766 deg, approachRate: -0.704273 m/s, LOS rate: 0.360641 deg/s, cmd update: 1.442563 deg/s, cmd heading: 233.692141 deg, new cmd heading: 235.334980 deg. 2021-02-17T22:00:29.744Z,1613599229.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:30.545Z,1613599230.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:00:30.958Z,1613599230.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:00:31.772Z,1613599231.772 [Micromodem](INFO): Nmea in: $SNTTA,0.004699,,0.041820,,220030.63*55 2021-02-17T22:00:31.794Z,1613599231.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.839999 m, bearing: 229.107795 deg, deltaT: 4.491415 s, approachRate: -0.614505 m/s, LOS rate: 0.661045 deg/s, posRepo size: 4 2021-02-17T22:00:31.820Z,1613599231.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.839999 m, bearing: 229.107795 deg, approachRate: -0.614505 m/s, LOS rate: 0.661045 deg/s, cmd update: 2.644181 deg/s, cmd heading: 240.171286 deg, new cmd heading: 240.735330 deg. 2021-02-17T22:00:34.249Z,1613599234.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:34.977Z,1613599234.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:00:35.381Z,1613599235.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:00:36.224Z,1613599236.224 [Micromodem](INFO): Nmea in: $SNTTA,0.003244,,,,220035.06*41 2021-02-17T22:00:36.270Z,1613599236.270 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T22:00:36.270Z,1613599236.270 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T22:00:36.270Z,1613599236.270 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T22:00:36.270Z,1613599236.270 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T22:00:36.270Z,1613599236.270 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T22:00:36.271Z,1613599236.271 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 2021-02-17T22:00:36.271Z,1613599236.271 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T22:00:36.271Z,1613599236.271 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T22:00:36.271Z,1613599236.271 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T22:00:36.274Z,1613599236.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 227.726730 deg, deltaT: 4.405552 s, approachRate: -0.503910 m/s, LOS rate: -0.313483 deg/s, posRepo size: 4 2021-02-17T22:00:36.276Z,1613599236.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.619999 m, bearing: 227.726730 deg, approachRate: -0.503910 m/s, LOS rate: -0.313483 deg/s, cmd update: -1.253931 deg/s, cmd heading: 251.819136 deg, new cmd heading: 253.050555 deg. 2021-02-17T22:00:36.629Z,1613599236.629 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T220036: (41.552319, -70.708603) 2021-02-17T22:00:36.629Z,1613599236.629 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T22:00:36.629Z,1613599236.629 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T22:00:36.629Z,1613599236.629 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T22:00:36.630Z,1613599236.630 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T22:00:36.630Z,1613599236.630 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T22:00:36.630Z,1613599236.630 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T22:00:36.630Z,1613599236.630 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T22:00:36.630Z,1613599236.630 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T22:00:37.037Z,1613599237.037 [UniversalFixResidualReporter](INFO): Fix residual: 4.9 %DT, over the last 535.3 m. Residual distance 26.0 m at bearing 129.0 degrees. Fix at (41.5516, -70.7089) with 0.0 m made good. 2021-02-17T22:00:38.240Z,1613599238.240 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T22:00:38.626Z,1613599238.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:39.421Z,1613599239.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:00:39.832Z,1613599239.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:00:40.648Z,1613599240.648 [Micromodem](INFO): Nmea in: $SNTTA,0.003174,,,,220039.50*4E 2021-02-17T22:00:40.690Z,1613599240.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.800000 m, bearing: 252.134330 deg, deltaT: 4.492663 s, approachRate: 0.040066 m/s, LOS rate: 5.432769 deg/s, posRepo size: 4 2021-02-17T22:00:40.696Z,1613599240.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.800000 m, bearing: 252.134330 deg, approachRate: 0.040066 m/s, LOS rate: 5.432769 deg/s, cmd update: 12.000000 deg/s, cmd heading: 246.190071 deg, new cmd heading: 245.697120 deg. 2021-02-17T22:00:43.122Z,1613599243.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:43.870Z,1613599243.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:00:44.277Z,1613599244.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:00:45.132Z,1613599245.132 [Micromodem](INFO): Nmea in: $SNTTA,0.004685,,0.012573,,220043.95*58 2021-02-17T22:00:45.213Z,1613599245.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.139998 m, bearing: 244.073040 deg, deltaT: 4.386511 s, approachRate: 0.533453 m/s, LOS rate: -1.837745 deg/s, posRepo size: 4 2021-02-17T22:00:45.219Z,1613599245.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.139998 m, bearing: 244.073040 deg, approachRate: 0.533453 m/s, LOS rate: -1.837745 deg/s, cmd update: -7.350981 deg/s, cmd heading: 298.875977 deg, new cmd heading: 305.180945 deg. 2021-02-17T22:00:47.531Z,1613599247.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:48.313Z,1613599248.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:00:48.715Z,1613599248.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:00:49.550Z,1613599249.550 [Micromodem](INFO): Nmea in: $SNTTA,0.007328,,,,220048.40*46 2021-02-17T22:00:49.584Z,1613599249.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.100000 m, bearing: 252.641895 deg, deltaT: 4.512557 s, approachRate: 0.877552 m/s, LOS rate: 1.898891 deg/s, posRepo size: 4 2021-02-17T22:00:49.586Z,1613599249.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.100000 m, bearing: 252.641895 deg, approachRate: 0.877552 m/s, LOS rate: 1.898891 deg/s, cmd update: 7.595565 deg/s, cmd heading: 265.977845 deg, new cmd heading: 262.884472 deg. 2021-02-17T22:00:51.970Z,1613599251.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:52.758Z,1613599252.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:00:53.188Z,1613599253.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:00:53.984Z,1613599253.984 [Micromodem](INFO): Nmea in: $SNTTA,0.009711,,,,220052.84*45 2021-02-17T22:00:54.002Z,1613599254.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.639997 m, bearing: 243.251668 deg, deltaT: 4.380537 s, approachRate: 0.808119 m/s, LOS rate: -2.143624 deg/s, posRepo size: 4 2021-02-17T22:00:54.004Z,1613599254.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.639997 m, bearing: 243.251668 deg, approachRate: 0.808119 m/s, LOS rate: -2.143624 deg/s, cmd update: -8.574497 deg/s, cmd heading: 299.532111 deg, new cmd heading: 302.733346 deg. 2021-02-17T22:00:56.438Z,1613599256.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:00:57.213Z,1613599257.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:00:57.602Z,1613599257.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:00:58.432Z,1613599258.432 [Micromodem](INFO): Nmea in: $SNTTA,0.011283,,,,220057.29*40 2021-02-17T22:00:58.486Z,1613599258.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.199997 m, bearing: 305.099988 deg, deltaT: 4.495931 s, approachRate: 0.346981 m/s, LOS rate: 13.756510 deg/s, posRepo size: 4 2021-02-17T22:00:58.491Z,1613599258.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.20 m. Rolling out. 2021-02-17T22:00:58.491Z,1613599258.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T22:01:00.853Z,1613599260.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:01.651Z,1613599261.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:01:02.075Z,1613599262.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:01:02.871Z,1613599262.871 [Micromodem](INFO): Nmea in: $SNTTA,0.013228,,,,220101.73*4E 2021-02-17T22:01:03.700Z,1613599263.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:05.274Z,1613599265.274 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:01:06.544Z,1613599266.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:07.301Z,1613599267.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:01:07.703Z,1613599267.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:01:08.528Z,1613599268.528 [Micromodem](INFO): Nmea in: $SNTTA,0.018593,,,,220107.38*4B 2021-02-17T22:01:08.580Z,1613599268.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.720001 m, bearing: 279.809682 deg, deltaT: 10.081963 s, approachRate: 1.142635 m/s, LOS rate: -2.508470 deg/s, posRepo size: 4 2021-02-17T22:01:10.959Z,1613599270.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:11.740Z,1613599271.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:01:12.173Z,1613599272.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:01:12.968Z,1613599272.968 [Micromodem](INFO): Nmea in: $SNTTA,0.017951,,,,220111.82*40 2021-02-17T22:01:13.007Z,1613599273.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.059999 m, bearing: 267.790052 deg, deltaT: 4.429372 s, approachRate: -0.149006 m/s, LOS rate: -2.713619 deg/s, posRepo size: 4 2021-02-17T22:01:15.110Z,1613599275.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:15.780Z,1613599275.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:01:16.214Z,1613599276.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:01:17.008Z,1613599277.008 [Micromodem](INFO): Nmea in: $SNTTA,0.019947,,,,220115.86*49 2021-02-17T22:01:17.052Z,1613599277.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.419996 m, bearing: 266.700036 deg, deltaT: 4.044259 s, approachRate: 0.830807 m/s, LOS rate: -0.269522 deg/s, posRepo size: 4 2021-02-17T22:01:19.483Z,1613599279.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:20.230Z,1613599280.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:01:20.635Z,1613599280.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:01:21.456Z,1613599281.456 [Micromodem](INFO): Nmea in: $SNTTA,0.022117,,,,220120.31*46 2021-02-17T22:01:21.513Z,1613599281.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.300003 m, bearing: 264.011127 deg, deltaT: 4.461077 s, approachRate: 0.645586 m/s, LOS rate: -0.602749 deg/s, posRepo size: 4 2021-02-17T22:01:23.875Z,1613599283.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:24.270Z,1613599284.270 [PowerOnly](INFO): Powering down loadControl 2021-02-17T22:01:24.676Z,1613599284.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:01:25.098Z,1613599285.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:01:25.900Z,1613599285.900 [Micromodem](INFO): Nmea in: $SNTTA,0.024739,,,,220124.76*4D 2021-02-17T22:01:25.942Z,1613599285.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.200001 m, bearing: 263.334638 deg, deltaT: 4.422093 s, approachRate: 0.881935 m/s, LOS rate: -0.152979 deg/s, posRepo size: 4 2021-02-17T22:01:28.346Z,1613599288.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:29.112Z,1613599289.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:01:29.523Z,1613599289.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:01:30.347Z,1613599290.347 [Micromodem](INFO): Nmea in: $SNTTA,0.026953,,,,220129.19*49 2021-02-17T22:01:30.381Z,1613599290.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.799999 m, bearing: 263.804555 deg, deltaT: 4.491257 s, approachRate: 0.801557 m/s, LOS rate: 0.104629 deg/s, posRepo size: 4 2021-02-17T22:01:32.768Z,1613599292.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:33.556Z,1613599293.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:01:33.962Z,1613599293.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:01:34.784Z,1613599294.784 [Micromodem](INFO): Nmea in: $SNTTA,0.029306,,,,220133.64*4D 2021-02-17T22:01:34.806Z,1613599294.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.039997 m, bearing: 269.510276 deg, deltaT: 4.395632 s, approachRate: 0.737095 m/s, LOS rate: 1.298044 deg/s, posRepo size: 4 2021-02-17T22:01:37.300Z,1613599297.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:37.000Z,1613599298.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:01:38.405Z,1613599298.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:01:39.232Z,1613599299.232 [Micromodem](INFO): Nmea in: $SNTTA,0.031739,,,0.047052,220138.08*57 2021-02-17T22:01:39.293Z,1613599299.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.759995 m, bearing: 268.086673 deg, deltaT: 4.423996 s, approachRate: 0.840868 m/s, LOS rate: -0.321791 deg/s, posRepo size: 4 2021-02-17T22:01:41.665Z,1613599301.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:42.444Z,1613599302.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:01:42.858Z,1613599302.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:01:43.676Z,1613599303.676 [Micromodem](INFO): Nmea in: $SNTTA,0.033988,,0.047426,,220142.53*55 2021-02-17T22:01:43.710Z,1613599303.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.000004 m, bearing: 270.278181 deg, deltaT: 4.475074 s, approachRate: 0.724012 m/s, LOS rate: 0.489714 deg/s, posRepo size: 4 2021-02-17T22:01:46.122Z,1613599306.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:46.894Z,1613599306.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:01:47.305Z,1613599307.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:01:48.120Z,1613599308.120 [Micromodem](INFO): Nmea in: $SNTTA,0.036394,,,,220146.97*46 2021-02-17T22:01:48.197Z,1613599308.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.779995 m, bearing: 271.737655 deg, deltaT: 4.424421 s, approachRate: 0.854347 m/s, LOS rate: 0.329868 deg/s, posRepo size: 4 2021-02-17T22:01:50.565Z,1613599310.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:51.337Z,1613599311.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:01:51.744Z,1613599311.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:01:52.565Z,1613599312.565 [Micromodem](INFO): Nmea in: $SNTTA,0.038571,,0.044559,,220151.42*5C 2021-02-17T22:01:52.603Z,1613599312.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.020004 m, bearing: 276.975263 deg, deltaT: 4.506503 s, approachRate: 0.718963 m/s, LOS rate: 1.162233 deg/s, posRepo size: 4 2021-02-17T22:01:55.019Z,1613599315.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:01:55.776Z,1613599315.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:01:56.210Z,1613599316.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:01:57.008Z,1613599317.008 [Micromodem](INFO): Nmea in: $SNTTA,0.041083,,0.058326,,220155.86*55 2021-02-17T22:01:57.060Z,1613599317.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.800007 m, bearing: 272.826360 deg, deltaT: 4.391400 s, approachRate: 0.860774 m/s, LOS rate: -0.944779 deg/s, posRepo size: 4 2021-02-17T22:01:59.455Z,1613599319.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:00.220Z,1613599320.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:00.644Z,1613599320.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:01.448Z,1613599321.448 [Micromodem](INFO): Nmea in: $SNTTA,0.043329,,,,220200.30*4E 2021-02-17T22:02:01.498Z,1613599321.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.220001 m, bearing: 268.678059 deg, deltaT: 4.447425 s, approachRate: 0.768983 m/s, LOS rate: -0.932742 deg/s, posRepo size: 4 2021-02-17T22:02:03.873Z,1613599323.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:04.664Z,1613599324.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:05.100Z,1613599325.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:05.905Z,1613599325.905 [Micromodem](INFO): Nmea in: $SNTTA,0.045581,,,,220204.75*49 2021-02-17T22:02:05.937Z,1613599325.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.580002 m, bearing: 274.555464 deg, deltaT: 4.438259 s, approachRate: 0.757054 m/s, LOS rate: 1.324259 deg/s, posRepo size: 4 2021-02-17T22:02:08.343Z,1613599328.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:09.108Z,1613599329.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:09.519Z,1613599329.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:10.336Z,1613599330.336 [Micromodem](INFO): Nmea in: $SNTTA,0.048058,,,,220209.19*42 2021-02-17T22:02:10.389Z,1613599330.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.360001 m, bearing: 266.746071 deg, deltaT: 4.420516 s, approachRate: 0.855103 m/s, LOS rate: -1.766625 deg/s, posRepo size: 4 2021-02-17T22:02:12.784Z,1613599332.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:13.553Z,1613599333.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:13.972Z,1613599333.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:14.804Z,1613599334.804 [Micromodem](INFO): Nmea in: $SNTTA,0.050500,,0.089318,,220213.63*50 2021-02-17T22:02:14.826Z,1613599334.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.900002 m, bearing: 286.252272 deg, deltaT: 4.487841 s, approachRate: 0.788798 m/s, LOS rate: 4.346455 deg/s, posRepo size: 4 2021-02-17T22:02:17.261Z,1613599337.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:17.996Z,1613599337.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:18.401Z,1613599338.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:19.228Z,1613599339.228 [Micromodem](INFO): Nmea in: $SNTTA,0.052700,,,,220218.08*43 2021-02-17T22:02:19.283Z,1613599339.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.260002 m, bearing: 272.136293 deg, deltaT: 4.400347 s, approachRate: 0.763576 m/s, LOS rate: -3.207924 deg/s, posRepo size: 4 2021-02-17T22:02:21.667Z,1613599341.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:22.440Z,1613599342.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:22.861Z,1613599342.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:23.668Z,1613599343.668 [Micromodem](INFO): Nmea in: $SNTTA,0.055175,,,,220222.52*46 2021-02-17T22:02:23.704Z,1613599343.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.040009 m, bearing: 266.402813 deg, deltaT: 4.483683 s, approachRate: 0.843058 m/s, LOS rate: -1.278743 deg/s, posRepo size: 4 2021-02-17T22:02:26.186Z,1613599346.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:26.936Z,1613599346.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:27.344Z,1613599347.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:28.189Z,1613599348.189 [Micromodem](INFO): Nmea in: $SNTTA,0.057611,,0.078416,,220227.07*56 2021-02-17T22:02:28.258Z,1613599348.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.639999 m, bearing: 266.519719 deg, deltaT: 4.477768 s, approachRate: 0.803970 m/s, LOS rate: 0.026108 deg/s, posRepo size: 4 2021-02-17T22:02:30.607Z,1613599350.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:31.385Z,1613599351.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:31.785Z,1613599351.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:32.612Z,1613599352.612 [Micromodem](INFO): Nmea in: $SNTTA,0.059898,,,,220231.47*46 2021-02-17T22:02:32.654Z,1613599352.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.000000 m, bearing: 268.629673 deg, deltaT: 4.474995 s, approachRate: 0.750839 m/s, LOS rate: 0.471499 deg/s, posRepo size: 4 2021-02-17T22:02:35.067Z,1613599355.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:35.824Z,1613599355.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:36.231Z,1613599356.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:37.069Z,1613599357.069 [Micromodem](INFO): Nmea in: $SNTTA,0.062289,,0.086426,,220235.90*5A 2021-02-17T22:02:37.135Z,1613599357.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.660004 m, bearing: 267.718608 deg, deltaT: 4.414463 s, approachRate: 0.829094 m/s, LOS rate: -0.206382 deg/s, posRepo size: 4 2021-02-17T22:02:39.487Z,1613599359.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:40.270Z,1613599360.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:40.679Z,1613599360.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:41.503Z,1613599361.503 [Micromodem](INFO): Nmea in: $SNTTA,0.064725,,,,220240.35*42 2021-02-17T22:02:41.532Z,1613599361.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.260002 m, bearing: 279.690618 deg, deltaT: 4.456726 s, approachRate: 0.807768 m/s, LOS rate: 2.686279 deg/s, posRepo size: 4 2021-02-17T22:02:43.926Z,1613599363.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:44.717Z,1613599364.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:45.130Z,1613599365.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:45.940Z,1613599365.940 [Micromodem](INFO): Nmea in: $SNTTA,0.067006,,,,220244.80*4D 2021-02-17T22:02:45.974Z,1613599365.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.680000 m, bearing: 273.386682 deg, deltaT: 4.440981 s, approachRate: 0.770100 m/s, LOS rate: -1.419492 deg/s, posRepo size: 4 2021-02-17T22:02:48.387Z,1613599368.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:49.164Z,1613599369.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:49.562Z,1613599369.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:50.392Z,1613599370.392 [Micromodem](INFO): Nmea in: $SNTTA,0.069373,,,,220249.25*40 2021-02-17T22:02:50.452Z,1613599370.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.460007 m, bearing: 267.532745 deg, deltaT: 4.427705 s, approachRate: 0.853717 m/s, LOS rate: -1.322115 deg/s, posRepo size: 4 2021-02-17T22:02:52.827Z,1613599372.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:53.608Z,1613599373.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:54.012Z,1613599374.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:54.832Z,1613599374.832 [Micromodem](INFO): Nmea in: $SNTTA,0.071623,,,,220253.69*4A 2021-02-17T22:02:54.854Z,1613599374.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.700005 m, bearing: 257.978349 deg, deltaT: 4.470416 s, approachRate: 0.724764 m/s, LOS rate: -2.137250 deg/s, posRepo size: 4 2021-02-17T22:02:57.286Z,1613599377.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:02:58.052Z,1613599378.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:02:58.450Z,1613599378.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:02:59.267Z,1613599379.267 [Micromodem](INFO): Nmea in: $SNTTA,0.073894,,0.100565,,220258.14*52 2021-02-17T22:03:00.247Z,1613599380.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:01.678Z,1613599381.678 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:03:02.912Z,1613599382.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:03.700Z,1613599383.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:03:04.109Z,1613599384.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:03:04.945Z,1613599384.945 [Micromodem](INFO): Nmea in: $SNTTA,0.076820,,,,220303.78*44 2021-02-17T22:03:05.744Z,1613599385.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:07.339Z,1613599387.339 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:03:08.574Z,1613599388.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:09.362Z,1613599389.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:03:09.762Z,1613599389.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:03:10.592Z,1613599390.592 [Micromodem](INFO): Nmea in: $SNTTA,0.080023,,,,220309.45*42 2021-02-17T22:03:10.616Z,1613599390.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.180008 m, bearing: 272.470480 deg, deltaT: 15.769825 s, approachRate: 0.791385 m/s, LOS rate: 0.918979 deg/s, posRepo size: 4 2021-02-17T22:03:13.006Z,1613599393.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:13.428Z,1613599393.428 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:03:13.800Z,1613599393.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:03:14.217Z,1613599394.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:03:15.031Z,1613599395.031 [Micromodem](INFO): Nmea in: $SNTTA,0.089555,,,,220313.88*45 2021-02-17T22:03:15.110Z,1613599395.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.720001 m, bearing: 270.348477 deg, deltaT: 4.407237 s, approachRate: 0.803223 m/s, LOS rate: -0.481482 deg/s, posRepo size: 4 2021-02-17T22:03:17.484Z,1613599397.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:18.249Z,1613599398.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:03:18.656Z,1613599398.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:03:19.476Z,1613599399.476 [Micromodem](INFO): Nmea in: $SNTTA,0.099639,,,,220318.33*46 2021-02-17T22:03:19.529Z,1613599399.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.380005 m, bearing: 275.356399 deg, deltaT: 4.474964 s, approachRate: 0.817885 m/s, LOS rate: 1.119098 deg/s, posRepo size: 4 2021-02-17T22:03:20.293Z,1613599400.293 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:03:21.907Z,1613599401.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:22.688Z,1613599402.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:03:23.119Z,1613599403.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:03:23.916Z,1613599403.916 [Micromodem](INFO): Nmea in: $SNTTA,0.087134,,,,220322.77*4A 2021-02-17T22:03:23.966Z,1613599403.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.800003 m, bearing: 276.350629 deg, deltaT: 4.418384 s, approachRate: 0.774038 m/s, LOS rate: 0.225021 deg/s, posRepo size: 4 2021-02-17T22:03:26.372Z,1613599406.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:27.132Z,1613599407.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:03:27.544Z,1613599407.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:03:28.360Z,1613599408.360 [Micromodem](INFO): Nmea in: $SNTTA,0.089614,,,,220327.21*47 2021-02-17T22:03:28.408Z,1613599408.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.520004 m, bearing: 276.010977 deg, deltaT: 4.435174 s, approachRate: 0.838750 m/s, LOS rate: -0.076581 deg/s, posRepo size: 4 2021-02-17T22:03:30.411Z,1613599410.411 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T22:03:30.785Z,1613599410.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:31.576Z,1613599411.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:03:31.982Z,1613599411.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:03:32.817Z,1613599412.817 [Micromodem](INFO): Nmea in: $SNTTA,0.091819,,,,220331.66*49 2021-02-17T22:03:32.841Z,1613599412.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.940002 m, bearing: 277.721448 deg, deltaT: 4.450037 s, approachRate: 0.768533 m/s, LOS rate: 0.384372 deg/s, posRepo size: 4 2021-02-17T22:03:35.271Z,1613599415.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:36.036Z,1613599416.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:03:36.434Z,1613599416.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:03:37.263Z,1613599417.263 [Micromodem](INFO): Nmea in: $SNTTA,0.094238,,,,220336.12*41 2021-02-17T22:03:37.297Z,1613599417.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.540009 m, bearing: 278.319608 deg, deltaT: 4.446202 s, approachRate: 0.809681 m/s, LOS rate: 0.134533 deg/s, posRepo size: 4 2021-02-17T22:03:39.688Z,1613599419.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:40.261Z,1613599420.261 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T22:03:40.501Z,1613599420.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:03:40.892Z,1613599420.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:03:41.724Z,1613599421.724 [Micromodem](INFO): Nmea in: $SNTTA,0.096602,,,,220340.58*41 2021-02-17T22:03:41.765Z,1613599421.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.080002 m, bearing: 277.536186 deg, deltaT: 4.501110 s, approachRate: 0.786471 m/s, LOS rate: -0.174051 deg/s, posRepo size: 4 2021-02-17T22:03:44.203Z,1613599424.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:44.929Z,1613599424.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:03:45.340Z,1613599425.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:03:45.379Z,1613599425.379 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:03:46.168Z,1613599426.168 [Micromodem](INFO): Nmea in: $SNTTA,0.098945,,,,220345.01*4A 2021-02-17T22:03:46.258Z,1613599426.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.559998 m, bearing: 276.244406 deg, deltaT: 4.387233 s, approachRate: 0.793210 m/s, LOS rate: -0.294441 deg/s, posRepo size: 4 2021-02-17T22:03:48.616Z,1613599428.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:49.373Z,1613599429.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:03:49.800Z,1613599429.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:03:50.223Z,1613599430.223 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:03:50.595Z,1613599430.595 [Micromodem](INFO): Nmea in: $SNTTA,0.101379,,0.105461,,220349.45*5B 2021-02-17T22:03:51.435Z,1613599431.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:53.012Z,1613599433.012 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:03:54.279Z,1613599434.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:55.028Z,1613599435.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:03:55.433Z,1613599435.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:03:55.462Z,1613599435.462 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items 2021-02-17T22:03:56.260Z,1613599436.260 [Micromodem](INFO): Nmea in: $SNTTA,0.104348,,,,220355.12*4A 2021-02-17T22:03:56.294Z,1613599436.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.720001 m, bearing: 277.358546 deg, deltaT: 10.104765 s, approachRate: 0.807540 m/s, LOS rate: 0.110259 deg/s, posRepo size: 4 2021-02-17T22:03:56.294Z,1613599436.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 156.72 m. Resuming terminal guidance. 2021-02-17T22:03:56.294Z,1613599436.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T22:03:58.684Z,1613599438.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:03:59.473Z,1613599439.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:03:59.878Z,1613599439.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:04:00.700Z,1613599440.700 [Micromodem](INFO): Nmea in: $SNTTA,0.106779,,,,220359.55*41 2021-02-17T22:04:00.746Z,1613599440.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.320007 m, bearing: 270.371645 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T22:04:00.751Z,1613599440.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 270.371645deg and heading rate command to 0 deg/s. 2021-02-17T22:04:03.142Z,1613599443.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:03.917Z,1613599443.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:04:04.321Z,1613599444.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:04:05.148Z,1613599445.148 [Micromodem](INFO): Nmea in: $SNTTA,0.109014,,,,220404.00*4D 2021-02-17T22:04:05.157Z,1613599445.157 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T22:04:05.218Z,1613599445.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.740005 m, bearing: 277.269644 deg, deltaT: 4.401554 s, approachRate: 0.776998 m/s, LOS rate: 1.567174 deg/s, posRepo size: 2 2021-02-17T22:04:05.232Z,1613599445.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.740005 m, bearing: 277.269644 deg, approachRate: 0.776998 m/s, LOS rate: 1.567174 deg/s, cmd update: 6.268694 deg/s, cmd heading: 270.371645 deg, new cmd heading: 270.371645 deg. 2021-02-17T22:04:07.582Z,1613599447.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:08.361Z,1613599448.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:04:08.771Z,1613599448.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:04:09.595Z,1613599449.595 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220408.44*52 2021-02-17T22:04:09.614Z,1613599449.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.279999 m, bearing: 270.894428 deg, deltaT: 4.515110 s, approachRate: 0.784033 m/s, LOS rate: -1.411974 deg/s, posRepo size: 3 2021-02-17T22:04:09.616Z,1613599449.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.279999 m, bearing: 270.894428 deg, approachRate: 0.784033 m/s, LOS rate: -1.411974 deg/s, cmd update: -5.647895 deg/s, cmd heading: 298.682403 deg, new cmd heading: 300.891234 deg. 2021-02-17T22:04:10.425Z,1613599450.425 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T22:04:12.045Z,1613599452.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:12.804Z,1613599452.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:04:13.219Z,1613599453.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:04:14.043Z,1613599454.043 [Micromodem](INFO): Nmea in: $SNTTA,0.113562,,,,220412.88*45 2021-02-17T22:04:14.106Z,1613599454.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.279999 m, bearing: 307.264884 deg, deltaT: 4.393700 s, approachRate: 0.000000 m/s, LOS rate: 8.277866 deg/s, posRepo size: 4 2021-02-17T22:04:14.112Z,1613599454.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.279999 m, bearing: 307.264884 deg, approachRate: 0.000000 m/s, LOS rate: 8.277866 deg/s, cmd update: 12.000000 deg/s, cmd heading: 273.890251 deg, new cmd heading: 271.321594 deg. 2021-02-17T22:04:15.275Z,1613599455.275 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T22:04:16.497Z,1613599456.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:17.256Z,1613599457.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:04:17.653Z,1613599457.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:04:18.480Z,1613599458.480 [Micromodem](INFO): Nmea in: $SNTTA,0.115349,,,,220417.34*4E 2021-02-17T22:04:18.524Z,1613599458.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.039993 m, bearing: 299.280967 deg, deltaT: 4.470598 s, approachRate: 1.288417 m/s, LOS rate: -1.785872 deg/s, posRepo size: 4 2021-02-17T22:04:18.526Z,1613599458.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.039993 m, bearing: 299.280967 deg, approachRate: 1.288417 m/s, LOS rate: -1.785872 deg/s, cmd update: -7.143490 deg/s, cmd heading: 327.585968 deg, new cmd heading: 332.123300 deg. 2021-02-17T22:04:20.898Z,1613599460.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:21.693Z,1613599461.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:04:22.115Z,1613599462.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:04:22.907Z,1613599462.907 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220421.78*56 2021-02-17T22:04:23.747Z,1613599463.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:25.331Z,1613599465.331 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:04:26.565Z,1613599466.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:27.350Z,1613599467.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:04:27.753Z,1613599467.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:04:28.172Z,1613599468.172 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,112,000,0E4 5,185,80,80,3A,FF 2021-02-17T22:04:28.572Z,1613599468.572 [Micromodem](INFO): Nmea in: $SNTTA,0.119815,,,,220427.43*43 2021-02-17T22:04:29.422Z,1613599469.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:30.225Z,1613599470.225 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T22:04:32.247Z,1613599472.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:35.045Z,1613599475.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:35.832Z,1613599475.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:04:36.245Z,1613599476.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:04:37.056Z,1613599477.056 [Micromodem](INFO): Nmea in: $SNTTA,0.124508,,,,220435.91*40 2021-02-17T22:04:37.868Z,1613599477.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:39.472Z,1613599479.472 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:04:40.700Z,1613599480.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:41.488Z,1613599481.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:04:41.896Z,1613599481.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:04:42.312Z,1613599482.312 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,30,80,61,E4 5,185,80,80,3A,FF 2021-02-17T22:04:42.704Z,1613599482.704 [Micromodem](INFO): Nmea in: $SNTTA,0.126540,,,,220441.57*47 2021-02-17T22:04:43.534Z,1613599483.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:46.403Z,1613599486.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:49.254Z,1613599489.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:49.972Z,1613599489.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:04:50.383Z,1613599490.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:04:51.211Z,1613599491.211 [Micromodem](INFO): Nmea in: $SNTTA,0.130188,,,,220450.05*47 2021-02-17T22:04:51.634Z,1613599491.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.300003 m, bearing: 193.627325 deg, deltaT: 33.175730 s, approachRate: 0.670973 m/s, LOS rate: -3.184667 deg/s, posRepo size: 4 2021-02-17T22:04:51.636Z,1613599491.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.300003 m, bearing: 193.627325 deg, approachRate: 0.670973 m/s, LOS rate: -3.184667 deg/s, cmd update: -12.000000 deg/s, cmd heading: 90.624041 deg, new cmd heading: 88.221543 deg. 2021-02-17T22:04:54.027Z,1613599494.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:54.820Z,1613599494.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:04:55.231Z,1613599495.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:04:56.039Z,1613599496.039 [Micromodem](INFO): Nmea in: $SNTTA,0.131467,,,,220454.90*4A 2021-02-17T22:04:56.854Z,1613599496.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:04:58.454Z,1613599498.454 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:04:59.714Z,1613599499.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:00.478Z,1613599500.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:05:00.890Z,1613599500.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:05:01.694Z,1613599501.694 [Micromodem](INFO): Nmea in: $SNTTA,0.131634,,,,220500.56*44 2021-02-17T22:05:02.155Z,1613599502.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.699997 m, bearing: 194.540440 deg, deltaT: 10.427412 s, approachRate: 0.230162 m/s, LOS rate: 0.087569 deg/s, posRepo size: 4 2021-02-17T22:05:02.157Z,1613599502.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.699997 m, bearing: 194.540440 deg, approachRate: 0.230162 m/s, LOS rate: 0.087569 deg/s, cmd update: 0.350275 deg/s, cmd heading: 325.687849 deg, new cmd heading: 320.339221 deg. 2021-02-17T22:05:04.540Z,1613599504.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:05.329Z,1613599505.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:05:05.736Z,1613599505.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:05:06.544Z,1613599506.544 [Micromodem](INFO): Nmea in: $SNTTA,0.131487,,,,220505.41*4D 2021-02-17T22:05:06.970Z,1613599506.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.399994 m, bearing: 140.223415 deg, deltaT: 4.860929 s, approachRate: -0.061717 m/s, LOS rate: -11.174207 deg/s, posRepo size: 4 2021-02-17T22:05:06.988Z,1613599506.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.399994 m, bearing: 140.223415 deg, approachRate: -0.061717 m/s, LOS rate: -11.174207 deg/s, cmd update: -12.000000 deg/s, cmd heading: 327.397471 deg, new cmd heading: 327.530596 deg. 2021-02-17T22:05:09.414Z,1613599509.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:10.207Z,1613599510.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:05:10.584Z,1613599510.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:05:11.405Z,1613599511.405 [Micromodem](INFO): Nmea in: $SNTTA,0.131702,,,,220510.29*49 2021-02-17T22:05:12.280Z,1613599512.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:13.806Z,1613599513.806 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:05:15.048Z,1613599515.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:15.829Z,1613599515.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:05:16.235Z,1613599516.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:05:17.052Z,1613599517.052 [Micromodem](INFO): Nmea in: $SNTTA,0.132713,,,,220515.91*4C 2021-02-17T22:05:17.512Z,1613599517.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.199997 m, bearing: 172.789484 deg, deltaT: 10.526249 s, approachRate: 0.171001 m/s, LOS rate: 3.093796 deg/s, posRepo size: 4 2021-02-17T22:05:17.513Z,1613599517.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.199997 m, bearing: 172.789484 deg, approachRate: 0.171001 m/s, LOS rate: 3.093796 deg/s, cmd update: 12.000000 deg/s, cmd heading: 201.230787 deg, new cmd heading: 196.338662 deg. 2021-02-17T22:05:19.896Z,1613599519.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:20.676Z,1613599520.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:05:21.103Z,1613599521.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:05:21.905Z,1613599521.905 [Micromodem](INFO): Nmea in: $SNTTA,0.134421,,,,220520.76*47 2021-02-17T22:05:22.348Z,1613599522.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.899994 m, bearing: 227.365823 deg, deltaT: 4.803470 s, approachRate: 0.562093 m/s, LOS rate: 11.361857 deg/s, posRepo size: 4 2021-02-17T22:05:22.349Z,1613599522.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.899994 m, bearing: 227.365823 deg, approachRate: 0.562093 m/s, LOS rate: 11.361857 deg/s, cmd update: 12.000000 deg/s, cmd heading: 259.023016 deg, new cmd heading: 264.152032 deg. 2021-02-17T22:05:24.731Z,1613599524.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:25.529Z,1613599525.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:05:25.930Z,1613599525.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:05:26.744Z,1613599526.744 [Micromodem](INFO): Nmea in: $SNTTA,0.135957,,,,220525.61*49 2021-02-17T22:05:27.224Z,1613599527.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.179993 m, bearing: 215.750936 deg, deltaT: 4.838980 s, approachRate: 0.471173 m/s, LOS rate: -2.400276 deg/s, posRepo size: 4 2021-02-17T22:05:27.226Z,1613599527.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.179993 m, bearing: 215.750936 deg, approachRate: 0.471173 m/s, LOS rate: -2.400276 deg/s, cmd update: -9.601104 deg/s, cmd heading: 317.088414 deg, new cmd heading: 322.668582 deg. 2021-02-17T22:05:29.579Z,1613599529.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:30.374Z,1613599530.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:05:30.778Z,1613599530.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:05:31.611Z,1613599531.611 [Micromodem](INFO): Nmea in: $SNTTA,0.138117,,,,220530.45*4A 2021-02-17T22:05:32.019Z,1613599532.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.359985 m, bearing: 275.785581 deg, deltaT: 4.887062 s, approachRate: 0.650696 m/s, LOS rate: 12.284404 deg/s, posRepo size: 4 2021-02-17T22:05:32.020Z,1613599532.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.284404 deg/s. Setting heading cmd to target bearing of 275.785581deg and heading rate command to 0 deg/s. 2021-02-17T22:05:34.472Z,1613599534.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:35.234Z,1613599535.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:05:35.626Z,1613599535.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:05:36.446Z,1613599536.446 [Micromodem](INFO): Nmea in: $SNTTA,0.140441,,,,220535.32*46 2021-02-17T22:05:36.878Z,1613599536.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.779984 m, bearing: 256.435682 deg, deltaT: 4.865603 s, approachRate: 0.702893 m/s, LOS rate: -3.976876 deg/s, posRepo size: 4 2021-02-17T22:05:36.896Z,1613599536.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.779984 m, bearing: 256.435682 deg, approachRate: 0.702893 m/s, LOS rate: -3.976876 deg/s, cmd update: -12.000000 deg/s, cmd heading: 275.785581 deg, new cmd heading: 275.785581 deg. 2021-02-17T22:05:39.321Z,1613599539.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:40.095Z,1613599540.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:05:40.480Z,1613599540.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:05:40.495Z,1613599540.495 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:05:41.311Z,1613599541.311 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220540.18*56 2021-02-17T22:05:41.734Z,1613599541.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.859985 m, bearing: 305.786312 deg, deltaT: 4.859918 s, approachRate: 0.839521 m/s, LOS rate: 10.154622 deg/s, posRepo size: 4 2021-02-17T22:05:41.740Z,1613599541.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.859985 m, bearing: 305.786312 deg, approachRate: 0.839521 m/s, LOS rate: 10.154622 deg/s, cmd update: 12.000000 deg/s, cmd heading: 217.466600 deg, new cmd heading: 213.114715 deg. 2021-02-17T22:05:44.158Z,1613599544.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:44.922Z,1613599544.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:05:45.337Z,1613599545.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:05:45.358Z,1613599545.358 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T22:05:46.136Z,1613599546.136 [Micromodem](INFO): Nmea in: $SNTTA,0.145591,,,,220545.00*49 2021-02-17T22:05:46.572Z,1613599546.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.519989 m, bearing: 268.888947 deg, deltaT: 4.840346 s, approachRate: 0.756145 m/s, LOS rate: -7.622878 deg/s, posRepo size: 4 2021-02-17T22:05:46.573Z,1613599546.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.519989 m, bearing: 268.888947 deg, approachRate: 0.756145 m/s, LOS rate: -7.622878 deg/s, cmd update: -12.000000 deg/s, cmd heading: 275.493141 deg, new cmd heading: 279.868137 deg. 2021-02-17T22:05:48.978Z,1613599548.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:49.771Z,1613599549.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:05:50.225Z,1613599550.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:05:50.247Z,1613599550.247 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:05:50.987Z,1613599550.987 [Micromodem](INFO): Nmea in: $SNTTA,0.147663,,,,220549.85*44 2021-02-17T22:05:51.426Z,1613599551.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.639984 m, bearing: 227.541906 deg, deltaT: 4.789703 s, approachRate: 0.651396 m/s, LOS rate: -8.632486 deg/s, posRepo size: 4 2021-02-17T22:05:51.428Z,1613599551.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.639984 m, bearing: 227.541906 deg, approachRate: 0.651396 m/s, LOS rate: -8.632486 deg/s, cmd update: -12.000000 deg/s, cmd heading: 217.959128 deg, new cmd heading: 212.864743 deg. 2021-02-17T22:05:53.837Z,1613599553.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:54.612Z,1613599554.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:05:55.026Z,1613599555.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:05:55.427Z,1613599555.427 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T22:05:55.847Z,1613599555.847 [Micromodem](INFO): Nmea in: $SNTTA,0.150565,,,,220554.69*49 2021-02-17T22:05:56.297Z,1613599556.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.959991 m, bearing: 236.216765 deg, deltaT: 4.877465 s, approachRate: 0.885707 m/s, LOS rate: 1.778559 deg/s, posRepo size: 4 2021-02-17T22:05:56.299Z,1613599556.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.959991 m, bearing: 236.216765 deg, approachRate: 0.885707 m/s, LOS rate: 1.778559 deg/s, cmd update: 7.114236 deg/s, cmd heading: 159.435486 deg, new cmd heading: 154.413390 deg. 2021-02-17T22:05:58.683Z,1613599558.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:05:59.460Z,1613599559.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:05:59.867Z,1613599559.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:06:00.288Z,1613599560.288 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T22:06:00.676Z,1613599560.676 [Micromodem](INFO): Nmea in: $SNTTA,0.152597,,,,220559.54*45 2021-02-17T22:06:01.513Z,1613599561.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:06:03.107Z,1613599563.107 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:06:04.349Z,1613599564.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:06:05.136Z,1613599565.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:06:05.531Z,1613599565.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:06:06.362Z,1613599566.362 [Micromodem](INFO): Nmea in: $SNTTA,0.154972,,,,220605.22*4F 2021-02-17T22:06:06.785Z,1613599566.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.559998 m, bearing: 200.847081 deg, deltaT: 10.516808 s, approachRate: 0.627567 m/s, LOS rate: -3.363158 deg/s, posRepo size: 4 2021-02-17T22:06:06.787Z,1613599566.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 232.559998 m, bearing: 200.847081 deg, approachRate: 0.627567 m/s, LOS rate: -3.363158 deg/s, cmd update: -12.000000 deg/s, cmd heading: 234.258277 deg, new cmd heading: 237.031712 deg. 2021-02-17T22:06:09.234Z,1613599569.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:06:09.970Z,1613599569.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:06:10.370Z,1613599570.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:06:10.389Z,1613599570.389 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T22:06:11.209Z,1613599571.209 [Micromodem](INFO): Nmea in: $SNTTA,0.156861,,,,220610.05*4F 2021-02-17T22:06:11.622Z,1613599571.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.499985 m, bearing: 218.968119 deg, deltaT: 4.894804 s, approachRate: 0.600634 m/s, LOS rate: 3.702097 deg/s, posRepo size: 4 2021-02-17T22:06:11.624Z,1613599571.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 235.499985 m, bearing: 218.968119 deg, approachRate: 0.600634 m/s, LOS rate: 3.702097 deg/s, cmd update: 12.000000 deg/s, cmd heading: 175.569504 deg, new cmd heading: 171.542195 deg. 2021-02-17T22:06:14.065Z,1613599574.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:06:14.813Z,1613599574.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:06:15.219Z,1613599575.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:06:16.038Z,1613599576.038 [Micromodem](INFO): Nmea in: $SNTTA,0.159464,,,,220614.89*49 2021-02-17T22:06:16.478Z,1613599576.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 239.339996 m, bearing: 173.455577 deg, deltaT: 4.808249 s, approachRate: 0.798630 m/s, LOS rate: -9.465513 deg/s, posRepo size: 4 2021-02-17T22:06:16.480Z,1613599576.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 239.339996 m, bearing: 173.455577 deg, approachRate: 0.798630 m/s, LOS rate: -9.465513 deg/s, cmd update: -12.000000 deg/s, cmd heading: 233.266106 deg, new cmd heading: 237.864794 deg. 2021-02-17T22:06:18.883Z,1613599578.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:06:19.662Z,1613599579.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:06:20.096Z,1613599580.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:06:20.878Z,1613599580.878 [Micromodem](INFO): Nmea in: $SNTTA,0.161234,,,,220619.74*4E 2021-02-17T22:06:21.348Z,1613599581.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.039993 m, bearing: 201.714392 deg, deltaT: 4.794004 s, approachRate: 0.563203 m/s, LOS rate: 5.894616 deg/s, posRepo size: 4 2021-02-17T22:06:21.355Z,1613599581.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 242.039993 m, bearing: 201.714392 deg, approachRate: 0.563203 m/s, LOS rate: 5.894616 deg/s, cmd update: 12.000000 deg/s, cmd heading: 175.687740 deg, new cmd heading: 170.272176 deg. 2021-02-17T22:06:23.737Z,1613599583.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:06:24.514Z,1613599584.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:06:24.914Z,1613599584.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:06:25.730Z,1613599585.730 [Micromodem](INFO): Nmea in: $SNTTA,0.162926,,,,220624.60*4E 2021-02-17T22:06:26.210Z,1613599586.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 244.499985 m, bearing: 195.305120 deg, deltaT: 4.851719 s, approachRate: 0.507035 m/s, LOS rate: -1.321031 deg/s, posRepo size: 4 2021-02-17T22:06:26.216Z,1613599586.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 244.499985 m, bearing: 195.305120 deg, approachRate: 0.507035 m/s, LOS rate: -1.321031 deg/s, cmd update: -5.284125 deg/s, cmd heading: 233.908658 deg, new cmd heading: 239.499194 deg. 2021-02-17T22:06:26.558Z,1613599586.558 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T22:06:28.573Z,1613599588.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:06:29.362Z,1613599589.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:06:29.763Z,1613599589.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:06:30.579Z,1613599590.579 [Micromodem](INFO): Nmea in: $SNTTA,0.164572,,,,220629.44*4E 2021-02-17T22:06:31.014Z,1613599591.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.019989 m, bearing: 177.900555 deg, deltaT: 4.858811 s, approachRate: 0.518646 m/s, LOS rate: -3.582062 deg/s, posRepo size: 4 2021-02-17T22:06:31.016Z,1613599591.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 247.019989 m, bearing: 177.900555 deg, approachRate: 0.518646 m/s, LOS rate: -3.582062 deg/s, cmd update: -12.000000 deg/s, cmd heading: 208.233862 deg, new cmd heading: 206.063197 deg. 2021-02-17T22:06:33.432Z,1613599593.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:06:34.214Z,1613599594.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:06:34.609Z,1613599594.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:06:35.426Z,1613599595.426 [Micromodem](INFO): Nmea in: $SNTTA,0.166440,,,,220634.29*4B 2021-02-17T22:06:35.857Z,1613599595.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.899979 m, bearing: 211.666866 deg, deltaT: 4.898439 s, approachRate: 0.587940 m/s, LOS rate: 6.893280 deg/s, posRepo size: 4 2021-02-17T22:06:35.859Z,1613599595.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 249.899979 m, bearing: 211.666866 deg, approachRate: 0.587940 m/s, LOS rate: 6.893280 deg/s, cmd update: 12.000000 deg/s, cmd heading: 149.502933 deg, new cmd heading: 145.183005 deg. 2021-02-17T22:06:38.318Z,1613599598.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:06:39.088Z,1613599599.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:06:39.480Z,1613599599.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:06:40.296Z,1613599600.296 [Micromodem](INFO): Nmea in: $SNTTA,0.168524,,,,220639.17*46 2021-02-17T22:06:40.717Z,1613599600.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.779984 m, bearing: 185.461397 deg, deltaT: 4.847855 s, approachRate: 0.594078 m/s, LOS rate: -5.405580 deg/s, posRepo size: 4 2021-02-17T22:06:40.719Z,1613599600.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 252.779984 m, bearing: 185.461397 deg, approachRate: 0.594078 m/s, LOS rate: -5.405580 deg/s, cmd update: -12.000000 deg/s, cmd heading: 207.727163 deg, new cmd heading: 212.142539 deg. 2021-02-17T22:06:43.128Z,1613599603.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:06:43.900Z,1613599603.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:06:44.306Z,1613599604.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:06:45.120Z,1613599605.120 [Micromodem](INFO): Nmea in: $SNTTA,0.169379,,,,220643.98*43 2021-02-17T22:06:45.566Z,1613599605.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.160004 m, bearing: 149.605882 deg, deltaT: 4.799213 s, approachRate: 0.287551 m/s, LOS rate: -7.471124 deg/s, posRepo size: 4 2021-02-17T22:06:45.568Z,1613599605.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 254.160004 m, bearing: 149.605882 deg, approachRate: 0.287551 m/s, LOS rate: -7.471124 deg/s, cmd update: -12.000000 deg/s, cmd heading: 150.156249 deg, new cmd heading: 145.126857 deg. 2021-02-17T22:06:47.957Z,1613599607.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:06:48.754Z,1613599608.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:06:49.158Z,1613599609.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:06:49.988Z,1613599609.988 [Micromodem](INFO): Nmea in: $SNTTA,0.170416,,,,220648.84*43 2021-02-17T22:06:50.424Z,1613599610.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.599991 m, bearing: 138.800987 deg, deltaT: 4.862011 s, approachRate: 0.296171 m/s, LOS rate: -2.222310 deg/s, posRepo size: 4 2021-02-17T22:06:50.425Z,1613599610.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 255.599991 m, bearing: 138.800987 deg, approachRate: 0.296171 m/s, LOS rate: -2.222310 deg/s, cmd update: -8.889239 deg/s, cmd heading: 91.809380 deg, new cmd heading: 86.838752 deg. 2021-02-17T22:06:52.811Z,1613599612.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:06:53.596Z,1613599613.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:06:54.001Z,1613599614.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:06:54.814Z,1613599614.814 [Micromodem](INFO): Nmea in: $SNTTA,0.171129,,,,220653.68*43 2021-02-17T22:06:55.332Z,1613599615.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.739990 m, bearing: 128.847803 deg, deltaT: 4.817813 s, approachRate: 0.236622 m/s, LOS rate: -2.065913 deg/s, posRepo size: 4 2021-02-17T22:06:55.334Z,1613599615.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 256.739990 m, bearing: 128.847803 deg, approachRate: 0.236622 m/s, LOS rate: -2.065913 deg/s, cmd update: -8.263653 deg/s, cmd heading: 48.969824 deg, new cmd heading: 44.491630 deg. 2021-02-17T22:06:57.657Z,1613599617.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:06:58.454Z,1613599618.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:06:58.849Z,1613599618.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:06:59.669Z,1613599619.669 [Micromodem](INFO): Nmea in: $SNTTA,0.171127,,,,220658.54*49 2021-02-17T22:07:00.156Z,1613599620.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.559998 m, bearing: 79.235788 deg, deltaT: 4.856353 s, approachRate: -0.037063 m/s, LOS rate: -10.215899 deg/s, posRepo size: 4 2021-02-17T22:07:00.158Z,1613599620.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 256.559998 m, bearing: 79.235788 deg, approachRate: -0.037063 m/s, LOS rate: -10.215899 deg/s, cmd update: -12.000000 deg/s, cmd heading: 8.845996 deg, new cmd heading: 4.981177 deg. 2021-02-17T22:07:02.529Z,1613599622.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:07:03.298Z,1613599623.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:07:03.697Z,1613599623.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:07:04.514Z,1613599624.514 [Micromodem](INFO): Nmea in: $SNTTA,0.170407,,,,220703.38*4A 2021-02-17T22:07:04.938Z,1613599624.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.539993 m, bearing: 62.084015 deg, deltaT: 4.853992 s, approachRate: -0.210137 m/s, LOS rate: -3.533540 deg/s, posRepo size: 4 2021-02-17T22:07:04.940Z,1613599624.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 255.539993 m, bearing: 62.084015 deg, approachRate: -0.210137 m/s, LOS rate: -3.533540 deg/s, cmd update: -12.000000 deg/s, cmd heading: 310.589391 deg, new cmd heading: 305.797839 deg. 2021-02-17T22:07:07.396Z,1613599627.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:07:08.140Z,1613599628.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:07:08.547Z,1613599628.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:07:09.360Z,1613599629.360 [Micromodem](INFO): Nmea in: $SNTTA,0.168989,,,,220708.22*48 2021-02-17T22:07:09.802Z,1613599629.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.320007 m, bearing: 71.589788 deg, deltaT: 4.854952 s, approachRate: -0.457262 m/s, LOS rate: 1.957954 deg/s, posRepo size: 4 2021-02-17T22:07:09.804Z,1613599629.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 253.320007 m, bearing: 71.589788 deg, approachRate: -0.457262 m/s, LOS rate: 1.957954 deg/s, cmd update: 7.831816 deg/s, cmd heading: 252.327685 deg, new cmd heading: 247.427125 deg. 2021-02-17T22:07:12.275Z,1613599632.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:07:12.988Z,1613599632.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:07:13.395Z,1613599633.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:07:14.219Z,1613599634.219 [Micromodem](INFO): Nmea in: $SNTTA,0.168027,,,,220713.07*48 2021-02-17T22:07:14.657Z,1613599634.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.879990 m, bearing: 57.976667 deg, deltaT: 4.898700 s, approachRate: -0.293959 m/s, LOS rate: -2.778925 deg/s, posRepo size: 4 2021-02-17T22:07:14.658Z,1613599634.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 251.879990 m, bearing: 57.976667 deg, approachRate: -0.293959 m/s, LOS rate: -2.778925 deg/s, cmd update: -11.115700 deg/s, cmd heading: 290.662247 deg, new cmd heading: 293.544355 deg. 2021-02-17T22:07:17.104Z,1613599637.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:07:17.836Z,1613599637.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:07:18.247Z,1613599638.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:07:19.087Z,1613599639.087 [Micromodem](INFO): Nmea in: $SNTTA,0.166701,,,,220717.92*4D 2021-02-17T22:07:19.511Z,1613599639.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.019989 m, bearing: 110.567813 deg, deltaT: 4.841297 s, approachRate: -0.384195 m/s, LOS rate: 10.863028 deg/s, posRepo size: 4 2021-02-17T22:07:19.513Z,1613599639.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 250.019989 m, bearing: 110.567813 deg, approachRate: -0.384195 m/s, LOS rate: 10.863028 deg/s, cmd update: 12.000000 deg/s, cmd heading: 236.803713 deg, new cmd heading: 232.653799 deg. 2021-02-17T22:07:21.921Z,1613599641.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:07:22.684Z,1613599642.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:07:23.105Z,1613599643.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:07:23.908Z,1613599643.908 [Micromodem](INFO): Nmea in: $SNTTA,0.166250,,,,220722.77*41 2021-02-17T22:07:24.360Z,1613599644.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.539993 m, bearing: 142.749519 deg, deltaT: 4.820323 s, approachRate: -0.099578 m/s, LOS rate: 6.676255 deg/s, posRepo size: 4 2021-02-17T22:07:24.362Z,1613599644.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 249.539993 m, bearing: 142.749519 deg, approachRate: -0.099578 m/s, LOS rate: 6.676255 deg/s, cmd update: 12.000000 deg/s, cmd heading: 294.598954 deg, new cmd heading: 299.512798 deg. 2021-02-17T22:07:26.750Z,1613599646.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:07:27.532Z,1613599647.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:07:27.943Z,1613599647.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:07:28.750Z,1613599648.750 [Micromodem](INFO): Nmea in: $SNTTA,0.166761,,,,220727.61*44 2021-02-17T22:07:29.245Z,1613599649.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.199982 m, bearing: 106.017705 deg, deltaT: 4.839303 s, approachRate: 0.136381 m/s, LOS rate: -7.590311 deg/s, posRepo size: 4 2021-02-17T22:07:29.251Z,1613599649.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 250.199982 m, bearing: 106.017705 deg, approachRate: 0.136381 m/s, LOS rate: -7.590311 deg/s, cmd update: -12.000000 deg/s, cmd heading: 352.671108 deg, new cmd heading: 358.140000 deg. 2021-02-17T22:07:31.587Z,1613599651.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:07:32.403Z,1613599652.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:07:32.791Z,1613599652.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:07:33.610Z,1613599653.610 [Micromodem](INFO): Nmea in: $SNTTA,0.167499,,,,220732.49*4F 2021-02-17T22:07:34.026Z,1613599654.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.339996 m, bearing: 147.496364 deg, deltaT: 4.831315 s, approachRate: 0.235964 m/s, LOS rate: 8.585377 deg/s, posRepo size: 4 2021-02-17T22:07:34.028Z,1613599654.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 251.339996 m, bearing: 147.496364 deg, approachRate: 0.235964 m/s, LOS rate: 8.585377 deg/s, cmd update: 12.000000 deg/s, cmd heading: 294.649546 deg, new cmd heading: 289.831690 deg. 2021-02-17T22:07:36.476Z,1613599656.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:07:37.236Z,1613599657.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:07:37.639Z,1613599657.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:07:38.467Z,1613599658.467 [Micromodem](INFO): Nmea in: $SNTTA,0.169226,,,,220737.32*4A 2021-02-17T22:07:38.874Z,1613599658.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.099991 m, bearing: 200.300461 deg, deltaT: 4.893451 s, approachRate: 0.564018 m/s, LOS rate: 10.790768 deg/s, posRepo size: 4 2021-02-17T22:07:38.876Z,1613599658.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 254.099991 m, bearing: 200.300461 deg, approachRate: 0.564018 m/s, LOS rate: 10.790768 deg/s, cmd update: 12.000000 deg/s, cmd heading: 353.373348 deg, new cmd heading: 357.642576 deg. 2021-02-17T22:07:41.322Z,1613599661.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:07:42.101Z,1613599662.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:07:42.501Z,1613599662.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:07:43.310Z,1613599663.310 [Micromodem](INFO): Nmea in: $SNTTA,0.171002,,,,220742.18*4D 2021-02-17T22:07:43.737Z,1613599663.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.679993 m, bearing: 258.073370 deg, deltaT: 4.825177 s, approachRate: 0.534696 m/s, LOS rate: 11.973221 deg/s, posRepo size: 4 2021-02-17T22:07:43.738Z,1613599663.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.973221 deg/s. Setting heading cmd to target bearing of 258.073370deg and heading rate command to 0 deg/s. 2021-02-17T22:07:46.185Z,1613599666.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:07:46.924Z,1613599666.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:07:47.331Z,1613599667.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:07:48.156Z,1613599668.156 [Micromodem](INFO): Nmea in: $SNTTA,0.173304,,,,220747.01*47 2021-02-17T22:07:48.584Z,1613599668.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 260.100006 m, bearing: 246.779953 deg, deltaT: 4.892164 s, approachRate: 0.699080 m/s, LOS rate: -2.308471 deg/s, posRepo size: 4 2021-02-17T22:07:48.586Z,1613599668.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 260.100006 m, bearing: 246.779953 deg, approachRate: 0.699080 m/s, LOS rate: -2.308471 deg/s, cmd update: -9.233883 deg/s, cmd heading: 258.073370 deg, new cmd heading: 258.073370 deg. 2021-02-17T22:07:50.984Z,1613599670.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:07:51.778Z,1613599671.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:07:52.208Z,1613599672.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:07:52.992Z,1613599672.992 [Micromodem](INFO): Nmea in: $SNTTA,0.176250,,,,220751.86*4A 2021-02-17T22:07:53.453Z,1613599673.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.179993 m, bearing: 302.862063 deg, deltaT: 4.783627 s, approachRate: 0.852907 m/s, LOS rate: 11.723763 deg/s, posRepo size: 4 2021-02-17T22:07:53.453Z,1613599673.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.723763 deg/s. Setting heading cmd to target bearing of 302.862063deg and heading rate command to 0 deg/s. 2021-02-17T22:07:55.842Z,1613599675.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:07:56.626Z,1613599676.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:07:57.031Z,1613599677.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:07:57.846Z,1613599677.846 [Micromodem](INFO): Nmea in: $SNTTA,0.178033,,,,220756.71*4C 2021-02-17T22:07:58.289Z,1613599678.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.299988 m, bearing: 279.802579 deg, deltaT: 4.845452 s, approachRate: 0.643902 m/s, LOS rate: -4.758995 deg/s, posRepo size: 4 2021-02-17T22:07:58.291Z,1613599678.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 267.299988 m, bearing: 279.802579 deg, approachRate: 0.643902 m/s, LOS rate: -4.758995 deg/s, cmd update: -12.000000 deg/s, cmd heading: 302.862063 deg, new cmd heading: 302.862063 deg. 2021-02-17T22:08:00.684Z,1613599680.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:08:01.468Z,1613599681.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:08:01.875Z,1613599681.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:08:02.691Z,1613599682.691 [Micromodem](INFO): Nmea in: $SNTTA,0.179607,,,,220801.55*47 2021-02-17T22:08:03.190Z,1613599683.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 269.459991 m, bearing: 299.453962 deg, deltaT: 4.868921 s, approachRate: 0.443631 m/s, LOS rate: 4.036086 deg/s, posRepo size: 4 2021-02-17T22:08:03.204Z,1613599683.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 269.459991 m, bearing: 299.453962 deg, approachRate: 0.443631 m/s, LOS rate: 4.036086 deg/s, cmd update: 12.000000 deg/s, cmd heading: 244.482937 deg, new cmd heading: 239.189113 deg. 2021-02-17T22:08:05.550Z,1613599685.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:08:06.323Z,1613599686.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:08:06.722Z,1613599686.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:08:07.539Z,1613599687.539 [Micromodem](INFO): Nmea in: $SNTTA,0.181274,,,,220806.40*43 2021-02-17T22:08:07.962Z,1613599687.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 271.919983 m, bearing: 308.083824 deg, deltaT: 4.829631 s, approachRate: 0.509354 m/s, LOS rate: 1.786857 deg/s, posRepo size: 4 2021-02-17T22:08:07.964Z,1613599687.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 271.919983 m, bearing: 308.083824 deg, approachRate: 0.509354 m/s, LOS rate: 1.786857 deg/s, cmd update: 7.147430 deg/s, cmd heading: 302.486055 deg, new cmd heading: 307.271943 deg. 2021-02-17T22:08:10.091Z,1613599690.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:08:10.762Z,1613599690.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:08:11.182Z,1613599691.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:08:11.981Z,1613599691.981 [Micromodem](INFO): Nmea in: $SNTTA,0.183073,,,,220810.84*4B 2021-02-17T22:08:12.433Z,1613599692.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.559998 m, bearing: 275.362000 deg, deltaT: 4.432446 s, approachRate: 0.595611 m/s, LOS rate: -7.382340 deg/s, posRepo size: 4 2021-02-17T22:08:12.435Z,1613599692.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 274.559998 m, bearing: 275.362000 deg, approachRate: 0.595611 m/s, LOS rate: -7.382340 deg/s, cmd update: -12.000000 deg/s, cmd heading: 334.166873 deg, new cmd heading: 337.292594 deg. 2021-02-17T22:08:14.840Z,1613599694.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:08:15.609Z,1613599695.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:08:16.014Z,1613599696.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:08:16.827Z,1613599696.827 [Micromodem](INFO): Nmea in: $SNTTA,0.185013,,,,220815.69*4D 2021-02-17T22:08:17.292Z,1613599697.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.679993 m, bearing: 303.383042 deg, deltaT: 4.845819 s, approachRate: 0.643853 m/s, LOS rate: 5.782519 deg/s, posRepo size: 4 2021-02-17T22:08:17.293Z,1613599697.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 277.679993 m, bearing: 303.383042 deg, approachRate: 0.643853 m/s, LOS rate: 5.782519 deg/s, cmd update: 12.000000 deg/s, cmd heading: 276.017199 deg, new cmd heading: 270.618458 deg. 2021-02-17T22:08:19.662Z,1613599699.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:08:20.457Z,1613599700.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:08:20.869Z,1613599700.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:08:21.675Z,1613599701.675 [Micromodem](INFO): Nmea in: $SNTTA,0.186510,,,,220820.54*40 2021-02-17T22:08:22.138Z,1613599702.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 279.779999 m, bearing: 337.012735 deg, deltaT: 4.872099 s, approachRate: 0.431027 m/s, LOS rate: 6.902506 deg/s, posRepo size: 4 2021-02-17T22:08:22.140Z,1613599702.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 279.779999 m, bearing: 337.012735 deg, approachRate: 0.431027 m/s, LOS rate: 6.902506 deg/s, cmd update: 12.000000 deg/s, cmd heading: 334.426456 deg, new cmd heading: 339.576737 deg. 2021-02-17T22:08:24.532Z,1613599704.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:08:25.338Z,1613599705.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:08:25.715Z,1613599705.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:08:26.535Z,1613599706.535 [Micromodem](INFO): Nmea in: $SNTTA,0.188077,,,,220825.42*48 2021-02-17T22:08:26.954Z,1613599706.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.119995 m, bearing: 333.956963 deg, deltaT: 4.868139 s, approachRate: 0.480676 m/s, LOS rate: -0.627708 deg/s, posRepo size: 4 2021-02-17T22:08:26.972Z,1613599706.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 282.119995 m, bearing: 333.956963 deg, approachRate: 0.480676 m/s, LOS rate: -0.627708 deg/s, cmd update: -2.510834 deg/s, cmd heading: 32.900106 deg, new cmd heading: 37.367562 deg. 2021-02-17T22:08:29.393Z,1613599709.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:08:30.158Z,1613599710.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:08:30.558Z,1613599710.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:08:31.374Z,1613599711.374 [Micromodem](INFO): Nmea in: $SNTTA,0.189126,,,,220830.24*48 2021-02-17T22:08:31.814Z,1613599711.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 283.739990 m, bearing: 11.522085 deg, deltaT: 4.849655 s, approachRate: 0.334043 m/s, LOS rate: 7.745938 deg/s, posRepo size: 4 2021-02-17T22:08:31.816Z,1613599711.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 283.739990 m, bearing: 11.522085 deg, approachRate: 0.334043 m/s, LOS rate: 7.745938 deg/s, cmd update: 12.000000 deg/s, cmd heading: 20.783844 deg, new cmd heading: 19.762605 deg. 2021-02-17T22:08:34.253Z,1613599714.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:08:35.008Z,1613599715.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:08:35.405Z,1613599715.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:08:36.224Z,1613599716.224 [Micromodem](INFO): Nmea in: $SNTTA,0.189858,,,,220835.09*42 2021-02-17T22:08:36.646Z,1613599716.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.759979 m, bearing: 315.991079 deg, deltaT: 4.859949 s, approachRate: 0.209876 m/s, LOS rate: -11.426254 deg/s, posRepo size: 4 2021-02-17T22:08:36.648Z,1613599716.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 284.759979 m, bearing: 315.991079 deg, approachRate: 0.209876 m/s, LOS rate: -11.426254 deg/s, cmd update: -12.000000 deg/s, cmd heading: 79.391750 deg, new cmd heading: 83.650238 deg. 2021-02-17T22:08:39.099Z,1613599719.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:08:39.848Z,1613599719.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:08:40.260Z,1613599720.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:08:41.095Z,1613599721.095 [Micromodem](INFO): Nmea in: $SNTTA,0.189461,,,,220839.93*4B 2021-02-17T22:08:41.506Z,1613599721.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.039978 m, bearing: 58.560075 deg, deltaT: 4.847529 s, approachRate: -0.148530 m/s, LOS rate: 21.159026 deg/s, posRepo size: 4 2021-02-17T22:08:41.507Z,1613599721.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.159026 deg/s. Setting heading cmd to target bearing of 58.560075deg and heading rate command to 0 deg/s. 2021-02-17T22:08:43.905Z,1613599723.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:08:44.696Z,1613599724.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:08:45.132Z,1613599725.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:08:45.919Z,1613599725.919 [Micromodem](INFO): Nmea in: $SNTTA,0.188872,,,,220844.78*4B 2021-02-17T22:08:46.361Z,1613599726.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 283.139984 m, bearing: 79.864132 deg, deltaT: 4.794872 s, approachRate: -0.187699 m/s, LOS rate: 4.443092 deg/s, posRepo size: 4 2021-02-17T22:08:46.363Z,1613599726.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 283.139984 m, bearing: 79.864132 deg, approachRate: -0.187699 m/s, LOS rate: 4.443092 deg/s, cmd update: 12.000000 deg/s, cmd heading: 58.560075 deg, new cmd heading: 58.560075 deg. 2021-02-17T22:08:48.759Z,1613599728.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:08:49.544Z,1613599729.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:08:49.959Z,1613599729.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:08:50.762Z,1613599730.762 [Micromodem](INFO): Nmea in: $SNTTA,0.187271,,,,220849.62*4B 2021-02-17T22:08:51.241Z,1613599731.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.739990 m, bearing: 69.877377 deg, deltaT: 4.868442 s, approachRate: -0.492970 m/s, LOS rate: -2.051325 deg/s, posRepo size: 4 2021-02-17T22:08:51.259Z,1613599731.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 280.739990 m, bearing: 69.877377 deg, approachRate: -0.492970 m/s, LOS rate: -2.051325 deg/s, cmd update: -8.205298 deg/s, cmd heading: 116.669777 deg, new cmd heading: 122.253053 deg. 2021-02-17T22:08:53.598Z,1613599733.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:08:54.397Z,1613599734.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:08:54.809Z,1613599734.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:08:55.613Z,1613599735.613 [Micromodem](INFO): Nmea in: $SNTTA,0.185844,,,,220854.48*41 2021-02-17T22:08:56.045Z,1613599736.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.519989 m, bearing: 71.582315 deg, deltaT: 4.829671 s, approachRate: -0.459659 m/s, LOS rate: 0.353013 deg/s, posRepo size: 4 2021-02-17T22:08:56.047Z,1613599736.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 278.519989 m, bearing: 71.582315 deg, approachRate: -0.459659 m/s, LOS rate: 0.353013 deg/s, cmd update: 1.412053 deg/s, cmd heading: 76.849694 deg, new cmd heading: 73.450419 deg. 2021-02-17T22:08:58.480Z,1613599738.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:08:59.245Z,1613599739.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:08:59.645Z,1613599739.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:09:00.461Z,1613599740.461 [Micromodem](INFO): Nmea in: $SNTTA,0.183692,,,,220859.32*42 2021-02-17T22:09:00.886Z,1613599740.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.339996 m, bearing: 73.705357 deg, deltaT: 4.896507 s, approachRate: -0.649441 m/s, LOS rate: 0.433583 deg/s, posRepo size: 4 2021-02-17T22:09:00.888Z,1613599740.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 275.339996 m, bearing: 73.705357 deg, approachRate: -0.649441 m/s, LOS rate: 0.433583 deg/s, cmd update: 1.734331 deg/s, cmd heading: 83.763712 deg, new cmd heading: 84.272894 deg. 2021-02-17T22:09:03.338Z,1613599743.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:09:04.104Z,1613599744.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:09:04.494Z,1613599744.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:09:05.338Z,1613599745.338 [Micromodem](INFO): Nmea in: $SNTTA,0.181658,,,,220904.18*47 2021-02-17T22:09:05.742Z,1613599745.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 272.339996 m, bearing: 72.526418 deg, deltaT: 4.870711 s, approachRate: -0.615927 m/s, LOS rate: -0.242046 deg/s, posRepo size: 4 2021-02-17T22:09:05.744Z,1613599745.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 272.339996 m, bearing: 72.526418 deg, approachRate: -0.615927 m/s, LOS rate: -0.242046 deg/s, cmd update: -0.968186 deg/s, cmd heading: 92.216115 deg, new cmd heading: 92.810982 deg. 2021-02-17T22:09:08.201Z,1613599748.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:09:08.936Z,1613599748.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:09:09.348Z,1613599749.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:09:10.160Z,1613599750.160 [Micromodem](INFO): Nmea in: $SNTTA,0.179412,,,,220909.02*4A 2021-02-17T22:09:10.600Z,1613599750.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.919983 m, bearing: 70.795088 deg, deltaT: 4.836282 s, approachRate: -0.707158 m/s, LOS rate: -0.357988 deg/s, posRepo size: 4 2021-02-17T22:09:10.601Z,1613599750.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 268.919983 m, bearing: 70.795088 deg, approachRate: -0.707158 m/s, LOS rate: -0.357988 deg/s, cmd update: -1.431951 deg/s, cmd heading: 87.534294 deg, new cmd heading: 87.181313 deg. 2021-02-17T22:09:13.002Z,1613599753.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:09:13.784Z,1613599753.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:09:14.213Z,1613599754.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:09:15.003Z,1613599755.003 [Micromodem](INFO): Nmea in: $SNTTA,0.177160,,,,220913.86*43 2021-02-17T22:09:15.460Z,1613599755.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.559998 m, bearing: 70.543724 deg, deltaT: 4.781594 s, approachRate: -0.702691 m/s, LOS rate: -0.052569 deg/s, posRepo size: 4 2021-02-17T22:09:15.461Z,1613599755.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 265.559998 m, bearing: 70.543724 deg, approachRate: -0.702691 m/s, LOS rate: -0.052569 deg/s, cmd update: -0.210277 deg/s, cmd heading: 80.686290 deg, new cmd heading: 80.052752 deg. 2021-02-17T22:09:17.840Z,1613599757.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:09:18.637Z,1613599758.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:09:19.042Z,1613599759.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:09:19.872Z,1613599759.872 [Micromodem](INFO): Nmea in: $SNTTA,0.174866,,,,220918.72*4F 2021-02-17T22:09:20.298Z,1613599760.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.139984 m, bearing: 72.149303 deg, deltaT: 4.926748 s, approachRate: -0.694173 m/s, LOS rate: 0.325890 deg/s, posRepo size: 4 2021-02-17T22:09:20.300Z,1613599760.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 262.139984 m, bearing: 72.149303 deg, approachRate: -0.694173 m/s, LOS rate: 0.325890 deg/s, cmd update: 1.303561 deg/s, cmd heading: 79.652002 deg, new cmd heading: 79.575905 deg. 2021-02-17T22:09:22.697Z,1613599762.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:09:23.485Z,1613599763.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:09:23.903Z,1613599763.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:09:24.700Z,1613599764.700 [Micromodem](INFO): Nmea in: $SNTTA,0.172628,,,,220923.56*43 2021-02-17T22:09:25.154Z,1613599765.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.719971 m, bearing: 71.470198 deg, deltaT: 4.801033 s, approachRate: -0.712349 m/s, LOS rate: -0.141450 deg/s, posRepo size: 4 2021-02-17T22:09:25.156Z,1613599765.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 258.719971 m, bearing: 71.470198 deg, approachRate: -0.712349 m/s, LOS rate: -0.141450 deg/s, cmd update: -0.565799 deg/s, cmd heading: 85.917783 deg, new cmd heading: 86.454800 deg. 2021-02-17T22:09:27.554Z,1613599767.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:09:28.333Z,1613599768.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:09:28.734Z,1613599768.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:09:29.550Z,1613599769.550 [Micromodem](INFO): Nmea in: $SNTTA,0.170386,,,,220928.41*4D 2021-02-17T22:09:29.990Z,1613599769.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.419998 m, bearing: 70.660616 deg, deltaT: 4.830045 s, approachRate: -0.683218 m/s, LOS rate: -0.167614 deg/s, posRepo size: 4 2021-02-17T22:09:29.992Z,1613599769.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 255.419998 m, bearing: 70.660616 deg, approachRate: -0.683218 m/s, LOS rate: -0.167614 deg/s, cmd update: -0.670455 deg/s, cmd heading: 83.183616 deg, new cmd heading: 82.948574 deg. 2021-02-17T22:09:32.417Z,1613599772.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:09:33.210Z,1613599773.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:09:33.587Z,1613599773.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:09:34.410Z,1613599774.410 [Micromodem](INFO): Nmea in: $SNTTA,0.168097,,,,220933.29*43 2021-02-17T22:09:34.826Z,1613599774.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.939987 m, bearing: 69.816288 deg, deltaT: 4.905482 s, approachRate: -0.709413 m/s, LOS rate: -0.172119 deg/s, posRepo size: 4 2021-02-17T22:09:34.828Z,1613599774.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 251.939987 m, bearing: 69.816288 deg, approachRate: -0.709413 m/s, LOS rate: -0.172119 deg/s, cmd update: -0.688477 deg/s, cmd heading: 79.896459 deg, new cmd heading: 79.662741 deg. 2021-02-17T22:09:37.272Z,1613599777.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:09:38.024Z,1613599778.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:09:38.429Z,1613599778.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:09:39.247Z,1613599779.247 [Micromodem](INFO): Nmea in: $SNTTA,0.166092,,,,220938.10*49 2021-02-17T22:09:39.674Z,1613599779.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.940002 m, bearing: 70.897432 deg, deltaT: 4.820739 s, approachRate: -0.622308 m/s, LOS rate: 0.224269 deg/s, posRepo size: 4 2021-02-17T22:09:39.676Z,1613599779.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 248.940002 m, bearing: 70.897432 deg, approachRate: -0.622308 m/s, LOS rate: 0.224269 deg/s, cmd update: 0.897077 deg/s, cmd heading: 76.589563 deg, new cmd heading: 76.318850 deg. 2021-02-17T22:09:42.133Z,1613599782.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:09:42.877Z,1613599782.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:09:43.287Z,1613599783.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:09:44.109Z,1613599784.109 [Micromodem](INFO): Nmea in: $SNTTA,0.163519,,,,220942.96*49 2021-02-17T22:09:44.540Z,1613599784.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.099991 m, bearing: 71.671531 deg, deltaT: 4.831411 s, approachRate: -0.794801 m/s, LOS rate: 0.160222 deg/s, posRepo size: 4 2021-02-17T22:09:44.542Z,1613599784.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 245.099991 m, bearing: 71.671531 deg, approachRate: -0.794801 m/s, LOS rate: 0.160222 deg/s, cmd update: 0.640889 deg/s, cmd heading: 80.941756 deg, new cmd heading: 81.307552 deg. 2021-02-17T22:09:46.935Z,1613599786.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:09:47.720Z,1613599787.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:09:48.128Z,1613599788.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:09:48.937Z,1613599788.937 [Micromodem](INFO): Nmea in: $SNTTA,0.161203,,,,220947.80*45 2021-02-17T22:09:49.399Z,1613599789.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 241.619980 m, bearing: 71.926072 deg, deltaT: 4.843209 s, approachRate: -0.718534 m/s, LOS rate: 0.052556 deg/s, posRepo size: 4 2021-02-17T22:09:49.401Z,1613599789.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 241.619980 m, bearing: 71.926072 deg, approachRate: -0.718534 m/s, LOS rate: 0.052556 deg/s, cmd update: 0.210225 deg/s, cmd heading: 84.030323 deg, new cmd heading: 84.317070 deg. 2021-02-17T22:09:51.783Z,1613599791.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:09:52.568Z,1613599792.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:09:52.974Z,1613599792.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:09:54.220Z,1613599794.220 [Micromodem](INFO): Nmea in: $SNTTA,0.159145,,, 2021-02-17T22:09:54.220Z,1613599794.220 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNTTA,0.159145,,, expected 48 2021-02-17T22:09:54.253Z,1613599794.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.499985 m, bearing: 69.867549 deg, deltaT: 4.881870 s, approachRate: -0.639098 m/s, LOS rate: -0.421667 deg/s, posRepo size: 4 2021-02-17T22:09:54.254Z,1613599794.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 238.499985 m, bearing: 69.867549 deg, approachRate: -0.639098 m/s, LOS rate: -0.421667 deg/s, cmd update: -1.686668 deg/s, cmd heading: 85.061668 deg, new cmd heading: 85.144771 deg. 2021-02-17T22:09:56.641Z,1613599796.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:09:57.416Z,1613599797.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:09:57.823Z,1613599797.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:09:58.633Z,1613599798.633 [Micromodem](INFO): Nmea in: $SNTTA,0.156883,,,,220957.50*4F 2021-02-17T22:09:59.115Z,1613599799.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.139984 m, bearing: 70.191334 deg, deltaT: 4.815866 s, approachRate: -0.697694 m/s, LOS rate: 0.067233 deg/s, posRepo size: 4 2021-02-17T22:09:59.117Z,1613599799.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 235.139984 m, bearing: 70.191334 deg, approachRate: -0.697694 m/s, LOS rate: 0.067233 deg/s, cmd update: 0.268932 deg/s, cmd heading: 76.976062 deg, new cmd heading: 76.202728 deg. 2021-02-17T22:10:01.518Z,1613599801.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:10:02.269Z,1613599802.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:10:02.670Z,1613599802.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:10:03.485Z,1613599803.485 [Micromodem](INFO): Nmea in: $SNTTA,0.154572,,,,221002.35*45 2021-02-17T22:10:03.918Z,1613599803.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.660004 m, bearing: 71.190761 deg, deltaT: 4.868325 s, approachRate: -0.714821 m/s, LOS rate: 0.205292 deg/s, posRepo size: 4 2021-02-17T22:10:03.920Z,1613599803.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 231.660004 m, bearing: 71.190761 deg, approachRate: -0.714821 m/s, LOS rate: 0.205292 deg/s, cmd update: 0.821167 deg/s, cmd heading: 78.290169 deg, new cmd heading: 78.392344 deg. 2021-02-17T22:10:06.367Z,1613599806.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:10:07.124Z,1613599807.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:10:07.523Z,1613599807.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:10:08.337Z,1613599808.337 [Micromodem](INFO): Nmea in: $SNTTA,0.152363,,,,221007.20*44 2021-02-17T22:10:08.758Z,1613599808.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.359985 m, bearing: 70.984237 deg, deltaT: 4.852491 s, approachRate: -0.680067 m/s, LOS rate: -0.042560 deg/s, posRepo size: 4 2021-02-17T22:10:08.760Z,1613599808.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 228.359985 m, bearing: 70.984237 deg, approachRate: -0.680067 m/s, LOS rate: -0.042560 deg/s, cmd update: -0.170242 deg/s, cmd heading: 82.278122 deg, new cmd heading: 82.577060 deg. 2021-02-17T22:10:11.226Z,1613599811.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:10:11.965Z,1613599811.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:10:12.366Z,1613599812.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:10:13.219Z,1613599813.219 [Micromodem](INFO): Nmea in: $SNTTA,0.150240,,,,221012.05*45 2021-02-17T22:10:13.606Z,1613599813.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.179993 m, bearing: 70.510194 deg, deltaT: 4.858265 s, approachRate: -0.654553 m/s, LOS rate: -0.097574 deg/s, posRepo size: 4 2021-02-17T22:10:13.608Z,1613599813.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.179993 m, bearing: 70.510194 deg, approachRate: -0.654553 m/s, LOS rate: -0.097574 deg/s, cmd update: -0.390298 deg/s, cmd heading: 81.451049 deg, new cmd heading: 81.390843 deg. 2021-02-17T22:10:16.016Z,1613599816.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:10:16.814Z,1613599816.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:10:17.229Z,1613599817.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:10:18.028Z,1613599818.028 [Micromodem](INFO): Nmea in: $SNTTA,0.147670,,,,221016.89*44 2021-02-17T22:10:18.468Z,1613599818.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.279984 m, bearing: 70.364431 deg, deltaT: 4.794287 s, approachRate: -0.813470 m/s, LOS rate: -0.030403 deg/s, posRepo size: 4 2021-02-17T22:10:18.470Z,1613599818.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.279984 m, bearing: 70.364431 deg, approachRate: -0.813470 m/s, LOS rate: -0.030403 deg/s, cmd update: -0.121614 deg/s, cmd heading: 79.579821 deg, new cmd heading: 79.415205 deg. 2021-02-17T22:10:20.869Z,1613599820.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:10:21.656Z,1613599821.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:10:22.093Z,1613599822.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:10:22.873Z,1613599822.873 [Micromodem](INFO): Nmea in: $SNTTA,0.145521,,,,221021.74*47 2021-02-17T22:10:23.337Z,1613599823.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.099976 m, bearing: 70.418929 deg, deltaT: 4.840872 s, approachRate: -0.656908 m/s, LOS rate: 0.011258 deg/s, posRepo size: 4 2021-02-17T22:10:23.338Z,1613599823.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.099976 m, bearing: 70.418929 deg, approachRate: -0.656908 m/s, LOS rate: 0.011258 deg/s, cmd update: 0.045032 deg/s, cmd heading: 78.991143 deg, new cmd heading: 78.936494 deg. 2021-02-17T22:10:25.717Z,1613599825.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:10:26.504Z,1613599826.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:10:26.911Z,1613599826.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:10:27.721Z,1613599827.721 [Micromodem](INFO): Nmea in: $SNTTA,0.143178,,,,221026.58*40 2021-02-17T22:10:28.198Z,1613599828.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.559998 m, bearing: 70.253891 deg, deltaT: 4.876591 s, approachRate: -0.725912 m/s, LOS rate: -0.033843 deg/s, posRepo size: 4 2021-02-17T22:10:28.216Z,1613599828.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.559998 m, bearing: 70.253891 deg, approachRate: -0.725912 m/s, LOS rate: -0.033843 deg/s, cmd update: -0.135371 deg/s, cmd heading: 79.210390 deg, new cmd heading: 79.230068 deg. 2021-02-17T22:10:30.597Z,1613599830.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:10:31.361Z,1613599831.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:10:31.775Z,1613599831.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:10:32.579Z,1613599832.579 [Micromodem](INFO): Nmea in: $SNTTA,0.140896,,,,221031.44*41 2021-02-17T22:10:32.998Z,1613599832.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.139984 m, bearing: 70.907616 deg, deltaT: 4.889570 s, approachRate: -0.699451 m/s, LOS rate: 0.133698 deg/s, posRepo size: 4 2021-02-17T22:10:32.000Z,1613599833.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 211.139984 m, bearing: 70.907616 deg, approachRate: -0.699451 m/s, LOS rate: 0.133698 deg/s, cmd update: 0.534791 deg/s, cmd heading: 78.548865 deg, new cmd heading: 78.500765 deg. 2021-02-17T22:10:35.482Z,1613599835.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:10:36.213Z,1613599836.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:10:36.607Z,1613599836.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:10:37.427Z,1613599837.427 [Micromodem](INFO): Nmea in: $SNTTA,0.138662,,0.141415,,221036.29*5D 2021-02-17T22:10:37.873Z,1613599837.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.779984 m, bearing: 69.406163 deg, deltaT: 4.849303 s, approachRate: -0.692883 m/s, LOS rate: -0.309622 deg/s, posRepo size: 4 2021-02-17T22:10:37.879Z,1613599837.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.779984 m, bearing: 69.406163 deg, approachRate: -0.692883 m/s, LOS rate: -0.309622 deg/s, cmd update: -1.238490 deg/s, cmd heading: 81.145960 deg, new cmd heading: 81.342781 deg. 2021-02-17T22:10:40.285Z,1613599840.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:10:41.084Z,1613599841.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:10:41.463Z,1613599841.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:10:42.293Z,1613599842.293 [Micromodem](INFO): Nmea in: $SNTTA,0.136471,,,0.143559,221041.16*54 2021-02-17T22:10:42.710Z,1613599842.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.539978 m, bearing: 69.484525 deg, deltaT: 4.852333 s, approachRate: -0.667721 m/s, LOS rate: 0.016150 deg/s, posRepo size: 4 2021-02-17T22:10:42.716Z,1613599842.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.539978 m, bearing: 69.484525 deg, approachRate: -0.667721 m/s, LOS rate: 0.016150 deg/s, cmd update: 0.064598 deg/s, cmd heading: 75.131963 deg, new cmd heading: 74.692053 deg. 2021-02-17T22:10:45.137Z,1613599845.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:10:45.901Z,1613599845.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:10:46.302Z,1613599846.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:10:47.117Z,1613599847.117 [Micromodem](INFO): Nmea in: $SNTTA,0.134170,,,,221045.98*41 2021-02-17T22:10:47.547Z,1613599847.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.119995 m, bearing: 68.280520 deg, deltaT: 4.810950 s, approachRate: -0.710875 m/s, LOS rate: -0.250264 deg/s, posRepo size: 4 2021-02-17T22:10:47.549Z,1613599847.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.119995 m, bearing: 68.280520 deg, approachRate: -0.710875 m/s, LOS rate: -0.250264 deg/s, cmd update: -1.001054 deg/s, cmd heading: 75.441092 deg, new cmd heading: 75.467373 deg. 2021-02-17T22:10:49.973Z,1613599849.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:10:50.749Z,1613599850.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:10:51.170Z,1613599851.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:10:51.964Z,1613599851.964 [Micromodem](INFO): Nmea in: $SNTTA,0.131948,,,,221050.83*49 2021-02-17T22:10:52.425Z,1613599852.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.699997 m, bearing: 68.452511 deg, deltaT: 4.812043 s, approachRate: -0.710716 m/s, LOS rate: 0.035742 deg/s, posRepo size: 4 2021-02-17T22:10:52.427Z,1613599852.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.699997 m, bearing: 68.452511 deg, approachRate: -0.710716 m/s, LOS rate: 0.035742 deg/s, cmd update: 0.142967 deg/s, cmd heading: 70.598110 deg, new cmd heading: 70.151016 deg. 2021-02-17T22:10:54.799Z,1613599854.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:10:55.605Z,1613599855.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:10:55.998Z,1613599855.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:10:56.817Z,1613599856.817 [Micromodem](INFO): Nmea in: $SNTTA,0.129707,,,,221055.69*44 2021-02-17T22:10:57.280Z,1613599857.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.339996 m, bearing: 68.801459 deg, deltaT: 4.877442 s, approachRate: -0.688886 m/s, LOS rate: 0.071543 deg/s, posRepo size: 4 2021-02-17T22:10:57.282Z,1613599857.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.339996 m, bearing: 68.801459 deg, approachRate: -0.688886 m/s, LOS rate: 0.071543 deg/s, cmd update: 0.286173 deg/s, cmd heading: 71.291991 deg, new cmd heading: 71.356057 deg. 2021-02-17T22:10:59.647Z,1613599859.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:00.448Z,1613599860.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:00.846Z,1613599860.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:11:01.662Z,1613599861.662 [Micromodem](INFO): Nmea in: $SNTTA,0.127579,,,,221100.53*49 2021-02-17T22:11:02.126Z,1613599862.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.220001 m, bearing: 72.112645 deg, deltaT: 4.845035 s, approachRate: -0.643957 m/s, LOS rate: 0.683419 deg/s, posRepo size: 4 2021-02-17T22:11:02.128Z,1613599862.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.220001 m, bearing: 72.112645 deg, approachRate: -0.643957 m/s, LOS rate: 0.683419 deg/s, cmd update: 2.733674 deg/s, cmd heading: 72.678520 deg, new cmd heading: 72.807075 deg. 2021-02-17T22:11:04.575Z,1613599864.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:05.299Z,1613599865.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:05.699Z,1613599865.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:11:06.541Z,1613599866.541 [Micromodem](INFO): Nmea in: $SNTTA,0.125170,,,,221105.38*4E 2021-02-17T22:11:06.578Z,1613599866.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.220001 m, bearing: 70.956424 deg, deltaT: 4.499917 s, approachRate: 0.000000 m/s, LOS rate: -0.256943 deg/s, posRepo size: 4 2021-02-17T22:11:06.580Z,1613599866.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.220001 m, bearing: 70.956424 deg, approachRate: 0.000000 m/s, LOS rate: -0.256943 deg/s, cmd update: -1.027771 deg/s, cmd heading: 84.949101 deg, new cmd heading: 86.076304 deg. 2021-02-17T22:11:08.951Z,1613599868.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:09.763Z,1613599869.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:10.157Z,1613599870.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:11:11.364Z,1613599871.364 [Micromodem](INFO): Nmea in: $SNTTA,0.123147,,,,221109.87*44 2021-02-17T22:11:11.403Z,1613599871.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.559998 m, bearing: 70.347902 deg, deltaT: 4.804013 s, approachRate: -1.386342 m/s, LOS rate: -0.126670 deg/s, posRepo size: 4 2021-02-17T22:11:11.405Z,1613599871.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.559998 m, bearing: 70.347902 deg, approachRate: -1.386342 m/s, LOS rate: -0.126670 deg/s, cmd update: -0.506678 deg/s, cmd heading: 79.998503 deg, new cmd heading: 79.566471 deg. 2021-02-17T22:11:13.803Z,1613599873.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:14.584Z,1613599874.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:15.013Z,1613599875.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:11:15.812Z,1613599875.812 [Micromodem](INFO): Nmea in: $SNTTA,0.121100,,,,221114.66*46 2021-02-17T22:11:15.834Z,1613599875.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.559998 m, bearing: 67.951585 deg, deltaT: 4.490808 s, approachRate: 0.000000 m/s, LOS rate: -0.533605 deg/s, posRepo size: 4 2021-02-17T22:11:15.856Z,1613599875.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.559998 m, bearing: 67.951585 deg, approachRate: 0.000000 m/s, LOS rate: -0.533605 deg/s, cmd update: -2.134420 deg/s, cmd heading: 77.711742 deg, new cmd heading: 77.540223 deg. 2021-02-17T22:11:18.258Z,1613599878.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:19.024Z,1613599879.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:19.430Z,1613599879.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:11:20.260Z,1613599880.260 [Micromodem](INFO): Nmea in: $SNTTA,0.119010,,,,221119.10*41 2021-02-17T22:11:20.341Z,1613599880.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.559998 m, bearing: 69.964995 deg, deltaT: 4.360155 s, approachRate: 0.000000 m/s, LOS rate: 0.461775 deg/s, posRepo size: 4 2021-02-17T22:11:20.347Z,1613599880.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.559998 m, bearing: 69.964995 deg, approachRate: 0.000000 m/s, LOS rate: 0.461775 deg/s, cmd update: 1.847099 deg/s, cmd heading: 68.407156 deg, new cmd heading: 67.369022 deg. 2021-02-17T22:11:22.681Z,1613599882.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:23.478Z,1613599883.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:23.888Z,1613599883.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:11:24.700Z,1613599884.700 [Micromodem](INFO): Nmea in: $SNTTA,0.116786,,,,221123.56*4D 2021-02-17T22:11:24.736Z,1613599884.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.559998 m, bearing: 70.493208 deg, deltaT: 4.498631 s, approachRate: 0.000000 m/s, LOS rate: 0.117416 deg/s, posRepo size: 4 2021-02-17T22:11:24.738Z,1613599884.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.559998 m, bearing: 70.493208 deg, approachRate: 0.000000 m/s, LOS rate: 0.117416 deg/s, cmd update: 0.469665 deg/s, cmd heading: 76.703366 deg, new cmd heading: 77.423355 deg. 2021-02-17T22:11:27.133Z,1613599887.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:27.912Z,1613599887.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:28.323Z,1613599888.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:11:29.140Z,1613599889.140 [Micromodem](INFO): Nmea in: $SNTTA,0.114875,,,,221127.99*4B 2021-02-17T22:11:29.223Z,1613599889.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.559998 m, bearing: 70.766067 deg, deltaT: 4.406550 s, approachRate: 0.000000 m/s, LOS rate: 0.061921 deg/s, posRepo size: 4 2021-02-17T22:11:29.225Z,1613599889.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.559998 m, bearing: 70.766067 deg, approachRate: 0.000000 m/s, LOS rate: 0.061921 deg/s, cmd update: 0.247685 deg/s, cmd heading: 78.775873 deg, new cmd heading: 78.991990 deg. 2021-02-17T22:11:31.582Z,1613599891.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:32.362Z,1613599892.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:32.761Z,1613599892.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:11:33.588Z,1613599893.588 [Micromodem](INFO): Nmea in: $SNTTA,0.112791,,,,221132.44*4C 2021-02-17T22:11:33.632Z,1613599893.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.019989 m, bearing: 69.714942 deg, deltaT: 4.493935 s, approachRate: -3.457996 m/s, LOS rate: -0.233899 deg/s, posRepo size: 4 2021-02-17T22:11:33.634Z,1613599893.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.019989 m, bearing: 69.714942 deg, approachRate: -3.457996 m/s, LOS rate: -0.233899 deg/s, cmd update: -0.935594 deg/s, cmd heading: 79.888410 deg, new cmd heading: 79.982829 deg. 2021-02-17T22:11:36.012Z,1613599896.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:36.805Z,1613599896.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:37.221Z,1613599897.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:11:38.032Z,1613599898.032 [Micromodem](INFO): Nmea in: $SNTTA,0.110662,,,,221136.88*47 2021-02-17T22:11:38.106Z,1613599898.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.180008 m, bearing: 70.277804 deg, deltaT: 4.394069 s, approachRate: -0.873901 m/s, LOS rate: 0.128096 deg/s, posRepo size: 4 2021-02-17T22:11:38.112Z,1613599898.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.180008 m, bearing: 70.277804 deg, approachRate: -0.873901 m/s, LOS rate: 0.128096 deg/s, cmd update: 0.512384 deg/s, cmd heading: 75.777244 deg, new cmd heading: 75.345366 deg. 2021-02-17T22:11:40.541Z,1613599900.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:41.246Z,1613599901.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:41.650Z,1613599901.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:11:42.476Z,1613599902.476 [Micromodem](INFO): Nmea in: $SNTTA,0.108494,,,,221141.32*44 2021-02-17T22:11:42.531Z,1613599902.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.599991 m, bearing: 70.960386 deg, deltaT: 4.486072 s, approachRate: -0.575117 m/s, LOS rate: 0.152156 deg/s, posRepo size: 4 2021-02-17T22:11:42.539Z,1613599902.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.599991 m, bearing: 70.960386 deg, approachRate: -0.575117 m/s, LOS rate: 0.152156 deg/s, cmd update: 0.608623 deg/s, cmd heading: 78.071664 deg, new cmd heading: 78.264948 deg. 2021-02-17T22:11:45.107Z,1613599905.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:45.725Z,1613599905.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:46.128Z,1613599906.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:11:46.952Z,1613599906.952 [Micromodem](INFO): Nmea in: $SNTTA,0.106292,,,,221145.81*46 2021-02-17T22:11:46.974Z,1613599906.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.240005 m, bearing: 71.104824 deg, deltaT: 4.426212 s, approachRate: -0.759111 m/s, LOS rate: 0.032632 deg/s, posRepo size: 4 2021-02-17T22:11:46.976Z,1613599906.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.240005 m, bearing: 71.104824 deg, approachRate: -0.759111 m/s, LOS rate: 0.032632 deg/s, cmd update: 0.130530 deg/s, cmd heading: 80.772951 deg, new cmd heading: 81.024167 deg. 2021-02-17T22:11:49.397Z,1613599909.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:50.172Z,1613599910.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:50.567Z,1613599910.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:11:51.385Z,1613599911.385 [Micromodem](INFO): Nmea in: $SNTTA,0.104199,,,,221150.29*4A 2021-02-17T22:11:51.828Z,1613599911.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.060013 m, bearing: 70.557487 deg, deltaT: 4.899161 s, approachRate: -0.649089 m/s, LOS rate: -0.111721 deg/s, posRepo size: 4 2021-02-17T22:11:51.830Z,1613599911.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.060013 m, bearing: 70.557487 deg, approachRate: -0.649089 m/s, LOS rate: -0.111721 deg/s, cmd update: -0.446882 deg/s, cmd heading: 81.412411 deg, new cmd heading: 81.460371 deg. 2021-02-17T22:11:54.288Z,1613599914.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:55.008Z,1613599915.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:55.415Z,1613599915.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:11:56.248Z,1613599916.248 [Micromodem](INFO): Nmea in: $SNTTA,0.102131,,,,221155.09*49 2021-02-17T22:11:56.301Z,1613599916.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.000015 m, bearing: 69.598945 deg, deltaT: 4.377531 s, approachRate: -0.699024 m/s, LOS rate: -0.218969 deg/s, posRepo size: 4 2021-02-17T22:11:56.307Z,1613599916.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.000015 m, bearing: 69.598945 deg, approachRate: -0.699024 m/s, LOS rate: -0.218969 deg/s, cmd update: -0.875874 deg/s, cmd heading: 79.456173 deg, new cmd heading: 79.248950 deg. 2021-02-17T22:11:58.659Z,1613599918.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:11:59.452Z,1613599919.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:11:59.858Z,1613599919.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:00.684Z,1613599920.684 [Micromodem](INFO): Nmea in: $SNTTA,0.100251,,,,221159.53*4D 2021-02-17T22:12:00.706Z,1613599920.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.180008 m, bearing: 68.965718 deg, deltaT: 4.486549 s, approachRate: -0.628547 m/s, LOS rate: -0.141139 deg/s, posRepo size: 4 2021-02-17T22:12:00.728Z,1613599920.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.180008 m, bearing: 68.965718 deg, approachRate: -0.628547 m/s, LOS rate: -0.141139 deg/s, cmd update: -0.564556 deg/s, cmd heading: 75.526412 deg, new cmd heading: 75.192027 deg. 2021-02-17T22:12:03.158Z,1613599923.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:12:03.896Z,1613599923.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:12:04.316Z,1613599924.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:05.127Z,1613599925.127 [Micromodem](INFO): Nmea in: $SNTTA,0.098010,,,,221203.98*41 2021-02-17T22:12:05.155Z,1613599925.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.819992 m, bearing: 69.392454 deg, deltaT: 4.403329 s, approachRate: -0.763063 m/s, LOS rate: 0.096912 deg/s, posRepo size: 4 2021-02-17T22:12:05.157Z,1613599925.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.819992 m, bearing: 69.392454 deg, approachRate: -0.763063 m/s, LOS rate: 0.096912 deg/s, cmd update: 0.387649 deg/s, cmd heading: 73.040545 deg, new cmd heading: 72.799127 deg. 2021-02-17T22:12:07.558Z,1613599927.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:12:08.359Z,1613599928.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:12:08.763Z,1613599928.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:09.580Z,1613599929.580 [Micromodem](INFO): Nmea in: $SNTTA,0.095970,,,,221208.44*49 2021-02-17T22:12:09.604Z,1613599929.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.759995 m, bearing: 70.326599 deg, deltaT: 4.509678 s, approachRate: -0.678540 m/s, LOS rate: 0.207142 deg/s, posRepo size: 4 2021-02-17T22:12:09.606Z,1613599929.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.759995 m, bearing: 70.326599 deg, approachRate: -0.678540 m/s, LOS rate: 0.207142 deg/s, cmd update: 0.828569 deg/s, cmd heading: 74.787167 deg, new cmd heading: 74.930939 deg. 2021-02-17T22:12:12.001Z,1613599932.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:12:12.784Z,1613599932.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:12:13.213Z,1613599933.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:14.012Z,1613599934.012 [Micromodem](INFO): Nmea in: $SNTTA,0.093799,,,,221212.86*43 2021-02-17T22:12:14.070Z,1613599934.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.520004 m, bearing: 69.570060 deg, deltaT: 4.382085 s, approachRate: -0.739372 m/s, LOS rate: -0.172644 deg/s, posRepo size: 4 2021-02-17T22:12:14.091Z,1613599934.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.520004 m, bearing: 69.570060 deg, approachRate: -0.739372 m/s, LOS rate: -0.172644 deg/s, cmd update: -0.690575 deg/s, cmd heading: 78.411217 deg, new cmd heading: 78.789386 deg. 2021-02-17T22:12:16.483Z,1613599936.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:12:17.236Z,1613599937.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:12:17.634Z,1613599937.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:18.480Z,1613599938.480 [Micromodem](INFO): Nmea in: $SNTTA,0.091793,0.093805,,,221217.32*58 2021-02-17T22:12:18.525Z,1613599938.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.520004 m, bearing: 69.946267 deg, deltaT: 4.484816 s, approachRate: -0.668924 m/s, LOS rate: 0.083885 deg/s, posRepo size: 4 2021-02-17T22:12:18.526Z,1613599938.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.520004 m, bearing: 69.946267 deg, approachRate: -0.668924 m/s, LOS rate: 0.083885 deg/s, cmd update: 0.335538 deg/s, cmd heading: 75.311436 deg, new cmd heading: 75.015375 deg. 2021-02-17T22:12:20.883Z,1613599940.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:12:21.673Z,1613599941.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:12:22.102Z,1613599942.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:22.907Z,1613599942.907 [Micromodem](INFO): Nmea in: $SNTTA,0.089726,,,,221221.75*40 2021-02-17T22:12:22.926Z,1613599942.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.400009 m, bearing: 69.244089 deg, deltaT: 4.412995 s, approachRate: -0.707002 m/s, LOS rate: -0.159116 deg/s, posRepo size: 4 2021-02-17T22:12:22.928Z,1613599942.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.400009 m, bearing: 69.244089 deg, approachRate: -0.707002 m/s, LOS rate: -0.159116 deg/s, cmd update: -0.636464 deg/s, cmd heading: 76.794921 deg, new cmd heading: 76.932140 deg. 2021-02-17T22:12:25.094Z,1613599945.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:12:25.718Z,1613599945.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:12:26.118Z,1613599946.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:26.944Z,1613599946.944 [Micromodem](INFO): Nmea in: $SNTTA,0.087787,,,,221225.80*4B 2021-02-17T22:12:26.966Z,1613599946.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.520004 m, bearing: 68.678734 deg, deltaT: 4.027422 s, approachRate: -0.715099 m/s, LOS rate: -0.140376 deg/s, posRepo size: 4 2021-02-17T22:12:26.968Z,1613599946.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.520004 m, bearing: 68.678734 deg, approachRate: -0.715099 m/s, LOS rate: -0.140376 deg/s, cmd update: -0.561506 deg/s, cmd heading: 74.231420 deg, new cmd heading: 73.963179 deg. 2021-02-17T22:12:29.363Z,1613599949.363 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T22:12:29.402Z,1613599949.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:12:30.178Z,1613599950.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:12:30.562Z,1613599950.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:31.396Z,1613599951.396 [Micromodem](INFO): Nmea in: $SNTTA,0.085833,,,,221230.26*41 2021-02-17T22:12:31.444Z,1613599951.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.580002 m, bearing: 68.940829 deg, deltaT: 4.437369 s, approachRate: -0.662555 m/s, LOS rate: 0.059065 deg/s, posRepo size: 4 2021-02-17T22:12:31.446Z,1613599951.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.580002 m, bearing: 68.940829 deg, approachRate: -0.662555 m/s, LOS rate: 0.059065 deg/s, cmd update: 0.236261 deg/s, cmd heading: 71.739918 deg, new cmd heading: 71.480652 deg. 2021-02-17T22:12:33.807Z,1613599953.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:12:34.609Z,1613599954.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:12:35.017Z,1613599955.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:35.836Z,1613599955.836 [Micromodem](INFO): Nmea in: $SNTTA,0.083609,,0.126539,,221234.69*5B 2021-02-17T22:12:35.876Z,1613599955.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.100006 m, bearing: 69.548551 deg, deltaT: 4.478230 s, approachRate: -0.777092 m/s, LOS rate: 0.135706 deg/s, posRepo size: 4 2021-02-17T22:12:35.877Z,1613599955.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.100006 m, bearing: 69.548551 deg, approachRate: -0.777092 m/s, LOS rate: 0.135706 deg/s, cmd update: 0.542824 deg/s, cmd heading: 72.797947 deg, new cmd heading: 72.896074 deg. 2021-02-17T22:12:38.319Z,1613599958.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:12:39.057Z,1613599959.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:12:39.449Z,1613599959.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:40.284Z,1613599960.284 [Micromodem](INFO): Nmea in: $SNTTA,0.081703,,,,221239.14*41 2021-02-17T22:12:40.338Z,1613599960.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.340004 m, bearing: 68.046975 deg, deltaT: 4.410016 s, approachRate: -0.625849 m/s, LOS rate: -0.340492 deg/s, posRepo size: 4 2021-02-17T22:12:40.344Z,1613599960.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.340004 m, bearing: 68.046975 deg, approachRate: -0.625849 m/s, LOS rate: -0.340492 deg/s, cmd update: -1.361969 deg/s, cmd heading: 75.191698 deg, new cmd heading: 75.445603 deg. 2021-02-17T22:12:42.695Z,1613599962.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:12:43.488Z,1613599963.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:12:43.900Z,1613599963.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:44.716Z,1613599964.716 [Micromodem](INFO): Nmea in: $SNTTA,0.079532,,,,221243.57*4C 2021-02-17T22:12:44.750Z,1613599964.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.100006 m, bearing: 69.178724 deg, deltaT: 4.476794 s, approachRate: -0.723732 m/s, LOS rate: 0.252803 deg/s, posRepo size: 4 2021-02-17T22:12:44.752Z,1613599964.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.100006 m, bearing: 69.178724 deg, approachRate: -0.723732 m/s, LOS rate: 0.252803 deg/s, cmd update: 1.011214 deg/s, cmd heading: 69.094154 deg, new cmd heading: 68.545179 deg. 2021-02-17T22:12:47.155Z,1613599967.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:12:47.932Z,1613599967.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:12:48.343Z,1613599968.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:49.178Z,1613599969.178 [Micromodem](INFO): Nmea in: $SNTTA,0.077486,0.092278,,,221248.01*5C 2021-02-17T22:12:49.232Z,1613599969.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.040009 m, bearing: 69.728868 deg, deltaT: 4.412715 s, approachRate: -0.693450 m/s, LOS rate: 0.124673 deg/s, posRepo size: 4 2021-02-17T22:12:49.234Z,1613599969.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.040009 m, bearing: 69.728868 deg, approachRate: -0.693450 m/s, LOS rate: 0.124673 deg/s, cmd update: 0.498690 deg/s, cmd heading: 73.556363 deg, new cmd heading: 74.033536 deg. 2021-02-17T22:12:51.583Z,1613599971.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:12:52.384Z,1613599972.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:12:52.782Z,1613599972.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:53.617Z,1613599973.617 [Micromodem](INFO): Nmea in: $SNTTA,0.075340,,,,221252.47*42 2021-02-17T22:12:53.657Z,1613599973.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.740005 m, bearing: 67.697857 deg, deltaT: 4.488639 s, approachRate: -0.735190 m/s, LOS rate: -0.452478 deg/s, posRepo size: 4 2021-02-17T22:12:53.659Z,1613599973.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.740005 m, bearing: 67.697857 deg, approachRate: -0.735190 m/s, LOS rate: -0.452478 deg/s, cmd update: -1.809913 deg/s, cmd heading: 75.794899 deg, new cmd heading: 75.998809 deg. 2021-02-17T22:12:56.061Z,1613599976.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:12:56.825Z,1613599976.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:12:57.235Z,1613599977.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:12:58.071Z,1613599978.071 [Micromodem](INFO): Nmea in: $SNTTA,0.073044,,,,221256.91*4C 2021-02-17T22:12:58.116Z,1613599978.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.380005 m, bearing: 70.045591 deg, deltaT: 4.409789 s, approachRate: -0.761941 m/s, LOS rate: 0.532391 deg/s, posRepo size: 4 2021-02-17T22:12:58.117Z,1613599978.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.380005 m, bearing: 70.045591 deg, approachRate: -0.761941 m/s, LOS rate: 0.532391 deg/s, cmd update: 2.129566 deg/s, cmd heading: 67.813615 deg, new cmd heading: 66.993589 deg. 2021-02-17T22:13:00.486Z,1613599980.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:01.266Z,1613599981.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:01.675Z,1613599981.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:13:02.503Z,1613599982.503 [Micromodem](INFO): Nmea in: $SNTTA,0.071064,,,0.073570,221301.35*59 2021-02-17T22:13:02.528Z,1613599982.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.440002 m, bearing: 70.537891 deg, deltaT: 4.491450 s, approachRate: -0.654578 m/s, LOS rate: 0.109608 deg/s, posRepo size: 4 2021-02-17T22:13:02.530Z,1613599982.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.440002 m, bearing: 70.537891 deg, approachRate: -0.654578 m/s, LOS rate: 0.109608 deg/s, cmd update: 0.438433 deg/s, cmd heading: 77.329602 deg, new cmd heading: 78.183879 deg. 2021-02-17T22:13:04.921Z,1613599984.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:05.714Z,1613599985.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:06.113Z,1613599986.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:13:06.940Z,1613599986.940 [Micromodem](INFO): Nmea in: $SNTTA,0.069045,,,,221305.79*47 2021-02-17T22:13:06.973Z,1613599986.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.380005 m, bearing: 69.449384 deg, deltaT: 4.408455 s, approachRate: -0.694120 m/s, LOS rate: -0.246913 deg/s, posRepo size: 4 2021-02-17T22:13:06.975Z,1613599986.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.380005 m, bearing: 69.449384 deg, approachRate: -0.694120 m/s, LOS rate: -0.246913 deg/s, cmd update: -0.987654 deg/s, cmd heading: 79.272439 deg, new cmd heading: 79.454538 deg. 2021-02-17T22:13:09.387Z,1613599989.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:10.156Z,1613599990.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:10.583Z,1613599990.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:13:11.380Z,1613599991.380 [Micromodem](INFO): Nmea in: $SNTTA,0.067010,,,,221310.23*42 2021-02-17T22:13:11.433Z,1613599991.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.320007 m, bearing: 68.103536 deg, deltaT: 4.416334 s, approachRate: -0.692882 m/s, LOS rate: -0.304743 deg/s, posRepo size: 4 2021-02-17T22:13:11.435Z,1613599991.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.320007 m, bearing: 68.103536 deg, approachRate: -0.692882 m/s, LOS rate: -0.304743 deg/s, cmd update: -1.218973 deg/s, cmd heading: 74.910671 deg, new cmd heading: 74.457596 deg. 2021-02-17T22:13:13.812Z,1613599993.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:14.596Z,1613599994.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:15.009Z,1613599995.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:13:15.829Z,1613599995.829 [Micromodem](INFO): Nmea in: $SNTTA,0.064959,,,,221314.67*41 2021-02-17T22:13:15.855Z,1613599995.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.260002 m, bearing: 69.724033 deg, deltaT: 4.481223 s, approachRate: -0.682850 m/s, LOS rate: 0.361619 deg/s, posRepo size: 4 2021-02-17T22:13:15.858Z,1613599995.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.260002 m, bearing: 69.724033 deg, approachRate: -0.682850 m/s, LOS rate: 0.361619 deg/s, cmd update: 1.446477 deg/s, cmd heading: 69.447992 deg, new cmd heading: 68.961643 deg. 2021-02-17T22:13:18.282Z,1613599998.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:19.052Z,1613599999.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:19.451Z,1613599999.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:13:20.276Z,1613600000.276 [Micromodem](INFO): Nmea in: $SNTTA,0.062818,,,,221319.13*4D 2021-02-17T22:13:20.330Z,1613600000.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.019997 m, bearing: 69.808508 deg, deltaT: 4.407615 s, approachRate: -0.735093 m/s, LOS rate: 0.019166 deg/s, posRepo size: 4 2021-02-17T22:13:20.336Z,1613600000.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.019997 m, bearing: 69.808508 deg, approachRate: -0.735093 m/s, LOS rate: 0.019166 deg/s, cmd update: 0.076663 deg/s, cmd heading: 75.823452 deg, new cmd heading: 76.498351 deg. 2021-02-17T22:13:22.713Z,1613600002.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:23.489Z,1613600003.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:23.890Z,1613600003.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:13:24.716Z,1613600004.716 [Micromodem](INFO): Nmea in: $SNTTA,0.060607,,0.088981,,221323.57*58 2021-02-17T22:13:24.764Z,1613600004.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.840004 m, bearing: 71.014522 deg, deltaT: 4.519798 s, approachRate: -0.703570 m/s, LOS rate: 0.266829 deg/s, posRepo size: 4 2021-02-17T22:13:24.766Z,1613600004.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.840004 m, bearing: 71.014522 deg, approachRate: -0.703570 m/s, LOS rate: 0.266829 deg/s, cmd update: 1.067316 deg/s, cmd heading: 76.169944 deg, new cmd heading: 76.199120 deg. 2021-02-17T22:13:27.170Z,1613600007.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:27.937Z,1613600007.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:28.346Z,1613600008.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:13:29.188Z,1613600009.188 [Micromodem](INFO): Nmea in: $SNTTA,0.058558,,,,221328.02*4F 2021-02-17T22:13:29.246Z,1613600009.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.659996 m, bearing: 69.434460 deg, deltaT: 4.392020 s, approachRate: -0.724042 m/s, LOS rate: -0.359757 deg/s, posRepo size: 4 2021-02-17T22:13:29.248Z,1613600009.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.659996 m, bearing: 69.434460 deg, approachRate: -0.724042 m/s, LOS rate: -0.359757 deg/s, cmd update: -1.439030 deg/s, cmd heading: 80.857795 deg, new cmd heading: 81.360228 deg. 2021-02-17T22:13:31.605Z,1613600011.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:32.380Z,1613600012.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:32.777Z,1613600012.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:13:33.608Z,1613600013.608 [Micromodem](INFO): Nmea in: $SNTTA,0.056644,,,,221332.46*44 2021-02-17T22:13:33.645Z,1613600013.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.779999 m, bearing: 67.886971 deg, deltaT: 4.470173 s, approachRate: -0.644270 m/s, LOS rate: -0.346181 deg/s, posRepo size: 4 2021-02-17T22:13:33.647Z,1613600013.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.779999 m, bearing: 67.886971 deg, approachRate: -0.644270 m/s, LOS rate: -0.346181 deg/s, cmd update: -1.384724 deg/s, cmd heading: 74.425342 deg, new cmd heading: 73.849806 deg. 2021-02-17T22:13:36.050Z,1613600016.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:36.816Z,1613600016.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:37.223Z,1613600017.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:13:38.051Z,1613600018.051 [Micromodem](INFO): Nmea in: $SNTTA,0.054336,,,,221336.90*49 2021-02-17T22:13:38.125Z,1613600018.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.360008 m, bearing: 69.168055 deg, deltaT: 4.400942 s, approachRate: -0.777104 m/s, LOS rate: 0.291093 deg/s, posRepo size: 4 2021-02-17T22:13:38.126Z,1613600018.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.360008 m, bearing: 69.168055 deg, approachRate: -0.777104 m/s, LOS rate: 0.291093 deg/s, cmd update: 1.164372 deg/s, cmd heading: 68.331267 deg, new cmd heading: 67.676264 deg. 2021-02-17T22:13:40.482Z,1613600020.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:41.262Z,1613600021.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:41.666Z,1613600021.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:13:42.488Z,1613600022.488 [Micromodem](INFO): Nmea in: $SNTTA,0.052132,,,,221341.34*47 2021-02-17T22:13:42.528Z,1613600022.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.000000 m, bearing: 69.740931 deg, deltaT: 4.476318 s, approachRate: -0.750619 m/s, LOS rate: 0.127979 deg/s, posRepo size: 4 2021-02-17T22:13:42.530Z,1613600022.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.000000 m, bearing: 69.740931 deg, approachRate: -0.750619 m/s, LOS rate: 0.127979 deg/s, cmd update: 0.511917 deg/s, cmd heading: 73.543563 deg, new cmd heading: 74.015715 deg. 2021-02-17T22:13:44.976Z,1613600024.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:45.710Z,1613600025.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:46.122Z,1613600026.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:13:46.936Z,1613600026.936 [Micromodem](INFO): Nmea in: $SNTTA,0.050197,,,,221345.79*47 2021-02-17T22:13:46.971Z,1613600026.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.180008 m, bearing: 70.271404 deg, deltaT: 4.432812 s, approachRate: -0.636163 m/s, LOS rate: 0.119670 deg/s, posRepo size: 4 2021-02-17T22:13:46.973Z,1613600026.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.180008 m, bearing: 70.271404 deg, approachRate: -0.636163 m/s, LOS rate: 0.119670 deg/s, cmd update: 0.478679 deg/s, cmd heading: 75.810745 deg, new cmd heading: 76.025311 deg. 2021-02-17T22:13:49.389Z,1613600029.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:50.152Z,1613600030.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:50.587Z,1613600030.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:13:51.380Z,1613600031.380 [Micromodem](INFO): Nmea in: $SNTTA,0.048318,,,,221350.23*40 2021-02-17T22:13:51.438Z,1613600031.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.000000 m, bearing: 69.237908 deg, deltaT: 4.414623 s, approachRate: -0.720335 m/s, LOS rate: -0.234108 deg/s, posRepo size: 4 2021-02-17T22:13:51.444Z,1613600031.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.000000 m, bearing: 69.237908 deg, approachRate: -0.720335 m/s, LOS rate: -0.234108 deg/s, cmd update: -0.936430 deg/s, cmd heading: 77.925808 deg, new cmd heading: 78.150076 deg. 2021-02-17T22:13:53.799Z,1613600033.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:54.598Z,1613600034.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:54.998Z,1613600034.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:13:55.824Z,1613600035.824 [Micromodem](INFO): Nmea in: $SNTTA,0.046204,,,,221354.68*49 2021-02-17T22:13:55.860Z,1613600035.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.120003 m, bearing: 70.873540 deg, deltaT: 4.491106 s, approachRate: -0.641267 m/s, LOS rate: 0.364194 deg/s, posRepo size: 4 2021-02-17T22:13:55.861Z,1613600035.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.120003 m, bearing: 70.873540 deg, approachRate: -0.641267 m/s, LOS rate: 0.364194 deg/s, cmd update: 1.456775 deg/s, cmd heading: 73.720128 deg, new cmd heading: 73.347074 deg. 2021-02-17T22:13:58.302Z,1613600038.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:13:59.037Z,1613600039.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:13:59.444Z,1613600039.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:00.277Z,1613600040.277 [Micromodem](INFO): Nmea in: $SNTTA,0.043927,,,,221359.12*46 2021-02-17T22:14:00.345Z,1613600040.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 69.729319 deg, deltaT: 4.421614 s, approachRate: -0.773473 m/s, LOS rate: -0.258779 deg/s, posRepo size: 4 2021-02-17T22:14:00.352Z,1613600040.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.700005 m, bearing: 69.729319 deg, approachRate: -0.773473 m/s, LOS rate: -0.258779 deg/s, cmd update: -1.035116 deg/s, cmd heading: 80.161446 deg, new cmd heading: 80.827108 deg. 2021-02-17T22:14:02.694Z,1613600042.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:14:03.484Z,1613600043.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:14:03.893Z,1613600043.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:04.708Z,1613600044.708 [Micromodem](INFO): Nmea in: $SNTTA,0.042243,,,,221403.56*46 2021-02-17T22:14:04.745Z,1613600044.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.240005 m, bearing: 68.427834 deg, deltaT: 4.454121 s, approachRate: -0.552297 m/s, LOS rate: -0.292198 deg/s, posRepo size: 4 2021-02-17T22:14:04.747Z,1613600044.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.240005 m, bearing: 68.427834 deg, approachRate: -0.552297 m/s, LOS rate: -0.292198 deg/s, cmd update: -1.168792 deg/s, cmd heading: 75.551022 deg, new cmd heading: 75.128183 deg. 2021-02-17T22:14:07.158Z,1613600047.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:14:07.924Z,1613600047.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:14:08.330Z,1613600048.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:09.152Z,1613600049.152 [Micromodem](INFO): Nmea in: $SNTTA,0.039701,,,,221408.00*41 2021-02-17T22:14:09.242Z,1613600049.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.340008 m, bearing: 68.923992 deg, deltaT: 4.425183 s, approachRate: -0.881319 m/s, LOS rate: 0.112122 deg/s, posRepo size: 4 2021-02-17T22:14:09.245Z,1613600049.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.340008 m, bearing: 68.923992 deg, approachRate: -0.881319 m/s, LOS rate: 0.112122 deg/s, cmd update: 0.448486 deg/s, cmd heading: 70.397432 deg, new cmd heading: 69.821598 deg. 2021-02-17T22:14:11.594Z,1613600051.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:14:12.374Z,1613600052.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:14:12.774Z,1613600052.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:13.600Z,1613600053.600 [Micromodem](INFO): Nmea in: $SNTTA,0.037795,,,,221412.45*48 2021-02-17T22:14:13.638Z,1613600053.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.520000 m, bearing: 69.222909 deg, deltaT: 4.478141 s, approachRate: -0.629727 m/s, LOS rate: 0.066750 deg/s, posRepo size: 4 2021-02-17T22:14:13.640Z,1613600053.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.520000 m, bearing: 69.222909 deg, approachRate: -0.629727 m/s, LOS rate: 0.066750 deg/s, cmd update: 0.267000 deg/s, cmd heading: 72.412886 deg, new cmd heading: 72.591433 deg. 2021-02-17T22:14:16.019Z,1613600056.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:14:16.820Z,1613600056.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:14:17.219Z,1613600057.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:18.044Z,1613600058.044 [Micromodem](INFO): Nmea in: $SNTTA,0.035593,,,,221416.90*42 2021-02-17T22:14:18.108Z,1613600058.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.220001 m, bearing: 69.221235 deg, deltaT: 4.395461 s, approachRate: -0.750774 m/s, LOS rate: -0.000381 deg/s, posRepo size: 4 2021-02-17T22:14:18.110Z,1613600058.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.220001 m, bearing: 69.221235 deg, approachRate: -0.750774 m/s, LOS rate: -0.000381 deg/s, cmd update: -0.001523 deg/s, cmd heading: 73.586533 deg, new cmd heading: 73.712776 deg. 2021-02-17T22:14:20.474Z,1613600060.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:14:21.256Z,1613600061.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:14:21.663Z,1613600061.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:22.496Z,1613600062.496 [Micromodem](INFO): Nmea in: $SNTTA,0.033742,,,,221421.33*47 2021-02-17T22:14:22.527Z,1613600062.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.160004 m, bearing: 68.308503 deg, deltaT: 4.482789 s, approachRate: -0.682610 m/s, LOS rate: -0.203608 deg/s, posRepo size: 4 2021-02-17T22:14:22.529Z,1613600062.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.160004 m, bearing: 68.308503 deg, approachRate: -0.682610 m/s, LOS rate: -0.203608 deg/s, cmd update: -0.814432 deg/s, cmd heading: 73.579707 deg, new cmd heading: 73.579085 deg. 2021-02-17T22:14:24.922Z,1613600064.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:14:25.706Z,1613600065.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:14:26.129Z,1613600066.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:26.932Z,1613600066.932 [Micromodem](INFO): Nmea in: $SNTTA,0.031402,,,,221425.79*48 2021-02-17T22:14:26.954Z,1613600066.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.919994 m, bearing: 67.997211 deg, deltaT: 4.414252 s, approachRate: -0.733988 m/s, LOS rate: -0.070520 deg/s, posRepo size: 4 2021-02-17T22:14:26.956Z,1613600066.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.919994 m, bearing: 67.997211 deg, approachRate: -0.733988 m/s, LOS rate: -0.070520 deg/s, cmd update: -0.282080 deg/s, cmd heading: 69.985285 deg, new cmd heading: 69.641398 deg. 2021-02-17T22:14:29.388Z,1613600069.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:14:30.148Z,1613600070.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:14:30.552Z,1613600070.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:31.380Z,1613600071.380 [Micromodem](INFO): Nmea in: $SNTTA,0.029569,,,,221430.23*46 2021-02-17T22:14:31.442Z,1613600071.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.160000 m, bearing: 69.281293 deg, deltaT: 4.459471 s, approachRate: -0.618906 m/s, LOS rate: 0.287945 deg/s, posRepo size: 4 2021-02-17T22:14:31.444Z,1613600071.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.160000 m, bearing: 69.281293 deg, approachRate: -0.618906 m/s, LOS rate: 0.287945 deg/s, cmd update: 1.151780 deg/s, cmd heading: 68.727177 deg, new cmd heading: 68.600305 deg. 2021-02-17T22:14:33.794Z,1613600073.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:14:34.591Z,1613600074.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:14:35.005Z,1613600075.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:35.824Z,1613600075.824 [Micromodem](INFO): Nmea in: $SNTTA,0.027339,,,,221434.67*4F 2021-02-17T22:14:35.861Z,1613600075.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.799999 m, bearing: 70.016317 deg, deltaT: 4.460449 s, approachRate: -0.753288 m/s, LOS rate: 0.164787 deg/s, posRepo size: 4 2021-02-17T22:14:35.863Z,1613600075.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.799999 m, bearing: 70.016317 deg, approachRate: -0.753288 m/s, LOS rate: 0.164787 deg/s, cmd update: 0.659148 deg/s, cmd heading: 73.864883 deg, new cmd heading: 74.335478 deg. 2021-02-17T22:14:38.274Z,1613600078.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:14:39.032Z,1613600079.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:14:39.437Z,1613600079.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:40.260Z,1613600080.260 [Micromodem](INFO): Nmea in: $SNTTA,0.025361,,,,221439.11*4C 2021-02-17T22:14:40.321Z,1613600080.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.859997 m, bearing: 69.066258 deg, deltaT: 4.423471 s, approachRate: -0.664637 m/s, LOS rate: -0.214777 deg/s, posRepo size: 4 2021-02-17T22:14:40.321Z,1613600080.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.86 m. 2021-02-17T22:14:40.323Z,1613600080.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.859997 m, bearing: 69.066258 deg, approachRate: -0.664637 m/s, LOS rate: -0.214777 deg/s, cmd update: -0.859107 deg/s, cmd heading: 76.769959 deg, new cmd heading: 77.073573 deg. 2021-02-17T22:14:40.694Z,1613600080.694 [PowerOnly](INFO): Powering up loadControl 2021-02-17T22:14:42.683Z,1613600082.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:14:43.481Z,1613600083.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:14:43.885Z,1613600083.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:44.704Z,1613600084.704 [Micromodem](INFO): Nmea in: $SNTTA,0.023315,,,,221443.56*47 2021-02-17T22:14:44.750Z,1613600084.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.799999 m, bearing: 67.381428 deg, deltaT: 4.466806 s, approachRate: -0.685053 m/s, LOS rate: -0.377189 deg/s, posRepo size: 4 2021-02-17T22:14:44.751Z,1613600084.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.80 m. 2021-02-17T22:14:44.755Z,1613600084.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.80 m. 2021-02-17T22:14:44.755Z,1613600084.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T22:14:44.757Z,1613600084.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.799999 m, bearing: 67.381428 deg, approachRate: -0.685053 m/s, LOS rate: -0.377189 deg/s, cmd update: -1.508756 deg/s, cmd heading: 72.918644 deg, new cmd heading: 72.568692 deg. 2021-02-17T22:14:47.157Z,1613600087.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:14:47.921Z,1613600087.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:14:48.332Z,1613600088.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:49.157Z,1613600089.157 [Micromodem](INFO): Nmea in: $SNTTA,0.021232,,,,221448.00*49 2021-02-17T22:14:49.234Z,1613600089.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.620001 m, bearing: 66.276563 deg, deltaT: 4.399127 s, approachRate: -0.722870 m/s, LOS rate: -0.251156 deg/s, posRepo size: 4 2021-02-17T22:14:49.240Z,1613600089.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.620001 m, bearing: 66.276563 deg, approachRate: -0.722870 m/s, LOS rate: -0.251156 deg/s, cmd update: -1.004622 deg/s, cmd heading: 66.281392 deg, new cmd heading: 65.538616 deg. 2021-02-17T22:14:51.260Z,1613600091.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:14:51.969Z,1613600091.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:14:52.382Z,1613600092.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:53.220Z,1613600093.220 [Micromodem](INFO): Nmea in: $SNTTA,0.019288,,,,221452.05*4D 2021-02-17T22:14:53.254Z,1613600093.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.740002 m, bearing: 67.332319 deg, deltaT: 4.062133 s, approachRate: -0.708987 m/s, LOS rate: 0.259902 deg/s, posRepo size: 4 2021-02-17T22:14:53.256Z,1613600093.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.740002 m, bearing: 67.332319 deg, approachRate: -0.708987 m/s, LOS rate: 0.259902 deg/s, cmd update: 1.039608 deg/s, cmd heading: 62.216708 deg, new cmd heading: 61.748583 deg. 2021-02-17T22:14:55.624Z,1613600095.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:14:56.409Z,1613600096.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:14:56.822Z,1613600096.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:14:57.642Z,1613600097.642 [Micromodem](INFO): Nmea in: $SNTTA,0.017324,0.044737,,,221456.49*55 2021-02-17T22:14:57.683Z,1613600097.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.799997 m, bearing: 68.427533 deg, deltaT: 4.468987 s, approachRate: -0.657868 m/s, LOS rate: 0.245070 deg/s, posRepo size: 4 2021-02-17T22:14:57.685Z,1613600097.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.799997 m, bearing: 68.427533 deg, approachRate: -0.657868 m/s, LOS rate: 0.245070 deg/s, cmd update: 0.980279 deg/s, cmd heading: 66.875070 deg, new cmd heading: 67.305467 deg. 2021-02-17T22:15:00.110Z,1613600100.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:00.849Z,1613600100.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:01.261Z,1613600101.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:02.104Z,1613600102.104 [Micromodem](INFO): Nmea in: $SNTTA,0.015319,,,,221500.93*41 2021-02-17T22:15:02.134Z,1613600102.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.799997 m, bearing: 69.067604 deg, deltaT: 4.413179 s, approachRate: -0.679782 m/s, LOS rate: 0.145036 deg/s, posRepo size: 4 2021-02-17T22:15:02.156Z,1613600102.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.799997 m, bearing: 69.067604 deg, approachRate: -0.679782 m/s, LOS rate: 0.145036 deg/s, cmd update: 0.580145 deg/s, cmd heading: 71.201421 deg, new cmd heading: 71.644344 deg. 2021-02-17T22:15:04.211Z,1613600104.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:04.944Z,1613600104.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:05.295Z,1613600105.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:06.134Z,1613600106.134 [Micromodem](INFO): Nmea in: $SNTTA,0.013324,,,,221505.03*45 2021-02-17T22:15:06.214Z,1613600106.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 67.874759 deg, deltaT: 4.044773 s, approachRate: -0.756531 m/s, LOS rate: -0.294910 deg/s, posRepo size: 4 2021-02-17T22:15:06.216Z,1613600106.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.740000 m, bearing: 67.874759 deg, approachRate: -0.756531 m/s, LOS rate: -0.294910 deg/s, cmd update: -1.179641 deg/s, cmd heading: 73.550298 deg, new cmd heading: 73.830440 deg. 2021-02-17T22:15:08.562Z,1613600108.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:09.333Z,1613600109.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:09.744Z,1613600109.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:10.568Z,1613600110.568 [Micromodem](INFO): Nmea in: $SNTTA,0.011352,,,,221509.41*4C 2021-02-17T22:15:10.619Z,1613600110.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.800003 m, bearing: 68.848758 deg, deltaT: 4.485155 s, approachRate: -0.655495 m/s, LOS rate: 0.217161 deg/s, posRepo size: 4 2021-02-17T22:15:10.621Z,1613600110.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.800003 m, bearing: 68.848758 deg, approachRate: -0.655495 m/s, LOS rate: 0.217161 deg/s, cmd update: 0.868642 deg/s, cmd heading: 68.264329 deg, new cmd heading: 67.784634 deg. 2021-02-17T22:15:13.005Z,1613600113.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:13.781Z,1613600113.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:14.213Z,1613600114.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:15.008Z,1613600115.008 [Micromodem](INFO): Nmea in: $SNTTA,0.009823,,,,221513.86*48 2021-02-17T22:15:15.075Z,1613600115.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.680001 m, bearing: 68.995197 deg, deltaT: 4.420005 s, approachRate: -0.705882 m/s, LOS rate: 0.033131 deg/s, posRepo size: 4 2021-02-17T22:15:15.086Z,1613600115.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.680001 m, bearing: 68.995197 deg, approachRate: -0.705882 m/s, LOS rate: 0.033131 deg/s, cmd update: 0.132524 deg/s, cmd heading: 72.100254 deg, new cmd heading: 72.477930 deg. 2021-02-17T22:15:17.466Z,1613600117.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:18.228Z,1613600118.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:18.627Z,1613600118.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:19.456Z,1613600119.456 [Micromodem](INFO): Nmea in: $SNTTA,0.007510,,,,221518.31*4C 2021-02-17T22:15:19.507Z,1613600119.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.980000 m, bearing: 67.968893 deg, deltaT: 4.454825 s, approachRate: -0.606085 m/s, LOS rate: -0.230380 deg/s, posRepo size: 4 2021-02-17T22:15:19.509Z,1613600119.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.980000 m, bearing: 67.968893 deg, approachRate: -0.606085 m/s, LOS rate: -0.230380 deg/s, cmd update: -0.921521 deg/s, cmd heading: 72.688739 deg, new cmd heading: 72.746795 deg. 2021-02-17T22:15:21.871Z,1613600121.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:22.669Z,1613600122.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:23.101Z,1613600123.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:23.896Z,1613600123.896 [Micromodem](INFO): Nmea in: $SNTTA,0.005722,,,,221522.75*44 2021-02-17T22:15:23.942Z,1613600123.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.339999 m, bearing: 66.391085 deg, deltaT: 4.434710 s, approachRate: -0.595304 m/s, LOS rate: -0.355786 deg/s, posRepo size: 4 2021-02-17T22:15:23.948Z,1613600123.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.339999 m, bearing: 66.391085 deg, approachRate: -0.595304 m/s, LOS rate: -0.355786 deg/s, cmd update: -1.423144 deg/s, cmd heading: 68.585073 deg, new cmd heading: 68.197795 deg. 2021-02-17T22:15:26.336Z,1613600126.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:27.117Z,1613600127.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:27.519Z,1613600127.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:28.353Z,1613600128.353 [Micromodem](INFO): Nmea in: $SNTTA,0.004183,,,,221527.20*4D 2021-02-17T22:15:28.413Z,1613600128.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.880000 m, bearing: 66.373313 deg, deltaT: 4.414625 s, approachRate: -0.557239 m/s, LOS rate: -0.004026 deg/s, posRepo size: 4 2021-02-17T22:15:28.415Z,1613600128.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.880000 m, bearing: 66.373313 deg, approachRate: -0.557239 m/s, LOS rate: -0.004026 deg/s, cmd update: -0.016103 deg/s, cmd heading: 62.296785 deg, new cmd heading: 61.623964 deg. 2021-02-17T22:15:30.768Z,1613600130.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:31.558Z,1613600131.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:31.958Z,1613600131.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:32.784Z,1613600132.784 [Micromodem](INFO): Nmea in: $SNTTA,0.003200,,,,221531.64*45 2021-02-17T22:15:32.824Z,1613600132.824 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T22:15:32.824Z,1613600132.824 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T22:15:32.824Z,1613600132.824 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T22:15:32.824Z,1613600132.824 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T22:15:32.824Z,1613600132.824 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T22:15:32.825Z,1613600132.825 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 2021-02-17T22:15:32.825Z,1613600132.825 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T22:15:32.825Z,1613600132.825 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T22:15:32.825Z,1613600132.825 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T22:15:32.828Z,1613600132.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 77.157901 deg, deltaT: 4.473463 s, approachRate: -0.281661 m/s, LOS rate: 2.410792 deg/s, posRepo size: 4 2021-02-17T22:15:32.829Z,1613600132.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.619999 m, bearing: 77.157901 deg, approachRate: -0.281661 m/s, LOS rate: 2.410792 deg/s, cmd update: 9.643168 deg/s, cmd heading: 62.224750 deg, new cmd heading: 62.218093 deg. 2021-02-17T22:15:33.261Z,1613600133.261 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T221533: (41.552319, -70.708603) 2021-02-17T22:15:33.262Z,1613600133.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T22:15:33.262Z,1613600133.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T22:15:33.262Z,1613600133.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T22:15:33.262Z,1613600133.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T22:15:33.262Z,1613600133.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T22:15:33.262Z,1613600133.262 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T22:15:33.262Z,1613600133.262 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T22:15:33.262Z,1613600133.262 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T22:15:33.616Z,1613600133.616 [UniversalFixResidualReporter](INFO): Fix residual: 5.4 %DT, over the last 616.4 m. Residual distance 33.2 m at bearing 161.0 degrees. Fix at (41.5516, -70.7089) with 0.0 m made good. 2021-02-17T22:15:35.277Z,1613600135.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:36.002Z,1613600136.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:36.407Z,1613600136.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:37.236Z,1613600137.236 [Micromodem](INFO): Nmea in: $SNTTA,0.004683,,,,221536.08*40 2021-02-17T22:15:37.300Z,1613600137.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.279998 m, bearing: 55.441691 deg, deltaT: 4.419982 s, approachRate: 0.149322 m/s, LOS rate: -4.913190 deg/s, posRepo size: 4 2021-02-17T22:15:37.302Z,1613600137.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.279998 m, bearing: 55.441691 deg, approachRate: 0.149322 m/s, LOS rate: -4.913190 deg/s, cmd update: -12.000000 deg/s, cmd heading: 104.814908 deg, new cmd heading: 109.287380 deg. 2021-02-17T22:15:39.371Z,1613600139.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:40.048Z,1613600140.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:40.463Z,1613600140.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:41.272Z,1613600141.272 [Micromodem](INFO): Nmea in: $SNTTA,0.004930,,,,221540.13*4C 2021-02-17T22:15:41.347Z,1613600141.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.499999 m, bearing: 85.310975 deg, deltaT: 4.030660 s, approachRate: 0.550778 m/s, LOS rate: 7.410520 deg/s, posRepo size: 4 2021-02-17T22:15:41.349Z,1613600141.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.499999 m, bearing: 85.310975 deg, approachRate: 0.550778 m/s, LOS rate: 7.410520 deg/s, cmd update: 12.000000 deg/s, cmd heading: 56.405611 deg, new cmd heading: 50.663215 deg. 2021-02-17T22:15:43.722Z,1613600143.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:44.497Z,1613600144.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:44.890Z,1613600144.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:45.734Z,1613600145.734 [Micromodem](INFO): Nmea in: $SNTTA,0.008156,,,,221544.58*43 2021-02-17T22:15:45.757Z,1613600145.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.240001 m, bearing: 80.089173 deg, deltaT: 4.520793 s, approachRate: 1.048489 m/s, LOS rate: -1.155063 deg/s, posRepo size: 4 2021-02-17T22:15:45.759Z,1613600145.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.240001 m, bearing: 80.089173 deg, approachRate: 1.048489 m/s, LOS rate: -1.155063 deg/s, cmd update: -4.620254 deg/s, cmd heading: 110.606865 deg, new cmd heading: 115.119705 deg. 2021-02-17T22:15:48.165Z,1613600148.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:48.929Z,1613600148.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:49.335Z,1613600149.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:50.185Z,1613600150.185 [Micromodem](INFO): Nmea in: $SNTTA,0.009436,0.011442,,,221549.01*5C 2021-02-17T22:15:50.253Z,1613600150.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.159999 m, bearing: 93.970753 deg, deltaT: 4.361209 s, approachRate: 0.440244 m/s, LOS rate: 3.182966 deg/s, posRepo size: 4 2021-02-17T22:15:50.259Z,1613600150.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.159999 m, bearing: 93.970753 deg, approachRate: 0.440244 m/s, LOS rate: 3.182966 deg/s, cmd update: 12.000000 deg/s, cmd heading: 90.439485 deg, new cmd heading: 88.097765 deg. 2021-02-17T22:15:52.601Z,1613600152.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:53.368Z,1613600153.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:53.775Z,1613600153.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:54.596Z,1613600154.596 [Micromodem](INFO): Nmea in: $SNTTA,0.011093,,,,221553.45*49 2021-02-17T22:15:54.618Z,1613600154.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.680002 m, bearing: 89.200454 deg, deltaT: 4.504232 s, approachRate: 0.559475 m/s, LOS rate: -1.059071 deg/s, posRepo size: 4 2021-02-17T22:15:54.618Z,1613600154.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.68 m. Rolling out. 2021-02-17T22:15:54.618Z,1613600154.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T22:15:57.049Z,1613600157.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:15:57.814Z,1613600157.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:15:58.232Z,1613600158.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:15:59.044Z,1613600159.044 [Micromodem](INFO): Nmea in: $SNTTA,0.012882,,,,221557.89*46 2021-02-17T22:15:59.123Z,1613600159.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.379997 m, bearing: 75.664924 deg, deltaT: 4.399644 s, approachRate: 0.613685 m/s, LOS rate: -3.076506 deg/s, posRepo size: 4 2021-02-17T22:16:01.490Z,1613600161.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:02.258Z,1613600162.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:16:02.663Z,1613600162.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:16:03.504Z,1613600163.504 [Micromodem](INFO): Nmea in: $SNTTA,0.014465,,,,221602.34*40 2021-02-17T22:16:03.529Z,1613600163.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.540003 m, bearing: 76.219126 deg, deltaT: 4.486700 s, approachRate: 0.481424 m/s, LOS rate: 0.123521 deg/s, posRepo size: 4 2021-02-17T22:16:05.909Z,1613600165.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:06.705Z,1613600166.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:16:07.111Z,1613600167.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:16:07.932Z,1613600167.932 [Micromodem](INFO): Nmea in: $SNTTA,0.015344,,0.022131,,221606.78*54 2021-02-17T22:16:07.954Z,1613600167.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.039999 m, bearing: 178.379105 deg, deltaT: 4.396284 s, approachRate: 0.341196 m/s, LOS rate: 23.237803 deg/s, posRepo size: 4 2021-02-17T22:16:10.218Z,1613600170.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:10.760Z,1613600170.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:16:11.185Z,1613600171.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:16:11.976Z,1613600171.976 [Micromodem](INFO): Nmea in: $SNTTA,0.016543,,,0.046455,221610.84*57 2021-02-17T22:16:12.802Z,1613600172.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:14.398Z,1613600174.398 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:16:15.212Z,1613600175.212 [PowerOnly](INFO): Powering down loadControl 2021-02-17T22:16:15.616Z,1613600175.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:16.408Z,1613600176.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:16:16.814Z,1613600176.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:16:17.644Z,1613600177.644 [Micromodem](INFO): Nmea in: $SNTTA,0.018596,,,,221616.49*4E 2021-02-17T22:16:17.681Z,1613600177.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.020000 m, bearing: 149.307730 deg, deltaT: 9.740959 s, approachRate: 0.511243 m/s, LOS rate: -2.984447 deg/s, posRepo size: 4 2021-02-17T22:16:20.112Z,1613600180.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:20.858Z,1613600180.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:16:21.263Z,1613600181.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:16:22.098Z,1613600182.098 [Micromodem](INFO): Nmea in: $SNTTA,0.020041,,,,221620.94*4F 2021-02-17T22:16:22.886Z,1613600182.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:24.492Z,1613600184.492 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:16:25.748Z,1613600185.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:26.508Z,1613600186.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:16:26.920Z,1613600186.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:16:27.740Z,1613600187.740 [Micromodem](INFO): Nmea in: $SNTTA,0.022475,,,,221626.59*49 2021-02-17T22:16:27.777Z,1613600187.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.779999 m, bearing: 124.622949 deg, deltaT: 10.088899 s, approachRate: 0.570924 m/s, LOS rate: -2.446727 deg/s, posRepo size: 4 2021-02-17T22:16:30.214Z,1613600190.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:30.961Z,1613600190.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:16:31.366Z,1613600191.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:16:32.216Z,1613600192.216 [Micromodem](INFO): Nmea in: $SNTTA,0.024071,,,,221631.04*41 2021-02-17T22:16:32.273Z,1613600192.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.180000 m, bearing: 127.023910 deg, deltaT: 4.427078 s, approachRate: 0.542119 m/s, LOS rate: 0.542336 deg/s, posRepo size: 4 2021-02-17T22:16:34.608Z,1613600194.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:35.396Z,1613600195.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:16:35.810Z,1613600195.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:16:36.624Z,1613600196.624 [Micromodem](INFO): Nmea in: $SNTTA,0.026292,,,,221635.48*40 2021-02-17T22:16:36.662Z,1613600196.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.480003 m, bearing: 184.555167 deg, deltaT: 4.490401 s, approachRate: 0.734902 m/s, LOS rate: 12.812053 deg/s, posRepo size: 4 2021-02-17T22:16:39.061Z,1613600199.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:39.840Z,1613600199.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:16:40.251Z,1613600200.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:16:41.093Z,1613600201.093 [Micromodem](INFO): Nmea in: $SNTTA,0.027649,,,,221639.92*48 2021-02-17T22:16:41.142Z,1613600201.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.759998 m, bearing: 125.073400 deg, deltaT: 4.384353 s, approachRate: 0.520030 m/s, LOS rate: -13.566830 deg/s, posRepo size: 4 2021-02-17T22:16:43.189Z,1613600203.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:43.886Z,1613600203.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:16:44.298Z,1613600204.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:16:45.120Z,1613600205.120 [Micromodem](INFO): Nmea in: $SNTTA,0.029784,,,,221643.97*4E 2021-02-17T22:16:45.202Z,1613600205.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.520000 m, bearing: 193.466570 deg, deltaT: 4.068674 s, approachRate: 0.678354 m/s, LOS rate: 16.809695 deg/s, posRepo size: 4 2021-02-17T22:16:47.550Z,1613600207.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:48.324Z,1613600208.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:16:48.730Z,1613600208.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:16:49.552Z,1613600209.552 [Micromodem](INFO): Nmea in: $SNTTA,0.031622,,,,221648.40*4B 2021-02-17T22:16:49.596Z,1613600209.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.579998 m, bearing: 128.668743 deg, deltaT: 4.489436 s, approachRate: 0.681600 m/s, LOS rate: -14.433400 deg/s, posRepo size: 4 2021-02-17T22:16:51.986Z,1613600211.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:52.773Z,1613600212.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:16:53.210Z,1613600213.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:16:54.000Z,1613600214.000 [Micromodem](INFO): Nmea in: $SNTTA,0.033725,,,0.038294,221652.85*57 2021-02-17T22:16:54.041Z,1613600214.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.760002 m, bearing: 129.479637 deg, deltaT: 4.392360 s, approachRate: 0.723985 m/s, LOS rate: 0.184615 deg/s, posRepo size: 4 2021-02-17T22:16:56.448Z,1613600216.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:16:57.216Z,1613600217.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:16:57.618Z,1613600217.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:16:58.441Z,1613600218.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221657.29*50 2021-02-17T22:16:58.523Z,1613600218.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.820000 m, bearing: 122.507502 deg, deltaT: 4.443199 s, approachRate: 0.688692 m/s, LOS rate: -1.569170 deg/s, posRepo size: 4 2021-02-17T22:17:00.875Z,1613600220.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:01.662Z,1613600221.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:02.090Z,1613600222.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:17:02.891Z,1613600222.891 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221701.74*5A 2021-02-17T22:17:02.910Z,1613600222.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.060005 m, bearing: 132.062158 deg, deltaT: 4.441514 s, approachRate: 0.729482 m/s, LOS rate: 2.151216 deg/s, posRepo size: 4 2021-02-17T22:17:05.331Z,1613600225.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:06.108Z,1613600226.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:06.507Z,1613600226.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:17:07.344Z,1613600227.344 [Micromodem](INFO): Nmea in: $SNTTA,0.040405,,,,221706.19*4D 2021-02-17T22:17:07.398Z,1613600227.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.240002 m, bearing: 184.840888 deg, deltaT: 4.436779 s, approachRate: 0.716735 m/s, LOS rate: 11.895731 deg/s, posRepo size: 4 2021-02-17T22:17:09.753Z,1613600229.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:10.563Z,1613600230.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:10.968Z,1613600230.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:17:11.788Z,1613600231.788 [Micromodem](INFO): Nmea in: $SNTTA,0.042282,,0.052795,,221710.64*59 2021-02-17T22:17:11.810Z,1613600231.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.180004 m, bearing: 189.132050 deg, deltaT: 4.453407 s, approachRate: 0.660169 m/s, LOS rate: 0.963568 deg/s, posRepo size: 4 2021-02-17T22:17:14.251Z,1613600234.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:14.995Z,1613600234.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:15.394Z,1613600235.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:17:16.224Z,1613600236.224 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221715.08*54 2021-02-17T22:17:16.277Z,1613600236.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.360001 m, bearing: 185.959687 deg, deltaT: 4.419699 s, approachRate: 0.719505 m/s, LOS rate: -0.717778 deg/s, posRepo size: 4 2021-02-17T22:17:18.660Z,1613600238.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:19.433Z,1613600239.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:19.843Z,1613600239.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:17:20.660Z,1613600240.660 [Micromodem](INFO): Nmea in: $SNTTA,0.046521,,,,221719.51*4E 2021-02-17T22:17:20.697Z,1613600240.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.840004 m, bearing: 172.559689 deg, deltaT: 4.479315 s, approachRate: 0.776905 m/s, LOS rate: -2.991528 deg/s, posRepo size: 4 2021-02-17T22:17:23.140Z,1613600243.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:23.876Z,1613600243.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:24.292Z,1613600244.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:17:25.116Z,1613600245.116 [Micromodem](INFO): Nmea in: $SNTTA,0.048680,,,,221723.96*4A 2021-02-17T22:17:25.140Z,1613600245.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.320007 m, bearing: 180.933145 deg, deltaT: 4.434697 s, approachRate: 0.784722 m/s, LOS rate: 1.888169 deg/s, posRepo size: 4 2021-02-17T22:17:27.541Z,1613600247.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:28.325Z,1613600248.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:28.731Z,1613600248.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:17:29.556Z,1613600249.556 [Micromodem](INFO): Nmea in: $SNTTA,0.050857,,,,221728.40*47 2021-02-17T22:17:29.580Z,1613600249.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.440010 m, bearing: 177.391911 deg, deltaT: 4.492270 s, approachRate: 0.694527 m/s, LOS rate: -0.788295 deg/s, posRepo size: 4 2021-02-17T22:17:31.990Z,1613600251.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:32.785Z,1613600252.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:33.212Z,1613600253.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:17:34.012Z,1613600254.012 [Micromodem](INFO): Nmea in: $SNTTA,0.053091,,,,221732.87*46 2021-02-17T22:17:34.052Z,1613600254.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.860001 m, bearing: 178.262828 deg, deltaT: 4.406017 s, approachRate: 0.776209 m/s, LOS rate: 0.197665 deg/s, posRepo size: 4 2021-02-17T22:17:36.462Z,1613600256.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:37.228Z,1613600257.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:37.634Z,1613600257.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:17:38.456Z,1613600258.456 [Micromodem](INFO): Nmea in: $SNTTA,,,0.068068,,221737.31*40 2021-02-17T22:17:38.507Z,1613600258.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.919998 m, bearing: 143.295812 deg, deltaT: 4.474531 s, approachRate: 0.683870 m/s, LOS rate: -7.814677 deg/s, posRepo size: 4 2021-02-17T22:17:40.896Z,1613600260.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:41.672Z,1613600261.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:42.105Z,1613600262.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:17:42.907Z,1613600262.907 [Micromodem](INFO): Nmea in: $SNTTA,0.057330,,,,221741.75*43 2021-02-17T22:17:42.922Z,1613600262.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.159996 m, bearing: 184.731782 deg, deltaT: 4.419094 s, approachRate: 0.733181 m/s, LOS rate: 9.376576 deg/s, posRepo size: 4 2021-02-17T22:17:45.363Z,1613600265.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:46.122Z,1613600266.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:46.522Z,1613600266.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:17:47.348Z,1613600267.348 [Micromodem](INFO): Nmea in: $SNTTA,0.059573,,,,221746.20*4B 2021-02-17T22:17:47.402Z,1613600267.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.640007 m, bearing: 168.039169 deg, deltaT: 4.422249 s, approachRate: 0.786932 m/s, LOS rate: -3.774689 deg/s, posRepo size: 4 2021-02-17T22:17:49.772Z,1613600269.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:50.578Z,1613600270.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:50.971Z,1613600270.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:17:51.796Z,1613600271.796 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221750.66*5D 2021-02-17T22:17:51.818Z,1613600271.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.880005 m, bearing: 159.915943 deg, deltaT: 4.474589 s, approachRate: 0.724088 m/s, LOS rate: -1.815413 deg/s, posRepo size: 4 2021-02-17T22:17:54.271Z,1613600274.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:55.004Z,1613600275.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:55.415Z,1613600275.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:17:56.232Z,1613600276.232 [Micromodem](INFO): Nmea in: $SNTTA,0.063858,,,,221755.08*4E 2021-02-17T22:17:56.271Z,1613600276.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.000008 m, bearing: 172.556451 deg, deltaT: 4.425862 s, approachRate: 0.704948 m/s, LOS rate: 2.856056 deg/s, posRepo size: 4 2021-02-17T22:17:58.662Z,1613600278.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:17:59.453Z,1613600279.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:17:59.859Z,1613600279.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:18:00.666Z,1613600280.666 [Micromodem](INFO): Nmea in: $SNTTA,0.066107,,,,221759.53*4A 2021-02-17T22:18:01.494Z,1613600281.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:03.104Z,1613600283.104 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:18:04.353Z,1613600284.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:05.118Z,1613600285.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:18:05.511Z,1613600285.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:18:06.352Z,1613600286.352 [Micromodem](INFO): Nmea in: $SNTTA,0.068903,,,,221805.20*4A 2021-02-17T22:18:06.410Z,1613600286.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.500000 m, bearing: 166.806743 deg, deltaT: 10.095208 s, approachRate: 0.742926 m/s, LOS rate: -0.569548 deg/s, posRepo size: 4 2021-02-17T22:18:08.756Z,1613600288.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:09.548Z,1613600289.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:18:09.955Z,1613600289.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:18:10.780Z,1613600290.780 [Micromodem](INFO): Nmea in: $SNTTA,0.071039,,,,221809.63*49 2021-02-17T22:18:10.819Z,1613600290.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.740005 m, bearing: 175.941425 deg, deltaT: 4.463313 s, approachRate: 0.725919 m/s, LOS rate: 2.046615 deg/s, posRepo size: 4 2021-02-17T22:18:13.257Z,1613600293.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:13.992Z,1613600293.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:18:14.398Z,1613600294.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:18:15.269Z,1613600295.269 [Micromodem](INFO): Nmea in: $SNTTA,0.073164,,0.084026,,221814.07*5A 2021-02-17T22:18:15.302Z,1613600295.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.860008 m, bearing: 141.484964 deg, deltaT: 4.432770 s, approachRate: 0.703849 m/s, LOS rate: -7.773122 deg/s, posRepo size: 4 2021-02-17T22:18:17.648Z,1613600297.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:18.436Z,1613600298.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:18:18.842Z,1613600298.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:18:19.668Z,1613600299.668 [Micromodem](INFO): Nmea in: $SNTTA,0.075351,,0.094044,,221818.51*52 2021-02-17T22:18:19.690Z,1613600299.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.340004 m, bearing: 163.341706 deg, deltaT: 4.479878 s, approachRate: 0.776806 m/s, LOS rate: 4.878870 deg/s, posRepo size: 4 2021-02-17T22:18:22.125Z,1613600302.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:22.881Z,1613600302.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:18:23.295Z,1613600303.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:18:24.105Z,1613600304.105 [Micromodem](INFO): Nmea in: $SNTTA,0.077692,,,,221822.96*4B 2021-02-17T22:18:24.970Z,1613600304.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:26.514Z,1613600306.514 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:18:27.744Z,1613600307.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:28.537Z,1613600308.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:18:28.941Z,1613600308.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:18:29.768Z,1613600309.768 [Micromodem](INFO): Nmea in: $SNTTA,0.080493,,,,221828.62*41 2021-02-17T22:18:29.794Z,1613600309.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.740005 m, bearing: 155.892962 deg, deltaT: 10.083664 s, approachRate: 0.833031 m/s, LOS rate: -0.738694 deg/s, posRepo size: 4 2021-02-17T22:18:32.243Z,1613600312.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:32.988Z,1613600312.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:18:33.390Z,1613600313.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:18:34.224Z,1613600314.224 [Micromodem](INFO): Nmea in: $SNTTA,0.083208,,,,221833.07*4F 2021-02-17T22:18:34.273Z,1613600314.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.200005 m, bearing: 142.605867 deg, deltaT: 4.412896 s, approachRate: 0.557457 m/s, LOS rate: -3.010969 deg/s, posRepo size: 4 2021-02-17T22:18:36.647Z,1613600316.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:37.424Z,1613600317.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:18:37.830Z,1613600317.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:18:38.645Z,1613600318.645 [Micromodem](INFO): Nmea in: $SNTTA,0.084940,,,,221837.50*49 2021-02-17T22:18:39.485Z,1613600319.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:41.072Z,1613600321.072 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:18:42.319Z,1613600322.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:43.104Z,1613600323.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:18:43.486Z,1613600323.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:18:44.328Z,1613600324.328 [Micromodem](INFO): Nmea in: $SNTTA,0.087666,,,,221843.18*4E 2021-02-17T22:18:44.361Z,1613600324.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.639999 m, bearing: 167.007510 deg, deltaT: 10.112178 s, approachRate: 0.735746 m/s, LOS rate: 2.413095 deg/s, posRepo size: 4 2021-02-17T22:18:46.732Z,1613600326.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:47.524Z,1613600327.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:18:47.930Z,1613600327.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:18:48.748Z,1613600328.748 [Micromodem](INFO): Nmea in: $SNTTA,0.089800,,,,221847.60*45 2021-02-17T22:18:49.592Z,1613600329.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:51.168Z,1613600331.168 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:18:52.417Z,1613600332.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:53.206Z,1613600333.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:18:53.593Z,1613600333.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:18:54.433Z,1613600334.433 [Micromodem](INFO): Nmea in: $SNTTA,0.092511,,,,221853.28*4B 2021-02-17T22:18:54.466Z,1613600334.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.900009 m, bearing: 158.086572 deg, deltaT: 10.125033 s, approachRate: 0.717036 m/s, LOS rate: -0.881077 deg/s, posRepo size: 4 2021-02-17T22:18:56.836Z,1613600336.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:18:57.624Z,1613600337.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:18:58.031Z,1613600338.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:18:58.840Z,1613600338.840 [Micromodem](INFO): Nmea in: $SNTTA,0.094801,,,,221857.70*48 2021-02-17T22:18:59.665Z,1613600339.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:01.264Z,1613600341.264 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:19:02.538Z,1613600342.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:03.280Z,1613600343.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:19:03.686Z,1613600343.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:19:04.508Z,1613600344.508 [Micromodem](INFO): Nmea in: $SNTTA,0.097573,,,,221903.36*41 2021-02-17T22:19:04.557Z,1613600344.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.300003 m, bearing: 151.145311 deg, deltaT: 10.136804 s, approachRate: 0.828663 m/s, LOS rate: -0.684758 deg/s, posRepo size: 4 2021-02-17T22:19:06.988Z,1613600346.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:07.736Z,1613600347.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:19:08.132Z,1613600348.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:19:08.960Z,1613600348.960 [Micromodem](INFO): Nmea in: $SNTTA,0.099723,,,,221907.82*43 2021-02-17T22:19:09.002Z,1613600349.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.480011 m, bearing: 160.598771 deg, deltaT: 4.398232 s, approachRate: 0.723020 m/s, LOS rate: 2.149377 deg/s, posRepo size: 4 2021-02-17T22:19:09.002Z,1613600349.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.48 m. Resuming terminal guidance. 2021-02-17T22:19:09.002Z,1613600349.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T22:19:11.407Z,1613600351.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:12.192Z,1613600352.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:19:12.574Z,1613600352.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:19:13.400Z,1613600353.400 [Micromodem](INFO): Nmea in: $SNTTA,0.101932,,,,221912.27*46 2021-02-17T22:19:14.255Z,1613600354.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:15.802Z,1613600355.802 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:19:17.030Z,1613600357.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:17.830Z,1613600357.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:19:18.247Z,1613600358.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:19:19.045Z,1613600359.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221917.91*58 2021-02-17T22:19:19.870Z,1613600359.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:21.458Z,1613600361.458 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:19:22.695Z,1613600362.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:23.480Z,1613600363.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:19:23.885Z,1613600363.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:19:24.708Z,1613600364.708 [Micromodem](INFO): Nmea in: $SNTTA,0.107470,,,,221923.56*4F 2021-02-17T22:19:24.752Z,1613600364.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.339996 m, bearing: 162.739994 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T22:19:24.752Z,1613600364.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 162.739994deg and heading rate command to 0 deg/s. 2021-02-17T22:19:27.153Z,1613600367.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:27.931Z,1613600367.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:19:28.347Z,1613600368.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:19:29.172Z,1613600369.172 [Micromodem](INFO): Nmea in: $SNTTA,0.109699,,0.147670,,221928.01*50 2021-02-17T22:19:29.225Z,1613600369.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.700012 m, bearing: 173.002148 deg, deltaT: 4.418832 s, approachRate: 0.760386 m/s, LOS rate: 2.322368 deg/s, posRepo size: 2 2021-02-17T22:19:29.228Z,1613600369.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.700012 m, bearing: 173.002148 deg, approachRate: 0.760386 m/s, LOS rate: 2.322368 deg/s, cmd update: 9.289472 deg/s, cmd heading: 162.739994 deg, new cmd heading: 162.739994 deg. 2021-02-17T22:19:31.577Z,1613600371.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:32.370Z,1613600372.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:19:32.781Z,1613600372.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:19:33.600Z,1613600373.600 [Micromodem](INFO): Nmea in: $SNTTA,0.111715,,,,221932.45*4A 2021-02-17T22:19:33.634Z,1613600373.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.700012 m, bearing: 205.533889 deg, deltaT: 4.525711 s, approachRate: 0.662879 m/s, LOS rate: 7.188205 deg/s, posRepo size: 3 2021-02-17T22:19:33.636Z,1613600373.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.700012 m, bearing: 205.533889 deg, approachRate: 0.662879 m/s, LOS rate: 7.188205 deg/s, cmd update: 12.000000 deg/s, cmd heading: 204.755144 deg, new cmd heading: 208.027695 deg. 2021-02-17T22:19:36.040Z,1613600376.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:36.821Z,1613600376.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:19:37.230Z,1613600377.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:19:38.044Z,1613600378.044 [Micromodem](INFO): Nmea in: $SNTTA,0.113537,,,,221936.90*46 2021-02-17T22:19:38.112Z,1613600378.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.700012 m, bearing: 184.412430 deg, deltaT: 4.377707 s, approachRate: 0.000000 m/s, LOS rate: -4.824776 deg/s, posRepo size: 4 2021-02-17T22:19:38.114Z,1613600378.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.700012 m, bearing: 184.412430 deg, approachRate: 0.000000 m/s, LOS rate: -4.824776 deg/s, cmd update: -12.000000 deg/s, cmd heading: 257.052021 deg, new cmd heading: 262.578297 deg. 2021-02-17T22:19:40.495Z,1613600380.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:41.262Z,1613600381.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:19:41.668Z,1613600381.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:19:42.508Z,1613600382.508 [Micromodem](INFO): Nmea in: $SNTTA,0.114838,,,,221941.34*4D 2021-02-17T22:19:42.532Z,1613600382.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.320007 m, bearing: 202.192328 deg, deltaT: 4.488938 s, approachRate: 1.029196 m/s, LOS rate: 3.960825 deg/s, posRepo size: 4 2021-02-17T22:19:42.534Z,1613600382.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.320007 m, bearing: 202.192328 deg, approachRate: 1.029196 m/s, LOS rate: 3.960825 deg/s, cmd update: 12.000000 deg/s, cmd heading: 203.013560 deg, new cmd heading: 198.344732 deg. 2021-02-17T22:19:44.941Z,1613600384.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:45.706Z,1613600385.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:19:46.112Z,1613600386.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:19:46.932Z,1613600386.932 [Micromodem](INFO): Nmea in: $SNTTA,0.115705,,,,221945.78*41 2021-02-17T22:19:46.974Z,1613600386.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.320007 m, bearing: 256.595891 deg, deltaT: 4.407192 s, approachRate: 0.000000 m/s, LOS rate: 12.344269 deg/s, posRepo size: 4 2021-02-17T22:19:46.975Z,1613600386.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.344269 deg/s. Setting heading cmd to target bearing of 256.595891deg and heading rate command to 0 deg/s. 2021-02-17T22:19:49.385Z,1613600389.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:50.150Z,1613600390.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:19:50.550Z,1613600390.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:19:51.376Z,1613600391.376 [Micromodem](INFO): Nmea in: $SNTTA,0.116275,,,,221950.23*4A 2021-02-17T22:19:51.438Z,1613600391.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.320007 m, bearing: 188.977046 deg, deltaT: 4.413520 s, approachRate: 0.000000 m/s, LOS rate: -15.320843 deg/s, posRepo size: 4 2021-02-17T22:19:51.443Z,1613600391.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.320843 deg/s. Setting heading cmd to target bearing of 188.977046deg and heading rate command to 0 deg/s. 2021-02-17T22:19:53.795Z,1613600393.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:54.593Z,1613600394.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:19:54.997Z,1613600394.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:19:55.820Z,1613600395.820 [Micromodem](INFO): Nmea in: $SNTTA,0.116168,,,,221954.67*41 2021-02-17T22:19:55.854Z,1613600395.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.320007 m, bearing: 268.020667 deg, deltaT: 4.508735 s, approachRate: 0.000000 m/s, LOS rate: 17.531219 deg/s, posRepo size: 4 2021-02-17T22:19:55.855Z,1613600395.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.531219 deg/s. Setting heading cmd to target bearing of 268.020667deg and heading rate command to 0 deg/s. 2021-02-17T22:19:58.260Z,1613600398.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:19:59.032Z,1613600399.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:19:59.447Z,1613600399.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:20:00.271Z,1613600400.271 [Micromodem](INFO): Nmea in: $SNTTA,0.115964,,,,221959.11*4A 2021-02-17T22:20:00.305Z,1613600400.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.320007 m, bearing: 293.845175 deg, deltaT: 4.400910 s, approachRate: 0.000000 m/s, LOS rate: 5.867993 deg/s, posRepo size: 4 2021-02-17T22:20:00.307Z,1613600400.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.320007 m, bearing: 293.845175 deg, approachRate: 0.000000 m/s, LOS rate: 5.867993 deg/s, cmd update: 12.000000 deg/s, cmd heading: 268.020667 deg, new cmd heading: 268.020667 deg. 2021-02-17T22:20:02.708Z,1613600402.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:03.477Z,1613600403.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:20:03.883Z,1613600403.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:20:04.707Z,1613600404.707 [Micromodem](INFO): Nmea in: $SNTTA,0.116187,,,,222003.56*4A 2021-02-17T22:20:04.722Z,1613600404.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.320007 m, bearing: 281.374834 deg, deltaT: 4.474694 s, approachRate: 0.000000 m/s, LOS rate: -2.786859 deg/s, posRepo size: 4 2021-02-17T22:20:04.724Z,1613600404.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.320007 m, bearing: 281.374834 deg, approachRate: 0.000000 m/s, LOS rate: -2.786859 deg/s, cmd update: -11.147436 deg/s, cmd heading: 321.674264 deg, new cmd heading: 326.095964 deg. 2021-02-17T22:20:07.139Z,1613600407.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:07.920Z,1613600407.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:20:08.326Z,1613600408.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:20:09.148Z,1613600409.148 [Micromodem](INFO): Nmea in: $SNTTA,0.116550,,,,222008.00*4C 2021-02-17T22:20:09.222Z,1613600409.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.320007 m, bearing: 194.302271 deg, deltaT: 4.393006 s, approachRate: 0.000000 m/s, LOS rate: -19.820724 deg/s, posRepo size: 4 2021-02-17T22:20:09.227Z,1613600409.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.820724 deg/s. Setting heading cmd to target bearing of 194.302271deg and heading rate command to 0 deg/s. 2021-02-17T22:20:11.600Z,1613600411.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:12.364Z,1613600412.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:20:12.785Z,1613600412.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:20:13.611Z,1613600413.611 [Micromodem](INFO): Nmea in: $SNTTA,0.116352,,,,222012.44*43 2021-02-17T22:20:13.630Z,1613600413.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.419998 m, bearing: 303.664418 deg, deltaT: 4.508015 s, approachRate: 0.465835 m/s, LOS rate: 24.259490 deg/s, posRepo size: 4 2021-02-17T22:20:13.631Z,1613600413.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.259490 deg/s. Setting heading cmd to target bearing of 303.664418deg and heading rate command to 0 deg/s. 2021-02-17T22:20:16.019Z,1613600416.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:16.813Z,1613600416.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:20:17.235Z,1613600417.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:20:18.043Z,1613600418.043 [Micromodem](INFO): Nmea in: $SNTTA,0.115701,,,,222016.89*47 2021-02-17T22:20:18.105Z,1613600418.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.419998 m, bearing: 288.389903 deg, deltaT: 4.404799 s, approachRate: 0.000000 m/s, LOS rate: -3.467699 deg/s, posRepo size: 4 2021-02-17T22:20:18.111Z,1613600418.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.419998 m, bearing: 288.389903 deg, approachRate: 0.000000 m/s, LOS rate: -3.467699 deg/s, cmd update: -12.000000 deg/s, cmd heading: 303.664418 deg, new cmd heading: 303.664418 deg. 2021-02-17T22:20:20.485Z,1613600420.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:21.254Z,1613600421.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:20:21.669Z,1613600421.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:20:22.480Z,1613600422.480 [Micromodem](INFO): Nmea in: $SNTTA,0.115359,,,,222021.33*4B 2021-02-17T22:20:22.528Z,1613600422.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.860001 m, bearing: 226.008146 deg, deltaT: 4.459477 s, approachRate: -0.349816 m/s, LOS rate: -13.988582 deg/s, posRepo size: 4 2021-02-17T22:20:22.529Z,1613600422.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.988582 deg/s. Setting heading cmd to target bearing of 226.008146deg and heading rate command to 0 deg/s. 2021-02-17T22:20:24.913Z,1613600424.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:25.696Z,1613600425.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:20:26.113Z,1613600426.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:20:26.928Z,1613600426.928 [Micromodem](INFO): Nmea in: $SNTTA,0.114584,,,,222025.77*48 2021-02-17T22:20:26.962Z,1613600426.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.860001 m, bearing: 284.105981 deg, deltaT: 4.427874 s, approachRate: 0.000000 m/s, LOS rate: 13.120933 deg/s, posRepo size: 4 2021-02-17T22:20:26.963Z,1613600426.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.120933 deg/s. Setting heading cmd to target bearing of 284.105981deg and heading rate command to 0 deg/s. 2021-02-17T22:20:29.391Z,1613600429.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:30.148Z,1613600430.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:20:30.546Z,1613600430.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:20:31.372Z,1613600431.372 [Micromodem](INFO): Nmea in: $SNTTA,0.114016,,,,222030.23*43 2021-02-17T22:20:31.425Z,1613600431.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.940002 m, bearing: 228.222315 deg, deltaT: 4.451842 s, approachRate: -0.431282 m/s, LOS rate: -12.552931 deg/s, posRepo size: 4 2021-02-17T22:20:31.426Z,1613600431.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.552931 deg/s. Setting heading cmd to target bearing of 228.222315deg and heading rate command to 0 deg/s. 2021-02-17T22:20:33.790Z,1613600433.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:34.589Z,1613600434.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:20:35.048Z,1613600435.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:20:35.817Z,1613600435.817 [Micromodem](INFO): Nmea in: $SNTTA,0.113664,,,,222034.67*43 2021-02-17T22:20:35.853Z,1613600435.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.460007 m, bearing: 214.834762 deg, deltaT: 4.449118 s, approachRate: -0.107886 m/s, LOS rate: -3.009035 deg/s, posRepo size: 4 2021-02-17T22:20:35.855Z,1613600435.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.460007 m, bearing: 214.834762 deg, approachRate: -0.107886 m/s, LOS rate: -3.009035 deg/s, cmd update: -12.000000 deg/s, cmd heading: 228.222315 deg, new cmd heading: 228.222315 deg. 2021-02-17T22:20:38.268Z,1613600438.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:39.030Z,1613600439.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:20:39.432Z,1613600439.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:20:40.256Z,1613600440.256 [Micromodem](INFO): Nmea in: $SNTTA,0.113375,,,,222039.11*4A 2021-02-17T22:20:40.310Z,1613600440.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.460007 m, bearing: 228.710647 deg, deltaT: 4.405556 s, approachRate: 0.000000 m/s, LOS rate: 3.149633 deg/s, posRepo size: 4 2021-02-17T22:20:40.312Z,1613600440.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.460007 m, bearing: 228.710647 deg, approachRate: 0.000000 m/s, LOS rate: 3.149633 deg/s, cmd update: 12.000000 deg/s, cmd heading: 175.377926 deg, new cmd heading: 169.918382 deg. 2021-02-17T22:20:42.681Z,1613600442.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:43.469Z,1613600443.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:20:43.873Z,1613600443.873 [Micromodem](INFO): Nmea in: ,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:20:43.874Z,1613600443.874 [Micromodem](ERROR): Response from modem failed NMEA checksum: ,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B expected 0 2021-02-17T22:20:43.874Z,1613600443.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:20:43.879Z,1613600443.879 [Micromodem](INFO): Nmea in: $CATXP,400*46 2021-02-17T22:20:43.896Z,1613600443.896 [Micromodem](ERROR): Response from modem unexpected: $CATXP,400*46 2021-02-17T22:20:44.289Z,1613600444.289 [Micromodem](INFO): Nmea in: $CATXF,400*50 2021-02-17T22:20:44.289Z,1613600444.289 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50 2021-02-17T22:20:44.292Z,1613600444.292 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,222043.551866,3,0,40,4000,14500,1,0,0,0,2,0,3,0*7F 2021-02-17T22:20:44.293Z,1613600444.293 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,222043.551866,3,0,40,4000,14500,1,0,0,0,2,0,3,0*7F 2021-02-17T22:20:44.701Z,1613600444.701 [Micromodem](INFO): Nmea in: $CAERR,222043,NI ,29,Busy completing a previous request*7E 2021-02-17T22:20:44.701Z,1613600444.701 [Micromodem](ERROR): Got error from modem: $CAERR,222043,NI ,29,Busy completing a previous request*7E 2021-02-17T22:20:44.703Z,1613600444.703 [Micromodem](INFO): Nmea in: $SNTTA,0.113189,,,,222043.55*46 2021-02-17T22:20:44.703Z,1613600444.703 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.113189,,,,222043.55*46 2021-02-17T22:20:44.747Z,1613600444.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.740005 m, bearing: 238.443461 deg, deltaT: 4.505254 s, approachRate: -0.159814 m/s, LOS rate: 2.160325 deg/s, posRepo size: 4 2021-02-17T22:20:44.757Z,1613600444.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.740005 m, bearing: 238.443461 deg, approachRate: -0.159814 m/s, LOS rate: 2.160325 deg/s, cmd update: 8.641302 deg/s, cmd heading: 229.367775 deg, new cmd heading: 234.077235 deg. 2021-02-17T22:20:47.142Z,1613600447.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:49.955Z,1613600449.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:52.803Z,1613600452.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:55.211Z,1613600455.211 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:20:55.335Z,1613600455.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:20:55.597Z,1613600455.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:20:55.996Z,1613600455.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:20:56.416Z,1613600456.416 [Micromodem](INFO): Nmea in: $CAERR,222056,NI ,29,Busy completing a previous request*7A 2021-02-17T22:20:56.416Z,1613600456.416 [Micromodem](ERROR): Got error from modem: $CAERR,222056,NI ,29,Busy completing a previous request*7A 2021-02-17T22:20:56.417Z,1613600456.417 [Micromodem](INFO): Nmea in: $SNTTA,0.114959,,,,222055.29*48 2021-02-17T22:20:56.417Z,1613600456.417 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.114959,,,,222055.29*48 2021-02-17T22:20:58.035Z,1613600458.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:00.855Z,1613600460.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:03.699Z,1613600463.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:06.543Z,1613600466.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:07.303Z,1613600467.303 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:21:07.711Z,1613600467.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:21:08.540Z,1613600468.540 [Micromodem](INFO): Nmea in: $SNTTA,0.114347,,,,222107.38*4B 2021-02-17T22:21:08.564Z,1613600468.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.360001 m, bearing: 344.798932 deg, deltaT: 23.799676 s, approachRate: 0.068068 m/s, LOS rate: 4.468778 deg/s, posRepo size: 4 2021-02-17T22:21:08.566Z,1613600468.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.360001 m, bearing: 344.798932 deg, approachRate: 0.068068 m/s, LOS rate: 4.468778 deg/s, cmd update: 12.000000 deg/s, cmd heading: 75.054790 deg, new cmd heading: 78.570382 deg. 2021-02-17T22:21:10.993Z,1613600470.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:11.748Z,1613600471.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:21:12.158Z,1613600472.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:21:12.976Z,1613600472.976 [Micromodem](INFO): Nmea in: $SNTTA,0.113019,,,,222111.83*43 2021-02-17T22:21:12.998Z,1613600472.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.360001 m, bearing: 336.179534 deg, deltaT: 4.445822 s, approachRate: 0.000000 m/s, LOS rate: -1.938764 deg/s, posRepo size: 4 2021-02-17T22:21:13.000Z,1613600473.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.360001 m, bearing: 336.179534 deg, approachRate: 0.000000 m/s, LOS rate: -1.938764 deg/s, cmd update: -7.755055 deg/s, cmd heading: 128.416427 deg, new cmd heading: 133.149491 deg. 2021-02-17T22:21:15.442Z,1613600475.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:16.229Z,1613600476.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:21:16.600Z,1613600476.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:21:17.430Z,1613600477.430 [Micromodem](INFO): Nmea in: $SNTTA,0.111958,,,,222116.31*43 2021-02-17T22:21:17.853Z,1613600477.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.979996 m, bearing: 337.374407 deg, deltaT: 4.889313 s, approachRate: -0.895832 m/s, LOS rate: 0.244385 deg/s, posRepo size: 4 2021-02-17T22:21:17.855Z,1613600477.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.979996 m, bearing: 337.374407 deg, approachRate: -0.895832 m/s, LOS rate: 0.244385 deg/s, cmd update: 0.977539 deg/s, cmd heading: 90.501235 deg, new cmd heading: 87.706166 deg. 2021-02-17T22:21:20.292Z,1613600480.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:21.049Z,1613600481.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:21:21.465Z,1613600481.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:21:22.276Z,1613600482.276 [Micromodem](INFO): Nmea in: $SNTTA,0.109769,,,,222121.13*42 2021-02-17T22:21:22.328Z,1613600482.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.979996 m, bearing: 338.406859 deg, deltaT: 4.393148 s, approachRate: 0.000000 m/s, LOS rate: 0.235014 deg/s, posRepo size: 4 2021-02-17T22:21:22.329Z,1613600482.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.979996 m, bearing: 338.406859 deg, approachRate: 0.000000 m/s, LOS rate: 0.235014 deg/s, cmd update: 0.940056 deg/s, cmd heading: 94.783737 deg, new cmd heading: 95.227105 deg. 2021-02-17T22:21:24.695Z,1613600484.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:25.485Z,1613600485.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:21:25.890Z,1613600485.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:21:26.716Z,1613600486.716 [Micromodem](INFO): Nmea in: $SNTTA,0.108008,,,,222125.56*46 2021-02-17T22:21:26.752Z,1613600486.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.820007 m, bearing: 341.345889 deg, deltaT: 4.462512 s, approachRate: -1.156297 m/s, LOS rate: 0.658604 deg/s, posRepo size: 4 2021-02-17T22:21:26.754Z,1613600486.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.820007 m, bearing: 341.345889 deg, approachRate: -1.156297 m/s, LOS rate: 0.658604 deg/s, cmd update: 2.634418 deg/s, cmd heading: 98.994242 deg, new cmd heading: 99.370028 deg. 2021-02-17T22:21:29.157Z,1613600489.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:29.928Z,1613600489.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:21:30.345Z,1613600490.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:21:31.164Z,1613600491.164 [Micromodem](INFO): Nmea in: $SNTTA,0.106318,,,,222130.01*4C 2021-02-17T22:21:31.242Z,1613600491.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.240005 m, bearing: 344.246780 deg, deltaT: 4.418653 s, approachRate: -0.583889 m/s, LOS rate: 0.656510 deg/s, posRepo size: 4 2021-02-17T22:21:31.244Z,1613600491.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.240005 m, bearing: 344.246780 deg, approachRate: -0.583889 m/s, LOS rate: 0.656510 deg/s, cmd update: 2.626041 deg/s, cmd heading: 110.634776 deg, new cmd heading: 111.874280 deg. 2021-02-17T22:21:33.599Z,1613600493.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:34.377Z,1613600494.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:21:34.779Z,1613600494.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:21:35.611Z,1613600495.611 [Micromodem](INFO): Nmea in: $SNTTA,0.104417,,,,222134.46*41 2021-02-17T22:21:35.630Z,1613600495.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.419998 m, bearing: 344.576596 deg, deltaT: 4.495831 s, approachRate: -0.627249 m/s, LOS rate: 0.073360 deg/s, posRepo size: 4 2021-02-17T22:21:35.632Z,1613600495.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.419998 m, bearing: 344.576596 deg, approachRate: -0.627249 m/s, LOS rate: 0.073360 deg/s, cmd update: 0.293442 deg/s, cmd heading: 122.430189 deg, new cmd heading: 123.394329 deg. 2021-02-17T22:21:38.040Z,1613600498.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:38.821Z,1613600498.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:21:39.229Z,1613600499.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:21:40.048Z,1613600500.048 [Micromodem](INFO): Nmea in: $SNTTA,0.102432,,,,222138.90*47 2021-02-17T22:21:40.115Z,1613600500.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.480011 m, bearing: 344.046655 deg, deltaT: 4.395552 s, approachRate: -0.668855 m/s, LOS rate: -0.120563 deg/s, posRepo size: 4 2021-02-17T22:21:40.117Z,1613600500.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.480011 m, bearing: 344.046655 deg, approachRate: -0.668855 m/s, LOS rate: -0.120563 deg/s, cmd update: -0.482252 deg/s, cmd heading: 123.721233 deg, new cmd heading: 123.852798 deg. 2021-02-17T22:21:42.515Z,1613600502.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:43.260Z,1613600503.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:21:43.672Z,1613600503.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:21:44.488Z,1613600504.488 [Micromodem](INFO): Nmea in: $SNTTA,0.100611,,,,222143.34*44 2021-02-17T22:21:44.513Z,1613600504.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.720001 m, bearing: 341.367855 deg, deltaT: 4.465499 s, approachRate: -0.618074 m/s, LOS rate: -0.599888 deg/s, posRepo size: 4 2021-02-17T22:21:44.514Z,1613600504.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.720001 m, bearing: 341.367855 deg, approachRate: -0.618074 m/s, LOS rate: -0.599888 deg/s, cmd update: -2.399553 deg/s, cmd heading: 121.567844 deg, new cmd heading: 121.382349 deg. 2021-02-17T22:21:46.917Z,1613600506.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:47.704Z,1613600507.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:21:48.115Z,1613600508.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:21:48.942Z,1613600508.942 [Micromodem](INFO): Nmea in: $SNTTA,0.099250,0.124532,,,222147.78*55 2021-02-17T22:21:48.962Z,1613600508.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.740005 m, bearing: 335.103943 deg, deltaT: 4.418380 s, approachRate: -0.448127 m/s, LOS rate: -1.417694 deg/s, posRepo size: 4 2021-02-17T22:21:48.965Z,1613600508.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.740005 m, bearing: 335.103943 deg, approachRate: -0.448127 m/s, LOS rate: -1.417694 deg/s, cmd update: -5.670777 deg/s, cmd heading: 110.965684 deg, new cmd heading: 109.968403 deg. 2021-02-17T22:21:51.380Z,1613600511.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:52.156Z,1613600512.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:21:52.569Z,1613600512.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:21:53.384Z,1613600513.384 [Micromodem](INFO): Nmea in: $SNTTA,0.098120,,,0.110801,222152.24*57 2021-02-17T22:21:53.437Z,1613600513.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.119995 m, bearing: 349.379093 deg, deltaT: 4.446084 s, approachRate: -0.364368 m/s, LOS rate: 3.210724 deg/s, posRepo size: 4 2021-02-17T22:21:53.439Z,1613600513.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.119995 m, bearing: 349.379093 deg, approachRate: -0.364368 m/s, LOS rate: 3.210724 deg/s, cmd update: 12.000000 deg/s, cmd heading: 85.841851 deg, new cmd heading: 83.233407 deg. 2021-02-17T22:21:55.809Z,1613600515.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:21:56.610Z,1613600516.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:21:56.998Z,1613600516.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:21:57.832Z,1613600517.832 [Micromodem](INFO): Nmea in: $SNTTA,0.097716,,,,222156.69*41 2021-02-17T22:21:57.874Z,1613600517.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.760010 m, bearing: 54.093852 deg, deltaT: 4.485537 s, approachRate: -0.080255 m/s, LOS rate: 14.427426 deg/s, posRepo size: 4 2021-02-17T22:21:57.875Z,1613600517.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.427426 deg/s. Setting heading cmd to target bearing of 54.093852deg and heading rate command to 0 deg/s. 2021-02-17T22:22:00.276Z,1613600520.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:01.065Z,1613600521.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:22:01.442Z,1613600521.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:22:02.276Z,1613600522.276 [Micromodem](INFO): Nmea in: $SNTTA,0.097584,,,,222201.14*43 2021-02-17T22:22:02.324Z,1613600522.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.760010 m, bearing: 18.609409 deg, deltaT: 4.403363 s, approachRate: 0.000000 m/s, LOS rate: -8.058487 deg/s, posRepo size: 4 2021-02-17T22:22:02.326Z,1613600522.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.760010 m, bearing: 18.609409 deg, approachRate: 0.000000 m/s, LOS rate: -8.058487 deg/s, cmd update: -12.000000 deg/s, cmd heading: 54.093852 deg, new cmd heading: 54.093852 deg. 2021-02-17T22:22:04.692Z,1613600524.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:05.486Z,1613600525.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:22:05.897Z,1613600525.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:22:06.719Z,1613600526.719 [Micromodem](INFO): Nmea in: $SNTTA,0.098196,,,,222205.56*49 2021-02-17T22:22:06.738Z,1613600526.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.300003 m, bearing: 29.081084 deg, deltaT: 4.455851 s, approachRate: 0.121187 m/s, LOS rate: 2.350096 deg/s, posRepo size: 4 2021-02-17T22:22:06.740Z,1613600526.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.300003 m, bearing: 29.081084 deg, approachRate: 0.121187 m/s, LOS rate: 2.350096 deg/s, cmd update: 9.400383 deg/s, cmd heading: 0.423334 deg, new cmd heading: 355.616866 deg. 2021-02-17T22:22:09.156Z,1613600529.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:09.924Z,1613600529.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:22:10.336Z,1613600530.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:22:11.152Z,1613600531.152 [Micromodem](INFO): Nmea in: $SNTTA,0.098820,,,,222210.00*4A 2021-02-17T22:22:11.236Z,1613600531.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.200012 m, bearing: 64.901899 deg, deltaT: 4.426225 s, approachRate: 0.203336 m/s, LOS rate: 8.092859 deg/s, posRepo size: 4 2021-02-17T22:22:11.238Z,1613600531.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.200012 m, bearing: 64.901899 deg, approachRate: 0.203336 m/s, LOS rate: 8.092859 deg/s, cmd update: 12.000000 deg/s, cmd heading: 42.028384 deg, new cmd heading: 46.430376 deg. 2021-02-17T22:22:13.575Z,1613600533.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:14.383Z,1613600534.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:22:14.781Z,1613600534.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:22:15.612Z,1613600535.612 [Micromodem](INFO): Nmea in: $SNTTA,0.098807,,,,222214.46*49 2021-02-17T22:22:15.630Z,1613600535.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.620010 m, bearing: 82.950291 deg, deltaT: 4.497095 s, approachRate: 0.093393 m/s, LOS rate: 4.013345 deg/s, posRepo size: 4 2021-02-17T22:22:15.632Z,1613600535.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.620010 m, bearing: 82.950291 deg, approachRate: 0.093393 m/s, LOS rate: 4.013345 deg/s, cmd update: 12.000000 deg/s, cmd heading: 95.949737 deg, new cmd heading: 100.428881 deg. 2021-02-17T22:22:18.047Z,1613600538.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:18.817Z,1613600538.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:22:19.227Z,1613600539.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:22:20.116Z,1613600540.116 [Micromodem](INFO): Nmea in: $SNTTA,0.098401,,,,222218.90*44 2021-02-17T22:22:20.140Z,1613600540.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.540009 m, bearing: 9.986021 deg, deltaT: 4.412090 s, approachRate: -0.244782 m/s, LOS rate: -16.537348 deg/s, posRepo size: 4 2021-02-17T22:22:20.142Z,1613600540.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.537348 deg/s. Setting heading cmd to target bearing of 9.986021deg and heading rate command to 0 deg/s. 2021-02-17T22:22:22.483Z,1613600542.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:23.262Z,1613600543.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:22:23.662Z,1613600543.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:22:24.492Z,1613600544.492 [Micromodem](INFO): Nmea in: $SNTTA,0.098248,,,,222223.34*49 2021-02-17T22:22:24.534Z,1613600544.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.360001 m, bearing: 11.428173 deg, deltaT: 4.452224 s, approachRate: -0.040431 m/s, LOS rate: 0.323917 deg/s, posRepo size: 4 2021-02-17T22:22:24.536Z,1613600544.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.360001 m, bearing: 11.428173 deg, approachRate: -0.040431 m/s, LOS rate: 0.323917 deg/s, cmd update: 1.295669 deg/s, cmd heading: 9.986021 deg, new cmd heading: 9.986021 deg. 2021-02-17T22:22:26.931Z,1613600546.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:27.700Z,1613600547.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:22:28.114Z,1613600548.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:22:28.928Z,1613600548.928 [Micromodem](INFO): Nmea in: $SNTTA,0.098747,,,,222227.78*4F 2021-02-17T22:22:28.973Z,1613600548.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.200012 m, bearing: 41.259370 deg, deltaT: 4.430787 s, approachRate: 0.189585 m/s, LOS rate: 6.732708 deg/s, posRepo size: 4 2021-02-17T22:22:28.975Z,1613600548.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.200012 m, bearing: 41.259370 deg, approachRate: 0.189585 m/s, LOS rate: 6.732708 deg/s, cmd update: 12.000000 deg/s, cmd heading: 15.726332 deg, new cmd heading: 16.267823 deg. 2021-02-17T22:22:31.412Z,1613600551.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:32.153Z,1613600552.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:22:32.556Z,1613600552.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:22:33.380Z,1613600553.380 [Micromodem](INFO): Nmea in: $SNTTA,0.099653,,,,222232.23*40 2021-02-17T22:22:33.414Z,1613600553.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.520004 m, bearing: 50.271685 deg, deltaT: 4.422825 s, approachRate: 0.298450 m/s, LOS rate: 2.037683 deg/s, posRepo size: 4 2021-02-17T22:22:33.416Z,1613600553.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.520004 m, bearing: 50.271685 deg, approachRate: 0.298450 m/s, LOS rate: 2.037683 deg/s, cmd update: 8.150732 deg/s, cmd heading: 68.804444 deg, new cmd heading: 74.025585 deg. 2021-02-17T22:22:35.800Z,1613600555.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:36.588Z,1613600556.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:22:36.994Z,1613600556.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:22:37.816Z,1613600557.816 [Micromodem](INFO): Nmea in: $SNTTA,0.100235,,,,222236.67*41 2021-02-17T22:22:37.862Z,1613600557.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.360001 m, bearing: 6.156079 deg, deltaT: 4.478862 s, approachRate: 0.187547 m/s, LOS rate: -9.849736 deg/s, posRepo size: 4 2021-02-17T22:22:37.868Z,1613600557.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.360001 m, bearing: 6.156079 deg, approachRate: 0.187547 m/s, LOS rate: -9.849736 deg/s, cmd update: -12.000000 deg/s, cmd heading: 105.309829 deg, new cmd heading: 108.609147 deg. 2021-02-17T22:22:40.288Z,1613600560.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:41.106Z,1613600561.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:22:41.438Z,1613600561.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:22:42.285Z,1613600562.285 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T22:22:42.653Z,1613600562.653 [Micromodem](INFO): Nmea in: $SNTTA,0.100465,,,,222241.18*4A 2021-02-17T22:22:43.110Z,1613600563.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:44.672Z,1613600564.672 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:22:45.900Z,1613600565.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:46.694Z,1613600566.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:22:47.110Z,1613600567.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:22:47.920Z,1613600567.920 [Micromodem](INFO): Nmea in: $SNTTA,0.100946,,,,222246.77*48 2021-02-17T22:22:47.957Z,1613600567.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.500000 m, bearing: 21.115803 deg, deltaT: 10.096215 s, approachRate: 0.112914 m/s, LOS rate: 1.481716 deg/s, posRepo size: 4 2021-02-17T22:22:47.959Z,1613600567.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.500000 m, bearing: 21.115803 deg, approachRate: 0.112914 m/s, LOS rate: 1.481716 deg/s, cmd update: 5.926864 deg/s, cmd heading: 344.202166 deg, new cmd heading: 339.310054 deg. 2021-02-17T22:22:50.365Z,1613600570.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:51.138Z,1613600571.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:22:51.541Z,1613600571.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:22:52.367Z,1613600572.367 [Micromodem](INFO): Nmea in: $SNTTA,0.101339,,,,222251.22*4D 2021-02-17T22:22:52.402Z,1613600572.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.040009 m, bearing: 32.531918 deg, deltaT: 4.424494 s, approachRate: 0.122050 m/s, LOS rate: 2.580208 deg/s, posRepo size: 4 2021-02-17T22:22:52.404Z,1613600572.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.040009 m, bearing: 32.531918 deg, approachRate: 0.122050 m/s, LOS rate: 2.580208 deg/s, cmd update: 10.320832 deg/s, cmd heading: 10.448974 deg, new cmd heading: 12.958936 deg. 2021-02-17T22:22:54.799Z,1613600574.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:22:55.578Z,1613600575.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:22:55.981Z,1613600575.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:22:56.809Z,1613600576.809 [Micromodem](INFO): Nmea in: $SNTTA,0.100935,,,,222255.66*4E 2021-02-17T22:22:56.850Z,1613600576.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.320007 m, bearing: 341.449845 deg, deltaT: 4.466035 s, approachRate: -0.161217 m/s, LOS rate: -11.437902 deg/s, posRepo size: 4 2021-02-17T22:22:56.852Z,1613600576.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.320007 m, bearing: 341.449845 deg, approachRate: -0.161217 m/s, LOS rate: -11.437902 deg/s, cmd update: -12.000000 deg/s, cmd heading: 56.540683 deg, new cmd heading: 60.732788 deg. 2021-02-17T22:22:59.264Z,1613600579.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:00.022Z,1613600580.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:00.444Z,1613600580.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:01.260Z,1613600581.260 [Micromodem](INFO): Nmea in: $SNTTA,0.100534,,,0.103072,222300.10*5A 2021-02-17T22:23:01.317Z,1613600581.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.720001 m, bearing: 34.682594 deg, deltaT: 4.405613 s, approachRate: -0.136191 m/s, LOS rate: 12.082941 deg/s, posRepo size: 4 2021-02-17T22:23:01.317Z,1613600581.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.082941 deg/s. Setting heading cmd to target bearing of 34.682594deg and heading rate command to 0 deg/s. 2021-02-17T22:23:03.671Z,1613600583.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:04.485Z,1613600584.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:04.870Z,1613600584.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:05.708Z,1613600585.708 [Micromodem](INFO): Nmea in: $SNTTA,0.099903,,,,222304.56*4C 2021-02-17T22:23:05.745Z,1613600585.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.820007 m, bearing: 38.398791 deg, deltaT: 4.485312 s, approachRate: -0.200654 m/s, LOS rate: 0.828526 deg/s, posRepo size: 4 2021-02-17T22:23:05.747Z,1613600585.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.820007 m, bearing: 38.398791 deg, approachRate: -0.200654 m/s, LOS rate: 0.828526 deg/s, cmd update: 3.314103 deg/s, cmd heading: 34.682594 deg, new cmd heading: 34.682594 deg. 2021-02-17T22:23:08.144Z,1613600588.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:08.909Z,1613600588.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:09.314Z,1613600589.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:10.140Z,1613600590.140 [Micromodem](INFO): Nmea in: $SNTTA,0.099020,,,,222308.99*4B 2021-02-17T22:23:10.217Z,1613600590.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.440002 m, bearing: 325.505915 deg, deltaT: 4.415920 s, approachRate: -0.312507 m/s, LOS rate: -16.506841 deg/s, posRepo size: 4 2021-02-17T22:23:10.218Z,1613600590.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.506841 deg/s. Setting heading cmd to target bearing of 325.505915deg and heading rate command to 0 deg/s. 2021-02-17T22:23:12.576Z,1613600592.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:13.357Z,1613600593.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:13.778Z,1613600593.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:14.584Z,1613600594.584 [Micromodem](INFO): Nmea in: $SNTTA,0.098242,,,,222313.43*41 2021-02-17T22:23:14.621Z,1613600594.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.240005 m, bearing: 348.259898 deg, deltaT: 4.498788 s, approachRate: -0.266738 m/s, LOS rate: 5.057803 deg/s, posRepo size: 4 2021-02-17T22:23:14.623Z,1613600594.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.240005 m, bearing: 348.259898 deg, approachRate: -0.266738 m/s, LOS rate: 5.057803 deg/s, cmd update: 12.000000 deg/s, cmd heading: 325.505915 deg, new cmd heading: 325.505915 deg. 2021-02-17T22:23:16.249Z,1613600596.249 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:23:17.008Z,1613600597.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:17.804Z,1613600597.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:18.222Z,1613600598.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:19.033Z,1613600599.033 [Micromodem](INFO): Nmea in: $SNTTA,0.097707,,,0.100189,222317.88*56 2021-02-17T22:23:19.113Z,1613600599.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.460007 m, bearing: 329.281972 deg, deltaT: 4.373490 s, approachRate: -0.178347 m/s, LOS rate: -4.339309 deg/s, posRepo size: 4 2021-02-17T22:23:19.119Z,1613600599.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.460007 m, bearing: 329.281972 deg, approachRate: -0.178347 m/s, LOS rate: -4.339309 deg/s, cmd update: -12.000000 deg/s, cmd heading: 17.984785 deg, new cmd heading: 23.863225 deg. 2021-02-17T22:23:21.497Z,1613600601.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:22.255Z,1613600602.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:22.651Z,1613600602.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:23.480Z,1613600603.480 [Micromodem](INFO): Nmea in: $SNTTA,0.096860,,,,222322.33*40 2021-02-17T22:23:23.533Z,1613600603.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.140015 m, bearing: 320.535532 deg, deltaT: 4.495652 s, approachRate: -0.293615 m/s, LOS rate: -1.945533 deg/s, posRepo size: 4 2021-02-17T22:23:23.539Z,1613600603.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.140015 m, bearing: 320.535532 deg, approachRate: -0.293615 m/s, LOS rate: -1.945533 deg/s, cmd update: -7.782132 deg/s, cmd heading: 324.084959 deg, new cmd heading: 319.065839 deg. 2021-02-17T22:23:25.896Z,1613600605.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:26.314Z,1613600606.314 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T22:23:26.684Z,1613600606.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:27.108Z,1613600607.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:27.912Z,1613600607.912 [Micromodem](INFO): Nmea in: $SNTTA,0.095187,,,,222326.76*46 2021-02-17T22:23:27.934Z,1613600607.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.559998 m, bearing: 321.267264 deg, deltaT: 4.438606 s, approachRate: -0.581267 m/s, LOS rate: 0.164856 deg/s, posRepo size: 4 2021-02-17T22:23:27.936Z,1613600607.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.559998 m, bearing: 321.267264 deg, approachRate: -0.581267 m/s, LOS rate: 0.164856 deg/s, cmd update: 0.659425 deg/s, cmd heading: 289.584471 deg, new cmd heading: 286.582241 deg. 2021-02-17T22:23:30.420Z,1613600610.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:31.130Z,1613600611.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:31.543Z,1613600611.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:32.371Z,1613600612.371 [Micromodem](INFO): Nmea in: $SNTTA,0.093403,,,,222331.22*4E 2021-02-17T22:23:32.405Z,1613600612.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.800003 m, bearing: 316.237704 deg, deltaT: 4.425143 s, approachRate: -0.623707 m/s, LOS rate: -1.136587 deg/s, posRepo size: 4 2021-02-17T22:23:32.407Z,1613600612.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.800003 m, bearing: 316.237704 deg, approachRate: -0.623707 m/s, LOS rate: -1.136587 deg/s, cmd update: -4.546348 deg/s, cmd heading: 292.506053 deg, new cmd heading: 292.787163 deg. 2021-02-17T22:23:34.779Z,1613600614.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:35.573Z,1613600615.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:35.981Z,1613600615.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:36.400Z,1613600616.400 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T22:23:36.804Z,1613600616.804 [Micromodem](INFO): Nmea in: $SNTTA,0.091378,,,,222335.65*40 2021-02-17T22:23:36.851Z,1613600616.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.860001 m, bearing: 316.678934 deg, deltaT: 4.445695 s, approachRate: -0.661314 m/s, LOS rate: 0.099249 deg/s, posRepo size: 4 2021-02-17T22:23:36.853Z,1613600616.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.860001 m, bearing: 316.678934 deg, approachRate: -0.661314 m/s, LOS rate: 0.099249 deg/s, cmd update: 0.396995 deg/s, cmd heading: 272.348196 deg, new cmd heading: 270.446649 deg. 2021-02-17T22:23:39.284Z,1613600619.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:40.022Z,1613600620.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:40.435Z,1613600620.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:41.264Z,1613600621.264 [Micromodem](INFO): Nmea in: $SNTTA,0.089175,,,,222340.10*46 2021-02-17T22:23:41.285Z,1613600621.285 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T22:23:41.303Z,1613600621.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.440002 m, bearing: 312.280538 deg, deltaT: 4.431849 s, approachRate: -0.771687 m/s, LOS rate: -0.992452 deg/s, posRepo size: 4 2021-02-17T22:23:41.306Z,1613600621.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.440002 m, bearing: 312.280538 deg, approachRate: -0.771687 m/s, LOS rate: -0.992452 deg/s, cmd update: -3.969807 deg/s, cmd heading: 274.113864 deg, new cmd heading: 274.289545 deg. 2021-02-17T22:23:43.675Z,1613600623.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:44.465Z,1613600624.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:44.866Z,1613600624.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:45.692Z,1613600625.692 [Micromodem](INFO): Nmea in: $SNTTA,0.087264,,,,222344.54*4F 2021-02-17T22:23:45.731Z,1613600625.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.740005 m, bearing: 309.413307 deg, deltaT: 4.473183 s, approachRate: -0.603596 m/s, LOS rate: -0.640982 deg/s, posRepo size: 4 2021-02-17T22:23:45.733Z,1613600625.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.740005 m, bearing: 309.413307 deg, approachRate: -0.603596 m/s, LOS rate: -0.640982 deg/s, cmd update: -2.563929 deg/s, cmd heading: 256.370936 deg, new cmd heading: 254.776753 deg. 2021-02-17T22:23:48.133Z,1613600628.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:48.909Z,1613600628.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:49.327Z,1613600629.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:50.136Z,1613600630.136 [Micromodem](INFO): Nmea in: $SNTTA,0.085529,,,,222348.99*4E 2021-02-17T22:23:50.220Z,1613600630.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.100006 m, bearing: 315.253720 deg, deltaT: 4.412996 s, approachRate: -0.598233 m/s, LOS rate: 1.323458 deg/s, posRepo size: 4 2021-02-17T22:23:50.222Z,1613600630.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.100006 m, bearing: 315.253720 deg, approachRate: -0.598233 m/s, LOS rate: 1.323458 deg/s, cmd update: 5.293830 deg/s, cmd heading: 245.066408 deg, new cmd heading: 243.830850 deg. 2021-02-17T22:23:51.375Z,1613600631.375 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T22:23:52.584Z,1613600632.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:53.353Z,1613600633.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:53.754Z,1613600633.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:54.580Z,1613600634.580 [Micromodem](INFO): Nmea in: $SNTTA,0.084386,,,,222353.43*41 2021-02-17T22:23:54.604Z,1613600634.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.480003 m, bearing: 280.573161 deg, deltaT: 4.488613 s, approachRate: -0.360914 m/s, LOS rate: -7.726342 deg/s, posRepo size: 4 2021-02-17T22:23:54.606Z,1613600634.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.480003 m, bearing: 280.573161 deg, approachRate: -0.360914 m/s, LOS rate: -7.726342 deg/s, cmd update: -12.000000 deg/s, cmd heading: 268.865648 deg, new cmd heading: 270.825646 deg. 2021-02-17T22:23:57.008Z,1613600637.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:23:57.792Z,1613600637.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:23:58.215Z,1613600638.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:23:59.020Z,1613600639.020 [Micromodem](INFO): Nmea in: $SNTTA,0.083503,,,,222357.87*41 2021-02-17T22:23:59.061Z,1613600639.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.100006 m, bearing: 262.925619 deg, deltaT: 4.395128 s, approachRate: -0.313983 m/s, LOS rate: -4.015251 deg/s, posRepo size: 4 2021-02-17T22:23:59.067Z,1613600639.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.100006 m, bearing: 262.925619 deg, approachRate: -0.313983 m/s, LOS rate: -4.015251 deg/s, cmd update: -12.000000 deg/s, cmd heading: 216.164070 deg, new cmd heading: 210.982110 deg. 2021-02-17T22:23:59.428Z,1613600639.428 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T22:24:01.501Z,1613600641.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:02.236Z,1613600642.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:02.642Z,1613600642.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:24:03.484Z,1613600643.484 [Micromodem](INFO): Nmea in: $SNTTA,0.082363,,0.099062,,222402.32*53 2021-02-17T22:24:03.527Z,1613600643.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.720001 m, bearing: 255.072868 deg, deltaT: 4.471961 s, approachRate: -0.308591 m/s, LOS rate: -1.755997 deg/s, posRepo size: 4 2021-02-17T22:24:03.529Z,1613600643.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.720001 m, bearing: 255.072868 deg, approachRate: -0.308591 m/s, LOS rate: -1.755997 deg/s, cmd update: -7.023988 deg/s, cmd heading: 162.505649 deg, new cmd heading: 157.351673 deg. 2021-02-17T22:24:05.888Z,1613600645.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:06.680Z,1613600646.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:07.108Z,1613600647.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:24:07.908Z,1613600647.908 [Micromodem](INFO): Nmea in: $SNTTA,0.081796,,,,222406.76*40 2021-02-17T22:24:07.945Z,1613600647.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.640007 m, bearing: 265.744438 deg, deltaT: 4.426057 s, approachRate: -0.244008 m/s, LOS rate: 2.411078 deg/s, posRepo size: 4 2021-02-17T22:24:07.947Z,1613600647.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.640007 m, bearing: 265.744438 deg, approachRate: -0.244008 m/s, LOS rate: 2.411078 deg/s, cmd update: 9.644312 deg/s, cmd heading: 131.387380 deg, new cmd heading: 128.454331 deg. 2021-02-17T22:24:10.352Z,1613600650.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:11.136Z,1613600651.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:11.547Z,1613600651.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:24:12.361Z,1613600652.361 [Micromodem](INFO): Nmea in: $SNTTA,0.081598,,,,222411.21*48 2021-02-17T22:24:12.419Z,1613600652.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.400002 m, bearing: 288.399164 deg, deltaT: 4.443407 s, approachRate: -0.054014 m/s, LOS rate: 5.098504 deg/s, posRepo size: 4 2021-02-17T22:24:12.421Z,1613600652.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.400002 m, bearing: 288.399164 deg, approachRate: -0.054014 m/s, LOS rate: 5.098504 deg/s, cmd update: 12.000000 deg/s, cmd heading: 174.244824 deg, new cmd heading: 178.518585 deg. 2021-02-17T22:24:14.798Z,1613600654.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:15.633Z,1613600655.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:16.038Z,1613600656.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:24:16.864Z,1613600656.864 [Micromodem](INFO): Nmea in: $SNTTA,0.082242,,,,222415.71*4A 2021-02-17T22:24:16.900Z,1613600656.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.420006 m, bearing: 247.080099 deg, deltaT: 4.519584 s, approachRate: 0.225685 m/s, LOS rate: -9.142228 deg/s, posRepo size: 4 2021-02-17T22:24:16.902Z,1613600656.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.420006 m, bearing: 247.080099 deg, approachRate: 0.225685 m/s, LOS rate: -9.142228 deg/s, cmd update: -12.000000 deg/s, cmd heading: 228.479773 deg, new cmd heading: 233.384221 deg. 2021-02-17T22:24:19.317Z,1613600659.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:20.105Z,1613600660.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:20.503Z,1613600660.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:24:21.317Z,1613600661.317 [Micromodem](INFO): Nmea in: $SNTTA,0.083511,,,,222420.18*43 2021-02-17T22:24:21.351Z,1613600661.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.340004 m, bearing: 231.619228 deg, deltaT: 4.428240 s, approachRate: 0.433580 m/s, LOS rate: -3.491426 deg/s, posRepo size: 4 2021-02-17T22:24:21.353Z,1613600661.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.340004 m, bearing: 231.619228 deg, approachRate: 0.433580 m/s, LOS rate: -3.491426 deg/s, cmd update: -12.000000 deg/s, cmd heading: 175.343136 deg, new cmd heading: 170.164619 deg. 2021-02-17T22:24:23.745Z,1613600663.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:24.520Z,1613600664.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:24.932Z,1613600664.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:24:25.755Z,1613600665.755 [Micromodem](INFO): Nmea in: $SNTTA,0.084398,,,,222424.60*48 2021-02-17T22:24:25.778Z,1613600665.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.660004 m, bearing: 261.083954 deg, deltaT: 4.453202 s, approachRate: 0.296416 m/s, LOS rate: 6.616526 deg/s, posRepo size: 4 2021-02-17T22:24:25.780Z,1613600665.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.660004 m, bearing: 261.083954 deg, approachRate: 0.296416 m/s, LOS rate: 6.616526 deg/s, cmd update: 12.000000 deg/s, cmd heading: 121.904074 deg, new cmd heading: 117.037714 deg. 2021-02-17T22:24:28.234Z,1613600668.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:28.965Z,1613600668.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:29.375Z,1613600669.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:24:30.226Z,1613600670.226 [Micromodem](INFO): Nmea in: $SNTTA,0.085526,,,,222429.04*45 2021-02-17T22:24:30.260Z,1613600670.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.279999 m, bearing: 227.139607 deg, deltaT: 4.413569 s, approachRate: 0.367049 m/s, LOS rate: -7.690907 deg/s, posRepo size: 4 2021-02-17T22:24:30.262Z,1613600670.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.279999 m, bearing: 227.139607 deg, approachRate: 0.367049 m/s, LOS rate: -7.690907 deg/s, cmd update: -12.000000 deg/s, cmd heading: 174.868343 deg, new cmd heading: 180.548220 deg. 2021-02-17T22:24:32.294Z,1613600672.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:33.010Z,1613600673.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:33.430Z,1613600673.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:24:34.240Z,1613600674.240 [Micromodem](INFO): Nmea in: $SNTTA,0.086949,,,0.089430,222433.09*5D 2021-02-17T22:24:34.333Z,1613600674.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.380005 m, bearing: 185.078579 deg, deltaT: 4.041887 s, approachRate: 0.519561 m/s, LOS rate: -10.406285 deg/s, posRepo size: 4 2021-02-17T22:24:34.340Z,1613600674.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.380005 m, bearing: 185.078579 deg, approachRate: 0.519561 m/s, LOS rate: -10.406285 deg/s, cmd update: -12.000000 deg/s, cmd heading: 126.370043 deg, new cmd heading: 120.369623 deg. 2021-02-17T22:24:36.655Z,1613600676.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:37.448Z,1613600677.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:37.853Z,1613600677.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:24:38.684Z,1613600678.684 [Micromodem](INFO): Nmea in: $SNTTA,0.088668,,,,222437.53*4C 2021-02-17T22:24:38.707Z,1613600678.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.199997 m, bearing: 165.902904 deg, deltaT: 4.490500 s, approachRate: 0.627991 m/s, LOS rate: -4.270276 deg/s, posRepo size: 4 2021-02-17T22:24:38.713Z,1613600678.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.199997 m, bearing: 165.902904 deg, approachRate: 0.627991 m/s, LOS rate: -4.270276 deg/s, cmd update: -12.000000 deg/s, cmd heading: 72.719517 deg, new cmd heading: 67.831053 deg. 2021-02-17T22:24:41.220Z,1613600681.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:41.502Z,1613600681.502 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:24:41.892Z,1613600681.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:42.308Z,1613600682.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:24:43.132Z,1613600683.132 [Micromodem](INFO): Nmea in: $SNTTA,0.090767,,,,222441.97*42 2021-02-17T22:24:43.160Z,1613600683.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.380005 m, bearing: 161.842575 deg, deltaT: 4.403226 s, approachRate: 0.722200 m/s, LOS rate: -0.922126 deg/s, posRepo size: 4 2021-02-17T22:24:43.162Z,1613600683.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.380005 m, bearing: 161.842575 deg, approachRate: 0.722200 m/s, LOS rate: -0.922126 deg/s, cmd update: -3.688504 deg/s, cmd heading: 19.642808 deg, new cmd heading: 14.385608 deg. 2021-02-17T22:24:45.228Z,1613600685.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:45.942Z,1613600685.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:46.343Z,1613600686.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:24:47.172Z,1613600687.172 [Micromodem](INFO): Nmea in: $SNTTA,0.092825,,,,222446.02*42 2021-02-17T22:24:47.226Z,1613600687.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.379990 m, bearing: 158.690115 deg, deltaT: 4.036277 s, approachRate: 0.743255 m/s, LOS rate: -0.781032 deg/s, posRepo size: 4 2021-02-17T22:24:47.232Z,1613600687.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.379990 m, bearing: 158.690115 deg, approachRate: 0.743255 m/s, LOS rate: -0.781032 deg/s, cmd update: -3.124127 deg/s, cmd heading: 4.754189 deg, new cmd heading: 3.026903 deg. 2021-02-17T22:24:49.583Z,1613600689.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:50.379Z,1613600690.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:50.791Z,1613600690.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:24:51.608Z,1613600691.608 [Micromodem](INFO): Nmea in: $SNTTA,0.094567,,,,222450.46*48 2021-02-17T22:24:51.645Z,1613600691.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.020004 m, bearing: 131.099211 deg, deltaT: 4.509336 s, approachRate: 0.585455 m/s, LOS rate: -6.118618 deg/s, posRepo size: 4 2021-02-17T22:24:51.647Z,1613600691.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.020004 m, bearing: 131.099211 deg, approachRate: 0.585455 m/s, LOS rate: -6.118618 deg/s, cmd update: -12.000000 deg/s, cmd heading: 350.724011 deg, new cmd heading: 349.485901 deg. 2021-02-17T22:24:54.036Z,1613600694.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:54.820Z,1613600694.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:55.232Z,1613600695.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:24:56.048Z,1613600696.048 [Micromodem](INFO): Nmea in: $SNTTA,0.096127,,,,222454.90*45 2021-02-17T22:24:56.119Z,1613600696.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.240005 m, bearing: 97.101220 deg, deltaT: 4.397882 s, approachRate: 0.504789 m/s, LOS rate: -7.730537 deg/s, posRepo size: 4 2021-02-17T22:24:56.125Z,1613600696.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.240005 m, bearing: 97.101220 deg, approachRate: 0.504789 m/s, LOS rate: -7.730537 deg/s, cmd update: -12.000000 deg/s, cmd heading: 297.776937 deg, new cmd heading: 292.336833 deg. 2021-02-17T22:24:56.458Z,1613600696.458 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:24:58.504Z,1613600698.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:24:59.265Z,1613600699.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:24:59.675Z,1613600699.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:25:00.504Z,1613600700.504 [Micromodem](INFO): Nmea in: $SNTTA,0.097079,,,,222459.34*4D 2021-02-17T22:25:00.528Z,1613600700.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.619995 m, bearing: 61.231020 deg, deltaT: 4.462244 s, approachRate: 0.309259 m/s, LOS rate: -8.038602 deg/s, posRepo size: 4 2021-02-17T22:25:00.529Z,1613600700.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.619995 m, bearing: 61.231020 deg, approachRate: 0.309259 m/s, LOS rate: -8.038602 deg/s, cmd update: -12.000000 deg/s, cmd heading: 244.184276 deg, new cmd heading: 239.384900 deg. 2021-02-17T22:25:02.953Z,1613600702.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:03.710Z,1613600703.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:25:04.135Z,1613600704.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:25:04.936Z,1613600704.936 [Micromodem](INFO): Nmea in: $SNTTA,0.097799,,,,222503.79*43 2021-02-17T22:25:04.978Z,1613600704.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.760010 m, bearing: 38.992116 deg, deltaT: 4.441382 s, approachRate: 0.256680 m/s, LOS rate: -5.007204 deg/s, posRepo size: 4 2021-02-17T22:25:04.980Z,1613600704.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.760010 m, bearing: 38.992116 deg, approachRate: 0.256680 m/s, LOS rate: -5.007204 deg/s, cmd update: -12.000000 deg/s, cmd heading: 190.932811 deg, new cmd heading: 185.973558 deg. 2021-02-17T22:25:07.395Z,1613600707.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:08.158Z,1613600708.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:25:08.558Z,1613600708.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:25:09.384Z,1613600709.384 [Micromodem](INFO): Nmea in: $SNTTA,0.098868,,,,222508.24*4E 2021-02-17T22:25:09.447Z,1613600709.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.440002 m, bearing: 69.463509 deg, deltaT: 4.411226 s, approachRate: 0.380845 m/s, LOS rate: 6.907693 deg/s, posRepo size: 4 2021-02-17T22:25:09.460Z,1613600709.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.440002 m, bearing: 69.463509 deg, approachRate: 0.380845 m/s, LOS rate: 6.907693 deg/s, cmd update: 12.000000 deg/s, cmd heading: 137.952929 deg, new cmd heading: 132.354101 deg. 2021-02-17T22:25:11.803Z,1613600711.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:12.596Z,1613600712.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:25:13.007Z,1613600713.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:25:13.824Z,1613600713.824 [Micromodem](INFO): Nmea in: $SNTTA,0.100489,,,,222512.67*41 2021-02-17T22:25:13.871Z,1613600713.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.899994 m, bearing: 118.273413 deg, deltaT: 4.497060 s, approachRate: 0.547022 m/s, LOS rate: 10.853737 deg/s, posRepo size: 4 2021-02-17T22:25:13.873Z,1613600713.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.899994 m, bearing: 118.273413 deg, approachRate: 0.547022 m/s, LOS rate: 10.853737 deg/s, cmd update: 12.000000 deg/s, cmd heading: 191.872362 deg, new cmd heading: 196.402638 deg. 2021-02-17T22:25:16.248Z,1613600716.248 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:25:16.292Z,1613600716.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:17.060Z,1613600717.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:25:17.452Z,1613600717.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:25:18.280Z,1613600718.280 [Micromodem](INFO): Nmea in: $SNTTA,0.102242,,,,222517.14*43 2021-02-17T22:25:18.346Z,1613600718.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.599991 m, bearing: 111.252696 deg, deltaT: 4.397241 s, approachRate: 0.614021 m/s, LOS rate: -1.596619 deg/s, posRepo size: 4 2021-02-17T22:25:18.352Z,1613600718.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.599991 m, bearing: 111.252696 deg, approachRate: 0.614021 m/s, LOS rate: -1.596619 deg/s, cmd update: -6.386475 deg/s, cmd heading: 244.675820 deg, new cmd heading: 250.344620 deg. 2021-02-17T22:25:20.713Z,1613600720.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:21.490Z,1613600721.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:25:21.514Z,1613600721.514 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T22:25:21.890Z,1613600721.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:25:22.716Z,1613600722.716 [Micromodem](INFO): Nmea in: $SNTTA,0.104246,,,,222521.57*43 2021-02-17T22:25:22.753Z,1613600722.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.540009 m, bearing: 148.753898 deg, deltaT: 4.497164 s, approachRate: 0.653749 m/s, LOS rate: 8.338856 deg/s, posRepo size: 4 2021-02-17T22:25:22.755Z,1613600722.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.540009 m, bearing: 148.753898 deg, approachRate: 0.653749 m/s, LOS rate: 8.338856 deg/s, cmd update: 12.000000 deg/s, cmd heading: 216.001077 deg, new cmd heading: 213.510895 deg. 2021-02-17T22:25:25.248Z,1613600725.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:25.928Z,1613600725.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:25:26.353Z,1613600726.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:25:27.163Z,1613600727.163 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222526.00*5D 2021-02-17T22:25:27.238Z,1613600727.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.660004 m, bearing: 203.258315 deg, deltaT: 4.386595 s, approachRate: 0.711257 m/s, LOS rate: 12.425222 deg/s, posRepo size: 4 2021-02-17T22:25:27.243Z,1613600727.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.425222 deg/s. Setting heading cmd to target bearing of 203.258315deg and heading rate command to 0 deg/s. 2021-02-17T22:25:29.591Z,1613600729.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:30.372Z,1613600730.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:25:30.779Z,1613600730.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:25:31.611Z,1613600731.611 [Micromodem](INFO): Nmea in: $SNTTA,0.108222,,,,222530.45*4E 2021-02-17T22:25:31.630Z,1613600731.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.599991 m, bearing: 166.719358 deg, deltaT: 4.529550 s, approachRate: 0.649068 m/s, LOS rate: -8.066797 deg/s, posRepo size: 4 2021-02-17T22:25:31.632Z,1613600731.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.599991 m, bearing: 166.719358 deg, approachRate: 0.649068 m/s, LOS rate: -8.066797 deg/s, cmd update: -12.000000 deg/s, cmd heading: 203.258315 deg, new cmd heading: 203.258315 deg. 2021-02-17T22:25:34.026Z,1613600734.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:34.816Z,1613600734.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:25:35.229Z,1613600735.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:25:36.031Z,1613600736.031 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222534.89*5F 2021-02-17T22:25:36.455Z,1613600736.455 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T22:25:36.866Z,1613600736.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:38.452Z,1613600738.452 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:25:39.684Z,1613600739.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:40.477Z,1613600740.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:25:40.883Z,1613600740.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:25:41.296Z,1613600741.296 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T22:25:41.691Z,1613600741.691 [Micromodem](INFO): Nmea in: $SNTTA,0.112026,,,,222540.55*45 2021-02-17T22:25:42.518Z,1613600742.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:44.111Z,1613600744.111 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:25:45.381Z,1613600745.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:46.134Z,1613600746.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:25:46.534Z,1613600746.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:25:46.562Z,1613600746.562 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T22:25:46.944Z,1613600746.944 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FD6,000,,E4 7,186,80,80,78,FF 2021-02-17T22:25:47.350Z,1613600747.350 [Micromodem](INFO): Nmea in: $SNTTA,0.114361,,,,222546.22*45 2021-02-17T22:25:48.227Z,1613600748.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:51.000Z,1613600751.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:53.832Z,1613600753.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:54.655Z,1613600754.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:25:55.018Z,1613600755.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:25:56.240Z,1613600756.240 [Micromodem](INFO): Nmea in: $SNTTA,0.118615,,,,222554.80*44 2021-02-17T22:25:56.294Z,1613600756.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.659988 m, bearing: 96.668029 deg, deltaT: 24.558836 s, approachRate: 0.613221 m/s, LOS rate: -2.852388 deg/s, posRepo size: 4 2021-02-17T22:25:56.304Z,1613600756.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.659988 m, bearing: 96.668029 deg, approachRate: 0.613221 m/s, LOS rate: -2.852388 deg/s, cmd update: -11.409552 deg/s, cmd heading: 268.552839 deg, new cmd heading: 263.189427 deg. 2021-02-17T22:25:58.676Z,1613600758.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:25:59.461Z,1613600759.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:25:59.912Z,1613600759.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:26:00.676Z,1613600760.676 [Micromodem](INFO): Nmea in: $SNTTA,0.120373,,,,222559.54*4E 2021-02-17T22:26:01.526Z,1613600761.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:03.110Z,1613600763.110 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:26:04.344Z,1613600764.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:05.116Z,1613600765.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:26:05.531Z,1613600765.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:26:06.343Z,1613600766.343 [Micromodem](INFO): Nmea in: $SNTTA,0.123429,,,,222605.20*4C 2021-02-17T22:26:07.202Z,1613600767.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:08.750Z,1613600768.750 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:26:10.013Z,1613600770.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:10.781Z,1613600770.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:26:11.231Z,1613600771.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:26:11.994Z,1613600771.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222610.86*55 2021-02-17T22:26:12.433Z,1613600772.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.399994 m, bearing: 149.998918 deg, deltaT: 16.161394 s, approachRate: 0.664547 m/s, LOS rate: 3.299894 deg/s, posRepo size: 4 2021-02-17T22:26:12.451Z,1613600772.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.399994 m, bearing: 149.998918 deg, approachRate: 0.664547 m/s, LOS rate: 3.299894 deg/s, cmd update: 12.000000 deg/s, cmd heading: 84.160436 deg, new cmd heading: 79.310407 deg. 2021-02-17T22:26:14.827Z,1613600774.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:15.629Z,1613600775.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:26:16.025Z,1613600776.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:26:16.843Z,1613600776.843 [Micromodem](INFO): Nmea in: $SNTTA,0.127797,,,,222615.71*4B 2021-02-17T22:26:17.305Z,1613600777.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.419998 m, bearing: 162.793953 deg, deltaT: 4.849025 s, approachRate: 0.829033 m/s, LOS rate: 2.638682 deg/s, posRepo size: 4 2021-02-17T22:26:17.311Z,1613600777.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.419998 m, bearing: 162.793953 deg, approachRate: 0.829033 m/s, LOS rate: 2.638682 deg/s, cmd update: 10.554727 deg/s, cmd heading: 142.351186 deg, new cmd heading: 147.726983 deg. 2021-02-17T22:26:19.687Z,1613600779.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:20.473Z,1613600780.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:26:20.879Z,1613600780.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:26:21.690Z,1613600781.690 [Micromodem](INFO): Nmea in: $SNTTA,0.130000,,,,222620.55*44 2021-02-17T22:26:22.195Z,1613600782.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.119995 m, bearing: 150.980034 deg, deltaT: 4.847292 s, approachRate: 0.557011 m/s, LOS rate: -2.437220 deg/s, posRepo size: 4 2021-02-17T22:26:22.204Z,1613600782.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.119995 m, bearing: 150.980034 deg, approachRate: 0.557011 m/s, LOS rate: -2.437220 deg/s, cmd update: -9.748881 deg/s, cmd heading: 193.508376 deg, new cmd heading: 198.565526 deg. 2021-02-17T22:26:24.573Z,1613600784.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:25.321Z,1613600785.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:26:25.730Z,1613600785.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:26:26.537Z,1613600786.537 [Micromodem](INFO): Nmea in: $SNTTA,0.132116,,,,222625.40*41 2021-02-17T22:26:26.962Z,1613600786.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.360001 m, bearing: 125.953265 deg, deltaT: 4.889222 s, approachRate: 0.662683 m/s, LOS rate: -5.118763 deg/s, posRepo size: 4 2021-02-17T22:26:26.964Z,1613600786.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.360001 m, bearing: 125.953265 deg, approachRate: 0.662683 m/s, LOS rate: -5.118763 deg/s, cmd update: -12.000000 deg/s, cmd heading: 145.878638 deg, new cmd heading: 142.248360 deg. 2021-02-17T22:26:29.412Z,1613600789.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:30.188Z,1613600790.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:26:30.576Z,1613600790.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:26:31.395Z,1613600791.395 [Micromodem](INFO): Nmea in: $SNTTA,0.134373,0.301873,,,222630.26*52 2021-02-17T22:26:32.249Z,1613600792.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:33.798Z,1613600793.798 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:26:35.348Z,1613600795.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:35.915Z,1613600795.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:26:36.331Z,1613600796.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:26:37.133Z,1613600797.133 [Micromodem](INFO): Nmea in: $SNTTA,0.137115,,,,222635.99*42 2021-02-17T22:26:37.589Z,1613600797.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.859985 m, bearing: 154.637587 deg, deltaT: 10.620693 s, approachRate: 0.706167 m/s, LOS rate: 2.700796 deg/s, posRepo size: 4 2021-02-17T22:26:37.591Z,1613600797.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.859985 m, bearing: 154.637587 deg, approachRate: 0.706167 m/s, LOS rate: 2.700796 deg/s, cmd update: 10.803183 deg/s, cmd heading: 18.481499 deg, new cmd heading: 13.889759 deg. 2021-02-17T22:26:39.976Z,1613600799.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:40.765Z,1613600800.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:26:41.205Z,1613600801.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:26:41.980Z,1613600801.980 [Micromodem](INFO): Nmea in: $SNTTA,0.139344,,,,222640.84*44 2021-02-17T22:26:42.444Z,1613600802.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.219986 m, bearing: 130.808423 deg, deltaT: 4.780622 s, approachRate: 0.702838 m/s, LOS rate: -4.984532 deg/s, posRepo size: 4 2021-02-17T22:26:42.446Z,1613600802.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 209.219986 m, bearing: 130.808423 deg, approachRate: 0.702838 m/s, LOS rate: -4.984532 deg/s, cmd update: -12.000000 deg/s, cmd heading: 70.214346 deg, new cmd heading: 75.070938 deg. 2021-02-17T22:26:44.823Z,1613600804.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:45.608Z,1613600805.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:26:46.014Z,1613600806.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:26:46.832Z,1613600806.832 [Micromodem](INFO): Nmea in: $SNTTA,0.140971,,,,222645.68*41 2021-02-17T22:26:47.288Z,1613600807.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.499985 m, bearing: 90.102339 deg, deltaT: 4.884529 s, approachRate: 0.466780 m/s, LOS rate: -8.333676 deg/s, posRepo size: 4 2021-02-17T22:26:47.290Z,1613600807.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 211.499985 m, bearing: 90.102339 deg, approachRate: 0.466780 m/s, LOS rate: -8.333676 deg/s, cmd update: -12.000000 deg/s, cmd heading: 11.695072 deg, new cmd heading: 6.689572 deg. 2021-02-17T22:26:49.678Z,1613600809.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:50.457Z,1613600810.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:26:50.874Z,1613600810.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:26:51.681Z,1613600811.681 [Micromodem](INFO): Nmea in: $SNTTA,0.142070,,,,222650.53*47 2021-02-17T22:26:52.155Z,1613600812.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.119995 m, bearing: 49.149228 deg, deltaT: 4.839771 s, approachRate: 0.334729 m/s, LOS rate: -8.461786 deg/s, posRepo size: 4 2021-02-17T22:26:52.157Z,1613600812.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.119995 m, bearing: 49.149228 deg, approachRate: 0.334729 m/s, LOS rate: -8.461786 deg/s, cmd update: -12.000000 deg/s, cmd heading: 313.520715 deg, new cmd heading: 308.306594 deg. 2021-02-17T22:26:54.529Z,1613600814.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:26:55.311Z,1613600815.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:26:55.710Z,1613600815.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:26:56.525Z,1613600816.525 [Micromodem](INFO): Nmea in: $SNTTA,0.142478,,,,222655.39*42 2021-02-17T22:26:56.954Z,1613600816.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.659988 m, bearing: 36.391839 deg, deltaT: 4.857603 s, approachRate: 0.111165 m/s, LOS rate: -2.626273 deg/s, posRepo size: 4 2021-02-17T22:26:56.956Z,1613600816.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.659988 m, bearing: 36.391839 deg, approachRate: 0.111165 m/s, LOS rate: -2.626273 deg/s, cmd update: -10.505090 deg/s, cmd heading: 255.277369 deg, new cmd heading: 250.704036 deg. 2021-02-17T22:26:59.391Z,1613600819.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:27:00.157Z,1613600820.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:27:00.558Z,1613600820.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:27:01.387Z,1613600821.387 [Micromodem](INFO): Nmea in: $SNTTA,0.142561,,,,222700.23*41 2021-02-17T22:27:01.801Z,1613600821.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.720001 m, bearing: 339.387701 deg, deltaT: 4.859564 s, approachRate: 0.012349 m/s, LOS rate: -11.730301 deg/s, posRepo size: 4 2021-02-17T22:27:01.802Z,1613600821.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.730301 deg/s. Setting heading cmd to target bearing of 339.387701deg and heading rate command to 0 deg/s. 2021-02-17T22:27:04.248Z,1613600824.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:27:05.005Z,1613600825.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:27:05.419Z,1613600825.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:27:06.222Z,1613600826.222 [Micromodem](INFO): Nmea in: $SNTTA,0.141081,,,,222705.08*45 2021-02-17T22:27:06.646Z,1613600826.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.439987 m, bearing: 330.019906 deg, deltaT: 4.873160 s, approachRate: -0.467872 m/s, LOS rate: -1.922325 deg/s, posRepo size: 4 2021-02-17T22:27:06.648Z,1613600826.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 211.439987 m, bearing: 330.019906 deg, approachRate: -0.467872 m/s, LOS rate: -1.922325 deg/s, cmd update: -7.689299 deg/s, cmd heading: 339.387701 deg, new cmd heading: 339.387701 deg. 2021-02-17T22:27:09.102Z,1613600829.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:27:09.854Z,1613600829.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:27:10.260Z,1613600830.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:27:11.106Z,1613600831.106 [Micromodem](INFO): Nmea in: $SNTTA,0.140422,,,,222709.93*47 2021-02-17T22:27:11.524Z,1613600831.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.720001 m, bearing: 29.473711 deg, deltaT: 4.820086 s, approachRate: -0.149372 m/s, LOS rate: 12.334595 deg/s, posRepo size: 4 2021-02-17T22:27:11.525Z,1613600831.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.334595 deg/s. Setting heading cmd to target bearing of 29.473711deg and heading rate command to 0 deg/s. 2021-02-17T22:27:13.914Z,1613600833.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:27:14.713Z,1613600834.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:27:15.116Z,1613600835.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:27:15.922Z,1613600835.922 [Micromodem](INFO): Nmea in: $SNTTA,0.139476,,,,222714.79*40 2021-02-17T22:27:16.377Z,1613600836.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.039993 m, bearing: 323.514642 deg, deltaT: 4.834667 s, approachRate: -0.347492 m/s, LOS rate: -13.642940 deg/s, posRepo size: 4 2021-02-17T22:27:16.377Z,1613600836.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.642940 deg/s. Setting heading cmd to target bearing of 323.514642deg and heading rate command to 0 deg/s. 2021-02-17T22:27:18.760Z,1613600838.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:27:19.544Z,1613600839.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:27:19.950Z,1613600839.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:27:20.765Z,1613600840.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222719.62*57 2021-02-17T22:27:21.241Z,1613600841.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.399979 m, bearing: 329.877291 deg, deltaT: 4.832896 s, approachRate: -0.546259 m/s, LOS rate: 1.316529 deg/s, posRepo size: 4 2021-02-17T22:27:21.243Z,1613600841.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 206.399979 m, bearing: 329.877291 deg, approachRate: -0.546259 m/s, LOS rate: 1.316529 deg/s, cmd update: 5.266117 deg/s, cmd heading: 323.514642 deg, new cmd heading: 323.514642 deg. 2021-02-17T22:27:23.598Z,1613600843.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:27:24.413Z,1613600844.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:27:24.798Z,1613600844.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:27:25.625Z,1613600845.625 [Micromodem](INFO): Nmea in: $SNTTA,0.135840,,,,222724.49*45 2021-02-17T22:27:26.073Z,1613600846.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.519989 m, bearing: 319.253123 deg, deltaT: 4.842249 s, approachRate: -0.594763 m/s, LOS rate: -2.194057 deg/s, posRepo size: 4 2021-02-17T22:27:26.096Z,1613600846.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.519989 m, bearing: 319.253123 deg, approachRate: -0.594763 m/s, LOS rate: -2.194057 deg/s, cmd update: -8.776226 deg/s, cmd heading: 349.083837 deg, new cmd heading: 351.342149 deg. 2021-02-17T22:27:28.479Z,1613600848.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:27:29.251Z,1613600849.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:27:29.646Z,1613600849.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:27:30.460Z,1613600850.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222729.33*50 2021-02-17T22:27:30.886Z,1613600850.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.220001 m, bearing: 322.017956 deg, deltaT: 4.890667 s, approachRate: -0.674752 m/s, LOS rate: 0.565328 deg/s, posRepo size: 4 2021-02-17T22:27:30.888Z,1613600850.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.220001 m, bearing: 322.017956 deg, approachRate: -0.674752 m/s, LOS rate: 0.565328 deg/s, cmd update: 2.261314 deg/s, cmd heading: 306.197185 deg, new cmd heading: 303.035689 deg. 2021-02-17T22:27:33.334Z,1613600853.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:27:34.110Z,1613600854.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:27:34.497Z,1613600854.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:27:35.323Z,1613600855.323 [Micromodem](INFO): Nmea in: $SNTTA,0.131290,,,,222734.19*42 2021-02-17T22:27:35.745Z,1613600855.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.679993 m, bearing: 319.465050 deg, deltaT: 4.826724 s, approachRate: -0.733418 m/s, LOS rate: -0.528911 deg/s, posRepo size: 4 2021-02-17T22:27:35.747Z,1613600855.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.679993 m, bearing: 319.465050 deg, approachRate: -0.733418 m/s, LOS rate: -0.528911 deg/s, cmd update: -2.115643 deg/s, cmd heading: 317.121406 deg, new cmd heading: 318.000040 deg. 2021-02-17T22:27:38.158Z,1613600858.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:27:38.941Z,1613600858.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:27:39.342Z,1613600859.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:27:40.158Z,1613600860.158 [Micromodem](INFO): Nmea in: $SNTTA,0.129412,,,,222739.02*40 2021-02-17T22:27:40.611Z,1613600860.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.919998 m, bearing: 315.595639 deg, deltaT: 4.882554 s, approachRate: -0.565277 m/s, LOS rate: -0.792497 deg/s, posRepo size: 4 2021-02-17T22:27:40.613Z,1613600860.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 193.919998 m, bearing: 315.595639 deg, approachRate: -0.565277 m/s, LOS rate: -0.792497 deg/s, cmd update: -3.169990 deg/s, cmd heading: 306.800568 deg, new cmd heading: 306.039643 deg. 2021-02-17T22:27:42.000Z,1613600863.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:27:43.784Z,1613600863.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:27:44.212Z,1613600864.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:27:45.209Z,1613600865.209 [Micromodem](INFO): Nmea in: $SNTTA,0.126830,,,,222743.86*42 2021-02-17T22:27:45.469Z,1613600865.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.959991 m, bearing: 318.653870 deg, deltaT: 5.066242 s, approachRate: -0.781646 m/s, LOS rate: 0.603649 deg/s, posRepo size: 4 2021-02-17T22:27:45.471Z,1613600865.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.959991 m, bearing: 318.653870 deg, approachRate: -0.781646 m/s, LOS rate: 0.603649 deg/s, cmd update: 2.414595 deg/s, cmd heading: 290.727966 deg, new cmd heading: 290.208779 deg. 2021-02-17T22:27:47.872Z,1613600867.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:27:48.660Z,1613600868.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:27:49.093Z,1613600869.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:27:49.879Z,1613600869.879 [Micromodem](INFO): Nmea in: $SNTTA,0.124665,,,,222748.74*48 2021-02-17T22:27:50.333Z,1613600870.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.779999 m, bearing: 319.109389 deg, deltaT: 4.624352 s, approachRate: -0.687662 m/s, LOS rate: 0.098504 deg/s, posRepo size: 4 2021-02-17T22:27:50.334Z,1613600870.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.779999 m, bearing: 319.109389 deg, approachRate: -0.687662 m/s, LOS rate: 0.098504 deg/s, cmd update: 0.394018 deg/s, cmd heading: 301.882802 deg, new cmd heading: 302.866609 deg. 2021-02-17T22:27:52.720Z,1613600872.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:27:53.508Z,1613600873.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:27:53.914Z,1613600873.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:27:54.740Z,1613600874.740 [Micromodem](INFO): Nmea in: $SNTTA,0.122483,,,,222753.59*41 2021-02-17T22:27:54.765Z,1613600874.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.779999 m, bearing: 325.403927 deg, deltaT: 4.465815 s, approachRate: 0.000000 m/s, LOS rate: 1.409494 deg/s, posRepo size: 4 2021-02-17T22:27:54.787Z,1613600874.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.779999 m, bearing: 325.403927 deg, approachRate: 0.000000 m/s, LOS rate: 1.409494 deg/s, cmd update: 5.637975 deg/s, cmd heading: 303.644318 deg, new cmd heading: 303.789758 deg. 2021-02-17T22:27:57.213Z,1613600877.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:27:57.958Z,1613600877.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:27:58.363Z,1613600878.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:27:58.387Z,1613600878.387 [RDI_Pathfinder](ERROR): only read 1 of 4 data items 2021-02-17T22:27:59.208Z,1613600879.208 [Micromodem](INFO): Nmea in: $SNTTA,0.120465,,,,222758.03*4F 2021-02-17T22:27:59.265Z,1613600879.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.779999 m, bearing: 321.112683 deg, deltaT: 4.390262 s, approachRate: 0.000000 m/s, LOS rate: -0.977446 deg/s, posRepo size: 4 2021-02-17T22:27:59.267Z,1613600879.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.779999 m, bearing: 321.112683 deg, approachRate: 0.000000 m/s, LOS rate: -0.977446 deg/s, cmd update: -3.909784 deg/s, cmd heading: 328.389751 deg, new cmd heading: 331.096695 deg. 2021-02-17T22:28:01.624Z,1613600881.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:02.397Z,1613600882.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:28:02.808Z,1613600882.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:28:03.635Z,1613600883.635 [Micromodem](INFO): Nmea in: $SNTTA,0.118512,,,,222802.47*45 2021-02-17T22:28:03.654Z,1613600883.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.540009 m, bearing: 323.101716 deg, deltaT: 4.472997 s, approachRate: -2.065727 m/s, LOS rate: 0.444676 deg/s, posRepo size: 4 2021-02-17T22:28:03.656Z,1613600883.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.540009 m, bearing: 323.101716 deg, approachRate: -2.065727 m/s, LOS rate: 0.444676 deg/s, cmd update: 1.778703 deg/s, cmd heading: 310.896729 deg, new cmd heading: 309.352747 deg. 2021-02-17T22:28:06.080Z,1613600886.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:06.840Z,1613600886.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:28:07.246Z,1613600887.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:28:08.077Z,1613600888.077 [Micromodem](INFO): Nmea in: $SNTTA,0.116306,,,,222806.92*44 2021-02-17T22:28:08.887Z,1613600888.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:10.474Z,1613600890.474 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:28:11.714Z,1613600891.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:12.498Z,1613600892.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:28:12.903Z,1613600892.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:28:13.740Z,1613600893.740 [Micromodem](INFO): Nmea in: $SNTTA,0.113480,,,,222812.58*4B 2021-02-17T22:28:13.767Z,1613600893.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.979996 m, bearing: 324.732055 deg, deltaT: 10.099065 s, approachRate: -0.748585 m/s, LOS rate: 0.161435 deg/s, posRepo size: 4 2021-02-17T22:28:13.770Z,1613600893.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.979996 m, bearing: 324.732055 deg, approachRate: -0.748585 m/s, LOS rate: 0.161435 deg/s, cmd update: 0.645739 deg/s, cmd heading: 328.859601 deg, new cmd heading: 329.586196 deg. 2021-02-17T22:28:16.211Z,1613600896.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:16.949Z,1613600896.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:28:17.345Z,1613600897.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:28:18.191Z,1613600898.191 [Micromodem](INFO): Nmea in: $SNTTA,0.111258,,,,222817.03*41 2021-02-17T22:28:18.244Z,1613600898.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.979996 m, bearing: 325.417697 deg, deltaT: 4.411977 s, approachRate: 0.000000 m/s, LOS rate: 0.155405 deg/s, posRepo size: 4 2021-02-17T22:28:18.246Z,1613600898.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.979996 m, bearing: 325.417697 deg, approachRate: 0.000000 m/s, LOS rate: 0.155405 deg/s, cmd update: 0.621619 deg/s, cmd heading: 331.708088 deg, new cmd heading: 332.014710 deg. 2021-02-17T22:28:20.590Z,1613600900.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:21.384Z,1613600901.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:28:21.795Z,1613600901.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:28:22.612Z,1613600902.612 [Micromodem](INFO): Nmea in: $SNTTA,0.109093,,,,222821.46*49 2021-02-17T22:28:22.639Z,1613600902.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.439987 m, bearing: 325.212736 deg, deltaT: 4.596748 s, approachRate: -1.422747 m/s, LOS rate: -0.044588 deg/s, posRepo size: 4 2021-02-17T22:28:22.641Z,1613600902.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.439987 m, bearing: 325.212736 deg, approachRate: -1.422747 m/s, LOS rate: -0.044588 deg/s, cmd update: -0.178352 deg/s, cmd heading: 334.563520 deg, new cmd heading: 334.732693 deg. 2021-02-17T22:28:25.069Z,1613600905.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:25.828Z,1613600905.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:28:26.234Z,1613600906.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:28:27.064Z,1613600907.064 [Micromodem](INFO): Nmea in: $SNTTA,0.106843,,,,222825.90*4C 2021-02-17T22:28:27.125Z,1613600907.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.080017 m, bearing: 324.877429 deg, deltaT: 4.290161 s, approachRate: -0.783180 m/s, LOS rate: -0.078157 deg/s, posRepo size: 4 2021-02-17T22:28:27.126Z,1613600907.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.080017 m, bearing: 324.877429 deg, approachRate: -0.783180 m/s, LOS rate: -0.078157 deg/s, cmd update: -0.312629 deg/s, cmd heading: 333.797676 deg, new cmd heading: 333.714215 deg. 2021-02-17T22:28:29.494Z,1613600909.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:30.292Z,1613600910.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:28:30.678Z,1613600910.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:28:31.512Z,1613600911.512 [Micromodem](INFO): Nmea in: $SNTTA,0.104716,,,,222830.37*48 2021-02-17T22:28:31.556Z,1613600911.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.900009 m, bearing: 325.608505 deg, deltaT: 4.492941 s, approachRate: -0.707779 m/s, LOS rate: 0.162717 deg/s, posRepo size: 4 2021-02-17T22:28:31.558Z,1613600911.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.900009 m, bearing: 325.608505 deg, approachRate: -0.707779 m/s, LOS rate: 0.162717 deg/s, cmd update: 0.650866 deg/s, cmd heading: 332.394263 deg, new cmd heading: 332.265987 deg. 2021-02-17T22:28:33.945Z,1613600913.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:34.722Z,1613600914.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:28:35.122Z,1613600915.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:28:35.948Z,1613600915.948 [Micromodem](INFO): Nmea in: $SNTTA,0.102643,,,,222834.80*47 2021-02-17T22:28:35.990Z,1613600915.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.779999 m, bearing: 325.254810 deg, deltaT: 4.418388 s, approachRate: -0.706142 m/s, LOS rate: -0.080051 deg/s, posRepo size: 4 2021-02-17T22:28:35.994Z,1613600915.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.779999 m, bearing: 325.254810 deg, approachRate: -0.706142 m/s, LOS rate: -0.080051 deg/s, cmd update: -0.320202 deg/s, cmd heading: 335.272438 deg, new cmd heading: 335.546831 deg. 2021-02-17T22:28:38.418Z,1613600918.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:39.203Z,1613600919.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:28:39.565Z,1613600919.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:28:40.391Z,1613600920.391 [Micromodem](INFO): Nmea in: $SNTTA,0.100530,,,,222839.28*4D 2021-02-17T22:28:40.810Z,1613600920.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.600006 m, bearing: 324.827213 deg, deltaT: 4.897836 s, approachRate: -0.649265 m/s, LOS rate: -0.087303 deg/s, posRepo size: 4 2021-02-17T22:28:40.812Z,1613600920.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.600006 m, bearing: 324.827213 deg, approachRate: -0.649265 m/s, LOS rate: -0.087303 deg/s, cmd update: -0.349213 deg/s, cmd heading: 333.705248 deg, new cmd heading: 333.593902 deg. 2021-02-17T22:28:43.270Z,1613600923.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:44.014Z,1613600924.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:28:44.414Z,1613600924.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:28:45.240Z,1613600925.240 [Micromodem](INFO): Nmea in: $SNTTA,0.098192,,,,222844.09*48 2021-02-17T22:28:45.274Z,1613600925.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.059998 m, bearing: 324.509446 deg, deltaT: 4.374432 s, approachRate: -0.809250 m/s, LOS rate: -0.072642 deg/s, posRepo size: 4 2021-02-17T22:28:45.276Z,1613600925.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.059998 m, bearing: 324.509446 deg, approachRate: -0.809250 m/s, LOS rate: -0.072642 deg/s, cmd update: -0.290568 deg/s, cmd heading: 332.176456 deg, new cmd heading: 332.024841 deg. 2021-02-17T22:28:47.670Z,1613600927.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:48.457Z,1613600928.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:28:48.863Z,1613600928.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:28:49.687Z,1613600929.687 [Micromodem](INFO): Nmea in: $SNTTA,0.096087,,,,222848.53*40 2021-02-17T22:28:49.706Z,1613600929.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.940002 m, bearing: 324.600861 deg, deltaT: 4.469492 s, approachRate: -0.698065 m/s, LOS rate: 0.020453 deg/s, posRepo size: 4 2021-02-17T22:28:49.708Z,1613600929.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.940002 m, bearing: 324.600861 deg, approachRate: -0.698065 m/s, LOS rate: 0.020453 deg/s, cmd update: 0.081813 deg/s, cmd heading: 330.877616 deg, new cmd heading: 330.762519 deg. 2021-02-17T22:28:52.137Z,1613600932.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:52.897Z,1613600932.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:28:53.317Z,1613600933.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:28:54.128Z,1613600934.128 [Micromodem](INFO): Nmea in: $SNTTA,0.093875,,,,222852.97*43 2021-02-17T22:28:54.211Z,1613600934.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.580002 m, bearing: 324.603292 deg, deltaT: 4.410563 s, approachRate: -0.761808 m/s, LOS rate: 0.000551 deg/s, posRepo size: 4 2021-02-17T22:28:54.213Z,1613600934.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.580002 m, bearing: 324.603292 deg, approachRate: -0.761808 m/s, LOS rate: 0.000551 deg/s, cmd update: 0.002205 deg/s, cmd heading: 331.238467 deg, new cmd heading: 331.278258 deg. 2021-02-17T22:28:56.225Z,1613600936.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:28:56.936Z,1613600936.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:28:57.342Z,1613600937.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:28:58.184Z,1613600938.184 [Micromodem](INFO): Nmea in: $SNTTA,0.091928,,,,222857.01*42 2021-02-17T22:28:58.302Z,1613600938.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.700012 m, bearing: 324.695336 deg, deltaT: 4.047474 s, approachRate: -0.711552 m/s, LOS rate: 0.022741 deg/s, posRepo size: 4 2021-02-17T22:28:58.306Z,1613600938.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.700012 m, bearing: 324.695336 deg, approachRate: -0.711552 m/s, LOS rate: 0.022741 deg/s, cmd update: 0.090964 deg/s, cmd heading: 331.247392 deg, new cmd heading: 331.248569 deg. 2021-02-17T22:29:00.587Z,1613600940.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:01.386Z,1613600941.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:01.791Z,1613600941.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:02.616Z,1613600942.616 [Micromodem](INFO): Nmea in: $SNTTA,0.089725,,0.092470,,222901.46*5F 2021-02-17T22:29:02.641Z,1613600942.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.400009 m, bearing: 324.302764 deg, deltaT: 4.516382 s, approachRate: -0.730674 m/s, LOS rate: -0.086922 deg/s, posRepo size: 4 2021-02-17T22:29:02.643Z,1613600942.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.400009 m, bearing: 324.302764 deg, approachRate: -0.730674 m/s, LOS rate: -0.086922 deg/s, cmd update: -0.347687 deg/s, cmd heading: 331.657448 deg, new cmd heading: 331.690700 deg. 2021-02-17T22:29:05.048Z,1613600945.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:05.830Z,1613600945.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:06.235Z,1613600946.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:07.080Z,1613600947.080 [Micromodem](INFO): Nmea in: $SNTTA,0.087508,,,,222905.91*44 2021-02-17T22:29:07.128Z,1613600947.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.100006 m, bearing: 324.648699 deg, deltaT: 4.367728 s, approachRate: -0.755542 m/s, LOS rate: 0.079203 deg/s, posRepo size: 4 2021-02-17T22:29:07.129Z,1613600947.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.100006 m, bearing: 324.648699 deg, approachRate: -0.755542 m/s, LOS rate: 0.079203 deg/s, cmd update: 0.316810 deg/s, cmd heading: 330.135894 deg, new cmd heading: 329.970639 deg. 2021-02-17T22:29:09.485Z,1613600949.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:10.268Z,1613600950.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:10.674Z,1613600950.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:11.496Z,1613600951.496 [Micromodem](INFO): Nmea in: $SNTTA,0.085303,,,,222910.34*40 2021-02-17T22:29:11.521Z,1613600951.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.800003 m, bearing: 324.808089 deg, deltaT: 4.501558 s, approachRate: -0.733080 m/s, LOS rate: 0.035408 deg/s, posRepo size: 4 2021-02-17T22:29:11.522Z,1613600951.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.800003 m, bearing: 324.808089 deg, approachRate: -0.733080 m/s, LOS rate: 0.035408 deg/s, cmd update: 0.141630 deg/s, cmd heading: 331.560839 deg, new cmd heading: 331.678285 deg. 2021-02-17T22:29:13.924Z,1613600953.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:14.712Z,1613600954.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:15.120Z,1613600955.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:15.940Z,1613600955.940 [Micromodem](INFO): Nmea in: $SNTTA,0.083061,,,,222914.79*4C 2021-02-17T22:29:15.976Z,1613600955.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.440002 m, bearing: 323.604363 deg, deltaT: 4.414571 s, approachRate: -0.761116 m/s, LOS rate: -0.272671 deg/s, posRepo size: 4 2021-02-17T22:29:15.978Z,1613600955.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.440002 m, bearing: 323.604363 deg, approachRate: -0.761116 m/s, LOS rate: -0.272671 deg/s, cmd update: -1.090684 deg/s, cmd heading: 332.185451 deg, new cmd heading: 332.244325 deg. 2021-02-17T22:29:18.425Z,1613600958.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:19.165Z,1613600959.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:19.575Z,1613600959.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:20.388Z,1613600960.388 [Micromodem](INFO): Nmea in: $SNTTA,0.080742,,,,222919.24*4C 2021-02-17T22:29:20.441Z,1613600960.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.839996 m, bearing: 323.860058 deg, deltaT: 4.409665 s, approachRate: -0.816390 m/s, LOS rate: 0.057985 deg/s, posRepo size: 4 2021-02-17T22:29:20.442Z,1613600960.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.839996 m, bearing: 323.860058 deg, approachRate: -0.816390 m/s, LOS rate: 0.057985 deg/s, cmd update: 0.231940 deg/s, cmd heading: 327.366947 deg, new cmd heading: 326.862150 deg. 2021-02-17T22:29:22.823Z,1613600962.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:23.600Z,1613600963.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:24.023Z,1613600964.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:24.828Z,1613600964.828 [Micromodem](INFO): Nmea in: $SNTTA,0.078543,,,,222923.68*49 2021-02-17T22:29:24.860Z,1613600964.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.660004 m, bearing: 324.733066 deg, deltaT: 4.477394 s, approachRate: -0.710233 m/s, LOS rate: 0.194981 deg/s, posRepo size: 4 2021-02-17T22:29:24.862Z,1613600964.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.660004 m, bearing: 324.733066 deg, approachRate: -0.710233 m/s, LOS rate: 0.194981 deg/s, cmd update: 0.779925 deg/s, cmd heading: 328.405484 deg, new cmd heading: 328.499233 deg. 2021-02-17T22:29:27.272Z,1613600967.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:28.044Z,1613600968.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:28.455Z,1613600968.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:29.276Z,1613600969.276 [Micromodem](INFO): Nmea in: $SNTTA,0.076231,,,,222928.12*43 2021-02-17T22:29:29.329Z,1613600969.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.120003 m, bearing: 324.418686 deg, deltaT: 4.410972 s, approachRate: -0.802544 m/s, LOS rate: -0.071272 deg/s, posRepo size: 4 2021-02-17T22:29:29.336Z,1613600969.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.120003 m, bearing: 324.418686 deg, approachRate: -0.802544 m/s, LOS rate: -0.071272 deg/s, cmd update: -0.285089 deg/s, cmd heading: 331.845707 deg, new cmd heading: 332.206828 deg. 2021-02-17T22:29:31.326Z,1613600971.326 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T22:29:31.417Z,1613600971.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:32.107Z,1613600972.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:32.507Z,1613600972.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:33.324Z,1613600973.324 [Micromodem](INFO): Nmea in: $SNTTA,0.074119,,,,222932.19*48 2021-02-17T22:29:33.389Z,1613600973.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.000000 m, bearing: 324.436335 deg, deltaT: 4.042553 s, approachRate: -0.771790 m/s, LOS rate: 0.004366 deg/s, posRepo size: 4 2021-02-17T22:29:33.391Z,1613600973.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.000000 m, bearing: 324.436335 deg, approachRate: -0.771790 m/s, LOS rate: 0.004366 deg/s, cmd update: 0.017463 deg/s, cmd heading: 330.693216 deg, new cmd heading: 330.556434 deg. 2021-02-17T22:29:35.735Z,1613600975.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:36.528Z,1613600976.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:36.934Z,1613600976.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:37.760Z,1613600977.760 [Micromodem](INFO): Nmea in: $SNTTA,0.071931,,,,222936.61*44 2021-02-17T22:29:37.782Z,1613600977.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.700005 m, bearing: 324.521303 deg, deltaT: 4.487314 s, approachRate: -0.735406 m/s, LOS rate: 0.018935 deg/s, posRepo size: 4 2021-02-17T22:29:37.784Z,1613600977.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.700005 m, bearing: 324.521303 deg, approachRate: -0.735406 m/s, LOS rate: 0.018935 deg/s, cmd update: 0.075740 deg/s, cmd heading: 330.771217 deg, new cmd heading: 330.778321 deg. 2021-02-17T22:29:40.245Z,1613600980.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:40.976Z,1613600980.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:41.416Z,1613600981.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:42.223Z,1613600982.223 [Micromodem](INFO): Nmea in: $SNTTA,0.069679,,,,222941.05*4C 2021-02-17T22:29:42.257Z,1613600982.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.400002 m, bearing: 324.646213 deg, deltaT: 4.399129 s, approachRate: -0.750149 m/s, LOS rate: 0.028394 deg/s, posRepo size: 4 2021-02-17T22:29:42.260Z,1613600982.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.400002 m, bearing: 324.646213 deg, approachRate: -0.750149 m/s, LOS rate: 0.028394 deg/s, cmd update: 0.113577 deg/s, cmd heading: 331.105978 deg, new cmd heading: 331.140973 deg. 2021-02-17T22:29:44.623Z,1613600984.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:45.416Z,1613600985.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:45.827Z,1613600985.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:46.652Z,1613600986.652 [Micromodem](INFO): Nmea in: $SNTTA,0.067562,,,,222945.49*47 2021-02-17T22:29:46.670Z,1613600986.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.160004 m, bearing: 324.392485 deg, deltaT: 4.479381 s, approachRate: -0.723314 m/s, LOS rate: -0.056644 deg/s, posRepo size: 4 2021-02-17T22:29:46.672Z,1613600986.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.160004 m, bearing: 324.392485 deg, approachRate: -0.723314 m/s, LOS rate: -0.056644 deg/s, cmd update: -0.226574 deg/s, cmd heading: 331.614735 deg, new cmd heading: 331.659615 deg. 2021-02-17T22:29:49.121Z,1613600989.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:49.865Z,1613600989.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:50.288Z,1613600990.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:51.116Z,1613600991.116 [Micromodem](INFO): Nmea in: $SNTTA,0.065359,,,,222949.94*47 2021-02-17T22:29:51.140Z,1613600991.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.919998 m, bearing: 324.450706 deg, deltaT: 4.427766 s, approachRate: -0.731747 m/s, LOS rate: 0.013149 deg/s, posRepo size: 4 2021-02-17T22:29:51.167Z,1613600991.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.919998 m, bearing: 324.450706 deg, approachRate: -0.731747 m/s, LOS rate: 0.013149 deg/s, cmd update: 0.052596 deg/s, cmd heading: 330.612426 deg, new cmd heading: 330.512486 deg. 2021-02-17T22:29:53.540Z,1613600993.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:54.306Z,1613600994.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:54.718Z,1613600994.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:55.537Z,1613600995.537 [Micromodem](INFO): Nmea in: $SNTTA,0.063166,,,,222954.38*45 2021-02-17T22:29:55.582Z,1613600995.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.560005 m, bearing: 323.167423 deg, deltaT: 4.468299 s, approachRate: -0.751962 m/s, LOS rate: -0.287197 deg/s, posRepo size: 4 2021-02-17T22:29:55.584Z,1613600995.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.560005 m, bearing: 323.167423 deg, approachRate: -0.751962 m/s, LOS rate: -0.287197 deg/s, cmd update: -1.148789 deg/s, cmd heading: 330.847005 deg, new cmd heading: 330.869287 deg. 2021-02-17T22:29:57.957Z,1613600997.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:29:58.748Z,1613600998.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:29:59.185Z,1613600999.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:29:59.983Z,1613600999.983 [Micromodem](INFO): Nmea in: $SNTTA,0.060973,,,,222958.82*47 2021-02-17T22:30:00.002Z,1613601000.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.260002 m, bearing: 322.754907 deg, deltaT: 4.413275 s, approachRate: -0.747745 m/s, LOS rate: -0.093472 deg/s, posRepo size: 4 2021-02-17T22:30:00.004Z,1613601000.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.260002 m, bearing: 322.754907 deg, approachRate: -0.747745 m/s, LOS rate: -0.093472 deg/s, cmd update: -0.373887 deg/s, cmd heading: 325.763195 deg, new cmd heading: 325.283009 deg. 2021-02-17T22:30:02.432Z,1613601002.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:03.209Z,1613601003.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:30:03.598Z,1613601003.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:30:04.429Z,1613601004.429 [Micromodem](INFO): Nmea in: $SNTTA,0.058737,,,,223003.29*45 2021-02-17T22:30:04.477Z,1613601004.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.960007 m, bearing: 324.447591 deg, deltaT: 4.467065 s, approachRate: -0.738739 m/s, LOS rate: 0.378926 deg/s, posRepo size: 4 2021-02-17T22:30:04.479Z,1613601004.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.960007 m, bearing: 324.447591 deg, approachRate: -0.738739 m/s, LOS rate: 0.378926 deg/s, cmd update: 1.515702 deg/s, cmd heading: 324.095350 deg, new cmd heading: 323.933793 deg. 2021-02-17T22:30:06.853Z,1613601006.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:07.636Z,1613601007.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:30:07.709Z,1613601007.709 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T22:30:07.710Z,1613601007.710 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T22:30:07.710Z,1613601007.710 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T22:30:07.715Z,1613601007.715 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T22:30:07.716Z,1613601007.716 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T22:30:08.042Z,1613601008.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:30:08.221Z,1613601008.221 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60330000005D000004003E0000000000000000151D80030C5669BF92F9E551DBB7A99957DE26F1671052A5100A5673125801A9BBA463A7927A12653481 2021-02-17T22:30:08.222Z,1613601008.222 [Micromodem](INFO): Outgoing frame #2, 17 bytes: C32F25E944825CC3EDCF326233CDF50800 2021-02-17T22:30:08.222Z,1613601008.222 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T22:30:08.466Z,1613601008.466 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T22:30:08.892Z,1613601008.892 [Micromodem](INFO): Nmea in: $CADRQ,223008,1,10,0,64,1*7D 2021-02-17T22:30:08.893Z,1613601008.893 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60330000005D000004003E0000000000000000151D80030C5669BF92F9E551DBB7A99957DE26F1671052A5100A5673125801A9BBA463A7927A12653481*46 2021-02-17T22:30:09.008Z,1613601009.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.660004 m, bearing: 322.938857 deg, deltaT: 4.454098 s, approachRate: -0.740891 m/s, LOS rate: -0.338729 deg/s, posRepo size: 4 2021-02-17T22:30:09.009Z,1613601009.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.660004 m, bearing: 322.938857 deg, approachRate: -0.740891 m/s, LOS rate: -0.338729 deg/s, cmd update: -1.354918 deg/s, cmd heading: 330.836113 deg, new cmd heading: 331.616769 deg. 2021-02-17T22:30:09.289Z,1613601009.289 [Micromodem](INFO): Nmea in: $SNTTA,0.056606,,,,223007.71*41 2021-02-17T22:30:09.289Z,1613601009.289 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.056606,,,,223007.71*41 2021-02-17T22:30:10.508Z,1613601010.508 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T22:30:10.907Z,1613601010.907 [Micromodem](INFO): Nmea in: $CADRQ,223008,1,10,0,64,2*7E 2021-02-17T22:30:10.907Z,1613601010.907 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,C32F25E944825CC3EDCF326233CDF50800*47 2021-02-17T22:30:11.292Z,1613601011.292 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D 2021-02-17T22:30:11.372Z,1613601011.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:11.700Z,1613601011.700 [Micromodem](INFO): Nmea in: $CATXP,81*7B 2021-02-17T22:30:12.117Z,1613601012.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:30:14.125Z,1613601014.125 [Micromodem](INFO): Nmea in: $CATXF,81*6D 2021-02-17T22:30:14.125Z,1613601014.125 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D 2021-02-17T22:30:14.306Z,1613601014.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:14.526Z,1613601014.526 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,223010.968013,3,0,200,4000,14500,1,1,10,1,2,2,3,81*48 2021-02-17T22:30:14.526Z,1613601014.526 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,223010.968013,3,0,200,4000,14500,1,1,10,1,2,2,3,81*48 2021-02-17T22:30:16.948Z,1613601016.948 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-17T22:30:16.980Z,1613601016.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:17.358Z,1613601017.358 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-17T22:30:17.358Z,1613601017.358 [Micromodem](INFO): Sent 73 bytes from file Logs/20210217T180521/Courier0051.lzma.parts 2021-02-17T22:30:17.359Z,1613601017.359 [Micromodem](INFO): Packets left to send: 0 2021-02-17T22:30:17.777Z,1613601017.777 [Micromodem](INFO): Nmea in: $CACST,6,0,20210217223015.668434,06,3645,35,0119,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,17.8,6.00,14,-3.00,-01,1.23,29,14500,4000*5A 2021-02-17T22:30:17.777Z,1613601017.777 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210217223015.668434,06,3645,35,0119,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,17.8,6.00,14,-3.00,-01,1.23,29,14500,4000*5A 2021-02-17T22:30:17.918Z,1613601017.918 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T22:30:17.918Z,1613601017.918 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T22:30:17.918Z,1613601017.918 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T22:30:17.918Z,1613601017.918 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T22:30:17.918Z,1613601017.918 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T22:30:19.793Z,1613601019.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:22.622Z,1613601022.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:23.413Z,1613601023.413 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:30:23.820Z,1613601023.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:30:24.644Z,1613601024.644 [Micromodem](INFO): Nmea in: $SNTTA,0.048671,,,,223023.49*43 2021-02-17T22:30:24.666Z,1613601024.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.660004 m, bearing: 323.396316 deg, deltaT: 15.755244 s, approachRate: -0.761651 m/s, LOS rate: 0.029035 deg/s, posRepo size: 4 2021-02-17T22:30:24.668Z,1613601024.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.660004 m, bearing: 323.396316 deg, approachRate: -0.761651 m/s, LOS rate: 0.029035 deg/s, cmd update: 0.116141 deg/s, cmd heading: 309.471061 deg, new cmd heading: 308.921831 deg. 2021-02-17T22:30:27.106Z,1613601027.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:27.861Z,1613601027.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:30:28.262Z,1613601028.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:30:29.111Z,1613601029.111 [Micromodem](INFO): Nmea in: $SNTTA,0.046442,,,,223027.94*4B 2021-02-17T22:30:29.135Z,1613601029.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.420006 m, bearing: 324.147855 deg, deltaT: 4.417383 s, approachRate: -0.733465 m/s, LOS rate: 0.170132 deg/s, posRepo size: 4 2021-02-17T22:30:29.137Z,1613601029.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.420006 m, bearing: 324.147855 deg, approachRate: -0.733465 m/s, LOS rate: 0.170132 deg/s, cmd update: 0.680529 deg/s, cmd heading: 309.984098 deg, new cmd heading: 310.037149 deg. 2021-02-17T22:30:31.528Z,1613601031.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:32.305Z,1613601032.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:30:32.708Z,1613601032.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:30:33.539Z,1613601033.539 [Micromodem](INFO): Nmea in: $SNTTA,0.044346,,0.073376,,223032.38*50 2021-02-17T22:30:33.564Z,1613601033.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.300003 m, bearing: 326.206474 deg, deltaT: 4.484997 s, approachRate: -0.695653 m/s, LOS rate: 0.459001 deg/s, posRepo size: 4 2021-02-17T22:30:33.566Z,1613601033.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.300003 m, bearing: 326.206474 deg, approachRate: -0.695653 m/s, LOS rate: 0.459001 deg/s, cmd update: 1.836005 deg/s, cmd heading: 313.032695 deg, new cmd heading: 313.309033 deg. 2021-02-17T22:30:35.951Z,1613601035.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:36.758Z,1613601036.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:30:37.190Z,1613601037.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:30:37.980Z,1613601037.980 [Micromodem](INFO): Nmea in: $SNTTA,0.042257,,,,223036.84*4C 2021-02-17T22:30:38.018Z,1613601038.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.059998 m, bearing: 327.224009 deg, deltaT: 4.402965 s, approachRate: -0.735869 m/s, LOS rate: 0.231102 deg/s, posRepo size: 4 2021-02-17T22:30:38.020Z,1613601038.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.059998 m, bearing: 327.224009 deg, approachRate: -0.735869 m/s, LOS rate: 0.231102 deg/s, cmd update: 0.924408 deg/s, cmd heading: 321.126226 deg, new cmd heading: 321.956578 deg. 2021-02-17T22:30:40.106Z,1613601040.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:40.785Z,1613601040.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:30:41.212Z,1613601041.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:30:42.024Z,1613601042.024 [Micromodem](INFO): Nmea in: $SNTTA,0.040360,,,,223040.86*48 2021-02-17T22:30:42.052Z,1613601042.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.360008 m, bearing: 329.296069 deg, deltaT: 4.060525 s, approachRate: -0.664936 m/s, LOS rate: 0.510294 deg/s, posRepo size: 4 2021-02-17T22:30:42.054Z,1613601042.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.360008 m, bearing: 329.296069 deg, approachRate: -0.664936 m/s, LOS rate: 0.510294 deg/s, cmd update: 2.041175 deg/s, cmd heading: 324.879781 deg, new cmd heading: 325.273051 deg. 2021-02-17T22:30:44.485Z,1613601044.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:45.249Z,1613601045.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:30:45.636Z,1613601045.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:30:46.508Z,1613601046.508 [Micromodem](INFO): Nmea in: $SNTTA,0.038362,,,,223045.33*4E 2021-02-17T22:30:46.553Z,1613601046.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.060005 m, bearing: 328.479479 deg, deltaT: 4.480387 s, approachRate: -0.736544 m/s, LOS rate: -0.182259 deg/s, posRepo size: 4 2021-02-17T22:30:46.555Z,1613601046.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.060005 m, bearing: 328.479479 deg, approachRate: -0.736544 m/s, LOS rate: -0.182259 deg/s, cmd update: -0.729035 deg/s, cmd heading: 334.025012 deg, new cmd heading: 334.936232 deg. 2021-02-17T22:30:48.905Z,1613601048.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:49.673Z,1613601049.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:30:50.108Z,1613601050.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:30:50.900Z,1613601050.900 [Micromodem](INFO): Nmea in: $SNTTA,0.036044,,,,223049.75*49 2021-02-17T22:30:50.941Z,1613601050.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.880001 m, bearing: 329.374671 deg, deltaT: 4.478467 s, approachRate: -0.710065 m/s, LOS rate: 0.199888 deg/s, posRepo size: 4 2021-02-17T22:30:50.943Z,1613601050.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.880001 m, bearing: 329.374671 deg, approachRate: -0.710065 m/s, LOS rate: 0.199888 deg/s, cmd update: 0.799552 deg/s, cmd heading: 330.773079 deg, new cmd heading: 330.500411 deg. 2021-02-17T22:30:51.301Z,1613601051.301 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T22:30:53.348Z,1613601053.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:54.121Z,1613601054.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:30:54.522Z,1613601054.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:30:55.348Z,1613601055.348 [Micromodem](INFO): Nmea in: $SNTTA,0.034008,,,,223054.20*4F 2021-02-17T22:30:55.381Z,1613601055.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.820004 m, bearing: 329.987066 deg, deltaT: 4.356805 s, approachRate: -0.702349 m/s, LOS rate: 0.140561 deg/s, posRepo size: 4 2021-02-17T22:30:55.404Z,1613601055.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.820004 m, bearing: 329.987066 deg, approachRate: -0.702349 m/s, LOS rate: 0.140561 deg/s, cmd update: 0.562242 deg/s, cmd heading: 334.270866 deg, new cmd heading: 334.622213 deg. 2021-02-17T22:30:57.766Z,1613601057.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:30:58.566Z,1613601058.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:30:58.966Z,1613601058.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:30:59.792Z,1613601059.792 [Micromodem](INFO): Nmea in: $SNTTA,0.031749,,,,223058.64*44 2021-02-17T22:30:59.826Z,1613601059.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.399998 m, bearing: 331.851762 deg, deltaT: 4.485423 s, approachRate: -0.762471 m/s, LOS rate: 0.415724 deg/s, posRepo size: 4 2021-02-17T22:30:59.828Z,1613601059.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.399998 m, bearing: 331.851762 deg, approachRate: -0.762471 m/s, LOS rate: 0.415724 deg/s, cmd update: 1.662895 deg/s, cmd heading: 336.790297 deg, new cmd heading: 337.016785 deg. 2021-02-17T22:31:02.246Z,1613601062.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:31:03.004Z,1613601063.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:31:03.417Z,1613601063.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:31:04.236Z,1613601064.236 [Micromodem](INFO): Nmea in: $SNTTA,0.029533,,,,223103.08*47 2021-02-17T22:31:04.286Z,1613601064.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.100002 m, bearing: 330.419171 deg, deltaT: 4.423958 s, approachRate: -0.745937 m/s, LOS rate: -0.323826 deg/s, posRepo size: 4 2021-02-17T22:31:04.288Z,1613601064.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.100002 m, bearing: 330.419171 deg, approachRate: -0.745937 m/s, LOS rate: -0.323826 deg/s, cmd update: -1.295303 deg/s, cmd heading: 344.147490 deg, new cmd heading: 344.876253 deg. 2021-02-17T22:31:06.661Z,1613601066.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:31:07.453Z,1613601067.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:31:07.861Z,1613601067.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:31:08.696Z,1613601068.696 [Micromodem](INFO): Nmea in: $SNTTA,0.027619,,,,223107.53*48 2021-02-17T22:31:08.718Z,1613601068.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.039997 m, bearing: 328.465737 deg, deltaT: 4.456938 s, approachRate: -0.686571 m/s, LOS rate: -0.438291 deg/s, posRepo size: 4 2021-02-17T22:31:08.720Z,1613601068.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.039997 m, bearing: 328.465737 deg, approachRate: -0.686571 m/s, LOS rate: -0.438291 deg/s, cmd update: -1.753162 deg/s, cmd heading: 338.369603 deg, new cmd heading: 337.838542 deg. 2021-02-17T22:31:11.139Z,1613601071.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:31:11.893Z,1613601071.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:31:12.300Z,1613601072.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:31:13.132Z,1613601073.132 [Micromodem](INFO): Nmea in: $SNTTA,0.025456,,,,223111.97*4C 2021-02-17T22:31:13.165Z,1613601073.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.980000 m, bearing: 330.715082 deg, deltaT: 4.420179 s, approachRate: -0.692279 m/s, LOS rate: 0.508881 deg/s, posRepo size: 4 2021-02-17T22:31:13.167Z,1613601073.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.98 m. 2021-02-17T22:31:13.174Z,1613601073.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.980000 m, bearing: 330.715082 deg, approachRate: -0.692279 m/s, LOS rate: 0.508881 deg/s, cmd update: 2.035524 deg/s, cmd heading: 330.620048 deg, new cmd heading: 329.861183 deg. 2021-02-17T22:31:13.529Z,1613601073.529 [PowerOnly](INFO): Powering up loadControl 2021-02-17T22:31:15.573Z,1613601075.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:31:16.341Z,1613601076.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:31:16.748Z,1613601076.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:31:17.586Z,1613601077.586 [Micromodem](INFO): Nmea in: $SNTTA,0.023232,,,,223116.42*41 2021-02-17T22:31:17.620Z,1613601077.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.620003 m, bearing: 330.204403 deg, deltaT: 4.499237 s, approachRate: -0.746793 m/s, LOS rate: -0.113504 deg/s, posRepo size: 4 2021-02-17T22:31:17.620Z,1613601077.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.62 m. 2021-02-17T22:31:17.621Z,1613601077.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.62 m. 2021-02-17T22:31:17.621Z,1613601077.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T22:31:17.623Z,1613601077.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.620003 m, bearing: 330.204403 deg, approachRate: -0.746793 m/s, LOS rate: -0.113504 deg/s, cmd update: -0.454014 deg/s, cmd heading: 339.775458 deg, new cmd heading: 340.576146 deg. 2021-02-17T22:31:20.100Z,1613601080.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:31:20.788Z,1613601080.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:31:21.211Z,1613601081.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:31:22.012Z,1613601082.012 [Micromodem](INFO): Nmea in: $SNTTA,0.061098,,,,223120.86*48 2021-02-17T22:31:22.053Z,1613601082.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.559998 m, bearing: 328.370087 deg, deltaT: 4.399596 s, approachRate: -0.695520 m/s, LOS rate: -0.416928 deg/s, posRepo size: 4 2021-02-17T22:31:22.055Z,1613601082.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.559998 m, bearing: 328.370087 deg, approachRate: -0.695520 m/s, LOS rate: -0.416928 deg/s, cmd update: -1.667713 deg/s, cmd heading: 337.779124 deg, new cmd heading: 337.583974 deg. 2021-02-17T22:31:24.461Z,1613601084.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:31:25.242Z,1613601085.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:31:25.645Z,1613601085.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:31:26.462Z,1613601086.462 [Micromodem](INFO): Nmea in: $SNTTA,0.019069,,,,223125.32*43 2021-02-17T22:31:26.545Z,1613601086.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.379997 m, bearing: 328.932157 deg, deltaT: 4.455708 s, approachRate: -0.713691 m/s, LOS rate: 0.126146 deg/s, posRepo size: 4 2021-02-17T22:31:26.551Z,1613601086.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.379997 m, bearing: 328.932157 deg, approachRate: -0.713691 m/s, LOS rate: 0.126146 deg/s, cmd update: 0.504584 deg/s, cmd heading: 330.395214 deg, new cmd heading: 329.570427 deg. 2021-02-17T22:31:28.881Z,1613601088.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:31:29.668Z,1613601089.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:31:30.104Z,1613601090.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:31:30.898Z,1613601090.898 [Micromodem](INFO): Nmea in: $SNTTA,0.016969,,,,223129.74*4B 2021-02-17T22:31:30.948Z,1613601090.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.259996 m, bearing: 331.001021 deg, deltaT: 4.433191 s, approachRate: -0.703782 m/s, LOS rate: 0.466676 deg/s, posRepo size: 4 2021-02-17T22:31:30.950Z,1613601090.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.259996 m, bearing: 331.001021 deg, approachRate: -0.703782 m/s, LOS rate: 0.466676 deg/s, cmd update: 1.866704 deg/s, cmd heading: 332.648237 deg, new cmd heading: 332.865579 deg. 2021-02-17T22:31:33.350Z,1613601093.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:31:34.121Z,1613601094.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:31:34.524Z,1613601094.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:31:35.348Z,1613601095.348 [Micromodem](INFO): Nmea in: $SNTTA,0.014628,,,,223134.20*4E 2021-02-17T22:31:35.381Z,1613601095.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.720001 m, bearing: 328.316210 deg, deltaT: 4.436291 s, approachRate: -0.797963 m/s, LOS rate: -0.605193 deg/s, posRepo size: 4 2021-02-17T22:31:35.383Z,1613601095.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.720001 m, bearing: 328.316210 deg, approachRate: -0.797963 m/s, LOS rate: -0.605193 deg/s, cmd update: -2.420771 deg/s, cmd heading: 340.930134 deg, new cmd heading: 341.730579 deg. 2021-02-17T22:31:37.776Z,1613601097.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:31:38.556Z,1613601098.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:31:38.977Z,1613601098.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:31:39.784Z,1613601099.784 [Micromodem](INFO): Nmea in: $SNTTA,0.012934,,,,223138.63*41 2021-02-17T22:31:39.806Z,1613601099.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.479998 m, bearing: 326.509134 deg, deltaT: 4.512205 s, approachRate: -0.718053 m/s, LOS rate: -0.400486 deg/s, posRepo size: 4 2021-02-17T22:31:39.808Z,1613601099.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.479998 m, bearing: 326.509134 deg, approachRate: -0.718053 m/s, LOS rate: -0.400486 deg/s, cmd update: -1.601946 deg/s, cmd heading: 330.017346 deg, new cmd heading: 329.180977 deg. 2021-02-17T22:31:42.266Z,1613601102.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:31:42.000Z,1613601103.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:31:43.417Z,1613601103.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:31:44.232Z,1613601104.232 [Micromodem](INFO): Nmea in: $SNTTA,0.010969,,,,223143.08*4A 2021-02-17T22:31:44.283Z,1613601104.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.199997 m, bearing: 332.269305 deg, deltaT: 4.369497 s, approachRate: -0.521799 m/s, LOS rate: 1.318269 deg/s, posRepo size: 4 2021-02-17T22:31:44.285Z,1613601104.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.199997 m, bearing: 332.269305 deg, approachRate: -0.521799 m/s, LOS rate: 1.318269 deg/s, cmd update: 5.273076 deg/s, cmd heading: 323.030331 deg, new cmd heading: 322.292716 deg. 2021-02-17T22:31:46.657Z,1613601106.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:31:47.449Z,1613601107.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:31:47.866Z,1613601107.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:31:48.676Z,1613601108.676 [Micromodem](INFO): Nmea in: $SNTTA,0.008538,,,,223147.53*41 2021-02-17T22:31:48.717Z,1613601108.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.540001 m, bearing: 331.500008 deg, deltaT: 4.471525 s, approachRate: -0.818512 m/s, LOS rate: -0.172044 deg/s, posRepo size: 4 2021-02-17T22:31:48.719Z,1613601108.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.540001 m, bearing: 331.500008 deg, approachRate: -0.818512 m/s, LOS rate: -0.172044 deg/s, cmd update: -0.688175 deg/s, cmd heading: 346.673035 deg, new cmd heading: 348.843153 deg. 2021-02-17T22:31:51.153Z,1613601111.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:31:51.888Z,1613601111.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:31:52.294Z,1613601112.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:31:53.124Z,1613601113.124 [Micromodem](INFO): Nmea in: $SNTTA,0.006483,,,,223151.96*40 2021-02-17T22:31:53.221Z,1613601113.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.359999 m, bearing: 330.196343 deg, deltaT: 4.416703 s, approachRate: -0.719995 m/s, LOS rate: -0.295167 deg/s, posRepo size: 4 2021-02-17T22:31:53.227Z,1613601113.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.359999 m, bearing: 330.196343 deg, approachRate: -0.719995 m/s, LOS rate: -0.295167 deg/s, cmd update: -1.180668 deg/s, cmd heading: 343.641912 deg, new cmd heading: 343.290240 deg. 2021-02-17T22:31:55.573Z,1613601115.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:31:56.333Z,1613601116.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:31:56.738Z,1613601116.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:31:57.576Z,1613601117.576 [Micromodem](INFO): Nmea in: $SNTTA,0.004683,,,,223156.41*4D 2021-02-17T22:31:57.601Z,1613601117.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.779999 m, bearing: 332.077350 deg, deltaT: 4.491068 s, approachRate: -0.574474 m/s, LOS rate: 0.418833 deg/s, posRepo size: 4 2021-02-17T22:31:57.602Z,1613601117.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.779999 m, bearing: 332.077350 deg, approachRate: -0.574474 m/s, LOS rate: 0.418833 deg/s, cmd update: 1.675331 deg/s, cmd heading: 338.329854 deg, new cmd heading: 337.868300 deg. 2021-02-17T22:31:59.993Z,1613601119.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:00.776Z,1613601120.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:01.208Z,1613601121.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:02.008Z,1613601122.008 [Micromodem](INFO): Nmea in: $SNTTA,0.003326,,,,223200.85*48 2021-02-17T22:32:02.021Z,1613601122.021 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T22:32:02.021Z,1613601122.021 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T22:32:02.021Z,1613601122.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T22:32:02.021Z,1613601122.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T22:32:02.021Z,1613601122.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T22:32:02.022Z,1613601122.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.919998 m 2021-02-17T22:32:02.022Z,1613601122.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T22:32:02.022Z,1613601122.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T22:32:02.022Z,1613601122.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T22:32:02.024Z,1613601122.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.919998 m, bearing: 322.003394 deg, deltaT: 4.391182 s, approachRate: -0.423576 m/s, LOS rate: -2.294133 deg/s, posRepo size: 4 2021-02-17T22:32:02.026Z,1613601122.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.919998 m, bearing: 322.003394 deg, approachRate: -0.423576 m/s, LOS rate: -2.294133 deg/s, cmd update: -9.176532 deg/s, cmd heading: 345.693220 deg, new cmd heading: 346.396437 deg. 2021-02-17T22:32:02.460Z,1613601122.460 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T223202: (41.552319, -70.708603) 2021-02-17T22:32:02.460Z,1613601122.460 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T22:32:02.460Z,1613601122.460 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T22:32:02.460Z,1613601122.460 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T22:32:02.460Z,1613601122.460 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T22:32:02.460Z,1613601122.460 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T22:32:02.460Z,1613601122.460 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T22:32:02.460Z,1613601122.460 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T22:32:02.461Z,1613601122.461 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T22:32:02.832Z,1613601122.832 [UniversalFixResidualReporter](INFO): Fix residual: 2.1 %DT, over the last 670.0 m. Residual distance 14.3 m at bearing 162.9 degrees. Fix at (41.5516, -70.7089) with 0.0 m made good. 2021-02-17T22:32:04.462Z,1613601124.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:05.220Z,1613601125.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:05.628Z,1613601125.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:06.448Z,1613601126.448 [Micromodem](INFO): Nmea in: $SNTTA,0.002928,,0.025553,,223205.30*5C 2021-02-17T22:32:06.545Z,1613601126.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 334.259677 deg, deltaT: 4.462910 s, approachRate: -0.107553 m/s, LOS rate: 2.746254 deg/s, posRepo size: 4 2021-02-17T22:32:06.547Z,1613601126.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.440000 m, bearing: 334.259677 deg, approachRate: -0.107553 m/s, LOS rate: 2.746254 deg/s, cmd update: 10.985015 deg/s, cmd heading: 304.936784 deg, new cmd heading: 300.360925 deg. 2021-02-17T22:32:08.873Z,1613601128.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:09.664Z,1613601129.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:10.101Z,1613601130.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:10.908Z,1613601130.908 [Micromodem](INFO): Nmea in: $SNTTA,0.006038,,0.041470,,223209.74*5E 2021-02-17T22:32:10.926Z,1613601130.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.059999 m, bearing: 331.204151 deg, deltaT: 4.443427 s, approachRate: 1.039738 m/s, LOS rate: -0.687651 deg/s, posRepo size: 4 2021-02-17T22:32:10.928Z,1613601130.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.059999 m, bearing: 331.204151 deg, approachRate: 1.039738 m/s, LOS rate: -0.687651 deg/s, cmd update: -2.750603 deg/s, cmd heading: 353.984116 deg, new cmd heading: 358.539854 deg. 2021-02-17T22:32:13.378Z,1613601133.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:14.115Z,1613601134.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:14.522Z,1613601134.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:15.340Z,1613601135.340 [Micromodem](INFO): Nmea in: $SNTTA,0.006721,,,,223214.19*4E 2021-02-17T22:32:15.389Z,1613601135.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.139999 m, bearing: 327.313539 deg, deltaT: 4.449459 s, approachRate: 0.242726 m/s, LOS rate: -0.874401 deg/s, posRepo size: 4 2021-02-17T22:32:15.391Z,1613601135.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.139999 m, bearing: 327.313539 deg, approachRate: 0.242726 m/s, LOS rate: -0.874401 deg/s, cmd update: -3.497605 deg/s, cmd heading: 341.756637 deg, new cmd heading: 340.567012 deg. 2021-02-17T22:32:17.765Z,1613601137.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:18.560Z,1613601138.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:18.958Z,1613601138.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:19.784Z,1613601139.784 [Micromodem](INFO): Nmea in: $SNTTA,0.009147,,,,223218.64*41 2021-02-17T22:32:19.830Z,1613601139.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.800002 m, bearing: 336.751877 deg, deltaT: 4.467840 s, approachRate: 0.819188 m/s, LOS rate: 2.112506 deg/s, posRepo size: 4 2021-02-17T22:32:19.836Z,1613601139.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.800002 m, bearing: 336.751877 deg, approachRate: 0.819188 m/s, LOS rate: 2.112506 deg/s, cmd update: 8.450023 deg/s, cmd heading: 326.117957 deg, new cmd heading: 324.711189 deg. 2021-02-17T22:32:22.259Z,1613601142.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:23.007Z,1613601143.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:23.401Z,1613601143.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:24.236Z,1613601144.236 [Micromodem](INFO): Nmea in: $SNTTA,0.011062,,,,223223.08*4C 2021-02-17T22:32:24.306Z,1613601144.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.899998 m, bearing: 338.135646 deg, deltaT: 4.389648 s, approachRate: 0.478397 m/s, LOS rate: 0.315235 deg/s, posRepo size: 4 2021-02-17T22:32:24.311Z,1613601144.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.90 m. Rolling out. 2021-02-17T22:32:24.311Z,1613601144.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T22:32:26.673Z,1613601146.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:27.442Z,1613601147.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:27.848Z,1613601147.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:28.677Z,1613601148.677 [Micromodem](INFO): Nmea in: $SNTTA,0.037616,0.014791,,,223227.52*52 2021-02-17T22:32:28.713Z,1613601148.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.359997 m, bearing: 336.016948 deg, deltaT: 4.500362 s, approachRate: 0.546623 m/s, LOS rate: -0.470784 deg/s, posRepo size: 4 2021-02-17T22:32:31.131Z,1613601151.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:31.890Z,1613601151.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:32.293Z,1613601152.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:33.124Z,1613601153.124 [Micromodem](INFO): Nmea in: $SNTTA,0.106325,,,,223231.97*4E 2021-02-17T22:32:33.153Z,1613601153.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.000000 m, bearing: 13.407952 deg, deltaT: 4.406907 s, approachRate: 31.913540 m/s, LOS rate: 8.484639 deg/s, posRepo size: 4 2021-02-17T22:32:33.153Z,1613601153.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 159.00 m. Resuming terminal guidance. 2021-02-17T22:32:33.153Z,1613601153.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T22:32:35.278Z,1613601155.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:35.930Z,1613601155.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:36.335Z,1613601156.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:37.172Z,1613601157.172 [Micromodem](INFO): Nmea in: $SNTTA,0.016670,,,,223236.01*43 2021-02-17T22:32:37.225Z,1613601157.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.539997 m, bearing: 341.554620 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T22:32:37.225Z,1613601157.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 24.54 m. 2021-02-17T22:32:37.225Z,1613601157.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 24.54 m. 2021-02-17T22:32:37.226Z,1613601157.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T22:32:37.226Z,1613601157.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 341.554620deg and heading rate command to 0 deg/s. 2021-02-17T22:32:39.575Z,1613601159.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:40.370Z,1613601160.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:40.783Z,1613601160.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:41.609Z,1613601161.609 [Micromodem](INFO): Nmea in: $SNTTA,0.018059,,,,223240.45*41 2021-02-17T22:32:41.630Z,1613601161.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.600000 m, bearing: 47.182906 deg, deltaT: 4.507841 s, approachRate: 0.678818 m/s, LOS rate: 14.558698 deg/s, posRepo size: 2 2021-02-17T22:32:41.631Z,1613601161.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.558698 deg/s. Setting heading cmd to target bearing of 47.182906deg and heading rate command to 0 deg/s. 2021-02-17T22:32:44.029Z,1613601164.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:44.812Z,1613601164.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:45.228Z,1613601165.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:46.068Z,1613601166.068 [Micromodem](INFO): Nmea in: $SNTTA,0.019457,,,0.035201,223244.89*55 2021-02-17T22:32:46.123Z,1613601166.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.280003 m, bearing: 0.182605 deg, deltaT: 4.388067 s, approachRate: 0.382857 m/s, LOS rate: -10.710935 deg/s, posRepo size: 3 2021-02-17T22:32:46.125Z,1613601166.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.280003 m, bearing: 0.182605 deg, approachRate: 0.382857 m/s, LOS rate: -10.710935 deg/s, cmd update: -12.000000 deg/s, cmd heading: 47.182906 deg, new cmd heading: 47.182906 deg. 2021-02-17T22:32:48.056Z,1613601168.056 [PowerOnly](INFO): Powering down loadControl 2021-02-17T22:32:48.495Z,1613601168.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:49.257Z,1613601169.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:49.662Z,1613601169.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:50.484Z,1613601170.484 [Micromodem](INFO): Nmea in: $SNTTA,0.021633,,,,223249.33*49 2021-02-17T22:32:50.530Z,1613601170.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.220001 m, bearing: 52.951854 deg, deltaT: 4.497102 s, approachRate: 0.653754 m/s, LOS rate: 11.734057 deg/s, posRepo size: 4 2021-02-17T22:32:50.531Z,1613601170.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.734057 deg/s. Setting heading cmd to target bearing of 52.951854deg and heading rate command to 0 deg/s. 2021-02-17T22:32:52.921Z,1613601172.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:53.706Z,1613601173.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:54.118Z,1613601174.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:54.932Z,1613601174.932 [Micromodem](INFO): Nmea in: $SNTTA,0.023730,,,,223253.78*4D 2021-02-17T22:32:54.954Z,1613601174.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.699997 m, bearing: 5.189833 deg, deltaT: 4.382190 s, approachRate: 0.794123 m/s, LOS rate: -10.899122 deg/s, posRepo size: 4 2021-02-17T22:32:54.954Z,1613601174.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 35.70 m. Rolling out. 2021-02-17T22:32:54.954Z,1613601174.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T22:32:57.391Z,1613601177.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:32:58.149Z,1613601178.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:32:58.549Z,1613601178.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:32:59.392Z,1613601179.392 [Micromodem](INFO): Nmea in: $SNTTA,0.026020,,,,223258.23*4B 2021-02-17T22:32:59.437Z,1613601179.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.699997 m, bearing: 16.649734 deg, deltaT: 4.437521 s, approachRate: 0.676053 m/s, LOS rate: 2.582500 deg/s, posRepo size: 4 2021-02-17T22:33:01.799Z,1613601181.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:33:02.605Z,1613601182.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:33:02.999Z,1613601182.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:33:03.828Z,1613601183.828 [Micromodem](INFO): Nmea in: $SNTTA,0.027017,,,,223302.68*4F 2021-02-17T22:33:03.846Z,1613601183.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.439999 m, bearing: 67.384406 deg, deltaT: 4.484514 s, approachRate: 0.388002 m/s, LOS rate: 11.313304 deg/s, posRepo size: 4 2021-02-17T22:33:06.279Z,1613601186.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:33:07.038Z,1613601187.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:33:07.448Z,1613601187.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:33:08.268Z,1613601188.268 [Micromodem](INFO): Nmea in: $SNTTA,0.028074,,,,223307.11*4E 2021-02-17T22:33:08.322Z,1613601188.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.480003 m, bearing: 67.377801 deg, deltaT: 4.400462 s, approachRate: 0.463589 m/s, LOS rate: -0.001501 deg/s, posRepo size: 4 2021-02-17T22:33:10.703Z,1613601190.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:33:11.476Z,1613601191.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:33:11.882Z,1613601191.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:33:12.713Z,1613601192.713 [Micromodem](INFO): Nmea in: $SNTTA,0.029350,,,,223311.55*4D 2021-02-17T22:33:12.756Z,1613601192.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.160000 m, bearing: 64.241303 deg, deltaT: 4.487280 s, approachRate: 0.374391 m/s, LOS rate: -0.698975 deg/s, posRepo size: 4 2021-02-17T22:33:15.174Z,1613601195.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:33:15.924Z,1613601195.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:33:16.338Z,1613601196.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:33:17.153Z,1613601197.153 [Micromodem](INFO): Nmea in: $SNTTA,0.030779,,0.049479,,223316.00*54 2021-02-17T22:33:17.229Z,1613601197.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.199997 m, bearing: 59.049970 deg, deltaT: 4.427963 s, approachRate: 0.460708 m/s, LOS rate: -1.172398 deg/s, posRepo size: 4 2021-02-17T22:33:19.589Z,1613601199.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:33:20.370Z,1613601200.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:33:20.773Z,1613601200.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:33:21.616Z,1613601201.616 [Micromodem](INFO): Nmea in: $SNTTA,0.032192,,0.097461,,223320.45*5B 2021-02-17T22:33:21.638Z,1613601201.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.360004 m, bearing: 52.269751 deg, deltaT: 4.499631 s, approachRate: 0.480041 m/s, LOS rate: -1.506839 deg/s, posRepo size: 4 2021-02-17T22:33:24.023Z,1613601204.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:33:24.808Z,1613601204.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:33:25.235Z,1613601205.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:33:26.043Z,1613601206.043 [Micromodem](INFO): Nmea in: $SNTTA,0.033822,,,,223324.88*4E 2021-02-17T22:33:26.083Z,1613601206.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.760002 m, bearing: 61.426862 deg, deltaT: 4.373150 s, approachRate: 0.548803 m/s, LOS rate: 2.093940 deg/s, posRepo size: 4 2021-02-17T22:33:28.520Z,1613601208.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:33:29.252Z,1613601209.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:33:29.666Z,1613601209.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:33:30.488Z,1613601210.488 [Micromodem](INFO): Nmea in: $SNTTA,0.035324,,,,223329.33*48 2021-02-17T22:33:30.521Z,1613601210.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.040001 m, bearing: 71.795431 deg, deltaT: 4.478276 s, approachRate: 0.509124 m/s, LOS rate: 2.315304 deg/s, posRepo size: 4 2021-02-17T22:33:32.912Z,1613601212.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:33:33.696Z,1613601213.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:33:34.117Z,1613601214.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:33:34.940Z,1613601214.940 [Micromodem](INFO): Nmea in: $SNTTA,0.036914,,,,223333.77*49 2021-02-17T22:33:34.966Z,1613601214.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.379993 m, bearing: 67.392227 deg, deltaT: 4.424212 s, approachRate: 0.528906 m/s, LOS rate: -0.995252 deg/s, posRepo size: 4 2021-02-17T22:33:37.374Z,1613601217.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:33:38.153Z,1613601218.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:33:38.547Z,1613601218.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:33:39.376Z,1613601219.376 [Micromodem](INFO): Nmea in: $SNTTA,0.038582,,,,223338.23*4E 2021-02-17T22:33:39.434Z,1613601219.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.260006 m, bearing: 120.210756 deg, deltaT: 4.426750 s, approachRate: 0.650593 m/s, LOS rate: 11.931672 deg/s, posRepo size: 4 2021-02-17T22:33:41.796Z,1613601221.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:33:42.584Z,1613601222.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:33:42.996Z,1613601222.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:33:43.815Z,1613601223.815 [Micromodem](INFO): Nmea in: $SNTTA,0.040396,,,,223342.66*4E 2021-02-17T22:33:43.834Z,1613601223.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.840000 m, bearing: 65.235608 deg, deltaT: 4.496197 s, approachRate: 0.573817 m/s, LOS rate: -12.227032 deg/s, posRepo size: 4 2021-02-17T22:33:46.270Z,1613601226.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:33:47.028Z,1613601227.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:33:47.434Z,1613601227.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:33:48.256Z,1613601228.256 [Micromodem](INFO): Nmea in: $SNTTA,0.041953,,,,223347.10*48 2021-02-17T22:33:48.290Z,1613601228.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.059998 m, bearing: 70.390837 deg, deltaT: 4.382151 s, approachRate: 0.506600 m/s, LOS rate: 1.176415 deg/s, posRepo size: 4 2021-02-17T22:33:50.679Z,1613601230.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:33:51.477Z,1613601231.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:33:51.878Z,1613601231.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:33:52.704Z,1613601232.704 [Micromodem](INFO): Nmea in: $SNTTA,0.043597,,,,223351.55*48 2021-02-17T22:33:52.726Z,1613601232.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.759995 m, bearing: 60.834234 deg, deltaT: 4.484963 s, approachRate: 0.602011 m/s, LOS rate: -2.130810 deg/s, posRepo size: 4 2021-02-17T22:33:55.173Z,1613601235.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:33:55.925Z,1613601235.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:33:56.337Z,1613601236.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:33:57.148Z,1613601237.148 [Micromodem](INFO): Nmea in: $SNTTA,0.045570,,,,223356.00*40 2021-02-17T22:33:57.221Z,1613601237.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.459999 m, bearing: 78.185326 deg, deltaT: 4.409194 s, approachRate: 0.612358 m/s, LOS rate: 3.935207 deg/s, posRepo size: 4 2021-02-17T22:33:59.592Z,1613601239.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:00.367Z,1613601240.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:00.467Z,1613601240.467 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T22:34:00.766Z,1613601240.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:01.597Z,1613601241.597 [Micromodem](INFO): Nmea in: $SNTTA,0.047410,,,,223400.44*41 2021-02-17T22:34:01.638Z,1613601241.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.980003 m, bearing: 68.021560 deg, deltaT: 4.520741 s, approachRate: 0.557432 m/s, LOS rate: -2.248252 deg/s, posRepo size: 4 2021-02-17T22:34:04.019Z,1613601244.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:04.804Z,1613601244.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:05.216Z,1613601245.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:06.032Z,1613601246.032 [Micromodem](INFO): Nmea in: $SNTTA,0.049115,,,,223404.88*4B 2021-02-17T22:34:06.109Z,1613601246.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.980011 m, bearing: 49.896994 deg, deltaT: 4.364510 s, approachRate: 0.687364 m/s, LOS rate: -4.152715 deg/s, posRepo size: 4 2021-02-17T22:34:08.488Z,1613601248.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:09.265Z,1613601249.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:09.655Z,1613601249.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:10.492Z,1613601250.492 [Micromodem](INFO): Nmea in: $SNTTA,0.050767,,,,223409.34*4A 2021-02-17T22:34:10.546Z,1613601250.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.200005 m, bearing: 48.720286 deg, deltaT: 4.493780 s, approachRate: 0.494015 m/s, LOS rate: -0.261853 deg/s, posRepo size: 4 2021-02-17T22:34:12.899Z,1613601252.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:13.692Z,1613601253.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:14.113Z,1613601254.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:14.920Z,1613601254.920 [Micromodem](INFO): Nmea in: $SNTTA,0.052802,,,,223413.77*48 2021-02-17T22:34:14.942Z,1613601254.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.140007 m, bearing: 47.494291 deg, deltaT: 4.401374 s, approachRate: 0.667974 m/s, LOS rate: -0.278548 deg/s, posRepo size: 4 2021-02-17T22:34:17.398Z,1613601257.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:18.145Z,1613601258.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:18.553Z,1613601258.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:19.368Z,1613601259.368 [Micromodem](INFO): Nmea in: $SNTTA,0.054654,,,,223418.22*48 2021-02-17T22:34:19.416Z,1613601259.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.259995 m, bearing: 45.961969 deg, deltaT: 4.445602 s, approachRate: 0.701814 m/s, LOS rate: -0.344683 deg/s, posRepo size: 4 2021-02-17T22:34:21.798Z,1613601261.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:22.580Z,1613601262.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:22.985Z,1613601262.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:23.812Z,1613601263.812 [Micromodem](INFO): Nmea in: $SNTTA,0.056658,,,,223422.66*4F 2021-02-17T22:34:23.834Z,1613601263.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.020004 m, bearing: 44.058818 deg, deltaT: 4.471461 s, approachRate: 0.617250 m/s, LOS rate: -0.425622 deg/s, posRepo size: 4 2021-02-17T22:34:26.282Z,1613601266.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:27.024Z,1613601267.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:27.430Z,1613601267.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:28.252Z,1613601268.252 [Micromodem](INFO): Nmea in: $SNTTA,0.058501,,,,223427.10*4A 2021-02-17T22:34:28.285Z,1613601268.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.780006 m, bearing: 44.342811 deg, deltaT: 4.405702 s, approachRate: 0.626461 m/s, LOS rate: 0.064460 deg/s, posRepo size: 4 2021-02-17T22:34:30.675Z,1613601270.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:31.473Z,1613601271.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:31.891Z,1613601271.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:32.700Z,1613601272.700 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223431.55*5B 2021-02-17T22:34:32.722Z,1613601272.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.480011 m, bearing: 40.203067 deg, deltaT: 4.478392 s, approachRate: 0.602896 m/s, LOS rate: -0.924382 deg/s, posRepo size: 4 2021-02-17T22:34:35.149Z,1613601275.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:35.912Z,1613601275.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:36.318Z,1613601276.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:37.147Z,1613601277.147 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223435.99*5F 2021-02-17T22:34:37.231Z,1613601277.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 43.371879 deg, deltaT: 4.414903 s, approachRate: 0.679515 m/s, LOS rate: 0.717753 deg/s, posRepo size: 4 2021-02-17T22:34:39.610Z,1613601279.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:40.356Z,1613601280.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:40.767Z,1613601280.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:41.584Z,1613601281.584 [Micromodem](INFO): Nmea in: $SNTTA,0.064041,,,,223440.43*43 2021-02-17T22:34:41.661Z,1613601281.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 39.931051 deg, deltaT: 4.494759 s, approachRate: 0.614049 m/s, LOS rate: -0.765520 deg/s, posRepo size: 4 2021-02-17T22:34:44.026Z,1613601284.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:44.800Z,1613601284.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:45.229Z,1613601285.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:46.036Z,1613601286.036 [Micromodem](INFO): Nmea in: $SNTTA,0.066219,,,,223444.88*4D 2021-02-17T22:34:46.104Z,1613601286.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.480003 m, bearing: 44.639647 deg, deltaT: 4.391681 s, approachRate: 0.737758 m/s, LOS rate: 1.072163 deg/s, posRepo size: 4 2021-02-17T22:34:48.483Z,1613601288.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:49.245Z,1613601289.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:49.658Z,1613601289.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:50.472Z,1613601290.472 [Micromodem](INFO): Nmea in: $SNTTA,0.068206,,,,223449.32*41 2021-02-17T22:34:50.521Z,1613601290.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.420006 m, bearing: 42.195696 deg, deltaT: 4.491790 s, approachRate: 0.654528 m/s, LOS rate: -0.544093 deg/s, posRepo size: 4 2021-02-17T22:34:52.897Z,1613601292.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:53.689Z,1613601293.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:54.114Z,1613601294.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:54.968Z,1613601294.968 [Micromodem](INFO): Nmea in: $SNTTA,0.070264,,,,223453.76*47 2021-02-17T22:34:55.010Z,1613601295.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.480003 m, bearing: 110.050084 deg, deltaT: 4.430178 s, approachRate: 0.690717 m/s, LOS rate: 15.316402 deg/s, posRepo size: 4 2021-02-17T22:34:57.373Z,1613601297.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:34:58.132Z,1613601298.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:34:58.537Z,1613601298.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:34:59.360Z,1613601299.360 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223458.21*57 2021-02-17T22:34:59.413Z,1613601299.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.360001 m, bearing: 103.058716 deg, deltaT: 4.405794 s, approachRate: 0.653684 m/s, LOS rate: -1.586858 deg/s, posRepo size: 4 2021-02-17T22:35:01.804Z,1613601301.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:35:02.577Z,1613601302.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:35:02.985Z,1613601302.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:35:03.808Z,1613601303.808 [Micromodem](INFO): Nmea in: $SNTTA,0.074203,,,,223502.65*45 2021-02-17T22:35:03.830Z,1613601303.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.360001 m, bearing: 42.290407 deg, deltaT: 4.486979 s, approachRate: 0.668601 m/s, LOS rate: -13.543257 deg/s, posRepo size: 4 2021-02-17T22:35:06.265Z,1613601306.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:35:07.021Z,1613601307.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:35:07.438Z,1613601307.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:35:08.257Z,1613601308.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223507.10*5E 2021-02-17T22:35:08.327Z,1613601308.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.239998 m, bearing: 16.475513 deg, deltaT: 4.416872 s, approachRate: 0.652045 m/s, LOS rate: -5.844610 deg/s, posRepo size: 4 2021-02-17T22:35:10.685Z,1613601310.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:35:11.473Z,1613601311.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:35:11.889Z,1613601311.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:35:12.696Z,1613601312.696 [Micromodem](INFO): Nmea in: $SNTTA,0.078254,,,,223511.55*4A 2021-02-17T22:35:12.718Z,1613601312.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.360001 m, bearing: 14.103279 deg, deltaT: 4.476086 s, approachRate: 0.697038 m/s, LOS rate: -0.529980 deg/s, posRepo size: 4 2021-02-17T22:35:15.155Z,1613601315.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:35:15.911Z,1613601315.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:35:16.314Z,1613601316.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:35:17.136Z,1613601317.136 [Micromodem](INFO): Nmea in: $SNTTA,0.080407,,,,223515.99*49 2021-02-17T22:35:17.217Z,1613601317.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.600006 m, bearing: 54.020260 deg, deltaT: 4.432807 s, approachRate: 0.730915 m/s, LOS rate: 9.004899 deg/s, posRepo size: 4 2021-02-17T22:35:19.577Z,1613601319.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:35:20.362Z,1613601320.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:35:20.760Z,1613601320.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:35:21.584Z,1613601321.584 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223520.44*5A 2021-02-17T22:35:21.622Z,1613601321.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.420006 m, bearing: 60.723810 deg, deltaT: 4.480213 s, approachRate: 0.629434 m/s, LOS rate: 1.496257 deg/s, posRepo size: 4 2021-02-17T22:35:24.013Z,1613601324.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:35:24.796Z,1613601324.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:35:25.222Z,1613601325.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:35:26.024Z,1613601326.024 [Micromodem](INFO): Nmea in: $SNTTA,0.084394,,,,223524.87*4D 2021-02-17T22:35:26.062Z,1613601326.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.780006 m, bearing: 55.484967 deg, deltaT: 4.382816 s, approachRate: 0.766631 m/s, LOS rate: -1.195315 deg/s, posRepo size: 4 2021-02-17T22:35:28.474Z,1613601328.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:35:29.240Z,1613601329.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:35:29.653Z,1613601329.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:35:30.468Z,1613601330.468 [Micromodem](INFO): Nmea in: $SNTTA,0.086668,,,,223529.32*4A 2021-02-17T22:35:30.550Z,1613601330.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.080002 m, bearing: 53.773523 deg, deltaT: 4.479966 s, approachRate: 0.736612 m/s, LOS rate: -0.382022 deg/s, posRepo size: 4 2021-02-17T22:35:32.903Z,1613601332.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:35:33.691Z,1613601333.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:35:34.114Z,1613601334.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:35:34.984Z,1613601334.984 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223533.77*58 2021-02-17T22:35:35.121Z,1613601335.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.259995 m, bearing: 47.354528 deg, deltaT: 4.427258 s, approachRate: 0.718276 m/s, LOS rate: -1.449880 deg/s, posRepo size: 4 2021-02-17T22:35:37.425Z,1613601337.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:35:38.208Z,1613601338.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:35:38.594Z,1613601338.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:35:39.440Z,1613601339.440 [Micromodem](INFO): Nmea in: $SNTTA,0.091031,,,,223538.28*4D 2021-02-17T22:35:39.488Z,1613601339.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.260010 m, bearing: 52.902820 deg, deltaT: 4.488116 s, approachRate: 0.668435 m/s, LOS rate: 1.236219 deg/s, posRepo size: 4 2021-02-17T22:35:41.840Z,1613601341.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:35:42.632Z,1613601342.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:35:43.038Z,1613601343.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:35:43.864Z,1613601343.864 [Micromodem](INFO): Nmea in: $SNTTA,0.093189,,,,223542.71*4C 2021-02-17T22:35:43.886Z,1613601343.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.560013 m, bearing: 56.134395 deg, deltaT: 4.465291 s, approachRate: 0.739034 m/s, LOS rate: 0.723710 deg/s, posRepo size: 4 2021-02-17T22:35:46.339Z,1613601346.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:35:47.108Z,1613601347.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:35:47.504Z,1613601347.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:35:48.348Z,1613601348.348 [Micromodem](INFO): Nmea in: $SNTTA,0.095314,,,,223547.18*46 2021-02-17T22:35:48.408Z,1613601348.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.440002 m, bearing: 106.216040 deg, deltaT: 4.434290 s, approachRate: 0.649482 m/s, LOS rate: 11.294175 deg/s, posRepo size: 4 2021-02-17T22:35:50.739Z,1613601350.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:35:51.520Z,1613601351.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:35:51.925Z,1613601351.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:35:52.769Z,1613601352.769 [Micromodem](INFO): Nmea in: $SNTTA,0.097311,,,,223551.60*49 2021-02-17T22:35:52.795Z,1613601352.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.680008 m, bearing: 108.202429 deg, deltaT: 4.458718 s, approachRate: 0.726668 m/s, LOS rate: 0.445507 deg/s, posRepo size: 4 2021-02-17T22:35:55.230Z,1613601355.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:35:55.972Z,1613601355.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:35:56.381Z,1613601356.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:35:57.224Z,1613601357.224 [Micromodem](INFO): Nmea in: $SNTTA,0.099026,,,,223556.05*44 2021-02-17T22:35:57.281Z,1613601357.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.740005 m, bearing: 106.249091 deg, deltaT: 4.424590 s, approachRate: 0.691589 m/s, LOS rate: -0.441473 deg/s, posRepo size: 4 2021-02-17T22:35:59.328Z,1613601359.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:00.004Z,1613601360.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:36:00.415Z,1613601360.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:36:01.237Z,1613601361.237 [Micromodem](INFO): Nmea in: $SNTTA,0.100971,,,,223600.08*43 2021-02-17T22:36:01.306Z,1613601361.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.620010 m, bearing: 106.021468 deg, deltaT: 4.022987 s, approachRate: 0.715887 m/s, LOS rate: -0.056581 deg/s, posRepo size: 4 2021-02-17T22:36:01.306Z,1613601361.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.62 m. Resuming terminal guidance. 2021-02-17T22:36:01.307Z,1613601361.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T22:36:03.680Z,1613601363.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:04.459Z,1613601364.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:36:04.862Z,1613601364.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:36:05.680Z,1613601365.680 [Micromodem](INFO): Nmea in: $SNTTA,0.103024,,,,223604.53*43 2021-02-17T22:36:05.717Z,1613601365.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.680008 m, bearing: 109.415819 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T22:36:05.718Z,1613601365.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 109.415819deg and heading rate command to 0 deg/s. 2021-02-17T22:36:08.135Z,1613601368.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:08.894Z,1613601368.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:36:09.298Z,1613601369.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:36:10.128Z,1613601370.128 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223608.97*5D 2021-02-17T22:36:10.212Z,1613601370.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.979996 m, bearing: 53.221316 deg, deltaT: 4.431861 s, approachRate: 0.744605 m/s, LOS rate: -12.679663 deg/s, posRepo size: 2 2021-02-17T22:36:10.213Z,1613601370.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.679663 deg/s. Setting heading cmd to target bearing of 53.221316deg and heading rate command to 0 deg/s. 2021-02-17T22:36:12.575Z,1613601372.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:13.341Z,1613601373.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:36:13.741Z,1613601373.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:36:14.568Z,1613601374.568 [Micromodem](INFO): Nmea in: $SNTTA,0.107328,,,,223613.42*4E 2021-02-17T22:36:14.606Z,1613601374.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.739990 m, bearing: 93.216072 deg, deltaT: 4.493776 s, approachRate: 0.614182 m/s, LOS rate: 8.900034 deg/s, posRepo size: 3 2021-02-17T22:36:14.608Z,1613601374.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.739990 m, bearing: 93.216072 deg, approachRate: 0.614182 m/s, LOS rate: 8.900034 deg/s, cmd update: 12.000000 deg/s, cmd heading: 53.221316 deg, new cmd heading: 53.221316 deg. 2021-02-17T22:36:16.992Z,1613601376.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:17.798Z,1613601377.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:36:18.213Z,1613601378.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:36:19.021Z,1613601379.021 [Micromodem](INFO): Nmea in: $SNTTA,0.108934,,,,223617.87*4B 2021-02-17T22:36:19.083Z,1613601379.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.739990 m, bearing: 97.500752 deg, deltaT: 4.370048 s, approachRate: 0.000000 m/s, LOS rate: 0.980465 deg/s, posRepo size: 4 2021-02-17T22:36:19.094Z,1613601379.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.739990 m, bearing: 97.500752 deg, approachRate: 0.000000 m/s, LOS rate: 0.980465 deg/s, cmd update: 3.921861 deg/s, cmd heading: 105.709785 deg, new cmd heading: 110.941353 deg. 2021-02-17T22:36:21.471Z,1613601381.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:22.231Z,1613601382.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:36:22.642Z,1613601382.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:36:23.456Z,1613601383.456 [Micromodem](INFO): Nmea in: $SNTTA,0.110586,,,,223622.31*4C 2021-02-17T22:36:23.542Z,1613601383.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.959991 m, bearing: 74.510151 deg, deltaT: 4.504179 s, approachRate: 1.158924 m/s, LOS rate: -5.104282 deg/s, posRepo size: 4 2021-02-17T22:36:23.548Z,1613601383.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.959991 m, bearing: 74.510151 deg, approachRate: 1.158924 m/s, LOS rate: -5.104282 deg/s, cmd update: -12.000000 deg/s, cmd heading: 123.364218 deg, new cmd heading: 125.042771 deg. 2021-02-17T22:36:25.887Z,1613601385.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:26.674Z,1613601386.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:36:27.106Z,1613601387.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:36:27.893Z,1613601387.893 [Micromodem](INFO): Nmea in: $SNTTA,0.112384,,,,223626.75*4E 2021-02-17T22:36:28.708Z,1613601388.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:30.308Z,1613601390.308 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:36:31.554Z,1613601391.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:32.330Z,1613601392.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:36:32.738Z,1613601392.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:36:33.134Z,1613601393.134 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FA9,000,,E4 F,187,80,80,A7,FF 2021-02-17T22:36:33.544Z,1613601393.544 [Micromodem](INFO): Nmea in: $SNTTA,0.114142,,,,223632.40*43 2021-02-17T22:36:34.390Z,1613601394.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:37.249Z,1613601397.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:40.015Z,1613601400.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:40.814Z,1613601400.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:36:41.219Z,1613601401.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:36:42.029Z,1613601402.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223640.89*5E 2021-02-17T22:36:42.844Z,1613601402.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:44.446Z,1613601404.446 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:36:45.670Z,1613601405.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:46.464Z,1613601406.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:36:46.874Z,1613601406.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:36:47.273Z,1613601407.273 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,0C,80,61,E4 F,187,80,80,A7,FF 2021-02-17T22:36:47.682Z,1613601407.682 [Micromodem](INFO): Nmea in: $SNTTA,0.120097,,,,223646.54*4B 2021-02-17T22:36:48.527Z,1613601408.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:51.357Z,1613601411.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:54.217Z,1613601414.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:54.948Z,1613601414.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:36:55.357Z,1613601415.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:36:56.208Z,1613601416.208 [Micromodem](INFO): Nmea in: $SNTTA,0.123951,,,,223655.03*4B 2021-02-17T22:36:56.996Z,1613601416.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:36:58.582Z,1613601418.582 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:36:59.813Z,1613601419.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:00.610Z,1613601420.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:37:01.011Z,1613601421.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:37:01.843Z,1613601421.843 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223700.69*55 2021-02-17T22:37:02.281Z,1613601422.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.659988 m, bearing: 49.900717 deg, deltaT: 38.740347 s, approachRate: 0.611765 m/s, LOS rate: -0.635240 deg/s, posRepo size: 4 2021-02-17T22:37:02.287Z,1613601422.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.659988 m, bearing: 49.900717 deg, approachRate: 0.611765 m/s, LOS rate: -0.635240 deg/s, cmd update: -2.540962 deg/s, cmd heading: 18.433516 deg, new cmd heading: 13.346548 deg. 2021-02-17T22:37:04.665Z,1613601424.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:05.460Z,1613601425.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:37:05.857Z,1613601425.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:37:06.674Z,1613601426.674 [Micromodem](INFO): Nmea in: $SNTTA,0.128671,,,,223705.54*4B 2021-02-17T22:37:07.154Z,1613601427.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.539978 m, bearing: 63.810462 deg, deltaT: 4.830761 s, approachRate: 0.596177 m/s, LOS rate: 2.879411 deg/s, posRepo size: 4 2021-02-17T22:37:07.156Z,1613601427.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.539978 m, bearing: 63.810462 deg, approachRate: 0.596177 m/s, LOS rate: 2.879411 deg/s, cmd update: 11.517643 deg/s, cmd heading: 6.158473 deg, new cmd heading: 4.973326 deg. 2021-02-17T22:37:09.217Z,1613601429.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:09.897Z,1613601429.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:37:10.301Z,1613601430.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:37:11.118Z,1613601431.118 [Micromodem](INFO): Nmea in: $SNTTA,0.130402,,,,223709.97*47 2021-02-17T22:37:11.551Z,1613601431.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.719986 m, bearing: 38.971348 deg, deltaT: 4.475949 s, approachRate: 0.710466 m/s, LOS rate: -5.549463 deg/s, posRepo size: 4 2021-02-17T22:37:11.553Z,1613601431.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.719986 m, bearing: 38.971348 deg, approachRate: 0.710466 m/s, LOS rate: -5.549463 deg/s, cmd update: -12.000000 deg/s, cmd heading: 57.636177 deg, new cmd heading: 62.170269 deg. 2021-02-17T22:37:13.956Z,1613601433.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:14.744Z,1613601434.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:37:15.155Z,1613601435.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:37:15.961Z,1613601435.961 [Micromodem](INFO): Nmea in: $SNTTA,0.132492,,,,223714.82*44 2021-02-17T22:37:16.424Z,1613601436.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.899994 m, bearing: 14.919232 deg, deltaT: 4.811557 s, approachRate: 0.660910 m/s, LOS rate: -4.998822 deg/s, posRepo size: 4 2021-02-17T22:37:16.426Z,1613601436.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.899994 m, bearing: 14.919232 deg, approachRate: 0.660910 m/s, LOS rate: -4.998822 deg/s, cmd update: -12.000000 deg/s, cmd heading: 359.819791 deg, new cmd heading: 354.438078 deg. 2021-02-17T22:37:18.808Z,1613601438.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:19.592Z,1613601439.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:37:20.011Z,1613601440.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:37:20.813Z,1613601440.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223719.67*53 2021-02-17T22:37:21.642Z,1613601441.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:23.227Z,1613601443.227 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:37:24.477Z,1613601444.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:25.250Z,1613601445.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:37:25.654Z,1613601445.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:37:26.466Z,1613601446.466 [Micromodem](INFO): Nmea in: $SNTTA,0.137809,,,,223725.32*46 2021-02-17T22:37:26.908Z,1613601446.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.819992 m, bearing: 44.059542 deg, deltaT: 10.555772 s, approachRate: 0.750300 m/s, LOS rate: 2.760605 deg/s, posRepo size: 4 2021-02-17T22:37:26.913Z,1613601446.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 206.819992 m, bearing: 44.059542 deg, approachRate: 0.750300 m/s, LOS rate: 2.760605 deg/s, cmd update: 11.042418 deg/s, cmd heading: 233.199111 deg, new cmd heading: 228.652755 deg. 2021-02-17T22:37:29.357Z,1613601449.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:30.117Z,1613601450.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:37:30.520Z,1613601450.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:37:31.338Z,1613601451.338 [Micromodem](INFO): Nmea in: $SNTTA,0.139752,,,,223730.19*44 2021-02-17T22:37:31.757Z,1613601451.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.759995 m, bearing: 17.107022 deg, deltaT: 4.880095 s, approachRate: 0.602448 m/s, LOS rate: -5.522950 deg/s, posRepo size: 4 2021-02-17T22:37:31.759Z,1613601451.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 209.759995 m, bearing: 17.107022 deg, approachRate: 0.602448 m/s, LOS rate: -5.522950 deg/s, cmd update: -12.000000 deg/s, cmd heading: 287.086443 deg, new cmd heading: 290.951024 deg. 2021-02-17T22:37:34.222Z,1613601454.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:34.944Z,1613601454.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:37:35.356Z,1613601455.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:37:36.174Z,1613601456.174 [Micromodem](INFO): Nmea in: $SNTTA,0.141327,,,,223735.02*42 2021-02-17T22:37:36.610Z,1613601456.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.039993 m, bearing: 338.070950 deg, deltaT: 4.844013 s, approachRate: 0.470684 m/s, LOS rate: -8.058623 deg/s, posRepo size: 4 2021-02-17T22:37:36.616Z,1613601456.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.039993 m, bearing: 338.070950 deg, approachRate: 0.470684 m/s, LOS rate: -8.058623 deg/s, cmd update: -12.000000 deg/s, cmd heading: 228.909410 deg, new cmd heading: 224.651425 deg. 2021-02-17T22:37:39.000Z,1613601459.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:39.794Z,1613601459.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:37:40.213Z,1613601460.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:37:41.010Z,1613601461.010 [Micromodem](INFO): Nmea in: $SNTTA,0.142736,,,,223739.87*44 2021-02-17T22:37:41.863Z,1613601461.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:43.426Z,1613601463.426 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:37:44.665Z,1613601464.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:45.453Z,1613601465.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:37:45.861Z,1613601465.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:37:46.670Z,1613601466.670 [Micromodem](INFO): Nmea in: $SNTTA,0.142437,,,,223745.53*44 2021-02-17T22:37:47.133Z,1613601467.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.839981 m, bearing: 273.020146 deg, deltaT: 10.453024 s, approachRate: 0.172198 m/s, LOS rate: -6.223157 deg/s, posRepo size: 4 2021-02-17T22:37:47.135Z,1613601467.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.839981 m, bearing: 273.020146 deg, approachRate: 0.172198 m/s, LOS rate: -6.223157 deg/s, cmd update: -12.000000 deg/s, cmd heading: 103.764190 deg, new cmd heading: 98.374258 deg. 2021-02-17T22:37:49.537Z,1613601469.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:50.301Z,1613601470.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:37:50.702Z,1613601470.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:37:51.521Z,1613601471.521 [Micromodem](INFO): Nmea in: $SNTTA,0.142125,,,,223750.38*4B 2021-02-17T22:37:51.950Z,1613601471.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.119995 m, bearing: 293.298486 deg, deltaT: 4.867550 s, approachRate: -0.147915 m/s, LOS rate: 4.166026 deg/s, posRepo size: 4 2021-02-17T22:37:51.952Z,1613601471.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.119995 m, bearing: 293.298486 deg, approachRate: -0.147915 m/s, LOS rate: 4.166026 deg/s, cmd update: 12.000000 deg/s, cmd heading: 45.110325 deg, new cmd heading: 40.570017 deg. 2021-02-17T22:37:54.384Z,1613601474.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:55.150Z,1613601475.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:37:55.555Z,1613601475.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:37:56.385Z,1613601476.385 [Micromodem](INFO): Nmea in: $SNTTA,0.142202,,,,223755.23*42 2021-02-17T22:37:57.225Z,1613601477.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:37:58.778Z,1613601478.778 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:38:00.061Z,1613601480.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:38:00.800Z,1613601480.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:38:01.215Z,1613601481.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:38:02.026Z,1613601482.026 [Micromodem](INFO): Nmea in: $SNTTA,0.142183,,,,223800.87*49 2021-02-17T22:38:02.491Z,1613601482.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.359985 m, bearing: 283.385150 deg, deltaT: 10.469683 s, approachRate: 0.022922 m/s, LOS rate: -0.946861 deg/s, posRepo size: 4 2021-02-17T22:38:02.493Z,1613601482.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.359985 m, bearing: 283.385150 deg, approachRate: 0.022922 m/s, LOS rate: -0.946861 deg/s, cmd update: -3.787445 deg/s, cmd heading: 170.727084 deg, new cmd heading: 176.090016 deg. 2021-02-17T22:38:04.861Z,1613601484.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:38:05.653Z,1613601485.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:38:06.090Z,1613601486.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:38:06.873Z,1613601486.873 [Micromodem](INFO): Nmea in: $SNTTA,0.143341,,,,223805.73*4A 2021-02-17T22:38:07.312Z,1613601487.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.159988 m, bearing: 320.561651 deg, deltaT: 4.842621 s, approachRate: 0.371700 m/s, LOS rate: 7.676938 deg/s, posRepo size: 4 2021-02-17T22:38:07.314Z,1613601487.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.159988 m, bearing: 320.561651 deg, approachRate: 0.371700 m/s, LOS rate: 7.676938 deg/s, cmd update: 12.000000 deg/s, cmd heading: 152.366612 deg, new cmd heading: 150.758925 deg. 2021-02-17T22:38:09.704Z,1613601489.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:38:10.496Z,1613601490.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:38:10.907Z,1613601490.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:38:11.719Z,1613601491.719 [Micromodem](INFO): Nmea in: $SNTTA,0.144379,,,,223810.57*44 2021-02-17T22:38:12.210Z,1613601492.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.659988 m, bearing: 322.546558 deg, deltaT: 4.873402 s, approachRate: 0.307793 m/s, LOS rate: 0.407294 deg/s, posRepo size: 4 2021-02-17T22:38:12.216Z,1613601492.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 216.659988 m, bearing: 322.546558 deg, approachRate: 0.307793 m/s, LOS rate: 0.407294 deg/s, cmd update: 1.629176 deg/s, cmd heading: 210.802354 deg, new cmd heading: 216.228334 deg. 2021-02-17T22:38:14.576Z,1613601494.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:38:15.350Z,1613601495.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:38:15.755Z,1613601495.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:38:16.576Z,1613601496.576 [Micromodem](INFO): Nmea in: $SNTTA,0.145880,,,,223815.42*49 2021-02-17T22:38:17.001Z,1613601497.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.000000 m, bearing: 323.503085 deg, deltaT: 4.846661 s, approachRate: 0.482809 m/s, LOS rate: 0.197358 deg/s, posRepo size: 4 2021-02-17T22:38:17.003Z,1613601497.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 219.000000 m, bearing: 323.503085 deg, approachRate: 0.482809 m/s, LOS rate: 0.197358 deg/s, cmd update: 0.789432 deg/s, cmd heading: 218.704688 deg, new cmd heading: 219.345912 deg. 2021-02-17T22:38:19.437Z,1613601499.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:38:20.213Z,1613601500.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:38:20.598Z,1613601500.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:38:21.421Z,1613601501.421 [Micromodem](INFO): Nmea in: $SNTTA,0.147006,,,,223820.29*46 2021-02-17T22:38:21.872Z,1613601501.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.559998 m, bearing: 316.192761 deg, deltaT: 4.882095 s, approachRate: 0.319534 m/s, LOS rate: -1.497374 deg/s, posRepo size: 4 2021-02-17T22:38:21.874Z,1613601501.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 220.559998 m, bearing: 316.192761 deg, approachRate: 0.319534 m/s, LOS rate: -1.497374 deg/s, cmd update: -5.989497 deg/s, cmd heading: 222.555927 deg, new cmd heading: 222.860341 deg. 2021-02-17T22:38:24.280Z,1613601504.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:38:25.090Z,1613601505.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:38:25.468Z,1613601505.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:38:26.265Z,1613601506.265 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:38:26.676Z,1613601506.676 [Micromodem](INFO): Nmea in: $SNTTA,0.147673,,,,223825.22*4C 2021-02-17T22:38:26.698Z,1613601506.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.520004 m, bearing: 251.056881 deg, deltaT: 4.787342 s, approachRate: 0.200530 m/s, LOS rate: -13.605855 deg/s, posRepo size: 4 2021-02-17T22:38:26.699Z,1613601506.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.605855 deg/s. Setting heading cmd to target bearing of 251.056881deg and heading rate command to 0 deg/s. 2021-02-17T22:38:29.133Z,1613601509.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:38:29.888Z,1613601509.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:38:30.299Z,1613601510.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:38:31.127Z,1613601511.127 [Micromodem](INFO): Nmea in: $SNTTA,0.147632,,,,223829.96*4A 2021-02-17T22:38:31.616Z,1613601511.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.579987 m, bearing: 326.449492 deg, deltaT: 4.929486 s, approachRate: 0.012168 m/s, LOS rate: 15.294214 deg/s, posRepo size: 4 2021-02-17T22:38:31.616Z,1613601511.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.294214 deg/s. Setting heading cmd to target bearing of 326.449492deg and heading rate command to 0 deg/s. 2021-02-17T22:38:33.965Z,1613601513.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:38:34.739Z,1613601514.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:38:35.151Z,1613601515.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:38:35.991Z,1613601515.991 [Micromodem](INFO): Nmea in: $SNTTA,0.147245,,,,223834.82*47 2021-02-17T22:38:36.422Z,1613601516.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.739990 m, bearing: 215.304420 deg, deltaT: 4.807745 s, approachRate: -0.174717 m/s, LOS rate: -23.117921 deg/s, posRepo size: 4 2021-02-17T22:38:36.422Z,1613601516.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.117921 deg/s. Setting heading cmd to target bearing of 215.304420deg and heading rate command to 0 deg/s. 2021-02-17T22:38:38.812Z,1613601518.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:38:39.611Z,1613601519.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:38:40.026Z,1613601520.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:38:41.224Z,1613601521.224 [Micromodem](INFO): Nmea in: $SNTTA,0.146436,,,,223839.73*47 2021-02-17T22:38:41.257Z,1613601521.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.599991 m, bearing: 217.720790 deg, deltaT: 4.805923 s, approachRate: -0.237207 m/s, LOS rate: 0.502790 deg/s, posRepo size: 4 2021-02-17T22:38:41.279Z,1613601521.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 219.599991 m, bearing: 217.720790 deg, approachRate: -0.237207 m/s, LOS rate: 0.502790 deg/s, cmd update: 2.011161 deg/s, cmd heading: 215.304420 deg, new cmd heading: 215.304420 deg. 2021-02-17T22:38:43.645Z,1613601523.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:38:44.432Z,1613601524.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:38:44.839Z,1613601524.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:38:45.655Z,1613601525.655 [Micromodem](INFO): Nmea in: $SNTTA,0.145624,,,,223844.51*4F 2021-02-17T22:38:46.119Z,1613601526.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.460007 m, bearing: 251.464507 deg, deltaT: 4.848415 s, approachRate: -0.235125 m/s, LOS rate: 6.959742 deg/s, posRepo size: 4 2021-02-17T22:38:46.125Z,1613601526.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.460007 m, bearing: 251.464507 deg, approachRate: -0.235125 m/s, LOS rate: 6.959742 deg/s, cmd update: 12.000000 deg/s, cmd heading: 225.065503 deg, new cmd heading: 225.969228 deg. 2021-02-17T22:38:48.496Z,1613601528.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:38:49.292Z,1613601529.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:38:49.685Z,1613601529.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:38:50.506Z,1613601530.506 [Micromodem](INFO): Nmea in: $SNTTA,0.144858,,,,223849.37*46 2021-02-17T22:38:50.926Z,1613601530.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.199982 m, bearing: 203.801343 deg, deltaT: 4.851473 s, approachRate: -0.259720 m/s, LOS rate: -9.824472 deg/s, posRepo size: 4 2021-02-17T22:38:50.928Z,1613601530.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.199982 m, bearing: 203.801343 deg, approachRate: -0.259720 m/s, LOS rate: -9.824472 deg/s, cmd update: -12.000000 deg/s, cmd heading: 283.283156 deg, new cmd heading: 288.147716 deg. 2021-02-17T22:38:53.379Z,1613601533.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:38:54.133Z,1613601534.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:38:54.534Z,1613601534.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:38:55.355Z,1613601535.355 [Micromodem](INFO): Nmea in: $SNTTA,0.144170,,,,223854.21*4E 2021-02-17T22:38:55.774Z,1613601535.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.119995 m, bearing: 198.301429 deg, deltaT: 4.887955 s, approachRate: -0.220949 m/s, LOS rate: -1.125197 deg/s, posRepo size: 4 2021-02-17T22:38:55.776Z,1613601535.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 216.119995 m, bearing: 198.301429 deg, approachRate: -0.220949 m/s, LOS rate: -1.125197 deg/s, cmd update: -4.500789 deg/s, cmd heading: 224.867358 deg, new cmd heading: 220.244598 deg. 2021-02-17T22:38:58.242Z,1613601538.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:38:58.981Z,1613601538.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:38:59.403Z,1613601539.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:39:00.213Z,1613601540.213 [Micromodem](INFO): Nmea in: $SNTTA,0.143028,,,,223859.06*4D 2021-02-17T22:39:00.641Z,1613601540.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.440002 m, bearing: 208.754678 deg, deltaT: 4.837772 s, approachRate: -0.347266 m/s, LOS rate: 2.160757 deg/s, posRepo size: 4 2021-02-17T22:39:00.643Z,1613601540.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.440002 m, bearing: 208.754678 deg, approachRate: -0.347266 m/s, LOS rate: 2.160757 deg/s, cmd update: 8.643028 deg/s, cmd heading: 203.004458 deg, new cmd heading: 201.226124 deg. 2021-02-17T22:39:03.038Z,1613601543.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:03.824Z,1613601543.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:39:04.235Z,1613601544.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:39:05.042Z,1613601545.042 [Micromodem](INFO): Nmea in: $SNTTA,0.141558,,,,223903.90*4C 2021-02-17T22:39:05.504Z,1613601545.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.220001 m, bearing: 203.447881 deg, deltaT: 4.870576 s, approachRate: -0.455799 m/s, LOS rate: -1.089563 deg/s, posRepo size: 4 2021-02-17T22:39:05.506Z,1613601545.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.220001 m, bearing: 203.447881 deg, approachRate: -0.455799 m/s, LOS rate: -1.089563 deg/s, cmd update: -4.358250 deg/s, cmd heading: 245.068002 deg, new cmd heading: 248.442413 deg. 2021-02-17T22:39:07.908Z,1613601547.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:08.681Z,1613601548.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:39:09.109Z,1613601549.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:39:09.909Z,1613601549.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223908.76*5D 2021-02-17T22:39:10.725Z,1613601550.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:12.324Z,1613601552.324 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:39:13.551Z,1613601553.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:14.332Z,1613601554.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:39:14.737Z,1613601554.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:39:15.548Z,1613601555.548 [Micromodem](INFO): Nmea in: $SNTTA,0.137267,,,,223914.41*4C 2021-02-17T22:39:15.974Z,1613601555.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.619995 m, bearing: 200.089190 deg, deltaT: 10.476768 s, approachRate: -0.629966 m/s, LOS rate: -0.320585 deg/s, posRepo size: 4 2021-02-17T22:39:15.996Z,1613601555.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.619995 m, bearing: 200.089190 deg, approachRate: -0.629966 m/s, LOS rate: -0.320585 deg/s, cmd update: -1.282339 deg/s, cmd heading: 199.390398 deg, new cmd heading: 197.732789 deg. 2021-02-17T22:39:18.439Z,1613601558.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:19.208Z,1613601559.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:39:19.582Z,1613601559.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:39:20.408Z,1613601560.408 [Micromodem](INFO): Nmea in: $SNTTA,0.135448,,,,223919.28*47 2021-02-17T22:39:21.257Z,1613601561.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:22.810Z,1613601562.810 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:39:24.039Z,1613601564.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:24.834Z,1613601564.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:39:25.238Z,1613601565.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:39:26.056Z,1613601566.056 [Micromodem](INFO): Nmea in: $SNTTA,0.132281,,,,223924.91*4F 2021-02-17T22:39:26.493Z,1613601566.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.119980 m, bearing: 201.137829 deg, deltaT: 10.520056 s, approachRate: -0.712925 m/s, LOS rate: 0.099680 deg/s, posRepo size: 4 2021-02-17T22:39:26.495Z,1613601566.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.119980 m, bearing: 201.137829 deg, approachRate: -0.712925 m/s, LOS rate: 0.099680 deg/s, cmd update: 0.398720 deg/s, cmd heading: 185.905269 deg, new cmd heading: 185.413827 deg. 2021-02-17T22:39:28.893Z,1613601568.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:29.680Z,1613601569.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:39:30.117Z,1613601570.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:39:30.898Z,1613601570.898 [Micromodem](INFO): Nmea in: $SNTTA,0.129780,,,,223929.75*46 2021-02-17T22:39:31.356Z,1613601571.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.639999 m, bearing: 205.365565 deg, deltaT: 4.815260 s, approachRate: -0.722698 m/s, LOS rate: 0.877987 deg/s, posRepo size: 4 2021-02-17T22:39:31.357Z,1613601571.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.639999 m, bearing: 205.365565 deg, approachRate: -0.722698 m/s, LOS rate: 0.877987 deg/s, cmd update: 3.511949 deg/s, cmd heading: 187.826812 deg, new cmd heading: 187.996814 deg. 2021-02-17T22:39:33.742Z,1613601573.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:34.528Z,1613601574.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:39:34.947Z,1613601574.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:39:35.747Z,1613601575.747 [Micromodem](INFO): Nmea in: $SNTTA,0.127547,,,,223934.60*49 2021-02-17T22:39:36.226Z,1613601576.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.099991 m, bearing: 203.473945 deg, deltaT: 4.832188 s, approachRate: -0.732589 m/s, LOS rate: -0.391463 deg/s, posRepo size: 4 2021-02-17T22:39:36.228Z,1613601576.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.099991 m, bearing: 203.473945 deg, approachRate: -0.732589 m/s, LOS rate: -0.391463 deg/s, cmd update: -1.565850 deg/s, cmd heading: 204.797365 deg, new cmd heading: 206.427998 deg. 2021-02-17T22:39:38.612Z,1613601578.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:39.381Z,1613601579.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:39:39.799Z,1613601579.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:39:40.612Z,1613601580.612 [Micromodem](INFO): Nmea in: $SNTTA,0.125100,,,,223939.46*45 2021-02-17T22:39:40.649Z,1613601580.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.500000 m, bearing: 202.664690 deg, deltaT: 4.522262 s, approachRate: -0.796060 m/s, LOS rate: -0.178949 deg/s, posRepo size: 4 2021-02-17T22:39:40.652Z,1613601580.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.500000 m, bearing: 202.664690 deg, approachRate: -0.796060 m/s, LOS rate: -0.178949 deg/s, cmd update: -0.715796 deg/s, cmd heading: 197.716130 deg, new cmd heading: 197.143254 deg. 2021-02-17T22:39:43.028Z,1613601583.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:43.820Z,1613601583.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:39:44.237Z,1613601584.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:39:45.038Z,1613601585.038 [Micromodem](INFO): Nmea in: $SNTTA,0.122776,,,,223943.89*4B 2021-02-17T22:39:45.502Z,1613601585.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.960007 m, bearing: 202.078264 deg, deltaT: 4.816058 s, approachRate: -0.735040 m/s, LOS rate: -0.121765 deg/s, posRepo size: 4 2021-02-17T22:39:45.504Z,1613601585.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.960007 m, bearing: 202.078264 deg, approachRate: -0.735040 m/s, LOS rate: -0.121765 deg/s, cmd update: -0.487059 deg/s, cmd heading: 194.284646 deg, new cmd heading: 193.980740 deg. 2021-02-17T22:39:47.900Z,1613601587.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:48.672Z,1613601588.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:39:49.106Z,1613601589.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:39:49.888Z,1613601589.888 [Micromodem](INFO): Nmea in: $SNTTA,0.120984,,,,223948.75*42 2021-02-17T22:39:50.344Z,1613601590.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.300003 m, bearing: 203.906637 deg, deltaT: 4.803365 s, approachRate: -0.761967 m/s, LOS rate: 0.380644 deg/s, posRepo size: 4 2021-02-17T22:39:50.346Z,1613601590.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.300003 m, bearing: 203.906637 deg, approachRate: -0.761967 m/s, LOS rate: 0.380644 deg/s, cmd update: 1.522577 deg/s, cmd heading: 191.934386 deg, new cmd heading: 191.727286 deg. 2021-02-17T22:39:52.735Z,1613601592.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:53.517Z,1613601593.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:39:53.929Z,1613601593.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:39:54.748Z,1613601594.748 [Micromodem](INFO): Nmea in: $SNTTA,0.118031,,,,223953.59*4A 2021-02-17T22:39:54.782Z,1613601594.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.300003 m, bearing: 205.005041 deg, deltaT: 4.492697 s, approachRate: 0.000000 m/s, LOS rate: 0.244486 deg/s, posRepo size: 4 2021-02-17T22:39:54.784Z,1613601594.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.300003 m, bearing: 205.005041 deg, approachRate: 0.000000 m/s, LOS rate: 0.244486 deg/s, cmd update: 0.977946 deg/s, cmd heading: 198.762627 deg, new cmd heading: 199.363550 deg. 2021-02-17T22:39:57.233Z,1613601597.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:39:57.960Z,1613601597.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:39:58.369Z,1613601598.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:39:59.216Z,1613601599.216 [Micromodem](INFO): Nmea in: $SNTTA,0.115737,,,,223958.04*45 2021-02-17T22:39:59.272Z,1613601599.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.300003 m, bearing: 205.033482 deg, deltaT: 4.421775 s, approachRate: 0.000000 m/s, LOS rate: 0.006432 deg/s, posRepo size: 4 2021-02-17T22:39:59.274Z,1613601599.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.300003 m, bearing: 205.033482 deg, approachRate: 0.000000 m/s, LOS rate: 0.006432 deg/s, cmd update: 0.025728 deg/s, cmd heading: 203.090832 deg, new cmd heading: 203.539296 deg. 2021-02-17T22:40:01.617Z,1613601601.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:02.409Z,1613601602.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:40:02.811Z,1613601602.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:40:03.643Z,1613601603.643 [Micromodem](INFO): Nmea in: $SNTTA,0.113353,,,,224002.48*4C 2021-02-17T22:40:03.662Z,1613601603.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.940002 m, bearing: 204.029430 deg, deltaT: 4.471034 s, approachRate: -3.435447 m/s, LOS rate: -0.224568 deg/s, posRepo size: 4 2021-02-17T22:40:03.664Z,1613601603.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.940002 m, bearing: 204.029430 deg, approachRate: -3.435447 m/s, LOS rate: -0.224568 deg/s, cmd update: -0.898272 deg/s, cmd heading: 203.205864 deg, new cmd heading: 203.215578 deg. 2021-02-17T22:40:06.060Z,1613601606.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:06.848Z,1613601606.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:40:07.271Z,1613601607.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:40:08.096Z,1613601608.096 [Micromodem](INFO): Nmea in: $SNTTA,0.111161,,,,224006.92*4E 2021-02-17T22:40:08.148Z,1613601608.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.560013 m, bearing: 204.628178 deg, deltaT: 4.398304 s, approachRate: 0.368326 m/s, LOS rate: 0.136132 deg/s, posRepo size: 4 2021-02-17T22:40:08.149Z,1613601608.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.560013 m, bearing: 204.628178 deg, approachRate: 0.368326 m/s, LOS rate: 0.136132 deg/s, cmd update: 0.544526 deg/s, cmd heading: 199.251399 deg, new cmd heading: 198.842707 deg. 2021-02-17T22:40:10.530Z,1613601610.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:11.298Z,1613601611.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:40:11.703Z,1613601611.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:40:12.528Z,1613601612.528 [Micromodem](INFO): Nmea in: $SNTTA,0.108740,,,,224011.37*4A 2021-02-17T22:40:12.569Z,1613601612.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 204.723855 deg, deltaT: 4.483657 s, approachRate: -0.816302 m/s, LOS rate: 0.021339 deg/s, posRepo size: 4 2021-02-17T22:40:12.571Z,1613601612.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.899994 m, bearing: 204.723855 deg, approachRate: -0.816302 m/s, LOS rate: 0.021339 deg/s, cmd update: 0.085356 deg/s, cmd heading: 201.686718 deg, new cmd heading: 201.910051 deg. 2021-02-17T22:40:14.943Z,1613601614.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:15.737Z,1613601615.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:40:16.162Z,1613601616.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:40:16.968Z,1613601616.968 [Micromodem](INFO): Nmea in: $SNTTA,0.106481,,,,224015.81*43 2021-02-17T22:40:17.014Z,1613601617.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.539993 m, bearing: 204.928310 deg, deltaT: 4.424200 s, approachRate: -0.759459 m/s, LOS rate: 0.046213 deg/s, posRepo size: 4 2021-02-17T22:40:17.020Z,1613601617.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.539993 m, bearing: 204.928310 deg, approachRate: -0.759459 m/s, LOS rate: 0.046213 deg/s, cmd update: 0.184851 deg/s, cmd heading: 202.065242 deg, new cmd heading: 202.101135 deg. 2021-02-17T22:40:19.430Z,1613601619.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:20.210Z,1613601620.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:40:20.604Z,1613601620.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:40:21.428Z,1613601621.428 [Micromodem](INFO): Nmea in: $SNTTA,0.104233,,,,224020.28*4B 2021-02-17T22:40:21.475Z,1613601621.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.539993 m, bearing: 204.553743 deg, deltaT: 4.443336 s, approachRate: 0.000000 m/s, LOS rate: -0.084299 deg/s, posRepo size: 4 2021-02-17T22:40:21.477Z,1613601621.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.539993 m, bearing: 204.553743 deg, approachRate: 0.000000 m/s, LOS rate: -0.084299 deg/s, cmd update: -0.337195 deg/s, cmd heading: 202.883670 deg, new cmd heading: 202.967544 deg. 2021-02-17T22:40:23.845Z,1613601623.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:24.630Z,1613601624.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:40:25.030Z,1613601625.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:40:25.856Z,1613601625.856 [Micromodem](INFO): Nmea in: $SNTTA,0.102016,,,,224024.71*40 2021-02-17T22:40:25.894Z,1613601625.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.820007 m, bearing: 203.853334 deg, deltaT: 4.451227 s, approachRate: -1.509693 m/s, LOS rate: -0.157352 deg/s, posRepo size: 4 2021-02-17T22:40:25.896Z,1613601625.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.820007 m, bearing: 203.853334 deg, approachRate: -1.509693 m/s, LOS rate: -0.157352 deg/s, cmd update: -0.629407 deg/s, cmd heading: 201.377091 deg, new cmd heading: 201.240454 deg. 2021-02-17T22:40:28.303Z,1613601628.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:29.088Z,1613601629.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:40:29.481Z,1613601629.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:40:30.320Z,1613601630.320 [Micromodem](INFO): Nmea in: $SNTTA,0.099664,,,,224029.16*4C 2021-02-17T22:40:30.371Z,1613601630.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.339996 m, bearing: 204.331748 deg, deltaT: 4.613832 s, approachRate: -0.754256 m/s, LOS rate: 0.103691 deg/s, posRepo size: 4 2021-02-17T22:40:30.373Z,1613601630.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.339996 m, bearing: 204.331748 deg, approachRate: -0.754256 m/s, LOS rate: 0.103691 deg/s, cmd update: 0.414765 deg/s, cmd heading: 198.503610 deg, new cmd heading: 198.304302 deg. 2021-02-17T22:40:32.353Z,1613601632.353 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T22:40:32.758Z,1613601632.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:33.532Z,1613601633.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:40:33.943Z,1613601633.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:40:34.777Z,1613601634.777 [Micromodem](INFO): Nmea in: $SNTTA,0.097335,,,0.099847,224033.61*5D 2021-02-17T22:40:34.798Z,1613601634.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.800003 m, bearing: 204.251739 deg, deltaT: 4.286959 s, approachRate: -0.825759 m/s, LOS rate: -0.018663 deg/s, posRepo size: 4 2021-02-17T22:40:34.800Z,1613601634.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.800003 m, bearing: 204.251739 deg, approachRate: -0.825759 m/s, LOS rate: -0.018663 deg/s, cmd update: -0.074653 deg/s, cmd heading: 200.301685 deg, new cmd heading: 200.471097 deg. 2021-02-17T22:40:37.262Z,1613601637.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:37.979Z,1613601637.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:40:38.382Z,1613601638.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:40:39.220Z,1613601639.220 [Micromodem](INFO): Nmea in: $SNTTA,0.095208,,,,224038.06*4F 2021-02-17T22:40:39.271Z,1613601639.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.620010 m, bearing: 203.965786 deg, deltaT: 4.411372 s, approachRate: -0.720863 m/s, LOS rate: -0.064822 deg/s, posRepo size: 4 2021-02-17T22:40:39.273Z,1613601639.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.620010 m, bearing: 203.965786 deg, approachRate: -0.720863 m/s, LOS rate: -0.064822 deg/s, cmd update: -0.259287 deg/s, cmd heading: 199.972359 deg, new cmd heading: 199.937317 deg. 2021-02-17T22:40:41.627Z,1613601641.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:42.425Z,1613601642.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:40:42.825Z,1613601642.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:40:43.652Z,1613601643.652 [Micromodem](INFO): Nmea in: $SNTTA,0.092878,,,,224042.50*4B 2021-02-17T22:40:43.688Z,1613601643.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.139999 m, bearing: 204.119957 deg, deltaT: 4.494318 s, approachRate: -0.774313 m/s, LOS rate: 0.034304 deg/s, posRepo size: 4 2021-02-17T22:40:43.690Z,1613601643.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.139999 m, bearing: 204.119957 deg, approachRate: -0.774313 m/s, LOS rate: 0.034304 deg/s, cmd update: 0.137214 deg/s, cmd heading: 198.807049 deg, new cmd heading: 198.705325 deg. 2021-02-17T22:40:46.117Z,1613601646.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:46.867Z,1613601646.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:40:47.289Z,1613601647.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:40:48.126Z,1613601648.126 [Micromodem](INFO): Nmea in: $SNTTA,0.090709,,,,224046.94*4C 2021-02-17T22:40:48.156Z,1613601648.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.899994 m, bearing: 204.524031 deg, deltaT: 4.391701 s, approachRate: -0.737756 m/s, LOS rate: 0.092009 deg/s, posRepo size: 4 2021-02-17T22:40:48.159Z,1613601648.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.899994 m, bearing: 204.524031 deg, approachRate: -0.737756 m/s, LOS rate: 0.092009 deg/s, cmd update: 0.368034 deg/s, cmd heading: 199.409681 deg, new cmd heading: 199.474002 deg. 2021-02-17T22:40:50.208Z,1613601650.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:50.921Z,1613601650.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:40:51.309Z,1613601651.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:40:52.152Z,1613601652.152 [Micromodem](INFO): Nmea in: $SNTTA,0.088507,,,,224051.00*42 2021-02-17T22:40:52.216Z,1613601652.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.540009 m, bearing: 204.506492 deg, deltaT: 4.077397 s, approachRate: -0.824052 m/s, LOS rate: -0.004302 deg/s, posRepo size: 4 2021-02-17T22:40:52.218Z,1613601652.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.540009 m, bearing: 204.506492 deg, approachRate: -0.824052 m/s, LOS rate: -0.004302 deg/s, cmd update: -0.017207 deg/s, cmd heading: 200.908782 deg, new cmd heading: 201.076244 deg. 2021-02-17T22:40:54.576Z,1613601654.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:55.354Z,1613601655.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:40:55.761Z,1613601655.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:40:56.580Z,1613601656.580 [Micromodem](INFO): Nmea in: $SNTTA,0.086447,,,,224055.43*4A 2021-02-17T22:40:56.614Z,1613601656.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.419998 m, bearing: 205.608010 deg, deltaT: 4.502068 s, approachRate: -0.693017 m/s, LOS rate: 0.244669 deg/s, posRepo size: 4 2021-02-17T22:40:56.616Z,1613601656.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.419998 m, bearing: 205.608010 deg, approachRate: -0.693017 m/s, LOS rate: 0.244669 deg/s, cmd update: 0.978678 deg/s, cmd heading: 200.831314 deg, new cmd heading: 200.825263 deg. 2021-02-17T22:40:59.002Z,1613601659.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:40:59.793Z,1613601659.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:00.221Z,1613601660.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:01.020Z,1613601661.020 [Micromodem](INFO): Nmea in: $SNTTA,0.084304,,,,224059.87*4C 2021-02-17T22:41:01.062Z,1613601661.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.180000 m, bearing: 203.990198 deg, deltaT: 4.367016 s, approachRate: -0.741925 m/s, LOS rate: -0.370462 deg/s, posRepo size: 4 2021-02-17T22:41:01.069Z,1613601661.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.180000 m, bearing: 203.990198 deg, approachRate: -0.741925 m/s, LOS rate: -0.370462 deg/s, cmd update: -1.481847 deg/s, cmd heading: 205.105335 deg, new cmd heading: 205.527233 deg. 2021-02-17T22:41:03.482Z,1613601663.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:41:04.244Z,1613601664.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:04.641Z,1613601664.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:05.469Z,1613601665.469 [Micromodem](INFO): Nmea in: $SNTTA,0.082000,,,,224104.32*4A 2021-02-17T22:41:05.538Z,1613601665.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.820007 m, bearing: 205.211900 deg, deltaT: 4.473764 s, approachRate: -0.751044 m/s, LOS rate: 0.273082 deg/s, posRepo size: 4 2021-02-17T22:41:05.540Z,1613601665.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.820007 m, bearing: 205.211900 deg, approachRate: -0.751044 m/s, LOS rate: 0.273082 deg/s, cmd update: 1.092326 deg/s, cmd heading: 198.478246 deg, new cmd heading: 197.832499 deg. 2021-02-17T22:41:07.887Z,1613601667.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:41:08.700Z,1613601668.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:09.113Z,1613601669.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:09.920Z,1613601669.920 [Micromodem](INFO): Nmea in: $SNTTA,0.079659,,,,224108.78*46 2021-02-17T22:41:09.962Z,1613601669.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.220001 m, bearing: 204.128591 deg, deltaT: 4.405182 s, approachRate: -0.817221 m/s, LOS rate: -0.245917 deg/s, posRepo size: 4 2021-02-17T22:41:09.964Z,1613601669.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.220001 m, bearing: 204.128591 deg, approachRate: -0.817221 m/s, LOS rate: -0.245917 deg/s, cmd update: -0.983668 deg/s, cmd heading: 203.296041 deg, new cmd heading: 203.786981 deg. 2021-02-17T22:41:12.365Z,1613601672.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:41:13.125Z,1613601673.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:13.533Z,1613601673.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:14.359Z,1613601674.359 [Micromodem](INFO): Nmea in: $SNTTA,0.077367,,,,224113.20*47 2021-02-17T22:41:14.393Z,1613601674.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.860008 m, bearing: 205.998137 deg, deltaT: 4.461764 s, approachRate: -0.753064 m/s, LOS rate: 0.419015 deg/s, posRepo size: 4 2021-02-17T22:41:14.395Z,1613601674.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.860008 m, bearing: 205.998137 deg, approachRate: -0.753064 m/s, LOS rate: 0.419015 deg/s, cmd update: 1.676060 deg/s, cmd heading: 198.911907 deg, new cmd heading: 198.495310 deg. 2021-02-17T22:41:16.796Z,1613601676.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:41:17.570Z,1613601677.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:17.981Z,1613601677.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:18.796Z,1613601678.796 [Micromodem](INFO): Nmea in: $SNTTA,0.075027,,,,224117.64*46 2021-02-17T22:41:18.833Z,1613601678.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.379997 m, bearing: 204.989263 deg, deltaT: 4.453977 s, approachRate: -0.781327 m/s, LOS rate: -0.226511 deg/s, posRepo size: 4 2021-02-17T22:41:18.835Z,1613601678.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.379997 m, bearing: 204.989263 deg, approachRate: -0.781327 m/s, LOS rate: -0.226511 deg/s, cmd update: -0.906043 deg/s, cmd heading: 206.384763 deg, new cmd heading: 207.064092 deg. 2021-02-17T22:41:21.254Z,1613601681.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:41:22.018Z,1613601682.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:22.440Z,1613601682.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:23.244Z,1613601683.244 [Micromodem](INFO): Nmea in: $SNTTA,0.072888,,,,224122.09*41 2021-02-17T22:41:23.304Z,1613601683.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.139999 m, bearing: 204.421032 deg, deltaT: 4.411097 s, approachRate: -0.734511 m/s, LOS rate: -0.128818 deg/s, posRepo size: 4 2021-02-17T22:41:23.306Z,1613601683.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.139999 m, bearing: 204.421032 deg, approachRate: -0.734511 m/s, LOS rate: -0.128818 deg/s, cmd update: -0.515274 deg/s, cmd heading: 202.387749 deg, new cmd heading: 201.970569 deg. 2021-02-17T22:41:25.686Z,1613601685.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:41:26.477Z,1613601686.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:26.880Z,1613601686.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:27.701Z,1613601687.701 [Micromodem](INFO): Nmea in: $SNTTA,0.070620,0.082789,0.076495,,224126.55*47 2021-02-17T22:41:27.744Z,1613601687.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.779999 m, bearing: 204.758416 deg, deltaT: 4.494300 s, approachRate: -0.747614 m/s, LOS rate: 0.075069 deg/s, posRepo size: 4 2021-02-17T22:41:27.746Z,1613601687.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.779999 m, bearing: 204.758416 deg, approachRate: -0.747614 m/s, LOS rate: 0.075069 deg/s, cmd update: 0.300277 deg/s, cmd heading: 200.074049 deg, new cmd heading: 199.861203 deg. 2021-02-17T22:41:30.139Z,1613601690.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:41:30.900Z,1613601690.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:31.308Z,1613601691.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:32.140Z,1613601692.140 [Micromodem](INFO): Nmea in: $SNTTA,0.068286,,,,224130.98*45 2021-02-17T22:41:32.210Z,1613601692.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.240005 m, bearing: 205.591057 deg, deltaT: 4.410300 s, approachRate: -0.802665 m/s, LOS rate: 0.188795 deg/s, posRepo size: 4 2021-02-17T22:41:32.212Z,1613601692.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.240005 m, bearing: 205.591057 deg, approachRate: -0.802665 m/s, LOS rate: 0.188795 deg/s, cmd update: 0.755179 deg/s, cmd heading: 201.398861 deg, new cmd heading: 201.539464 deg. 2021-02-17T22:41:34.570Z,1613601694.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:41:35.349Z,1613601695.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:35.751Z,1613601695.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:36.576Z,1613601696.576 [Micromodem](INFO): Nmea in: $SNTTA,0.066058,,,0.076088,224135.42*57 2021-02-17T22:41:36.616Z,1613601696.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.940010 m, bearing: 204.732612 deg, deltaT: 4.498198 s, approachRate: -0.733626 m/s, LOS rate: -0.190842 deg/s, posRepo size: 4 2021-02-17T22:41:36.617Z,1613601696.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.940010 m, bearing: 204.732612 deg, approachRate: -0.733626 m/s, LOS rate: -0.190842 deg/s, cmd update: -0.763368 deg/s, cmd heading: 204.789779 deg, new cmd heading: 205.079251 deg. 2021-02-17T22:41:39.001Z,1613601699.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:41:39.788Z,1613601699.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:40.236Z,1613601700.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:41.016Z,1613601701.016 [Micromodem](INFO): Nmea in: $SNTTA,0.063743,,,,224139.86*44 2021-02-17T22:41:41.038Z,1613601701.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.459999 m, bearing: 204.877753 deg, deltaT: 4.368942 s, approachRate: -0.796534 m/s, LOS rate: 0.033221 deg/s, posRepo size: 4 2021-02-17T22:41:41.040Z,1613601701.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.459999 m, bearing: 204.877753 deg, approachRate: -0.796534 m/s, LOS rate: 0.033221 deg/s, cmd update: 0.132885 deg/s, cmd heading: 201.446759 deg, new cmd heading: 201.121086 deg. 2021-02-17T22:41:43.480Z,1613601703.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:41:44.233Z,1613601704.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:44.650Z,1613601704.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:45.464Z,1613601705.464 [Micromodem](INFO): Nmea in: $SNTTA,0.061454,,,,224144.31*45 2021-02-17T22:41:45.517Z,1613601705.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.979996 m, bearing: 204.706534 deg, deltaT: 4.495998 s, approachRate: -0.774022 m/s, LOS rate: -0.038083 deg/s, posRepo size: 4 2021-02-17T22:41:45.519Z,1613601705.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.979996 m, bearing: 204.706534 deg, approachRate: -0.774022 m/s, LOS rate: -0.038083 deg/s, cmd update: -0.152330 deg/s, cmd heading: 202.042679 deg, new cmd heading: 202.098686 deg. 2021-02-17T22:41:47.894Z,1613601707.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:41:48.676Z,1613601708.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:49.114Z,1613601709.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:49.912Z,1613601709.912 [Micromodem](INFO): Nmea in: $SNTTA,0.059228,,,,224148.75*4F 2021-02-17T22:41:49.930Z,1613601709.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.680000 m, bearing: 205.137833 deg, deltaT: 4.412219 s, approachRate: -0.747922 m/s, LOS rate: 0.097751 deg/s, posRepo size: 4 2021-02-17T22:41:49.932Z,1613601709.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.680000 m, bearing: 205.137833 deg, approachRate: -0.747922 m/s, LOS rate: 0.097751 deg/s, cmd update: 0.391004 deg/s, cmd heading: 201.368806 deg, new cmd heading: 201.306239 deg. 2021-02-17T22:41:52.361Z,1613601712.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:41:53.121Z,1613601713.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:53.534Z,1613601713.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:54.364Z,1613601714.364 [Micromodem](INFO): Nmea in: $SNTTA,0.057053,,,,224153.20*45 2021-02-17T22:41:54.398Z,1613601714.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.379997 m, bearing: 206.862456 deg, deltaT: 4.440688 s, approachRate: -0.743129 m/s, LOS rate: 0.388368 deg/s, posRepo size: 4 2021-02-17T22:41:54.400Z,1613601714.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.379997 m, bearing: 206.862456 deg, approachRate: -0.743129 m/s, LOS rate: 0.388368 deg/s, cmd update: 1.553473 deg/s, cmd heading: 203.104097 deg, new cmd heading: 203.276368 deg. 2021-02-17T22:41:56.779Z,1613601716.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:41:57.564Z,1613601717.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:41:57.977Z,1613601717.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:41:58.796Z,1613601718.796 [Micromodem](INFO): Nmea in: $SNTTA,0.054573,,,,224157.64*45 2021-02-17T22:41:58.834Z,1613601718.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.720001 m, bearing: 205.571468 deg, deltaT: 4.466029 s, approachRate: -0.819519 m/s, LOS rate: -0.289068 deg/s, posRepo size: 4 2021-02-17T22:41:58.836Z,1613601718.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.720001 m, bearing: 205.571468 deg, approachRate: -0.819519 m/s, LOS rate: -0.289068 deg/s, cmd update: -1.156273 deg/s, cmd heading: 210.046056 deg, new cmd heading: 210.679710 deg. 2021-02-17T22:42:01.253Z,1613601721.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:02.033Z,1613601722.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:42:02.430Z,1613601722.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:42:03.252Z,1613601723.252 [Micromodem](INFO): Nmea in: $SNTTA,0.052360,,,,224202.11*46 2021-02-17T22:42:03.301Z,1613601723.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.360001 m, bearing: 203.381983 deg, deltaT: 4.408222 s, approachRate: -0.762212 m/s, LOS rate: -0.496682 deg/s, posRepo size: 4 2021-02-17T22:42:03.302Z,1613601723.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.360001 m, bearing: 203.381983 deg, approachRate: -0.762212 m/s, LOS rate: -0.496682 deg/s, cmd update: -1.986729 deg/s, cmd heading: 204.948940 deg, new cmd heading: 204.409844 deg. 2021-02-17T22:42:05.684Z,1613601725.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:06.462Z,1613601726.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:42:06.858Z,1613601726.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:42:07.688Z,1613601727.688 [Micromodem](INFO): Nmea in: $SNTTA,0.050254,,,,224206.54*47 2021-02-17T22:42:07.730Z,1613601727.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.000008 m, bearing: 202.845075 deg, deltaT: 4.495508 s, approachRate: -0.747411 m/s, LOS rate: -0.119432 deg/s, posRepo size: 4 2021-02-17T22:42:07.736Z,1613601727.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.000008 m, bearing: 202.845075 deg, approachRate: -0.747411 m/s, LOS rate: -0.119432 deg/s, cmd update: -0.477728 deg/s, cmd heading: 196.017626 deg, new cmd heading: 195.222996 deg. 2021-02-17T22:42:10.156Z,1613601730.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:10.901Z,1613601730.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:42:11.303Z,1613601731.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:42:12.148Z,1613601732.148 [Micromodem](INFO): Nmea in: $SNTTA,0.047739,,,,224210.98*48 2021-02-17T22:42:12.219Z,1613601732.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.519997 m, bearing: 205.491405 deg, deltaT: 4.408227 s, approachRate: -0.789436 m/s, LOS rate: 0.600316 deg/s, posRepo size: 4 2021-02-17T22:42:12.221Z,1613601732.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.519997 m, bearing: 205.491405 deg, approachRate: -0.789436 m/s, LOS rate: 0.600316 deg/s, cmd update: 2.401264 deg/s, cmd heading: 193.915584 deg, new cmd heading: 193.683972 deg. 2021-02-17T22:42:14.565Z,1613601734.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:15.340Z,1613601735.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:42:15.754Z,1613601735.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:42:16.576Z,1613601736.576 [Micromodem](INFO): Nmea in: $SNTTA,0.045564,,,,224215.41*41 2021-02-17T22:42:16.600Z,1613601736.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.160004 m, bearing: 206.849615 deg, deltaT: 4.516300 s, approachRate: -0.743970 m/s, LOS rate: 0.300735 deg/s, posRepo size: 4 2021-02-17T22:42:16.602Z,1613601736.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.160004 m, bearing: 206.849615 deg, approachRate: -0.743970 m/s, LOS rate: 0.300735 deg/s, cmd update: 1.202941 deg/s, cmd heading: 204.732213 deg, new cmd heading: 205.609297 deg. 2021-02-17T22:42:18.994Z,1613601738.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:19.784Z,1613601739.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:42:20.212Z,1613601740.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:42:21.012Z,1613601741.012 [Micromodem](INFO): Nmea in: $SNTTA,0.043341,,,,224219.86*41 2021-02-17T22:42:21.034Z,1613601741.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.100006 m, bearing: 207.014660 deg, deltaT: 4.351195 s, approachRate: -0.703255 m/s, LOS rate: 0.037931 deg/s, posRepo size: 4 2021-02-17T22:42:21.036Z,1613601741.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.100006 m, bearing: 207.014660 deg, approachRate: -0.703255 m/s, LOS rate: 0.037931 deg/s, cmd update: 0.151724 deg/s, cmd heading: 209.990425 deg, new cmd heading: 210.505682 deg. 2021-02-17T22:42:23.480Z,1613601743.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:24.239Z,1613601744.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:42:24.639Z,1613601744.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:42:25.480Z,1613601745.480 [Micromodem](INFO): Nmea in: $SNTTA,0.041352,,,,224224.31*43 2021-02-17T22:42:25.520Z,1613601745.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.800007 m, bearing: 203.985102 deg, deltaT: 4.452744 s, approachRate: -0.741116 m/s, LOS rate: -0.680380 deg/s, posRepo size: 4 2021-02-17T22:42:25.522Z,1613601745.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.800007 m, bearing: 203.985102 deg, approachRate: -0.741116 m/s, LOS rate: -0.680380 deg/s, cmd update: -2.721520 deg/s, cmd heading: 210.665979 deg, new cmd heading: 210.735974 deg. 2021-02-17T22:42:27.880Z,1613601747.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:28.677Z,1613601748.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:42:29.108Z,1613601749.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:42:29.904Z,1613601749.904 [Micromodem](INFO): Nmea in: $SNTTA,0.039043,,,,224228.75*43 2021-02-17T22:42:29.926Z,1613601749.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.319996 m, bearing: 202.905987 deg, deltaT: 4.451149 s, approachRate: -0.781823 m/s, LOS rate: -0.242435 deg/s, posRepo size: 4 2021-02-17T22:42:29.928Z,1613601749.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.319996 m, bearing: 202.905987 deg, approachRate: -0.781823 m/s, LOS rate: -0.242435 deg/s, cmd update: -0.969741 deg/s, cmd heading: 198.551620 deg, new cmd heading: 197.418045 deg. 2021-02-17T22:42:32.344Z,1613601752.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:33.146Z,1613601753.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:42:33.525Z,1613601753.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:42:34.368Z,1613601754.368 [Micromodem](INFO): Nmea in: $SNTTA,0.036735,,,,224233.22*42 2021-02-17T22:42:34.413Z,1613601754.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.900002 m, bearing: 206.121312 deg, deltaT: 4.429512 s, approachRate: -0.772093 m/s, LOS rate: 0.725887 deg/s, posRepo size: 4 2021-02-17T22:42:34.415Z,1613601754.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.900002 m, bearing: 206.121312 deg, approachRate: -0.772093 m/s, LOS rate: 0.725887 deg/s, cmd update: 2.903548 deg/s, cmd heading: 194.256142 deg, new cmd heading: 193.796416 deg. 2021-02-17T22:42:36.773Z,1613601756.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:37.569Z,1613601757.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:42:37.971Z,1613601757.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:42:38.803Z,1613601758.803 [Micromodem](INFO): Nmea in: $SNTTA,0.034737,,,,224237.64*44 2021-02-17T22:42:38.826Z,1613601758.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.840004 m, bearing: 207.819652 deg, deltaT: 4.475788 s, approachRate: -0.683678 m/s, LOS rate: 0.379451 deg/s, posRepo size: 4 2021-02-17T22:42:38.828Z,1613601758.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.840004 m, bearing: 207.819652 deg, approachRate: -0.683678 m/s, LOS rate: 0.379451 deg/s, cmd update: 1.517802 deg/s, cmd heading: 207.251557 deg, new cmd heading: 208.444764 deg. 2021-02-17T22:42:41.246Z,1613601761.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:42.006Z,1613601762.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:42:42.410Z,1613601762.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:42:43.236Z,1613601763.236 [Micromodem](INFO): Nmea in: $SNTTA,0.032387,,,,224242.09*44 2021-02-17T22:42:43.284Z,1613601763.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.060001 m, bearing: 204.769823 deg, deltaT: 4.437347 s, approachRate: -0.851861 m/s, LOS rate: -0.687309 deg/s, posRepo size: 4 2021-02-17T22:42:43.286Z,1613601763.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.060001 m, bearing: 204.769823 deg, approachRate: -0.851861 m/s, LOS rate: -0.687309 deg/s, cmd update: -2.749237 deg/s, cmd heading: 213.956084 deg, new cmd heading: 214.641347 deg. 2021-02-17T22:42:45.670Z,1613601765.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:46.454Z,1613601766.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:42:46.862Z,1613601766.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:42:47.680Z,1613601767.680 [Micromodem](INFO): Nmea in: $SNTTA,0.030153,,,0.129940,224246.53*5F 2021-02-17T22:42:47.714Z,1613601767.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.059998 m, bearing: 203.816683 deg, deltaT: 4.458701 s, approachRate: -0.672843 m/s, LOS rate: -0.213771 deg/s, posRepo size: 4 2021-02-17T22:42:47.716Z,1613601767.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.059998 m, bearing: 203.816683 deg, approachRate: -0.672843 m/s, LOS rate: -0.213771 deg/s, cmd update: -0.855082 deg/s, cmd heading: 201.643065 deg, new cmd heading: 200.533167 deg. 2021-02-17T22:42:50.155Z,1613601770.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:50.893Z,1613601770.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:42:51.315Z,1613601771.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:42:52.134Z,1613601772.134 [Micromodem](INFO): Nmea in: $SNTTA,0.027861,,,,224250.97*47 2021-02-17T22:42:52.174Z,1613601772.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.579998 m, bearing: 205.087508 deg, deltaT: 4.432286 s, approachRate: -0.785148 m/s, LOS rate: 0.286720 deg/s, posRepo size: 4 2021-02-17T22:42:52.211Z,1613601772.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.579998 m, bearing: 205.087508 deg, approachRate: -0.785148 m/s, LOS rate: 0.286720 deg/s, cmd update: 1.146880 deg/s, cmd heading: 197.856402 deg, new cmd heading: 197.488092 deg. 2021-02-17T22:42:54.560Z,1613601774.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:55.341Z,1613601775.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:42:55.750Z,1613601775.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:42:56.568Z,1613601776.568 [Micromodem](INFO): Nmea in: $SNTTA,0.025830,,,,224255.42*4C 2021-02-17T22:42:56.612Z,1613601776.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.520000 m, bearing: 204.929950 deg, deltaT: 4.472559 s, approachRate: -0.684172 m/s, LOS rate: -0.035228 deg/s, posRepo size: 4 2021-02-17T22:42:56.613Z,1613601776.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.52 m. 2021-02-17T22:42:56.614Z,1613601776.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.520000 m, bearing: 204.929950 deg, approachRate: -0.684172 m/s, LOS rate: -0.035228 deg/s, cmd update: -0.140912 deg/s, cmd heading: 202.985915 deg, new cmd heading: 203.422092 deg. 2021-02-17T22:42:56.968Z,1613601776.968 [PowerOnly](INFO): Powering up loadControl 2021-02-17T22:42:58.987Z,1613601778.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:42:59.782Z,1613601779.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:00.211Z,1613601780.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:43:01.014Z,1613601781.014 [Micromodem](INFO): Nmea in: $SNTTA,0.023500,,,,224259.86*40 2021-02-17T22:43:01.068Z,1613601781.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.040001 m, bearing: 205.627298 deg, deltaT: 4.423242 s, approachRate: -0.786753 m/s, LOS rate: 0.157656 deg/s, posRepo size: 4 2021-02-17T22:43:01.069Z,1613601781.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.04 m. 2021-02-17T22:43:01.071Z,1613601781.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.04 m. 2021-02-17T22:43:01.075Z,1613601781.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T22:43:01.086Z,1613601781.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.040001 m, bearing: 205.627298 deg, approachRate: -0.786753 m/s, LOS rate: 0.157656 deg/s, cmd update: 0.630622 deg/s, cmd heading: 202.362062 deg, new cmd heading: 202.302333 deg. 2021-02-17T22:43:03.452Z,1613601783.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:04.231Z,1613601784.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:04.641Z,1613601784.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:43:05.456Z,1613601785.456 [Micromodem](INFO): Nmea in: $SNTTA,0.021505,,,,224304.31*42 2021-02-17T22:43:05.510Z,1613601785.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.679998 m, bearing: 206.586680 deg, deltaT: 4.442005 s, approachRate: -0.756416 m/s, LOS rate: 0.215980 deg/s, posRepo size: 4 2021-02-17T22:43:05.512Z,1613601785.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.679998 m, bearing: 206.586680 deg, approachRate: -0.756416 m/s, LOS rate: 0.215980 deg/s, cmd update: 0.863918 deg/s, cmd heading: 205.141452 deg, new cmd heading: 205.433664 deg. 2021-02-17T22:43:07.875Z,1613601787.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:08.670Z,1613601788.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:09.110Z,1613601789.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:43:09.904Z,1613601789.904 [Micromodem](INFO): Nmea in: $SNTTA,0.019247,,,,224308.75*44 2021-02-17T22:43:09.941Z,1613601789.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.679998 m, bearing: 207.036421 deg, deltaT: 4.465669 s, approachRate: -0.671792 m/s, LOS rate: 0.100711 deg/s, posRepo size: 4 2021-02-17T22:43:09.943Z,1613601789.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.679998 m, bearing: 207.036421 deg, approachRate: -0.671792 m/s, LOS rate: 0.100711 deg/s, cmd update: 0.402843 deg/s, cmd heading: 209.023873 deg, new cmd heading: 209.370202 deg. 2021-02-17T22:43:12.354Z,1613601792.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:13.115Z,1613601793.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:13.520Z,1613601793.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:43:14.344Z,1613601794.344 [Micromodem](INFO): Nmea in: $SNTTA,0.017142,,,,224313.19*4C 2021-02-17T22:43:14.396Z,1613601794.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.499998 m, bearing: 205.414347 deg, deltaT: 4.407392 s, approachRate: -0.721515 m/s, LOS rate: -0.368035 deg/s, posRepo size: 4 2021-02-17T22:43:14.398Z,1613601794.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.499998 m, bearing: 205.414347 deg, approachRate: -0.721515 m/s, LOS rate: -0.368035 deg/s, cmd update: -1.472140 deg/s, cmd heading: 210.800243 deg, new cmd heading: 210.980080 deg. 2021-02-17T22:43:16.789Z,1613601796.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:17.561Z,1613601797.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:17.961Z,1613601797.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:43:18.778Z,1613601798.778 [Micromodem](INFO): Nmea in: $SNTTA,0.014983,,,,224317.64*44 2021-02-17T22:43:19.613Z,1613601799.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:21.215Z,1613601801.215 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:43:22.448Z,1613601802.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:23.216Z,1613601803.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:23.617Z,1613601803.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:43:24.444Z,1613601804.444 [Micromodem](INFO): Nmea in: $SNTTA,0.012111,,,,224323.29*4F 2021-02-17T22:43:24.495Z,1613601804.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.879999 m, bearing: 207.013130 deg, deltaT: 10.126160 s, approachRate: -0.752506 m/s, LOS rate: 0.157886 deg/s, posRepo size: 4 2021-02-17T22:43:24.497Z,1613601804.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.879999 m, bearing: 207.013130 deg, approachRate: -0.752506 m/s, LOS rate: 0.157886 deg/s, cmd update: 0.631546 deg/s, cmd heading: 195.915769 deg, new cmd heading: 195.276611 deg. 2021-02-17T22:43:26.863Z,1613601806.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:27.281Z,1613601807.281 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:43:27.662Z,1613601807.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:28.086Z,1613601808.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:43:28.888Z,1613601808.888 [Micromodem](INFO): Nmea in: $SNTTA,0.009602,,,,224327.74*4C 2021-02-17T22:43:28.930Z,1613601808.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.100001 m, bearing: 207.398216 deg, deltaT: 4.428235 s, approachRate: -0.853613 m/s, LOS rate: 0.086962 deg/s, posRepo size: 4 2021-02-17T22:43:28.936Z,1613601808.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.100001 m, bearing: 207.398216 deg, approachRate: -0.853613 m/s, LOS rate: 0.086962 deg/s, cmd update: 0.347846 deg/s, cmd heading: 198.722212 deg, new cmd heading: 198.990939 deg. 2021-02-17T22:43:31.328Z,1613601811.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:32.126Z,1613601812.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:32.151Z,1613601812.151 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:43:32.507Z,1613601812.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:43:33.348Z,1613601813.348 [Micromodem](INFO): Nmea in: $SNTTA,0.007530,,,,224332.20*45 2021-02-17T22:43:33.402Z,1613601813.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.039997 m, bearing: 210.550362 deg, deltaT: 4.421852 s, approachRate: -0.692019 m/s, LOS rate: 0.712856 deg/s, posRepo size: 4 2021-02-17T22:43:33.408Z,1613601813.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.039997 m, bearing: 210.550362 deg, approachRate: -0.692019 m/s, LOS rate: 0.712856 deg/s, cmd update: 2.851426 deg/s, cmd heading: 200.261717 deg, new cmd heading: 200.425719 deg. 2021-02-17T22:43:35.768Z,1613601815.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:36.544Z,1613601816.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:36.952Z,1613601816.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:43:37.387Z,1613601817.387 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T22:43:37.775Z,1613601817.775 [Micromodem](INFO): Nmea in: $SNTTA,0.006438,,,,224336.62*4F 2021-02-17T22:43:37.798Z,1613601817.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.100000 m, bearing: 208.367775 deg, deltaT: 4.468760 s, approachRate: -0.657900 m/s, LOS rate: -0.488410 deg/s, posRepo size: 4 2021-02-17T22:43:37.800Z,1613601817.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.100000 m, bearing: 208.367775 deg, approachRate: -0.657900 m/s, LOS rate: -0.488410 deg/s, cmd update: -1.953640 deg/s, cmd heading: 213.004090 deg, new cmd heading: 214.141903 deg. 2021-02-17T22:43:40.290Z,1613601820.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:40.988Z,1613601820.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:41.405Z,1613601821.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:43:42.228Z,1613601822.228 [Micromodem](INFO): Nmea in: $SNTTA,0.005962,,,,224341.06*4C 2021-02-17T22:43:42.281Z,1613601822.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.139998 m, bearing: 211.912712 deg, deltaT: 4.428290 s, approachRate: -0.216788 m/s, LOS rate: 0.800520 deg/s, posRepo size: 4 2021-02-17T22:43:42.299Z,1613601822.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.139998 m, bearing: 211.912712 deg, approachRate: -0.216788 m/s, LOS rate: 0.800520 deg/s, cmd update: 3.202082 deg/s, cmd heading: 204.386721 deg, new cmd heading: 203.466621 deg. 2021-02-17T22:43:44.646Z,1613601824.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:45.436Z,1613601825.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:45.841Z,1613601825.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:43:46.667Z,1613601826.667 [Micromodem](INFO): Nmea in: $SNTTA,0.002863,,,,224345.51*4D 2021-02-17T22:43:46.688Z,1613601826.688 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T22:43:46.688Z,1613601826.688 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T22:43:46.688Z,1613601826.688 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T22:43:46.689Z,1613601826.689 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T22:43:46.689Z,1613601826.689 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T22:43:46.689Z,1613601826.689 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.319999 m 2021-02-17T22:43:46.689Z,1613601826.689 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T22:43:46.689Z,1613601826.689 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T22:43:46.689Z,1613601826.689 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T22:43:46.692Z,1613601826.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 209.109534 deg, deltaT: 4.461036 s, approachRate: -0.632140 m/s, LOS rate: -0.628369 deg/s, posRepo size: 4 2021-02-17T22:43:46.694Z,1613601826.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.319999 m, bearing: 209.109534 deg, approachRate: -0.632140 m/s, LOS rate: -0.628369 deg/s, cmd update: -2.513477 deg/s, cmd heading: 218.726998 deg, new cmd heading: 220.017837 deg. 2021-02-17T22:43:47.146Z,1613601827.146 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T224347: (41.552319, -70.708603) 2021-02-17T22:43:47.146Z,1613601827.146 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T22:43:47.147Z,1613601827.147 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T22:43:47.151Z,1613601827.151 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T22:43:47.151Z,1613601827.151 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T22:43:47.151Z,1613601827.151 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T22:43:47.151Z,1613601827.151 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T22:43:47.151Z,1613601827.151 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T22:43:47.151Z,1613601827.151 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T22:43:49.156Z,1613601829.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:49.877Z,1613601829.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:50.284Z,1613601830.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:43:51.124Z,1613601831.124 [Micromodem](INFO): Nmea in: $SNTTA,0.003957,,,,224349.95*4E 2021-02-17T22:43:51.204Z,1613601831.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.580000 m, bearing: 209.888981 deg, deltaT: 4.411887 s, approachRate: 0.285592 m/s, LOS rate: 0.176670 deg/s, posRepo size: 4 2021-02-17T22:43:51.205Z,1613601831.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.580000 m, bearing: 209.888981 deg, approachRate: 0.285592 m/s, LOS rate: 0.176670 deg/s, cmd update: 0.706679 deg/s, cmd heading: 207.638489 deg, new cmd heading: 206.387064 deg. 2021-02-17T22:43:52.403Z,1613601832.403 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout 2021-02-17T22:43:52.403Z,1613601832.403 [RDI_PathfinderUp] Communications Fault, FailCount= 1 2021-02-17T22:43:52.403Z,1613601832.403 [RDI_PathfinderUp](ERROR): Communications Fault 2021-02-17T22:43:52.503Z,1613601832.503 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp 2021-02-17T22:43:52.787Z,1613601832.787 [RDI_PathfinderUp](INFO): Powering down 2021-02-17T22:43:53.552Z,1613601833.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:53.663Z,1613601833.663 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp 2021-02-17T22:43:53.663Z,1613601833.663 [RDI_PathfinderUp] No Fault, FailCount= 1 2021-02-17T22:43:54.326Z,1613601834.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:54.726Z,1613601834.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:43:55.556Z,1613601835.556 [Micromodem](INFO): Nmea in: $SNTTA,0.005664,,,,224354.40*43 2021-02-17T22:43:55.581Z,1613601835.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.219998 m, bearing: 223.247083 deg, deltaT: 4.498690 s, approachRate: 0.586837 m/s, LOS rate: 2.969331 deg/s, posRepo size: 4 2021-02-17T22:43:55.582Z,1613601835.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.219998 m, bearing: 223.247083 deg, approachRate: 0.586837 m/s, LOS rate: 2.969331 deg/s, cmd update: 11.877326 deg/s, cmd heading: 210.808181 deg, new cmd heading: 211.087430 deg. 2021-02-17T22:43:57.993Z,1613601837.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:43:58.769Z,1613601838.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:43:59.203Z,1613601839.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:00.184Z,1613601840.184 [Micromodem](INFO): Nmea in: $SNTTA,0.007414,,,,224358.84*40 2021-02-17T22:44:00.221Z,1613601840.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.220001 m, bearing: 215.764843 deg, deltaT: 4.409234 s, approachRate: 0.680391 m/s, LOS rate: -1.696948 deg/s, posRepo size: 4 2021-02-17T22:44:00.243Z,1613601840.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.220001 m, bearing: 215.764843 deg, approachRate: 0.680391 m/s, LOS rate: -1.696948 deg/s, cmd update: -6.787791 deg/s, cmd heading: 263.147482 deg, new cmd heading: 270.619116 deg. 2021-02-17T22:44:02.447Z,1613601842.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:03.221Z,1613601843.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:44:03.621Z,1613601843.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:04.444Z,1613601844.444 [Micromodem](INFO): Nmea in: $SNTTA,0.009612,,,,224403.29*44 2021-02-17T22:44:04.488Z,1613601844.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.400001 m, bearing: 236.839897 deg, deltaT: 4.427782 s, approachRate: 0.718192 m/s, LOS rate: 4.759732 deg/s, posRepo size: 4 2021-02-17T22:44:04.489Z,1613601844.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.40 m. Rolling out. 2021-02-17T22:44:04.489Z,1613601844.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T22:44:06.863Z,1613601846.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:07.658Z,1613601847.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:44:08.058Z,1613601848.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:08.889Z,1613601848.889 [Micromodem](INFO): Nmea in: $SNTTA,0.012003,,0.034053,,224407.73*5C 2021-02-17T22:44:08.938Z,1613601848.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.840000 m, bearing: 199.057476 deg, deltaT: 4.481972 s, approachRate: 0.990635 m/s, LOS rate: -8.429866 deg/s, posRepo size: 4 2021-02-17T22:44:11.321Z,1613601851.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:12.129Z,1613601852.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:44:12.519Z,1613601852.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:13.338Z,1613601853.338 [Micromodem](INFO): Nmea in: $SNTTA,0.014134,,,,224412.21*43 2021-02-17T22:44:13.389Z,1613601853.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.339998 m, bearing: 266.906608 deg, deltaT: 4.424199 s, approachRate: 0.339044 m/s, LOS rate: 15.335913 deg/s, posRepo size: 4 2021-02-17T22:44:15.757Z,1613601855.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:16.540Z,1613601856.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:44:16.946Z,1613601856.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:17.768Z,1613601857.768 [Micromodem](INFO): Nmea in: $SNTTA,0.016137,,,,224416.61*42 2021-02-17T22:44:17.826Z,1613601857.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.700001 m, bearing: 253.113068 deg, deltaT: 4.478191 s, approachRate: 0.750304 m/s, LOS rate: -3.080159 deg/s, posRepo size: 4 2021-02-17T22:44:20.232Z,1613601860.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:20.989Z,1613601860.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:44:21.390Z,1613601861.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:22.228Z,1613601862.228 [Micromodem](INFO): Nmea in: $SNTTA,0.018406,,,,224421.06*4E 2021-02-17T22:44:22.267Z,1613601862.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.000002 m, bearing: 249.434246 deg, deltaT: 4.422503 s, approachRate: 0.746184 m/s, LOS rate: -0.831842 deg/s, posRepo size: 4 2021-02-17T22:44:24.655Z,1613601864.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:25.430Z,1613601865.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:44:25.850Z,1613601865.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:26.656Z,1613601866.656 [Micromodem](INFO): Nmea in: $SNTTA,0.020557,,,,224425.50*47 2021-02-17T22:44:26.696Z,1613601866.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.720001 m, bearing: 240.994592 deg, deltaT: 4.441397 s, approachRate: 0.837574 m/s, LOS rate: -1.900225 deg/s, posRepo size: 4 2021-02-17T22:44:29.100Z,1613601869.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:29.872Z,1613601869.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:44:30.288Z,1613601870.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:31.100Z,1613601871.100 [Micromodem](INFO): Nmea in: $SNTTA,0.022978,,,,224429.95*41 2021-02-17T22:44:31.154Z,1613601871.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.439999 m, bearing: 231.872765 deg, deltaT: 4.426276 s, approachRate: 0.840435 m/s, LOS rate: -2.060836 deg/s, posRepo size: 4 2021-02-17T22:44:31.501Z,1613601871.501 [PowerOnly](INFO): Powering down loadControl 2021-02-17T22:44:33.542Z,1613601873.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:34.323Z,1613601874.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:44:34.725Z,1613601874.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:35.533Z,1613601875.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224434.40*5D 2021-02-17T22:44:36.369Z,1613601876.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:37.956Z,1613601877.956 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:44:39.226Z,1613601879.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:39.974Z,1613601879.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:44:40.377Z,1613601880.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:41.320Z,1613601881.320 [Micromodem](INFO): Nmea in: $SNTTA,0.027453,,,,224440.05*46 2021-02-17T22:44:41.362Z,1613601881.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.520000 m, bearing: 251.119172 deg, deltaT: 10.136752 s, approachRate: 0.698449 m/s, LOS rate: 1.898676 deg/s, posRepo size: 4 2021-02-17T22:44:43.629Z,1613601883.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:44.419Z,1613601884.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:44:44.837Z,1613601884.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:45.652Z,1613601885.652 [Micromodem](INFO): Nmea in: $SNTTA,0.029934,,,,224444.49*48 2021-02-17T22:44:45.689Z,1613601885.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.879997 m, bearing: 257.461495 deg, deltaT: 4.416071 s, approachRate: 0.760857 m/s, LOS rate: 1.436191 deg/s, posRepo size: 4 2021-02-17T22:44:48.091Z,1613601888.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:48.860Z,1613601888.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:44:49.271Z,1613601889.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:50.088Z,1613601890.088 [Micromodem](INFO): Nmea in: $SNTTA,0.032042,,,,224448.93*41 2021-02-17T22:44:50.117Z,1613601890.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.360004 m, bearing: 250.204446 deg, deltaT: 4.418946 s, approachRate: 0.787520 m/s, LOS rate: -1.642258 deg/s, posRepo size: 4 2021-02-17T22:44:52.205Z,1613601892.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:52.906Z,1613601892.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:44:53.310Z,1613601893.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:54.132Z,1613601894.132 [Micromodem](INFO): Nmea in: $SNTTA,0.034114,,,,224452.98*45 2021-02-17T22:44:54.257Z,1613601894.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.299995 m, bearing: 254.583034 deg, deltaT: 4.044368 s, approachRate: 0.726935 m/s, LOS rate: 1.082638 deg/s, posRepo size: 4 2021-02-17T22:44:56.582Z,1613601896.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:44:57.350Z,1613601897.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:44:57.753Z,1613601897.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:44:58.576Z,1613601898.576 [Micromodem](INFO): Nmea in: $SNTTA,0.036400,,0.056276,,224457.42*5B 2021-02-17T22:44:58.621Z,1613601898.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.900002 m, bearing: 244.115988 deg, deltaT: 4.509390 s, approachRate: 0.798335 m/s, LOS rate: -2.321167 deg/s, posRepo size: 4 2021-02-17T22:45:01.012Z,1613601901.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:01.811Z,1613601901.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:45:02.218Z,1613601902.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:45:03.028Z,1613601903.028 [Micromodem](INFO): Nmea in: $SNTTA,0.038612,,,,224501.88*4E 2021-02-17T22:45:03.058Z,1613601903.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.080006 m, bearing: 253.470970 deg, deltaT: 4.388170 s, approachRate: 0.724677 m/s, LOS rate: 2.131864 deg/s, posRepo size: 4 2021-02-17T22:45:05.451Z,1613601905.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:06.232Z,1613601906.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:45:06.649Z,1613601906.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:45:07.464Z,1613601907.464 [Micromodem](INFO): Nmea in: $SNTTA,0.040843,,,,224506.31*4E 2021-02-17T22:45:07.488Z,1613601907.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.560005 m, bearing: 230.015991 deg, deltaT: 4.466784 s, approachRate: 0.779084 m/s, LOS rate: -5.250977 deg/s, posRepo size: 4 2021-02-17T22:45:09.911Z,1613601909.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:10.677Z,1613601910.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:45:11.082Z,1613601911.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:45:11.904Z,1613601911.904 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224510.75*5C 2021-02-17T22:45:11.942Z,1613601911.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.159996 m, bearing: 246.407161 deg, deltaT: 4.438637 s, approachRate: 0.811058 m/s, LOS rate: 3.692839 deg/s, posRepo size: 4 2021-02-17T22:45:14.361Z,1613601914.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:15.122Z,1613601915.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:45:15.526Z,1613601915.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:45:16.352Z,1613601916.352 [Micromodem](INFO): Nmea in: $SNTTA,0.045379,,,,224515.20*4B 2021-02-17T22:45:16.396Z,1613601916.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.279999 m, bearing: 243.882696 deg, deltaT: 4.421565 s, approachRate: 0.705633 m/s, LOS rate: -0.570944 deg/s, posRepo size: 4 2021-02-17T22:45:18.817Z,1613601918.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:19.566Z,1613601919.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:45:19.970Z,1613601919.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:45:20.809Z,1613601920.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224519.64*55 2021-02-17T22:45:21.598Z,1613601921.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:22.401Z,1613601922.401 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:45:23.211Z,1613601923.211 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:45:24.449Z,1613601924.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:25.226Z,1613601925.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:45:25.640Z,1613601925.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:45:26.459Z,1613601926.459 [Micromodem](INFO): Nmea in: $SNTTA,0.050620,,,,224525.30*44 2021-02-17T22:45:26.483Z,1613601926.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.080002 m, bearing: 255.294002 deg, deltaT: 10.119581 s, approachRate: 0.770783 m/s, LOS rate: 1.127646 deg/s, posRepo size: 4 2021-02-17T22:45:28.886Z,1613601928.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:29.664Z,1613601929.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:45:30.070Z,1613601930.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:45:30.896Z,1613601930.896 [Micromodem](INFO): Nmea in: $SNTTA,0.053036,,0.070373,,224529.74*54 2021-02-17T22:45:30.938Z,1613601930.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.740005 m, bearing: 251.475872 deg, deltaT: 4.462059 s, approachRate: 0.820250 m/s, LOS rate: -0.855688 deg/s, posRepo size: 4 2021-02-17T22:45:32.509Z,1613601932.509 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T22:45:33.336Z,1613601933.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:34.108Z,1613601934.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:45:34.513Z,1613601934.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:45:35.340Z,1613601935.340 [Micromodem](INFO): Nmea in: $SNTTA,0.055475,,0.069824,,224534.18*56 2021-02-17T22:45:35.384Z,1613601935.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.519997 m, bearing: 262.429692 deg, deltaT: 4.422097 s, approachRate: 0.854796 m/s, LOS rate: 2.477065 deg/s, posRepo size: 4 2021-02-17T22:45:37.763Z,1613601937.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:38.560Z,1613601938.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:45:38.958Z,1613601938.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:45:39.814Z,1613601939.814 [Micromodem](INFO): Nmea in: $SNTTA,0.057526,,,,224538.63*4C 2021-02-17T22:45:39.838Z,1613601939.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.579994 m, bearing: 245.107431 deg, deltaT: 4.454558 s, approachRate: 0.686936 m/s, LOS rate: -3.888660 deg/s, posRepo size: 4 2021-02-17T22:45:42.278Z,1613601942.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:42.998Z,1613601942.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:45:43.407Z,1613601943.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:45:44.228Z,1613601944.228 [Micromodem](INFO): Nmea in: $SNTTA,0.059955,,,,224543.07*44 2021-02-17T22:45:44.292Z,1613601944.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.119995 m, bearing: 249.178688 deg, deltaT: 4.444229 s, approachRate: 0.796539 m/s, LOS rate: 0.916077 deg/s, posRepo size: 4 2021-02-17T22:45:46.672Z,1613601946.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:47.455Z,1613601947.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:45:47.522Z,1613601947.522 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T22:45:47.849Z,1613601947.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:45:48.680Z,1613601948.680 [Micromodem](INFO): Nmea in: $SNTTA,0.062302,,,,224547.53*41 2021-02-17T22:45:48.702Z,1613601948.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.599998 m, bearing: 251.587778 deg, deltaT: 4.430906 s, approachRate: 0.785393 m/s, LOS rate: 0.543701 deg/s, posRepo size: 4 2021-02-17T22:45:51.148Z,1613601951.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:51.889Z,1613601951.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:45:52.293Z,1613601952.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:45:53.132Z,1613601953.132 [Micromodem](INFO): Nmea in: $SNTTA,0.064419,,,,224551.96*44 2021-02-17T22:45:53.208Z,1613601953.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.779999 m, bearing: 253.110282 deg, deltaT: 4.437736 s, approachRate: 0.716582 m/s, LOS rate: 0.343081 deg/s, posRepo size: 4 2021-02-17T22:45:55.578Z,1613601955.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:45:56.334Z,1613601956.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:45:56.734Z,1613601956.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:45:57.564Z,1613601957.564 [Micromodem](INFO): Nmea in: $SNTTA,0.066684,,,,224556.41*4D 2021-02-17T22:45:57.593Z,1613601957.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.199997 m, bearing: 254.598115 deg, deltaT: 4.534348 s, approachRate: 0.754243 m/s, LOS rate: 0.328125 deg/s, posRepo size: 4 2021-02-17T22:46:00.009Z,1613601960.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:00.806Z,1613601960.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:01.209Z,1613601961.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:02.016Z,1613601962.016 [Micromodem](INFO): Nmea in: $SNTTA,0.069060,,,,224600.88*4B 2021-02-17T22:46:02.054Z,1613601962.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.739998 m, bearing: 262.934334 deg, deltaT: 4.342067 s, approachRate: 0.815280 m/s, LOS rate: 1.919873 deg/s, posRepo size: 4 2021-02-17T22:46:04.457Z,1613601964.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:05.219Z,1613601965.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:05.622Z,1613601965.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:06.444Z,1613601966.444 [Micromodem](INFO): Nmea in: $SNTTA,0.071335,,,,224605.29*4F 2021-02-17T22:46:06.489Z,1613601966.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.160004 m, bearing: 249.942631 deg, deltaT: 4.473262 s, approachRate: 0.764544 m/s, LOS rate: -2.904302 deg/s, posRepo size: 4 2021-02-17T22:46:08.930Z,1613601968.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:09.660Z,1613601969.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:10.066Z,1613601970.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:10.888Z,1613601970.888 [Micromodem](INFO): Nmea in: $SNTTA,0.073577,,,,224609.73*4E 2021-02-17T22:46:10.918Z,1613601970.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.580002 m, bearing: 248.209457 deg, deltaT: 4.420589 s, approachRate: 0.773652 m/s, LOS rate: -0.392069 deg/s, posRepo size: 4 2021-02-17T22:46:13.346Z,1613601973.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:14.113Z,1613601974.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:14.515Z,1613601974.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:15.336Z,1613601975.336 [Micromodem](INFO): Nmea in: $SNTTA,0.075822,,,,224614.19*45 2021-02-17T22:46:15.388Z,1613601975.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.000008 m, bearing: 248.375922 deg, deltaT: 4.458335 s, approachRate: 0.767104 m/s, LOS rate: 0.037338 deg/s, posRepo size: 4 2021-02-17T22:46:17.789Z,1613601977.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:18.548Z,1613601978.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:18.957Z,1613601978.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:19.791Z,1613601979.791 [Micromodem](INFO): Nmea in: $SNTTA,0.078112,,,,224618.62*42 2021-02-17T22:46:19.834Z,1613601979.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.420006 m, bearing: 238.793795 deg, deltaT: 4.442751 s, approachRate: 0.769793 m/s, LOS rate: -2.156800 deg/s, posRepo size: 4 2021-02-17T22:46:22.270Z,1613601982.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:22.992Z,1613601982.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:23.411Z,1613601983.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:24.224Z,1613601984.224 [Micromodem](INFO): Nmea in: $SNTTA,0.081096,,,,224623.06*43 2021-02-17T22:46:24.264Z,1613601984.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.900002 m, bearing: 249.548830 deg, deltaT: 4.459909 s, approachRate: 0.780284 m/s, LOS rate: 2.411492 deg/s, posRepo size: 4 2021-02-17T22:46:26.652Z,1613601986.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:27.436Z,1613601987.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:27.841Z,1613601987.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:28.684Z,1613601988.684 [Micromodem](INFO): Nmea in: $SNTTA,0.082758,,,,224627.51*43 2021-02-17T22:46:28.706Z,1613601988.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.260002 m, bearing: 243.373519 deg, deltaT: 4.429982 s, approachRate: 0.758468 m/s, LOS rate: -1.393981 deg/s, posRepo size: 4 2021-02-17T22:46:31.123Z,1613601991.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:31.897Z,1613601991.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:32.291Z,1613601992.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:33.120Z,1613601993.120 [Micromodem](INFO): Nmea in: $SNTTA,0.085140,,,,224631.97*46 2021-02-17T22:46:33.186Z,1613601993.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.860001 m, bearing: 248.502199 deg, deltaT: 4.421195 s, approachRate: 0.814259 m/s, LOS rate: 1.160021 deg/s, posRepo size: 4 2021-02-17T22:46:35.569Z,1613601995.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:36.328Z,1613601996.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:36.730Z,1613601996.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:37.556Z,1613601997.556 [Micromodem](INFO): Nmea in: $SNTTA,0.087499,,,,224636.40*48 2021-02-17T22:46:37.602Z,1613601997.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.460007 m, bearing: 247.354864 deg, deltaT: 4.512334 s, approachRate: 0.797815 m/s, LOS rate: -0.254266 deg/s, posRepo size: 4 2021-02-17T22:46:39.996Z,1613601999.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:40.786Z,1613602000.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:41.205Z,1613602001.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:42.008Z,1613602002.008 [Micromodem](INFO): Nmea in: $SNTTA,0.089882,,,0.092407,224640.86*5D 2021-02-17T22:46:42.052Z,1613602002.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.940002 m, bearing: 247.371884 deg, deltaT: 4.419894 s, approachRate: 0.787348 m/s, LOS rate: 0.003851 deg/s, posRepo size: 4 2021-02-17T22:46:44.450Z,1613602004.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:45.224Z,1613602005.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:45.618Z,1613602005.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:46.448Z,1613602006.448 [Micromodem](INFO): Nmea in: $SNTTA,0.092186,,,,224645.30*44 2021-02-17T22:46:46.496Z,1613602006.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.419998 m, bearing: 247.094606 deg, deltaT: 4.431009 s, approachRate: 0.785373 m/s, LOS rate: -0.062577 deg/s, posRepo size: 4 2021-02-17T22:46:48.886Z,1613602008.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:49.658Z,1613602009.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:50.072Z,1613602010.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:50.884Z,1613602010.884 [Micromodem](INFO): Nmea in: $SNTTA,0.094504,,,,224649.73*47 2021-02-17T22:46:50.924Z,1613602010.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.899994 m, bearing: 251.378856 deg, deltaT: 4.445686 s, approachRate: 0.782780 m/s, LOS rate: 0.963687 deg/s, posRepo size: 4 2021-02-17T22:46:53.326Z,1613602013.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:54.105Z,1613602014.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:54.513Z,1613602014.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:55.348Z,1613602015.348 [Micromodem](INFO): Nmea in: $SNTTA,0.096977,,,,224654.18*4C 2021-02-17T22:46:55.373Z,1613602015.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.560013 m, bearing: 253.557058 deg, deltaT: 4.434410 s, approachRate: 0.825368 m/s, LOS rate: 0.491204 deg/s, posRepo size: 4 2021-02-17T22:46:57.758Z,1613602017.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:46:58.545Z,1613602018.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:46:58.962Z,1613602018.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:46:59.781Z,1613602019.781 [Micromodem](INFO): Nmea in: $SNTTA,0.099145,,,,224658.62*4B 2021-02-17T22:46:59.852Z,1613602019.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.919998 m, bearing: 248.832343 deg, deltaT: 4.460350 s, approachRate: 0.753301 m/s, LOS rate: -1.059270 deg/s, posRepo size: 4 2021-02-17T22:47:02.274Z,1613602022.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:02.994Z,1613602022.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:47:03.402Z,1613602023.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:47:04.240Z,1613602024.240 [Micromodem](INFO): Nmea in: $SNTTA,0.101457,,0.115209,,224703.07*51 2021-02-17T22:47:04.270Z,1613602024.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.279999 m, bearing: 247.915595 deg, deltaT: 4.474485 s, approachRate: 0.750925 m/s, LOS rate: -0.204883 deg/s, posRepo size: 4 2021-02-17T22:47:04.270Z,1613602024.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.28 m. Resuming terminal guidance. 2021-02-17T22:47:04.270Z,1613602024.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T22:47:06.641Z,1613602026.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:07.437Z,1613602027.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:47:07.838Z,1613602027.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:47:08.672Z,1613602028.672 [Micromodem](INFO): Nmea in: $SNTTA,0.103867,,,,224707.51*4B 2021-02-17T22:47:08.694Z,1613602028.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.940002 m, bearing: 247.889285 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T22:47:08.695Z,1613602028.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 247.889285deg and heading rate command to 0 deg/s. 2021-02-17T22:47:11.097Z,1613602031.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:11.876Z,1613602031.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:47:12.310Z,1613602032.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:47:13.093Z,1613602033.093 [Micromodem](INFO): Nmea in: $SNTTA,0.106224,,,,224711.95*4C 2021-02-17T22:47:13.922Z,1613602033.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:15.516Z,1613602035.516 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:47:16.748Z,1613602036.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:17.538Z,1613602037.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:47:17.949Z,1613602037.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:47:18.784Z,1613602038.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224717.61*5C 2021-02-17T22:47:18.814Z,1613602038.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.320007 m, bearing: 244.568693 deg, deltaT: 10.118882 s, approachRate: 0.729330 m/s, LOS rate: -0.328158 deg/s, posRepo size: 2 2021-02-17T22:47:18.816Z,1613602038.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.320007 m, bearing: 244.568693 deg, approachRate: 0.729330 m/s, LOS rate: -0.328158 deg/s, cmd update: -1.312632 deg/s, cmd heading: 247.889285 deg, new cmd heading: 247.889285 deg. 2021-02-17T22:47:21.240Z,1613602041.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:21.976Z,1613602041.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:47:22.382Z,1613602042.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:47:23.231Z,1613602043.231 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224722.05*58 2021-02-17T22:47:23.262Z,1613602043.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.619995 m, bearing: 249.229150 deg, deltaT: 4.442805 s, approachRate: 0.742771 m/s, LOS rate: 1.048990 deg/s, posRepo size: 3 2021-02-17T22:47:23.264Z,1613602043.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.619995 m, bearing: 249.229150 deg, approachRate: 0.742771 m/s, LOS rate: 1.048990 deg/s, cmd update: 4.195959 deg/s, cmd heading: 242.052619 deg, new cmd heading: 241.499039 deg. 2021-02-17T22:47:25.632Z,1613602045.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:26.421Z,1613602046.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:47:26.826Z,1613602046.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:47:27.648Z,1613602047.648 [Micromodem](INFO): Nmea in: $SNTTA,0.113389,,,,224726.50*43 2021-02-17T22:47:27.690Z,1613602047.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.619995 m, bearing: 238.617276 deg, deltaT: 4.465106 s, approachRate: 0.000000 m/s, LOS rate: -2.376623 deg/s, posRepo size: 4 2021-02-17T22:47:27.696Z,1613602047.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.619995 m, bearing: 238.617276 deg, approachRate: 0.000000 m/s, LOS rate: -2.376623 deg/s, cmd update: -9.506492 deg/s, cmd heading: 260.771749 deg, new cmd heading: 262.402025 deg. 2021-02-17T22:47:30.082Z,1613602050.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:30.876Z,1613602050.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:47:31.270Z,1613602051.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:47:32.089Z,1613602052.089 [Micromodem](INFO): Nmea in: $SNTTA,0.115618,,,,224730.95*46 2021-02-17T22:47:32.516Z,1613602052.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.520004 m, bearing: 310.808031 deg, deltaT: 4.807201 s, approachRate: 1.435349 m/s, LOS rate: 15.017212 deg/s, posRepo size: 4 2021-02-17T22:47:32.516Z,1613602052.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.017212 deg/s. Setting heading cmd to target bearing of 310.808031deg and heading rate command to 0 deg/s. 2021-02-17T22:47:34.929Z,1613602054.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:35.712Z,1613602055.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:47:36.133Z,1613602056.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:47:36.940Z,1613602056.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224735.79*55 2021-02-17T22:47:36.964Z,1613602056.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.520004 m, bearing: 207.226956 deg, deltaT: 4.462428 s, approachRate: 0.000000 m/s, LOS rate: -23.211821 deg/s, posRepo size: 4 2021-02-17T22:47:36.965Z,1613602056.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.211821 deg/s. Setting heading cmd to target bearing of 207.226956deg and heading rate command to 0 deg/s. 2021-02-17T22:47:39.402Z,1613602059.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:40.178Z,1613602060.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:47:40.567Z,1613602060.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:47:41.386Z,1613602061.386 [Micromodem](INFO): Nmea in: $SNTTA,0.120857,,,,224740.25*49 2021-02-17T22:47:41.837Z,1613602061.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.440002 m, bearing: 256.462894 deg, deltaT: 4.859417 s, approachRate: 1.629825 m/s, LOS rate: 10.132067 deg/s, posRepo size: 4 2021-02-17T22:47:41.838Z,1613602061.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.440002 m, bearing: 256.462894 deg, approachRate: 1.629825 m/s, LOS rate: 10.132067 deg/s, cmd update: 12.000000 deg/s, cmd heading: 207.226956 deg, new cmd heading: 207.226956 deg. 2021-02-17T22:47:44.246Z,1613602064.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:45.007Z,1613602065.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:47:45.410Z,1613602065.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:47:46.280Z,1613602066.280 [Micromodem](INFO): Nmea in: $SNTTA,0.122569,,,,224745.08*41 2021-02-17T22:47:46.287Z,1613602066.287 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T22:47:46.306Z,1613602066.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.440002 m, bearing: 251.162639 deg, deltaT: 4.435707 s, approachRate: 0.000000 m/s, LOS rate: -1.194906 deg/s, posRepo size: 4 2021-02-17T22:47:46.308Z,1613602066.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.440002 m, bearing: 251.162639 deg, approachRate: 0.000000 m/s, LOS rate: -1.194906 deg/s, cmd update: -4.779625 deg/s, cmd heading: 260.454794 deg, new cmd heading: 265.684262 deg. 2021-02-17T22:47:48.660Z,1613602068.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:49.448Z,1613602069.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:47:49.856Z,1613602069.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:47:50.680Z,1613602070.680 [Micromodem](INFO): Nmea in: $SNTTA,0.125402,,,,224749.52*49 2021-02-17T22:47:50.695Z,1613602070.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.440002 m, bearing: 242.816449 deg, deltaT: 4.425355 s, approachRate: 0.000000 m/s, LOS rate: -1.885993 deg/s, posRepo size: 4 2021-02-17T22:47:50.697Z,1613602070.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.440002 m, bearing: 242.816449 deg, approachRate: 0.000000 m/s, LOS rate: -1.885993 deg/s, cmd update: -7.543974 deg/s, cmd heading: 239.307711 deg, new cmd heading: 237.395808 deg. 2021-02-17T22:47:53.129Z,1613602073.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:53.893Z,1613602073.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:47:54.298Z,1613602074.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:47:55.119Z,1613602075.119 [Micromodem](INFO): Nmea in: $SNTTA,0.127495,,,,224753.97*47 2021-02-17T22:47:55.550Z,1613602075.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.999985 m, bearing: 252.799781 deg, deltaT: 4.903308 s, approachRate: 2.153645 m/s, LOS rate: 2.036040 deg/s, posRepo size: 4 2021-02-17T22:47:55.552Z,1613602075.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.999985 m, bearing: 252.799781 deg, approachRate: 2.153645 m/s, LOS rate: 2.036040 deg/s, cmd update: 8.144161 deg/s, cmd heading: 202.704305 deg, new cmd heading: 199.657520 deg. 2021-02-17T22:47:57.962Z,1613602077.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:47:58.746Z,1613602078.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:47:59.150Z,1613602079.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:47:59.975Z,1613602079.975 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224758.82*5A 2021-02-17T22:48:00.825Z,1613602080.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:02.380Z,1613602082.380 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:48:03.603Z,1613602083.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:04.399Z,1613602084.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:48:04.820Z,1613602084.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:48:05.615Z,1613602085.615 [Micromodem](INFO): Nmea in: $SNTTA,0.132304,,,,224804.47*4C 2021-02-17T22:48:06.047Z,1613602086.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.660004 m, bearing: 229.135430 deg, deltaT: 10.431050 s, approachRate: 0.638480 m/s, LOS rate: -2.268645 deg/s, posRepo size: 4 2021-02-17T22:48:06.049Z,1613602086.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.660004 m, bearing: 229.135430 deg, approachRate: 0.638480 m/s, LOS rate: -2.268645 deg/s, cmd update: -9.074581 deg/s, cmd heading: 288.079898 deg, new cmd heading: 291.480061 deg. 2021-02-17T22:48:08.506Z,1613602088.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:09.244Z,1613602089.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:48:09.655Z,1613602089.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:48:10.467Z,1613602090.467 [Micromodem](INFO): Nmea in: $SNTTA,0.135387,,,,224809.32*4F 2021-02-17T22:48:10.915Z,1613602090.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.499985 m, bearing: 299.778779 deg, deltaT: 4.881261 s, approachRate: 0.786678 m/s, LOS rate: 14.472356 deg/s, posRepo size: 4 2021-02-17T22:48:10.916Z,1613602090.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.472356 deg/s. Setting heading cmd to target bearing of 299.778779deg and heading rate command to 0 deg/s. 2021-02-17T22:48:13.340Z,1613602093.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:14.100Z,1613602094.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:48:14.503Z,1613602094.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:48:15.316Z,1613602095.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224814.17*51 2021-02-17T22:48:15.746Z,1613602095.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.859985 m, bearing: 245.607237 deg, deltaT: 4.833213 s, approachRate: 0.695190 m/s, LOS rate: -11.208184 deg/s, posRepo size: 4 2021-02-17T22:48:15.752Z,1613602095.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.859985 m, bearing: 245.607237 deg, approachRate: 0.695190 m/s, LOS rate: -11.208184 deg/s, cmd update: -12.000000 deg/s, cmd heading: 299.778779 deg, new cmd heading: 299.778779 deg. 2021-02-17T22:48:18.210Z,1613602098.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:18.940Z,1613602098.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:48:19.347Z,1613602099.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:48:20.244Z,1613602100.244 [Micromodem](INFO): Nmea in: $SNTTA,0.139618,,,,224819.01*41 2021-02-17T22:48:20.594Z,1613602100.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.279984 m, bearing: 257.643560 deg, deltaT: 4.946104 s, approachRate: 0.691453 m/s, LOS rate: 2.433496 deg/s, posRepo size: 4 2021-02-17T22:48:20.596Z,1613602100.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 209.279984 m, bearing: 257.643560 deg, approachRate: 0.691453 m/s, LOS rate: 2.433496 deg/s, cmd update: 9.733983 deg/s, cmd heading: 240.421365 deg, new cmd heading: 236.780589 deg. 2021-02-17T22:48:23.007Z,1613602103.007 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:23.816Z,1613602103.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:48:24.212Z,1613602104.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:48:25.022Z,1613602105.022 [Micromodem](INFO): Nmea in: $SNTTA,0.141537,,,,224823.89*49 2021-02-17T22:48:25.858Z,1613602105.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:27.423Z,1613602107.423 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:48:28.676Z,1613602108.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:29.452Z,1613602109.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:48:29.855Z,1613602109.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:48:30.667Z,1613602110.667 [Micromodem](INFO): Nmea in: $SNTTA,0.143771,,,,224829.53*46 2021-02-17T22:48:31.095Z,1613602111.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.699982 m, bearing: 264.713216 deg, deltaT: 10.391260 s, approachRate: 0.617827 m/s, LOS rate: 0.680346 deg/s, posRepo size: 4 2021-02-17T22:48:31.097Z,1613602111.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.699982 m, bearing: 264.713216 deg, approachRate: 0.617827 m/s, LOS rate: 0.680346 deg/s, cmd update: 2.721385 deg/s, cmd heading: 341.570293 deg, new cmd heading: 345.592647 deg. 2021-02-17T22:48:33.518Z,1613602113.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:34.297Z,1613602114.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:48:34.698Z,1613602114.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:48:35.514Z,1613602115.514 [Micromodem](INFO): Nmea in: $SNTTA,0.145611,,,,224834.37*49 2021-02-17T22:48:35.946Z,1613602115.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.699997 m, bearing: 311.044137 deg, deltaT: 4.880068 s, approachRate: 0.614749 m/s, LOS rate: 9.493909 deg/s, posRepo size: 4 2021-02-17T22:48:35.949Z,1613602115.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.699997 m, bearing: 311.044137 deg, approachRate: 0.614749 m/s, LOS rate: 9.493909 deg/s, cmd update: 12.000000 deg/s, cmd heading: 354.785384 deg, new cmd heading: 355.897546 deg. 2021-02-17T22:48:38.371Z,1613602118.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:39.140Z,1613602119.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:48:39.552Z,1613602119.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:48:40.360Z,1613602120.360 [Micromodem](INFO): Nmea in: $SNTTA,0.146954,,,,224839.22*4D 2021-02-17T22:48:40.824Z,1613602120.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.500000 m, bearing: 345.242212 deg, deltaT: 4.821815 s, approachRate: 0.373304 m/s, LOS rate: 7.092366 deg/s, posRepo size: 4 2021-02-17T22:48:40.826Z,1613602120.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 220.500000 m, bearing: 345.242212 deg, approachRate: 0.373304 m/s, LOS rate: 7.092366 deg/s, cmd update: 12.000000 deg/s, cmd heading: 52.935537 deg, new cmd heading: 58.119525 deg. 2021-02-17T22:48:40.900Z,1613602120.900 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242" 2021-02-17T22:48:40.900Z,1613602120.900 [ThrusterServo] Communications Fault, FailCount= 1 2021-02-17T22:48:40.900Z,1613602120.900 [ThrusterServo](ERROR): Communications Fault 2021-02-17T22:48:40.903Z,1613602120.903 [CBIT](ERROR): Communications Fault in component: ThrusterServo 2021-02-17T22:48:41.275Z,1613602121.275 [ThrusterServo](DEBUG): Uninitialize Thruster Servo. 2021-02-17T22:48:41.276Z,1613602121.276 [ThrusterServo](INFO): Powering down 2021-02-17T22:48:42.044Z,1613602122.044 [ThrusterServo](DEBUG): Initializing EZServoServo. 2021-02-17T22:48:42.166Z,1613602122.166 [ThrusterServo](DEBUG): Initializing ThrusterServo. 2021-02-17T22:48:42.183Z,1613602122.183 [CBIT](INFO): Clearing failed state for component ThrusterServo 2021-02-17T22:48:42.184Z,1613602122.184 [ThrusterServo] No Fault, FailCount= 1 2021-02-17T22:48:43.240Z,1613602123.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:43.990Z,1613602123.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:48:44.394Z,1613602124.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:48:45.215Z,1613602125.215 [Micromodem](INFO): Nmea in: $SNTTA,0.147820,,,,224844.06*42 2021-02-17T22:48:45.646Z,1613602125.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.579987 m, bearing: 25.175908 deg, deltaT: 4.855941 s, approachRate: 0.222405 m/s, LOS rate: 8.223679 deg/s, posRepo size: 4 2021-02-17T22:48:45.648Z,1613602125.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.579987 m, bearing: 25.175908 deg, approachRate: 0.222405 m/s, LOS rate: 8.223679 deg/s, cmd update: 12.000000 deg/s, cmd heading: 111.203350 deg, new cmd heading: 116.086042 deg. 2021-02-17T22:48:48.069Z,1613602128.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:48.841Z,1613602128.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:48:49.251Z,1613602129.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:48:50.058Z,1613602130.058 [Micromodem](INFO): Nmea in: $SNTTA,0.147964,,,,224848.92*42 2021-02-17T22:48:50.509Z,1613602130.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.939987 m, bearing: 311.677132 deg, deltaT: 4.866999 s, approachRate: 0.073968 m/s, LOS rate: -15.101458 deg/s, posRepo size: 4 2021-02-17T22:48:50.510Z,1613602130.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.101458 deg/s. Setting heading cmd to target bearing of 311.677132deg and heading rate command to 0 deg/s. 2021-02-17T22:48:52.911Z,1613602132.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:53.684Z,1613602133.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:48:54.096Z,1613602134.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:48:54.902Z,1613602134.902 [Micromodem](INFO): Nmea in: $SNTTA,0.147939,,,,224853.76*4A 2021-02-17T22:48:55.346Z,1613602135.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.819977 m, bearing: 28.659354 deg, deltaT: 4.843794 s, approachRate: -0.024776 m/s, LOS rate: 15.892962 deg/s, posRepo size: 4 2021-02-17T22:48:55.363Z,1613602135.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.892962 deg/s. Setting heading cmd to target bearing of 28.659354deg and heading rate command to 0 deg/s. 2021-02-17T22:48:57.751Z,1613602137.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:48:58.533Z,1613602138.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:48:58.938Z,1613602138.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:48:59.755Z,1613602139.755 [Micromodem](INFO): Nmea in: $SNTTA,0.147495,,,,224858.61*4C 2021-02-17T22:49:00.220Z,1613602140.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.220001 m, bearing: 353.709542 deg, deltaT: 4.860973 s, approachRate: -0.123427 m/s, LOS rate: -7.189882 deg/s, posRepo size: 4 2021-02-17T22:49:00.222Z,1613602140.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.220001 m, bearing: 353.709542 deg, approachRate: -0.123427 m/s, LOS rate: -7.189882 deg/s, cmd update: -12.000000 deg/s, cmd heading: 28.659354 deg, new cmd heading: 28.659354 deg. 2021-02-17T22:49:02.589Z,1613602142.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:49:03.386Z,1613602143.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:49:03.815Z,1613602143.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:49:04.607Z,1613602144.607 [Micromodem](INFO): Nmea in: $SNTTA,0.147869,,,,224903.46*49 2021-02-17T22:49:05.051Z,1613602145.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.759995 m, bearing: 8.337654 deg, deltaT: 4.847825 s, approachRate: 0.111389 m/s, LOS rate: 3.017461 deg/s, posRepo size: 4 2021-02-17T22:49:05.053Z,1613602145.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.759995 m, bearing: 8.337654 deg, approachRate: 0.111389 m/s, LOS rate: 3.017461 deg/s, cmd update: 12.000000 deg/s, cmd heading: 330.501509 deg, new cmd heading: 325.732145 deg. 2021-02-17T22:49:07.475Z,1613602147.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:49:08.228Z,1613602148.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:49:08.634Z,1613602148.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:49:09.446Z,1613602149.446 [Micromodem](INFO): Nmea in: $SNTTA,0.148753,,,,224908.30*4A 2021-02-17T22:49:09.882Z,1613602149.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.080002 m, bearing: 9.339895 deg, deltaT: 4.835513 s, approachRate: 0.272982 m/s, LOS rate: 0.207267 deg/s, posRepo size: 4 2021-02-17T22:49:09.900Z,1613602149.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.080002 m, bearing: 9.339895 deg, approachRate: 0.272982 m/s, LOS rate: 0.207267 deg/s, cmd update: 0.829067 deg/s, cmd heading: 28.598874 deg, new cmd heading: 33.253446 deg. 2021-02-17T22:49:12.307Z,1613602152.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:49:13.076Z,1613602153.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:49:13.487Z,1613602153.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:49:14.296Z,1613602154.296 [Micromodem](INFO): Nmea in: $SNTTA,0.149070,,,,224913.15*40 2021-02-17T22:49:14.722Z,1613602154.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.559998 m, bearing: 309.360250 deg, deltaT: 4.825472 s, approachRate: 0.099471 m/s, LOS rate: -12.429800 deg/s, posRepo size: 4 2021-02-17T22:49:14.723Z,1613602154.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.429800 deg/s. Setting heading cmd to target bearing of 309.360250deg and heading rate command to 0 deg/s. 2021-02-17T22:49:17.179Z,1613602157.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:49:17.925Z,1613602157.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:49:18.348Z,1613602158.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:49:19.146Z,1613602159.146 [Micromodem](INFO): Nmea in: $SNTTA,0.148895,,,,224918.00*4D 2021-02-17T22:49:19.579Z,1613602159.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.199997 m, bearing: 52.471074 deg, deltaT: 4.913596 s, approachRate: -0.073266 m/s, LOS rate: 20.984798 deg/s, posRepo size: 4 2021-02-17T22:49:19.580Z,1613602159.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.984798 deg/s. Setting heading cmd to target bearing of 52.471074deg and heading rate command to 0 deg/s. 2021-02-17T22:49:22.009Z,1613602162.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:49:22.795Z,1613602162.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:49:23.216Z,1613602163.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:49:24.005Z,1613602164.005 [Micromodem](INFO): Nmea in: $SNTTA,0.148127,,,,224922.87*4B 2021-02-17T22:49:24.428Z,1613602164.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.180008 m, bearing: 33.970892 deg, deltaT: 4.815604 s, approachRate: -0.211809 m/s, LOS rate: -3.841716 deg/s, posRepo size: 4 2021-02-17T22:49:24.430Z,1613602164.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 222.180008 m, bearing: 33.970892 deg, approachRate: -0.211809 m/s, LOS rate: -3.841716 deg/s, cmd update: -12.000000 deg/s, cmd heading: 52.471074 deg, new cmd heading: 52.471074 deg. 2021-02-17T22:49:26.887Z,1613602166.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:49:27.625Z,1613602167.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:49:28.029Z,1613602168.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:49:28.841Z,1613602168.841 [Micromodem](INFO): Nmea in: $SNTTA,0.147797,,,,224927.70*44 2021-02-17T22:49:29.296Z,1613602169.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.099991 m, bearing: 324.823743 deg, deltaT: 4.835776 s, approachRate: -0.223339 m/s, LOS rate: -14.299082 deg/s, posRepo size: 4 2021-02-17T22:49:29.297Z,1613602169.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.299082 deg/s. Setting heading cmd to target bearing of 324.823743deg and heading rate command to 0 deg/s. 2021-02-17T22:49:31.694Z,1613602171.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:49:32.485Z,1613602172.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:49:32.883Z,1613602172.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:49:33.693Z,1613602173.693 [Micromodem](INFO): Nmea in: $SNTTA,0.146969,,,,224932.56*4A 2021-02-17T22:49:34.518Z,1613602174.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:49:36.108Z,1613602176.108 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:49:37.358Z,1613602177.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:49:38.124Z,1613602178.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:49:38.529Z,1613602178.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:49:39.341Z,1613602179.341 [Micromodem](INFO): Nmea in: $SNTTA,0.146128,,,,224938.20*4C 2021-02-17T22:49:39.808Z,1613602179.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.119980 m, bearing: 23.921863 deg, deltaT: 10.501487 s, approachRate: -0.188546 m/s, LOS rate: 5.627595 deg/s, posRepo size: 4 2021-02-17T22:49:39.810Z,1613602179.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 219.119980 m, bearing: 23.921863 deg, approachRate: -0.188546 m/s, LOS rate: 5.627595 deg/s, cmd update: 12.000000 deg/s, cmd heading: 324.823743 deg, new cmd heading: 324.823743 deg. 2021-02-17T22:49:42.225Z,1613602182.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:49:42.972Z,1613602182.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:49:43.380Z,1613602183.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:49:44.211Z,1613602184.211 [Micromodem](INFO): Nmea in: $SNTTA,0.146361,,,,224943.04*49 2021-02-17T22:49:44.629Z,1613602184.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.059982 m, bearing: 40.092596 deg, deltaT: 4.848540 s, approachRate: -0.012374 m/s, LOS rate: 3.335176 deg/s, posRepo size: 4 2021-02-17T22:49:44.631Z,1613602184.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 219.059982 m, bearing: 40.092596 deg, approachRate: -0.012374 m/s, LOS rate: 3.335176 deg/s, cmd update: 12.000000 deg/s, cmd heading: 23.006501 deg, new cmd heading: 27.737381 deg. 2021-02-17T22:49:47.052Z,1613602187.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:49:47.824Z,1613602187.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:49:48.228Z,1613602188.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:49:49.040Z,1613602189.040 [Micromodem](INFO): Nmea in: $SNTTA,0.146333,,,,224947.90*47 2021-02-17T22:49:49.487Z,1613602189.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.419983 m, bearing: 311.107221 deg, deltaT: 4.861586 s, approachRate: 0.074050 m/s, LOS rate: -18.303771 deg/s, posRepo size: 4 2021-02-17T22:49:49.488Z,1613602189.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.303771 deg/s. Setting heading cmd to target bearing of 311.107221deg and heading rate command to 0 deg/s. 2021-02-17T22:49:51.898Z,1613602191.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:49:52.676Z,1613602192.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:49:53.095Z,1613602193.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:49:53.893Z,1613602193.893 [Micromodem](INFO): Nmea in: $SNTTA,0.146117,,,,224952.75*4C 2021-02-17T22:49:54.322Z,1613602194.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.059982 m, bearing: 63.905982 deg, deltaT: 4.819703 s, approachRate: -0.074694 m/s, LOS rate: 23.403674 deg/s, posRepo size: 4 2021-02-17T22:49:54.323Z,1613602194.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.403674 deg/s. Setting heading cmd to target bearing of 63.905982deg and heading rate command to 0 deg/s. 2021-02-17T22:49:56.722Z,1613602196.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:49:57.516Z,1613602197.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:49:57.928Z,1613602197.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:49:58.746Z,1613602198.746 [Micromodem](INFO): Nmea in: $SNTTA,0.145238,,,,224957.59*4A 2021-02-17T22:49:59.211Z,1613602199.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.679993 m, bearing: 88.226462 deg, deltaT: 4.903333 s, approachRate: -0.281439 m/s, LOS rate: 4.959989 deg/s, posRepo size: 4 2021-02-17T22:49:59.213Z,1613602199.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.679993 m, bearing: 88.226462 deg, approachRate: -0.281439 m/s, LOS rate: 4.959989 deg/s, cmd update: 12.000000 deg/s, cmd heading: 63.905982 deg, new cmd heading: 63.905982 deg. 2021-02-17T22:50:01.596Z,1613602201.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:50:02.366Z,1613602202.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:50:02.808Z,1613602202.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:50:03.584Z,1613602203.584 [Micromodem](INFO): Nmea in: $SNTTA,0.143814,,,,225002.44*4C 2021-02-17T22:50:04.055Z,1613602204.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.580002 m, bearing: 77.933135 deg, deltaT: 4.779048 s, approachRate: -0.439416 m/s, LOS rate: -2.153845 deg/s, posRepo size: 4 2021-02-17T22:50:04.057Z,1613602204.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.580002 m, bearing: 77.933135 deg, approachRate: -0.439416 m/s, LOS rate: -2.153845 deg/s, cmd update: -8.615379 deg/s, cmd heading: 121.302800 deg, new cmd heading: 126.726104 deg. 2021-02-17T22:50:06.435Z,1613602206.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:50:07.227Z,1613602207.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:50:07.620Z,1613602207.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:50:08.437Z,1613602208.437 [Micromodem](INFO): Nmea in: $SNTTA,0.142067,,,,225007.30*47 2021-02-17T22:50:08.870Z,1613602208.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.880005 m, bearing: 79.645846 deg, deltaT: 4.883681 s, approachRate: -0.552861 m/s, LOS rate: 0.350701 deg/s, posRepo size: 4 2021-02-17T22:50:08.872Z,1613602208.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.880005 m, bearing: 79.645846 deg, approachRate: -0.552861 m/s, LOS rate: 0.350701 deg/s, cmd update: 1.402803 deg/s, cmd heading: 79.297979 deg, new cmd heading: 75.888210 deg. 2021-02-17T22:50:11.278Z,1613602211.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:50:12.060Z,1613602212.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:50:12.480Z,1613602212.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:50:13.295Z,1613602213.295 [Micromodem](INFO): Nmea in: $SNTTA,0.139985,,,,225012.13*4B 2021-02-17T22:50:13.706Z,1613602213.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.759995 m, bearing: 80.334697 deg, deltaT: 4.853296 s, approachRate: -0.642864 m/s, LOS rate: 0.141935 deg/s, posRepo size: 4 2021-02-17T22:50:13.708Z,1613602213.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 209.759995 m, bearing: 80.334697 deg, approachRate: -0.642864 m/s, LOS rate: 0.141935 deg/s, cmd update: 0.567739 deg/s, cmd heading: 86.117621 deg, new cmd heading: 86.637075 deg. 2021-02-17T22:50:16.148Z,1613602216.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:50:16.914Z,1613602216.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:50:17.333Z,1613602217.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:50:18.128Z,1613602218.128 [Micromodem](INFO): Nmea in: $SNTTA,0.138182,,,,225016.99*43 2021-02-17T22:50:18.972Z,1613602218.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:50:20.542Z,1613602220.542 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T22:50:21.819Z,1613602221.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:50:22.569Z,1613602222.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:50:22.971Z,1613602222.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:50:23.813Z,1613602223.813 [Micromodem](INFO): Nmea in: $SNTTA,0.135226,,0.159744,0.137739,225022.64*44 2021-02-17T22:50:24.243Z,1613602224.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.619995 m, bearing: 77.529771 deg, deltaT: 10.500775 s, approachRate: -0.679950 m/s, LOS rate: -0.267116 deg/s, posRepo size: 4 2021-02-17T22:50:24.245Z,1613602224.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.619995 m, bearing: 77.529771 deg, approachRate: -0.679950 m/s, LOS rate: -0.267116 deg/s, cmd update: -1.068465 deg/s, cmd heading: 92.079329 deg, new cmd heading: 92.309821 deg. 2021-02-17T22:50:26.635Z,1613602226.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:50:27.437Z,1613602227.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:50:27.830Z,1613602227.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:50:28.642Z,1613602228.642 [Micromodem](INFO): Nmea in: $SNTTA,0.132967,,,,225027.51*4C 2021-02-17T22:50:29.067Z,1613602229.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.139984 m, bearing: 77.076021 deg, deltaT: 4.849724 s, approachRate: -0.717569 m/s, LOS rate: -0.093562 deg/s, posRepo size: 4 2021-02-17T22:50:29.069Z,1613602229.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.139984 m, bearing: 77.076021 deg, approachRate: -0.717569 m/s, LOS rate: -0.093562 deg/s, cmd update: -0.374248 deg/s, cmd heading: 86.903848 deg, new cmd heading: 86.490668 deg. 2021-02-17T22:50:31.504Z,1613602231.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:50:32.262Z,1613602232.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:50:32.683Z,1613602232.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:50:33.485Z,1613602233.485 [Micromodem](INFO): Nmea in: $SNTTA,0.130613,,,,225032.34*45 2021-02-17T22:50:33.948Z,1613602233.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.659988 m, bearing: 76.607600 deg, deltaT: 4.858878 s, approachRate: -0.716214 m/s, LOS rate: -0.096405 deg/s, posRepo size: 4 2021-02-17T22:50:33.949Z,1613602233.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.659988 m, bearing: 76.607600 deg, approachRate: -0.716214 m/s, LOS rate: -0.096405 deg/s, cmd update: -0.385621 deg/s, cmd heading: 85.084736 deg, new cmd heading: 84.932716 deg. 2021-02-17T22:50:36.326Z,1613602236.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:50:37.108Z,1613602237.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:50:37.514Z,1613602237.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:50:38.327Z,1613602238.327 [Micromodem](INFO): Nmea in: $SNTTA,0.128321,,,,225037.18*43 2021-02-17T22:50:38.758Z,1613602238.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.240005 m, bearing: 77.086116 deg, deltaT: 4.805896 s, approachRate: -0.711622 m/s, LOS rate: 0.099569 deg/s, posRepo size: 4 2021-02-17T22:50:38.760Z,1613602238.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.240005 m, bearing: 77.086116 deg, approachRate: -0.711622 m/s, LOS rate: 0.099569 deg/s, cmd update: 0.398274 deg/s, cmd heading: 83.229967 deg, new cmd heading: 83.072823 deg. 2021-02-17T22:50:41.237Z,1613602241.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:50:41.958Z,1613602241.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:50:42.362Z,1613602242.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:50:43.225Z,1613602243.225 [Micromodem](INFO): Nmea in: $SNTTA,0.126121,,,,225042.03*47 2021-02-17T22:50:43.280Z,1613602243.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.240005 m, bearing: 76.555547 deg, deltaT: 4.499579 s, approachRate: 0.000000 m/s, LOS rate: -0.117915 deg/s, posRepo size: 4 2021-02-17T22:50:43.281Z,1613602243.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.240005 m, bearing: 76.555547 deg, approachRate: 0.000000 m/s, LOS rate: -0.117915 deg/s, cmd update: -0.471661 deg/s, cmd heading: 85.020428 deg, new cmd heading: 85.192824 deg. 2021-02-17T22:50:45.607Z,1613602245.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:50:46.410Z,1613602246.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:50:46.822Z,1613602246.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:50:47.639Z,1613602247.639 [Micromodem](INFO): Nmea in: $SNTTA,0.123943,,,,225046.48*45 2021-02-17T22:50:48.062Z,1613602248.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.699997 m, bearing: 78.726215 deg, deltaT: 4.819157 s, approachRate: -1.357086 m/s, LOS rate: 0.450425 deg/s, posRepo size: 4 2021-02-17T22:50:48.080Z,1613602248.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.699997 m, bearing: 78.726215 deg, approachRate: -1.357086 m/s, LOS rate: 0.450425 deg/s, cmd update: 1.801700 deg/s, cmd heading: 82.745466 deg, new cmd heading: 82.560533 deg. 2021-02-17T22:50:50.468Z,1613602250.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:50:51.248Z,1613602251.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:50:51.657Z,1613602251.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:50:52.496Z,1613602252.496 [Micromodem](INFO): Nmea in: $SNTTA,0.121721,,,,225051.32*46 2021-02-17T22:50:52.520Z,1613602252.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.699997 m, bearing: 80.390179 deg, deltaT: 4.449222 s, approachRate: 0.000000 m/s, LOS rate: 0.373990 deg/s, posRepo size: 4 2021-02-17T22:50:52.521Z,1613602252.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.699997 m, bearing: 80.390179 deg, approachRate: 0.000000 m/s, LOS rate: 0.373990 deg/s, cmd update: 1.495959 deg/s, cmd heading: 90.754330 deg, new cmd heading: 91.483085 deg. 2021-02-17T22:50:54.979Z,1613602254.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:50:55.692Z,1613602255.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:50:56.098Z,1613602256.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:50:56.920Z,1613602256.920 [Micromodem](INFO): Nmea in: $SNTTA,0.119647,,,,225055.76*48 2021-02-17T22:50:56.946Z,1613602256.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.699997 m, bearing: 77.270709 deg, deltaT: 4.417525 s, approachRate: 0.000000 m/s, LOS rate: -0.706158 deg/s, posRepo size: 4 2021-02-17T22:50:56.948Z,1613602256.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.699997 m, bearing: 77.270709 deg, approachRate: 0.000000 m/s, LOS rate: -0.706158 deg/s, cmd update: -2.824632 deg/s, cmd heading: 97.366686 deg, new cmd heading: 97.981919 deg. 2021-02-17T22:50:59.369Z,1613602259.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:00.136Z,1613602260.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:00.542Z,1613602260.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:01.364Z,1613602261.364 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225100.21*59 2021-02-17T22:51:01.412Z,1613602261.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.699997 m, bearing: 75.876011 deg, deltaT: 4.462888 s, approachRate: 0.000000 m/s, LOS rate: -0.312510 deg/s, posRepo size: 4 2021-02-17T22:51:01.414Z,1613602261.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.699997 m, bearing: 75.876011 deg, approachRate: 0.000000 m/s, LOS rate: -0.312510 deg/s, cmd update: -1.250040 deg/s, cmd heading: 84.756883 deg, new cmd heading: 83.602959 deg. 2021-02-17T22:51:03.853Z,1613602263.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:04.580Z,1613602264.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:05.001Z,1613602265.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:05.831Z,1613602265.831 [Micromodem](INFO): Nmea in: $SNTTA,0.115367,,,,225104.65*44 2021-02-17T22:51:05.856Z,1613602265.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.699997 m, bearing: 79.330168 deg, deltaT: 4.447811 s, approachRate: 0.000000 m/s, LOS rate: 0.776597 deg/s, posRepo size: 4 2021-02-17T22:51:05.857Z,1613602265.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.699997 m, bearing: 79.330168 deg, approachRate: 0.000000 m/s, LOS rate: 0.776597 deg/s, cmd update: 3.106388 deg/s, cmd heading: 79.201888 deg, new cmd heading: 78.686638 deg. 2021-02-17T22:51:08.252Z,1613602268.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:09.029Z,1613602269.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:09.438Z,1613602269.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:10.272Z,1613602270.272 [Micromodem](INFO): Nmea in: $SNTTA,0.113337,,,,225109.10*48 2021-02-17T22:51:10.297Z,1613602270.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.699997 m, bearing: 78.757416 deg, deltaT: 4.439537 s, approachRate: 0.000000 m/s, LOS rate: -0.129012 deg/s, posRepo size: 4 2021-02-17T22:51:10.299Z,1613602270.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.699997 m, bearing: 78.757416 deg, approachRate: 0.000000 m/s, LOS rate: -0.129012 deg/s, cmd update: -0.516047 deg/s, cmd heading: 93.005250 deg, new cmd heading: 94.279552 deg. 2021-02-17T22:51:12.677Z,1613602272.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:13.477Z,1613602273.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:13.885Z,1613602273.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:14.700Z,1613602274.700 [Micromodem](INFO): Nmea in: $SNTTA,0.111155,,,,225113.55*46 2021-02-17T22:51:14.737Z,1613602274.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.699997 m, bearing: 76.909501 deg, deltaT: 4.444260 s, approachRate: 0.000000 m/s, LOS rate: -0.415798 deg/s, posRepo size: 4 2021-02-17T22:51:14.739Z,1613602274.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.699997 m, bearing: 76.909501 deg, approachRate: 0.000000 m/s, LOS rate: -0.415798 deg/s, cmd update: -1.663192 deg/s, cmd heading: 90.713874 deg, new cmd heading: 90.502039 deg. 2021-02-17T22:51:17.150Z,1613602277.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:17.917Z,1613602277.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:18.321Z,1613602278.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:19.152Z,1613602279.152 [Micromodem](INFO): Nmea in: $SNTTA,0.109228,,,,225117.99*42 2021-02-17T22:51:19.215Z,1613602279.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.619995 m, bearing: 75.388486 deg, deltaT: 4.454302 s, approachRate: -4.957006 m/s, LOS rate: -0.341471 deg/s, posRepo size: 4 2021-02-17T22:51:19.217Z,1613602279.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.619995 m, bearing: 75.388486 deg, approachRate: -4.957006 m/s, LOS rate: -0.341471 deg/s, cmd update: -1.365884 deg/s, cmd heading: 83.341410 deg, new cmd heading: 82.584890 deg. 2021-02-17T22:51:21.586Z,1613602281.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:22.356Z,1613602282.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:22.786Z,1613602282.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:23.588Z,1613602283.588 [Micromodem](INFO): Nmea in: $SNTTA,0.106996,0.116278,,,225122.43*57 2021-02-17T22:51:23.627Z,1613602283.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.320007 m, bearing: 76.846684 deg, deltaT: 4.459557 s, approachRate: -0.739981 m/s, LOS rate: 0.326983 deg/s, posRepo size: 4 2021-02-17T22:51:23.629Z,1613602283.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.320007 m, bearing: 76.846684 deg, approachRate: -0.739981 m/s, LOS rate: 0.326983 deg/s, cmd update: 1.307930 deg/s, cmd heading: 77.220570 deg, new cmd heading: 76.693003 deg. 2021-02-17T22:51:26.026Z,1613602286.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:26.814Z,1613602286.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:27.217Z,1613602287.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:28.044Z,1613602288.044 [Micromodem](INFO): Nmea in: $SNTTA,0.104951,,,,225126.89*49 2021-02-17T22:51:28.068Z,1613602288.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.200012 m, bearing: 77.622723 deg, deltaT: 4.402229 s, approachRate: -0.708731 m/s, LOS rate: 0.176283 deg/s, posRepo size: 4 2021-02-17T22:51:28.070Z,1613602288.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.200012 m, bearing: 77.622723 deg, approachRate: -0.708731 m/s, LOS rate: 0.176283 deg/s, cmd update: 0.705133 deg/s, cmd heading: 82.978315 deg, new cmd heading: 83.533906 deg. 2021-02-17T22:51:30.460Z,1613602290.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:31.255Z,1613602291.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:31.650Z,1613602291.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:32.504Z,1613602292.504 [Micromodem](INFO): Nmea in: $SNTTA,0.102794,,0.117232,,225131.33*55 2021-02-17T22:51:32.541Z,1613602292.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.020004 m, bearing: 76.776770 deg, deltaT: 4.455819 s, approachRate: -0.713675 m/s, LOS rate: -0.189854 deg/s, posRepo size: 4 2021-02-17T22:51:32.543Z,1613602292.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.020004 m, bearing: 76.776770 deg, approachRate: -0.713675 m/s, LOS rate: -0.189854 deg/s, cmd update: -0.759414 deg/s, cmd heading: 86.120226 deg, new cmd heading: 86.432067 deg. 2021-02-17T22:51:34.496Z,1613602294.496 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:51:34.914Z,1613602294.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:35.688Z,1613602295.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:36.099Z,1613602296.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:36.924Z,1613602296.924 [Micromodem](INFO): Nmea in: $SNTTA,0.100679,,,,225135.76*4A 2021-02-17T22:51:36.949Z,1613602296.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.839996 m, bearing: 75.840494 deg, deltaT: 4.423004 s, approachRate: -0.718970 m/s, LOS rate: -0.211683 deg/s, posRepo size: 4 2021-02-17T22:51:36.950Z,1613602296.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.839996 m, bearing: 75.840494 deg, approachRate: -0.718970 m/s, LOS rate: -0.211683 deg/s, cmd update: -0.846733 deg/s, cmd heading: 82.758335 deg, new cmd heading: 82.437374 deg. 2021-02-17T22:51:39.369Z,1613602299.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:40.132Z,1613602300.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:40.538Z,1613602300.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:41.368Z,1613602301.368 [Micromodem](INFO): Nmea in: $SNTTA,0.098498,,,,225140.21*47 2021-02-17T22:51:41.416Z,1613602301.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.540009 m, bearing: 76.547931 deg, deltaT: 4.479743 s, approachRate: -0.736647 m/s, LOS rate: 0.157919 deg/s, posRepo size: 4 2021-02-17T22:51:41.418Z,1613602301.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.540009 m, bearing: 76.547931 deg, approachRate: -0.736647 m/s, LOS rate: 0.157919 deg/s, cmd update: 0.631676 deg/s, cmd heading: 78.968482 deg, new cmd heading: 78.621068 deg. 2021-02-17T22:51:43.832Z,1613602303.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:44.582Z,1613602304.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:44.997Z,1613602304.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:45.832Z,1613602305.832 [Micromodem](INFO): Nmea in: $SNTTA,0.096408,,,,225144.65*44 2021-02-17T22:51:45.856Z,1613602305.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.480011 m, bearing: 77.770822 deg, deltaT: 4.438408 s, approachRate: -0.689436 m/s, LOS rate: 0.275525 deg/s, posRepo size: 4 2021-02-17T22:51:45.858Z,1613602305.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.480011 m, bearing: 77.770822 deg, approachRate: -0.689436 m/s, LOS rate: 0.275525 deg/s, cmd update: 1.102099 deg/s, cmd heading: 81.769478 deg, new cmd heading: 82.034703 deg. 2021-02-17T22:51:48.258Z,1613602308.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:49.022Z,1613602309.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:49.434Z,1613602309.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:50.248Z,1613602310.248 [Micromodem](INFO): Nmea in: $SNTTA,0.094364,,,,225149.09*4C 2021-02-17T22:51:50.289Z,1613602310.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.420013 m, bearing: 76.947525 deg, deltaT: 4.424088 s, approachRate: -0.691667 m/s, LOS rate: -0.186094 deg/s, posRepo size: 4 2021-02-17T22:51:50.291Z,1613602310.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.420013 m, bearing: 76.947525 deg, approachRate: -0.691667 m/s, LOS rate: -0.186094 deg/s, cmd update: -0.744377 deg/s, cmd heading: 86.653920 deg, new cmd heading: 87.118404 deg. 2021-02-17T22:51:52.672Z,1613602312.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:53.465Z,1613602313.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:53.875Z,1613602313.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:54.700Z,1613602314.700 [Micromodem](INFO): Nmea in: $SNTTA,0.092150,,,,225153.54*4C 2021-02-17T22:51:54.725Z,1613602314.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.000000 m, bearing: 75.886591 deg, deltaT: 4.445914 s, approachRate: -0.769249 m/s, LOS rate: -0.238631 deg/s, posRepo size: 4 2021-02-17T22:51:54.727Z,1613602314.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.000000 m, bearing: 75.886591 deg, approachRate: -0.769249 m/s, LOS rate: -0.238631 deg/s, cmd update: -0.954524 deg/s, cmd heading: 83.344411 deg, new cmd heading: 83.038139 deg. 2021-02-17T22:51:57.133Z,1613602317.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:51:57.913Z,1613602317.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:51:58.317Z,1613602318.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:51:59.151Z,1613602319.151 [Micromodem](INFO): Nmea in: $SNTTA,0.089920,,,,225157.99*4C 2021-02-17T22:51:59.223Z,1613602319.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.639999 m, bearing: 75.680607 deg, deltaT: 4.438207 s, approachRate: -0.757063 m/s, LOS rate: -0.046412 deg/s, posRepo size: 4 2021-02-17T22:51:59.225Z,1613602319.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.639999 m, bearing: 75.680607 deg, approachRate: -0.757063 m/s, LOS rate: -0.046412 deg/s, cmd update: -0.185647 deg/s, cmd heading: 79.112016 deg, new cmd heading: 78.658978 deg. 2021-02-17T22:52:01.574Z,1613602321.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:52:02.352Z,1613602322.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:52:02.797Z,1613602322.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:52:03.580Z,1613602323.580 [Micromodem](INFO): Nmea in: $SNTTA,0.087863,,,,225202.42*41 2021-02-17T22:52:03.621Z,1613602323.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.520004 m, bearing: 75.363556 deg, deltaT: 4.488003 s, approachRate: -0.695186 m/s, LOS rate: -0.070644 deg/s, posRepo size: 4 2021-02-17T22:52:03.623Z,1613602323.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.520004 m, bearing: 75.363556 deg, approachRate: -0.695186 m/s, LOS rate: -0.070644 deg/s, cmd update: -0.282576 deg/s, cmd heading: 78.278096 deg, new cmd heading: 78.207306 deg. 2021-02-17T22:52:06.014Z,1613602326.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:52:06.824Z,1613602326.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:52:07.214Z,1613602327.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:52:08.049Z,1613602328.049 [Micromodem](INFO): Nmea in: $SNTTA,0.085780,,,,225206.90*4A 2021-02-17T22:52:08.109Z,1613602328.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.459991 m, bearing: 75.584663 deg, deltaT: 4.383344 s, approachRate: -0.698100 m/s, LOS rate: 0.050443 deg/s, posRepo size: 4 2021-02-17T22:52:08.115Z,1613602328.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.459991 m, bearing: 75.584663 deg, approachRate: -0.698100 m/s, LOS rate: 0.050443 deg/s, cmd update: 0.201770 deg/s, cmd heading: 77.039417 deg, new cmd heading: 76.902222 deg. 2021-02-17T22:52:10.458Z,1613602330.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:52:11.246Z,1613602331.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:52:11.651Z,1613602331.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:52:12.484Z,1613602332.484 [Micromodem](INFO): Nmea in: $SNTTA,0.083499,,,,225211.32*49 2021-02-17T22:52:12.554Z,1613602332.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.040001 m, bearing: 76.441428 deg, deltaT: 4.450293 s, approachRate: -0.768487 m/s, LOS rate: 0.192519 deg/s, posRepo size: 4 2021-02-17T22:52:12.556Z,1613602332.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.040001 m, bearing: 76.441428 deg, approachRate: -0.768487 m/s, LOS rate: 0.192519 deg/s, cmd update: 0.770075 deg/s, cmd heading: 77.937368 deg, new cmd heading: 78.034221 deg. 2021-02-17T22:52:14.910Z,1613602334.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:52:15.684Z,1613602335.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:52:16.094Z,1613602336.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:52:16.916Z,1613602336.916 [Micromodem](INFO): Nmea in: $SNTTA,0.081162,,,,225215.76*4E 2021-02-17T22:52:16.946Z,1613602336.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.560005 m, bearing: 77.984054 deg, deltaT: 4.490364 s, approachRate: -0.774992 m/s, LOS rate: 0.343541 deg/s, posRepo size: 4 2021-02-17T22:52:16.972Z,1613602336.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.560005 m, bearing: 77.984054 deg, approachRate: -0.774992 m/s, LOS rate: 0.343541 deg/s, cmd update: 1.374165 deg/s, cmd heading: 81.388725 deg, new cmd heading: 81.689460 deg. 2021-02-17T22:52:19.361Z,1613602339.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:52:20.143Z,1613602340.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:52:20.533Z,1613602340.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:52:21.368Z,1613602341.368 [Micromodem](INFO): Nmea in: $SNTTA,0.079031,,,,225220.22*49 2021-02-17T22:52:21.420Z,1613602341.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.379997 m, bearing: 76.408548 deg, deltaT: 4.395276 s, approachRate: -0.723506 m/s, LOS rate: -0.358454 deg/s, posRepo size: 4 2021-02-17T22:52:21.422Z,1613602341.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.379997 m, bearing: 76.408548 deg, approachRate: -0.723506 m/s, LOS rate: -0.358454 deg/s, cmd update: -1.433818 deg/s, cmd heading: 87.440213 deg, new cmd heading: 88.073540 deg. 2021-02-17T22:52:23.831Z,1613602343.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:52:24.577Z,1613602344.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:52:24.996Z,1613602344.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:52:25.832Z,1613602345.832 [Micromodem](INFO): Nmea in: $SNTTA,0.076971,,,,225224.65*4C 2021-02-17T22:52:25.856Z,1613602345.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.200005 m, bearing: 75.241999 deg, deltaT: 4.468594 s, approachRate: -0.711632 m/s, LOS rate: -0.261055 deg/s, posRepo size: 4 2021-02-17T22:52:25.858Z,1613602345.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.200005 m, bearing: 75.241999 deg, approachRate: -0.711632 m/s, LOS rate: -0.261055 deg/s, cmd update: -1.044220 deg/s, cmd heading: 81.044871 deg, new cmd heading: 80.419555 deg. 2021-02-17T22:52:28.253Z,1613602348.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:52:28.642Z,1613602348.642 [lineCaptureDepth:NeedComms] Running Loop=1 2021-02-17T22:52:28.642Z,1613602348.642 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms 2021-02-17T22:52:28.642Z,1613602348.642 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1 2021-02-17T22:52:28.642Z,1613602348.642 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-02-17T22:52:28.643Z,1613602348.643 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2021-02-17T22:52:28.659Z,1613602348.659 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2021-02-17T22:52:28.660Z,1613602348.660 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2021-02-17T22:52:28.660Z,1613602348.660 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-02-17T22:52:28.660Z,1613602348.660 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-02-17T22:52:28.661Z,1613602348.661 [lineCaptureDepth:NeedComms:A] Running Loop=1 2021-02-17T22:52:28.662Z,1613602348.662 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613596949.000000 second since 1970/01/01T00:00:00Z 2021-02-17T22:52:28.662Z,1613602348.662 [lineCaptureDepth:NeedComms:A] Stopped 2021-02-17T22:52:29.024Z,1613602349.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:52:29.427Z,1613602349.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:52:30.248Z,1613602350.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225229.10*53 2021-02-17T22:52:30.305Z,1613602350.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.020004 m, bearing: 74.286353 deg, deltaT: 4.440127 s, approachRate: -0.716196 m/s, LOS rate: -0.215229 deg/s, posRepo size: 4 2021-02-17T22:52:30.312Z,1613602350.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.020004 m, bearing: 74.286353 deg, approachRate: -0.716196 m/s, LOS rate: -0.215229 deg/s, cmd update: -0.860918 deg/s, cmd heading: 76.420985 deg, new cmd heading: 75.948733 deg. 2021-02-17T22:52:32.673Z,1613602352.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:52:33.475Z,1613602353.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:52:33.871Z,1613602353.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:52:34.700Z,1613602354.700 [Micromodem](INFO): Nmea in: $SNTTA,0.072653,,0.094152,,225233.55*57 2021-02-17T22:52:34.737Z,1613602354.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.780006 m, bearing: 74.153977 deg, deltaT: 4.439367 s, approachRate: -0.729833 m/s, LOS rate: -0.029819 deg/s, posRepo size: 4 2021-02-17T22:52:34.739Z,1613602354.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.780006 m, bearing: 74.153977 deg, approachRate: -0.729833 m/s, LOS rate: -0.029819 deg/s, cmd update: -0.119275 deg/s, cmd heading: 72.595521 deg, new cmd heading: 72.211890 deg. 2021-02-17T22:52:37.140Z,1613602357.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:52:37.909Z,1613602357.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:52:38.310Z,1613602358.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:52:39.136Z,1613602359.136 [Micromodem](INFO): Nmea in: $SNTTA,0.070619,,,,225237.98*4B 2021-02-17T22:52:39.218Z,1613602359.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.660004 m, bearing: 74.631175 deg, deltaT: 4.418370 s, approachRate: -0.706143 m/s, LOS rate: 0.108003 deg/s, posRepo size: 4 2021-02-17T22:52:39.224Z,1613602359.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.660004 m, bearing: 74.631175 deg, approachRate: -0.706143 m/s, LOS rate: 0.108003 deg/s, cmd update: 0.432013 deg/s, cmd heading: 72.066569 deg, new cmd heading: 72.007899 deg. 2021-02-17T22:52:41.572Z,1613602361.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:52:42.348Z,1613602362.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:52:42.759Z,1613602362.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:52:43.576Z,1613602363.576 [Micromodem](INFO): Nmea in: $SNTTA,0.068686,,,,225242.42*41 2021-02-17T22:52:43.600Z,1613602363.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.900002 m, bearing: 74.231848 deg, deltaT: 4.500041 s, approachRate: -0.613328 m/s, LOS rate: -0.088739 deg/s, posRepo size: 4 2021-02-17T22:52:43.602Z,1613602363.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.900002 m, bearing: 74.231848 deg, approachRate: -0.613328 m/s, LOS rate: -0.088739 deg/s, cmd update: -0.354954 deg/s, cmd heading: 74.008919 deg, new cmd heading: 74.172220 deg. 2021-02-17T22:52:46.024Z,1613602366.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:52:46.817Z,1613602366.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:52:47.222Z,1613602367.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:52:48.033Z,1613602368.033 [Micromodem](INFO): Nmea in: $SNTTA,0.066648,,,,225246.89*4E 2021-02-17T22:52:48.072Z,1613602368.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.840004 m, bearing: 74.201816 deg, deltaT: 4.389226 s, approachRate: -0.697161 m/s, LOS rate: -0.006842 deg/s, posRepo size: 4 2021-02-17T22:52:48.074Z,1613602368.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.840004 m, bearing: 74.201816 deg, approachRate: -0.697161 m/s, LOS rate: -0.006842 deg/s, cmd update: -0.027369 deg/s, cmd heading: 72.449533 deg, new cmd heading: 72.287465 deg. 2021-02-17T22:52:50.477Z,1613602370.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:52:51.240Z,1613602371.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:52:51.644Z,1613602371.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:52:52.468Z,1613602372.468 [Micromodem](INFO): Nmea in: $SNTTA,0.064706,,,,225251.31*42 2021-02-17T22:52:52.506Z,1613602372.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.899994 m, bearing: 73.503518 deg, deltaT: 4.486342 s, approachRate: -0.655325 m/s, LOS rate: -0.155650 deg/s, posRepo size: 4 2021-02-17T22:52:52.508Z,1613602372.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.899994 m, bearing: 73.503518 deg, approachRate: -0.655325 m/s, LOS rate: -0.155650 deg/s, cmd update: -0.622599 deg/s, cmd heading: 72.326745 deg, new cmd heading: 72.315671 deg. 2021-02-17T22:52:54.918Z,1613602374.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:52:55.682Z,1613602375.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:52:56.086Z,1613602376.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:52:56.912Z,1613602376.912 [Micromodem](INFO): Nmea in: $SNTTA,0.062750,,,,225255.75*43 2021-02-17T22:52:56.957Z,1613602376.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.960007 m, bearing: 74.076161 deg, deltaT: 4.409598 s, approachRate: -0.666725 m/s, LOS rate: 0.129863 deg/s, posRepo size: 4 2021-02-17T22:52:56.958Z,1613602376.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.960007 m, bearing: 74.076161 deg, approachRate: -0.666725 m/s, LOS rate: 0.129863 deg/s, cmd update: 0.519451 deg/s, cmd heading: 69.581353 deg, new cmd heading: 69.304064 deg. 2021-02-17T22:52:59.365Z,1613602379.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:00.155Z,1613602380.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:00.537Z,1613602380.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:01.384Z,1613602381.384 [Micromodem](INFO): Nmea in: $SNTTA,0.060916,,,,225300.23*4F 2021-02-17T22:53:01.408Z,1613602381.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.200005 m, bearing: 73.204219 deg, deltaT: 4.458779 s, approachRate: -0.619004 m/s, LOS rate: -0.195556 deg/s, posRepo size: 4 2021-02-17T22:53:01.410Z,1613602381.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.200005 m, bearing: 73.204219 deg, approachRate: -0.619004 m/s, LOS rate: -0.195556 deg/s, cmd update: -0.782225 deg/s, cmd heading: 71.897477 deg, new cmd heading: 72.124736 deg. 2021-02-17T22:53:02.244Z,1613602382.244 [lineCaptureDepth:NeedComms:C] Running Loop=1 2021-02-17T22:53:02.606Z,1613602382.606 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-17T22:53:02.606Z,1613602382.606 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-17T22:53:02.606Z,1613602382.606 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-17T22:53:02.606Z,1613602382.606 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-17T22:53:02.606Z,1613602382.606 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-17T22:53:02.607Z,1613602382.607 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-17T22:53:02.607Z,1613602382.607 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-17T22:53:02.831Z,1613602382.831 [Radio_Surface](INFO): Powering up 2021-02-17T22:53:03.846Z,1613602383.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:04.573Z,1613602384.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:05.027Z,1613602385.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:05.848Z,1613602385.848 [Micromodem](INFO): Nmea in: $SNTTA,0.059039,,0.092757,,225304.65*57 2021-02-17T22:53:05.906Z,1613602385.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.380005 m, bearing: 75.001023 deg, deltaT: 4.522425 s, approachRate: -0.623559 m/s, LOS rate: 0.397310 deg/s, posRepo size: 4 2021-02-17T22:53:05.908Z,1613602385.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.380005 m, bearing: 75.001023 deg, approachRate: -0.623559 m/s, LOS rate: 0.397310 deg/s, cmd update: 1.589240 deg/s, cmd heading: 68.362561 deg, new cmd heading: 68.036438 deg. 2021-02-17T22:53:08.159Z,1613602388.159 [DataOverHttps](INFO): Radio surface powered ON. 2021-02-17T22:53:08.303Z,1613602388.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:09.065Z,1613602389.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:09.470Z,1613602389.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:10.296Z,1613602390.296 [Micromodem](INFO): Nmea in: $SNTTA,0.057782,,0.080747,,225309.14*57 2021-02-17T22:53:10.382Z,1613602390.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.459999 m, bearing: 76.793477 deg, deltaT: 4.395741 s, approachRate: -0.436788 m/s, LOS rate: 0.407770 deg/s, posRepo size: 4 2021-02-17T22:53:10.395Z,1613602390.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.459999 m, bearing: 76.793477 deg, approachRate: -0.436788 m/s, LOS rate: 0.407770 deg/s, cmd update: 1.631082 deg/s, cmd heading: 75.354745 deg, new cmd heading: 76.138054 deg. 2021-02-17T22:53:11.507Z,1613602391.507 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:53:12.729Z,1613602392.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:13.509Z,1613602393.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:13.914Z,1613602393.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:14.739Z,1613602394.739 [Micromodem](INFO): Nmea in: $SNTTA,0.056859,,,,225313.58*4E 2021-02-17T22:53:14.767Z,1613602394.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.080002 m, bearing: 76.533158 deg, deltaT: 4.501960 s, approachRate: -0.306533 m/s, LOS rate: -0.057823 deg/s, posRepo size: 4 2021-02-17T22:53:14.774Z,1613602394.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.080002 m, bearing: 76.533158 deg, approachRate: -0.306533 m/s, LOS rate: -0.057823 deg/s, cmd update: -0.231294 deg/s, cmd heading: 82.697758 deg, new cmd heading: 83.304142 deg. 2021-02-17T22:53:17.185Z,1613602397.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:17.583Z,1613602397.583 [NAL9602](INFO): SBD MO Status=0, MOMSN=13620, MT Status=0, MTMSN=0 2021-02-17T22:53:17.586Z,1613602397.586 [NAL9602](INFO): No messages in MT queue 2021-02-17T22:53:17.985Z,1613602397.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:18.380Z,1613602398.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:19.212Z,1613602399.212 [Micromodem](INFO): Nmea in: $SNTTA,0.056316,,,,225318.06*4E 2021-02-17T22:53:19.270Z,1613602399.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.240005 m, bearing: 76.556565 deg, deltaT: 4.402786 s, approachRate: -0.190787 m/s, LOS rate: 0.005316 deg/s, posRepo size: 4 2021-02-17T22:53:19.272Z,1613602399.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.240005 m, bearing: 76.556565 deg, approachRate: -0.190787 m/s, LOS rate: 0.005316 deg/s, cmd update: 0.021266 deg/s, cmd heading: 81.679408 deg, new cmd heading: 81.569272 deg. 2021-02-17T22:53:19.335Z,1613602399.335 [BuoyancyServo](FAULT): Overload Error 2021-02-17T22:53:19.335Z,1613602399.335 [BuoyancyServo] Hardware Fault, FailCount= 1 2021-02-17T22:53:19.335Z,1613602399.335 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T22:53:19.439Z,1613602399.439 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T22:53:21.304Z,1613602401.304 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T22:53:21.304Z,1613602401.304 [BuoyancyServo](INFO): Powering down 2021-02-17T22:53:21.635Z,1613602401.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:22.115Z,1613602402.115 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T22:53:22.115Z,1613602402.115 [BuoyancyServo] No Fault, FailCount= 1 2021-02-17T22:53:22.402Z,1613602402.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:22.526Z,1613602402.526 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T22:53:22.531Z,1613602402.531 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T22:53:22.818Z,1613602402.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:23.628Z,1613602403.628 [Micromodem](INFO): Nmea in: $SNTTA,0.055702,,0.084888,,225322.47*5A 2021-02-17T22:53:23.681Z,1613602403.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.340004 m, bearing: 73.052316 deg, deltaT: 4.464786 s, approachRate: -0.201578 m/s, LOS rate: -0.784864 deg/s, posRepo size: 4 2021-02-17T22:53:23.682Z,1613602403.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.340004 m, bearing: 73.052316 deg, approachRate: -0.201578 m/s, LOS rate: -0.784864 deg/s, cmd update: -3.139455 deg/s, cmd heading: 81.774353 deg, new cmd heading: 81.783336 deg. 2021-02-17T22:53:26.061Z,1613602406.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:26.870Z,1613602406.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:27.251Z,1613602407.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:28.080Z,1613602408.080 [Micromodem](INFO): Nmea in: $SNTTA,0.055433,,,,225326.94*4B 2021-02-17T22:53:28.134Z,1613602408.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.919998 m, bearing: 75.599751 deg, deltaT: 4.447419 s, approachRate: -0.094438 m/s, LOS rate: 0.572790 deg/s, posRepo size: 4 2021-02-17T22:53:28.136Z,1613602408.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.919998 m, bearing: 75.599751 deg, approachRate: -0.094438 m/s, LOS rate: 0.572790 deg/s, cmd update: 2.291158 deg/s, cmd heading: 67.824620 deg, new cmd heading: 66.467992 deg. 2021-02-17T22:53:30.535Z,1613602410.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:31.284Z,1613602411.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:31.691Z,1613602411.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:32.520Z,1613602412.520 [Micromodem](INFO): Nmea in: $SNTTA,0.055085,,,,225331.36*4C 2021-02-17T22:53:32.552Z,1613602412.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.380005 m, bearing: 76.087959 deg, deltaT: 4.421204 s, approachRate: -0.122137 m/s, LOS rate: 0.110424 deg/s, posRepo size: 4 2021-02-17T22:53:32.554Z,1613602412.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.380005 m, bearing: 76.087959 deg, approachRate: -0.122137 m/s, LOS rate: 0.110424 deg/s, cmd update: 0.441697 deg/s, cmd heading: 77.963666 deg, new cmd heading: 78.938504 deg. 2021-02-17T22:53:34.945Z,1613602414.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:35.728Z,1613602415.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:36.146Z,1613602416.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:36.956Z,1613602416.956 [Micromodem](INFO): Nmea in: $SNTTA,0.054961,,,,225335.80*47 2021-02-17T22:53:37.007Z,1613602417.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.200005 m, bearing: 74.746121 deg, deltaT: 4.464083 s, approachRate: -0.040322 m/s, LOS rate: -0.300585 deg/s, posRepo size: 4 2021-02-17T22:53:37.009Z,1613602417.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.200005 m, bearing: 74.746121 deg, approachRate: -0.040322 m/s, LOS rate: -0.300585 deg/s, cmd update: -1.202342 deg/s, cmd heading: 79.935367 deg, new cmd heading: 80.119043 deg. 2021-02-17T22:53:38.279Z,1613602418.279 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T22:53:39.416Z,1613602419.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:40.203Z,1613602420.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:40.583Z,1613602420.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:41.071Z,1613602421.071 [BuoyancyServo](FAULT): Overload Error 2021-02-17T22:53:41.071Z,1613602421.071 [BuoyancyServo] Hardware Fault, FailCount= 2 2021-02-17T22:53:41.071Z,1613602421.071 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T22:53:41.176Z,1613602421.176 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T22:53:41.412Z,1613602421.412 [Micromodem](INFO): Nmea in: $SNTTA,0.054897,,,,225340.28*4F 2021-02-17T22:53:41.459Z,1613602421.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.080002 m, bearing: 74.548851 deg, deltaT: 4.428304 s, approachRate: -0.027099 m/s, LOS rate: -0.044547 deg/s, posRepo size: 4 2021-02-17T22:53:41.461Z,1613602421.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.080002 m, bearing: 74.548851 deg, approachRate: -0.027099 m/s, LOS rate: -0.044547 deg/s, cmd update: -0.178190 deg/s, cmd heading: 74.630044 deg, new cmd heading: 74.082011 deg. 2021-02-17T22:53:43.059Z,1613602423.059 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T22:53:43.059Z,1613602423.059 [BuoyancyServo](INFO): Powering down 2021-02-17T22:53:43.836Z,1613602423.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:43.911Z,1613602423.911 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T22:53:43.911Z,1613602423.911 [BuoyancyServo] No Fault, FailCount= 2 2021-02-17T22:53:44.291Z,1613602424.291 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T22:53:44.304Z,1613602424.304 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T22:53:44.616Z,1613602424.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:45.024Z,1613602425.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:45.852Z,1613602425.852 [Micromodem](INFO): Nmea in: $SNTTA,0.054741,,0.084205,,225344.69*5F 2021-02-17T22:53:45.894Z,1613602425.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.900002 m, bearing: 75.290049 deg, deltaT: 4.444166 s, approachRate: -0.040503 m/s, LOS rate: 0.166780 deg/s, posRepo size: 4 2021-02-17T22:53:45.916Z,1613602425.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.900002 m, bearing: 75.290049 deg, approachRate: -0.040503 m/s, LOS rate: 0.166780 deg/s, cmd update: 0.667120 deg/s, cmd heading: 73.835324 deg, new cmd heading: 73.758619 deg. 2021-02-17T22:53:48.334Z,1613602428.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:49.060Z,1613602429.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:49.483Z,1613602429.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:50.296Z,1613602430.296 [Micromodem](INFO): Nmea in: $SNTTA,0.054796,,,,225349.13*40 2021-02-17T22:53:50.363Z,1613602430.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.960007 m, bearing: 71.532960 deg, deltaT: 4.422071 s, approachRate: 0.013569 m/s, LOS rate: -0.849622 deg/s, posRepo size: 4 2021-02-17T22:53:50.365Z,1613602430.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.960007 m, bearing: 71.532960 deg, approachRate: 0.013569 m/s, LOS rate: -0.849622 deg/s, cmd update: -3.398488 deg/s, cmd heading: 76.785513 deg, new cmd heading: 77.104004 deg. 2021-02-17T22:53:52.720Z,1613602432.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:53.521Z,1613602433.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:53.914Z,1613602433.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:54.744Z,1613602434.744 [Micromodem](INFO): Nmea in: $SNTTA,0.054920,,,,225353.59*46 2021-02-17T22:53:54.820Z,1613602434.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.200005 m, bearing: 71.376973 deg, deltaT: 4.481346 s, approachRate: 0.053555 m/s, LOS rate: -0.034808 deg/s, posRepo size: 4 2021-02-17T22:53:54.821Z,1613602434.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.200005 m, bearing: 71.376973 deg, approachRate: 0.053555 m/s, LOS rate: -0.034808 deg/s, cmd update: -0.139233 deg/s, cmd heading: 61.556388 deg, new cmd heading: 60.045250 deg. 2021-02-17T22:53:57.177Z,1613602437.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:53:57.977Z,1613602437.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:53:58.356Z,1613602438.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:53:59.200Z,1613602439.200 [Micromodem](INFO): Nmea in: $SNTTA,0.054927,,,,225358.05*43 2021-02-17T22:53:59.255Z,1613602439.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.200005 m, bearing: 85.888386 deg, deltaT: 4.409043 s, approachRate: 0.000000 m/s, LOS rate: 3.291284 deg/s, posRepo size: 4 2021-02-17T22:53:59.257Z,1613602439.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.200005 m, bearing: 85.888386 deg, approachRate: 0.000000 m/s, LOS rate: 3.291284 deg/s, cmd update: 12.000000 deg/s, cmd heading: 60.942474 deg, new cmd heading: 60.875826 deg. 2021-02-17T22:54:01.600Z,1613602441.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:54:02.393Z,1613602442.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:54:02.810Z,1613602442.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:54:03.331Z,1613602443.331 [BuoyancyServo](FAULT): Overload Error 2021-02-17T22:54:03.331Z,1613602443.331 [BuoyancyServo] Hardware Fault, FailCount= 3 2021-02-17T22:54:03.331Z,1613602443.331 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T22:54:03.436Z,1613602443.436 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T22:54:03.625Z,1613602443.625 [Micromodem](INFO): Nmea in: $SNTTA,0.055194,,,,225402.47*4C 2021-02-17T22:54:03.670Z,1613602443.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.680000 m, bearing: 20.690627 deg, deltaT: 4.514932 s, approachRate: 0.106313 m/s, LOS rate: -14.440475 deg/s, posRepo size: 4 2021-02-17T22:54:03.670Z,1613602443.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.440475 deg/s. Setting heading cmd to target bearing of 20.690627deg and heading rate command to 0 deg/s. 2021-02-17T22:54:05.297Z,1613602445.297 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T22:54:05.297Z,1613602445.297 [BuoyancyServo](INFO): Powering down 2021-02-17T22:54:05.672Z,1613602445.672 [BuoyancyServo](FAULT): LCB fault: Software Overcurrent. Current Limiter Activated. 2021-02-17T22:54:06.069Z,1613602446.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:54:06.155Z,1613602446.155 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T22:54:06.155Z,1613602446.155 [BuoyancyServo] No Fault, FailCount= 3 2021-02-17T22:54:06.499Z,1613602446.499 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T22:54:06.500Z,1613602446.500 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T22:54:06.867Z,1613602446.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:54:07.247Z,1613602447.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:54:08.077Z,1613602448.077 [Micromodem](INFO): Nmea in: $SNTTA,0.055540,0.057560,,,225406.94*54 2021-02-17T22:54:08.116Z,1613602448.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.340004 m, bearing: 331.192758 deg, deltaT: 4.372223 s, approachRate: 0.150954 m/s, LOS rate: -11.320986 deg/s, posRepo size: 4 2021-02-17T22:54:08.118Z,1613602448.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.340004 m, bearing: 331.192758 deg, approachRate: 0.150954 m/s, LOS rate: -11.320986 deg/s, cmd update: -12.000000 deg/s, cmd heading: 20.690627 deg, new cmd heading: 20.690627 deg. 2021-02-17T22:54:10.533Z,1613602450.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:54:11.285Z,1613602451.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:54:11.700Z,1613602451.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:54:12.512Z,1613602452.512 [Micromodem](INFO): Nmea in: $SNTTA,0.055613,,,,225411.36*40 2021-02-17T22:54:12.564Z,1613602452.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.400002 m, bearing: 343.778447 deg, deltaT: 4.490147 s, approachRate: 0.013362 m/s, LOS rate: 2.802957 deg/s, posRepo size: 4 2021-02-17T22:54:12.565Z,1613602452.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.400002 m, bearing: 343.778447 deg, approachRate: 0.013362 m/s, LOS rate: 2.802957 deg/s, cmd update: 11.211828 deg/s, cmd heading: 326.856346 deg, new cmd heading: 321.889078 deg. 2021-02-17T22:54:13.423Z,1613602453.423 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T22:54:14.941Z,1613602454.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:54:15.724Z,1613602455.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:54:16.130Z,1613602456.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:54:16.956Z,1613602456.956 [Micromodem](INFO): Nmea in: $SNTTA,0.055775,,,,225415.80*48 2021-02-17T22:54:16.980Z,1613602456.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.760002 m, bearing: 36.819825 deg, deltaT: 4.404824 s, approachRate: 0.081729 m/s, LOS rate: 12.041658 deg/s, posRepo size: 4 2021-02-17T22:54:16.981Z,1613602456.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.041658 deg/s. Setting heading cmd to target bearing of 36.819825deg and heading rate command to 0 deg/s. 2021-02-17T22:54:19.432Z,1613602459.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:54:20.172Z,1613602460.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:54:20.589Z,1613602460.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:54:21.400Z,1613602461.400 [Micromodem](INFO): Nmea in: $SNTTA,0.056038,,,,225420.24*4D 2021-02-17T22:54:21.444Z,1613602461.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.000000 m, bearing: 25.314563 deg, deltaT: 4.459727 s, approachRate: 0.053814 m/s, LOS rate: -2.579813 deg/s, posRepo size: 4 2021-02-17T22:54:21.446Z,1613602461.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.000000 m, bearing: 25.314563 deg, approachRate: 0.053814 m/s, LOS rate: -2.579813 deg/s, cmd update: -10.319253 deg/s, cmd heading: 36.819825 deg, new cmd heading: 36.819825 deg. 2021-02-17T22:54:23.499Z,1613602463.499 [BuoyancyServo](FAULT): Overload Error 2021-02-17T22:54:23.499Z,1613602463.499 [BuoyancyServo] Hardware Fault, FailCount= 4 2021-02-17T22:54:23.499Z,1613602463.499 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T22:54:23.603Z,1613602463.603 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T22:54:23.849Z,1613602463.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:54:24.612Z,1613602464.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:54:25.019Z,1613602465.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:54:25.496Z,1613602465.496 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T22:54:25.496Z,1613602465.496 [BuoyancyServo](INFO): Powering down 2021-02-17T22:54:25.856Z,1613602465.856 [Micromodem](INFO): Nmea in: $SNTTA,0.056130,,,,225424.68*48 2021-02-17T22:54:25.888Z,1613602465.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.180000 m, bearing: 33.522476 deg, deltaT: 4.453743 s, approachRate: 0.040416 m/s, LOS rate: 1.842925 deg/s, posRepo size: 4 2021-02-17T22:54:25.891Z,1613602465.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.180000 m, bearing: 33.522476 deg, approachRate: 0.040416 m/s, LOS rate: 1.842925 deg/s, cmd update: 7.371699 deg/s, cmd heading: 350.909076 deg, new cmd heading: 346.570243 deg. 2021-02-17T22:54:26.351Z,1613602466.351 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T22:54:26.351Z,1613602466.351 [BuoyancyServo] No Fault, FailCount= 4 2021-02-17T22:54:26.688Z,1613602466.688 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T22:54:26.689Z,1613602466.689 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T22:54:28.324Z,1613602468.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:54:29.067Z,1613602469.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:54:29.469Z,1613602469.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:54:30.288Z,1613602470.288 [Micromodem](INFO): Nmea in: $SNTTA,0.056268,,,,225429.14*40 2021-02-17T22:54:30.339Z,1613602470.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.360001 m, bearing: 34.685248 deg, deltaT: 4.474829 s, approachRate: 0.040225 m/s, LOS rate: 0.259847 deg/s, posRepo size: 4 2021-02-17T22:54:30.341Z,1613602470.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.360001 m, bearing: 34.685248 deg, approachRate: 0.040225 m/s, LOS rate: 0.259847 deg/s, cmd update: 1.039388 deg/s, cmd heading: 23.926446 deg, new cmd heading: 26.823022 deg. 2021-02-17T22:54:32.737Z,1613602472.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:54:33.506Z,1613602473.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:54:33.911Z,1613602473.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:54:34.732Z,1613602474.732 [Micromodem](INFO): Nmea in: $SNTTA,0.056365,,,,225433.58*4F 2021-02-17T22:54:34.799Z,1613602474.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.540001 m, bearing: 35.372860 deg, deltaT: 4.443432 s, approachRate: 0.040509 m/s, LOS rate: 0.154748 deg/s, posRepo size: 4 2021-02-17T22:54:34.801Z,1613602474.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.540001 m, bearing: 35.372860 deg, approachRate: 0.040509 m/s, LOS rate: 0.154748 deg/s, cmd update: 0.618992 deg/s, cmd heading: 28.541369 deg, new cmd heading: 28.970635 deg. 2021-02-17T22:54:37.187Z,1613602477.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:54:37.975Z,1613602477.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:54:38.350Z,1613602478.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:54:39.196Z,1613602479.196 [Micromodem](INFO): Nmea in: $SNTTA,0.056468,,0.074305,,225438.05*5D 2021-02-17T22:54:39.271Z,1613602479.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.779999 m, bearing: 36.077377 deg, deltaT: 4.406834 s, approachRate: 0.054460 m/s, LOS rate: 0.159869 deg/s, posRepo size: 4 2021-02-17T22:54:39.273Z,1613602479.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.779999 m, bearing: 36.077377 deg, approachRate: 0.054460 m/s, LOS rate: 0.159869 deg/s, cmd update: 0.639477 deg/s, cmd heading: 31.261790 deg, new cmd heading: 31.565189 deg. 2021-02-17T22:54:41.629Z,1613602481.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:54:42.388Z,1613602482.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:54:42.815Z,1613602482.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:54:43.616Z,1613602483.616 [Micromodem](INFO): Nmea in: $SNTTA,0.056538,,,,225442.46*48 2021-02-17T22:54:43.653Z,1613602483.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.840004 m, bearing: 35.226916 deg, deltaT: 4.493215 s, approachRate: 0.013355 m/s, LOS rate: -0.189277 deg/s, posRepo size: 4 2021-02-17T22:54:43.655Z,1613602483.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.840004 m, bearing: 35.226916 deg, approachRate: 0.013355 m/s, LOS rate: -0.189277 deg/s, cmd update: -0.757107 deg/s, cmd heading: 34.142723 deg, new cmd heading: 34.377406 deg. 2021-02-17T22:54:44.103Z,1613602484.103 [BuoyancyServo](FAULT): Overload Error 2021-02-17T22:54:44.103Z,1613602484.103 [BuoyancyServo] Hardware Fault, FailCount= 5 2021-02-17T22:54:44.103Z,1613602484.103 [BuoyancyServo](ERROR): Hardware Fault 2021-02-17T22:54:44.175Z,1613602484.175 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-17T22:54:46.095Z,1613602486.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:54:46.112Z,1613602486.112 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-17T22:54:46.112Z,1613602486.112 [BuoyancyServo](INFO): Powering down 2021-02-17T22:54:46.854Z,1613602486.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:54:47.037Z,1613602487.037 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-17T22:54:47.038Z,1613602487.038 [BuoyancyServo] No Fault, FailCount= 5 2021-02-17T22:54:47.252Z,1613602487.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:54:47.324Z,1613602487.324 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-17T22:54:47.331Z,1613602487.331 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-17T22:54:48.075Z,1613602488.075 [Micromodem](INFO): Nmea in: $SNTTA,0.056878,,,,225446.93*4D 2021-02-17T22:54:48.100Z,1613602488.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.260002 m, bearing: 28.043182 deg, deltaT: 4.420947 s, approachRate: 0.095002 m/s, LOS rate: -1.624931 deg/s, posRepo size: 4 2021-02-17T22:54:48.104Z,1613602488.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.260002 m, bearing: 28.043182 deg, approachRate: 0.095002 m/s, LOS rate: -1.624931 deg/s, cmd update: -6.499724 deg/s, cmd heading: 30.798629 deg, new cmd heading: 30.498731 deg. 2021-02-17T22:54:48.564Z,1613602488.564 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T22:54:50.529Z,1613602490.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:54:51.277Z,1613602491.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:54:51.682Z,1613602491.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:54:52.508Z,1613602492.508 [Micromodem](INFO): Nmea in: $SNTTA,0.056846,0.063363,,,225451.35*57 2021-02-17T22:54:52.533Z,1613602492.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.320007 m, bearing: 12.904200 deg, deltaT: 4.427729 s, approachRate: 0.013552 m/s, LOS rate: -3.419130 deg/s, posRepo size: 4 2021-02-17T22:54:52.555Z,1613602492.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.320007 m, bearing: 12.904200 deg, approachRate: 0.013552 m/s, LOS rate: -3.419130 deg/s, cmd update: -12.000000 deg/s, cmd heading: 1.967610 deg, new cmd heading: 359.403774 deg. 2021-02-17T22:54:54.975Z,1613602494.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:54:55.720Z,1613602495.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:54:56.143Z,1613602496.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:54:56.964Z,1613602496.964 [Micromodem](INFO): Nmea in: $SNTTA,0.057142,,,,225455.79*4A 2021-02-17T22:54:57.012Z,1613602497.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.800003 m, bearing: 10.427639 deg, deltaT: 4.438325 s, approachRate: 0.108148 m/s, LOS rate: -0.557994 deg/s, posRepo size: 4 2021-02-17T22:54:57.014Z,1613602497.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.800003 m, bearing: 10.427639 deg, approachRate: 0.108148 m/s, LOS rate: -0.557994 deg/s, cmd update: -2.231978 deg/s, cmd heading: 308.899144 deg, new cmd heading: 303.776932 deg. 2021-02-17T22:54:59.420Z,1613602499.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:00.170Z,1613602500.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:00.570Z,1613602500.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:01.408Z,1613602501.408 [Micromodem](INFO): Nmea in: $SNTTA,0.057338,,0.110419,,225500.25*5F 2021-02-17T22:55:01.458Z,1613602501.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.040001 m, bearing: 2.970990 deg, deltaT: 4.460830 s, approachRate: 0.053801 m/s, LOS rate: -1.671583 deg/s, posRepo size: 4 2021-02-17T22:55:01.460Z,1613602501.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.040001 m, bearing: 2.970990 deg, approachRate: 0.053801 m/s, LOS rate: -1.671583 deg/s, cmd update: -6.686333 deg/s, cmd heading: 298.916024 deg, new cmd heading: 297.968893 deg. 2021-02-17T22:55:03.842Z,1613602503.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:04.608Z,1613602504.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:05.015Z,1613602505.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:05.848Z,1613602505.848 [Micromodem](INFO): Nmea in: $SNTTA,0.057457,,0.068175,,225504.68*5D 2021-02-17T22:55:05.872Z,1613602505.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.220001 m, bearing: 351.857687 deg, deltaT: 4.424815 s, approachRate: 0.040680 m/s, LOS rate: -2.511587 deg/s, posRepo size: 4 2021-02-17T22:55:05.873Z,1613602505.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.220001 m, bearing: 351.857687 deg, approachRate: 0.040680 m/s, LOS rate: -2.511587 deg/s, cmd update: -10.046349 deg/s, cmd heading: 269.304186 deg, new cmd heading: 266.569268 deg. 2021-02-17T22:55:08.314Z,1613602508.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:09.054Z,1613602509.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:09.470Z,1613602509.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:10.280Z,1613602510.280 [Micromodem](INFO): Nmea in: $SNTTA,0.057624,,,,225509.13*49 2021-02-17T22:55:10.342Z,1613602510.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.520004 m, bearing: 359.714044 deg, deltaT: 4.482366 s, approachRate: 0.066930 m/s, LOS rate: 1.752725 deg/s, posRepo size: 4 2021-02-17T22:55:10.344Z,1613602510.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.520004 m, bearing: 359.714044 deg, approachRate: 0.066930 m/s, LOS rate: 1.752725 deg/s, cmd update: 7.010901 deg/s, cmd heading: 224.432461 deg, new cmd heading: 220.285901 deg. 2021-02-17T22:55:12.811Z,1613602512.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:13.501Z,1613602513.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:13.904Z,1613602513.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:14.724Z,1613602514.724 [Micromodem](INFO): Nmea in: $SNTTA,0.057592,,,,225513.57*4C 2021-02-17T22:55:14.808Z,1613602514.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.400002 m, bearing: 352.013169 deg, deltaT: 4.402621 s, approachRate: -0.027257 m/s, LOS rate: -1.749157 deg/s, posRepo size: 4 2021-02-17T22:55:14.810Z,1613602514.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.400002 m, bearing: 352.013169 deg, approachRate: -0.027257 m/s, LOS rate: -1.749157 deg/s, cmd update: -6.996627 deg/s, cmd heading: 255.382955 deg, new cmd heading: 258.641328 deg. 2021-02-17T22:55:17.161Z,1613602517.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:17.974Z,1613602517.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:18.357Z,1613602518.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:19.200Z,1613602519.200 [Micromodem](INFO): Nmea in: $SNTTA,0.057615,,0.082401,,225518.05*5D 2021-02-17T22:55:19.261Z,1613602519.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.400002 m, bearing: 3.405560 deg, deltaT: 4.449508 s, approachRate: 0.000000 m/s, LOS rate: 2.560371 deg/s, posRepo size: 4 2021-02-17T22:55:19.263Z,1613602519.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.400002 m, bearing: 3.405560 deg, approachRate: 0.000000 m/s, LOS rate: 2.560371 deg/s, cmd update: 10.241484 deg/s, cmd heading: 224.223434 deg, new cmd heading: 220.976964 deg. 2021-02-17T22:55:21.633Z,1613602521.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:22.386Z,1613602522.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:22.808Z,1613602522.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:23.619Z,1613602523.619 [Micromodem](INFO): Nmea in: $SNTTA,0.057544,,,,225522.46*45 2021-02-17T22:55:23.643Z,1613602523.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 14.711754 deg, deltaT: 4.466799 s, approachRate: -0.013432 m/s, LOS rate: 2.531163 deg/s, posRepo size: 4 2021-02-17T22:55:23.645Z,1613602523.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.340004 m, bearing: 14.711754 deg, approachRate: -0.013432 m/s, LOS rate: 2.531163 deg/s, cmd update: 10.124651 deg/s, cmd heading: 269.805769 deg, new cmd heading: 273.853173 deg. 2021-02-17T22:55:23.720Z,1613602523.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T22:55:26.049Z,1613602526.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:26.866Z,1613602526.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:27.241Z,1613602527.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:28.066Z,1613602528.066 [Micromodem](INFO): Nmea in: $SNTTA,0.057610,,,,225526.94*4C 2021-02-17T22:55:28.118Z,1613602528.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.400002 m, bearing: 30.762923 deg, deltaT: 4.441280 s, approachRate: 0.013509 m/s, LOS rate: 3.614086 deg/s, posRepo size: 4 2021-02-17T22:55:28.120Z,1613602528.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.400002 m, bearing: 30.762923 deg, approachRate: 0.013509 m/s, LOS rate: 3.614086 deg/s, cmd update: 12.000000 deg/s, cmd heading: 314.737085 deg, new cmd heading: 319.119429 deg. 2021-02-17T22:55:30.525Z,1613602530.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:31.277Z,1613602531.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:31.691Z,1613602531.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:32.504Z,1613602532.504 [Micromodem](INFO): Nmea in: $SNTTA,0.057790,,,,225531.35*48 2021-02-17T22:55:32.565Z,1613602532.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.579994 m, bearing: 298.141883 deg, deltaT: 4.426472 s, approachRate: 0.040663 m/s, LOS rate: -20.924349 deg/s, posRepo size: 4 2021-02-17T22:55:32.565Z,1613602532.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.924349 deg/s. Setting heading cmd to target bearing of 298.141883deg and heading rate command to 0 deg/s. 2021-02-17T22:55:34.950Z,1613602534.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:35.726Z,1613602535.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:36.128Z,1613602536.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:36.952Z,1613602536.952 [Micromodem](INFO): Nmea in: $SNTTA,0.057801,,,,225535.80*45 2021-02-17T22:55:37.016Z,1613602537.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.820000 m, bearing: 326.805509 deg, deltaT: 4.462312 s, approachRate: 0.053785 m/s, LOS rate: 6.423492 deg/s, posRepo size: 4 2021-02-17T22:55:37.018Z,1613602537.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.820000 m, bearing: 326.805509 deg, approachRate: 0.053785 m/s, LOS rate: 6.423492 deg/s, cmd update: 12.000000 deg/s, cmd heading: 298.141883 deg, new cmd heading: 298.141883 deg. 2021-02-17T22:55:39.419Z,1613602539.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:40.179Z,1613602540.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:40.565Z,1613602540.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:41.396Z,1613602541.396 [Micromodem](INFO): Nmea in: $SNTTA,0.057819,,,,225540.25*41 2021-02-17T22:55:41.453Z,1613602541.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.700005 m, bearing: 16.440363 deg, deltaT: 4.403323 s, approachRate: -0.027251 m/s, LOS rate: 11.272138 deg/s, posRepo size: 4 2021-02-17T22:55:41.459Z,1613602541.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.700005 m, bearing: 16.440363 deg, approachRate: -0.027251 m/s, LOS rate: 11.272138 deg/s, cmd update: 12.000000 deg/s, cmd heading: 351.028691 deg, new cmd heading: 356.501867 deg. 2021-02-17T22:55:43.832Z,1613602543.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:44.604Z,1613602544.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:45.015Z,1613602545.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:45.445Z,1613602545.445 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T22:55:45.840Z,1613602545.840 [Micromodem](INFO): Nmea in: $SNTTA,0.057948,,,,225544.68*49 2021-02-17T22:55:45.882Z,1613602545.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.760010 m, bearing: 54.186828 deg, deltaT: 4.488375 s, approachRate: 0.013369 m/s, LOS rate: 8.409829 deg/s, posRepo size: 4 2021-02-17T22:55:45.904Z,1613602545.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.760010 m, bearing: 54.186828 deg, approachRate: 0.013369 m/s, LOS rate: 8.409829 deg/s, cmd update: 12.000000 deg/s, cmd heading: 44.650681 deg, new cmd heading: 49.644025 deg. 2021-02-17T22:55:48.296Z,1613602548.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:49.054Z,1613602549.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:49.459Z,1613602549.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:50.276Z,1613602550.276 [Micromodem](INFO): Nmea in: $SNTTA,0.058263,,,,225549.13*45 2021-02-17T22:55:50.333Z,1613602550.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.300003 m, bearing: 320.238337 deg, deltaT: 4.445242 s, approachRate: 0.121477 m/s, LOS rate: -21.134620 deg/s, posRepo size: 4 2021-02-17T22:55:50.333Z,1613602550.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.134620 deg/s. Setting heading cmd to target bearing of 320.238337deg and heading rate command to 0 deg/s. 2021-02-17T22:55:52.706Z,1613602552.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:53.497Z,1613602553.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:53.904Z,1613602553.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:54.724Z,1613602554.724 [Micromodem](INFO): Nmea in: $SNTTA,0.058447,,,,225553.57*4E 2021-02-17T22:55:54.807Z,1613602554.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.540001 m, bearing: 44.634354 deg, deltaT: 4.425240 s, approachRate: 0.054234 m/s, LOS rate: 19.071512 deg/s, posRepo size: 4 2021-02-17T22:55:54.808Z,1613602554.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.071512 deg/s. Setting heading cmd to target bearing of 44.634354deg and heading rate command to 0 deg/s. 2021-02-17T22:55:57.172Z,1613602557.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:55:57.958Z,1613602557.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:55:58.347Z,1613602558.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:55:58.859Z,1613602558.859 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T22:55:59.192Z,1613602559.192 [Micromodem](INFO): Nmea in: $SNTTA,0.058751,,,,225558.03*40 2021-02-17T22:55:59.264Z,1613602559.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.140007 m, bearing: 325.058483 deg, deltaT: 4.402845 s, approachRate: 0.136277 m/s, LOS rate: -18.073739 deg/s, posRepo size: 4 2021-02-17T22:55:59.265Z,1613602559.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.073739 deg/s. Setting heading cmd to target bearing of 325.058483deg and heading rate command to 0 deg/s. 2021-02-17T22:56:01.617Z,1613602561.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:02.384Z,1613602562.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:02.806Z,1613602562.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:56:03.608Z,1613602563.608 [Micromodem](INFO): Nmea in: $SNTTA,0.059059,,,,225602.46*43 2021-02-17T22:56:03.707Z,1613602563.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.680000 m, bearing: 317.060195 deg, deltaT: 4.499178 s, approachRate: 0.120020 m/s, LOS rate: -1.777722 deg/s, posRepo size: 4 2021-02-17T22:56:03.709Z,1613602563.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.680000 m, bearing: 317.060195 deg, approachRate: 0.120020 m/s, LOS rate: -1.777722 deg/s, cmd update: -7.110888 deg/s, cmd heading: 325.058483 deg, new cmd heading: 325.058483 deg. 2021-02-17T22:56:06.056Z,1613602566.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:06.840Z,1613602566.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:07.241Z,1613602567.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:56:08.060Z,1613602568.060 [Micromodem](INFO): Nmea in: $SNTTA,0.059141,,,,225606.91*45 2021-02-17T22:56:08.117Z,1613602568.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.620010 m, bearing: 28.701568 deg, deltaT: 4.422289 s, approachRate: -0.013565 m/s, LOS rate: 16.200068 deg/s, posRepo size: 4 2021-02-17T22:56:08.117Z,1613602568.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.200068 deg/s. Setting heading cmd to target bearing of 28.701568deg and heading rate command to 0 deg/s. 2021-02-17T22:56:10.547Z,1613602570.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:11.274Z,1613602571.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:11.686Z,1613602571.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:56:12.505Z,1613602572.505 [Micromodem](INFO): Nmea in: $SNTTA,0.059606,,0.089441,0.062105,225611.35*49 2021-02-17T22:56:12.544Z,1613602572.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.279999 m, bearing: 52.387592 deg, deltaT: 4.443677 s, approachRate: 0.148523 m/s, LOS rate: 5.330276 deg/s, posRepo size: 4 2021-02-17T22:56:12.546Z,1613602572.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.279999 m, bearing: 52.387592 deg, approachRate: 0.148523 m/s, LOS rate: 5.330276 deg/s, cmd update: 12.000000 deg/s, cmd heading: 28.701568 deg, new cmd heading: 28.701568 deg. 2021-02-17T22:56:15.161Z,1613602575.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:15.718Z,1613602575.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:16.128Z,1613602576.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:56:16.985Z,1613602576.985 [Micromodem](INFO): Nmea in: $SNTTA,0.059849,,,0.082873,225615.79*58 2021-02-17T22:56:17.022Z,1613602577.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.820007 m, bearing: 334.241290 deg, deltaT: 4.434498 s, approachRate: 0.121774 m/s, LOS rate: -17.622353 deg/s, posRepo size: 4 2021-02-17T22:56:17.022Z,1613602577.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.622353 deg/s. Setting heading cmd to target bearing of 334.241290deg and heading rate command to 0 deg/s. 2021-02-17T22:56:19.424Z,1613602579.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:20.165Z,1613602580.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:20.567Z,1613602580.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:56:21.390Z,1613602581.390 [Micromodem](INFO): Nmea in: $SNTTA,0.060177,,,,225620.24*40 2021-02-17T22:56:21.453Z,1613602581.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.299995 m, bearing: 318.333343 deg, deltaT: 4.438663 s, approachRate: 0.108138 m/s, LOS rate: -3.583951 deg/s, posRepo size: 4 2021-02-17T22:56:21.460Z,1613602581.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.299995 m, bearing: 318.333343 deg, approachRate: 0.108138 m/s, LOS rate: -3.583951 deg/s, cmd update: -12.000000 deg/s, cmd heading: 334.241290 deg, new cmd heading: 334.241290 deg. 2021-02-17T22:56:23.859Z,1613602583.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:24.606Z,1613602584.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:25.009Z,1613602585.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:56:25.852Z,1613602585.852 [Micromodem](INFO): Nmea in: $SNTTA,0.060366,,,0.078372,225624.68*59 2021-02-17T22:56:25.876Z,1613602585.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.600006 m, bearing: 324.547940 deg, deltaT: 4.484630 s, approachRate: 0.066898 m/s, LOS rate: 1.385755 deg/s, posRepo size: 4 2021-02-17T22:56:25.878Z,1613602585.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.600006 m, bearing: 324.547940 deg, approachRate: 0.066898 m/s, LOS rate: 1.385755 deg/s, cmd update: 5.543020 deg/s, cmd heading: 280.618364 deg, new cmd heading: 275.692172 deg. 2021-02-17T22:56:27.981Z,1613602587.981 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004139 2021-02-17T22:56:28.296Z,1613602588.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:28.296Z,1613602588.296 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T22:56:28.296Z,1613602588.296 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T22:56:28.297Z,1613602588.297 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T22:56:28.297Z,1613602588.297 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T22:56:28.297Z,1613602588.297 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T22:56:29.073Z,1613602589.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:29.467Z,1613602589.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:56:30.360Z,1613602590.360 [Micromodem](INFO): Nmea in: $SNTTA,0.060670,,,,225629.14*4A 2021-02-17T22:56:30.407Z,1613602590.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.020004 m, bearing: 320.490262 deg, deltaT: 4.430355 s, approachRate: 0.094800 m/s, LOS rate: -0.915881 deg/s, posRepo size: 4 2021-02-17T22:56:30.409Z,1613602590.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.020004 m, bearing: 320.490262 deg, approachRate: 0.094800 m/s, LOS rate: -0.915881 deg/s, cmd update: -3.663525 deg/s, cmd heading: 305.165798 deg, new cmd heading: 308.006019 deg. 2021-02-17T22:56:31.997Z,1613602591.997 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20210217T180521/Courier0054.lzma 2021-02-17T22:56:32.721Z,1613602592.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:32.997Z,1613602592.997 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Courier0054.lzma.bak 2021-02-17T22:56:32.997Z,1613602592.997 [DataOverHttps](INFO): SBD MOMSN=82903 2021-02-17T22:56:33.122Z,1613602593.122 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T22:56:33.505Z,1613602593.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:33.921Z,1613602593.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:56:34.740Z,1613602594.740 [Micromodem](INFO): Nmea in: $SNTTA,0.060999,,,0.068575,225633.58*56 2021-02-17T22:56:34.808Z,1613602594.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.559998 m, bearing: 316.557056 deg, deltaT: 4.449889 s, approachRate: 0.121350 m/s, LOS rate: -0.883888 deg/s, posRepo size: 4 2021-02-17T22:56:34.810Z,1613602594.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.559998 m, bearing: 316.557056 deg, approachRate: 0.121350 m/s, LOS rate: -0.883888 deg/s, cmd update: -3.535554 deg/s, cmd heading: 288.798038 deg, new cmd heading: 287.165850 deg. 2021-02-17T22:56:37.183Z,1613602597.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:37.975Z,1613602597.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:38.362Z,1613602598.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:56:39.213Z,1613602599.213 [Micromodem](INFO): Nmea in: $SNTTA,0.061232,,,0.063727,225638.05*50 2021-02-17T22:56:39.263Z,1613602599.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.920006 m, bearing: 310.709240 deg, deltaT: 4.428318 s, approachRate: 0.081297 m/s, LOS rate: -1.320550 deg/s, posRepo size: 4 2021-02-17T22:56:39.265Z,1613602599.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.920006 m, bearing: 310.709240 deg, approachRate: 0.081297 m/s, LOS rate: -1.320550 deg/s, cmd update: -5.282201 deg/s, cmd heading: 273.141492 deg, new cmd heading: 271.471442 deg. 2021-02-17T22:56:41.622Z,1613602601.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:42.035Z,1613602602.035 [DataOverHttps](INFO): Sending 438 bytes from file Logs/20210217T180521/Express0046.lzma 2021-02-17T22:56:42.393Z,1613602602.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:42.852Z,1613602602.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:56:43.037Z,1613602603.037 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0046.lzma.bak 2021-02-17T22:56:43.037Z,1613602603.037 [DataOverHttps](INFO): SBD MOMSN=82905 2021-02-17T22:56:43.624Z,1613602603.624 [Micromodem](INFO): Nmea in: $SNTTA,0.061492,,,,225642.47*4E 2021-02-17T22:56:43.669Z,1613602603.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.220001 m, bearing: 312.006402 deg, deltaT: 4.499823 s, approachRate: 0.066668 m/s, LOS rate: 0.288270 deg/s, posRepo size: 4 2021-02-17T22:56:43.672Z,1613602603.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.220001 m, bearing: 312.006402 deg, approachRate: 0.066668 m/s, LOS rate: 0.288270 deg/s, cmd update: 1.153078 deg/s, cmd heading: 249.372591 deg, new cmd heading: 247.377324 deg. 2021-02-17T22:56:46.127Z,1613602606.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:46.869Z,1613602606.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:47.244Z,1613602607.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:56:48.084Z,1613602608.084 [Micromodem](INFO): Nmea in: $SNTTA,0.061819,,,,225646.94*4B 2021-02-17T22:56:48.119Z,1613602608.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.759995 m, bearing: 313.744466 deg, deltaT: 4.377845 s, approachRate: 0.123347 m/s, LOS rate: 0.397014 deg/s, posRepo size: 4 2021-02-17T22:56:48.122Z,1613602608.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.759995 m, bearing: 313.744466 deg, approachRate: 0.123347 m/s, LOS rate: 0.397014 deg/s, cmd update: 1.588055 deg/s, cmd heading: 254.420381 deg, new cmd heading: 254.926790 deg. 2021-02-17T22:56:50.281Z,1613602610.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:50.884Z,1613602610.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:51.283Z,1613602611.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:56:52.078Z,1613602612.078 [DataOverHttps](INFO): Sending 163 bytes from file Logs/20210217T180521/Express0049.lzma 2021-02-17T22:56:52.124Z,1613602612.124 [Micromodem](INFO): Nmea in: $SNTTA,0.062137,,0.063287,,225650.96*5E 2021-02-17T22:56:52.181Z,1613602612.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.060005 m, bearing: 31.915131 deg, deltaT: 4.063490 s, approachRate: 0.073831 m/s, LOS rate: 19.237320 deg/s, posRepo size: 4 2021-02-17T22:56:52.182Z,1613602612.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.237320 deg/s. Setting heading cmd to target bearing of 31.915131deg and heading rate command to 0 deg/s. 2021-02-17T22:56:53.077Z,1613602613.077 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0049.lzma.bak 2021-02-17T22:56:53.077Z,1613602613.077 [DataOverHttps](INFO): SBD MOMSN=82907 2021-02-17T22:56:54.325Z,1613602614.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:54.929Z,1613602614.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:55.338Z,1613602615.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:56:56.173Z,1613602616.173 [Micromodem](INFO): Nmea in: $SNTTA,0.062332,,,,225655.00*45 2021-02-17T22:56:56.250Z,1613602616.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.419998 m, bearing: 310.950919 deg, deltaT: 4.015043 s, approachRate: 0.089661 m/s, LOS rate: -20.165215 deg/s, posRepo size: 4 2021-02-17T22:56:56.255Z,1613602616.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.165215 deg/s. Setting heading cmd to target bearing of 310.950919deg and heading rate command to 0 deg/s. 2021-02-17T22:56:58.271Z,1613602618.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:56:58.986Z,1613602618.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:56:59.371Z,1613602619.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:00.232Z,1613602620.232 [Micromodem](INFO): Nmea in: $SNTTA,0.062740,,,,225659.06*4E 2021-02-17T22:57:00.265Z,1613602620.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.200005 m, bearing: 307.427880 deg, deltaT: 4.050225 s, approachRate: 0.192583 m/s, LOS rate: -0.869838 deg/s, posRepo size: 4 2021-02-17T22:57:00.267Z,1613602620.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.200005 m, bearing: 307.427880 deg, approachRate: 0.192583 m/s, LOS rate: -0.869838 deg/s, cmd update: -3.479351 deg/s, cmd heading: 310.950919 deg, new cmd heading: 310.950919 deg. 2021-02-17T22:57:02.115Z,1613602622.115 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20210217T180521/Express0052.lzma 2021-02-17T22:57:02.633Z,1613602622.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:57:03.118Z,1613602623.118 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0052.lzma.bak 2021-02-17T22:57:03.118Z,1613602623.118 [DataOverHttps](INFO): SBD MOMSN=82909 2021-02-17T22:57:03.413Z,1613602623.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:57:03.831Z,1613602623.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:04.640Z,1613602624.640 [Micromodem](INFO): Nmea in: $SNTTA,0.062953,,,,225703.49*47 2021-02-17T22:57:04.683Z,1613602624.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.380005 m, bearing: 303.408778 deg, deltaT: 4.536686 s, approachRate: 0.039677 m/s, LOS rate: -0.885911 deg/s, posRepo size: 4 2021-02-17T22:57:04.685Z,1613602624.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.380005 m, bearing: 303.408778 deg, approachRate: 0.039677 m/s, LOS rate: -0.885911 deg/s, cmd update: -3.543646 deg/s, cmd heading: 295.194238 deg, new cmd heading: 293.950621 deg. 2021-02-17T22:57:07.099Z,1613602627.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:57:07.853Z,1613602627.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:57:08.258Z,1613602628.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:09.084Z,1613602629.084 [Micromodem](INFO): Nmea in: $SNTTA,0.063318,,,,225707.92*41 2021-02-17T22:57:09.146Z,1613602629.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.860001 m, bearing: 297.635411 deg, deltaT: 4.355316 s, approachRate: 0.110209 m/s, LOS rate: -1.325591 deg/s, posRepo size: 4 2021-02-17T22:57:09.164Z,1613602629.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.860001 m, bearing: 297.635411 deg, approachRate: 0.110209 m/s, LOS rate: -1.325591 deg/s, cmd update: -5.302364 deg/s, cmd heading: 279.732044 deg, new cmd heading: 278.139884 deg. 2021-02-17T22:57:11.200Z,1613602631.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:57:11.922Z,1613602631.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:57:12.159Z,1613602632.159 [DataOverHttps](INFO): Sending 2125 bytes from file Logs/20210217T180521/Express0055.lzma 2021-02-17T22:57:12.331Z,1613602632.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:13.132Z,1613602633.132 [Micromodem](INFO): Nmea in: $SNTTA,0.063406,,,,225712.00*46 2021-02-17T22:57:13.157Z,1613602633.157 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0055.lzma.bak 2021-02-17T22:57:13.157Z,1613602633.157 [DataOverHttps](INFO): SBD MOMSN=82911 2021-02-17T22:57:13.239Z,1613602633.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.980003 m, bearing: 17.140655 deg, deltaT: 4.136065 s, approachRate: 0.029014 m/s, LOS rate: 19.222437 deg/s, posRepo size: 4 2021-02-17T22:57:13.240Z,1613602633.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.222437 deg/s. Setting heading cmd to target bearing of 17.140655deg and heading rate command to 0 deg/s. 2021-02-17T22:57:14.817Z,1613602634.817 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T22:57:14.817Z,1613602634.817 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T22:57:14.817Z,1613602634.817 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T22:57:14.817Z,1613602634.817 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T22:57:14.817Z,1613602634.817 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T22:57:15.589Z,1613602635.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:57:16.341Z,1613602636.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:57:16.747Z,1613602636.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:17.577Z,1613602637.577 [Micromodem](INFO): Nmea in: $SNTTA,0.063702,,,,225716.41*40 2021-02-17T22:57:17.649Z,1613602637.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.459999 m, bearing: 22.676990 deg, deltaT: 4.404875 s, approachRate: 0.108969 m/s, LOS rate: 1.256865 deg/s, posRepo size: 4 2021-02-17T22:57:17.651Z,1613602637.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.459999 m, bearing: 22.676990 deg, approachRate: 0.108969 m/s, LOS rate: 1.256865 deg/s, cmd update: 5.027461 deg/s, cmd heading: 17.140655 deg, new cmd heading: 17.140655 deg. 2021-02-17T22:57:19.988Z,1613602639.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:57:20.814Z,1613602640.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:57:21.206Z,1613602641.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:22.028Z,1613602642.028 [Micromodem](INFO): Nmea in: $SNTTA,0.063926,,,,225720.89*49 2021-02-17T22:57:22.073Z,1613602642.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.699997 m, bearing: 357.238209 deg, deltaT: 4.400060 s, approachRate: 0.054544 m/s, LOS rate: -5.781463 deg/s, posRepo size: 4 2021-02-17T22:57:22.075Z,1613602642.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.699997 m, bearing: 357.238209 deg, approachRate: 0.054544 m/s, LOS rate: -5.781463 deg/s, cmd update: -12.000000 deg/s, cmd heading: 39.323824 deg, new cmd heading: 41.553911 deg. 2021-02-17T22:57:24.523Z,1613602644.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:57:25.550Z,1613602645.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:57:25.953Z,1613602645.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:26.760Z,1613602646.760 [Micromodem](INFO): Nmea in: $SNTTA,0.064190,,,,225725.62*4B 2021-02-17T22:57:26.804Z,1613602646.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.120003 m, bearing: 62.669827 deg, deltaT: 4.751686 s, approachRate: 0.088391 m/s, LOS rate: 13.770190 deg/s, posRepo size: 4 2021-02-17T22:57:26.805Z,1613602646.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.770190 deg/s. Setting heading cmd to target bearing of 62.669827deg and heading rate command to 0 deg/s. 2021-02-17T22:57:29.245Z,1613602649.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:57:29.962Z,1613602649.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:57:30.424Z,1613602650.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:31.228Z,1613602651.228 [Micromodem](INFO): Nmea in: $SNTTA,0.064499,,,,225730.03*44 2021-02-17T22:57:31.319Z,1613602651.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.540001 m, bearing: 60.317776 deg, deltaT: 4.510111 s, approachRate: 0.093124 m/s, LOS rate: -0.521506 deg/s, posRepo size: 4 2021-02-17T22:57:31.321Z,1613602651.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.540001 m, bearing: 60.317776 deg, approachRate: 0.093124 m/s, LOS rate: -0.521506 deg/s, cmd update: -2.086025 deg/s, cmd heading: 62.669827 deg, new cmd heading: 62.669827 deg. 2021-02-17T22:57:33.643Z,1613602653.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:57:34.401Z,1613602654.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:57:34.836Z,1613602654.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:35.641Z,1613602655.641 [Micromodem](INFO): Nmea in: $SNTTA,0.064873,,,,225734.47*48 2021-02-17T22:57:35.709Z,1613602655.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.080009 m, bearing: 58.004678 deg, deltaT: 4.392673 s, approachRate: 0.122934 m/s, LOS rate: -0.526581 deg/s, posRepo size: 4 2021-02-17T22:57:35.719Z,1613602655.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.080009 m, bearing: 58.004678 deg, approachRate: 0.122934 m/s, LOS rate: -0.526581 deg/s, cmd update: -2.106324 deg/s, cmd heading: 53.480819 deg, new cmd heading: 52.595487 deg. 2021-02-17T22:57:38.078Z,1613602658.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:57:38.896Z,1613602658.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:57:39.287Z,1613602659.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:40.094Z,1613602660.094 [Micromodem](INFO): Nmea in: $SNTTA,0.065280,,,,225738.97*4E 2021-02-17T22:57:40.224Z,1613602660.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.800003 m, bearing: 359.962581 deg, deltaT: 4.433649 s, approachRate: 0.162393 m/s, LOS rate: -13.091269 deg/s, posRepo size: 4 2021-02-17T22:57:40.225Z,1613602660.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.091269 deg/s. Setting heading cmd to target bearing of 359.962581deg and heading rate command to 0 deg/s. 2021-02-17T22:57:42.544Z,1613602662.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:57:43.297Z,1613602663.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:57:43.702Z,1613602663.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:44.525Z,1613602664.525 [Micromodem](INFO): Nmea in: $SNTTA,0.065862,,,,225743.37*4E 2021-02-17T22:57:44.618Z,1613602664.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.639999 m, bearing: 29.956742 deg, deltaT: 4.515691 s, approachRate: 0.186017 m/s, LOS rate: 6.642209 deg/s, posRepo size: 4 2021-02-17T22:57:44.628Z,1613602664.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.639999 m, bearing: 29.956742 deg, approachRate: 0.186017 m/s, LOS rate: 6.642209 deg/s, cmd update: 12.000000 deg/s, cmd heading: 359.962581 deg, new cmd heading: 359.962581 deg. 2021-02-17T22:57:46.981Z,1613602666.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:57:47.741Z,1613602667.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:57:48.148Z,1613602668.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:48.972Z,1613602668.972 [Micromodem](INFO): Nmea in: $SNTTA,0.066181,,,,225747.81*40 2021-02-17T22:57:49.002Z,1613602669.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.300003 m, bearing: 307.049460 deg, deltaT: 4.409132 s, approachRate: 0.149690 m/s, LOS rate: -18.803538 deg/s, posRepo size: 4 2021-02-17T22:57:49.002Z,1613602669.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.803538 deg/s. Setting heading cmd to target bearing of 307.049460deg and heading rate command to 0 deg/s. 2021-02-17T22:57:51.537Z,1613602671.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:57:52.514Z,1613602672.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:57:52.992Z,1613602672.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:53.702Z,1613602673.702 [Micromodem](INFO): Nmea in: $SNTTA,0.066478,,,,225752.59*42 2021-02-17T22:57:53.859Z,1613602673.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.720001 m, bearing: 304.868635 deg, deltaT: 4.723871 s, approachRate: 0.088910 m/s, LOS rate: -0.461661 deg/s, posRepo size: 4 2021-02-17T22:57:53.861Z,1613602673.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.720001 m, bearing: 304.868635 deg, approachRate: 0.088910 m/s, LOS rate: -0.461661 deg/s, cmd update: -1.846642 deg/s, cmd heading: 307.049460 deg, new cmd heading: 307.049460 deg. 2021-02-17T22:57:56.122Z,1613602676.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:57:56.902Z,1613602676.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:57:57.311Z,1613602677.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:57:58.141Z,1613602678.141 [Micromodem](INFO): Nmea in: $SNTTA,0.066819,,,,225756.97*4F 2021-02-17T22:57:58.214Z,1613602678.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.140007 m, bearing: 301.265711 deg, deltaT: 4.380110 s, approachRate: 0.095889 m/s, LOS rate: -0.822565 deg/s, posRepo size: 4 2021-02-17T22:57:58.228Z,1613602678.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.140007 m, bearing: 301.265711 deg, approachRate: 0.095889 m/s, LOS rate: -0.822565 deg/s, cmd update: -3.290260 deg/s, cmd heading: 298.938496 deg, new cmd heading: 298.131780 deg. 2021-02-17T22:58:00.587Z,1613602680.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:01.340Z,1613602681.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:01.757Z,1613602681.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:02.572Z,1613602682.572 [Micromodem](INFO): Nmea in: $SNTTA,0.067047,,0.073965,,225801.41*5B 2021-02-17T22:58:02.622Z,1613602682.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.380005 m, bearing: 23.912888 deg, deltaT: 4.518784 s, approachRate: 0.053111 m/s, LOS rate: 18.289691 deg/s, posRepo size: 4 2021-02-17T22:58:02.622Z,1613602682.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.289691 deg/s. Setting heading cmd to target bearing of 23.912888deg and heading rate command to 0 deg/s. 2021-02-17T22:58:05.073Z,1613602685.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:05.902Z,1613602685.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:06.254Z,1613602686.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:07.034Z,1613602687.034 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225807.01,A,4133.09409,N,07042.57313,W,0.350,0.00,170221,,,D*70 2021-02-17T22:58:07.036Z,1613602687.036 [NAL9602](INFO): GPS fix at 20210217T225807: (41.551568, -70.709552) 2021-02-17T22:58:07.114Z,1613602687.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.380005 m, bearing: 11.302005 deg, deltaT: 4.403641 s, approachRate: 0.000000 m/s, LOS rate: -2.863740 deg/s, posRepo size: 4 2021-02-17T22:58:07.120Z,1613602687.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.380005 m, bearing: 11.302005 deg, approachRate: 0.000000 m/s, LOS rate: -2.863740 deg/s, cmd update: -11.454961 deg/s, cmd heading: 23.912888 deg, new cmd heading: 23.912888 deg. 2021-02-17T22:58:07.127Z,1613602687.127 [lineCaptureDepth:NeedComms:C] Stopped 2021-02-17T22:58:07.127Z,1613602687.127 [lineCaptureDepth:NeedComms:D] Running Loop=1 2021-02-17T22:58:07.421Z,1613602687.421 [Micromodem](INFO): Nmea in: $SNTTA,0.067379,,,,225805.97*4A 2021-02-17T22:58:09.487Z,1613602689.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:10.244Z,1613602690.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:10.645Z,1613602690.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:11.418Z,1613602691.418 [DataOverHttps](INFO): Sending 89 bytes from file Logs/20210217T180521/Courier0057.lzma 2021-02-17T22:58:11.472Z,1613602691.472 [Micromodem](INFO): Nmea in: $SNTTA,0.067680,,,,225810.32*42 2021-02-17T22:58:11.522Z,1613602691.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.279999 m, bearing: 353.215528 deg, deltaT: 4.423862 s, approachRate: 0.203441 m/s, LOS rate: -4.088389 deg/s, posRepo size: 4 2021-02-17T22:58:11.528Z,1613602691.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.279999 m, bearing: 353.215528 deg, approachRate: 0.203441 m/s, LOS rate: -4.088389 deg/s, cmd update: -12.000000 deg/s, cmd heading: 333.284666 deg, new cmd heading: 328.326810 deg. 2021-02-17T22:58:12.417Z,1613602692.417 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Courier0057.lzma.bak 2021-02-17T22:58:12.417Z,1613602692.417 [DataOverHttps](INFO): SBD MOMSN=82920 2021-02-17T22:58:13.889Z,1613602693.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:14.677Z,1613602694.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:15.080Z,1613602695.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:15.905Z,1613602695.905 [Micromodem](INFO): Nmea in: $SNTTA,0.067835,,,,225814.75*45 2021-02-17T22:58:15.952Z,1613602695.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.639999 m, bearing: 0.655512 deg, deltaT: 4.436184 s, approachRate: 0.081151 m/s, LOS rate: 1.677112 deg/s, posRepo size: 4 2021-02-17T22:58:15.954Z,1613602695.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.639999 m, bearing: 0.655512 deg, approachRate: 0.081151 m/s, LOS rate: 1.677112 deg/s, cmd update: 6.708449 deg/s, cmd heading: 280.001221 deg, new cmd heading: 274.924356 deg. 2021-02-17T22:58:18.356Z,1613602698.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:19.158Z,1613602699.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:19.605Z,1613602699.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:20.380Z,1613602700.380 [Micromodem](INFO): Nmea in: $SNTTA,0.068281,,,,225819.23*41 2021-02-17T22:58:20.444Z,1613602700.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.300003 m, bearing: 56.571086 deg, deltaT: 4.481704 s, approachRate: 0.147266 m/s, LOS rate: 12.476409 deg/s, posRepo size: 4 2021-02-17T22:58:20.445Z,1613602700.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.476409 deg/s. Setting heading cmd to target bearing of 56.571086deg and heading rate command to 0 deg/s. 2021-02-17T22:58:21.456Z,1613602701.456 [DataOverHttps](INFO): Sending 1008 bytes from file Logs/20210217T180521/Express0058.lzma 2021-02-17T22:58:22.461Z,1613602702.461 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0058.lzma.bak 2021-02-17T22:58:22.461Z,1613602702.461 [DataOverHttps](INFO): SBD MOMSN=82923 2021-02-17T22:58:22.816Z,1613602702.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:23.566Z,1613602703.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:23.967Z,1613602703.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:24.020Z,1613602704.020 [lineCaptureDepth:NeedComms:D] Stopped 2021-02-17T22:58:24.020Z,1613602704.020 [lineCaptureDepth:NeedComms:E] Running Loop=1 2021-02-17T22:58:24.812Z,1613602704.812 [Micromodem](INFO): Nmea in: $SNTTA,0.068554,,,,225823.64*44 2021-02-17T22:58:24.850Z,1613602704.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.720001 m, bearing: 359.006108 deg, deltaT: 4.421460 s, approachRate: 0.094991 m/s, LOS rate: -13.019452 deg/s, posRepo size: 4 2021-02-17T22:58:24.851Z,1613602704.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.019452 deg/s. Setting heading cmd to target bearing of 359.006108deg and heading rate command to 0 deg/s. 2021-02-17T22:58:26.002Z,1613602706.002 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225826.00,A,4133.09874,N,07042.56915,W,1.225,182.36,170221,,,D*75 2021-02-17T22:58:26.004Z,1613602706.004 [NAL9602](INFO): GPS fix at 20210217T225826: (41.551646, -70.709486) 2021-02-17T22:58:26.061Z,1613602706.061 [lineCaptureDepth:NeedComms:E] Stopped 2021-02-17T22:58:26.061Z,1613602706.061 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms 2021-02-17T22:58:26.061Z,1613602706.061 [lineCaptureDepth:NeedComms] Stopped 2021-02-17T22:58:26.062Z,1613602706.062 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms 2021-02-17T22:58:26.062Z,1613602706.062 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped 2021-02-17T22:58:26.062Z,1613602706.062 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2021-02-17T22:58:26.849Z,1613602706.849 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-17T22:58:26.850Z,1613602706.850 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-17T22:58:26.850Z,1613602706.850 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-17T22:58:26.850Z,1613602706.850 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-17T22:58:26.867Z,1613602706.867 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-17T22:58:26.867Z,1613602706.867 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-17T22:58:26.867Z,1613602706.867 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-17T22:58:27.258Z,1613602707.258 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -25.00 mm. 2021-02-17T22:58:27.259Z,1613602707.259 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -9.14 mm. 2021-02-17T22:58:27.285Z,1613602707.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:28.006Z,1613602708.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:28.425Z,1613602708.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:29.248Z,1613602709.248 [Micromodem](INFO): Nmea in: $SNTTA,0.068878,,,,225828.08*46 2021-02-17T22:58:29.296Z,1613602709.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.200005 m, bearing: 358.884613 deg, deltaT: 4.395252 s, approachRate: 0.109210 m/s, LOS rate: -0.027642 deg/s, posRepo size: 4 2021-02-17T22:58:29.298Z,1613602709.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.200005 m, bearing: 358.884613 deg, approachRate: 0.109210 m/s, LOS rate: -0.027642 deg/s, cmd update: -0.110570 deg/s, cmd heading: 359.006108 deg, new cmd heading: 359.006108 deg. 2021-02-17T22:58:31.656Z,1613602711.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:32.519Z,1613602712.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:32.992Z,1613602712.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:33.792Z,1613602713.792 [Micromodem](INFO): Nmea in: $SNTTA,0.068957,,,,225832.59*45 2021-02-17T22:58:33.833Z,1613602713.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.320000 m, bearing: 57.077569 deg, deltaT: 4.578396 s, approachRate: 0.026209 m/s, LOS rate: 12.710337 deg/s, posRepo size: 4 2021-02-17T22:58:33.834Z,1613602713.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.710337 deg/s. Setting heading cmd to target bearing of 57.077569deg and heading rate command to 0 deg/s. 2021-02-17T22:58:36.257Z,1613602716.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:36.990Z,1613602716.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:37.419Z,1613602717.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:38.268Z,1613602718.268 [Micromodem](INFO): Nmea in: $SNTTA,0.068913,,,0.087095,225837.06*57 2021-02-17T22:58:38.326Z,1613602718.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.320000 m, bearing: 1.836991 deg, deltaT: 4.413103 s, approachRate: 0.000000 m/s, LOS rate: -12.517401 deg/s, posRepo size: 4 2021-02-17T22:58:38.331Z,1613602718.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.517401 deg/s. Setting heading cmd to target bearing of 1.836991deg and heading rate command to 0 deg/s. 2021-02-17T22:58:40.323Z,1613602720.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:41.037Z,1613602721.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:41.436Z,1613602721.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:42.264Z,1613602722.264 [Micromodem](INFO): Nmea in: $SNTTA,0.068514,,,,225841.11*46 2021-02-17T22:58:42.305Z,1613602722.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.600006 m, bearing: 57.066142 deg, deltaT: 4.064753 s, approachRate: -0.177131 m/s, LOS rate: 13.587333 deg/s, posRepo size: 4 2021-02-17T22:58:42.305Z,1613602722.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.587333 deg/s. Setting heading cmd to target bearing of 57.066142deg and heading rate command to 0 deg/s. 2021-02-17T22:58:44.686Z,1613602724.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:45.540Z,1613602725.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:45.896Z,1613602725.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:46.744Z,1613602726.744 [Micromodem](INFO): Nmea in: $SNTTA,0.067931,,,,225845.61*41 2021-02-17T22:58:46.778Z,1613602726.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.760002 m, bearing: 63.367367 deg, deltaT: 4.533936 s, approachRate: -0.185270 m/s, LOS rate: 1.389791 deg/s, posRepo size: 4 2021-02-17T22:58:46.784Z,1613602726.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.760002 m, bearing: 63.367367 deg, approachRate: -0.185270 m/s, LOS rate: 1.389791 deg/s, cmd update: 5.559166 deg/s, cmd heading: 57.066142 deg, new cmd heading: 57.066142 deg. 2021-02-17T22:58:49.236Z,1613602729.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:49.918Z,1613602729.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:50.324Z,1613602730.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:51.178Z,1613602731.178 [Micromodem](INFO): Nmea in: $SNTTA,0.067064,,,,225849.99*43 2021-02-17T22:58:51.253Z,1613602731.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.380005 m, bearing: 46.339955 deg, deltaT: 4.324048 s, approachRate: -0.319145 m/s, LOS rate: -3.937841 deg/s, posRepo size: 4 2021-02-17T22:58:51.259Z,1613602731.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.380005 m, bearing: 46.339955 deg, approachRate: -0.319145 m/s, LOS rate: -3.937841 deg/s, cmd update: -12.000000 deg/s, cmd heading: 81.127656 deg, new cmd heading: 83.974055 deg. 2021-02-17T22:58:53.247Z,1613602733.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:53.976Z,1613602733.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:54.364Z,1613602734.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:55.238Z,1613602735.238 [Micromodem](INFO): Nmea in: $SNTTA,0.065860,,,,225854.05*44 2021-02-17T22:58:55.269Z,1613602735.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.520004 m, bearing: 50.721948 deg, deltaT: 4.094231 s, approachRate: -0.454298 m/s, LOS rate: 1.070285 deg/s, posRepo size: 4 2021-02-17T22:58:55.271Z,1613602735.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.520004 m, bearing: 50.721948 deg, approachRate: -0.454298 m/s, LOS rate: 1.070285 deg/s, cmd update: 4.281139 deg/s, cmd heading: 31.998371 deg, new cmd heading: 26.789915 deg. 2021-02-17T22:58:57.630Z,1613602737.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:58:58.404Z,1613602738.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:58:58.406Z,1613602738.406 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T22:58:58.808Z,1613602738.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:58:59.680Z,1613602739.680 [Micromodem](INFO): Nmea in: $SNTTA,0.064549,,,,225858.47*49 2021-02-17T22:58:59.714Z,1613602739.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.660004 m, bearing: 52.479417 deg, deltaT: 4.591287 s, approachRate: -0.405115 m/s, LOS rate: 0.382784 deg/s, posRepo size: 4 2021-02-17T22:58:59.728Z,1613602739.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.660004 m, bearing: 52.479417 deg, approachRate: -0.405115 m/s, LOS rate: 0.382784 deg/s, cmd update: 1.531134 deg/s, cmd heading: 51.654853 deg, new cmd heading: 52.884739 deg. 2021-02-17T22:59:02.070Z,1613602742.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:02.853Z,1613602742.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:59:03.331Z,1613602743.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:59:04.136Z,1613602744.136 [Micromodem](INFO): Nmea in: $SNTTA,0.063059,,0.080784,,225902.93*50 2021-02-17T22:59:04.165Z,1613602744.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.320000 m, bearing: 52.242679 deg, deltaT: 4.320144 s, approachRate: -0.541650 m/s, LOS rate: -0.054799 deg/s, posRepo size: 4 2021-02-17T22:59:04.172Z,1613602744.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.320000 m, bearing: 52.242679 deg, approachRate: -0.541650 m/s, LOS rate: -0.054799 deg/s, cmd update: -0.219194 deg/s, cmd heading: 58.257952 deg, new cmd heading: 58.910085 deg. 2021-02-17T22:59:06.573Z,1613602746.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:07.354Z,1613602747.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:59:07.762Z,1613602747.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:59:08.580Z,1613602748.580 [Micromodem](INFO): Nmea in: $SNTTA,0.061506,,,,225907.42*49 2021-02-17T22:59:08.621Z,1613602748.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.040001 m, bearing: 54.989812 deg, deltaT: 4.504336 s, approachRate: -0.506179 m/s, LOS rate: 0.609886 deg/s, posRepo size: 4 2021-02-17T22:59:08.623Z,1613602748.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.040001 m, bearing: 54.989812 deg, approachRate: -0.506179 m/s, LOS rate: 0.609886 deg/s, cmd update: 2.439545 deg/s, cmd heading: 57.269860 deg, new cmd heading: 57.187903 deg. 2021-02-17T22:59:11.038Z,1613602751.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:11.813Z,1613602751.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:59:12.235Z,1613602752.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:59:13.108Z,1613602753.108 [Micromodem](INFO): Nmea in: $SNTTA,0.059848,,,,225911.88*44 2021-02-17T22:59:13.224Z,1613602753.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.580002 m, bearing: 52.981883 deg, deltaT: 4.431427 s, approachRate: -0.555126 m/s, LOS rate: -0.453111 deg/s, posRepo size: 4 2021-02-17T22:59:13.227Z,1613602753.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.580002 m, bearing: 52.981883 deg, approachRate: -0.555126 m/s, LOS rate: -0.453111 deg/s, cmd update: -1.812444 deg/s, cmd heading: 68.090292 deg, new cmd heading: 69.381253 deg. 2021-02-17T22:59:15.473Z,1613602755.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:16.241Z,1613602756.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:59:16.649Z,1613602756.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:59:17.479Z,1613602757.479 [Micromodem](INFO): Nmea in: $SNTTA,0.058284,,,,225916.31*4A 2021-02-17T22:59:17.504Z,1613602757.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.180008 m, bearing: 55.791116 deg, deltaT: 4.405661 s, approachRate: -0.544752 m/s, LOS rate: 0.637642 deg/s, posRepo size: 4 2021-02-17T22:59:17.506Z,1613602757.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.180008 m, bearing: 55.791116 deg, approachRate: -0.544752 m/s, LOS rate: 0.637642 deg/s, cmd update: 2.550567 deg/s, cmd heading: 60.105063 deg, new cmd heading: 59.352218 deg. 2021-02-17T22:59:19.890Z,1613602759.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:20.693Z,1613602760.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:59:21.086Z,1613602761.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:59:21.924Z,1613602761.924 [Micromodem](INFO): Nmea in: $SNTTA,0.056589,,,,225920.76*48 2021-02-17T22:59:21.978Z,1613602761.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.660004 m, bearing: 53.647113 deg, deltaT: 4.440336 s, approachRate: -0.567526 m/s, LOS rate: -0.482847 deg/s, posRepo size: 4 2021-02-17T22:59:21.984Z,1613602761.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.660004 m, bearing: 53.647113 deg, approachRate: -0.567526 m/s, LOS rate: -0.482847 deg/s, cmd update: -1.931388 deg/s, cmd heading: 71.389705 deg, new cmd heading: 72.576994 deg. 2021-02-17T22:59:24.357Z,1613602764.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:25.129Z,1613602765.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:59:25.530Z,1613602765.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:59:26.428Z,1613602766.428 [Micromodem](INFO): Nmea in: $SNTTA,0.054908,,,,225925.20*49 2021-02-17T22:59:26.481Z,1613602766.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.200005 m, bearing: 52.469940 deg, deltaT: 4.527619 s, approachRate: -0.543332 m/s, LOS rate: -0.259998 deg/s, posRepo size: 4 2021-02-17T22:59:26.483Z,1613602766.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.200005 m, bearing: 52.469940 deg, approachRate: -0.543332 m/s, LOS rate: -0.259998 deg/s, cmd update: -1.039993 deg/s, cmd heading: 62.630406 deg, new cmd heading: 61.793105 deg. 2021-02-17T22:59:28.815Z,1613602768.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:29.605Z,1613602769.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:59:30.018Z,1613602770.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:59:30.848Z,1613602770.848 [Micromodem](INFO): Nmea in: $SNTTA,0.053111,,,,225929.68*4E 2021-02-17T22:59:30.938Z,1613602770.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.440002 m, bearing: 51.560227 deg, deltaT: 4.404863 s, approachRate: -0.626581 m/s, LOS rate: -0.206525 deg/s, posRepo size: 4 2021-02-17T22:59:30.952Z,1613602770.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.440002 m, bearing: 51.560227 deg, approachRate: -0.626581 m/s, LOS rate: -0.206525 deg/s, cmd update: -0.826099 deg/s, cmd heading: 58.040704 deg, new cmd heading: 57.545037 deg. 2021-02-17T22:59:32.964Z,1613602772.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:33.665Z,1613602773.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:59:34.071Z,1613602774.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:59:34.900Z,1613602774.900 [Micromodem](INFO): Nmea in: $SNTTA,0.051869,,,,225933.74*4C 2021-02-17T22:59:34.936Z,1613602774.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.580002 m, bearing: 50.356980 deg, deltaT: 4.095861 s, approachRate: -0.454117 m/s, LOS rate: -0.293771 deg/s, posRepo size: 4 2021-02-17T22:59:34.938Z,1613602774.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.580002 m, bearing: 50.356980 deg, approachRate: -0.454117 m/s, LOS rate: -0.293771 deg/s, cmd update: -1.175086 deg/s, cmd heading: 54.663963 deg, new cmd heading: 54.347368 deg. 2021-02-17T22:59:37.367Z,1613602777.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:38.109Z,1613602778.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:59:38.515Z,1613602778.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:59:39.537Z,1613602779.537 [Micromodem](INFO): Nmea in: $SNTTA,0.050074,,,,225938.18*48 2021-02-17T22:59:39.589Z,1613602779.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.940002 m, bearing: 52.992248 deg, deltaT: 4.385820 s, approachRate: -0.601940 m/s, LOS rate: 0.600861 deg/s, posRepo size: 4 2021-02-17T22:59:39.644Z,1613602779.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.940002 m, bearing: 52.992248 deg, approachRate: -0.601940 m/s, LOS rate: 0.600861 deg/s, cmd update: 2.403444 deg/s, cmd heading: 49.500638 deg, new cmd heading: 48.741306 deg. 2021-02-17T22:59:41.504Z,1613602781.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:42.263Z,1613602782.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:59:42.656Z,1613602782.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:59:43.496Z,1613602783.496 [Micromodem](INFO): Nmea in: $SNTTA,0.048852,,,,225942.33*49 2021-02-17T22:59:43.528Z,1613602783.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.019997 m, bearing: 50.946644 deg, deltaT: 4.165506 s, approachRate: -0.460930 m/s, LOS rate: -0.491082 deg/s, posRepo size: 4 2021-02-17T22:59:43.530Z,1613602783.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.019997 m, bearing: 50.946644 deg, approachRate: -0.460930 m/s, LOS rate: -0.491082 deg/s, cmd update: -1.964327 deg/s, cmd heading: 59.501803 deg, new cmd heading: 60.510976 deg. 2021-02-17T22:59:45.950Z,1613602785.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:46.705Z,1613602786.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:59:47.112Z,1613602787.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:59:48.001Z,1613602788.001 [Micromodem](INFO): Nmea in: $SNTTA,0.047424,,,,225946.78*40 2021-02-17T22:59:48.072Z,1613602788.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.919998 m, bearing: 50.209813 deg, deltaT: 4.443035 s, approachRate: -0.472650 m/s, LOS rate: -0.165839 deg/s, posRepo size: 4 2021-02-17T22:59:48.074Z,1613602788.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.919998 m, bearing: 50.209813 deg, approachRate: -0.472650 m/s, LOS rate: -0.165839 deg/s, cmd update: -0.663358 deg/s, cmd heading: 50.765645 deg, new cmd heading: 49.763115 deg. 2021-02-17T22:59:50.406Z,1613602790.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:51.139Z,1613602791.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:59:51.555Z,1613602791.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:59:52.389Z,1613602792.389 [Micromodem](INFO): Nmea in: $SNTTA,0.045890,,,,225951.21*4B 2021-02-17T22:59:52.447Z,1613602792.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.580002 m, bearing: 52.268456 deg, deltaT: 4.431951 s, approachRate: -0.527983 m/s, LOS rate: 0.464500 deg/s, posRepo size: 4 2021-02-17T22:59:52.449Z,1613602792.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.580002 m, bearing: 52.268456 deg, approachRate: -0.527983 m/s, LOS rate: 0.464500 deg/s, cmd update: 1.858001 deg/s, cmd heading: 47.825697 deg, new cmd heading: 47.518205 deg. 2021-02-17T22:59:54.612Z,1613602794.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:55.254Z,1613602795.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T22:59:55.692Z,1613602795.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T22:59:56.484Z,1613602796.484 [Micromodem](INFO): Nmea in: $SNTTA,0.044616,,,,225955.32*4C 2021-02-17T22:59:56.532Z,1613602796.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.660004 m, bearing: 51.322933 deg, deltaT: 4.122014 s, approachRate: -0.465791 m/s, LOS rate: -0.229384 deg/s, posRepo size: 4 2021-02-17T22:59:56.534Z,1613602796.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.660004 m, bearing: 51.322933 deg, approachRate: -0.465791 m/s, LOS rate: -0.229384 deg/s, cmd update: -0.917535 deg/s, cmd heading: 55.476973 deg, new cmd heading: 56.277935 deg. 2021-02-17T22:59:58.900Z,1613602798.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T22:59:59.701Z,1613602799.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:00.116Z,1613602800.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:00.928Z,1613602800.928 [Micromodem](INFO): Nmea in: $SNTTA,0.042693,,,,225959.77*4A 2021-02-17T23:00:00.973Z,1613602800.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.840004 m, bearing: 53.778550 deg, deltaT: 4.446018 s, approachRate: -0.634275 m/s, LOS rate: 0.552318 deg/s, posRepo size: 4 2021-02-17T23:00:00.975Z,1613602800.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.840004 m, bearing: 53.778550 deg, approachRate: -0.634275 m/s, LOS rate: 0.552318 deg/s, cmd update: 2.209273 deg/s, cmd heading: 51.393882 deg, new cmd heading: 51.006706 deg. 2021-02-17T23:00:03.373Z,1613602803.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:00:03.912Z,1613602803.912 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.290707 2021-02-17T23:00:04.138Z,1613602804.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:04.542Z,1613602804.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:05.368Z,1613602805.368 [Micromodem](INFO): Nmea in: $SNTTA,0.041287,,,,230004.21*4E 2021-02-17T23:00:05.413Z,1613602805.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.740002 m, bearing: 55.418427 deg, deltaT: 4.432901 s, approachRate: -0.473731 m/s, LOS rate: 0.369933 deg/s, posRepo size: 4 2021-02-17T23:00:05.419Z,1613602805.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.740002 m, bearing: 55.418427 deg, approachRate: -0.473731 m/s, LOS rate: 0.369933 deg/s, cmd update: 1.479733 deg/s, cmd heading: 61.151650 deg, new cmd heading: 62.134651 deg. 2021-02-17T23:00:07.820Z,1613602807.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:00:08.589Z,1613602808.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:08.986Z,1613602808.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:09.812Z,1613602809.812 [Micromodem](INFO): Nmea in: $SNTTA,0.039458,,,,230008.66*4A 2021-02-17T23:00:09.852Z,1613602809.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.040001 m, bearing: 53.614738 deg, deltaT: 4.465580 s, approachRate: -0.604625 m/s, LOS rate: -0.403909 deg/s, posRepo size: 4 2021-02-17T23:00:09.854Z,1613602809.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.040001 m, bearing: 53.614738 deg, approachRate: -0.604625 m/s, LOS rate: -0.403909 deg/s, cmd update: -1.615637 deg/s, cmd heading: 67.771940 deg, new cmd heading: 68.378608 deg. 2021-02-17T23:00:12.269Z,1613602812.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:00:13.042Z,1613602813.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:13.455Z,1613602813.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:13.958Z,1613602813.958 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005116 2021-02-17T23:00:14.264Z,1613602814.264 [Micromodem](INFO): Nmea in: $SNTTA,0.037860,,,,230013.11*49 2021-02-17T23:00:14.304Z,1613602814.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.580002 m, bearing: 52.754691 deg, deltaT: 4.431607 s, approachRate: -0.555103 m/s, LOS rate: -0.194071 deg/s, posRepo size: 4 2021-02-17T23:00:14.306Z,1613602814.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.580002 m, bearing: 52.754691 deg, approachRate: -0.555103 m/s, LOS rate: -0.194071 deg/s, cmd update: -0.776285 deg/s, cmd heading: 60.599433 deg, new cmd heading: 59.916300 deg. 2021-02-17T23:00:16.705Z,1613602816.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:00:17.478Z,1613602817.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:17.882Z,1613602817.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:18.704Z,1613602818.704 [Micromodem](INFO): Nmea in: $SNTTA,0.036280,,,,230017.55*48 2021-02-17T23:00:18.741Z,1613602818.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.179996 m, bearing: 52.873638 deg, deltaT: 4.468547 s, approachRate: -0.537089 m/s, LOS rate: 0.026619 deg/s, posRepo size: 4 2021-02-17T23:00:18.743Z,1613602818.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.179996 m, bearing: 52.873638 deg, approachRate: -0.537089 m/s, LOS rate: 0.026619 deg/s, cmd update: 0.106476 deg/s, cmd heading: 57.133799 deg, new cmd heading: 56.826808 deg. 2021-02-17T23:00:21.177Z,1613602821.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:00:21.923Z,1613602821.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:22.331Z,1613602822.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:23.156Z,1613602823.156 [Micromodem](INFO): Nmea in: $SNTTA,0.034627,,,,230021.99*46 2021-02-17T23:00:23.240Z,1613602823.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.779999 m, bearing: 55.092722 deg, deltaT: 4.396914 s, approachRate: -0.545837 m/s, LOS rate: 0.504691 deg/s, posRepo size: 4 2021-02-17T23:00:23.242Z,1613602823.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.779999 m, bearing: 55.092722 deg, approachRate: -0.545837 m/s, LOS rate: 0.504691 deg/s, cmd update: 2.018765 deg/s, cmd heading: 57.602307 deg, new cmd heading: 57.654957 deg. 2021-02-17T23:00:25.590Z,1613602825.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:00:26.364Z,1613602826.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:26.773Z,1613602826.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:27.600Z,1613602827.600 [Micromodem](INFO): Nmea in: $SNTTA,0.033292,,,,230026.44*4C 2021-02-17T23:00:27.636Z,1613602827.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.740002 m, bearing: 54.042933 deg, deltaT: 4.497307 s, approachRate: -0.453604 m/s, LOS rate: -0.233426 deg/s, posRepo size: 4 2021-02-17T23:00:27.638Z,1613602827.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.740002 m, bearing: 54.042933 deg, approachRate: -0.453604 m/s, LOS rate: -0.233426 deg/s, cmd update: -0.933705 deg/s, cmd heading: 66.682805 deg, new cmd heading: 67.474809 deg. 2021-02-17T23:00:30.022Z,1613602830.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:00:30.825Z,1613602830.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:31.237Z,1613602831.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:32.044Z,1613602832.044 [Micromodem](INFO): Nmea in: $SNTTA,0.031780,,,,230030.90*46 2021-02-17T23:00:32.083Z,1613602832.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.459999 m, bearing: 51.410909 deg, deltaT: 4.420423 s, approachRate: -0.515788 m/s, LOS rate: -0.595424 deg/s, posRepo size: 4 2021-02-17T23:00:32.085Z,1613602832.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.459999 m, bearing: 51.410909 deg, approachRate: -0.515788 m/s, LOS rate: -0.595424 deg/s, cmd update: -2.381694 deg/s, cmd heading: 62.559079 deg, new cmd heading: 62.164987 deg. 2021-02-17T23:00:34.510Z,1613602834.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:00:35.253Z,1613602835.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:35.664Z,1613602835.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:36.492Z,1613602836.492 [Micromodem](INFO): Nmea in: $SNTTA,0.030133,,,,230035.32*44 2021-02-17T23:00:36.516Z,1613602836.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.000000 m, bearing: 51.143586 deg, deltaT: 4.430642 s, approachRate: -0.555224 m/s, LOS rate: -0.060335 deg/s, posRepo size: 4 2021-02-17T23:00:36.517Z,1613602836.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.000000 m, bearing: 51.143586 deg, approachRate: -0.555224 m/s, LOS rate: -0.060335 deg/s, cmd update: -0.241341 deg/s, cmd heading: 51.996878 deg, new cmd heading: 50.996236 deg. 2021-02-17T23:00:38.120Z,1613602838.120 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T23:00:38.919Z,1613602838.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:00:39.701Z,1613602839.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:40.136Z,1613602840.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:40.928Z,1613602840.928 [Micromodem](INFO): Nmea in: $SNTTA,0.028660,,,,230039.77*41 2021-02-17T23:00:40.969Z,1613602840.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.780003 m, bearing: 51.443817 deg, deltaT: 4.448392 s, approachRate: -0.499056 m/s, LOS rate: 0.067492 deg/s, posRepo size: 4 2021-02-17T23:00:40.970Z,1613602840.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.780003 m, bearing: 51.443817 deg, approachRate: -0.499056 m/s, LOS rate: 0.067492 deg/s, cmd update: 0.269968 deg/s, cmd heading: 50.923335 deg, new cmd heading: 50.820733 deg. 2021-02-17T23:00:43.365Z,1613602843.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:00:44.141Z,1613602844.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:44.557Z,1613602844.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:45.373Z,1613602845.373 [Micromodem](INFO): Nmea in: $SNTTA,0.026975,,,,230044.21*4D 2021-02-17T23:00:45.424Z,1613602845.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.259998 m, bearing: 53.204684 deg, deltaT: 4.456582 s, approachRate: -0.565457 m/s, LOS rate: 0.395116 deg/s, posRepo size: 4 2021-02-17T23:00:45.426Z,1613602845.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.259998 m, bearing: 53.204684 deg, approachRate: -0.565457 m/s, LOS rate: 0.395116 deg/s, cmd update: 1.580464 deg/s, cmd heading: 52.124246 deg, new cmd heading: 52.240894 deg. 2021-02-17T23:00:47.569Z,1613602847.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:00:48.229Z,1613602848.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:48.627Z,1613602848.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:49.418Z,1613602849.418 [Micromodem](INFO): Nmea in: $SNTTA,0.025523,,,,230048.30*4D 2021-02-17T23:00:49.478Z,1613602849.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.040001 m, bearing: 52.675904 deg, deltaT: 4.001635 s, approachRate: -0.554773 m/s, LOS rate: -0.132141 deg/s, posRepo size: 4 2021-02-17T23:00:49.479Z,1613602849.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.04 m. 2021-02-17T23:00:49.481Z,1613602849.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.040001 m, bearing: 52.675904 deg, approachRate: -0.554773 m/s, LOS rate: -0.132141 deg/s, cmd update: -0.528564 deg/s, cmd heading: 58.461922 deg, new cmd heading: 59.214893 deg. 2021-02-17T23:00:49.809Z,1613602849.809 [PowerOnly](INFO): Powering up loadControl 2021-02-17T23:00:51.844Z,1613602851.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:00:52.639Z,1613602852.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:53.032Z,1613602853.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:53.865Z,1613602853.865 [Micromodem](INFO): Nmea in: $SNTTA,0.024061,,,,230052.71*41 2021-02-17T23:00:53.920Z,1613602853.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.880001 m, bearing: 52.793148 deg, deltaT: 4.463856 s, approachRate: -0.483887 m/s, LOS rate: 0.026265 deg/s, posRepo size: 4 2021-02-17T23:00:53.920Z,1613602853.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.88 m. 2021-02-17T23:00:53.921Z,1613602853.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.88 m. 2021-02-17T23:00:53.921Z,1613602853.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T23:00:53.927Z,1613602853.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.880001 m, bearing: 52.793148 deg, approachRate: -0.483887 m/s, LOS rate: 0.026265 deg/s, cmd update: 0.105060 deg/s, cmd heading: 56.102482 deg, new cmd heading: 55.864573 deg. 2021-02-17T23:00:56.305Z,1613602856.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:00:57.078Z,1613602857.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:00:57.493Z,1613602857.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:00:58.304Z,1613602858.304 [Micromodem](INFO): Nmea in: $SNTTA,0.022610,,,,230057.15*40 2021-02-17T23:00:58.371Z,1613602858.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.719997 m, bearing: 49.807307 deg, deltaT: 4.424963 s, approachRate: -0.488140 m/s, LOS rate: -0.674772 deg/s, posRepo size: 4 2021-02-17T23:00:58.373Z,1613602858.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.719997 m, bearing: 49.807307 deg, approachRate: -0.488140 m/s, LOS rate: -0.674772 deg/s, cmd update: -2.699088 deg/s, cmd heading: 56.567365 deg, new cmd heading: 56.617373 deg. 2021-02-17T23:01:00.722Z,1613602860.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:01.526Z,1613602861.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:01.951Z,1613602861.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:01:02.764Z,1613602862.764 [Micromodem](INFO): Nmea in: $SNTTA,0.020977,,,,230101.60*4C 2021-02-17T23:01:02.824Z,1613602862.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.259998 m, bearing: 49.946165 deg, deltaT: 4.527098 s, approachRate: -0.543394 m/s, LOS rate: 0.030673 deg/s, posRepo size: 4 2021-02-17T23:01:02.825Z,1613602862.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.259998 m, bearing: 49.946165 deg, approachRate: -0.543394 m/s, LOS rate: 0.030673 deg/s, cmd update: 0.122690 deg/s, cmd heading: 44.359117 deg, new cmd heading: 43.253776 deg. 2021-02-17T23:01:05.198Z,1613602865.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:05.961Z,1613602865.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:06.361Z,1613602866.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:01:07.196Z,1613602867.196 [Micromodem](INFO): Nmea in: $SNTTA,0.019320,,,,230106.03*4C 2021-02-17T23:01:07.290Z,1613602867.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.740002 m, bearing: 49.568247 deg, deltaT: 4.361005 s, approachRate: -0.577848 m/s, LOS rate: -0.086658 deg/s, posRepo size: 4 2021-02-17T23:01:07.296Z,1613602867.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.740002 m, bearing: 49.568247 deg, approachRate: -0.577848 m/s, LOS rate: -0.086658 deg/s, cmd update: -0.346634 deg/s, cmd heading: 44.894663 deg, new cmd heading: 44.957400 deg. 2021-02-17T23:01:09.622Z,1613602869.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:10.406Z,1613602870.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:10.833Z,1613602870.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:01:11.632Z,1613602871.632 [Micromodem](INFO): Nmea in: $SNTTA,0.017942,,,,230110.48*44 2021-02-17T23:01:11.670Z,1613602871.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.639999 m, bearing: 49.857864 deg, deltaT: 4.479632 s, approachRate: -0.468789 m/s, LOS rate: 0.064652 deg/s, posRepo size: 4 2021-02-17T23:01:11.672Z,1613602871.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.639999 m, bearing: 49.857864 deg, approachRate: -0.468789 m/s, LOS rate: 0.064652 deg/s, cmd update: 0.258608 deg/s, cmd heading: 43.341880 deg, new cmd heading: 43.199198 deg. 2021-02-17T23:01:14.078Z,1613602874.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:14.858Z,1613602874.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:15.283Z,1613602875.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:01:16.081Z,1613602876.081 [Micromodem](INFO): Nmea in: $SNTTA,0.016682,,,,230114.93*44 2021-02-17T23:01:16.145Z,1613602876.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.840002 m, bearing: 49.568018 deg, deltaT: 4.447790 s, approachRate: -0.404695 m/s, LOS rate: -0.065166 deg/s, posRepo size: 4 2021-02-17T23:01:16.152Z,1613602876.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.840002 m, bearing: 49.568018 deg, approachRate: -0.404695 m/s, LOS rate: -0.065166 deg/s, cmd update: -0.260665 deg/s, cmd heading: 44.492119 deg, new cmd heading: 44.605472 deg. 2021-02-17T23:01:18.525Z,1613602878.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:19.296Z,1613602879.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:19.701Z,1613602879.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:01:20.524Z,1613602880.524 [Micromodem](INFO): Nmea in: $SNTTA,0.015421,,0.016584,,230119.37*5F 2021-02-17T23:01:20.574Z,1613602880.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.980001 m, bearing: 53.531860 deg, deltaT: 4.455253 s, approachRate: -0.417485 m/s, LOS rate: 0.889701 deg/s, posRepo size: 4 2021-02-17T23:01:20.576Z,1613602880.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.980001 m, bearing: 53.531860 deg, approachRate: -0.417485 m/s, LOS rate: 0.889701 deg/s, cmd update: 3.558803 deg/s, cmd heading: 43.331837 deg, new cmd heading: 43.223377 deg. 2021-02-17T23:01:22.967Z,1613602882.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:23.749Z,1613602883.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:24.138Z,1613602884.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:01:24.972Z,1613602884.972 [Micromodem](INFO): Nmea in: $SNTTA,0.014084,,,,230123.82*42 2021-02-17T23:01:25.017Z,1613602885.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.000000 m, bearing: 57.040474 deg, deltaT: 4.470878 s, approachRate: -0.442866 m/s, LOS rate: 0.784771 deg/s, posRepo size: 4 2021-02-17T23:01:25.018Z,1613602885.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.000000 m, bearing: 57.040474 deg, approachRate: -0.442866 m/s, LOS rate: 0.784771 deg/s, cmd update: 3.139082 deg/s, cmd heading: 59.204399 deg, new cmd heading: 60.624913 deg. 2021-02-17T23:01:27.409Z,1613602887.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:28.311Z,1613602888.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:28.611Z,1613602888.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:01:29.456Z,1613602889.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.659996 m, bearing: 65.250675 deg, deltaT: 4.395419 s, approachRate: -0.532373 m/s, LOS rate: 1.867900 deg/s, posRepo size: 4 2021-02-17T23:01:29.458Z,1613602889.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.659996 m, bearing: 65.250675 deg, approachRate: -0.532373 m/s, LOS rate: 1.867900 deg/s, cmd update: 7.471599 deg/s, cmd heading: 73.048596 deg, new cmd heading: 74.391565 deg. 2021-02-17T23:01:29.804Z,1613602889.804 [Micromodem](INFO): Nmea in: $SNTTA,0.012547,,,,230128.38*44 2021-02-17T23:01:32.004Z,1613602892.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:32.632Z,1613602892.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:33.088Z,1613602893.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:01:33.863Z,1613602893.863 [Micromodem](INFO): Nmea in: $SNTTA,0.011141,,,,230132.70*42 2021-02-17T23:01:33.905Z,1613602893.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.559999 m, bearing: 61.458459 deg, deltaT: 4.493463 s, approachRate: -0.467345 m/s, LOS rate: -0.843941 deg/s, posRepo size: 4 2021-02-17T23:01:33.939Z,1613602893.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.559999 m, bearing: 61.458459 deg, approachRate: -0.467345 m/s, LOS rate: -0.843941 deg/s, cmd update: -3.375763 deg/s, cmd heading: 106.560830 deg, new cmd heading: 109.490892 deg. 2021-02-17T23:01:36.363Z,1613602896.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:37.069Z,1613602897.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:37.481Z,1613602897.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:01:38.304Z,1613602898.304 [Micromodem](INFO): Nmea in: $SNTTA,0.009568,,,,230137.14*43 2021-02-17T23:01:38.425Z,1613602898.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.100001 m, bearing: 57.516401 deg, deltaT: 4.384625 s, approachRate: -0.561051 m/s, LOS rate: -0.899064 deg/s, posRepo size: 4 2021-02-17T23:01:38.426Z,1613602898.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.100001 m, bearing: 57.516401 deg, approachRate: -0.561051 m/s, LOS rate: -0.899064 deg/s, cmd update: -3.596255 deg/s, cmd heading: 91.745774 deg, new cmd heading: 89.980867 deg. 2021-02-17T23:01:40.752Z,1613602900.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:41.678Z,1613602901.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:42.012Z,1613602902.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:01:42.868Z,1613602902.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 55.821248 deg, deltaT: 4.552861 s, approachRate: -0.448071 m/s, LOS rate: -0.372327 deg/s, posRepo size: 4 2021-02-17T23:01:42.900Z,1613602902.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.059997 m, bearing: 55.821248 deg, approachRate: -0.448071 m/s, LOS rate: -0.372327 deg/s, cmd update: -1.489309 deg/s, cmd heading: 75.387333 deg, new cmd heading: 73.892568 deg. 2021-02-17T23:01:43.186Z,1613602903.186 [Micromodem](INFO): Nmea in: $SNTTA,0.008152,,,,230141.75*49 2021-02-17T23:01:45.349Z,1613602905.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:46.050Z,1613602906.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:46.424Z,1613602906.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:01:47.279Z,1613602907.279 [Micromodem](INFO): Nmea in: $SNTTA,0.007088,,0.009851,0.009601,230146.16*49 2021-02-17T23:01:47.374Z,1613602907.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.559999 m, bearing: 87.603904 deg, deltaT: 4.450238 s, approachRate: -0.337060 m/s, LOS rate: 7.141788 deg/s, posRepo size: 4 2021-02-17T23:01:47.384Z,1613602907.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.559999 m, bearing: 87.603904 deg, approachRate: -0.337060 m/s, LOS rate: 7.141788 deg/s, cmd update: 12.000000 deg/s, cmd heading: 68.759378 deg, new cmd heading: 68.055104 deg. 2021-02-17T23:01:49.680Z,1613602909.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:50.458Z,1613602910.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:50.860Z,1613602910.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:01:51.689Z,1613602911.689 [Micromodem](INFO): Nmea in: $SNTTA,0.006497,,,,230150.53*4F 2021-02-17T23:01:51.706Z,1613602911.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.780002 m, bearing: 77.712895 deg, deltaT: 4.414002 s, approachRate: -0.176710 m/s, LOS rate: -2.240826 deg/s, posRepo size: 4 2021-02-17T23:01:51.712Z,1613602911.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.780002 m, bearing: 77.712895 deg, approachRate: -0.176710 m/s, LOS rate: -2.240826 deg/s, cmd update: -8.963302 deg/s, cmd heading: 121.726048 deg, new cmd heading: 126.424588 deg. 2021-02-17T23:01:54.180Z,1613602914.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:55.059Z,1613602915.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:55.354Z,1613602915.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:01:56.253Z,1613602916.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.540000 m, bearing: 81.728514 deg, deltaT: 4.442969 s, approachRate: -0.054018 m/s, LOS rate: 0.903814 deg/s, posRepo size: 4 2021-02-17T23:01:56.268Z,1613602916.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.540000 m, bearing: 81.728514 deg, approachRate: -0.054018 m/s, LOS rate: 0.903814 deg/s, cmd update: 3.615257 deg/s, cmd heading: 81.865363 deg, new cmd heading: 77.512676 deg. 2021-02-17T23:01:56.539Z,1613602916.539 [Micromodem](INFO): Nmea in: $SNTTA,0.006235,,,,230155.13*40 2021-02-17T23:01:58.592Z,1613602918.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:01:59.355Z,1613602919.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:01:59.754Z,1613602919.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:00.580Z,1613602920.580 [Micromodem](INFO): Nmea in: $SNTTA,0.006528,,,,230159.43*42 2021-02-17T23:02:00.631Z,1613602920.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.899997 m, bearing: 72.289547 deg, deltaT: 4.473789 s, approachRate: 0.080468 m/s, LOS rate: -2.109837 deg/s, posRepo size: 4 2021-02-17T23:02:00.634Z,1613602920.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.899997 m, bearing: 72.289547 deg, approachRate: 0.080468 m/s, LOS rate: -2.109837 deg/s, cmd update: -8.439348 deg/s, cmd heading: 98.037733 deg, new cmd heading: 99.447929 deg. 2021-02-17T23:02:03.059Z,1613602923.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:02:03.820Z,1613602923.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:02:04.234Z,1613602924.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:05.040Z,1613602925.040 [Micromodem](INFO): Nmea in: $SNTTA,0.006991,,,0.024386,230203.89*53 2021-02-17T23:02:05.088Z,1613602925.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.920002 m, bearing: 79.862199 deg, deltaT: 4.380505 s, approachRate: 0.232851 m/s, LOS rate: 1.728717 deg/s, posRepo size: 4 2021-02-17T23:02:05.089Z,1613602925.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.920002 m, bearing: 79.862199 deg, approachRate: 0.232851 m/s, LOS rate: 1.728717 deg/s, cmd update: 6.914866 deg/s, cmd heading: 61.033030 deg, new cmd heading: 57.089002 deg. 2021-02-17T23:02:07.476Z,1613602927.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:02:08.334Z,1613602928.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:02:08.664Z,1613602928.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:09.537Z,1613602929.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.879998 m, bearing: 72.491113 deg, deltaT: 4.471332 s, approachRate: 0.214700 m/s, LOS rate: -1.648521 deg/s, posRepo size: 4 2021-02-17T23:02:09.544Z,1613602929.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.879998 m, bearing: 72.491113 deg, approachRate: 0.214700 m/s, LOS rate: -1.648521 deg/s, cmd update: -6.594085 deg/s, cmd heading: 91.953497 deg, new cmd heading: 94.911801 deg. 2021-02-17T23:02:09.891Z,1613602929.891 [Micromodem](INFO): Nmea in: $SNTTA,0.007861,,,,230208.40*47 2021-02-17T23:02:11.907Z,1613602931.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:02:12.680Z,1613602932.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:02:13.101Z,1613602933.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:13.912Z,1613602933.912 [Micromodem](INFO): Nmea in: $SNTTA,0.008590,,,,230212.75*46 2021-02-17T23:02:13.962Z,1613602933.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.019999 m, bearing: 64.856116 deg, deltaT: 4.444776 s, approachRate: 0.256481 m/s, LOS rate: -1.717746 deg/s, posRepo size: 4 2021-02-17T23:02:13.968Z,1613602933.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.019999 m, bearing: 64.856116 deg, approachRate: 0.256481 m/s, LOS rate: -1.717746 deg/s, cmd update: -6.870985 deg/s, cmd heading: 62.670755 deg, new cmd heading: 59.835385 deg. 2021-02-17T23:02:15.122Z,1613602935.122 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items 2021-02-17T23:02:16.366Z,1613602936.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:02:17.133Z,1613602937.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:02:17.530Z,1613602937.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:18.360Z,1613602938.360 [Micromodem](INFO): Nmea in: $SNTTA,0.009531,,,,230217.21*48 2021-02-17T23:02:18.405Z,1613602938.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.280000 m, bearing: 18.286477 deg, deltaT: 4.484794 s, approachRate: 0.280950 m/s, LOS rate: -10.383896 deg/s, posRepo size: 4 2021-02-17T23:02:18.405Z,1613602938.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.28 m. Rolling out. 2021-02-17T23:02:18.405Z,1613602938.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T23:02:20.916Z,1613602940.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:02:21.594Z,1613602941.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:02:22.003Z,1613602942.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:22.820Z,1613602942.820 [Micromodem](INFO): Nmea in: $SNTTA,0.010026,,,,230221.66*45 2021-02-17T23:02:22.861Z,1613602942.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.120001 m, bearing: 351.874872 deg, deltaT: 4.409894 s, approachRate: 0.190481 m/s, LOS rate: -5.989167 deg/s, posRepo size: 4 2021-02-17T23:02:24.412Z,1613602944.412 [PowerOnly](INFO): Powering down loadControl 2021-02-17T23:02:25.262Z,1613602945.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:02:26.014Z,1613602946.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:02:26.437Z,1613602946.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:27.274Z,1613602947.274 [Micromodem](INFO): Nmea in: $SNTTA,0.010224,,0.020186,,230226.08*59 2021-02-17T23:02:27.308Z,1613602947.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.299999 m, bearing: 1.085216 deg, deltaT: 4.454541 s, approachRate: 0.040408 m/s, LOS rate: 2.067628 deg/s, posRepo size: 4 2021-02-17T23:02:29.668Z,1613602949.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:02:30.458Z,1613602950.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:02:30.863Z,1613602950.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:31.696Z,1613602951.696 [Micromodem](INFO): Nmea in: $SNTTA,0.009990,,,,230230.53*4F 2021-02-17T23:02:31.718Z,1613602951.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.059998 m, bearing: 340.971813 deg, deltaT: 4.417133 s, approachRate: -0.054334 m/s, LOS rate: -4.553495 deg/s, posRepo size: 4 2021-02-17T23:02:33.693Z,1613602953.693 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-02-17T23:02:33.696Z,1613602953.696 [BPC1](INFO): Received data from all battery sticks. 2021-02-17T23:02:34.131Z,1613602954.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:02:34.902Z,1613602954.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:02:35.305Z,1613602955.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:36.132Z,1613602956.132 [Micromodem](INFO): Nmea in: $SNTTA,0.009608,,,0.044890,230234.97*52 2021-02-17T23:02:36.181Z,1613602956.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.459998 m, bearing: 350.778298 deg, deltaT: 4.419240 s, approachRate: -0.135770 m/s, LOS rate: 2.219043 deg/s, posRepo size: 4 2021-02-17T23:02:38.230Z,1613602958.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:02:38.940Z,1613602958.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:02:39.347Z,1613602959.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:40.180Z,1613602960.180 [Micromodem](INFO): Nmea in: $SNTTA,0.009820,,,0.020113,230239.01*54 2021-02-17T23:02:40.261Z,1613602960.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.759997 m, bearing: 314.182910 deg, deltaT: 4.079279 s, approachRate: 0.073542 m/s, LOS rate: -8.971044 deg/s, posRepo size: 4 2021-02-17T23:02:42.614Z,1613602962.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:02:43.386Z,1613602963.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:02:43.809Z,1613602963.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:44.620Z,1613602964.620 [Micromodem](INFO): Nmea in: $SNTTA,0.010237,,0.043640,,230243.46*5A 2021-02-17T23:02:44.645Z,1613602964.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.540001 m, bearing: 8.044181 deg, deltaT: 4.460654 s, approachRate: 0.174863 m/s, LOS rate: 12.074749 deg/s, posRepo size: 4 2021-02-17T23:02:47.046Z,1613602967.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:02:47.829Z,1613602967.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:02:48.242Z,1613602968.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:49.060Z,1613602969.060 [Micromodem](INFO): Nmea in: $SNTTA,0.011544,,0.053531,,230247.90*53 2021-02-17T23:02:49.082Z,1613602969.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.520002 m, bearing: 59.588107 deg, deltaT: 4.397452 s, approachRate: 0.450261 m/s, LOS rate: 11.721317 deg/s, posRepo size: 4 2021-02-17T23:02:51.496Z,1613602971.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:02:52.272Z,1613602972.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:02:52.679Z,1613602972.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:53.500Z,1613602973.500 [Micromodem](INFO): Nmea in: $SNTTA,0.012841,,,,230252.34*4D 2021-02-17T23:02:53.548Z,1613602973.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.860001 m, bearing: 67.162555 deg, deltaT: 4.475305 s, approachRate: 0.522869 m/s, LOS rate: 1.692499 deg/s, posRepo size: 4 2021-02-17T23:02:55.947Z,1613602975.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:02:56.716Z,1613602976.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:02:57.139Z,1613602977.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:02:57.972Z,1613602977.972 [Micromodem](INFO): Nmea in: $SNTTA,0.014488,,,,230256.79*4F 2021-02-17T23:02:58.014Z,1613602978.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.900000 m, bearing: 11.327048 deg, deltaT: 4.414460 s, approachRate: 0.462117 m/s, LOS rate: -12.648321 deg/s, posRepo size: 4 2021-02-17T23:03:00.414Z,1613602980.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:01.161Z,1613602981.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:01.571Z,1613602981.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:03:02.392Z,1613602982.392 [Micromodem](INFO): Nmea in: $SNTTA,0.015791,,,,230301.23*49 2021-02-17T23:03:02.416Z,1613602982.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.819998 m, bearing: 30.956791 deg, deltaT: 4.448104 s, approachRate: 0.431644 m/s, LOS rate: 4.413058 deg/s, posRepo size: 4 2021-02-17T23:03:04.840Z,1613602984.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:05.613Z,1613602985.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:06.015Z,1613602986.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:03:06.867Z,1613602986.867 [Micromodem](INFO): Nmea in: $SNTTA,0.017211,,0.138167,,230305.68*59 2021-02-17T23:03:06.924Z,1613602986.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.039999 m, bearing: 30.934582 deg, deltaT: 4.461564 s, approachRate: 0.497584 m/s, LOS rate: -0.004978 deg/s, posRepo size: 4 2021-02-17T23:03:09.285Z,1613602989.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:10.048Z,1613602990.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:10.459Z,1613602990.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:03:11.283Z,1613602991.283 [Micromodem](INFO): Nmea in: $SNTTA,0.018349,,,,230310.12*47 2021-02-17T23:03:11.316Z,1613602991.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.720001 m, bearing: 41.912927 deg, deltaT: 4.441580 s, approachRate: 0.378244 m/s, LOS rate: 2.471720 deg/s, posRepo size: 4 2021-02-17T23:03:13.706Z,1613602993.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:14.498Z,1613602994.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:14.904Z,1613602994.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:03:15.728Z,1613602995.728 [Micromodem](INFO): Nmea in: $SNTTA,0.019574,,,,230314.57*4B 2021-02-17T23:03:15.770Z,1613602995.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.519999 m, bearing: 5.516834 deg, deltaT: 4.447839 s, approachRate: 0.404690 m/s, LOS rate: -8.182871 deg/s, posRepo size: 4 2021-02-17T23:03:18.172Z,1613602998.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:18.936Z,1613602998.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:19.351Z,1613602999.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:03:20.188Z,1613603000.188 [Micromodem](INFO): Nmea in: $SNTTA,0.021033,,,,230319.01*48 2021-02-17T23:03:20.246Z,1613603000.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.740002 m, bearing: 72.505211 deg, deltaT: 4.426139 s, approachRate: 0.501567 m/s, LOS rate: 15.134721 deg/s, posRepo size: 4 2021-02-17T23:03:22.599Z,1613603002.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:23.382Z,1613603003.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:23.810Z,1613603003.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:03:24.612Z,1613603004.612 [Micromodem](INFO): Nmea in: $SNTTA,0.022583,,,,230323.45*4C 2021-02-17T23:03:24.653Z,1613603004.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.079998 m, bearing: 13.403070 deg, deltaT: 4.492732 s, approachRate: 0.520840 m/s, LOS rate: -13.155055 deg/s, posRepo size: 4 2021-02-17T23:03:27.048Z,1613603007.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:27.825Z,1613603007.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:28.241Z,1613603008.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:03:29.056Z,1613603009.056 [Micromodem](INFO): Nmea in: $SNTTA,0.023980,,,,230327.90*4E 2021-02-17T23:03:29.090Z,1613603009.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.119999 m, bearing: 13.692474 deg, deltaT: 4.410897 s, approachRate: 0.462491 m/s, LOS rate: 0.065611 deg/s, posRepo size: 4 2021-02-17T23:03:31.496Z,1613603011.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:32.268Z,1613603012.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:32.688Z,1613603012.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:03:33.497Z,1613603013.497 [Micromodem](INFO): Nmea in: $SNTTA,0.025595,,,,230332.34*4A 2021-02-17T23:03:33.529Z,1613603013.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.579998 m, bearing: 6.002678 deg, deltaT: 4.496802 s, approachRate: 0.547055 m/s, LOS rate: -1.710059 deg/s, posRepo size: 4 2021-02-17T23:03:35.943Z,1613603015.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:36.712Z,1613603016.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:37.129Z,1613603017.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:03:37.956Z,1613603017.956 [Micromodem](INFO): Nmea in: $SNTTA,0.026915,,,,230336.78*41 2021-02-17T23:03:38.028Z,1613603018.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.559998 m, bearing: 2.914748 deg, deltaT: 4.407430 s, approachRate: 0.449241 m/s, LOS rate: -0.700619 deg/s, posRepo size: 4 2021-02-17T23:03:40.459Z,1613603020.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:41.156Z,1613603021.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:41.563Z,1613603021.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:03:42.390Z,1613603022.390 [Micromodem](INFO): Nmea in: $SNTTA,0.028533,,,,230341.23*49 2021-02-17T23:03:42.483Z,1613603022.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.019997 m, bearing: 67.853346 deg, deltaT: 4.468135 s, approachRate: 0.550565 m/s, LOS rate: 14.533714 deg/s, posRepo size: 4 2021-02-17T23:03:44.892Z,1613603024.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:45.611Z,1613603025.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:46.008Z,1613603026.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:03:46.860Z,1613603026.860 [Micromodem](INFO): Nmea in: $SNTTA,0.029802,,,,230345.68*4C 2021-02-17T23:03:46.918Z,1613603026.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.179996 m, bearing: 48.405148 deg, deltaT: 4.397235 s, approachRate: 0.491218 m/s, LOS rate: -4.422825 deg/s, posRepo size: 4 2021-02-17T23:03:49.326Z,1613603029.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:50.046Z,1613603030.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:50.450Z,1613603030.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:03:51.284Z,1613603031.284 [Micromodem](INFO): Nmea in: $SNTTA,0.031557,,,,230350.12*41 2021-02-17T23:03:51.313Z,1613603031.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.579998 m, bearing: 67.608354 deg, deltaT: 4.492057 s, approachRate: 0.534277 m/s, LOS rate: 4.274925 deg/s, posRepo size: 4 2021-02-17T23:03:53.792Z,1613603033.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:54.489Z,1613603034.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:54.900Z,1613603034.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:03:55.720Z,1613603035.720 [Micromodem](INFO): Nmea in: $SNTTA,0.032900,,0.085331,,230354.56*5A 2021-02-17T23:03:55.758Z,1613603035.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.560001 m, bearing: 65.731384 deg, deltaT: 4.398924 s, approachRate: 0.450111 m/s, LOS rate: -0.426688 deg/s, posRepo size: 4 2021-02-17T23:03:58.232Z,1613603038.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:03:58.937Z,1613603038.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:03:59.337Z,1613603039.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:00.176Z,1613603040.176 [Micromodem](INFO): Nmea in: $SNTTA,0.034570,,,,230359.01*4A 2021-02-17T23:04:00.247Z,1613603040.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.020000 m, bearing: 14.089281 deg, deltaT: 4.415328 s, approachRate: 0.557150 m/s, LOS rate: -11.696097 deg/s, posRepo size: 4 2021-02-17T23:04:02.614Z,1613603042.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:03.378Z,1613603043.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:04:03.808Z,1613603043.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:04.604Z,1613603044.604 [Micromodem](INFO): Nmea in: $SNTTA,0.036046,,,,230403.45*40 2021-02-17T23:04:04.652Z,1613603044.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.239998 m, bearing: 67.971604 deg, deltaT: 4.496655 s, approachRate: 0.493700 m/s, LOS rate: 11.982757 deg/s, posRepo size: 4 2021-02-17T23:04:07.053Z,1613603047.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:07.826Z,1613603047.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:04:08.255Z,1613603048.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:09.052Z,1613603049.052 [Micromodem](INFO): Nmea in: $SNTTA,0.037532,,,,230407.90*4B 2021-02-17T23:04:09.074Z,1613603049.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.520000 m, bearing: 64.116304 deg, deltaT: 4.391387 s, approachRate: 0.519199 m/s, LOS rate: -0.877923 deg/s, posRepo size: 4 2021-02-17T23:04:11.511Z,1613603051.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:12.269Z,1613603052.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:04:12.675Z,1613603052.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:13.500Z,1613603053.500 [Micromodem](INFO): Nmea in: $SNTTA,0.039150,,,,230412.34*4F 2021-02-17T23:04:13.524Z,1613603053.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.860004 m, bearing: 22.958704 deg, deltaT: 4.468642 s, approachRate: 0.523650 m/s, LOS rate: -9.210315 deg/s, posRepo size: 4 2021-02-17T23:04:15.939Z,1613603055.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:16.714Z,1613603056.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:04:17.127Z,1613603057.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:17.948Z,1613603057.948 [Micromodem](INFO): Nmea in: $SNTTA,0.040905,,,,230416.79*44 2021-02-17T23:04:18.064Z,1613603058.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.560005 m, bearing: 8.442356 deg, deltaT: 4.465878 s, approachRate: 0.604585 m/s, LOS rate: -3.250503 deg/s, posRepo size: 4 2021-02-17T23:04:20.397Z,1613603060.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:21.172Z,1613603061.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:04:21.575Z,1613603061.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:22.395Z,1613603062.395 [Micromodem](INFO): Nmea in: $SNTTA,0.042176,,,,230421.24*46 2021-02-17T23:04:22.420Z,1613603062.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.540001 m, bearing: 63.004295 deg, deltaT: 4.423746 s, approachRate: 0.447583 m/s, LOS rate: 12.333877 deg/s, posRepo size: 4 2021-02-17T23:04:24.861Z,1613603064.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:25.596Z,1613603065.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:04:26.016Z,1613603066.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:26.832Z,1613603066.832 [Micromodem](INFO): Nmea in: $SNTTA,0.043714,,,,230425.67*46 2021-02-17T23:04:26.890Z,1613603066.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 66.595280 deg, deltaT: 4.447446 s, approachRate: 0.485673 m/s, LOS rate: 0.807426 deg/s, posRepo size: 4 2021-02-17T23:04:29.298Z,1613603069.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:30.052Z,1613603070.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:04:30.446Z,1613603070.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:31.264Z,1613603071.264 [Micromodem](INFO): Nmea in: $SNTTA,0.045087,,,,230430.12*4B 2021-02-17T23:04:32.114Z,1613603072.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:33.680Z,1613603073.680 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:04:34.920Z,1613603074.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:35.701Z,1613603075.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:04:36.107Z,1613603076.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:36.932Z,1613603076.932 [Micromodem](INFO): Nmea in: $SNTTA,0.047034,,,,230435.77*47 2021-02-17T23:04:36.962Z,1613603076.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.800003 m, bearing: 53.682784 deg, deltaT: 10.089617 s, approachRate: 0.505470 m/s, LOS rate: -1.279781 deg/s, posRepo size: 4 2021-02-17T23:04:38.544Z,1613603078.544 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:04:39.392Z,1613603079.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:40.166Z,1613603080.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:04:40.547Z,1613603080.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:41.388Z,1613603081.388 [Micromodem](INFO): Nmea in: $SNTTA,0.048587,,,,230440.24*41 2021-02-17T23:04:41.412Z,1613603081.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.140007 m, bearing: 6.833600 deg, deltaT: 4.441761 s, approachRate: 0.526819 m/s, LOS rate: -10.547434 deg/s, posRepo size: 4 2021-02-17T23:04:43.854Z,1613603083.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:44.584Z,1613603084.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:04:44.594Z,1613603084.594 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:04:45.004Z,1613603085.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:45.844Z,1613603085.844 [Micromodem](INFO): Nmea in: $SNTTA,0.050266,,,,230444.66*42 2021-02-17T23:04:45.869Z,1613603085.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.720001 m, bearing: 69.154115 deg, deltaT: 4.460989 s, approachRate: 0.578346 m/s, LOS rate: 13.970112 deg/s, posRepo size: 4 2021-02-17T23:04:48.245Z,1613603088.245 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:04:48.270Z,1613603088.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:49.028Z,1613603089.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:04:49.433Z,1613603089.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:50.265Z,1613603090.265 [Micromodem](INFO): Nmea in: $SNTTA,0.051993,,,,230449.10*4E 2021-02-17T23:04:50.337Z,1613603090.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.119995 m, bearing: 355.783352 deg, deltaT: 4.425926 s, approachRate: 0.542258 m/s, LOS rate: -16.577492 deg/s, posRepo size: 4 2021-02-17T23:04:52.679Z,1613603092.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:53.479Z,1613603093.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:04:53.883Z,1613603093.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:54.708Z,1613603094.708 [Micromodem](INFO): Nmea in: $SNTTA,0.053530,,,,230453.55*43 2021-02-17T23:04:54.751Z,1613603094.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.520004 m, bearing: 61.215714 deg, deltaT: 4.458526 s, approachRate: 0.538297 m/s, LOS rate: 14.675782 deg/s, posRepo size: 4 2021-02-17T23:04:57.147Z,1613603097.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:04:57.924Z,1613603097.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:04:58.323Z,1613603098.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:04:59.161Z,1613603099.161 [Micromodem](INFO): Nmea in: $SNTTA,0.055107,,,0.057632,230457.99*5A 2021-02-17T23:04:59.956Z,1613603099.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:01.552Z,1613603101.552 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:05:02.818Z,1613603102.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:03.237Z,1613603103.237 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:05:03.572Z,1613603103.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:05:03.977Z,1613603103.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:05:04.816Z,1613603104.816 [Micromodem](INFO): Nmea in: $SNTTA,0.056711,,,,230503.64*41 2021-02-17T23:05:04.861Z,1613603104.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.379997 m, bearing: 62.495903 deg, deltaT: 10.080072 s, approachRate: 0.482139 m/s, LOS rate: 0.127002 deg/s, posRepo size: 4 2021-02-17T23:05:07.293Z,1613603107.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:08.018Z,1613603108.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:05:08.427Z,1613603108.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:05:08.455Z,1613603108.455 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:05:09.256Z,1613603109.256 [Micromodem](INFO): Nmea in: $SNTTA,0.058303,,,,230508.09*48 2021-02-17T23:05:09.316Z,1613603109.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.720001 m, bearing: 58.946588 deg, deltaT: 4.433435 s, approachRate: 0.527808 m/s, LOS rate: -0.800579 deg/s, posRepo size: 4 2021-02-17T23:05:11.695Z,1613603111.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:12.466Z,1613603112.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:05:12.878Z,1613603112.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:05:13.692Z,1613603113.692 [Micromodem](INFO): Nmea in: $SNTTA,0.059760,,,,230512.54*4B 2021-02-17T23:05:13.729Z,1613603113.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.820007 m, bearing: 33.969249 deg, deltaT: 4.474716 s, approachRate: 0.469305 m/s, LOS rate: -5.581882 deg/s, posRepo size: 4 2021-02-17T23:05:16.130Z,1613603116.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:16.905Z,1613603116.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:05:17.316Z,1613603117.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:05:18.132Z,1613603118.132 [Micromodem](INFO): Nmea in: $SNTTA,0.061549,,,,230516.98*4D 2021-02-17T23:05:18.176Z,1613603118.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.580002 m, bearing: 17.489039 deg, deltaT: 4.429206 s, approachRate: 0.623135 m/s, LOS rate: -3.720804 deg/s, posRepo size: 4 2021-02-17T23:05:20.247Z,1613603120.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:20.944Z,1613603120.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:05:21.355Z,1613603121.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:05:22.173Z,1613603122.173 [Micromodem](INFO): Nmea in: $SNTTA,0.062812,,,,230521.02*4A 2021-02-17T23:05:22.246Z,1613603122.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.439995 m, bearing: 5.574696 deg, deltaT: 4.071041 s, approachRate: 0.456884 m/s, LOS rate: -2.926608 deg/s, posRepo size: 4 2021-02-17T23:05:23.401Z,1613603123.401 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T23:05:24.617Z,1613603124.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:25.388Z,1613603125.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:05:25.825Z,1613603125.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:05:26.616Z,1613603126.616 [Micromodem](INFO): Nmea in: $SNTTA,0.064414,,,,230525.46*42 2021-02-17T23:05:26.662Z,1613603126.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.899994 m, bearing: 53.337548 deg, deltaT: 4.453533 s, approachRate: 0.552370 m/s, LOS rate: 10.724711 deg/s, posRepo size: 4 2021-02-17T23:05:29.053Z,1613603129.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:29.832Z,1613603129.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:05:30.251Z,1613603130.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:05:31.053Z,1613603131.053 [Micromodem](INFO): Nmea in: $SNTTA,0.066117,,,,230529.90*41 2021-02-17T23:05:31.890Z,1613603131.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:33.466Z,1613603133.466 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:05:33.474Z,1613603133.474 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T23:05:34.737Z,1613603134.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:35.488Z,1613603135.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:05:35.909Z,1613603135.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:05:36.711Z,1613603136.711 [Micromodem](INFO): Nmea in: $SNTTA,0.068214,,,,230535.56*48 2021-02-17T23:05:37.156Z,1613603137.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.679977 m, bearing: 67.499768 deg, deltaT: 10.504119 s, approachRate: 13.211959 m/s, LOS rate: 1.348254 deg/s, posRepo size: 4 2021-02-17T23:05:37.156Z,1613603137.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 235.68 m. Resuming terminal guidance. 2021-02-17T23:05:37.156Z,1613603137.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T23:05:39.602Z,1613603139.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:40.338Z,1613603140.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:05:40.742Z,1613603140.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:05:41.568Z,1613603141.568 [Micromodem](INFO): Nmea in: $SNTTA,0.070095,,,,230540.41*4E 2021-02-17T23:05:41.633Z,1613603141.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.300003 m, bearing: 38.092675 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T23:05:41.634Z,1613603141.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 38.092675deg and heading rate command to 0 deg/s. 2021-02-17T23:05:44.019Z,1613603144.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:44.811Z,1613603144.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:05:45.238Z,1613603145.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:05:46.037Z,1613603146.037 [Micromodem](INFO): Nmea in: $SNTTA,0.071651,,,0.074163,230544.88*59 2021-02-17T23:05:46.093Z,1613603146.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.639999 m, bearing: 22.211999 deg, deltaT: 4.349977 s, approachRate: 0.537933 m/s, LOS rate: -3.650749 deg/s, posRepo size: 2 2021-02-17T23:05:46.103Z,1613603146.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.639999 m, bearing: 22.211999 deg, approachRate: 0.537933 m/s, LOS rate: -3.650749 deg/s, cmd update: -12.000000 deg/s, cmd heading: 38.092675 deg, new cmd heading: 38.092675 deg. 2021-02-17T23:05:48.478Z,1613603148.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:49.243Z,1613603149.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:05:49.645Z,1613603149.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:05:50.469Z,1613603150.469 [Micromodem](INFO): Nmea in: $SNTTA,0.073300,,,,230549.31*4C 2021-02-17T23:05:50.535Z,1613603150.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.099998 m, bearing: 38.096128 deg, deltaT: 4.434236 s, approachRate: 0.554774 m/s, LOS rate: 3.582157 deg/s, posRepo size: 3 2021-02-17T23:05:50.537Z,1613603150.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.099998 m, bearing: 38.096128 deg, approachRate: 0.554774 m/s, LOS rate: 3.582157 deg/s, cmd update: 12.000000 deg/s, cmd heading: 344.882094 deg, new cmd heading: 339.186786 deg. 2021-02-17T23:05:53.014Z,1613603153.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:53.677Z,1613603153.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:05:54.084Z,1613603154.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:05:54.917Z,1613603154.917 [Micromodem](INFO): Nmea in: $SNTTA,0.074725,,,,230553.75*43 2021-02-17T23:05:54.971Z,1613603154.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.320007 m, bearing: 55.351583 deg, deltaT: 4.502347 s, approachRate: 0.493078 m/s, LOS rate: 3.832547 deg/s, posRepo size: 4 2021-02-17T23:05:54.973Z,1613603154.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.320007 m, bearing: 55.351583 deg, approachRate: 0.493078 m/s, LOS rate: 3.832547 deg/s, cmd update: 12.000000 deg/s, cmd heading: 38.674135 deg, new cmd heading: 43.857811 deg. 2021-02-17T23:05:57.358Z,1613603157.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:05:58.128Z,1613603158.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:05:58.539Z,1613603158.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:05:58.560Z,1613603158.560 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T23:05:59.355Z,1613603159.355 [Micromodem](INFO): Nmea in: $SNTTA,0.076018,,,,230558.20*43 2021-02-17T23:05:59.394Z,1613603159.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.180008 m, bearing: 12.715689 deg, deltaT: 4.393698 s, approachRate: 0.423334 m/s, LOS rate: -9.703875 deg/s, posRepo size: 4 2021-02-17T23:05:59.396Z,1613603159.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.180008 m, bearing: 12.715689 deg, approachRate: 0.423334 m/s, LOS rate: -9.703875 deg/s, cmd update: -12.000000 deg/s, cmd heading: 91.682121 deg, new cmd heading: 96.935457 deg. 2021-02-17T23:06:01.820Z,1613603161.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:02.569Z,1613603162.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:06:02.975Z,1613603162.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:06:03.836Z,1613603163.836 [Micromodem](INFO): Nmea in: $SNTTA,0.077127,,,,230602.64*43 2021-02-17T23:06:03.874Z,1613603163.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.860008 m, bearing: 19.040332 deg, deltaT: 4.505696 s, approachRate: 0.372861 m/s, LOS rate: 1.403699 deg/s, posRepo size: 4 2021-02-17T23:06:03.876Z,1613603163.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.860008 m, bearing: 19.040332 deg, approachRate: 0.372861 m/s, LOS rate: 1.403699 deg/s, cmd update: 5.614798 deg/s, cmd heading: 38.053411 deg, new cmd heading: 32.667499 deg. 2021-02-17T23:06:06.264Z,1613603166.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:07.010Z,1613603167.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:06:07.413Z,1613603167.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:06:08.250Z,1613603168.250 [Micromodem](INFO): Nmea in: $SNTTA,0.078507,,,,230607.08*45 2021-02-17T23:06:08.319Z,1613603168.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.959999 m, bearing: 59.805772 deg, deltaT: 4.369176 s, approachRate: 0.480638 m/s, LOS rate: 9.330235 deg/s, posRepo size: 4 2021-02-17T23:06:08.321Z,1613603168.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.959999 m, bearing: 59.805772 deg, approachRate: 0.480638 m/s, LOS rate: 9.330235 deg/s, cmd update: 12.000000 deg/s, cmd heading: 62.793446 deg, new cmd heading: 65.507229 deg. 2021-02-17T23:06:10.659Z,1613603170.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:11.453Z,1613603171.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:06:11.862Z,1613603171.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:06:12.683Z,1613603172.683 [Micromodem](INFO): Nmea in: $SNTTA,0.079898,,,,230611.52*47 2021-02-17T23:06:12.702Z,1613603172.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.000000 m, bearing: 31.865353 deg, deltaT: 4.460833 s, approachRate: 0.457314 m/s, LOS rate: -6.263498 deg/s, posRepo size: 4 2021-02-17T23:06:12.704Z,1613603172.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.000000 m, bearing: 31.865353 deg, approachRate: 0.457314 m/s, LOS rate: -6.263498 deg/s, cmd update: -12.000000 deg/s, cmd heading: 116.319892 deg, new cmd heading: 121.241728 deg. 2021-02-17T23:06:15.136Z,1613603175.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:15.904Z,1613603175.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:06:16.307Z,1613603176.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:06:17.128Z,1613603177.128 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230615.98*5C 2021-02-17T23:06:17.195Z,1613603177.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.220009 m, bearing: 51.960493 deg, deltaT: 4.425852 s, approachRate: 0.501600 m/s, LOS rate: 4.540400 deg/s, posRepo size: 4 2021-02-17T23:06:17.212Z,1613603177.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.220009 m, bearing: 51.960493 deg, approachRate: 0.501600 m/s, LOS rate: 4.540400 deg/s, cmd update: 12.000000 deg/s, cmd heading: 63.206319 deg, new cmd heading: 57.622911 deg. 2021-02-17T23:06:19.250Z,1613603179.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:19.949Z,1613603179.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:06:20.345Z,1613603180.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:06:21.174Z,1613603181.174 [Micromodem](INFO): Nmea in: $SNTTA,0.082605,,,,230620.02*4E 2021-02-17T23:06:21.245Z,1613603181.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.959999 m, bearing: 73.972472 deg, deltaT: 4.044080 s, approachRate: 0.430256 m/s, LOS rate: 5.443013 deg/s, posRepo size: 4 2021-02-17T23:06:21.251Z,1613603181.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.959999 m, bearing: 73.972472 deg, approachRate: 0.430256 m/s, LOS rate: 5.443013 deg/s, cmd update: 12.000000 deg/s, cmd heading: 111.685204 deg, new cmd heading: 117.535444 deg. 2021-02-17T23:06:23.606Z,1613603183.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:24.380Z,1613603184.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:06:24.808Z,1613603184.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:06:25.608Z,1613603185.608 [Micromodem](INFO): Nmea in: $SNTTA,0.083851,,,,230624.45*47 2021-02-17T23:06:25.646Z,1613603185.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.760010 m, bearing: 100.636233 deg, deltaT: 4.511702 s, approachRate: 0.398965 m/s, LOS rate: 5.909912 deg/s, posRepo size: 4 2021-02-17T23:06:25.649Z,1613603185.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.760010 m, bearing: 100.636233 deg, approachRate: 0.398965 m/s, LOS rate: 5.909912 deg/s, cmd update: 12.000000 deg/s, cmd heading: 165.822114 deg, new cmd heading: 170.343090 deg. 2021-02-17T23:06:28.043Z,1613603188.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:28.828Z,1613603188.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:06:29.241Z,1613603189.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:06:30.060Z,1613603190.060 [Micromodem](INFO): Nmea in: $SNTTA,0.084668,,,,230628.90*40 2021-02-17T23:06:30.082Z,1613603190.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.080002 m, bearing: 155.179166 deg, deltaT: 4.381522 s, approachRate: 0.301263 m/s, LOS rate: 12.448399 deg/s, posRepo size: 4 2021-02-17T23:06:30.083Z,1613603190.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.448399 deg/s. Setting heading cmd to target bearing of 155.179166deg and heading rate command to 0 deg/s. 2021-02-17T23:06:32.485Z,1613603192.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:33.294Z,1613603193.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:06:33.673Z,1613603193.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:06:34.508Z,1613603194.508 [Micromodem](INFO): Nmea in: $SNTTA,0.085164,,,,230633.36*4C 2021-02-17T23:06:34.561Z,1613603194.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.860001 m, bearing: 184.769895 deg, deltaT: 4.466637 s, approachRate: 0.174628 m/s, LOS rate: 6.624834 deg/s, posRepo size: 4 2021-02-17T23:06:34.563Z,1613603194.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.860001 m, bearing: 184.769895 deg, approachRate: 0.174628 m/s, LOS rate: 6.624834 deg/s, cmd update: 12.000000 deg/s, cmd heading: 155.179166 deg, new cmd heading: 155.179166 deg. 2021-02-17T23:06:36.956Z,1613603196.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:37.712Z,1613603197.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:06:38.125Z,1613603198.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:06:38.944Z,1613603198.944 [Micromodem](INFO): Nmea in: $SNTTA,0.085018,,,,230637.79*49 2021-02-17T23:06:38.981Z,1613603198.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.500000 m, bearing: 119.691825 deg, deltaT: 4.441520 s, approachRate: -0.081053 m/s, LOS rate: -14.652207 deg/s, posRepo size: 4 2021-02-17T23:06:38.982Z,1613603198.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.652207 deg/s. Setting heading cmd to target bearing of 119.691825deg and heading rate command to 0 deg/s. 2021-02-17T23:06:41.393Z,1613603201.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:42.158Z,1613603202.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:06:42.564Z,1613603202.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:06:43.384Z,1613603203.384 [Micromodem](INFO): Nmea in: $SNTTA,0.084164,,,,230642.23*4F 2021-02-17T23:06:43.421Z,1613603203.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.060005 m, bearing: 231.652423 deg, deltaT: 4.442788 s, approachRate: -0.324120 m/s, LOS rate: 25.200526 deg/s, posRepo size: 4 2021-02-17T23:06:43.422Z,1613603203.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.200526 deg/s. Setting heading cmd to target bearing of 231.652423deg and heading rate command to 0 deg/s. 2021-02-17T23:06:45.899Z,1613603205.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:46.601Z,1613603206.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:06:47.011Z,1613603207.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:06:47.836Z,1613603207.836 [Micromodem](INFO): Nmea in: $SNTTA,0.082834,,,,230646.67*41 2021-02-17T23:06:47.858Z,1613603207.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.080009 m, bearing: 218.388714 deg, deltaT: 4.428055 s, approachRate: -0.447148 m/s, LOS rate: -2.995380 deg/s, posRepo size: 4 2021-02-17T23:06:47.860Z,1613603207.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.080009 m, bearing: 218.388714 deg, approachRate: -0.447148 m/s, LOS rate: -2.995380 deg/s, cmd update: -11.981520 deg/s, cmd heading: 231.652423 deg, new cmd heading: 231.652423 deg. 2021-02-17T23:06:50.289Z,1613603210.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:51.049Z,1613603211.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:06:51.463Z,1613603211.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:06:52.276Z,1613603212.276 [Micromodem](INFO): Nmea in: $SNTTA,0.081128,,,,230651.12*42 2021-02-17T23:06:52.321Z,1613603212.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.500000 m, bearing: 221.037038 deg, deltaT: 4.465139 s, approachRate: -0.577812 m/s, LOS rate: 0.593111 deg/s, posRepo size: 4 2021-02-17T23:06:52.322Z,1613603212.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.500000 m, bearing: 221.037038 deg, approachRate: -0.577812 m/s, LOS rate: 0.593111 deg/s, cmd update: 2.372445 deg/s, cmd heading: 178.200967 deg, new cmd heading: 173.106449 deg. 2021-02-17T23:06:54.695Z,1613603214.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:55.496Z,1613603215.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:06:55.894Z,1613603215.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:06:56.720Z,1613603216.720 [Micromodem](INFO): Nmea in: $SNTTA,0.079139,,,,230655.57*40 2021-02-17T23:06:56.762Z,1613603216.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.500008 m, bearing: 222.593925 deg, deltaT: 4.436179 s, approachRate: -0.676256 m/s, LOS rate: 0.350952 deg/s, posRepo size: 4 2021-02-17T23:06:56.764Z,1613603216.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.500008 m, bearing: 222.593925 deg, approachRate: -0.676256 m/s, LOS rate: 0.350952 deg/s, cmd update: 1.403809 deg/s, cmd heading: 188.696852 deg, new cmd heading: 189.746970 deg. 2021-02-17T23:06:59.240Z,1613603219.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:06:59.932Z,1613603219.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:00.339Z,1613603220.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:01.160Z,1613603221.160 [Micromodem](INFO): Nmea in: $SNTTA,0.077049,,,,230700.00*4B 2021-02-17T23:07:01.245Z,1613603221.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.320000 m, bearing: 223.337856 deg, deltaT: 4.454176 s, approachRate: -0.713939 m/s, LOS rate: 0.167019 deg/s, posRepo size: 4 2021-02-17T23:07:01.247Z,1613603221.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.320000 m, bearing: 223.337856 deg, approachRate: -0.713939 m/s, LOS rate: 0.167019 deg/s, cmd update: 0.668075 deg/s, cmd heading: 194.945111 deg, new cmd heading: 195.611023 deg. 2021-02-17T23:07:03.601Z,1613603223.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:07:04.376Z,1613603224.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:04.808Z,1613603224.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:05.604Z,1613603225.604 [Micromodem](INFO): Nmea in: $SNTTA,0.075289,,,,230704.45*42 2021-02-17T23:07:05.641Z,1613603225.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.740005 m, bearing: 223.614519 deg, deltaT: 4.477566 s, approachRate: -0.576205 m/s, LOS rate: 0.061789 deg/s, posRepo size: 4 2021-02-17T23:07:05.643Z,1613603225.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.740005 m, bearing: 223.614519 deg, approachRate: -0.576205 m/s, LOS rate: 0.061789 deg/s, cmd update: 0.247155 deg/s, cmd heading: 197.945540 deg, new cmd heading: 198.199275 deg. 2021-02-17T23:07:08.039Z,1613603228.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:07:08.820Z,1613603228.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:09.325Z,1613603229.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:10.052Z,1613603230.052 [Micromodem](INFO): Nmea in: $SNTTA,0.073304,,,,230708.89*4C 2021-02-17T23:07:10.090Z,1613603230.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.739998 m, bearing: 221.816308 deg, deltaT: 4.404995 s, approachRate: -0.681047 m/s, LOS rate: -0.408221 deg/s, posRepo size: 4 2021-02-17T23:07:10.092Z,1613603230.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.739998 m, bearing: 221.816308 deg, approachRate: -0.681047 m/s, LOS rate: -0.408221 deg/s, cmd update: -1.632884 deg/s, cmd heading: 199.035677 deg, new cmd heading: 199.138891 deg. 2021-02-17T23:07:12.506Z,1613603232.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:07:13.270Z,1613603233.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:13.672Z,1613603233.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:14.496Z,1613603234.496 [Micromodem](INFO): Nmea in: $SNTTA,0.071513,,,,230713.34*42 2021-02-17T23:07:14.540Z,1613603234.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.100006 m, bearing: 220.309896 deg, deltaT: 4.423083 s, approachRate: -0.596867 m/s, LOS rate: -0.340580 deg/s, posRepo size: 4 2021-02-17T23:07:14.542Z,1613603234.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.100006 m, bearing: 220.309896 deg, approachRate: -0.596867 m/s, LOS rate: -0.340580 deg/s, cmd update: -1.362318 deg/s, cmd heading: 191.813288 deg, new cmd heading: 191.119996 deg. 2021-02-17T23:07:16.942Z,1613603236.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:07:17.709Z,1613603237.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:18.125Z,1613603238.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:18.940Z,1613603238.940 [Micromodem](INFO): Nmea in: $SNTTA,0.069744,,,,230717.78*47 2021-02-17T23:07:18.979Z,1613603238.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.460007 m, bearing: 223.374643 deg, deltaT: 4.470160 s, approachRate: -0.590583 m/s, LOS rate: 0.685601 deg/s, posRepo size: 4 2021-02-17T23:07:18.981Z,1613603238.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.460007 m, bearing: 223.374643 deg, approachRate: -0.590583 m/s, LOS rate: 0.685601 deg/s, cmd update: 2.742405 deg/s, cmd heading: 185.723479 deg, new cmd heading: 185.160768 deg. 2021-02-17T23:07:21.384Z,1613603241.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:07:22.152Z,1613603242.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:22.563Z,1613603242.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:23.392Z,1613603243.392 [Micromodem](INFO): Nmea in: $SNTTA,0.068344,,,0.070864,230722.22*58 2021-02-17T23:07:23.416Z,1613603243.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.300003 m, bearing: 242.141490 deg, deltaT: 4.435898 s, approachRate: -0.486937 m/s, LOS rate: 4.230676 deg/s, posRepo size: 4 2021-02-17T23:07:23.418Z,1613603243.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.300003 m, bearing: 242.141490 deg, approachRate: -0.486937 m/s, LOS rate: 4.230676 deg/s, cmd update: 12.000000 deg/s, cmd heading: 197.888599 deg, new cmd heading: 199.024460 deg. 2021-02-17T23:07:25.825Z,1613603245.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:07:26.597Z,1613603246.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:27.007Z,1613603247.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:27.828Z,1613603247.828 [Micromodem](INFO): Nmea in: $SNTTA,0.066908,,,,230726.67*42 2021-02-17T23:07:27.850Z,1613603247.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.199997 m, bearing: 241.583627 deg, deltaT: 4.456244 s, approachRate: -0.471250 m/s, LOS rate: -0.125187 deg/s, posRepo size: 4 2021-02-17T23:07:27.872Z,1613603247.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.199997 m, bearing: 241.583627 deg, approachRate: -0.471250 m/s, LOS rate: -0.125187 deg/s, cmd update: -0.500747 deg/s, cmd heading: 251.315277 deg, new cmd heading: 256.070277 deg. 2021-02-17T23:07:30.286Z,1613603250.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:07:31.045Z,1613603251.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:31.455Z,1613603251.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:32.276Z,1613603252.276 [Micromodem](INFO): Nmea in: $SNTTA,0.065740,,0.066883,,230731.11*59 2021-02-17T23:07:32.300Z,1613603252.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.400002 m, bearing: 230.619889 deg, deltaT: 4.441963 s, approachRate: -0.405225 m/s, LOS rate: -2.468219 deg/s, posRepo size: 4 2021-02-17T23:07:32.302Z,1613603252.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.400002 m, bearing: 230.619889 deg, approachRate: -0.405225 m/s, LOS rate: -2.468219 deg/s, cmd update: -9.872876 deg/s, cmd heading: 249.089062 deg, new cmd heading: 248.888747 deg. 2021-02-17T23:07:34.693Z,1613603254.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:07:35.490Z,1613603255.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:35.890Z,1613603255.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:36.736Z,1613603256.736 [Micromodem](INFO): Nmea in: $SNTTA,0.063988,,,,230735.56*4F 2021-02-17T23:07:36.776Z,1613603256.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.760002 m, bearing: 226.830678 deg, deltaT: 4.421525 s, approachRate: -0.597079 m/s, LOS rate: -0.856992 deg/s, posRepo size: 4 2021-02-17T23:07:36.777Z,1613603256.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.760002 m, bearing: 226.830678 deg, approachRate: -0.597079 m/s, LOS rate: -0.856992 deg/s, cmd update: -3.427968 deg/s, cmd heading: 205.434402 deg, new cmd heading: 200.952422 deg. 2021-02-17T23:07:39.236Z,1613603259.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:07:39.933Z,1613603259.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:40.339Z,1613603260.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:41.160Z,1613603261.160 [Micromodem](INFO): Nmea in: $SNTTA,0.062588,,,,230740.00*43 2021-02-17T23:07:41.267Z,1613603261.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.419998 m, bearing: 228.923639 deg, deltaT: 4.428809 s, approachRate: -0.528360 m/s, LOS rate: 0.472579 deg/s, posRepo size: 4 2021-02-17T23:07:41.269Z,1613603261.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.419998 m, bearing: 228.923639 deg, approachRate: -0.528360 m/s, LOS rate: 0.472579 deg/s, cmd update: 1.890315 deg/s, cmd heading: 190.252588 deg, new cmd heading: 188.480188 deg. 2021-02-17T23:07:43.601Z,1613603263.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:07:44.373Z,1613603264.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:44.818Z,1613603264.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:45.600Z,1613603265.600 [Micromodem](INFO): Nmea in: $SNTTA,0.060476,,,,230744.44*45 2021-02-17T23:07:45.642Z,1613603265.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.480011 m, bearing: 247.975373 deg, deltaT: 4.494037 s, approachRate: -0.654197 m/s, LOS rate: 4.239336 deg/s, posRepo size: 4 2021-02-17T23:07:45.648Z,1613603265.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.480011 m, bearing: 247.975373 deg, approachRate: -0.654197 m/s, LOS rate: 4.239336 deg/s, cmd update: 12.000000 deg/s, cmd heading: 198.747398 deg, new cmd heading: 199.500386 deg. 2021-02-17T23:07:48.038Z,1613603268.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:07:48.836Z,1613603268.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:49.222Z,1613603269.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:50.056Z,1613603270.056 [Micromodem](INFO): Nmea in: $SNTTA,0.058949,,,,230748.91*4B 2021-02-17T23:07:50.100Z,1613603270.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.200005 m, bearing: 236.817193 deg, deltaT: 4.394665 s, approachRate: -0.518812 m/s, LOS rate: -2.539028 deg/s, posRepo size: 4 2021-02-17T23:07:50.102Z,1613603270.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.200005 m, bearing: 236.817193 deg, approachRate: -0.518812 m/s, LOS rate: -2.539028 deg/s, cmd update: -10.156114 deg/s, cmd heading: 251.479023 deg, new cmd heading: 256.777192 deg. 2021-02-17T23:07:52.478Z,1613603272.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:07:53.260Z,1613603273.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:53.674Z,1613603273.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:54.492Z,1613603274.492 [Micromodem](INFO): Nmea in: $SNTTA,0.057553,,,,230753.33*41 2021-02-17T23:07:54.536Z,1613603274.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.159996 m, bearing: 235.575629 deg, deltaT: 4.469286 s, approachRate: -0.456451 m/s, LOS rate: -0.277799 deg/s, posRepo size: 4 2021-02-17T23:07:54.538Z,1613603274.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.159996 m, bearing: 235.575629 deg, approachRate: -0.456451 m/s, LOS rate: -0.277799 deg/s, cmd update: -1.111197 deg/s, cmd heading: 206.253229 deg, new cmd heading: 201.732631 deg. 2021-02-17T23:07:56.945Z,1613603276.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:07:57.706Z,1613603277.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:07:58.109Z,1613603278.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:07:58.937Z,1613603278.937 [Micromodem](INFO): Nmea in: $SNTTA,0.055916,,,,230757.78*45 2021-02-17T23:07:58.994Z,1613603278.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.580002 m, bearing: 234.134404 deg, deltaT: 4.456451 s, approachRate: -0.578935 m/s, LOS rate: -0.323402 deg/s, posRepo size: 4 2021-02-17T23:07:58.996Z,1613603278.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.580002 m, bearing: 234.134404 deg, approachRate: -0.578935 m/s, LOS rate: -0.323402 deg/s, cmd update: -1.293607 deg/s, cmd heading: 201.283382 deg, new cmd heading: 200.805506 deg. 2021-02-17T23:08:01.390Z,1613603281.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:02.178Z,1613603282.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:08:02.553Z,1613603282.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:08:03.413Z,1613603283.413 [Micromodem](INFO): Nmea in: $SNTTA,0.053922,,,,230802.25*43 2021-02-17T23:08:03.448Z,1613603283.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.639999 m, bearing: 231.849433 deg, deltaT: 4.414934 s, approachRate: -0.665922 m/s, LOS rate: -0.517555 deg/s, posRepo size: 4 2021-02-17T23:08:03.449Z,1613603283.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.639999 m, bearing: 231.849433 deg, approachRate: -0.665922 m/s, LOS rate: -0.517555 deg/s, cmd update: -2.070220 deg/s, cmd heading: 195.571267 deg, new cmd heading: 194.965893 deg. 2021-02-17T23:08:05.846Z,1613603285.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:06.593Z,1613603286.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:08:06.997Z,1613603286.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:08:07.857Z,1613603287.857 [Micromodem](INFO): Nmea in: $SNTTA,0.052394,0.088099,,,230806.66*58 2021-02-17T23:08:07.878Z,1613603287.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.599998 m, bearing: 235.779824 deg, deltaT: 4.490731 s, approachRate: -0.454269 m/s, LOS rate: 0.875223 deg/s, posRepo size: 4 2021-02-17T23:08:07.880Z,1613603287.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.599998 m, bearing: 235.779824 deg, approachRate: -0.454269 m/s, LOS rate: 0.875223 deg/s, cmd update: 3.500892 deg/s, cmd heading: 186.279302 deg, new cmd heading: 185.430123 deg. 2021-02-17T23:08:10.277Z,1613603290.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:11.037Z,1613603291.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:08:11.442Z,1613603291.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:08:12.284Z,1613603292.284 [Micromodem](INFO): Nmea in: $SNTTA,0.051082,,,,230811.11*47 2021-02-17T23:08:12.319Z,1613603292.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.500000 m, bearing: 245.317200 deg, deltaT: 4.419628 s, approachRate: -0.475153 m/s, LOS rate: 2.157959 deg/s, posRepo size: 4 2021-02-17T23:08:12.321Z,1613603292.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.500000 m, bearing: 245.317200 deg, approachRate: -0.475153 m/s, LOS rate: 2.157959 deg/s, cmd update: 8.631836 deg/s, cmd heading: 201.702367 deg, new cmd heading: 203.262894 deg. 2021-02-17T23:08:14.687Z,1613603294.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:15.480Z,1613603295.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:08:15.895Z,1613603295.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:08:15.972Z,1613603295.972 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.250175 2021-02-17T23:08:16.333Z,1613603296.333 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T23:08:16.333Z,1613603296.333 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T23:08:16.333Z,1613603296.333 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T23:08:16.333Z,1613603296.333 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T23:08:16.333Z,1613603296.333 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T23:08:16.792Z,1613603296.792 [Micromodem](INFO): Nmea in: $SNTTA,0.050118,,,,230815.55*40 2021-02-17T23:08:16.903Z,1613603296.903 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D603C0000005D000004006D0000000000000000151D80030C5669BF92F9E556DAE85055864FFB95847F4AD72DB86C4B2E3E91EABAFF2C63CD613482113E 2021-02-17T23:08:16.904Z,1613603296.904 [Micromodem](INFO): Outgoing frame #2, 48 bytes: 5728DBC9F255165AADA037680A40D49163C6610ABBA473D0A1350E1BA48E5FB808B93B8FE62830C7AD6A621FC5492000 2021-02-17T23:08:16.904Z,1613603296.904 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T23:08:17.009Z,1613603297.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.000008 m, bearing: 248.856194 deg, deltaT: 4.437761 s, approachRate: -0.338007 m/s, LOS rate: 0.797473 deg/s, posRepo size: 4 2021-02-17T23:08:17.016Z,1613603297.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.000008 m, bearing: 248.856194 deg, approachRate: -0.338007 m/s, LOS rate: 0.797473 deg/s, cmd update: 3.189892 deg/s, cmd heading: 240.146519 deg, new cmd heading: 245.984299 deg. 2021-02-17T23:08:18.220Z,1613603298.220 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T23:08:18.620Z,1613603298.620 [Micromodem](INFO): Nmea in: $CADRQ,230816,1,10,0,64,1*78 2021-02-17T23:08:18.620Z,1613603298.620 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D603C0000005D000004006D0000000000000000151D80030C5669BF92F9E556DAE85055864FFB95847F4AD72DB86C4B2E3E91EABAFF2C63CD613482113E*34 2021-02-17T23:08:18.874Z,1613603298.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:19.034Z,1613603299.034 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T23:08:19.438Z,1613603299.438 [Micromodem](INFO): Nmea in: $CADRQ,230818,1,10,0,64,2*75 2021-02-17T23:08:19.439Z,1613603299.439 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5728DBC9F255165AADA037680A40D49163C6610ABBA473D0A1350E1BA48E5FB808B93B8FE62830C7AD6A621FC5492000*31 2021-02-17T23:08:19.838Z,1613603299.838 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,48*47 2021-02-17T23:08:19.838Z,1613603299.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:08:20.241Z,1613603300.241 [Micromodem](INFO): Nmea in: $CATXP,112*40 2021-02-17T23:08:20.241Z,1613603300.241 [Micromodem](ERROR): Response from modem unexpected: $CATXP,112*40 2021-02-17T23:08:21.501Z,1613603301.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:22.665Z,1613603302.665 [Micromodem](INFO): Nmea in: $CATXF,112*56 2021-02-17T23:08:22.666Z,1613603302.666 [Micromodem](ERROR): Response from modem unexpected: $CATXF,112*56 2021-02-17T23:08:23.070Z,1613603303.070 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,230819.526621,3,0,200,4000,14500,1,1,10,1,2,2,3,112*71 2021-02-17T23:08:23.070Z,1613603303.070 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,230819.526621,3,0,200,4000,14500,1,1,10,1,2,2,3,112*71 2021-02-17T23:08:24.345Z,1613603304.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:25.497Z,1613603305.497 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-17T23:08:25.893Z,1613603305.893 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-17T23:08:25.894Z,1613603305.894 [Micromodem](INFO): Sent 104 bytes from file Logs/20210217T180521/Courier0060.lzma.parts 2021-02-17T23:08:25.894Z,1613603305.894 [Micromodem](INFO): Packets left to send: 0 2021-02-17T23:08:26.322Z,1613603306.322 [Micromodem](INFO): Nmea in: $CACST,6,0,20210217230824.254900,06,7805,38,0260,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,23.5,8.00,18,-5.00,-01,1.37,31,14500,4000*5F 2021-02-17T23:08:26.322Z,1613603306.322 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210217230824.254900,06,7805,38,0260,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,23.5,8.00,18,-5.00,-01,1.37,31,14500,4000*5F 2021-02-17T23:08:26.434Z,1613603306.434 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T23:08:26.434Z,1613603306.434 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T23:08:26.435Z,1613603306.435 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T23:08:26.435Z,1613603306.435 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T23:08:26.435Z,1613603306.435 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T23:08:27.133Z,1613603307.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:28.239Z,1613603308.239 [Radio_Surface](INFO): Powering down 2021-02-17T23:08:29.984Z,1613603309.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:31.173Z,1613603311.173 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:08:31.549Z,1613603311.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:08:32.384Z,1613603312.384 [Micromodem](INFO): Nmea in: $SNTTA,0.044233,,,,230831.24*4F 2021-02-17T23:08:32.428Z,1613603312.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.120003 m, bearing: 241.858583 deg, deltaT: 15.673198 s, approachRate: -0.566573 m/s, LOS rate: -0.446470 deg/s, posRepo size: 4 2021-02-17T23:08:32.430Z,1613603312.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.120003 m, bearing: 241.858583 deg, approachRate: -0.566573 m/s, LOS rate: -0.446470 deg/s, cmd update: -1.785880 deg/s, cmd heading: 290.131140 deg, new cmd heading: 291.506822 deg. 2021-02-17T23:08:34.843Z,1613603314.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:35.589Z,1613603315.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:08:35.993Z,1613603315.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:08:36.848Z,1613603316.848 [Micromodem](INFO): Nmea in: $SNTTA,0.042915,,,,230835.66*44 2021-02-17T23:08:36.872Z,1613603316.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.020004 m, bearing: 240.075330 deg, deltaT: 4.442833 s, approachRate: -0.472671 m/s, LOS rate: -0.401377 deg/s, posRepo size: 4 2021-02-17T23:08:36.874Z,1613603316.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.020004 m, bearing: 240.075330 deg, approachRate: -0.472671 m/s, LOS rate: -0.401377 deg/s, cmd update: -1.605510 deg/s, cmd heading: 282.196789 deg, new cmd heading: 281.424768 deg. 2021-02-17T23:08:39.291Z,1613603319.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:40.040Z,1613603320.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:08:40.438Z,1613603320.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:08:41.264Z,1613603321.264 [Micromodem](INFO): Nmea in: $SNTTA,0.040939,,,,230840.11*4A 2021-02-17T23:08:41.317Z,1613603321.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.320004 m, bearing: 239.987111 deg, deltaT: 4.435765 s, approachRate: -0.608689 m/s, LOS rate: -0.019888 deg/s, posRepo size: 4 2021-02-17T23:08:41.323Z,1613603321.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.320004 m, bearing: 239.987111 deg, approachRate: -0.608689 m/s, LOS rate: -0.019888 deg/s, cmd update: -0.079552 deg/s, cmd heading: 275.094373 deg, new cmd heading: 274.366146 deg. 2021-02-17T23:08:43.685Z,1613603323.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:44.487Z,1613603324.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:08:44.887Z,1613603324.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:08:45.716Z,1613603325.716 [Micromodem](INFO): Nmea in: $SNTTA,0.039273,,,,230844.56*46 2021-02-17T23:08:45.757Z,1613603325.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.739998 m, bearing: 237.995264 deg, deltaT: 4.428790 s, approachRate: -0.582553 m/s, LOS rate: -0.449750 deg/s, posRepo size: 4 2021-02-17T23:08:45.759Z,1613603325.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.739998 m, bearing: 237.995264 deg, approachRate: -0.582553 m/s, LOS rate: -0.449750 deg/s, cmd update: -1.798999 deg/s, cmd heading: 274.740803 deg, new cmd heading: 274.705040 deg. 2021-02-17T23:08:48.185Z,1613603328.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:48.932Z,1613603328.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:08:49.325Z,1613603329.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:08:50.164Z,1613603330.164 [Micromodem](INFO): Nmea in: $SNTTA,0.038101,,,,230849.00*4F 2021-02-17T23:08:50.220Z,1613603330.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.699997 m, bearing: 232.812080 deg, deltaT: 4.445692 s, approachRate: -0.458871 m/s, LOS rate: -1.165889 deg/s, posRepo size: 4 2021-02-17T23:08:50.222Z,1613603330.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.699997 m, bearing: 232.812080 deg, approachRate: -0.458871 m/s, LOS rate: -1.165889 deg/s, cmd update: -4.663557 deg/s, cmd heading: 266.742510 deg, new cmd heading: 265.904396 deg. 2021-02-17T23:08:52.115Z,1613603332.115 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-17T23:08:52.592Z,1613603332.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:53.119Z,1613603333.119 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2021-02-17T23:08:53.394Z,1613603333.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:08:53.774Z,1613603333.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:08:54.604Z,1613603334.604 [Micromodem](INFO): Nmea in: $SNTTA,0.036144,,,,230853.46*49 2021-02-17T23:08:54.650Z,1613603334.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.939995 m, bearing: 234.676175 deg, deltaT: 4.516598 s, approachRate: -0.611080 m/s, LOS rate: 0.412721 deg/s, posRepo size: 4 2021-02-17T23:08:54.656Z,1613603334.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.939995 m, bearing: 234.676175 deg, approachRate: -0.611080 m/s, LOS rate: 0.412721 deg/s, cmd update: 1.650884 deg/s, cmd heading: 245.754428 deg, new cmd heading: 243.908261 deg. 2021-02-17T23:08:57.049Z,1613603337.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:08:57.839Z,1613603337.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:08:58.237Z,1613603338.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:08:59.064Z,1613603339.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230857.91*5D 2021-02-17T23:08:59.088Z,1613603339.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.279999 m, bearing: 231.800255 deg, deltaT: 4.394095 s, approachRate: -0.832935 m/s, LOS rate: -0.654496 deg/s, posRepo size: 4 2021-02-17T23:08:59.090Z,1613603339.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.279999 m, bearing: 231.800255 deg, approachRate: -0.832935 m/s, LOS rate: -0.654496 deg/s, cmd update: -2.617986 deg/s, cmd heading: 253.035109 deg, new cmd heading: 253.733504 deg. 2021-02-17T23:08:59.477Z,1613603339.477 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T23:09:01.539Z,1613603341.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:09:02.276Z,1613603342.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:09:02.687Z,1613603342.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:09:03.504Z,1613603343.504 [Micromodem](INFO): Nmea in: $SNTTA,0.031616,,,,230902.35*4F 2021-02-17T23:09:03.544Z,1613603343.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.219997 m, bearing: 229.802999 deg, deltaT: 4.458612 s, approachRate: -0.686313 m/s, LOS rate: -0.447955 deg/s, posRepo size: 4 2021-02-17T23:09:03.546Z,1613603343.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.219997 m, bearing: 229.802999 deg, approachRate: -0.686313 m/s, LOS rate: -0.447955 deg/s, cmd update: -1.791819 deg/s, cmd heading: 241.362416 deg, new cmd heading: 240.259841 deg. 2021-02-17T23:09:05.942Z,1613603345.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:09:06.720Z,1613603346.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:09:07.126Z,1613603347.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:09:07.956Z,1613603347.956 [Micromodem](INFO): Nmea in: $SNTTA,0.029381,,,,230906.79*41 2021-02-17T23:09:08.010Z,1613603348.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.920002 m, bearing: 228.375940 deg, deltaT: 4.429303 s, approachRate: -0.745037 m/s, LOS rate: -0.322186 deg/s, posRepo size: 4 2021-02-17T23:09:08.016Z,1613603348.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.920002 m, bearing: 228.375940 deg, approachRate: -0.745037 m/s, LOS rate: -0.322186 deg/s, cmd update: -1.288743 deg/s, cmd heading: 233.425802 deg, new cmd heading: 232.605738 deg. 2021-02-17T23:09:10.396Z,1613603350.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:09:11.189Z,1613603351.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:09:11.571Z,1613603351.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:09:12.436Z,1613603352.436 [Micromodem](INFO): Nmea in: $SNTTA,0.027393,,,,230911.26*40 2021-02-17T23:09:12.464Z,1613603352.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.920002 m, bearing: 229.570253 deg, deltaT: 4.442872 s, approachRate: -0.675239 m/s, LOS rate: 0.268816 deg/s, posRepo size: 4 2021-02-17T23:09:12.466Z,1613603352.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.920002 m, bearing: 229.570253 deg, approachRate: -0.675239 m/s, LOS rate: 0.268816 deg/s, cmd update: 1.075262 deg/s, cmd heading: 227.700141 deg, new cmd heading: 227.096736 deg. 2021-02-17T23:09:14.853Z,1613603354.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:09:15.609Z,1613603355.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:09:16.020Z,1613603356.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:09:16.852Z,1613603356.852 [Micromodem](INFO): Nmea in: $SNTTA,0.025071,,,,230915.68*43 2021-02-17T23:09:16.876Z,1613603356.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.380001 m, bearing: 230.412798 deg, deltaT: 4.469021 s, approachRate: -0.792120 m/s, LOS rate: 0.188530 deg/s, posRepo size: 4 2021-02-17T23:09:16.877Z,1613603356.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.38 m. 2021-02-17T23:09:16.878Z,1613603356.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.380001 m, bearing: 230.412798 deg, approachRate: -0.792120 m/s, LOS rate: 0.188530 deg/s, cmd update: 0.754120 deg/s, cmd heading: 232.505203 deg, new cmd heading: 232.948040 deg. 2021-02-17T23:09:17.237Z,1613603357.237 [PowerOnly](INFO): Powering up loadControl 2021-02-17T23:09:19.322Z,1613603359.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:09:20.054Z,1613603360.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:09:20.458Z,1613603360.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:09:21.280Z,1613603361.280 [Micromodem](INFO): Nmea in: $SNTTA,0.023140,,,,230920.12*4D 2021-02-17T23:09:21.330Z,1613603361.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.500000 m, bearing: 231.982157 deg, deltaT: 4.444334 s, approachRate: -0.648016 m/s, LOS rate: 0.353115 deg/s, posRepo size: 4 2021-02-17T23:09:21.330Z,1613603361.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.50 m. 2021-02-17T23:09:21.330Z,1613603361.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.50 m. 2021-02-17T23:09:21.330Z,1613603361.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T23:09:21.336Z,1613603361.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.500000 m, bearing: 231.982157 deg, approachRate: -0.648016 m/s, LOS rate: 0.353115 deg/s, cmd update: 1.412458 deg/s, cmd heading: 235.857017 deg, new cmd heading: 236.174335 deg. 2021-02-17T23:09:23.709Z,1613603363.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:09:24.501Z,1613603364.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:09:24.909Z,1613603364.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:09:25.735Z,1613603365.735 [Micromodem](INFO): Nmea in: $SNTTA,0.020967,,,,230924.57*46 2021-02-17T23:09:25.754Z,1613603365.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.259998 m, bearing: 232.437894 deg, deltaT: 4.427453 s, approachRate: -0.731798 m/s, LOS rate: 0.102934 deg/s, posRepo size: 4 2021-02-17T23:09:25.756Z,1613603365.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.259998 m, bearing: 232.437894 deg, approachRate: -0.731798 m/s, LOS rate: 0.102934 deg/s, cmd update: 0.411738 deg/s, cmd heading: 242.110315 deg, new cmd heading: 242.701234 deg. 2021-02-17T23:09:28.210Z,1613603368.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:09:28.941Z,1613603368.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:09:29.359Z,1613603369.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:09:30.206Z,1613603370.206 [Micromodem](INFO): Nmea in: $SNTTA,0.018748,,,0.090685,230929.01*5C 2021-02-17T23:09:30.324Z,1613603370.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.900000 m, bearing: 231.351430 deg, deltaT: 4.469928 s, approachRate: -0.751690 m/s, LOS rate: -0.243061 deg/s, posRepo size: 4 2021-02-17T23:09:30.326Z,1613603370.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.900000 m, bearing: 231.351430 deg, approachRate: -0.751690 m/s, LOS rate: -0.243061 deg/s, cmd update: -0.972243 deg/s, cmd heading: 243.934847 deg, new cmd heading: 244.163873 deg. 2021-02-17T23:09:32.604Z,1613603372.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:09:33.390Z,1613603373.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:09:33.824Z,1613603373.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:09:34.620Z,1613603374.620 [Micromodem](INFO): Nmea in: $SNTTA,0.016551,,,,230933.47*4D 2021-02-17T23:09:34.666Z,1613603374.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.600000 m, bearing: 228.899843 deg, deltaT: 4.442301 s, approachRate: -0.742858 m/s, LOS rate: -0.551873 deg/s, posRepo size: 4 2021-02-17T23:09:34.672Z,1613603374.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.600000 m, bearing: 228.899843 deg, approachRate: -0.742858 m/s, LOS rate: -0.551873 deg/s, cmd update: -2.207493 deg/s, cmd heading: 239.578131 deg, new cmd heading: 239.172034 deg. 2021-02-17T23:09:37.045Z,1613603377.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:09:37.830Z,1613603377.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:09:38.233Z,1613603378.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:09:39.068Z,1613603379.068 [Micromodem](INFO): Nmea in: $SNTTA,0.014234,,,,230937.90*45 2021-02-17T23:09:39.093Z,1613603379.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.120001 m, bearing: 228.911659 deg, deltaT: 4.410413 s, approachRate: -0.789042 m/s, LOS rate: 0.002679 deg/s, posRepo size: 4 2021-02-17T23:09:39.094Z,1613603379.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.120001 m, bearing: 228.911659 deg, approachRate: -0.789042 m/s, LOS rate: 0.002679 deg/s, cmd update: 0.010717 deg/s, cmd heading: 229.842203 deg, new cmd heading: 228.884540 deg. 2021-02-17T23:09:41.494Z,1613603381.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:09:42.272Z,1613603382.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:09:42.684Z,1613603382.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:09:43.504Z,1613603383.504 [Micromodem](INFO): Nmea in: $SNTTA,0.012216,,,,230942.34*4F 2021-02-17T23:09:43.545Z,1613603383.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.120001 m, bearing: 229.750707 deg, deltaT: 4.461023 s, approachRate: -0.672491 m/s, LOS rate: 0.188084 deg/s, posRepo size: 4 2021-02-17T23:09:43.551Z,1613603383.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.120001 m, bearing: 229.750707 deg, approachRate: -0.672491 m/s, LOS rate: 0.188084 deg/s, cmd update: 0.752337 deg/s, cmd heading: 229.890011 deg, new cmd heading: 229.894568 deg. 2021-02-17T23:09:45.970Z,1613603385.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:09:46.730Z,1613603386.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:09:47.132Z,1613603387.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:09:47.956Z,1613603387.956 [Micromodem](INFO): Nmea in: $SNTTA,0.009785,,,,230946.80*41 2021-02-17T23:09:47.998Z,1613603387.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.520001 m, bearing: 234.548942 deg, deltaT: 4.460919 s, approachRate: -0.807008 m/s, LOS rate: 1.075616 deg/s, posRepo size: 4 2021-02-17T23:09:48.000Z,1613603388.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.520001 m, bearing: 234.548942 deg, approachRate: -0.807008 m/s, LOS rate: 1.075616 deg/s, cmd update: 4.302463 deg/s, cmd heading: 233.239268 deg, new cmd heading: 233.560142 deg. 2021-02-17T23:09:50.398Z,1613603390.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:09:51.181Z,1613603391.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:09:51.573Z,1613603391.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:09:52.405Z,1613603392.405 [Micromodem](INFO): Nmea in: $SNTTA,0.008113,,,,230951.25*40 2021-02-17T23:09:52.449Z,1613603392.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.940001 m, bearing: 232.728669 deg, deltaT: 4.436905 s, approachRate: -0.581486 m/s, LOS rate: -0.410257 deg/s, posRepo size: 4 2021-02-17T23:09:52.451Z,1613603392.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.940001 m, bearing: 232.728669 deg, approachRate: -0.581486 m/s, LOS rate: -0.410257 deg/s, cmd update: -1.641029 deg/s, cmd heading: 252.350952 deg, new cmd heading: 254.223449 deg. 2021-02-17T23:09:54.839Z,1613603394.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:09:55.617Z,1613603395.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:09:56.018Z,1613603396.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:09:56.844Z,1613603396.844 [Micromodem](INFO): Nmea in: $SNTTA,0.006100,,,,230955.69*40 2021-02-17T23:09:56.885Z,1613603396.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.979999 m, bearing: 227.260037 deg, deltaT: 4.460619 s, approachRate: -0.887770 m/s, LOS rate: -1.225981 deg/s, posRepo size: 4 2021-02-17T23:09:56.886Z,1613603396.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.979999 m, bearing: 227.260037 deg, approachRate: -0.887770 m/s, LOS rate: -1.225981 deg/s, cmd update: -4.903922 deg/s, cmd heading: 245.031044 deg, new cmd heading: 244.357377 deg. 2021-02-17T23:09:59.289Z,1613603399.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:00.062Z,1613603400.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:00.462Z,1613603400.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:01.288Z,1613603401.288 [Micromodem](INFO): Nmea in: $SNTTA,0.004524,,,,231000.13*45 2021-02-17T23:10:01.313Z,1613603401.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.539999 m, bearing: 225.679327 deg, deltaT: 4.446613 s, approachRate: -0.323842 m/s, LOS rate: -0.355486 deg/s, posRepo size: 4 2021-02-17T23:10:01.315Z,1613603401.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.539999 m, bearing: 225.679327 deg, approachRate: -0.323842 m/s, LOS rate: -0.355486 deg/s, cmd update: -1.421946 deg/s, cmd heading: 223.224990 deg, new cmd heading: 221.300200 deg. 2021-02-17T23:10:03.708Z,1613603403.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:04.508Z,1613603404.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:04.909Z,1613603404.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:05.732Z,1613603405.732 [Micromodem](INFO): Nmea in: $SNTTA,0.002225,,,,231004.58*4E 2021-02-17T23:10:05.798Z,1613603405.798 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T23:10:05.803Z,1613603405.803 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T23:10:05.803Z,1613603405.803 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T23:10:05.804Z,1613603405.804 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:10:05.804Z,1613603405.804 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T23:10:05.806Z,1613603405.806 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.300000 m 2021-02-17T23:10:05.811Z,1613603405.811 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T23:10:05.811Z,1613603405.811 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T23:10:05.811Z,1613603405.811 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T23:10:05.813Z,1613603405.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 239.721417 deg, deltaT: 4.423630 s, approachRate: -0.732430 m/s, LOS rate: 3.174337 deg/s, posRepo size: 4 2021-02-17T23:10:05.819Z,1613603405.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.300000 m, bearing: 239.721417 deg, approachRate: -0.732430 m/s, LOS rate: 3.174337 deg/s, cmd update: 12.000000 deg/s, cmd heading: 216.952138 deg, new cmd heading: 216.268073 deg. 2021-02-17T23:10:06.167Z,1613603406.167 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T231006: (41.552319, -70.708603) 2021-02-17T23:10:06.167Z,1613603406.167 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T23:10:06.167Z,1613603406.167 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T23:10:06.167Z,1613603406.167 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:10:06.168Z,1613603406.168 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T23:10:06.168Z,1613603406.168 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:10:06.168Z,1613603406.168 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T23:10:06.168Z,1613603406.168 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T23:10:06.168Z,1613603406.168 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T23:10:08.222Z,1613603408.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:08.954Z,1613603408.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:09.366Z,1613603409.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:10.179Z,1613603410.179 [Micromodem](INFO): Nmea in: $SNTTA,0.002452,,,,231009.02*4A 2021-02-17T23:10:10.257Z,1613603410.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 200.549900 deg, deltaT: 4.479989 s, approachRate: 0.107143 m/s, LOS rate: -8.743664 deg/s, posRepo size: 4 2021-02-17T23:10:10.259Z,1613603410.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.779998 m, bearing: 200.549900 deg, approachRate: 0.107143 m/s, LOS rate: -8.743664 deg/s, cmd update: -12.000000 deg/s, cmd heading: 270.858071 deg, new cmd heading: 276.053507 deg. 2021-02-17T23:10:12.632Z,1613603412.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:13.394Z,1613603413.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:13.815Z,1613603413.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:14.622Z,1613603414.622 [Micromodem](INFO): Nmea in: $SNTTA,0.004294,,,,231013.46*4B 2021-02-17T23:10:14.650Z,1613603414.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.479999 m, bearing: 232.391941 deg, deltaT: 4.432698 s, approachRate: 0.609110 m/s, LOS rate: 7.183445 deg/s, posRepo size: 4 2021-02-17T23:10:14.653Z,1613603414.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.479999 m, bearing: 232.391941 deg, approachRate: 0.609110 m/s, LOS rate: 7.183445 deg/s, cmd update: 12.000000 deg/s, cmd heading: 217.665790 deg, new cmd heading: 212.950510 deg. 2021-02-17T23:10:17.071Z,1613603417.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:17.840Z,1613603417.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:18.243Z,1613603418.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:19.068Z,1613603419.068 [Micromodem](INFO): Nmea in: $SNTTA,0.006378,,,,231017.91*44 2021-02-17T23:10:19.117Z,1613603419.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.540000 m, bearing: 238.182767 deg, deltaT: 4.398639 s, approachRate: 0.695670 m/s, LOS rate: 1.316504 deg/s, posRepo size: 4 2021-02-17T23:10:19.119Z,1613603419.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.540000 m, bearing: 238.182767 deg, approachRate: 0.695670 m/s, LOS rate: 1.316504 deg/s, cmd update: 5.266016 deg/s, cmd heading: 270.497568 deg, new cmd heading: 275.981616 deg. 2021-02-17T23:10:21.495Z,1613603421.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:22.281Z,1613603422.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:22.684Z,1613603422.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:23.516Z,1613603423.516 [Micromodem](INFO): Nmea in: $SNTTA,0.008398,,,,231022.35*4C 2021-02-17T23:10:23.549Z,1613603423.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.660002 m, bearing: 234.223470 deg, deltaT: 4.507140 s, approachRate: 0.692235 m/s, LOS rate: -0.878450 deg/s, posRepo size: 4 2021-02-17T23:10:23.551Z,1613603423.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.660002 m, bearing: 234.223470 deg, approachRate: 0.692235 m/s, LOS rate: -0.878450 deg/s, cmd update: -3.513800 deg/s, cmd heading: 294.170868 deg, new cmd heading: 296.245446 deg. 2021-02-17T23:10:25.947Z,1613603425.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:26.720Z,1613603426.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:27.129Z,1613603427.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:27.959Z,1613603427.959 [Micromodem](INFO): Nmea in: $SNTTA,0.027929,,,,231026.79*4D 2021-02-17T23:10:27.984Z,1613603427.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.139999 m, bearing: 276.205091 deg, deltaT: 4.404231 s, approachRate: 0.790149 m/s, LOS rate: 9.532111 deg/s, posRepo size: 4 2021-02-17T23:10:27.985Z,1613603427.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.14 m. Rolling out. 2021-02-17T23:10:27.985Z,1613603427.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T23:10:30.387Z,1613603430.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:31.173Z,1613603431.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:31.580Z,1613603431.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:32.403Z,1613603432.403 [Micromodem](INFO): Nmea in: $SNTTA,0.013357,,,,231031.24*47 2021-02-17T23:10:32.428Z,1613603432.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.499998 m, bearing: 239.604266 deg, deltaT: 4.444949 s, approachRate: 0.755914 m/s, LOS rate: -8.234251 deg/s, posRepo size: 4 2021-02-17T23:10:34.866Z,1613603434.866 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T23:10:34.880Z,1613603434.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:35.627Z,1613603435.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:36.014Z,1613603436.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:36.848Z,1613603436.848 [Micromodem](INFO): Nmea in: $SNTTA,0.014853,,,,231035.70*4A 2021-02-17T23:10:36.897Z,1613603436.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.440001 m, bearing: 306.766308 deg, deltaT: 4.468938 s, approachRate: 0.657875 m/s, LOS rate: 15.028636 deg/s, posRepo size: 4 2021-02-17T23:10:39.285Z,1613603439.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:40.054Z,1613603440.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:40.458Z,1613603440.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:41.280Z,1613603441.280 [Micromodem](INFO): Nmea in: $SNTTA,0.016391,,,,231040.12*4B 2021-02-17T23:10:41.334Z,1613603441.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.720001 m, bearing: 297.633908 deg, deltaT: 4.427190 s, approachRate: 0.515000 m/s, LOS rate: -2.062798 deg/s, posRepo size: 4 2021-02-17T23:10:43.709Z,1613603443.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:44.496Z,1613603444.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:44.916Z,1613603444.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:45.724Z,1613603445.724 [Micromodem](INFO): Nmea in: $SNTTA,0.018324,,,,231044.57*4E 2021-02-17T23:10:45.762Z,1613603445.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.659998 m, bearing: 286.535233 deg, deltaT: 4.439534 s, approachRate: 0.662231 m/s, LOS rate: -2.499964 deg/s, posRepo size: 4 2021-02-17T23:10:48.192Z,1613603448.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:48.940Z,1613603448.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:49.351Z,1613603449.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:50.189Z,1613603450.189 [Micromodem](INFO): Nmea in: $SNTTA,0.019709,,0.058972,,231049.01*55 2021-02-17T23:10:50.256Z,1613603450.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.939999 m, bearing: 294.270504 deg, deltaT: 4.469898 s, approachRate: 0.510079 m/s, LOS rate: 1.730525 deg/s, posRepo size: 4 2021-02-17T23:10:51.800Z,1613603451.800 [PowerOnly](INFO): Powering down loadControl 2021-02-17T23:10:52.596Z,1613603452.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:53.390Z,1613603453.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:53.825Z,1613603453.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:54.620Z,1613603454.620 [Micromodem](INFO): Nmea in: $SNTTA,0.022032,,,,231053.46*45 2021-02-17T23:10:54.642Z,1613603454.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.939999 m, bearing: 273.459874 deg, deltaT: 4.428353 s, approachRate: 0.677453 m/s, LOS rate: -4.699406 deg/s, posRepo size: 4 2021-02-17T23:10:57.089Z,1613603457.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:10:57.840Z,1613603457.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:10:58.239Z,1613603458.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:10:59.064Z,1613603459.064 [Micromodem](INFO): Nmea in: $SNTTA,0.024037,,,,231057.91*48 2021-02-17T23:10:59.112Z,1613603459.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.880001 m, bearing: 272.219867 deg, deltaT: 4.405202 s, approachRate: 0.667393 m/s, LOS rate: -0.281487 deg/s, posRepo size: 4 2021-02-17T23:11:01.494Z,1613603461.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:11:02.272Z,1613603462.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:11:02.684Z,1613603462.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:11:03.540Z,1613603463.540 [Micromodem](INFO): Nmea in: $SNTTA,0.026023,,,,231102.34*41 2021-02-17T23:11:03.573Z,1613603463.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.999996 m, bearing: 275.037265 deg, deltaT: 4.461612 s, approachRate: 0.699298 m/s, LOS rate: 0.631475 deg/s, posRepo size: 4 2021-02-17T23:11:05.932Z,1613603465.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:11:06.716Z,1613603466.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:11:07.127Z,1613603467.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:11:07.944Z,1613603467.944 [Micromodem](INFO): Nmea in: $SNTTA,0.027877,,,,231106.79*44 2021-02-17T23:11:07.968Z,1613603467.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.940002 m, bearing: 267.573972 deg, deltaT: 4.430616 s, approachRate: 0.663566 m/s, LOS rate: -1.684482 deg/s, posRepo size: 4 2021-02-17T23:11:10.396Z,1613603470.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:11:11.178Z,1613603471.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:11:11.566Z,1613603471.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:11:12.396Z,1613603472.396 [Micromodem](INFO): Nmea in: $SNTTA,0.030543,,,,231111.25*47 2021-02-17T23:11:12.441Z,1613603472.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.299999 m, bearing: 271.963325 deg, deltaT: 4.455544 s, approachRate: 0.754116 m/s, LOS rate: 0.985144 deg/s, posRepo size: 4 2021-02-17T23:11:14.848Z,1613603474.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:11:15.604Z,1613603475.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:11:16.027Z,1613603476.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:11:16.864Z,1613603476.864 [Micromodem](INFO): Nmea in: $SNTTA,0.036298,,,,231115.67*42 2021-02-17T23:11:16.888Z,1613603476.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.779995 m, bearing: 332.047215 deg, deltaT: 4.474397 s, approachRate: 0.777757 m/s, LOS rate: 13.428377 deg/s, posRepo size: 4 2021-02-17T23:11:19.272Z,1613603479.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:11:20.048Z,1613603480.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:11:20.464Z,1613603480.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:11:21.276Z,1613603481.276 [Micromodem](INFO): Nmea in: $SNTTA,0.034759,,,,231120.12*4C 2021-02-17T23:11:21.316Z,1613603481.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.959999 m, bearing: 329.667058 deg, deltaT: 4.415668 s, approachRate: 0.720164 m/s, LOS rate: -0.539025 deg/s, posRepo size: 4 2021-02-17T23:11:23.705Z,1613603483.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:11:24.493Z,1613603484.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:11:24.898Z,1613603484.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:11:25.732Z,1613603485.732 [Micromodem](INFO): Nmea in: $SNTTA,0.038488,,0.042614,,231124.56*50 2021-02-17T23:11:25.754Z,1613603485.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.140003 m, bearing: 334.943079 deg, deltaT: 4.431922 s, approachRate: 0.717523 m/s, LOS rate: 1.190459 deg/s, posRepo size: 4 2021-02-17T23:11:28.158Z,1613603488.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:11:28.953Z,1613603488.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:11:29.347Z,1613603489.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:11:30.240Z,1613603490.240 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231129.02*56 2021-02-17T23:11:30.293Z,1613603490.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.080006 m, bearing: 229.560636 deg, deltaT: 4.490747 s, approachRate: 0.654680 m/s, LOS rate: -23.466573 deg/s, posRepo size: 4 2021-02-17T23:11:32.592Z,1613603492.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:11:33.382Z,1613603493.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:11:33.814Z,1613603493.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:11:34.608Z,1613603494.608 [Micromodem](INFO): Nmea in: $SNTTA,0.040884,,,,231133.45*40 2021-02-17T23:11:34.649Z,1613603494.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.380005 m, bearing: 333.148214 deg, deltaT: 4.417501 s, approachRate: 0.747029 m/s, LOS rate: 23.449361 deg/s, posRepo size: 4 2021-02-17T23:11:37.046Z,1613603497.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:11:37.834Z,1613603497.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:11:38.235Z,1613603498.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:11:39.063Z,1613603499.063 [Micromodem](INFO): Nmea in: $SNTTA,0.043176,,,,231137.90*4B 2021-02-17T23:11:39.087Z,1613603499.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.980003 m, bearing: 325.557333 deg, deltaT: 4.431651 s, approachRate: 0.812338 m/s, LOS rate: -1.712879 deg/s, posRepo size: 4 2021-02-17T23:11:41.499Z,1613603501.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:11:42.271Z,1613603502.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:11:42.678Z,1613603502.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:11:43.496Z,1613603503.496 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231142.34*5E 2021-02-17T23:11:43.585Z,1613603503.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.980003 m, bearing: 332.814928 deg, deltaT: 4.460737 s, approachRate: 0.672535 m/s, LOS rate: 1.626995 deg/s, posRepo size: 4 2021-02-17T23:11:45.953Z,1613603505.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:11:46.713Z,1613603506.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:11:47.118Z,1613603507.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:11:47.951Z,1613603507.951 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231146.78*52 2021-02-17T23:11:48.002Z,1613603508.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.460007 m, bearing: 318.569531 deg, deltaT: 4.427988 s, approachRate: 0.785911 m/s, LOS rate: -3.217126 deg/s, posRepo size: 4 2021-02-17T23:11:50.393Z,1613603510.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:11:51.181Z,1613603511.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:11:51.564Z,1613603511.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:11:52.396Z,1613603512.396 [Micromodem](INFO): Nmea in: $SNTTA,0.049783,,0.084026,,231151.25*55 2021-02-17T23:11:52.448Z,1613603512.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.760002 m, bearing: 325.120829 deg, deltaT: 4.433830 s, approachRate: 0.744276 m/s, LOS rate: 1.477571 deg/s, posRepo size: 4 2021-02-17T23:11:54.847Z,1613603514.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:11:55.600Z,1613603515.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:11:56.005Z,1613603516.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:11:56.840Z,1613603516.840 [Micromodem](INFO): Nmea in: $SNTTA,0.051804,,,,231155.67*48 2021-02-17T23:11:56.879Z,1613603516.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.880005 m, bearing: 316.000232 deg, deltaT: 4.479566 s, approachRate: 0.696497 m/s, LOS rate: -2.036045 deg/s, posRepo size: 4 2021-02-17T23:11:59.270Z,1613603519.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:00.044Z,1613603520.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:00.450Z,1613603520.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:12:01.276Z,1613603521.276 [Micromodem](INFO): Nmea in: $SNTTA,0.053957,,0.084742,,231200.11*5C 2021-02-17T23:12:01.329Z,1613603521.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.120003 m, bearing: 321.361958 deg, deltaT: 4.423781 s, approachRate: 0.732405 m/s, LOS rate: 1.212023 deg/s, posRepo size: 4 2021-02-17T23:12:03.718Z,1613603523.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:04.489Z,1613603524.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:04.912Z,1613603524.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:12:05.716Z,1613603525.716 [Micromodem](INFO): Nmea in: $SNTTA,0.056279,,,,231204.56*4A 2021-02-17T23:12:05.760Z,1613603525.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.660004 m, bearing: 313.336567 deg, deltaT: 4.454069 s, approachRate: 0.794779 m/s, LOS rate: -1.801811 deg/s, posRepo size: 4 2021-02-17T23:12:08.168Z,1613603528.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:08.933Z,1613603528.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:09.349Z,1613603529.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:12:10.168Z,1613603530.168 [Micromodem](INFO): Nmea in: $SNTTA,0.061371,,,,231209.00*49 2021-02-17T23:12:10.255Z,1613603530.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.200005 m, bearing: 315.908243 deg, deltaT: 4.430296 s, approachRate: 0.799044 m/s, LOS rate: 0.580475 deg/s, posRepo size: 4 2021-02-17T23:12:12.599Z,1613603532.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:13.382Z,1613603533.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:13.817Z,1613603533.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:12:14.624Z,1613603534.624 [Micromodem](INFO): Nmea in: $SNTTA,0.060717,,,,231213.45*46 2021-02-17T23:12:14.646Z,1613603534.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.379997 m, bearing: 303.924922 deg, deltaT: 4.458194 s, approachRate: 0.713292 m/s, LOS rate: -2.687932 deg/s, posRepo size: 4 2021-02-17T23:12:17.044Z,1613603537.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:17.829Z,1613603537.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:18.225Z,1613603538.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:12:19.052Z,1613603539.052 [Micromodem](INFO): Nmea in: $SNTTA,0.063037,,,,231217.90*4C 2021-02-17T23:12:19.094Z,1613603539.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.800003 m, bearing: 306.277212 deg, deltaT: 4.444186 s, approachRate: 0.769546 m/s, LOS rate: 0.529296 deg/s, posRepo size: 4 2021-02-17T23:12:21.493Z,1613603541.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:22.281Z,1613603542.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:22.683Z,1613603542.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:12:23.512Z,1613603543.512 [Micromodem](INFO): Nmea in: $SNTTA,0.065254,,,,231222.35*44 2021-02-17T23:12:23.547Z,1613603543.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.100006 m, bearing: 315.450866 deg, deltaT: 4.433734 s, approachRate: 0.744294 m/s, LOS rate: 2.069058 deg/s, posRepo size: 4 2021-02-17T23:12:25.933Z,1613603545.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:26.708Z,1613603546.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:27.114Z,1613603547.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:12:27.936Z,1613603547.936 [Micromodem](INFO): Nmea in: $SNTTA,0.067511,,,,231226.78*4D 2021-02-17T23:12:27.976Z,1613603547.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.400009 m, bearing: 317.737450 deg, deltaT: 4.452534 s, approachRate: 0.741152 m/s, LOS rate: 0.513547 deg/s, posRepo size: 4 2021-02-17T23:12:30.383Z,1613603550.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:31.156Z,1613603551.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:31.559Z,1613603551.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:12:32.391Z,1613603552.391 [Micromodem](INFO): Nmea in: $SNTTA,0.069828,,0.112972,,231231.22*5D 2021-02-17T23:12:32.416Z,1613603552.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.939995 m, bearing: 318.305557 deg, deltaT: 4.443374 s, approachRate: 0.796689 m/s, LOS rate: 0.127855 deg/s, posRepo size: 4 2021-02-17T23:12:34.857Z,1613603554.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:35.596Z,1613603555.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:36.002Z,1613603556.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:12:36.840Z,1613603556.840 [Micromodem](INFO): Nmea in: $SNTTA,0.071967,,,,231235.66*4A 2021-02-17T23:12:36.888Z,1613603556.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.180008 m, bearing: 318.856562 deg, deltaT: 4.422188 s, approachRate: 0.732672 m/s, LOS rate: 0.124600 deg/s, posRepo size: 4 2021-02-17T23:12:39.278Z,1613603559.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:40.048Z,1613603560.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:40.446Z,1613603560.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:12:41.276Z,1613603561.276 [Micromodem](INFO): Nmea in: $SNTTA,0.074174,,0.084763,,231240.12*54 2021-02-17T23:12:41.321Z,1613603561.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.480003 m, bearing: 311.989217 deg, deltaT: 4.471248 s, approachRate: 0.738048 m/s, LOS rate: -1.535890 deg/s, posRepo size: 4 2021-02-17T23:12:43.696Z,1613603563.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:44.485Z,1613603564.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:44.908Z,1613603564.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:12:45.712Z,1613603565.712 [Micromodem](INFO): Nmea in: $SNTTA,0.076508,,,,231244.56*4D 2021-02-17T23:12:45.754Z,1613603565.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.960007 m, bearing: 304.913851 deg, deltaT: 4.434916 s, approachRate: 0.784683 m/s, LOS rate: -1.595378 deg/s, posRepo size: 4 2021-02-17T23:12:48.156Z,1613603568.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:48.928Z,1613603568.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:49.345Z,1613603569.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:12:50.148Z,1613603570.148 [Micromodem](INFO): Nmea in: $SNTTA,0.078806,,,,231249.00*4E 2021-02-17T23:12:50.983Z,1613603570.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:52.562Z,1613603572.562 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:12:53.844Z,1613603573.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:54.584Z,1613603574.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:54.991Z,1613603574.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:12:55.836Z,1613603575.836 [Micromodem](INFO): Nmea in: $SNTTA,0.081705,,,,231254.65*4B 2021-02-17T23:12:55.886Z,1613603575.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.699997 m, bearing: 319.204410 deg, deltaT: 10.102376 s, approachRate: 0.766155 m/s, LOS rate: 1.414574 deg/s, posRepo size: 4 2021-02-17T23:12:58.273Z,1613603578.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:12:59.044Z,1613603579.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:12:59.438Z,1613603579.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:13:00.264Z,1613603580.264 [Micromodem](INFO): Nmea in: $SNTTA,0.083900,,,,231259.11*4C 2021-02-17T23:13:00.288Z,1613603580.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.180000 m, bearing: 307.784225 deg, deltaT: 4.425694 s, approachRate: 0.786318 m/s, LOS rate: -2.580428 deg/s, posRepo size: 4 2021-02-17T23:13:02.678Z,1613603582.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:03.472Z,1613603583.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:13:03.878Z,1613603583.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:13:04.708Z,1613603584.708 [Micromodem](INFO): Nmea in: $SNTTA,0.086055,,,,231303.54*4F 2021-02-17T23:13:04.730Z,1613603584.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.240005 m, bearing: 317.681633 deg, deltaT: 4.451417 s, approachRate: 0.687423 m/s, LOS rate: 2.223429 deg/s, posRepo size: 4 2021-02-17T23:13:07.148Z,1613603587.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:07.924Z,1613603587.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:13:08.327Z,1613603588.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:13:09.148Z,1613603589.148 [Micromodem](INFO): Nmea in: $SNTTA,0.088457,,,,231307.99*42 2021-02-17T23:13:09.222Z,1613603589.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.839996 m, bearing: 321.594512 deg, deltaT: 4.424791 s, approachRate: 0.813596 m/s, LOS rate: 0.884308 deg/s, posRepo size: 4 2021-02-17T23:13:11.244Z,1613603591.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:11.956Z,1613603591.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:13:12.363Z,1613603592.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:13:13.220Z,1613603593.220 [Micromodem](INFO): Nmea in: $SNTTA,0.090435,,,,231312.02*49 2021-02-17T23:13:13.262Z,1613603593.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.899994 m, bearing: 312.494323 deg, deltaT: 4.102775 s, approachRate: 0.745836 m/s, LOS rate: -2.218057 deg/s, posRepo size: 4 2021-02-17T23:13:15.612Z,1613603595.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:16.400Z,1613603596.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:13:16.825Z,1613603596.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:13:17.618Z,1613603597.618 [Micromodem](INFO): Nmea in: $SNTTA,0.092635,,,0.095174,231316.47*5C 2021-02-17T23:13:18.445Z,1613603598.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:20.044Z,1613603600.044 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:13:21.281Z,1613603601.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:22.061Z,1613603602.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:13:22.479Z,1613603602.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:13:23.288Z,1613603603.288 [Micromodem](INFO): Nmea in: $SNTTA,0.095472,,,,231322.13*4C 2021-02-17T23:13:23.313Z,1613603603.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.639999 m, bearing: 309.809212 deg, deltaT: 10.054274 s, approachRate: 0.769822 m/s, LOS rate: -0.267062 deg/s, posRepo size: 4 2021-02-17T23:13:25.706Z,1613603605.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:26.523Z,1613603606.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:13:26.905Z,1613603606.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:13:27.729Z,1613603607.729 [Micromodem](INFO): Nmea in: $SNTTA,0.097720,,,,231326.59*40 2021-02-17T23:13:28.566Z,1613603608.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:30.134Z,1613603610.134 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:13:31.393Z,1613603611.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:32.185Z,1613603612.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:13:32.566Z,1613603612.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:13:32.972Z,1613603612.972 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,0FB,000,004 B,187,80,80,37,FF 2021-02-17T23:13:33.390Z,1613603613.390 [Micromodem](INFO): Nmea in: $SNTTA,0.100606,,,,231332.26*47 2021-02-17T23:13:34.231Z,1613603614.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:37.030Z,1613603617.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:39.862Z,1613603619.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:40.640Z,1613603620.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:13:41.047Z,1613603621.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:13:41.856Z,1613603621.856 [Micromodem](INFO): Nmea in: $SNTTA,0.104898,,,,231340.71*4D 2021-02-17T23:13:42.680Z,1613603622.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:44.274Z,1613603624.274 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:13:45.514Z,1613603625.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:46.296Z,1613603626.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:13:46.708Z,1613603626.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:13:47.524Z,1613603627.524 [Micromodem](INFO): Nmea in: $SNTTA,0.107871,,,,231346.37*4D 2021-02-17T23:13:47.562Z,1613603627.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.960007 m, bearing: 296.266313 deg, deltaT: 24.255982 s, approachRate: 0.796505 m/s, LOS rate: -0.558332 deg/s, posRepo size: 4 2021-02-17T23:13:47.563Z,1613603627.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 162.96 m. Resuming terminal guidance. 2021-02-17T23:13:47.563Z,1613603627.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T23:13:49.964Z,1613603629.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:50.740Z,1613603630.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:13:51.151Z,1613603631.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:13:51.961Z,1613603631.961 [Micromodem](INFO): Nmea in: $SNTTA,0.110115,,,,231350.81*4A 2021-02-17T23:13:52.797Z,1613603632.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:54.375Z,1613603634.375 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:13:55.632Z,1613603635.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:13:56.398Z,1613603636.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:13:56.829Z,1613603636.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:13:57.624Z,1613603637.624 [Micromodem](INFO): Nmea in: $SNTTA,0.113011,,,,231356.47*40 2021-02-17T23:13:57.670Z,1613603637.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.219986 m, bearing: 294.185427 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T23:13:57.670Z,1613603637.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 294.185427deg and heading rate command to 0 deg/s. 2021-02-17T23:14:00.073Z,1613603640.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:00.842Z,1613603640.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:14:01.251Z,1613603641.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:14:02.068Z,1613603642.068 [Micromodem](INFO): Nmea in: $SNTTA,0.115171,,,,231400.91*4E 2021-02-17T23:14:02.116Z,1613603642.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.219986 m, bearing: 317.306383 deg, deltaT: 4.416433 s, approachRate: 0.000000 m/s, LOS rate: 5.235210 deg/s, posRepo size: 2 2021-02-17T23:14:02.118Z,1613603642.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.219986 m, bearing: 317.306383 deg, approachRate: 0.000000 m/s, LOS rate: 5.235210 deg/s, cmd update: 12.000000 deg/s, cmd heading: 294.185427 deg, new cmd heading: 294.185427 deg. 2021-02-17T23:14:04.526Z,1613603644.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:05.305Z,1613603645.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:14:05.690Z,1613603645.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:14:06.516Z,1613603646.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231405.37*5B 2021-02-17T23:14:06.958Z,1613603646.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.980011 m, bearing: 349.423845 deg, deltaT: 4.854476 s, approachRate: 1.186539 m/s, LOS rate: 6.616051 deg/s, posRepo size: 3 2021-02-17T23:14:06.960Z,1613603646.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.980011 m, bearing: 349.423845 deg, approachRate: 1.186539 m/s, LOS rate: 6.616051 deg/s, cmd update: 12.000000 deg/s, cmd heading: 352.642709 deg, new cmd heading: 357.654881 deg. 2021-02-17T23:14:09.357Z,1613603649.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:10.132Z,1613603650.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:14:10.537Z,1613603650.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:14:11.364Z,1613603651.364 [Micromodem](INFO): Nmea in: $SNTTA,0.119194,,,,231410.20*42 2021-02-17T23:14:11.388Z,1613603651.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.980011 m, bearing: 330.343820 deg, deltaT: 4.456346 s, approachRate: 0.000000 m/s, LOS rate: -4.281540 deg/s, posRepo size: 4 2021-02-17T23:14:11.390Z,1613603651.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.980011 m, bearing: 330.343820 deg, approachRate: 0.000000 m/s, LOS rate: -4.281540 deg/s, cmd update: -12.000000 deg/s, cmd heading: 46.075890 deg, new cmd heading: 50.816418 deg. 2021-02-17T23:14:13.828Z,1613603653.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:14.576Z,1613603654.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:14:14.987Z,1613603654.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:14:15.842Z,1613603655.842 [Micromodem](INFO): Nmea in: $SNTTA,0.120746,,,,231414.65*44 2021-02-17T23:14:15.866Z,1613603655.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.980011 m, bearing: 343.241294 deg, deltaT: 4.444906 s, approachRate: 0.000000 m/s, LOS rate: 2.901630 deg/s, posRepo size: 4 2021-02-17T23:14:15.868Z,1613603655.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.980011 m, bearing: 343.241294 deg, approachRate: 0.000000 m/s, LOS rate: 2.901630 deg/s, cmd update: 11.606521 deg/s, cmd heading: 352.736778 deg, new cmd heading: 347.592113 deg. 2021-02-17T23:14:18.242Z,1613603658.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:19.020Z,1613603659.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:14:19.426Z,1613603659.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:14:20.260Z,1613603660.260 [Micromodem](INFO): Nmea in: $SNTTA,0.121687,,,,231419.09*4E 2021-02-17T23:14:20.284Z,1613603660.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.980011 m, bearing: 51.630705 deg, deltaT: 4.427120 s, approachRate: 0.000000 m/s, LOS rate: 15.447834 deg/s, posRepo size: 4 2021-02-17T23:14:20.285Z,1613603660.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.447834 deg/s. Setting heading cmd to target bearing of 51.630705deg and heading rate command to 0 deg/s. 2021-02-17T23:14:22.670Z,1613603662.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:23.464Z,1613603663.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:14:23.875Z,1613603663.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:14:24.712Z,1613603664.712 [Micromodem](INFO): Nmea in: $SNTTA,0.122186,,,,231423.53*4D 2021-02-17T23:14:24.734Z,1613603664.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.980011 m, bearing: 344.957639 deg, deltaT: 4.442510 s, approachRate: 0.000000 m/s, LOS rate: -15.007973 deg/s, posRepo size: 4 2021-02-17T23:14:24.735Z,1613603664.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.007973 deg/s. Setting heading cmd to target bearing of 344.957639deg and heading rate command to 0 deg/s. 2021-02-17T23:14:27.137Z,1613603667.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:27.918Z,1613603667.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:14:28.318Z,1613603668.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:14:29.149Z,1613603669.149 [Micromodem](INFO): Nmea in: $SNTTA,0.122212,,,,231427.99*41 2021-02-17T23:14:29.594Z,1613603669.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.239990 m, bearing: 87.123059 deg, deltaT: 4.923518 s, approachRate: 1.474551 m/s, LOS rate: 20.750490 deg/s, posRepo size: 4 2021-02-17T23:14:29.599Z,1613603669.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.750490 deg/s. Setting heading cmd to target bearing of 87.123059deg and heading rate command to 0 deg/s. 2021-02-17T23:14:31.996Z,1613603671.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:32.766Z,1613603672.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:14:33.188Z,1613603673.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:14:34.012Z,1613603674.012 [Micromodem](INFO): Nmea in: $SNTTA,0.121484,,,,231432.83*44 2021-02-17T23:14:34.057Z,1613603674.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.239990 m, bearing: 9.341797 deg, deltaT: 4.361669 s, approachRate: 0.000000 m/s, LOS rate: -17.832912 deg/s, posRepo size: 4 2021-02-17T23:14:34.058Z,1613603674.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.832912 deg/s. Setting heading cmd to target bearing of 9.341797deg and heading rate command to 0 deg/s. 2021-02-17T23:14:36.421Z,1613603676.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:37.214Z,1613603677.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:14:37.611Z,1613603677.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:14:38.445Z,1613603678.445 [Micromodem](INFO): Nmea in: $SNTTA,0.121408,,,,231437.28*44 2021-02-17T23:14:39.273Z,1613603679.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:42.087Z,1613603682.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:44.910Z,1613603684.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:45.688Z,1613603685.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:14:46.107Z,1613603686.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:14:46.908Z,1613603686.908 [Micromodem](INFO): Nmea in: $SNTTA,0.121575,,0.126576,,231445.76*5E 2021-02-17T23:14:47.364Z,1613603687.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.339996 m, bearing: 77.084702 deg, deltaT: 13.359067 s, approachRate: -0.067370 m/s, LOS rate: 5.070931 deg/s, posRepo size: 4 2021-02-17T23:14:47.366Z,1613603687.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.339996 m, bearing: 77.084702 deg, approachRate: -0.067370 m/s, LOS rate: 5.070931 deg/s, cmd update: 12.000000 deg/s, cmd heading: 9.341797 deg, new cmd heading: 9.341797 deg. 2021-02-17T23:14:49.777Z,1613603689.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:50.536Z,1613603690.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:14:50.941Z,1613603690.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:14:51.765Z,1613603691.765 [Micromodem](INFO): Nmea in: $SNTTA,0.122042,,,,231450.60*40 2021-02-17T23:14:51.823Z,1613603691.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.339996 m, bearing: 80.855001 deg, deltaT: 4.445981 s, approachRate: 0.000000 m/s, LOS rate: 0.848024 deg/s, posRepo size: 4 2021-02-17T23:14:51.837Z,1613603691.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.339996 m, bearing: 80.855001 deg, approachRate: 0.000000 m/s, LOS rate: 0.848024 deg/s, cmd update: 3.392096 deg/s, cmd heading: 62.742183 deg, new cmd heading: 67.793127 deg. 2021-02-17T23:14:54.256Z,1613603694.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:55.037Z,1613603695.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:14:55.392Z,1613603695.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:14:56.232Z,1613603696.232 [Micromodem](INFO): Nmea in: $SNTTA,0.122249,,,,231455.11*4A 2021-02-17T23:14:56.654Z,1613603696.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.300003 m, bearing: 12.275371 deg, deltaT: 4.878406 s, approachRate: 0.196787 m/s, LOS rate: -14.057795 deg/s, posRepo size: 4 2021-02-17T23:14:56.656Z,1613603696.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.057795 deg/s. Setting heading cmd to target bearing of 12.275371deg and heading rate command to 0 deg/s. 2021-02-17T23:14:59.062Z,1613603699.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:14:59.841Z,1613603699.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:15:00.245Z,1613603700.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:15:01.052Z,1613603701.052 [Micromodem](INFO): Nmea in: $SNTTA,0.121625,,,,231459.91*43 2021-02-17T23:15:01.879Z,1613603701.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:03.462Z,1613603703.462 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:15:04.700Z,1613603704.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:05.484Z,1613603705.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:15:05.896Z,1613603705.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:15:06.293Z,1613603706.293 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,EB,80,61,E4 0,187,80,80,56,FF 2021-02-17T23:15:06.701Z,1613603706.701 [Micromodem](INFO): Nmea in: $SNTTA,0.120549,,,,231505.55*4B 2021-02-17T23:15:07.546Z,1613603707.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:10.356Z,1613603710.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:13.238Z,1613603713.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:13.978Z,1613603713.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:15:14.378Z,1613603714.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:15:15.240Z,1613603715.240 [Micromodem](INFO): Nmea in: $SNTTA,0.120011,,,,231514.05*46 2021-02-17T23:15:15.265Z,1613603715.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.060013 m, bearing: 68.283600 deg, deltaT: 18.586521 s, approachRate: -0.174319 m/s, LOS rate: 3.013379 deg/s, posRepo size: 4 2021-02-17T23:15:15.266Z,1613603715.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.060013 m, bearing: 68.283600 deg, approachRate: -0.174319 m/s, LOS rate: 3.013379 deg/s, cmd update: 12.000000 deg/s, cmd heading: 12.275371 deg, new cmd heading: 12.275371 deg. 2021-02-17T23:15:17.618Z,1613603717.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:18.418Z,1613603718.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:15:18.830Z,1613603718.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:15:19.634Z,1613603719.634 [Micromodem](INFO): Nmea in: $SNTTA,0.120782,,,,231518.49*4F 2021-02-17T23:15:20.079Z,1613603720.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.199997 m, bearing: 58.324611 deg, deltaT: 4.782116 s, approachRate: 0.238385 m/s, LOS rate: -2.082549 deg/s, posRepo size: 4 2021-02-17T23:15:20.081Z,1613603720.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.199997 m, bearing: 58.324611 deg, approachRate: 0.238385 m/s, LOS rate: -2.082549 deg/s, cmd update: -8.330195 deg/s, cmd heading: 69.852477 deg, new cmd heading: 75.018682 deg. 2021-02-17T23:15:22.482Z,1613603722.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:23.266Z,1613603723.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:15:23.673Z,1613603723.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:15:24.481Z,1613603724.481 [Micromodem](INFO): Nmea in: $SNTTA,0.121504,,,,231523.33*47 2021-02-17T23:15:25.318Z,1613603725.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:26.896Z,1613603726.896 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:15:28.132Z,1613603728.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:28.916Z,1613603728.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:15:29.328Z,1613603729.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:15:30.139Z,1613603730.139 [Micromodem](INFO): Nmea in: $SNTTA,0.121671,,,,231528.99*4D 2021-02-17T23:15:30.598Z,1613603730.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.460007 m, bearing: 356.450634 deg, deltaT: 10.569927 s, approachRate: 0.119207 m/s, LOS rate: -5.853776 deg/s, posRepo size: 4 2021-02-17T23:15:30.604Z,1613603730.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.460007 m, bearing: 356.450634 deg, approachRate: 0.119207 m/s, LOS rate: -5.853776 deg/s, cmd update: -12.000000 deg/s, cmd heading: 341.803006 deg, new cmd heading: 338.640331 deg. 2021-02-17T23:15:33.006Z,1613603733.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:33.788Z,1613603733.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:15:34.208Z,1613603734.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:15:34.996Z,1613603734.996 [Micromodem](INFO): Nmea in: $SNTTA,0.122009,,,,231533.86*43 2021-02-17T23:15:35.427Z,1613603735.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.059998 m, bearing: 62.080778 deg, deltaT: 4.824719 s, approachRate: 0.124358 m/s, LOS rate: 13.602897 deg/s, posRepo size: 4 2021-02-17T23:15:35.428Z,1613603735.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.602897 deg/s. Setting heading cmd to target bearing of 62.080778deg and heading rate command to 0 deg/s. 2021-02-17T23:15:37.860Z,1613603737.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:38.615Z,1613603738.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:15:39.025Z,1613603739.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:15:39.836Z,1613603739.836 [Micromodem](INFO): Nmea in: $SNTTA,0.123071,,,,231538.68*46 2021-02-17T23:15:40.275Z,1613603740.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.680008 m, bearing: 38.905263 deg, deltaT: 4.816454 s, approachRate: 0.336349 m/s, LOS rate: -4.811738 deg/s, posRepo size: 4 2021-02-17T23:15:40.277Z,1613603740.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.680008 m, bearing: 38.905263 deg, approachRate: 0.336349 m/s, LOS rate: -4.811738 deg/s, cmd update: -12.000000 deg/s, cmd heading: 62.080778 deg, new cmd heading: 62.080778 deg. 2021-02-17T23:15:42.673Z,1613603742.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:43.466Z,1613603743.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:15:43.868Z,1613603743.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:15:44.699Z,1613603744.699 [Micromodem](INFO): Nmea in: $SNTTA,0.124696,,,,231543.54*4D 2021-02-17T23:15:44.723Z,1613603744.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.680008 m, bearing: 358.041604 deg, deltaT: 4.482861 s, approachRate: 0.000000 m/s, LOS rate: -9.115535 deg/s, posRepo size: 4 2021-02-17T23:15:44.725Z,1613603744.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.680008 m, bearing: 358.041604 deg, approachRate: 0.000000 m/s, LOS rate: -9.115535 deg/s, cmd update: -12.000000 deg/s, cmd heading: 8.503921 deg, new cmd heading: 3.721104 deg. 2021-02-17T23:15:47.128Z,1613603747.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:47.904Z,1613603747.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:15:48.313Z,1613603748.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:15:49.136Z,1613603749.136 [Micromodem](INFO): Nmea in: $SNTTA,0.126496,,,,231547.97*46 2021-02-17T23:15:49.214Z,1613603749.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.080002 m, bearing: 342.981091 deg, deltaT: 4.481083 s, approachRate: 1.205064 m/s, LOS rate: -3.360909 deg/s, posRepo size: 4 2021-02-17T23:15:49.216Z,1613603749.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.080002 m, bearing: 342.981091 deg, approachRate: 1.205064 m/s, LOS rate: -3.360909 deg/s, cmd update: -12.000000 deg/s, cmd heading: 314.676383 deg, new cmd heading: 309.822143 deg. 2021-02-17T23:15:51.574Z,1613603751.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:52.348Z,1613603752.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:15:52.755Z,1613603752.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:15:53.562Z,1613603753.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231552.42*5A 2021-02-17T23:15:54.395Z,1613603754.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:55.992Z,1613603755.992 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:15:57.245Z,1613603757.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:15:58.012Z,1613603758.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:15:58.409Z,1613603758.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:15:59.227Z,1613603759.227 [Micromodem](INFO): Nmea in: $SNTTA,0.131268,,,,231558.08*4F 2021-02-17T23:15:59.650Z,1613603759.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.199997 m, bearing: 315.343113 deg, deltaT: 10.447130 s, approachRate: 0.585806 m/s, LOS rate: -2.645509 deg/s, posRepo size: 4 2021-02-17T23:15:59.652Z,1613603759.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.199997 m, bearing: 315.343113 deg, approachRate: 0.585806 m/s, LOS rate: -2.645509 deg/s, cmd update: -10.582037 deg/s, cmd heading: 189.387007 deg, new cmd heading: 184.596319 deg. 2021-02-17T23:16:02.068Z,1613603762.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:16:02.861Z,1613603762.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:16:03.257Z,1613603763.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:16:04.075Z,1613603764.075 [Micromodem](INFO): Nmea in: $SNTTA,0.133126,,0.141639,,231602.93*5C 2021-02-17T23:16:04.915Z,1613603764.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:16:06.492Z,1613603766.492 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:16:07.724Z,1613603767.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:16:08.514Z,1613603768.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:16:08.927Z,1613603768.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:16:09.729Z,1613603769.729 [Micromodem](INFO): Nmea in: $SNTTA,0.135697,,,,231608.58*4C 2021-02-17T23:16:10.217Z,1613603770.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.879990 m, bearing: 249.685816 deg, deltaT: 10.476011 s, approachRate: 0.733103 m/s, LOS rate: -6.267395 deg/s, posRepo size: 4 2021-02-17T23:16:10.219Z,1613603770.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.879990 m, bearing: 249.685816 deg, approachRate: 0.733103 m/s, LOS rate: -6.267395 deg/s, cmd update: -12.000000 deg/s, cmd heading: 78.345504 deg, new cmd heading: 73.337291 deg. 2021-02-17T23:16:12.574Z,1613603772.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:16:13.356Z,1613603773.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:16:13.794Z,1613603773.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:16:14.573Z,1613603774.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231613.42*5C 2021-02-17T23:16:15.019Z,1613603775.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.000000 m, bearing: 262.350845 deg, deltaT: 4.850586 s, approachRate: 0.643223 m/s, LOS rate: 2.611031 deg/s, posRepo size: 4 2021-02-17T23:16:15.021Z,1613603775.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.000000 m, bearing: 262.350845 deg, approachRate: 0.643223 m/s, LOS rate: 2.611031 deg/s, cmd update: 10.444123 deg/s, cmd heading: 20.105543 deg, new cmd heading: 15.049955 deg. 2021-02-17T23:16:17.442Z,1613603777.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:16:18.213Z,1613603778.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:16:18.616Z,1613603778.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:16:19.432Z,1613603779.432 [Micromodem](INFO): Nmea in: $SNTTA,0.140276,,,,231618.28*43 2021-02-17T23:16:19.871Z,1613603779.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.539993 m, bearing: 293.012438 deg, deltaT: 4.884076 s, approachRate: 0.724803 m/s, LOS rate: 6.277870 deg/s, posRepo size: 4 2021-02-17T23:16:19.873Z,1613603779.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.539993 m, bearing: 293.012438 deg, approachRate: 0.724803 m/s, LOS rate: 6.277870 deg/s, cmd update: 12.000000 deg/s, cmd heading: 71.072422 deg, new cmd heading: 75.184618 deg. 2021-02-17T23:16:22.276Z,1613603782.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:16:23.058Z,1613603783.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:16:23.465Z,1613603783.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:16:24.279Z,1613603784.279 [Micromodem](INFO): Nmea in: $SNTTA,0.142623,,,,231623.13*45 2021-02-17T23:16:24.706Z,1613603784.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.599991 m, bearing: 10.994639 deg, deltaT: 4.858297 s, approachRate: 0.629850 m/s, LOS rate: 16.051344 deg/s, posRepo size: 4 2021-02-17T23:16:24.707Z,1613603784.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.051344 deg/s. Setting heading cmd to target bearing of 10.994639deg and heading rate command to 0 deg/s. 2021-02-17T23:16:27.126Z,1613603787.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:16:27.909Z,1613603787.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:16:28.306Z,1613603788.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:16:29.119Z,1613603789.119 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231627.98*5C 2021-02-17T23:16:29.556Z,1613603789.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.779999 m, bearing: 345.796140 deg, deltaT: 4.842504 s, approachRate: 0.656687 m/s, LOS rate: -5.203609 deg/s, posRepo size: 4 2021-02-17T23:16:29.557Z,1613603789.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 216.779999 m, bearing: 345.796140 deg, approachRate: 0.656687 m/s, LOS rate: -5.203609 deg/s, cmd update: -12.000000 deg/s, cmd heading: 10.994639 deg, new cmd heading: 10.994639 deg. 2021-02-17T23:16:31.970Z,1613603791.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:16:32.748Z,1613603792.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:16:33.164Z,1613603793.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:16:33.967Z,1613603793.967 [Micromodem](INFO): Nmea in: $SNTTA,0.146094,,,,231632.82*43 2021-02-17T23:16:34.419Z,1613603794.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.239990 m, bearing: 356.926425 deg, deltaT: 4.809250 s, approachRate: 0.511513 m/s, LOS rate: 2.314349 deg/s, posRepo size: 4 2021-02-17T23:16:34.421Z,1613603794.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 219.239990 m, bearing: 356.926425 deg, approachRate: 0.511513 m/s, LOS rate: 2.314349 deg/s, cmd update: 9.257398 deg/s, cmd heading: 312.866733 deg, new cmd heading: 307.788777 deg. 2021-02-17T23:16:36.852Z,1613603796.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:16:37.596Z,1613603797.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:16:38.002Z,1613603798.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:16:38.833Z,1613603798.833 [Micromodem](INFO): Nmea in: $SNTTA,0.147476,,,,231637.66*45 2021-02-17T23:16:38.838Z,1613603798.838 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:16:39.264Z,1613603799.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.279984 m, bearing: 64.102589 deg, deltaT: 4.859016 s, approachRate: 0.419837 m/s, LOS rate: 13.825053 deg/s, posRepo size: 4 2021-02-17T23:16:39.264Z,1613603799.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.825053 deg/s. Setting heading cmd to target bearing of 64.102589deg and heading rate command to 0 deg/s. 2021-02-17T23:16:41.660Z,1613603801.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:16:42.444Z,1613603802.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:16:42.855Z,1613603802.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:16:43.667Z,1613603803.667 [Micromodem](INFO): Nmea in: $SNTTA,0.148513,,,,231642.51*4E 2021-02-17T23:16:44.104Z,1613603804.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.720001 m, bearing: 47.716695 deg, deltaT: 4.884721 s, approachRate: 0.294800 m/s, LOS rate: -3.354520 deg/s, posRepo size: 4 2021-02-17T23:16:44.105Z,1613603804.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 222.720001 m, bearing: 47.716695 deg, approachRate: 0.294800 m/s, LOS rate: -3.354520 deg/s, cmd update: -12.000000 deg/s, cmd heading: 64.102589 deg, new cmd heading: 64.102589 deg. 2021-02-17T23:16:46.529Z,1613603806.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:16:47.298Z,1613603807.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:16:47.698Z,1613603807.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:16:48.514Z,1613603808.514 [Micromodem](INFO): Nmea in: $SNTTA,0.149887,,,,231647.37*4A 2021-02-17T23:16:48.955Z,1613603808.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.879974 m, bearing: 29.895909 deg, deltaT: 4.802654 s, approachRate: 0.449746 m/s, LOS rate: -3.710612 deg/s, posRepo size: 4 2021-02-17T23:16:48.957Z,1613603808.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 224.879974 m, bearing: 29.895909 deg, approachRate: 0.449746 m/s, LOS rate: -3.710612 deg/s, cmd update: -12.000000 deg/s, cmd heading: 6.417531 deg, new cmd heading: 1.411611 deg. 2021-02-17T23:16:51.362Z,1613603811.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:16:52.157Z,1613603812.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:16:52.566Z,1613603812.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:16:53.368Z,1613603813.368 [Micromodem](INFO): Nmea in: $SNTTA,0.150855,,,,231652.23*4C 2021-02-17T23:16:53.840Z,1613603813.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.199982 m, bearing: 78.363969 deg, deltaT: 4.886585 s, approachRate: 0.270129 m/s, LOS rate: 9.918596 deg/s, posRepo size: 4 2021-02-17T23:16:53.841Z,1613603813.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 226.199982 m, bearing: 78.363969 deg, approachRate: 0.270129 m/s, LOS rate: 9.918596 deg/s, cmd update: 12.000000 deg/s, cmd heading: 307.824949 deg, new cmd heading: 302.800273 deg. 2021-02-17T23:16:56.250Z,1613603816.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:16:56.993Z,1613603816.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:16:57.402Z,1613603817.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:16:58.235Z,1613603818.235 [Micromodem](INFO): Nmea in: $SNTTA,0.151854,,,,231657.06*4E 2021-02-17T23:16:58.638Z,1613603818.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.819992 m, bearing: 47.660237 deg, deltaT: 4.834548 s, approachRate: 0.335090 m/s, LOS rate: -6.350900 deg/s, posRepo size: 4 2021-02-17T23:16:58.656Z,1613603818.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 227.819992 m, bearing: 47.660237 deg, approachRate: 0.335090 m/s, LOS rate: -6.350900 deg/s, cmd update: -12.000000 deg/s, cmd heading: 5.887154 deg, new cmd heading: 10.435406 deg. 2021-02-17T23:17:01.075Z,1613603821.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:17:01.845Z,1613603821.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:17:02.263Z,1613603822.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:17:03.060Z,1613603823.060 [Micromodem](INFO): Nmea in: $SNTTA,0.153607,,,,231701.91*48 2021-02-17T23:17:03.495Z,1613603823.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.339996 m, bearing: 14.047349 deg, deltaT: 4.849560 s, approachRate: 0.519636 m/s, LOS rate: -6.931121 deg/s, posRepo size: 4 2021-02-17T23:17:03.497Z,1613603823.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 230.339996 m, bearing: 14.047349 deg, approachRate: 0.519636 m/s, LOS rate: -6.931121 deg/s, cmd update: -12.000000 deg/s, cmd heading: 307.740336 deg, new cmd heading: 303.054888 deg. 2021-02-17T23:17:05.906Z,1613603825.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:17:06.688Z,1613603826.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:17:07.094Z,1613603827.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:17:07.903Z,1613603827.903 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231706.76*5E 2021-02-17T23:17:08.344Z,1613603828.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.520004 m, bearing: 322.618876 deg, deltaT: 4.842769 s, approachRate: 0.656651 m/s, LOS rate: -10.619642 deg/s, posRepo size: 4 2021-02-17T23:17:08.345Z,1613603828.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 233.520004 m, bearing: 322.618876 deg, approachRate: 0.656651 m/s, LOS rate: -10.619642 deg/s, cmd update: -12.000000 deg/s, cmd heading: 249.867707 deg, new cmd heading: 244.878575 deg. 2021-02-17T23:17:10.749Z,1613603830.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:17:11.542Z,1613603831.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:17:11.947Z,1613603831.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:17:12.773Z,1613603832.773 [Micromodem](INFO): Nmea in: $SNTTA,0.158064,,,,231711.61*4E 2021-02-17T23:17:13.582Z,1613603833.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:17:15.202Z,1613603835.202 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:17:16.408Z,1613603836.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:17:17.210Z,1613603837.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:17:17.602Z,1613603837.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:17:18.421Z,1613603838.421 [Micromodem](INFO): Nmea in: $SNTTA,0.160463,,,,231717.28*4D 2021-02-17T23:17:18.883Z,1613603838.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.839996 m, bearing: 261.454505 deg, deltaT: 10.517967 s, approachRate: 0.695951 m/s, LOS rate: -5.815227 deg/s, posRepo size: 4 2021-02-17T23:17:18.885Z,1613603838.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 240.839996 m, bearing: 261.454505 deg, approachRate: 0.695951 m/s, LOS rate: -5.815227 deg/s, cmd update: -12.000000 deg/s, cmd heading: 123.411968 deg, new cmd heading: 118.401716 deg. 2021-02-17T23:17:21.279Z,1613603841.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:17:22.057Z,1613603842.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:17:22.452Z,1613603842.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:17:23.272Z,1613603843.272 [Micromodem](INFO): Nmea in: $SNTTA,0.162581,0.164587,,,231722.12*5A 2021-02-17T23:17:23.690Z,1613603843.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 244.020004 m, bearing: 230.630135 deg, deltaT: 4.847525 s, approachRate: 0.656007 m/s, LOS rate: -6.358785 deg/s, posRepo size: 4 2021-02-17T23:17:23.692Z,1613603843.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 244.020004 m, bearing: 230.630135 deg, approachRate: 0.656007 m/s, LOS rate: -6.358785 deg/s, cmd update: -12.000000 deg/s, cmd heading: 65.242794 deg, new cmd heading: 60.716382 deg. 2021-02-17T23:17:24.077Z,1613603844.077 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T23:17:26.122Z,1613603846.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:17:26.888Z,1613603846.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:17:27.299Z,1613603847.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:17:28.111Z,1613603848.111 [Micromodem](INFO): Nmea in: $SNTTA,0.164351,,,,231726.96*48 2021-02-17T23:17:28.565Z,1613603848.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.659988 m, bearing: 265.415933 deg, deltaT: 4.892862 s, approachRate: 0.539558 m/s, LOS rate: 7.109499 deg/s, posRepo size: 4 2021-02-17T23:17:28.566Z,1613603848.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 246.659988 m, bearing: 265.415933 deg, approachRate: 0.539558 m/s, LOS rate: 7.109499 deg/s, cmd update: 12.000000 deg/s, cmd heading: 6.605141 deg, new cmd heading: 2.221360 deg. 2021-02-17T23:17:30.974Z,1613603850.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:17:31.748Z,1613603851.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:17:32.148Z,1613603852.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:17:32.962Z,1613603852.962 [Micromodem](INFO): Nmea in: $SNTTA,0.166273,,,,231731.82*48 2021-02-17T23:17:33.388Z,1613603853.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.600006 m, bearing: 272.263143 deg, deltaT: 4.775661 s, approachRate: 0.615625 m/s, LOS rate: 1.433772 deg/s, posRepo size: 4 2021-02-17T23:17:33.390Z,1613603853.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 249.600006 m, bearing: 272.263143 deg, approachRate: 0.615625 m/s, LOS rate: 1.433772 deg/s, cmd update: 5.735089 deg/s, cmd heading: 64.039326 deg, new cmd heading: 68.870514 deg. 2021-02-17T23:17:35.842Z,1613603855.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:17:36.589Z,1613603856.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:17:36.991Z,1613603856.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:17:37.827Z,1613603857.827 [Micromodem](INFO): Nmea in: $SNTTA,0.168514,,,,231736.66*4D 2021-02-17T23:17:38.258Z,1613603858.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.899994 m, bearing: 301.004989 deg, deltaT: 4.865138 s, approachRate: 0.678293 m/s, LOS rate: 5.907714 deg/s, posRepo size: 4 2021-02-17T23:17:38.260Z,1613603858.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 252.899994 m, bearing: 301.004989 deg, approachRate: 0.678293 m/s, LOS rate: 5.907714 deg/s, cmd update: 12.000000 deg/s, cmd heading: 91.941244 deg, new cmd heading: 94.276045 deg. 2021-02-17T23:17:39.038Z,1613603859.038 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items 2021-02-17T23:17:40.661Z,1613603860.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:17:41.433Z,1613603861.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:17:41.845Z,1613603861.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:17:42.655Z,1613603862.655 [Micromodem](INFO): Nmea in: $SNTTA,0.170672,,,,231741.50*42 2021-02-17T23:17:43.117Z,1613603863.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.200012 m, bearing: 12.453070 deg, deltaT: 4.843001 s, approachRate: 0.681399 m/s, LOS rate: 14.752853 deg/s, posRepo size: 4 2021-02-17T23:17:43.117Z,1613603863.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.752853 deg/s. Setting heading cmd to target bearing of 12.453070deg and heading rate command to 0 deg/s. 2021-02-17T23:17:45.513Z,1613603865.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:17:46.289Z,1613603866.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:17:46.693Z,1613603866.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:17:47.502Z,1613603867.502 [Micromodem](INFO): Nmea in: $SNTTA,0.173483,,,,231746.36*4A 2021-02-17T23:17:47.936Z,1613603867.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 260.219971 m, bearing: 327.690183 deg, deltaT: 4.856527 s, approachRate: 0.827743 m/s, LOS rate: -9.217058 deg/s, posRepo size: 4 2021-02-17T23:17:47.937Z,1613603867.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 260.219971 m, bearing: 327.690183 deg, approachRate: 0.827743 m/s, LOS rate: -9.217058 deg/s, cmd update: -12.000000 deg/s, cmd heading: 12.453070 deg, new cmd heading: 12.453070 deg. 2021-02-17T23:17:50.353Z,1613603870.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:17:51.133Z,1613603871.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:17:51.544Z,1613603871.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:17:52.355Z,1613603872.355 [Micromodem](INFO): Nmea in: $SNTTA,0.174999,,,,231751.20*4A 2021-02-17T23:17:52.828Z,1613603872.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.679993 m, bearing: 318.766076 deg, deltaT: 4.848738 s, approachRate: 0.507353 m/s, LOS rate: -1.840501 deg/s, posRepo size: 4 2021-02-17T23:17:52.829Z,1613603872.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 262.679993 m, bearing: 318.766076 deg, approachRate: 0.507353 m/s, LOS rate: -1.840501 deg/s, cmd update: -7.362004 deg/s, cmd heading: 314.220332 deg, new cmd heading: 309.124484 deg. 2021-02-17T23:17:55.255Z,1613603875.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:17:55.981Z,1613603875.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:17:56.382Z,1613603876.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:17:57.227Z,1613603877.227 [Micromodem](INFO): Nmea in: $SNTTA,0.177699,,,,231756.05*46 2021-02-17T23:17:57.625Z,1613603877.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 266.519989 m, bearing: 331.173962 deg, deltaT: 4.852215 s, approachRate: 0.791390 m/s, LOS rate: 2.557159 deg/s, posRepo size: 4 2021-02-17T23:17:57.627Z,1613603877.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 266.519989 m, bearing: 331.173962 deg, approachRate: 0.791390 m/s, LOS rate: 2.557159 deg/s, cmd update: 10.228636 deg/s, cmd heading: 278.498410 deg, new cmd heading: 275.743430 deg. 2021-02-17T23:18:00.089Z,1613603880.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:18:00.834Z,1613603880.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:18:01.235Z,1613603881.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:18:02.048Z,1613603882.048 [Micromodem](INFO): Nmea in: $SNTTA,0.179165,,,,231800.90*4C 2021-02-17T23:18:02.501Z,1613603882.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.799988 m, bearing: 4.697361 deg, deltaT: 4.825932 s, approachRate: 0.472447 m/s, LOS rate: 6.946514 deg/s, posRepo size: 4 2021-02-17T23:18:02.503Z,1613603882.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 268.799988 m, bearing: 4.697361 deg, approachRate: 0.472447 m/s, LOS rate: 6.946514 deg/s, cmd update: 12.000000 deg/s, cmd heading: 327.861571 deg, new cmd heading: 332.196907 deg. 2021-02-17T23:18:04.899Z,1613603884.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:18:05.676Z,1613603885.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:18:06.083Z,1613603886.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:18:06.895Z,1613603886.895 [Micromodem](INFO): Nmea in: $SNTTA,0.180995,,,,231805.74*42 2021-02-17T23:18:07.347Z,1613603887.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 271.500000 m, bearing: 340.896927 deg, deltaT: 4.861407 s, approachRate: 0.555397 m/s, LOS rate: -4.895793 deg/s, posRepo size: 4 2021-02-17T23:18:07.349Z,1613603887.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 271.500000 m, bearing: 340.896927 deg, approachRate: 0.555397 m/s, LOS rate: -4.895793 deg/s, cmd update: -12.000000 deg/s, cmd heading: 26.198170 deg, new cmd heading: 31.096762 deg. 2021-02-17T23:18:09.727Z,1613603889.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:18:10.520Z,1613603890.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:18:10.927Z,1613603890.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:18:11.739Z,1613603891.739 [Micromodem](INFO): Nmea in: $SNTTA,0.183030,,,,231810.59*4C 2021-02-17T23:18:12.218Z,1613603892.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.799988 m, bearing: 337.503962 deg, deltaT: 4.839370 s, approachRate: 0.681904 m/s, LOS rate: -0.701117 deg/s, posRepo size: 4 2021-02-17T23:18:12.224Z,1613603892.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 274.799988 m, bearing: 337.503962 deg, approachRate: 0.681904 m/s, LOS rate: -0.701117 deg/s, cmd update: -2.804468 deg/s, cmd heading: 328.125345 deg, new cmd heading: 322.841660 deg. 2021-02-17T23:18:14.604Z,1613603894.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:18:15.379Z,1613603895.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:18:15.810Z,1613603895.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:18:16.592Z,1613603896.592 [Micromodem](INFO): Nmea in: $SNTTA,0.185045,,,,231815.45*40 2021-02-17T23:18:17.038Z,1613603897.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.619995 m, bearing: 5.859519 deg, deltaT: 4.828831 s, approachRate: 0.583994 m/s, LOS rate: 5.872135 deg/s, posRepo size: 4 2021-02-17T23:18:17.040Z,1613603897.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 277.619995 m, bearing: 5.859519 deg, approachRate: 0.583994 m/s, LOS rate: 5.872135 deg/s, cmd update: 12.000000 deg/s, cmd heading: 314.583162 deg, new cmd heading: 313.373856 deg. 2021-02-17T23:18:19.434Z,1613603899.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:18:20.220Z,1613603900.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:18:20.623Z,1613603900.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:18:21.443Z,1613603901.443 [Micromodem](INFO): Nmea in: $SNTTA,0.186882,,,,231820.29*4C 2021-02-17T23:18:21.878Z,1613603901.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.319977 m, bearing: 334.829124 deg, deltaT: 4.872264 s, approachRate: 0.554153 m/s, LOS rate: -6.368782 deg/s, posRepo size: 4 2021-02-17T23:18:21.880Z,1613603901.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 280.319977 m, bearing: 334.829124 deg, approachRate: 0.554153 m/s, LOS rate: -6.368782 deg/s, cmd update: -12.000000 deg/s, cmd heading: 13.050488 deg, new cmd heading: 17.839976 deg. 2021-02-17T23:18:24.294Z,1613603904.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:18:25.069Z,1613603905.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:18:25.477Z,1613603905.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:18:26.284Z,1613603906.284 [Micromodem](INFO): Nmea in: $SNTTA,0.189273,,,,231825.14*4C 2021-02-17T23:18:26.717Z,1613603906.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 283.980011 m, bearing: 326.435996 deg, deltaT: 4.853336 s, approachRate: 0.754128 m/s, LOS rate: -1.729352 deg/s, posRepo size: 4 2021-02-17T23:18:26.719Z,1613603906.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 283.980011 m, bearing: 326.435996 deg, approachRate: 0.754128 m/s, LOS rate: -1.729352 deg/s, cmd update: -6.917409 deg/s, cmd heading: 315.100614 deg, new cmd heading: 310.188570 deg. 2021-02-17T23:18:29.152Z,1613603909.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:18:29.913Z,1613603909.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:18:30.317Z,1613603910.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:18:31.132Z,1613603911.132 [Micromodem](INFO): Nmea in: $SNTTA,0.191039,,,,231829.98*41 2021-02-17T23:18:31.576Z,1613603911.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.500000 m, bearing: 17.494114 deg, deltaT: 4.865591 s, approachRate: 0.517920 m/s, LOS rate: 10.493712 deg/s, posRepo size: 4 2021-02-17T23:18:31.578Z,1613603911.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 286.500000 m, bearing: 17.494114 deg, approachRate: 0.517920 m/s, LOS rate: 10.493712 deg/s, cmd update: 12.000000 deg/s, cmd heading: 281.536668 deg, new cmd heading: 278.661496 deg. 2021-02-17T23:18:33.992Z,1613603913.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:18:34.763Z,1613603914.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:18:35.197Z,1613603915.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:18:35.979Z,1613603915.979 [Micromodem](INFO): Nmea in: $SNTTA,0.192895,,,,231834.83*4A 2021-02-17T23:18:36.432Z,1613603916.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 289.499969 m, bearing: 329.425351 deg, deltaT: 4.829381 s, approachRate: 0.621191 m/s, LOS rate: -9.953399 deg/s, posRepo size: 4 2021-02-17T23:18:36.434Z,1613603916.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 289.499969 m, bearing: 329.425351 deg, approachRate: 0.621191 m/s, LOS rate: -9.953399 deg/s, cmd update: -12.000000 deg/s, cmd heading: 339.891566 deg, new cmd heading: 344.805062 deg. 2021-02-17T23:18:38.891Z,1613603918.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:18:39.612Z,1613603919.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:18:40.020Z,1613603920.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:18:40.847Z,1613603920.847 [Micromodem](INFO): Nmea in: $SNTTA,0.195272,,,,231839.68*46 2021-02-17T23:18:41.284Z,1613603921.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 293.399994 m, bearing: 327.773156 deg, deltaT: 4.843137 s, approachRate: 0.805268 m/s, LOS rate: -0.341142 deg/s, posRepo size: 4 2021-02-17T23:18:41.286Z,1613603921.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 293.399994 m, bearing: 327.773156 deg, approachRate: 0.805268 m/s, LOS rate: -0.341142 deg/s, cmd update: -1.364566 deg/s, cmd heading: 281.723988 deg, new cmd heading: 276.809676 deg. 2021-02-17T23:18:43.684Z,1613603923.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:18:44.461Z,1613603924.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:18:44.869Z,1613603924.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:18:45.677Z,1613603925.677 [Micromodem](INFO): Nmea in: $SNTTA,0.197742,,,,231844.53*40 2021-02-17T23:18:46.128Z,1613603926.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 296.759979 m, bearing: 291.742077 deg, deltaT: 4.846107 s, approachRate: 0.693337 m/s, LOS rate: -7.435056 deg/s, posRepo size: 4 2021-02-17T23:18:46.129Z,1613603926.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 296.759979 m, bearing: 291.742077 deg, approachRate: 0.693337 m/s, LOS rate: -7.435056 deg/s, cmd update: -12.000000 deg/s, cmd heading: 275.144560 deg, new cmd heading: 274.577701 deg. 2021-02-17T23:18:48.546Z,1613603928.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:18:49.306Z,1613603929.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:18:49.710Z,1613603929.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:18:50.525Z,1613603930.525 [Micromodem](INFO): Nmea in: $SNTTA,0.199948,,,,231849.38*4A 2021-02-17T23:18:50.972Z,1613603930.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 301.199982 m, bearing: 249.186256 deg, deltaT: 4.832781 s, approachRate: 0.918726 m/s, LOS rate: -8.805659 deg/s, posRepo size: 4 2021-02-17T23:18:50.973Z,1613603930.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 301.199982 m, bearing: 249.186256 deg, approachRate: 0.918726 m/s, LOS rate: -8.805659 deg/s, cmd update: -12.000000 deg/s, cmd heading: 216.859815 deg, new cmd heading: 211.792383 deg. 2021-02-17T23:18:53.369Z,1613603933.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:18:54.156Z,1613603934.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:18:54.557Z,1613603934.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:18:55.373Z,1613603935.373 [Micromodem](INFO): Nmea in: $SNTTA,0.201823,,,,231854.22*43 2021-02-17T23:18:55.835Z,1613603935.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.879974 m, bearing: 258.021789 deg, deltaT: 4.847918 s, approachRate: 0.346539 m/s, LOS rate: 1.822542 deg/s, posRepo size: 4 2021-02-17T23:18:55.837Z,1613603935.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 302.879974 m, bearing: 258.021789 deg, approachRate: 0.346539 m/s, LOS rate: 1.822542 deg/s, cmd update: 7.290167 deg/s, cmd heading: 158.683969 deg, new cmd heading: 153.473473 deg. 2021-02-17T23:18:58.251Z,1613603938.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:18:58.000Z,1613603939.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:18:59.422Z,1613603939.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:19:00.220Z,1613603940.220 [Micromodem](INFO): Nmea in: $SNTTA,0.203428,,,,231859.07*4C 2021-02-17T23:19:00.681Z,1613603940.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.160004 m, bearing: 228.007752 deg, deltaT: 4.870647 s, approachRate: 0.468116 m/s, LOS rate: -6.162228 deg/s, posRepo size: 4 2021-02-17T23:19:00.687Z,1613603940.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 305.160004 m, bearing: 228.007752 deg, approachRate: 0.468116 m/s, LOS rate: -6.162228 deg/s, cmd update: -12.000000 deg/s, cmd heading: 194.017409 deg, new cmd heading: 197.208001 deg. 2021-02-17T23:19:03.084Z,1613603943.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:19:03.861Z,1613603943.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:19:04.254Z,1613603944.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:19:05.095Z,1613603945.095 [Micromodem](INFO): Nmea in: $SNTTA,0.204144,,,0.206657,231903.93*59 2021-02-17T23:19:05.516Z,1613603945.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.239990 m, bearing: 164.064723 deg, deltaT: 4.866173 s, approachRate: 0.221938 m/s, LOS rate: -13.140312 deg/s, posRepo size: 4 2021-02-17T23:19:05.517Z,1613603945.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.140312 deg/s. Setting heading cmd to target bearing of 164.064723deg and heading rate command to 0 deg/s. 2021-02-17T23:19:07.952Z,1613603947.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:19:08.698Z,1613603948.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:19:09.101Z,1613603949.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:19:09.921Z,1613603949.921 [Micromodem](INFO): Nmea in: $SNTTA,0.204184,,,,231908.77*4A 2021-02-17T23:19:10.362Z,1613603950.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.359985 m, bearing: 180.619080 deg, deltaT: 4.815787 s, approachRate: 0.024917 m/s, LOS rate: 3.437519 deg/s, posRepo size: 4 2021-02-17T23:19:10.364Z,1613603950.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 306.359985 m, bearing: 180.619080 deg, approachRate: 0.024917 m/s, LOS rate: 3.437519 deg/s, cmd update: 12.000000 deg/s, cmd heading: 164.064723 deg, new cmd heading: 164.064723 deg. 2021-02-17T23:19:12.759Z,1613603952.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:19:13.557Z,1613603953.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:19:13.961Z,1613603953.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:19:14.772Z,1613603954.772 [Micromodem](INFO): Nmea in: $SNTTA,0.203810,,,,231913.63*46 2021-02-17T23:19:15.238Z,1613603955.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.579987 m, bearing: 124.172156 deg, deltaT: 4.878677 s, approachRate: -0.159879 m/s, LOS rate: -11.570130 deg/s, posRepo size: 4 2021-02-17T23:19:15.239Z,1613603955.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.570130 deg/s. Setting heading cmd to target bearing of 124.172156deg and heading rate command to 0 deg/s. 2021-02-17T23:19:17.624Z,1613603957.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:19:18.397Z,1613603958.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:19:18.828Z,1613603958.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:19:19.621Z,1613603959.621 [Micromodem](INFO): Nmea in: $SNTTA,0.202484,,,,231918.46*4A 2021-02-17T23:19:20.044Z,1613603960.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 303.600006 m, bearing: 126.711457 deg, deltaT: 4.820146 s, approachRate: -0.410772 m/s, LOS rate: 0.526810 deg/s, posRepo size: 4 2021-02-17T23:19:20.045Z,1613603960.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 303.600006 m, bearing: 126.711457 deg, approachRate: -0.410772 m/s, LOS rate: 0.526810 deg/s, cmd update: 2.107240 deg/s, cmd heading: 124.172156 deg, new cmd heading: 124.172156 deg. 2021-02-17T23:19:22.462Z,1613603962.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:19:23.240Z,1613603963.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:19:23.647Z,1613603963.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:19:24.469Z,1613603964.469 [Micromodem](INFO): Nmea in: $SNTTA,0.201710,,,,231923.31*4F 2021-02-17T23:19:24.910Z,1613603964.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.459991 m, bearing: 189.397430 deg, deltaT: 4.844460 s, approachRate: -0.235323 m/s, LOS rate: 12.939723 deg/s, posRepo size: 4 2021-02-17T23:19:24.911Z,1613603964.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.939723 deg/s. Setting heading cmd to target bearing of 189.397430deg and heading rate command to 0 deg/s. 2021-02-17T23:19:27.306Z,1613603967.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:19:28.088Z,1613603968.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:19:28.493Z,1613603968.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:19:29.321Z,1613603969.321 [Micromodem](INFO): Nmea in: $SNTTA,0.200615,,,,231928.15*47 2021-02-17T23:19:29.753Z,1613603969.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.779999 m, bearing: 118.774804 deg, deltaT: 4.851506 s, approachRate: -0.346283 m/s, LOS rate: -14.556846 deg/s, posRepo size: 4 2021-02-17T23:19:29.754Z,1613603969.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.556846 deg/s. Setting heading cmd to target bearing of 118.774804deg and heading rate command to 0 deg/s. 2021-02-17T23:19:32.181Z,1613603972.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:19:32.936Z,1613603972.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:19:33.350Z,1613603973.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:19:34.189Z,1613603974.189 [Micromodem](INFO): Nmea in: $SNTTA,0.199157,,,,231933.00*4B 2021-02-17T23:19:34.605Z,1613603974.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 298.619995 m, bearing: 127.055739 deg, deltaT: 4.913140 s, approachRate: -0.439638 m/s, LOS rate: 1.685467 deg/s, posRepo size: 4 2021-02-17T23:19:34.611Z,1613603974.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 298.619995 m, bearing: 127.055739 deg, approachRate: -0.439638 m/s, LOS rate: 1.685467 deg/s, cmd update: 6.741868 deg/s, cmd heading: 118.774804 deg, new cmd heading: 118.774804 deg. 2021-02-17T23:19:37.021Z,1613603977.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:19:37.807Z,1613603977.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:19:38.211Z,1613603978.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:19:39.015Z,1613603979.015 [Micromodem](INFO): Nmea in: $SNTTA,0.197302,,,,231937.87*4C 2021-02-17T23:19:39.439Z,1613603979.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 295.679993 m, bearing: 122.141391 deg, deltaT: 4.804918 s, approachRate: -0.611874 m/s, LOS rate: -1.022775 deg/s, posRepo size: 4 2021-02-17T23:19:39.441Z,1613603979.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 295.679993 m, bearing: 122.141391 deg, approachRate: -0.611874 m/s, LOS rate: -1.022775 deg/s, cmd update: -4.091099 deg/s, cmd heading: 151.034195 deg, new cmd heading: 153.732419 deg. 2021-02-17T23:19:41.862Z,1613603981.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:19:42.632Z,1613603982.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:19:43.039Z,1613603983.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:19:43.855Z,1613603983.855 [Micromodem](INFO): Nmea in: $SNTTA,0.195185,,,,231942.70*49 2021-02-17T23:19:44.310Z,1613603984.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 292.559967 m, bearing: 124.288037 deg, deltaT: 4.910350 s, approachRate: -0.635398 m/s, LOS rate: 0.437168 deg/s, posRepo size: 4 2021-02-17T23:19:44.312Z,1613603984.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 292.559967 m, bearing: 124.288037 deg, approachRate: -0.635398 m/s, LOS rate: 0.437168 deg/s, cmd update: 1.748671 deg/s, cmd heading: 130.863666 deg, new cmd heading: 129.469551 deg. 2021-02-17T23:19:46.717Z,1613603986.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:19:47.493Z,1613603987.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:19:47.890Z,1613603987.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:19:48.705Z,1613603988.705 [Micromodem](INFO): Nmea in: $SNTTA,0.192813,,,,231947.56*49 2021-02-17T23:19:49.132Z,1613603989.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 289.079987 m, bearing: 124.242712 deg, deltaT: 4.746538 s, approachRate: -0.733162 m/s, LOS rate: -0.009549 deg/s, posRepo size: 4 2021-02-17T23:19:49.133Z,1613603989.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 289.079987 m, bearing: 124.242712 deg, approachRate: -0.733162 m/s, LOS rate: -0.009549 deg/s, cmd update: -0.038196 deg/s, cmd heading: 139.170857 deg, new cmd heading: 139.891213 deg. 2021-02-17T23:19:51.545Z,1613603991.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:19:52.333Z,1613603992.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:19:52.735Z,1613603992.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:19:53.548Z,1613603993.548 [Micromodem](INFO): Nmea in: $SNTTA,0.190581,,,,231952.40*4E 2021-02-17T23:19:54.008Z,1613603994.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 285.660004 m, bearing: 127.144996 deg, deltaT: 4.874425 s, approachRate: -0.701618 m/s, LOS rate: 0.595411 deg/s, posRepo size: 4 2021-02-17T23:19:54.010Z,1613603994.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 285.660004 m, bearing: 127.144996 deg, approachRate: -0.701618 m/s, LOS rate: 0.595411 deg/s, cmd update: 2.381642 deg/s, cmd heading: 138.984975 deg, new cmd heading: 138.969030 deg. 2021-02-17T23:19:56.394Z,1613603996.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:19:57.205Z,1613603997.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:19:57.582Z,1613603997.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:19:58.409Z,1613603998.409 [Micromodem](INFO): Nmea in: $SNTTA,0.188193,,,,231957.27*44 2021-02-17T23:19:58.877Z,1613603998.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.059998 m, bearing: 125.656930 deg, deltaT: 4.863750 s, approachRate: -0.740171 m/s, LOS rate: -0.305950 deg/s, posRepo size: 4 2021-02-17T23:19:58.878Z,1613603998.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 282.059998 m, bearing: 125.656930 deg, approachRate: -0.740171 m/s, LOS rate: -0.305950 deg/s, cmd update: -1.223801 deg/s, cmd heading: 150.577911 deg, new cmd heading: 151.585936 deg. 2021-02-17T23:20:01.242Z,1613604001.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:20:02.029Z,1613604002.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:20:02.432Z,1613604002.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:20:03.244Z,1613604003.244 [Micromodem](INFO): Nmea in: $SNTTA,0.185802,,,,232002.10*46 2021-02-17T23:20:03.689Z,1613604003.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.519989 m, bearing: 123.436558 deg, deltaT: 4.830500 s, approachRate: -0.732845 m/s, LOS rate: -0.459657 deg/s, posRepo size: 4 2021-02-17T23:20:03.691Z,1613604003.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 278.519989 m, bearing: 123.436558 deg, approachRate: -0.732845 m/s, LOS rate: -0.459657 deg/s, cmd update: -1.838627 deg/s, cmd heading: 144.661617 deg, new cmd heading: 144.170508 deg. 2021-02-17T23:20:06.109Z,1613604006.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:20:06.877Z,1613604006.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:20:07.281Z,1613604007.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:20:08.094Z,1613604008.094 [Micromodem](INFO): Nmea in: $SNTTA,0.183650,,,0.186150,232006.94*54 2021-02-17T23:20:08.524Z,1613604008.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.279999 m, bearing: 123.078465 deg, deltaT: 4.864290 s, approachRate: -0.666077 m/s, LOS rate: -0.073617 deg/s, posRepo size: 4 2021-02-17T23:20:08.526Z,1613604008.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 275.279999 m, bearing: 123.078465 deg, approachRate: -0.666077 m/s, LOS rate: -0.073617 deg/s, cmd update: -0.294467 deg/s, cmd heading: 135.733049 deg, new cmd heading: 135.034775 deg. 2021-02-17T23:20:10.958Z,1613604010.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:20:11.725Z,1613604011.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:20:12.125Z,1613604012.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:20:12.942Z,1613604012.942 [Micromodem](INFO): Nmea in: $SNTTA,0.181256,,,,232011.79*44 2021-02-17T23:20:13.376Z,1613604013.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 271.739990 m, bearing: 125.149652 deg, deltaT: 4.813571 s, approachRate: -0.735423 m/s, LOS rate: 0.430281 deg/s, posRepo size: 4 2021-02-17T23:20:13.378Z,1613604013.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 271.739990 m, bearing: 125.149652 deg, approachRate: -0.735423 m/s, LOS rate: 0.430281 deg/s, cmd update: 1.721123 deg/s, cmd heading: 134.313170 deg, new cmd heading: 134.192383 deg. 2021-02-17T23:20:15.839Z,1613604015.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:20:16.573Z,1613604016.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:20:16.986Z,1613604016.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:20:17.835Z,1613604017.835 [Micromodem](INFO): Nmea in: $SNTTA,0.178919,,,,232016.64*49 2021-02-17T23:20:18.262Z,1613604018.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.199982 m, bearing: 125.760489 deg, deltaT: 4.916943 s, approachRate: -0.719961 m/s, LOS rate: 0.124231 deg/s, posRepo size: 4 2021-02-17T23:20:18.264Z,1613604018.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 268.199982 m, bearing: 125.760489 deg, approachRate: -0.719961 m/s, LOS rate: 0.124231 deg/s, cmd update: 0.496925 deg/s, cmd heading: 142.775543 deg, new cmd heading: 143.428437 deg. 2021-02-17T23:20:20.628Z,1613604020.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:20:21.433Z,1613604021.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:20:21.842Z,1613604021.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:20:22.645Z,1613604022.645 [Micromodem](INFO): Nmea in: $SNTTA,0.176570,,,,232021.50*47 2021-02-17T23:20:23.068Z,1613604023.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.660004 m, bearing: 124.267342 deg, deltaT: 4.776067 s, approachRate: -0.741191 m/s, LOS rate: -0.312631 deg/s, posRepo size: 4 2021-02-17T23:20:23.069Z,1613604023.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 264.660004 m, bearing: 124.267342 deg, approachRate: -0.741191 m/s, LOS rate: -0.312631 deg/s, cmd update: -1.250525 deg/s, cmd heading: 145.149005 deg, new cmd heading: 145.352029 deg. 2021-02-17T23:20:25.486Z,1613604025.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:20:26.269Z,1613604026.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:20:26.669Z,1613604026.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:20:27.486Z,1613604027.486 [Micromodem](INFO): Nmea in: $SNTTA,0.174318,,,,232026.34*48 2021-02-17T23:20:27.916Z,1613604027.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.299988 m, bearing: 122.893613 deg, deltaT: 4.875492 s, approachRate: -0.689164 m/s, LOS rate: -0.281762 deg/s, posRepo size: 4 2021-02-17T23:20:27.917Z,1613604027.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 261.299988 m, bearing: 122.893613 deg, approachRate: -0.689164 m/s, LOS rate: -0.281762 deg/s, cmd update: -1.127048 deg/s, cmd heading: 139.057177 deg, new cmd heading: 138.575567 deg. 2021-02-17T23:20:30.330Z,1613604030.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:20:31.112Z,1613604031.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:20:31.518Z,1613604031.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:20:32.343Z,1613604032.343 [Micromodem](INFO): Nmea in: $SNTTA,0.171943,,,,232031.18*41 2021-02-17T23:20:32.793Z,1613604032.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 257.699982 m, bearing: 123.808489 deg, deltaT: 4.832856 s, approachRate: -0.744902 m/s, LOS rate: 0.189303 deg/s, posRepo size: 4 2021-02-17T23:20:32.816Z,1613604032.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 257.699982 m, bearing: 123.808489 deg, approachRate: -0.744902 m/s, LOS rate: 0.189303 deg/s, cmd update: 0.757214 deg/s, cmd heading: 133.605710 deg, new cmd heading: 133.131570 deg. 2021-02-17T23:20:35.235Z,1613604035.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:20:35.961Z,1613604035.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:20:36.365Z,1613604036.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:20:37.207Z,1613604037.207 [Micromodem](INFO): Nmea in: $SNTTA,0.169919,,,,232036.03*4A 2021-02-17T23:20:37.221Z,1613604037.221 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:20:37.614Z,1613604037.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.759995 m, bearing: 124.892987 deg, deltaT: 4.866441 s, approachRate: -0.604135 m/s, LOS rate: 0.222852 deg/s, posRepo size: 4 2021-02-17T23:20:37.616Z,1613604037.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 254.759995 m, bearing: 124.892987 deg, approachRate: -0.604135 m/s, LOS rate: 0.222852 deg/s, cmd update: 0.891409 deg/s, cmd heading: 137.290659 deg, new cmd heading: 137.578537 deg. 2021-02-17T23:20:40.047Z,1613604040.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:20:40.829Z,1613604040.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:20:41.218Z,1613604041.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:20:42.037Z,1613604042.037 [Micromodem](INFO): Nmea in: $SNTTA,0.167428,,,,232040.90*40 2021-02-17T23:20:42.460Z,1613604042.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.979996 m, bearing: 125.967321 deg, deltaT: 4.855124 s, approachRate: -0.778559 m/s, LOS rate: 0.221278 deg/s, posRepo size: 4 2021-02-17T23:20:42.461Z,1613604042.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 250.979996 m, bearing: 125.967321 deg, approachRate: -0.778559 m/s, LOS rate: 0.221278 deg/s, cmd update: 0.885114 deg/s, cmd heading: 141.614792 deg, new cmd heading: 141.948744 deg. 2021-02-17T23:20:44.890Z,1613604044.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:20:45.661Z,1613604045.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:20:46.062Z,1613604046.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:20:46.881Z,1613604046.881 [Micromodem](INFO): Nmea in: $SNTTA,0.164893,,,,232045.73*47 2021-02-17T23:20:47.316Z,1613604047.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.139984 m, bearing: 124.285633 deg, deltaT: 4.843996 s, approachRate: -0.792736 m/s, LOS rate: -0.347170 deg/s, posRepo size: 4 2021-02-17T23:20:47.318Z,1613604047.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 247.139984 m, bearing: 124.285633 deg, approachRate: -0.792736 m/s, LOS rate: -0.347170 deg/s, cmd update: -1.388678 deg/s, cmd heading: 145.902478 deg, new cmd heading: 146.244737 deg. 2021-02-17T23:20:49.733Z,1613604049.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:20:50.508Z,1613604050.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:20:50.931Z,1613604050.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:20:51.745Z,1613604051.745 [Micromodem](INFO): Nmea in: $SNTTA,0.162627,,,,232050.58*4D 2021-02-17T23:20:52.202Z,1613604052.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.779984 m, bearing: 122.510521 deg, deltaT: 4.897397 s, approachRate: -0.686079 m/s, LOS rate: -0.362460 deg/s, posRepo size: 4 2021-02-17T23:20:52.208Z,1613604052.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 243.779984 m, bearing: 122.510521 deg, approachRate: -0.686079 m/s, LOS rate: -0.362460 deg/s, cmd update: -1.449841 deg/s, cmd heading: 139.101658 deg, new cmd heading: 138.579651 deg. 2021-02-17T23:20:54.568Z,1613604054.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:20:55.368Z,1613604055.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:20:55.770Z,1613604055.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:20:56.581Z,1613604056.581 [Micromodem](INFO): Nmea in: $SNTTA,0.160173,,,,232055.44*41 2021-02-17T23:20:57.008Z,1613604057.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.059982 m, bearing: 123.131563 deg, deltaT: 4.765179 s, approachRate: -0.780663 m/s, LOS rate: 0.130329 deg/s, posRepo size: 4 2021-02-17T23:20:57.009Z,1613604057.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 240.059982 m, bearing: 123.131563 deg, approachRate: -0.780663 m/s, LOS rate: 0.130329 deg/s, cmd update: 0.521317 deg/s, cmd heading: 132.186972 deg, new cmd heading: 131.589914 deg. 2021-02-17T23:20:59.431Z,1613604059.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:21:00.216Z,1613604060.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:21:00.617Z,1613604060.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:21:01.427Z,1613604061.427 [Micromodem](INFO): Nmea in: $SNTTA,0.157802,,,,232100.28*41 2021-02-17T23:21:01.877Z,1613604061.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.459991 m, bearing: 124.827649 deg, deltaT: 4.883897 s, approachRate: -0.737114 m/s, LOS rate: 0.347281 deg/s, posRepo size: 4 2021-02-17T23:21:01.879Z,1613604061.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 236.459991 m, bearing: 124.827649 deg, approachRate: -0.737114 m/s, LOS rate: 0.347281 deg/s, cmd update: 1.389125 deg/s, cmd heading: 134.730824 deg, new cmd heading: 134.940531 deg. 2021-02-17T23:21:04.285Z,1613604064.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:21:05.057Z,1613604065.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:21:05.458Z,1613604065.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:21:06.272Z,1613604066.272 [Micromodem](INFO): Nmea in: $SNTTA,0.155643,,,,232105.13*45 2021-02-17T23:21:06.730Z,1613604066.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.220001 m, bearing: 124.457535 deg, deltaT: 4.844445 s, approachRate: -0.668805 m/s, LOS rate: -0.076400 deg/s, posRepo size: 4 2021-02-17T23:21:06.736Z,1613604066.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 233.220001 m, bearing: 124.457535 deg, approachRate: -0.668805 m/s, LOS rate: -0.076400 deg/s, cmd update: -0.305599 deg/s, cmd heading: 141.461500 deg, new cmd heading: 142.030371 deg. 2021-02-17T23:21:09.118Z,1613604069.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:21:09.900Z,1613604069.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:21:10.311Z,1613604070.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:21:11.123Z,1613604071.123 [Micromodem](INFO): Nmea in: $SNTTA,0.153246,,,,232109.97*42 2021-02-17T23:21:11.552Z,1613604071.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.739990 m, bearing: 122.446113 deg, deltaT: 4.893383 s, approachRate: -0.711167 m/s, LOS rate: -0.411049 deg/s, posRepo size: 4 2021-02-17T23:21:11.553Z,1613604071.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 229.739990 m, bearing: 122.446113 deg, approachRate: -0.711167 m/s, LOS rate: -0.411049 deg/s, cmd update: -1.644198 deg/s, cmd heading: 139.966277 deg, new cmd heading: 139.862941 deg. 2021-02-17T23:21:14.014Z,1613604074.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:21:14.749Z,1613604074.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:21:15.165Z,1613604075.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:21:15.973Z,1613604075.973 [Micromodem](INFO): Nmea in: $SNTTA,0.150910,,,,232114.82*41 2021-02-17T23:21:16.412Z,1613604076.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.139999 m, bearing: 122.828699 deg, deltaT: 4.780112 s, approachRate: -0.753119 m/s, LOS rate: 0.080037 deg/s, posRepo size: 4 2021-02-17T23:21:16.414Z,1613604076.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 226.139999 m, bearing: 122.828699 deg, approachRate: -0.753119 m/s, LOS rate: 0.080037 deg/s, cmd update: 0.320148 deg/s, cmd heading: 132.100357 deg, new cmd heading: 131.418473 deg. 2021-02-17T23:21:18.851Z,1613604078.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:21:19.596Z,1613604079.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:21:20.007Z,1613604080.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:21:20.837Z,1613604080.837 [Micromodem](INFO): Nmea in: $SNTTA,0.148532,,,,232119.66*43 2021-02-17T23:21:21.265Z,1613604081.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.539993 m, bearing: 122.751668 deg, deltaT: 4.864771 s, approachRate: -0.740016 m/s, LOS rate: -0.015834 deg/s, posRepo size: 4 2021-02-17T23:21:21.267Z,1613604081.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 222.539993 m, bearing: 122.751668 deg, approachRate: -0.740016 m/s, LOS rate: -0.015834 deg/s, cmd update: -0.063338 deg/s, cmd heading: 133.657730 deg, new cmd heading: 133.786825 deg. 2021-02-17T23:21:23.675Z,1613604083.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:21:24.445Z,1613604084.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:21:24.857Z,1613604084.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:21:25.687Z,1613604085.687 [Micromodem](INFO): Nmea in: $SNTTA,0.146213,,,,232124.51*43 2021-02-17T23:21:26.125Z,1613604086.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.119980 m, bearing: 124.376174 deg, deltaT: 4.851531 s, approachRate: -0.704935 m/s, LOS rate: 0.334844 deg/s, posRepo size: 4 2021-02-17T23:21:26.131Z,1613604086.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 219.119980 m, bearing: 124.376174 deg, approachRate: -0.704935 m/s, LOS rate: 0.334844 deg/s, cmd update: 1.339376 deg/s, cmd heading: 133.350569 deg, new cmd heading: 133.324369 deg. 2021-02-17T23:21:28.535Z,1613604088.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:21:29.307Z,1613604089.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:21:29.725Z,1613604089.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:21:30.521Z,1613604090.521 [Micromodem](INFO): Nmea in: $SNTTA,0.143745,,,,232129.37*4D 2021-02-17T23:21:30.946Z,1613604090.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.339981 m, bearing: 122.872098 deg, deltaT: 4.831554 s, approachRate: -0.782357 m/s, LOS rate: -0.311303 deg/s, posRepo size: 4 2021-02-17T23:21:30.948Z,1613604090.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.339981 m, bearing: 122.872098 deg, approachRate: -0.782357 m/s, LOS rate: -0.311303 deg/s, cmd update: -1.245211 deg/s, cmd heading: 139.824880 deg, new cmd heading: 140.362188 deg. 2021-02-17T23:21:33.362Z,1613604093.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:21:34.149Z,1613604094.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:21:34.551Z,1613604094.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:21:35.369Z,1613604095.369 [Micromodem](INFO): Nmea in: $SNTTA,0.141536,,,,232134.22*41 2021-02-17T23:21:35.839Z,1613604095.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.159988 m, bearing: 122.775478 deg, deltaT: 4.847626 s, approachRate: -0.655990 m/s, LOS rate: -0.019931 deg/s, posRepo size: 4 2021-02-17T23:21:35.845Z,1613604095.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.159988 m, bearing: 122.775478 deg, approachRate: -0.655990 m/s, LOS rate: -0.019931 deg/s, cmd update: -0.079726 deg/s, cmd heading: 133.788552 deg, new cmd heading: 133.233437 deg. 2021-02-17T23:21:38.266Z,1613604098.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:21:38.993Z,1613604098.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:21:39.394Z,1613604099.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:21:40.216Z,1613604100.216 [Micromodem](INFO): Nmea in: $SNTTA,0.139205,,,,232139.06*42 2021-02-17T23:21:40.648Z,1613604100.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.619980 m, bearing: 123.010805 deg, deltaT: 4.848012 s, approachRate: -0.730198 m/s, LOS rate: 0.048541 deg/s, posRepo size: 4 2021-02-17T23:21:40.650Z,1613604100.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.619980 m, bearing: 123.010805 deg, approachRate: -0.730198 m/s, LOS rate: 0.048541 deg/s, cmd update: 0.194164 deg/s, cmd heading: 133.402057 deg, new cmd heading: 133.369574 deg. 2021-02-17T23:21:43.054Z,1613604103.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:21:43.837Z,1613604103.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:21:44.249Z,1613604104.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:21:45.054Z,1613604105.054 [Micromodem](INFO): Nmea in: $SNTTA,0.136816,,,,232143.90*47 2021-02-17T23:21:45.504Z,1613604105.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.019989 m, bearing: 123.728822 deg, deltaT: 4.857145 s, approachRate: -0.741174 m/s, LOS rate: 0.147827 deg/s, posRepo size: 4 2021-02-17T23:21:45.506Z,1613604105.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.019989 m, bearing: 123.728822 deg, approachRate: -0.741174 m/s, LOS rate: 0.147827 deg/s, cmd update: 0.591308 deg/s, cmd heading: 134.343601 deg, new cmd heading: 134.420841 deg. 2021-02-17T23:21:47.918Z,1613604107.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:21:48.684Z,1613604108.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:21:49.099Z,1613604109.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:21:49.902Z,1613604109.902 [Micromodem](INFO): Nmea in: $SNTTA,0.134606,,,,232148.75*4A 2021-02-17T23:21:50.352Z,1613604110.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.779999 m, bearing: 123.239139 deg, deltaT: 4.864972 s, approachRate: -0.665983 m/s, LOS rate: -0.100655 deg/s, posRepo size: 4 2021-02-17T23:21:50.354Z,1613604110.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.779999 m, bearing: 123.239139 deg, approachRate: -0.665983 m/s, LOS rate: -0.100655 deg/s, cmd update: -0.402620 deg/s, cmd heading: 137.222386 deg, new cmd heading: 137.454838 deg. 2021-02-17T23:21:52.750Z,1613604112.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:21:53.537Z,1613604113.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:21:53.950Z,1613604113.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:21:54.753Z,1613604114.753 [Micromodem](INFO): Nmea in: $SNTTA,0.132186,,,,232153.60*4D 2021-02-17T23:21:55.223Z,1613604115.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.059998 m, bearing: 122.548333 deg, deltaT: 4.808704 s, approachRate: -0.773597 m/s, LOS rate: -0.143657 deg/s, posRepo size: 4 2021-02-17T23:21:55.225Z,1613604115.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.059998 m, bearing: 122.548333 deg, approachRate: -0.773597 m/s, LOS rate: -0.143657 deg/s, cmd update: -0.574629 deg/s, cmd heading: 135.284574 deg, new cmd heading: 135.102921 deg. 2021-02-17T23:21:57.587Z,1613604117.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:21:58.381Z,1613604118.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:21:58.821Z,1613604118.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:21:59.629Z,1613604119.629 [Micromodem](INFO): Nmea in: $SNTTA,0.129892,,,,232158.45*47 2021-02-17T23:21:59.654Z,1613604119.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.059998 m, bearing: 124.076520 deg, deltaT: 4.481448 s, approachRate: 0.000000 m/s, LOS rate: 0.341003 deg/s, posRepo size: 4 2021-02-17T23:21:59.656Z,1613604119.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.059998 m, bearing: 124.076520 deg, approachRate: 0.000000 m/s, LOS rate: 0.341003 deg/s, cmd update: 1.364011 deg/s, cmd heading: 132.710253 deg, new cmd heading: 132.478764 deg. 2021-02-17T23:22:02.059Z,1613604122.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:22:02.841Z,1613604122.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:22:03.245Z,1613604123.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:22:04.087Z,1613604124.087 [Micromodem](INFO): Nmea in: $SNTTA,0.127654,,,,232202.91*48 2021-02-17T23:22:04.483Z,1613604124.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.279999 m, bearing: 123.697403 deg, deltaT: 4.857735 s, approachRate: -1.395712 m/s, LOS rate: -0.078044 deg/s, posRepo size: 4 2021-02-17T23:22:04.485Z,1613604124.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.279999 m, bearing: 123.697403 deg, approachRate: -1.395712 m/s, LOS rate: -0.078044 deg/s, cmd update: -0.312176 deg/s, cmd heading: 139.338299 deg, new cmd heading: 139.846227 deg. 2021-02-17T23:22:06.893Z,1613604126.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:22:07.676Z,1613604127.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:22:08.092Z,1613604128.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:22:08.894Z,1613604128.894 [Micromodem](INFO): Nmea in: $SNTTA,0.125226,,,,232207.74*45 2021-02-17T23:22:09.343Z,1613604129.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.619980 m, bearing: 123.371740 deg, deltaT: 4.834580 s, approachRate: -0.757050 m/s, LOS rate: -0.067361 deg/s, posRepo size: 4 2021-02-17T23:22:09.345Z,1613604129.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.619980 m, bearing: 123.371740 deg, approachRate: -0.757050 m/s, LOS rate: -0.067361 deg/s, cmd update: -0.269445 deg/s, cmd heading: 137.830293 deg, new cmd heading: 137.709857 deg. 2021-02-17T23:22:11.731Z,1613604131.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:22:12.529Z,1613604132.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:22:12.930Z,1613604132.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:22:13.760Z,1613604133.760 [Micromodem](INFO): Nmea in: $SNTTA,0.123181,,,,232212.60*4C 2021-02-17T23:22:13.832Z,1613604133.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.619980 m, bearing: 125.745531 deg, deltaT: 4.448429 s, approachRate: 0.000000 m/s, LOS rate: 0.533625 deg/s, posRepo size: 4 2021-02-17T23:22:13.834Z,1613604133.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.619980 m, bearing: 125.745531 deg, approachRate: 0.000000 m/s, LOS rate: 0.533625 deg/s, cmd update: 2.134499 deg/s, cmd heading: 136.636654 deg, new cmd heading: 136.512367 deg. 2021-02-17T23:22:16.225Z,1613604136.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:22:16.968Z,1613604136.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:22:17.374Z,1613604137.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:22:18.220Z,1613604138.220 [Micromodem](INFO): Nmea in: $SNTTA,0.120866,,,,232217.04*48 2021-02-17T23:22:18.269Z,1613604138.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.619980 m, bearing: 122.655936 deg, deltaT: 4.451146 s, approachRate: 0.000000 m/s, LOS rate: -0.694112 deg/s, posRepo size: 4 2021-02-17T23:22:18.271Z,1613604138.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.619980 m, bearing: 122.655936 deg, approachRate: 0.000000 m/s, LOS rate: -0.694112 deg/s, cmd update: -2.776449 deg/s, cmd heading: 146.177370 deg, new cmd heading: 147.091249 deg. 2021-02-17T23:22:20.625Z,1613604140.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:22:21.412Z,1613604141.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:22:21.834Z,1613604141.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:22:22.640Z,1613604142.640 [Micromodem](INFO): Nmea in: $SNTTA,0.118776,,,,232221.48*40 2021-02-17T23:22:22.677Z,1613604142.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.840012 m, bearing: 121.598732 deg, deltaT: 4.423165 s, approachRate: -2.211079 m/s, LOS rate: -0.239015 deg/s, posRepo size: 4 2021-02-17T23:22:22.679Z,1613604142.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.840012 m, bearing: 121.598732 deg, approachRate: -2.211079 m/s, LOS rate: -0.239015 deg/s, cmd update: -0.956061 deg/s, cmd heading: 133.886196 deg, new cmd heading: 132.749301 deg. 2021-02-17T23:22:25.088Z,1613604145.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:22:25.861Z,1613604145.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:22:26.274Z,1613604146.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:22:27.088Z,1613604147.088 [Micromodem](INFO): Nmea in: $SNTTA,0.116554,,,,232225.93*4E 2021-02-17T23:22:27.127Z,1613604147.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.840012 m, bearing: 122.867699 deg, deltaT: 4.437989 s, approachRate: 0.000000 m/s, LOS rate: 0.285933 deg/s, posRepo size: 4 2021-02-17T23:22:27.129Z,1613604147.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.840012 m, bearing: 122.867699 deg, approachRate: 0.000000 m/s, LOS rate: 0.285933 deg/s, cmd update: 1.143732 deg/s, cmd heading: 129.647961 deg, new cmd heading: 129.241037 deg. 2021-02-17T23:22:29.532Z,1613604149.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:22:30.301Z,1613604150.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:22:30.706Z,1613604150.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:22:31.528Z,1613604151.528 [Micromodem](INFO): Nmea in: $SNTTA,0.114402,,,,232230.37*44 2021-02-17T23:22:31.584Z,1613604151.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.480011 m, bearing: 124.448861 deg, deltaT: 4.494143 s, approachRate: -3.417782 m/s, LOS rate: 0.351827 deg/s, posRepo size: 4 2021-02-17T23:22:31.586Z,1613604151.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.480011 m, bearing: 124.448861 deg, approachRate: -3.417782 m/s, LOS rate: 0.351827 deg/s, cmd update: 1.407309 deg/s, cmd heading: 134.754294 deg, new cmd heading: 135.226903 deg. 2021-02-17T23:22:33.988Z,1613604153.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:22:34.746Z,1613604154.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:22:35.153Z,1613604155.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:22:35.976Z,1613604155.976 [Micromodem](INFO): Nmea in: $SNTTA,0.112377,,,,232234.81*4E 2021-02-17T23:22:36.020Z,1613604156.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.480011 m, bearing: 122.420417 deg, deltaT: 4.408639 s, approachRate: 0.000000 m/s, LOS rate: -0.460106 deg/s, posRepo size: 4 2021-02-17T23:22:36.022Z,1613604156.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.480011 m, bearing: 122.420417 deg, approachRate: 0.000000 m/s, LOS rate: -0.460106 deg/s, cmd update: -1.840426 deg/s, cmd heading: 141.001866 deg, new cmd heading: 141.557404 deg. 2021-02-17T23:22:38.424Z,1613604158.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:22:39.229Z,1613604159.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:22:39.599Z,1613604159.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:22:40.422Z,1613604160.422 [Micromodem](INFO): Nmea in: $SNTTA,0.110194,,,,232239.30*44 2021-02-17T23:22:40.879Z,1613604160.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.059998 m, bearing: 120.263621 deg, deltaT: 4.870444 s, approachRate: 0.529723 m/s, LOS rate: -0.442834 deg/s, posRepo size: 4 2021-02-17T23:22:40.885Z,1613604160.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.059998 m, bearing: 120.263621 deg, approachRate: 0.529723 m/s, LOS rate: -0.442834 deg/s, cmd update: -1.771334 deg/s, cmd heading: 132.038282 deg, new cmd heading: 131.296103 deg. 2021-02-17T23:22:43.262Z,1613604163.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:22:44.058Z,1613604164.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:22:44.443Z,1613604164.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:22:45.280Z,1613604165.280 [Micromodem](INFO): Nmea in: $SNTTA,0.107835,,,,232244.13*4B 2021-02-17T23:22:45.304Z,1613604165.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.059998 m, bearing: 121.942960 deg, deltaT: 4.417751 s, approachRate: 0.000000 m/s, LOS rate: 0.380134 deg/s, posRepo size: 4 2021-02-17T23:22:45.306Z,1613604165.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.059998 m, bearing: 121.942960 deg, approachRate: 0.000000 m/s, LOS rate: 0.380134 deg/s, cmd update: 1.520537 deg/s, cmd heading: 124.205852 deg, new cmd heading: 123.484184 deg. 2021-02-17T23:22:47.690Z,1613604167.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:22:48.486Z,1613604168.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:22:48.886Z,1613604168.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:22:49.720Z,1613604169.720 [Micromodem](INFO): Nmea in: $SNTTA,0.105624,,,,232248.55*49 2021-02-17T23:22:49.742Z,1613604169.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.279999 m, bearing: 123.114529 deg, deltaT: 4.423323 s, approachRate: -1.532784 m/s, LOS rate: 0.264862 deg/s, posRepo size: 4 2021-02-17T23:22:49.745Z,1613604169.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.279999 m, bearing: 123.114529 deg, approachRate: -1.532784 m/s, LOS rate: 0.264862 deg/s, cmd update: 1.059447 deg/s, cmd heading: 130.931077 deg, new cmd heading: 131.573018 deg. 2021-02-17T23:22:52.144Z,1613604172.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:22:52.924Z,1613604172.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:22:53.330Z,1613604173.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:22:54.156Z,1613604174.156 [Micromodem](INFO): Nmea in: $SNTTA,0.103596,,,,232252.99*4E 2021-02-17T23:22:54.222Z,1613604174.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.159988 m, bearing: 123.122001 deg, deltaT: 4.445169 s, approachRate: -0.701888 m/s, LOS rate: 0.001681 deg/s, posRepo size: 4 2021-02-17T23:22:54.224Z,1613604174.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.159988 m, bearing: 123.122001 deg, approachRate: -0.701888 m/s, LOS rate: 0.001681 deg/s, cmd update: 0.006724 deg/s, cmd heading: 135.635936 deg, new cmd heading: 136.124412 deg. 2021-02-17T23:22:56.590Z,1613604176.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:22:57.368Z,1613604177.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:22:57.798Z,1613604177.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:22:58.596Z,1613604178.596 [Micromodem](INFO): Nmea in: $SNTTA,0.101412,,,,232257.43*43 2021-02-17T23:22:58.628Z,1613604178.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.919998 m, bearing: 122.181019 deg, deltaT: 4.464197 s, approachRate: -0.725772 m/s, LOS rate: -0.210784 deg/s, posRepo size: 4 2021-02-17T23:22:58.630Z,1613604178.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.919998 m, bearing: 122.181019 deg, approachRate: -0.725772 m/s, LOS rate: -0.210784 deg/s, cmd update: -0.843136 deg/s, cmd heading: 135.665983 deg, new cmd heading: 135.668661 deg. 2021-02-17T23:23:01.031Z,1613604181.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:01.836Z,1613604181.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:02.219Z,1613604182.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:23:03.052Z,1613604183.052 [Micromodem](INFO): Nmea in: $SNTTA,0.099355,,,,232301.90*4B 2021-02-17T23:23:03.102Z,1613604183.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.860001 m, bearing: 120.368164 deg, deltaT: 4.414079 s, approachRate: -0.693236 m/s, LOS rate: -0.410698 deg/s, posRepo size: 4 2021-02-17T23:23:03.104Z,1613604183.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.860001 m, bearing: 120.368164 deg, approachRate: -0.693236 m/s, LOS rate: -0.410698 deg/s, cmd update: -1.642794 deg/s, cmd heading: 131.944983 deg, new cmd heading: 131.557714 deg. 2021-02-17T23:23:05.474Z,1613604185.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:06.256Z,1613604186.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:06.664Z,1613604186.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:23:07.488Z,1613604187.488 [Micromodem](INFO): Nmea in: $SNTTA,0.097144,,,,232306.32*48 2021-02-17T23:23:07.541Z,1613604187.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.500000 m, bearing: 122.518144 deg, deltaT: 4.473408 s, approachRate: -0.751105 m/s, LOS rate: 0.480613 deg/s, posRepo size: 4 2021-02-17T23:23:07.542Z,1613604187.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.500000 m, bearing: 122.518144 deg, approachRate: -0.751105 m/s, LOS rate: 0.480613 deg/s, cmd update: 1.922453 deg/s, cmd heading: 124.612533 deg, new cmd heading: 123.899004 deg. 2021-02-17T23:23:09.935Z,1613604189.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:10.712Z,1613604190.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:11.110Z,1613604191.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:23:11.936Z,1613604191.936 [Micromodem](INFO): Nmea in: $SNTTA,0.094925,,,,232310.78*4D 2021-02-17T23:23:11.960Z,1613604191.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.199997 m, bearing: 122.700278 deg, deltaT: 4.424818 s, approachRate: -0.745794 m/s, LOS rate: 0.041162 deg/s, posRepo size: 4 2021-02-17T23:23:11.962Z,1613604191.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.199997 m, bearing: 122.700278 deg, approachRate: -0.745794 m/s, LOS rate: 0.041162 deg/s, cmd update: 0.164648 deg/s, cmd heading: 133.140211 deg, new cmd heading: 133.943236 deg. 2021-02-17T23:23:14.370Z,1613604194.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:15.148Z,1613604195.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:15.553Z,1613604195.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:23:16.383Z,1613604196.383 [Micromodem](INFO): Nmea in: $SNTTA,0.092853,,,,232315.22*41 2021-02-17T23:23:16.408Z,1613604196.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.020004 m, bearing: 121.603117 deg, deltaT: 4.455198 s, approachRate: -0.713771 m/s, LOS rate: -0.246265 deg/s, posRepo size: 4 2021-02-17T23:23:16.410Z,1613604196.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.020004 m, bearing: 121.603117 deg, approachRate: -0.713771 m/s, LOS rate: -0.246265 deg/s, cmd update: -0.985061 deg/s, cmd heading: 133.873732 deg, new cmd heading: 133.941315 deg. 2021-02-17T23:23:18.857Z,1613604198.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:19.588Z,1613604199.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:20.030Z,1613604200.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:23:20.840Z,1613604200.840 [Micromodem](INFO): Nmea in: $SNTTA,0.090690,,,,232319.66*4E 2021-02-17T23:23:20.864Z,1613604200.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.899994 m, bearing: 120.490739 deg, deltaT: 4.452384 s, approachRate: -0.700751 m/s, LOS rate: -0.249839 deg/s, posRepo size: 4 2021-02-17T23:23:20.866Z,1613604200.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.899994 m, bearing: 120.490739 deg, approachRate: -0.700751 m/s, LOS rate: -0.249839 deg/s, cmd update: -0.999355 deg/s, cmd heading: 129.491735 deg, new cmd heading: 129.080046 deg. 2021-02-17T23:23:23.256Z,1613604203.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:24.037Z,1613604204.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:24.447Z,1613604204.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:23:25.275Z,1613604205.275 [Micromodem](INFO): Nmea in: $SNTTA,0.088578,,,,232324.11*4C 2021-02-17T23:23:25.300Z,1613604205.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.660004 m, bearing: 121.436488 deg, deltaT: 4.436306 s, approachRate: -0.730335 m/s, LOS rate: 0.213184 deg/s, posRepo size: 4 2021-02-17T23:23:25.301Z,1613604205.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.660004 m, bearing: 121.436488 deg, approachRate: -0.730335 m/s, LOS rate: 0.213184 deg/s, cmd update: 0.852736 deg/s, cmd heading: 125.054306 deg, new cmd heading: 124.641015 deg. 2021-02-17T23:23:27.704Z,1613604207.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:28.482Z,1613604208.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:28.896Z,1613604208.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:23:29.713Z,1613604209.713 [Micromodem](INFO): Nmea in: $SNTTA,0.086576,,,,232328.55*40 2021-02-17T23:23:29.756Z,1613604209.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.419998 m, bearing: 122.121323 deg, deltaT: 4.455694 s, approachRate: -0.727161 m/s, LOS rate: 0.153699 deg/s, posRepo size: 4 2021-02-17T23:23:29.757Z,1613604209.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.419998 m, bearing: 122.121323 deg, approachRate: -0.727161 m/s, LOS rate: 0.153699 deg/s, cmd update: 0.614796 deg/s, cmd heading: 128.850464 deg, new cmd heading: 129.206579 deg. 2021-02-17T23:23:32.153Z,1613604212.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:32.926Z,1613604212.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:33.331Z,1613604213.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:23:34.186Z,1613604214.186 [Micromodem](INFO): Nmea in: $SNTTA,0.084194,,,,232332.99*41 2021-02-17T23:23:34.249Z,1613604214.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.120003 m, bearing: 123.622872 deg, deltaT: 4.400106 s, approachRate: -0.749981 m/s, LOS rate: 0.341253 deg/s, posRepo size: 4 2021-02-17T23:23:34.255Z,1613604214.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.120003 m, bearing: 123.622872 deg, approachRate: -0.749981 m/s, LOS rate: 0.341253 deg/s, cmd update: 1.365011 deg/s, cmd heading: 131.558106 deg, new cmd heading: 131.869991 deg. 2021-02-17T23:23:36.570Z,1613604216.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:37.366Z,1613604217.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:37.786Z,1613604217.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:23:38.596Z,1613604218.596 [Micromodem](INFO): Nmea in: $SNTTA,0.082025,,,,232337.43*4E 2021-02-17T23:23:38.630Z,1613604218.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.879997 m, bearing: 122.543238 deg, deltaT: 4.529934 s, approachRate: -0.715243 m/s, LOS rate: -0.238333 deg/s, posRepo size: 4 2021-02-17T23:23:38.632Z,1613604218.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.879997 m, bearing: 122.543238 deg, approachRate: -0.715243 m/s, LOS rate: -0.238333 deg/s, cmd update: -0.953333 deg/s, cmd heading: 137.735872 deg, new cmd heading: 138.230593 deg. 2021-02-17T23:23:41.038Z,1613604221.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:41.830Z,1613604221.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:42.217Z,1613604222.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:23:43.052Z,1613604223.052 [Micromodem](INFO): Nmea in: $SNTTA,0.080029,,,,232341.90*4F 2021-02-17T23:23:43.077Z,1613604223.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.820000 m, bearing: 120.058429 deg, deltaT: 4.367546 s, approachRate: -0.700622 m/s, LOS rate: -0.568926 deg/s, posRepo size: 4 2021-02-17T23:23:43.078Z,1613604223.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.820000 m, bearing: 120.058429 deg, approachRate: -0.700622 m/s, LOS rate: -0.568926 deg/s, cmd update: -2.275703 deg/s, cmd heading: 133.568334 deg, new cmd heading: 133.151381 deg. 2021-02-17T23:23:45.474Z,1613604225.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:46.264Z,1613604226.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:46.668Z,1613604226.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:23:47.504Z,1613604227.504 [Micromodem](INFO): Nmea in: $SNTTA,0.077697,,,,232346.33*4A 2021-02-17T23:23:47.536Z,1613604227.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.340004 m, bearing: 122.118878 deg, deltaT: 4.444120 s, approachRate: -0.783056 m/s, LOS rate: 0.463635 deg/s, posRepo size: 4 2021-02-17T23:23:47.538Z,1613604227.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.340004 m, bearing: 122.118878 deg, approachRate: -0.783056 m/s, LOS rate: 0.463635 deg/s, cmd update: 1.854540 deg/s, cmd heading: 123.454604 deg, new cmd heading: 122.425051 deg. 2021-02-17T23:23:49.927Z,1613604229.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:50.701Z,1613604230.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:51.102Z,1613604231.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:23:51.928Z,1613604231.928 [Micromodem](INFO): Nmea in: $SNTTA,0.075588,,,,232350.77*42 2021-02-17T23:23:51.978Z,1613604231.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.220001 m, bearing: 123.526676 deg, deltaT: 4.472306 s, approachRate: -0.697627 m/s, LOS rate: 0.314781 deg/s, posRepo size: 4 2021-02-17T23:23:51.981Z,1613604231.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.220001 m, bearing: 123.526676 deg, approachRate: -0.697627 m/s, LOS rate: 0.314781 deg/s, cmd update: 1.259125 deg/s, cmd heading: 131.741145 deg, new cmd heading: 132.530752 deg. 2021-02-17T23:23:54.372Z,1613604234.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:55.154Z,1613604235.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:55.551Z,1613604235.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:23:56.376Z,1613604236.376 [Micromodem](INFO): Nmea in: $SNTTA,0.073368,,,,232355.22*49 2021-02-17T23:23:56.425Z,1613604236.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.860008 m, bearing: 122.102199 deg, deltaT: 4.415902 s, approachRate: -0.760885 m/s, LOS rate: -0.322579 deg/s, posRepo size: 4 2021-02-17T23:23:56.426Z,1613604236.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.860008 m, bearing: 122.102199 deg, approachRate: -0.760885 m/s, LOS rate: -0.322579 deg/s, cmd update: -1.290316 deg/s, cmd heading: 137.306326 deg, new cmd heading: 137.876767 deg. 2021-02-17T23:23:58.843Z,1613604238.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:23:59.584Z,1613604239.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:23:59.991Z,1613604239.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:00.836Z,1613604240.836 [Micromodem](INFO): Nmea in: $SNTTA,0.071218,,,,232359.65*42 2021-02-17T23:24:00.860Z,1613604240.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.680000 m, bearing: 120.269181 deg, deltaT: 4.479957 s, approachRate: -0.709830 m/s, LOS rate: -0.409160 deg/s, posRepo size: 4 2021-02-17T23:24:00.862Z,1613604240.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.680000 m, bearing: 120.269181 deg, approachRate: -0.709830 m/s, LOS rate: -0.409160 deg/s, cmd update: -1.636639 deg/s, cmd heading: 131.533521 deg, new cmd heading: 130.998656 deg. 2021-02-17T23:24:03.261Z,1613604243.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:24:04.028Z,1613604244.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:24:04.433Z,1613604244.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:05.260Z,1613604245.260 [Micromodem](INFO): Nmea in: $SNTTA,0.069016,,,,232404.09*42 2021-02-17T23:24:05.284Z,1613604245.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.380005 m, bearing: 121.157638 deg, deltaT: 4.413599 s, approachRate: -0.747688 m/s, LOS rate: 0.201300 deg/s, posRepo size: 4 2021-02-17T23:24:05.286Z,1613604245.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.380005 m, bearing: 121.157638 deg, approachRate: -0.747688 m/s, LOS rate: 0.201300 deg/s, cmd update: 0.805200 deg/s, cmd heading: 124.300077 deg, new cmd heading: 123.613805 deg. 2021-02-17T23:24:07.679Z,1613604247.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:24:08.478Z,1613604248.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:24:08.878Z,1613604248.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:09.704Z,1613604249.704 [Micromodem](INFO): Nmea in: $SNTTA,0.066988,,0.077295,,232408.55*56 2021-02-17T23:24:09.746Z,1613604249.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.260002 m, bearing: 122.473993 deg, deltaT: 4.467473 s, approachRate: -0.698382 m/s, LOS rate: 0.294653 deg/s, posRepo size: 4 2021-02-17T23:24:09.752Z,1613604249.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.260002 m, bearing: 122.473993 deg, approachRate: -0.698382 m/s, LOS rate: 0.294653 deg/s, cmd update: 1.178613 deg/s, cmd heading: 127.897228 deg, new cmd heading: 128.230450 deg. 2021-02-17T23:24:12.209Z,1613604252.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:24:12.916Z,1613604252.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:24:13.322Z,1613604253.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:14.196Z,1613604254.196 [Micromodem](INFO): Nmea in: $SNTTA,0.064887,,,,232412.98*40 2021-02-17T23:24:14.275Z,1613604254.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.080009 m, bearing: 120.765148 deg, deltaT: 4.407034 s, approachRate: -0.721572 m/s, LOS rate: -0.387754 deg/s, posRepo size: 4 2021-02-17T23:24:14.281Z,1613604254.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.080009 m, bearing: 120.765148 deg, approachRate: -0.721572 m/s, LOS rate: -0.387754 deg/s, cmd update: -1.551016 deg/s, cmd heading: 133.091311 deg, new cmd heading: 133.722053 deg. 2021-02-17T23:24:16.578Z,1613604256.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:24:17.365Z,1613604257.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:24:17.773Z,1613604257.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:18.608Z,1613604258.608 [Micromodem](INFO): Nmea in: $SNTTA,0.062702,,,,232417.43*47 2021-02-17T23:24:18.650Z,1613604258.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.839996 m, bearing: 120.947870 deg, deltaT: 4.509891 s, approachRate: -0.718424 m/s, LOS rate: 0.040516 deg/s, posRepo size: 4 2021-02-17T23:24:18.657Z,1613604258.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.839996 m, bearing: 120.947870 deg, approachRate: -0.718424 m/s, LOS rate: 0.040516 deg/s, cmd update: 0.162063 deg/s, cmd heading: 126.096423 deg, new cmd heading: 125.475162 deg. 2021-02-17T23:24:21.022Z,1613604261.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:24:21.830Z,1613604261.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:24:22.216Z,1613604262.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:23.048Z,1613604263.048 [Micromodem](INFO): Nmea in: $SNTTA,0.060470,,,,232421.90*48 2021-02-17T23:24:23.097Z,1613604263.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.540001 m, bearing: 122.216441 deg, deltaT: 4.376818 s, approachRate: -0.753971 m/s, LOS rate: 0.289839 deg/s, posRepo size: 4 2021-02-17T23:24:23.099Z,1613604263.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.540001 m, bearing: 122.216441 deg, approachRate: -0.753971 m/s, LOS rate: 0.289839 deg/s, cmd update: 1.159355 deg/s, cmd heading: 126.805770 deg, new cmd heading: 126.882073 deg. 2021-02-17T23:24:24.383Z,1613604264.383 [CBIT](IMPORTANT): Beginning ground fault scan 2021-02-17T23:24:25.470Z,1613604265.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:24:26.248Z,1613604266.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:24:26.671Z,1613604266.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:27.476Z,1613604267.476 [Micromodem](INFO): Nmea in: $SNTTA,0.058319,,,,232426.31*47 2021-02-17T23:24:27.515Z,1613604267.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.300003 m, bearing: 122.841157 deg, deltaT: 4.482113 s, approachRate: -0.722873 m/s, LOS rate: 0.139380 deg/s, posRepo size: 4 2021-02-17T23:24:27.517Z,1613604267.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.300003 m, bearing: 122.841157 deg, approachRate: -0.722873 m/s, LOS rate: 0.139380 deg/s, cmd update: 0.557520 deg/s, cmd heading: 131.997521 deg, new cmd heading: 132.473681 deg. 2021-02-17T23:24:29.499Z,1613604269.499 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:24:29.917Z,1613604269.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:24:30.697Z,1613604270.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:24:31.103Z,1613604271.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:31.928Z,1613604271.928 [Micromodem](INFO): Nmea in: $SNTTA,0.056242,,,,232430.76*42 2021-02-17T23:24:31.952Z,1613604271.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.119995 m, bearing: 121.648510 deg, deltaT: 4.430495 s, approachRate: -0.717755 m/s, LOS rate: -0.269190 deg/s, posRepo size: 4 2021-02-17T23:24:31.954Z,1613604271.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.119995 m, bearing: 121.648510 deg, approachRate: -0.717755 m/s, LOS rate: -0.269190 deg/s, cmd update: -1.076762 deg/s, cmd heading: 134.469810 deg, new cmd heading: 134.700055 deg. 2021-02-17T23:24:34.380Z,1613604274.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:24:35.146Z,1613604275.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:24:35.378Z,1613604275.378 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.009135 CHAN A1 (24V): -0.028869 CHAN A2 (12V): -0.007003 CHAN A3 (5V): -0.002430 CHAN B0 (3.3V): 0.000178 CHAN B1 (3.15aV): 0.000155 CHAN B2 (3.15bV): 0.000358 CHAN B3 (GND): 0.001819 OPEN: 0.005824 Full Scale Calc: 4.765 mA, -1.589 mA 2021-02-17T23:24:35.562Z,1613604275.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:36.372Z,1613604276.372 [Micromodem](INFO): Nmea in: $SNTTA,0.053999,,,,232435.21*4D 2021-02-17T23:24:36.417Z,1613604276.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.820000 m, bearing: 120.494755 deg, deltaT: 4.428059 s, approachRate: -0.745246 m/s, LOS rate: -0.260556 deg/s, posRepo size: 4 2021-02-17T23:24:36.419Z,1613604276.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.820000 m, bearing: 120.494755 deg, approachRate: -0.745246 m/s, LOS rate: -0.260556 deg/s, cmd update: -1.042222 deg/s, cmd heading: 129.701824 deg, new cmd heading: 129.217509 deg. 2021-02-17T23:24:38.836Z,1613604278.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:24:39.585Z,1613604279.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:24:39.985Z,1613604279.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:40.844Z,1613604280.844 [Micromodem](INFO): Nmea in: $SNTTA,0.051938,,,,232439.65*48 2021-02-17T23:24:40.868Z,1613604280.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.760002 m, bearing: 120.485602 deg, deltaT: 4.465302 s, approachRate: -0.685283 m/s, LOS rate: -0.002050 deg/s, posRepo size: 4 2021-02-17T23:24:40.869Z,1613604280.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.760002 m, bearing: 120.485602 deg, approachRate: -0.685283 m/s, LOS rate: -0.002050 deg/s, cmd update: -0.008199 deg/s, cmd heading: 125.048213 deg, new cmd heading: 124.594447 deg. 2021-02-17T23:24:43.262Z,1613604283.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:24:44.036Z,1613604284.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:24:44.435Z,1613604284.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:44.454Z,1613604284.454 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-17T23:24:45.264Z,1613604285.264 [Micromodem](INFO): Nmea in: $SNTTA,0.049654,,,0.093036,232444.10*5D 2021-02-17T23:24:45.289Z,1613604285.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.279999 m, bearing: 121.448277 deg, deltaT: 4.429252 s, approachRate: -0.785686 m/s, LOS rate: 0.217345 deg/s, posRepo size: 4 2021-02-17T23:24:45.291Z,1613604285.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.279999 m, bearing: 121.448277 deg, approachRate: -0.785686 m/s, LOS rate: 0.217345 deg/s, cmd update: 0.869379 deg/s, cmd heading: 125.011897 deg, new cmd heading: 125.008392 deg. 2021-02-17T23:24:47.676Z,1613604287.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:24:48.468Z,1613604288.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:24:48.883Z,1613604288.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:49.696Z,1613604289.696 [Micromodem](INFO): Nmea in: $SNTTA,0.047390,,,,232448.54*43 2021-02-17T23:24:49.738Z,1613604289.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.800003 m, bearing: 120.912517 deg, deltaT: 4.465129 s, approachRate: -0.779372 m/s, LOS rate: -0.119988 deg/s, posRepo size: 4 2021-02-17T23:24:49.740Z,1613604289.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.800003 m, bearing: 120.912517 deg, approachRate: -0.779372 m/s, LOS rate: -0.119988 deg/s, cmd update: -0.479950 deg/s, cmd heading: 128.889723 deg, new cmd heading: 129.251290 deg. 2021-02-17T23:24:52.153Z,1613604292.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:24:52.912Z,1613604292.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:24:53.322Z,1613604293.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:54.152Z,1613604294.152 [Micromodem](INFO): Nmea in: $SNTTA,0.045289,,,,232452.98*43 2021-02-17T23:24:54.239Z,1613604294.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.800011 m, bearing: 121.688699 deg, deltaT: 4.416217 s, approachRate: -0.679313 m/s, LOS rate: 0.175757 deg/s, posRepo size: 4 2021-02-17T23:24:54.241Z,1613604294.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.800011 m, bearing: 121.688699 deg, approachRate: -0.679313 m/s, LOS rate: 0.175757 deg/s, cmd update: 0.703030 deg/s, cmd heading: 126.767971 deg, new cmd heading: 126.531731 deg. 2021-02-17T23:24:54.555Z,1613604294.555 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:24:56.574Z,1613604296.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:24:57.356Z,1613604297.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:24:57.773Z,1613604297.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:24:58.584Z,1613604298.584 [Micromodem](INFO): Nmea in: $SNTTA,0.043198,,,,232457.42*44 2021-02-17T23:24:58.618Z,1613604298.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.620003 m, bearing: 120.703923 deg, deltaT: 4.507639 s, approachRate: -0.705471 m/s, LOS rate: -0.218468 deg/s, posRepo size: 4 2021-02-17T23:24:58.620Z,1613604298.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.620003 m, bearing: 120.703923 deg, approachRate: -0.705471 m/s, LOS rate: -0.218468 deg/s, cmd update: -0.873874 deg/s, cmd heading: 129.936978 deg, new cmd heading: 130.195542 deg. 2021-02-17T23:25:01.018Z,1613604301.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:01.825Z,1613604301.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:25:02.219Z,1613604302.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:25:03.044Z,1613604303.044 [Micromodem](INFO): Nmea in: $SNTTA,0.041029,,,,232501.89*48 2021-02-17T23:25:03.094Z,1613604303.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.380005 m, bearing: 121.348802 deg, deltaT: 4.372820 s, approachRate: -0.740940 m/s, LOS rate: 0.147474 deg/s, posRepo size: 4 2021-02-17T23:25:03.100Z,1613604303.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.380005 m, bearing: 121.348802 deg, approachRate: -0.740940 m/s, LOS rate: 0.147474 deg/s, cmd update: 0.589898 deg/s, cmd heading: 126.115544 deg, new cmd heading: 125.704000 deg. 2021-02-17T23:25:05.463Z,1613604305.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:06.244Z,1613604306.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:25:06.650Z,1613604306.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:25:07.472Z,1613604307.472 [Micromodem](INFO): Nmea in: $SNTTA,0.039019,,,,232506.31*40 2021-02-17T23:25:07.496Z,1613604307.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.080006 m, bearing: 119.934597 deg, deltaT: 4.485642 s, approachRate: -0.735680 m/s, LOS rate: -0.315274 deg/s, posRepo size: 4 2021-02-17T23:25:07.498Z,1613604307.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.080006 m, bearing: 119.934597 deg, approachRate: -0.735680 m/s, LOS rate: -0.315274 deg/s, cmd update: -1.261094 deg/s, cmd heading: 128.752142 deg, new cmd heading: 128.990175 deg. 2021-02-17T23:25:09.495Z,1613604309.495 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T23:25:09.914Z,1613604309.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:10.693Z,1613604310.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:25:11.099Z,1613604311.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:25:11.920Z,1613604311.920 [Micromodem](INFO): Nmea in: $SNTTA,0.036768,,,,232510.76*4A 2021-02-17T23:25:11.968Z,1613604311.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.080002 m, bearing: 121.858798 deg, deltaT: 4.448483 s, approachRate: -0.674388 m/s, LOS rate: 0.432552 deg/s, posRepo size: 4 2021-02-17T23:25:11.970Z,1613604311.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.080002 m, bearing: 121.858798 deg, approachRate: -0.674388 m/s, LOS rate: 0.432552 deg/s, cmd update: 1.730209 deg/s, cmd heading: 123.126939 deg, new cmd heading: 122.609602 deg. 2021-02-17T23:25:14.363Z,1613604314.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:15.134Z,1613604315.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:25:15.537Z,1613604315.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:25:16.364Z,1613604316.364 [Micromodem](INFO): Nmea in: $SNTTA,0.034586,,,,232515.20*4C 2021-02-17T23:25:16.413Z,1613604316.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.779999 m, bearing: 122.226181 deg, deltaT: 4.427550 s, approachRate: -0.745334 m/s, LOS rate: 0.082976 deg/s, posRepo size: 4 2021-02-17T23:25:16.414Z,1613604316.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.779999 m, bearing: 122.226181 deg, approachRate: -0.745334 m/s, LOS rate: 0.082976 deg/s, cmd update: 0.331906 deg/s, cmd heading: 130.766760 deg, new cmd heading: 131.534154 deg. 2021-02-17T23:25:18.829Z,1613604318.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:19.581Z,1613604319.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:25:19.998Z,1613604319.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:25:20.840Z,1613604320.840 [Micromodem](INFO): Nmea in: $SNTTA,0.032482,,,0.034970,232519.65*55 2021-02-17T23:25:20.864Z,1613604320.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.480000 m, bearing: 119.424710 deg, deltaT: 4.441017 s, approachRate: -0.743073 m/s, LOS rate: -0.630817 deg/s, posRepo size: 4 2021-02-17T23:25:20.892Z,1613604320.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.480000 m, bearing: 119.424710 deg, approachRate: -0.743073 m/s, LOS rate: -0.630817 deg/s, cmd update: -2.523269 deg/s, cmd heading: 132.246054 deg, new cmd heading: 132.391446 deg. 2021-02-17T23:25:23.253Z,1613604323.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:24.020Z,1613604324.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:25:24.437Z,1613604324.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:25:24.464Z,1613604324.464 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T23:25:25.256Z,1613604325.256 [Micromodem](INFO): Nmea in: $SNTTA,0.030281,,,,232524.09*41 2021-02-17T23:25:25.311Z,1613604325.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.240002 m, bearing: 118.138504 deg, deltaT: 4.452041 s, approachRate: -0.727756 m/s, LOS rate: -0.288903 deg/s, posRepo size: 4 2021-02-17T23:25:25.329Z,1613604325.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.240002 m, bearing: 118.138504 deg, approachRate: -0.727756 m/s, LOS rate: -0.288903 deg/s, cmd update: -1.155611 deg/s, cmd heading: 121.015525 deg, new cmd heading: 119.921113 deg. 2021-02-17T23:25:27.696Z,1613604327.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:28.477Z,1613604328.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:25:28.873Z,1613604328.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:25:29.700Z,1613604329.700 [Micromodem](INFO): Nmea in: $SNTTA,0.028092,,,,232528.54*4C 2021-02-17T23:25:29.742Z,1613604329.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.879997 m, bearing: 120.039263 deg, deltaT: 4.436119 s, approachRate: -0.757420 m/s, LOS rate: 0.428474 deg/s, posRepo size: 4 2021-02-17T23:25:29.749Z,1613604329.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.879997 m, bearing: 120.039263 deg, approachRate: -0.757420 m/s, LOS rate: 0.428474 deg/s, cmd update: 1.713894 deg/s, cmd heading: 115.887466 deg, new cmd heading: 115.393085 deg. 2021-02-17T23:25:32.130Z,1613604332.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:32.908Z,1613604332.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:25:33.314Z,1613604333.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:25:34.148Z,1613604334.148 [Micromodem](INFO): Nmea in: $SNTTA,0.025994,,,,232532.97*4A 2021-02-17T23:25:34.241Z,1613604334.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.180000 m, bearing: 123.662843 deg, deltaT: 4.431451 s, approachRate: -0.609281 m/s, LOS rate: 0.817696 deg/s, posRepo size: 4 2021-02-17T23:25:34.241Z,1613604334.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.18 m. 2021-02-17T23:25:34.247Z,1613604334.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.180000 m, bearing: 123.662843 deg, approachRate: -0.609281 m/s, LOS rate: 0.817696 deg/s, cmd update: 3.270784 deg/s, cmd heading: 123.478130 deg, new cmd heading: 124.330957 deg. 2021-02-17T23:25:34.537Z,1613604334.537 [PowerOnly](INFO): Powering up loadControl 2021-02-17T23:25:36.570Z,1613604336.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:37.357Z,1613604337.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:25:37.769Z,1613604337.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:25:38.584Z,1613604338.584 [Micromodem](INFO): Nmea in: $SNTTA,0.023844,,0.044213,,232537.42*53 2021-02-17T23:25:38.618Z,1613604338.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.520000 m, bearing: 120.710903 deg, deltaT: 4.501877 s, approachRate: -0.812994 m/s, LOS rate: -0.655713 deg/s, posRepo size: 4 2021-02-17T23:25:38.619Z,1613604338.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.52 m. 2021-02-17T23:25:38.619Z,1613604338.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.52 m. 2021-02-17T23:25:38.619Z,1613604338.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T23:25:38.621Z,1613604338.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.520000 m, bearing: 120.710903 deg, approachRate: -0.812994 m/s, LOS rate: -0.655713 deg/s, cmd update: -2.622852 deg/s, cmd heading: 138.209694 deg, new cmd heading: 139.423442 deg. 2021-02-17T23:25:41.036Z,1613604341.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:41.823Z,1613604341.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:25:42.229Z,1613604342.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:25:43.054Z,1613604343.054 [Micromodem](INFO): Nmea in: $SNTTA,0.021721,,,,232541.89*45 2021-02-17T23:25:43.079Z,1613604343.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.220001 m, bearing: 115.089207 deg, deltaT: 4.370888 s, approachRate: -0.754995 m/s, LOS rate: -1.286168 deg/s, posRepo size: 4 2021-02-17T23:25:43.080Z,1613604343.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.220001 m, bearing: 115.089207 deg, approachRate: -0.754995 m/s, LOS rate: -1.286168 deg/s, cmd update: -5.144672 deg/s, cmd heading: 126.744963 deg, new cmd heading: 125.537971 deg. 2021-02-17T23:25:45.473Z,1613604345.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:46.240Z,1613604346.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:25:46.645Z,1613604346.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:25:47.472Z,1613604347.472 [Micromodem](INFO): Nmea in: $SNTTA,0.019886,,,,232546.31*48 2021-02-17T23:25:47.522Z,1613604347.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.099998 m, bearing: 115.564151 deg, deltaT: 4.477636 s, approachRate: -0.696797 m/s, LOS rate: 0.106070 deg/s, posRepo size: 4 2021-02-17T23:25:47.525Z,1613604347.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.099998 m, bearing: 115.564151 deg, approachRate: -0.696797 m/s, LOS rate: 0.106070 deg/s, cmd update: 0.424281 deg/s, cmd heading: 103.750568 deg, new cmd heading: 101.520404 deg. 2021-02-17T23:25:49.922Z,1613604349.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:50.693Z,1613604350.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:25:51.090Z,1613604351.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:25:51.921Z,1613604351.921 [Micromodem](INFO): Nmea in: $SNTTA,0.017958,,0.033163,,232550.76*5A 2021-02-17T23:25:51.961Z,1613604351.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.119997 m, bearing: 122.525165 deg, deltaT: 4.440314 s, approachRate: -0.445915 m/s, LOS rate: 1.567685 deg/s, posRepo size: 4 2021-02-17T23:25:51.963Z,1613604351.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.119997 m, bearing: 122.525165 deg, approachRate: -0.445915 m/s, LOS rate: 1.567685 deg/s, cmd update: 6.270741 deg/s, cmd heading: 105.636275 deg, new cmd heading: 105.818316 deg. 2021-02-17T23:25:54.365Z,1613604354.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:55.148Z,1613604355.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:25:55.534Z,1613604355.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:25:56.380Z,1613604356.380 [Micromodem](INFO): Nmea in: $SNTTA,0.016053,,,,232555.21*44 2021-02-17T23:25:56.417Z,1613604356.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.339998 m, bearing: 121.391750 deg, deltaT: 4.423121 s, approachRate: -0.854600 m/s, LOS rate: -0.256248 deg/s, posRepo size: 4 2021-02-17T23:25:56.420Z,1613604356.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.339998 m, bearing: 121.391750 deg, approachRate: -0.854600 m/s, LOS rate: -0.256248 deg/s, cmd update: -1.024991 deg/s, cmd heading: 133.395936 deg, new cmd heading: 136.269559 deg. 2021-02-17T23:25:58.803Z,1613604358.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:25:59.589Z,1613604359.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:00.001Z,1613604360.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:00.838Z,1613604360.838 [Micromodem](INFO): Nmea in: $SNTTA,0.013792,,,,232559.66*44 2021-02-17T23:26:00.864Z,1613604360.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.400002 m, bearing: 119.772148 deg, deltaT: 4.469187 s, approachRate: -0.657837 m/s, LOS rate: -0.362393 deg/s, posRepo size: 4 2021-02-17T23:26:00.866Z,1613604360.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.400002 m, bearing: 119.772148 deg, approachRate: -0.657837 m/s, LOS rate: -0.362393 deg/s, cmd update: -1.449572 deg/s, cmd heading: 128.818831 deg, new cmd heading: 128.368158 deg. 2021-02-17T23:26:03.240Z,1613604363.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:26:04.016Z,1613604364.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:04.429Z,1613604364.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:05.244Z,1613604365.244 [Micromodem](INFO): Nmea in: $SNTTA,0.012343,,,,232604.08*4E 2021-02-17T23:26:05.290Z,1613604365.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 118.816031 deg, deltaT: 4.453438 s, approachRate: -0.471546 m/s, LOS rate: -0.214692 deg/s, posRepo size: 4 2021-02-17T23:26:05.292Z,1613604365.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.299999 m, bearing: 118.816031 deg, approachRate: -0.471546 m/s, LOS rate: -0.214692 deg/s, cmd update: -0.858768 deg/s, cmd heading: 122.357534 deg, new cmd heading: 121.766248 deg. 2021-02-17T23:26:07.690Z,1613604367.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:26:08.460Z,1613604368.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:08.873Z,1613604368.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:09.688Z,1613604369.688 [Micromodem](INFO): Nmea in: $SNTTA,0.009822,,,,232608.53*4A 2021-02-17T23:26:09.727Z,1613604369.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.520001 m, bearing: 121.683700 deg, deltaT: 4.434130 s, approachRate: -0.852478 m/s, LOS rate: 0.646726 deg/s, posRepo size: 4 2021-02-17T23:26:09.729Z,1613604369.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.520001 m, bearing: 121.683700 deg, approachRate: -0.852478 m/s, LOS rate: 0.646726 deg/s, cmd update: 2.586905 deg/s, cmd heading: 118.549775 deg, new cmd heading: 118.196951 deg. 2021-02-17T23:26:12.120Z,1613604372.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:26:12.904Z,1613604372.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:13.316Z,1613604373.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:14.144Z,1613604374.144 [Micromodem](INFO): Nmea in: $SNTTA,0.007794,,0.045332,,232612.97*58 2021-02-17T23:26:14.216Z,1613604374.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.459998 m, bearing: 123.327193 deg, deltaT: 4.423546 s, approachRate: -0.691753 m/s, LOS rate: 0.371533 deg/s, posRepo size: 4 2021-02-17T23:26:14.217Z,1613604374.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.459998 m, bearing: 123.327193 deg, approachRate: -0.691753 m/s, LOS rate: 0.371533 deg/s, cmd update: 1.486132 deg/s, cmd heading: 129.993518 deg, new cmd heading: 131.213432 deg. 2021-02-17T23:26:16.574Z,1613604376.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:26:17.353Z,1613604377.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:17.762Z,1613604377.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:18.580Z,1613604378.580 [Micromodem](INFO): Nmea in: $SNTTA,0.006820,,,,232617.42*49 2021-02-17T23:26:18.617Z,1613604378.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.759999 m, bearing: 117.970112 deg, deltaT: 4.597829 s, approachRate: -0.587233 m/s, LOS rate: -1.165133 deg/s, posRepo size: 4 2021-02-17T23:26:18.619Z,1613604378.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.759999 m, bearing: 117.970112 deg, approachRate: -0.587233 m/s, LOS rate: -1.165133 deg/s, cmd update: -4.660531 deg/s, cmd heading: 136.826515 deg, new cmd heading: 137.242179 deg. 2021-02-17T23:26:21.020Z,1613604381.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:26:21.832Z,1613604381.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:22.213Z,1613604382.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:23.037Z,1613604383.037 [Micromodem](INFO): Nmea in: $SNTTA,0.004400,,,,232621.90*4F 2021-02-17T23:26:23.061Z,1613604383.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.359998 m, bearing: 117.958050 deg, deltaT: 4.299812 s, approachRate: -0.558164 m/s, LOS rate: -0.002805 deg/s, posRepo size: 4 2021-02-17T23:26:23.063Z,1613604383.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.359998 m, bearing: 117.958050 deg, approachRate: -0.558164 m/s, LOS rate: -0.002805 deg/s, cmd update: -0.011221 deg/s, cmd heading: 116.787048 deg, new cmd heading: 114.811598 deg. 2021-02-17T23:26:25.454Z,1613604385.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:26:26.236Z,1613604386.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:26.642Z,1613604386.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:27.480Z,1613604387.480 [Micromodem](INFO): Nmea in: $SNTTA,0.003356,,0.006093,,232626.30*53 2021-02-17T23:26:27.502Z,1613604387.502 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T23:26:27.502Z,1613604387.502 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T23:26:27.503Z,1613604387.503 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T23:26:27.503Z,1613604387.503 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:26:27.503Z,1613604387.503 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T23:26:27.504Z,1613604387.504 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.979999 m 2021-02-17T23:26:27.504Z,1613604387.504 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T23:26:27.504Z,1613604387.504 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T23:26:27.504Z,1613604387.504 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T23:26:27.506Z,1613604387.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.979999 m, bearing: 136.991096 deg, deltaT: 4.432243 s, approachRate: -0.311355 m/s, LOS rate: 4.294224 deg/s, posRepo size: 4 2021-02-17T23:26:27.508Z,1613604387.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.979999 m, bearing: 136.991096 deg, approachRate: -0.311355 m/s, LOS rate: 4.294224 deg/s, cmd update: 12.000000 deg/s, cmd heading: 116.737313 deg, new cmd heading: 116.732417 deg. 2021-02-17T23:26:27.910Z,1613604387.910 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T232627: (41.552319, -70.708603) 2021-02-17T23:26:27.910Z,1613604387.910 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T23:26:27.911Z,1613604387.911 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T23:26:27.911Z,1613604387.911 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:26:27.911Z,1613604387.911 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T23:26:27.911Z,1613604387.911 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:26:27.911Z,1613604387.911 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T23:26:27.911Z,1613604387.911 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T23:26:27.911Z,1613604387.911 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T23:26:28.300Z,1613604388.300 [UniversalFixResidualReporter](INFO): Fix residual: 2.9 %DT, over the last 672.8 m. Residual distance 19.5 m at bearing -167.8 degrees. Fix at (41.5516, -70.7095) with 0.0 m made good. 2021-02-17T23:26:29.968Z,1613604389.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:26:30.680Z,1613604390.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:31.097Z,1613604391.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:31.908Z,1613604391.908 [Micromodem](INFO): Nmea in: $SNTTA,0.003503,,,,232630.75*41 2021-02-17T23:26:31.933Z,1613604391.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.279998 m, bearing: 109.514085 deg, deltaT: 4.458304 s, approachRate: 0.067290 m/s, LOS rate: -6.163108 deg/s, posRepo size: 4 2021-02-17T23:26:31.934Z,1613604391.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.279998 m, bearing: 109.514085 deg, approachRate: 0.067290 m/s, LOS rate: -6.163108 deg/s, cmd update: -12.000000 deg/s, cmd heading: 170.043031 deg, new cmd heading: 175.094239 deg. 2021-02-17T23:26:34.362Z,1613604394.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:26:35.138Z,1613604395.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:35.533Z,1613604395.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:36.368Z,1613604396.368 [Micromodem](INFO): Nmea in: $SNTTA,0.004720,,,,232635.20*40 2021-02-17T23:26:36.408Z,1613604396.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.199999 m, bearing: 125.288906 deg, deltaT: 4.447830 s, approachRate: 0.431671 m/s, LOS rate: 3.546633 deg/s, posRepo size: 4 2021-02-17T23:26:36.410Z,1613604396.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.199999 m, bearing: 125.288906 deg, approachRate: 0.431671 m/s, LOS rate: 3.546633 deg/s, cmd update: 12.000000 deg/s, cmd heading: 116.667510 deg, new cmd heading: 111.291905 deg. 2021-02-17T23:26:38.835Z,1613604398.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:26:39.580Z,1613604399.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:39.973Z,1613604399.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:40.830Z,1613604400.830 [Micromodem](INFO): Nmea in: $SNTTA,0.006513,,,,232639.65*4D 2021-02-17T23:26:40.854Z,1613604400.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.780002 m, bearing: 149.466874 deg, deltaT: 4.440330 s, approachRate: 0.581039 m/s, LOS rate: 5.445084 deg/s, posRepo size: 4 2021-02-17T23:26:40.856Z,1613604400.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.780002 m, bearing: 149.466874 deg, approachRate: 0.581039 m/s, LOS rate: 5.445084 deg/s, cmd update: 12.000000 deg/s, cmd heading: 169.947559 deg, new cmd heading: 175.402159 deg. 2021-02-17T23:26:43.257Z,1613604403.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:26:44.017Z,1613604404.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:44.424Z,1613604404.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:45.244Z,1613604405.244 [Micromodem](INFO): Nmea in: $SNTTA,0.008364,,,,232644.08*44 2021-02-17T23:26:45.294Z,1613604405.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.540001 m, bearing: 136.970592 deg, deltaT: 4.482749 s, approachRate: 0.615693 m/s, LOS rate: -2.787638 deg/s, posRepo size: 4 2021-02-17T23:26:45.300Z,1613604405.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.540001 m, bearing: 136.970592 deg, approachRate: 0.615693 m/s, LOS rate: -2.787638 deg/s, cmd update: -11.150553 deg/s, cmd heading: 223.887705 deg, new cmd heading: 228.676341 deg. 2021-02-17T23:26:47.680Z,1613604407.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:26:48.458Z,1613604408.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:48.870Z,1613604408.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:49.689Z,1613604409.689 [Micromodem](INFO): Nmea in: $SNTTA,0.010640,0.016253,,0.017510,232648.52*4C 2021-02-17T23:26:49.726Z,1613604409.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.439999 m, bearing: 103.943786 deg, deltaT: 4.415603 s, approachRate: 0.883231 m/s, LOS rate: -7.479569 deg/s, posRepo size: 4 2021-02-17T23:26:49.726Z,1613604409.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.44 m. Rolling out. 2021-02-17T23:26:49.726Z,1613604409.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T23:26:52.148Z,1613604412.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:26:52.901Z,1613604412.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:53.317Z,1613604413.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:54.128Z,1613604414.128 [Micromodem](INFO): Nmea in: $SNTTA,0.012784,,,,232652.97*44 2021-02-17T23:26:54.209Z,1613604414.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 134.717162 deg, deltaT: 4.423962 s, approachRate: 0.420438 m/s, LOS rate: 6.956067 deg/s, posRepo size: 4 2021-02-17T23:26:56.578Z,1613604416.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:26:57.344Z,1613604417.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:26:57.751Z,1613604417.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:26:58.577Z,1613604418.577 [Micromodem](INFO): Nmea in: $SNTTA,0.014129,,,,232657.41*4D 2021-02-17T23:26:58.616Z,1613604418.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.759998 m, bearing: 147.670698 deg, deltaT: 4.507401 s, approachRate: 0.545769 m/s, LOS rate: 2.873837 deg/s, posRepo size: 4 2021-02-17T23:27:01.017Z,1613604421.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:01.814Z,1613604421.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:02.213Z,1613604422.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:27:03.028Z,1613604423.028 [Micromodem](INFO): Nmea in: $SNTTA,0.015590,,,,232701.88*4D 2021-02-17T23:27:03.053Z,1613604423.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.400002 m, bearing: 220.276237 deg, deltaT: 4.381777 s, approachRate: 0.602496 m/s, LOS rate: 16.569885 deg/s, posRepo size: 4 2021-02-17T23:27:05.450Z,1613604425.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:06.232Z,1613604426.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:06.639Z,1613604426.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:27:07.476Z,1613604427.476 [Micromodem](INFO): Nmea in: $SNTTA,0.017371,,,,232706.30*42 2021-02-17T23:27:07.501Z,1613604427.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.160002 m, bearing: 211.888874 deg, deltaT: 4.467274 s, approachRate: 0.617827 m/s, LOS rate: -1.877512 deg/s, posRepo size: 4 2021-02-17T23:27:09.074Z,1613604429.074 [PowerOnly](INFO): Powering down loadControl 2021-02-17T23:27:09.898Z,1613604429.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:10.681Z,1613604430.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:11.088Z,1613604431.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:27:11.908Z,1613604431.908 [Micromodem](INFO): Nmea in: $SNTTA,0.021782,,0.044488,,232710.75*53 2021-02-17T23:27:11.946Z,1613604431.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.280003 m, bearing: 216.228858 deg, deltaT: 4.439696 s, approachRate: 0.702751 m/s, LOS rate: 0.977541 deg/s, posRepo size: 4 2021-02-17T23:27:14.383Z,1613604434.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:15.120Z,1613604435.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:15.535Z,1613604435.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:27:16.355Z,1613604436.355 [Micromodem](INFO): Nmea in: $SNTTA,0.021689,,,,232715.19*4C 2021-02-17T23:27:16.379Z,1613604436.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.220001 m, bearing: 214.814859 deg, deltaT: 4.457849 s, approachRate: 0.659511 m/s, LOS rate: -0.317193 deg/s, posRepo size: 4 2021-02-17T23:27:18.792Z,1613604438.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:19.569Z,1613604439.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:19.972Z,1613604439.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:27:20.816Z,1613604440.816 [Micromodem](INFO): Nmea in: $SNTTA,0.023795,,,,232719.64*44 2021-02-17T23:27:20.868Z,1613604440.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.460003 m, bearing: 214.107784 deg, deltaT: 4.422602 s, approachRate: 0.732601 m/s, LOS rate: -0.159878 deg/s, posRepo size: 4 2021-02-17T23:27:23.238Z,1613604443.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:24.015Z,1613604444.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:24.414Z,1613604444.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:27:25.240Z,1613604445.240 [Micromodem](INFO): Nmea in: $SNTTA,0.025640,,,,232724.08*4F 2021-02-17T23:27:25.264Z,1613604445.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.639999 m, bearing: 217.549489 deg, deltaT: 4.447781 s, approachRate: 0.714962 m/s, LOS rate: 0.773803 deg/s, posRepo size: 4 2021-02-17T23:27:27.658Z,1613604447.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:28.458Z,1613604448.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:28.857Z,1613604448.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:27:29.680Z,1613604449.680 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232728.52*57 2021-02-17T23:27:29.722Z,1613604449.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.640003 m, bearing: 210.103777 deg, deltaT: 4.477229 s, approachRate: 0.670058 m/s, LOS rate: -1.663018 deg/s, posRepo size: 4 2021-02-17T23:27:32.120Z,1613604452.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:32.896Z,1613604452.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:33.319Z,1613604453.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:27:34.135Z,1613604454.135 [Micromodem](INFO): Nmea in: $SNTTA,0.030073,,,,232732.96*4D 2021-02-17T23:27:34.204Z,1613604454.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.879997 m, bearing: 214.039824 deg, deltaT: 4.398540 s, approachRate: 0.736607 m/s, LOS rate: 0.894853 deg/s, posRepo size: 4 2021-02-17T23:27:36.562Z,1613604456.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:37.340Z,1613604457.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:37.761Z,1613604457.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:27:38.568Z,1613604458.568 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232737.41*5B 2021-02-17T23:27:38.607Z,1613604458.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.300003 m, bearing: 209.278294 deg, deltaT: 4.492949 s, approachRate: 0.761194 m/s, LOS rate: -1.059778 deg/s, posRepo size: 4 2021-02-17T23:27:41.016Z,1613604461.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:41.816Z,1613604461.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:42.225Z,1613604462.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:27:43.028Z,1613604463.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232741.88*5F 2021-02-17T23:27:43.086Z,1613604463.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.719997 m, bearing: 216.676140 deg, deltaT: 4.414368 s, approachRate: 0.774742 m/s, LOS rate: 1.675856 deg/s, posRepo size: 4 2021-02-17T23:27:45.461Z,1613604465.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:46.245Z,1613604466.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:46.639Z,1613604466.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:27:47.464Z,1613604467.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232746.31*5A 2021-02-17T23:27:47.516Z,1613604467.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.199997 m, bearing: 191.962508 deg, deltaT: 4.443259 s, approachRate: 0.783209 m/s, LOS rate: -5.562051 deg/s, posRepo size: 4 2021-02-17T23:27:49.908Z,1613604469.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:50.677Z,1613604470.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:51.078Z,1613604471.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:27:51.908Z,1613604471.908 [Micromodem](INFO): Nmea in: $SNTTA,0.038707,,,,232750.74*49 2021-02-17T23:27:51.947Z,1613604471.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.139999 m, bearing: 167.937877 deg, deltaT: 4.438399 s, approachRate: 0.662402 m/s, LOS rate: -5.412904 deg/s, posRepo size: 4 2021-02-17T23:27:54.380Z,1613604474.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:55.126Z,1613604475.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:55.526Z,1613604475.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:27:56.352Z,1613604476.352 [Micromodem](INFO): Nmea in: $SNTTA,0.047987,,,,232755.19*49 2021-02-17T23:27:56.397Z,1613604476.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.619995 m, bearing: 202.864009 deg, deltaT: 4.425216 s, approachRate: 0.786401 m/s, LOS rate: 7.892526 deg/s, posRepo size: 4 2021-02-17T23:27:58.814Z,1613604478.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:27:59.565Z,1613604479.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:27:59.978Z,1613604479.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:28:00.820Z,1613604480.820 [Micromodem](INFO): Nmea in: $SNTTA,0.042859,,,,232759.63*4F 2021-02-17T23:28:00.863Z,1613604480.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.559998 m, bearing: 209.925755 deg, deltaT: 4.458855 s, approachRate: 0.659363 m/s, LOS rate: 1.583758 deg/s, posRepo size: 4 2021-02-17T23:28:03.270Z,1613604483.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:04.013Z,1613604484.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:28:04.431Z,1613604484.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:28:05.227Z,1613604485.227 [Micromodem](INFO): Nmea in: $SNTTA,0.045162,,,,232804.08*43 2021-02-17T23:28:06.057Z,1613604486.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:07.644Z,1613604487.644 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:28:08.901Z,1613604488.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:09.676Z,1613604489.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:28:10.070Z,1613604490.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:28:10.886Z,1613604490.886 [Micromodem](INFO): Nmea in: $SNTTA,0.047955,,,,232809.74*4B 2021-02-17T23:28:11.725Z,1613604491.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:13.299Z,1613604493.299 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:28:14.536Z,1613604494.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:15.320Z,1613604495.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:28:15.731Z,1613604495.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:28:16.551Z,1613604496.551 [Micromodem](INFO): Nmea in: $SNTTA,0.050780,,,,232815.39*4F 2021-02-17T23:28:16.591Z,1613604496.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.320000 m, bearing: 208.198796 deg, deltaT: 15.813696 s, approachRate: 0.743659 m/s, LOS rate: -0.109207 deg/s, posRepo size: 4 2021-02-17T23:28:19.010Z,1613604499.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:19.773Z,1613604499.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:28:20.206Z,1613604500.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:28:20.996Z,1613604500.996 [Micromodem](INFO): Nmea in: $SNTTA,0.052880,,,,232819.84*48 2021-02-17T23:28:21.036Z,1613604501.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.559998 m, bearing: 205.061185 deg, deltaT: 4.360806 s, approachRate: 0.742981 m/s, LOS rate: -0.719503 deg/s, posRepo size: 4 2021-02-17T23:28:23.434Z,1613604503.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:24.214Z,1613604504.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:28:24.621Z,1613604504.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:28:25.440Z,1613604505.440 [Micromodem](INFO): Nmea in: $SNTTA,0.055050,,,,232824.28*42 2021-02-17T23:28:25.504Z,1613604505.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.800003 m, bearing: 205.156439 deg, deltaT: 4.476903 s, approachRate: 0.723716 m/s, LOS rate: 0.021277 deg/s, posRepo size: 4 2021-02-17T23:28:27.874Z,1613604507.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:28.659Z,1613604508.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:28:29.060Z,1613604509.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:28:29.888Z,1613604509.888 [Micromodem](INFO): Nmea in: $SNTTA,0.057173,,,,232828.73*42 2021-02-17T23:28:29.912Z,1613604509.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.979996 m, bearing: 201.277028 deg, deltaT: 4.433081 s, approachRate: 0.717332 m/s, LOS rate: -0.875105 deg/s, posRepo size: 4 2021-02-17T23:28:32.322Z,1613604512.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:33.101Z,1613604513.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:28:33.502Z,1613604513.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:28:34.328Z,1613604514.328 [Micromodem](INFO): Nmea in: $SNTTA,0.059408,,,,232833.17*4D 2021-02-17T23:28:34.392Z,1613604514.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.459999 m, bearing: 173.969426 deg, deltaT: 4.435665 s, approachRate: 0.784551 m/s, LOS rate: -6.156371 deg/s, posRepo size: 4 2021-02-17T23:28:36.763Z,1613604516.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:37.541Z,1613604517.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:28:37.954Z,1613604517.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:28:38.774Z,1613604518.774 [Micromodem](INFO): Nmea in: $SNTTA,0.061588,,,,232837.61*4A 2021-02-17T23:28:38.839Z,1613604518.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.580002 m, bearing: 208.395752 deg, deltaT: 4.455084 s, approachRate: 0.700324 m/s, LOS rate: 7.727424 deg/s, posRepo size: 4 2021-02-17T23:28:41.253Z,1613604521.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:41.984Z,1613604521.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:28:42.395Z,1613604522.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:28:43.224Z,1613604523.224 [Micromodem](INFO): Nmea in: $SNTTA,0.063713,,0.071588,,232842.05*55 2021-02-17T23:28:43.248Z,1613604523.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.879997 m, bearing: 185.097881 deg, deltaT: 4.488276 s, approachRate: 0.735248 m/s, LOS rate: -5.190829 deg/s, posRepo size: 4 2021-02-17T23:28:45.670Z,1613604525.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:46.431Z,1613604526.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:28:46.841Z,1613604526.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:28:47.660Z,1613604527.660 [Micromodem](INFO): Nmea in: $SNTTA,0.065899,,0.067785,,232846.50*52 2021-02-17T23:28:47.682Z,1613604527.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.120003 m, bearing: 188.123832 deg, deltaT: 4.384469 s, approachRate: 0.738973 m/s, LOS rate: 0.690152 deg/s, posRepo size: 4 2021-02-17T23:28:50.110Z,1613604530.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:50.882Z,1613604530.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:28:51.288Z,1613604531.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:28:52.112Z,1613604532.112 [Micromodem](INFO): Nmea in: $SNTTA,,,,,232850.95*5C 2021-02-17T23:28:52.168Z,1613604532.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.300003 m, bearing: 188.647830 deg, deltaT: 4.439319 s, approachRate: 0.716326 m/s, LOS rate: 0.118036 deg/s, posRepo size: 4 2021-02-17T23:28:54.562Z,1613604534.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:55.317Z,1613604535.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:28:55.722Z,1613604535.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:28:56.560Z,1613604536.560 [Micromodem](INFO): Nmea in: $SNTTA,0.070398,,,,232855.38*45 2021-02-17T23:28:56.595Z,1613604536.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.540009 m, bearing: 191.365932 deg, deltaT: 4.512148 s, approachRate: 0.718063 m/s, LOS rate: 0.602396 deg/s, posRepo size: 4 2021-02-17T23:28:58.984Z,1613604538.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:28:59.761Z,1613604539.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:29:00.201Z,1613604540.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:29:00.978Z,1613604540.978 [Micromodem](INFO): Nmea in: $SNTTA,0.072438,,,,232859.83*46 2021-02-17T23:29:01.841Z,1613604541.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:03.395Z,1613604543.395 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:29:04.624Z,1613604544.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:05.416Z,1613604545.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:29:05.842Z,1613604545.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:29:06.644Z,1613604546.644 [Micromodem](INFO): Nmea in: $SNTTA,0.075310,,,,232905.48*43 2021-02-17T23:29:06.685Z,1613604546.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.220001 m, bearing: 200.204620 deg, deltaT: 10.051482 s, approachRate: 0.764066 m/s, LOS rate: 0.879342 deg/s, posRepo size: 4 2021-02-17T23:29:09.083Z,1613604549.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:09.860Z,1613604549.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:29:10.287Z,1613604550.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:29:11.082Z,1613604551.082 [Micromodem](INFO): Nmea in: $SNTTA,0.077264,,,,232909.93*49 2021-02-17T23:29:11.911Z,1613604551.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:13.506Z,1613604553.506 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:29:14.724Z,1613604554.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:15.516Z,1613604555.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:29:15.929Z,1613604555.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:29:16.748Z,1613604556.748 [Micromodem](INFO): Nmea in: $SNTTA,0.080019,,,,232915.58*43 2021-02-17T23:29:16.829Z,1613604556.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.180008 m, bearing: 186.749011 deg, deltaT: 10.142831 s, approachRate: 0.686200 m/s, LOS rate: -1.326613 deg/s, posRepo size: 4 2021-02-17T23:29:19.221Z,1613604559.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:19.960Z,1613604559.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:29:20.366Z,1613604560.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:29:21.209Z,1613604561.209 [Micromodem](INFO): Nmea in: $SNTTA,0.082307,,,0.084794,232920.03*5D 2021-02-17T23:29:22.010Z,1613604562.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:23.612Z,1613604563.612 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:29:25.089Z,1613604565.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:25.631Z,1613604565.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:29:26.034Z,1613604566.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:29:26.856Z,1613604566.856 [Micromodem](INFO): Nmea in: $SNTTA,0.085160,,,,232925.70*40 2021-02-17T23:29:26.886Z,1613604566.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.919998 m, bearing: 190.913800 deg, deltaT: 10.056742 s, approachRate: 0.769632 m/s, LOS rate: 0.414129 deg/s, posRepo size: 4 2021-02-17T23:29:29.286Z,1613604569.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:30.068Z,1613604570.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:29:30.479Z,1613604570.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:29:31.305Z,1613604571.305 [Micromodem](INFO): Nmea in: $SNTTA,0.087426,,,,232930.14*43 2021-02-17T23:29:31.329Z,1613604571.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.399994 m, bearing: 198.752016 deg, deltaT: 4.451510 s, approachRate: 0.781756 m/s, LOS rate: 1.760799 deg/s, posRepo size: 4 2021-02-17T23:29:33.724Z,1613604573.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:34.518Z,1613604574.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:29:34.919Z,1613604574.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:29:35.744Z,1613604575.744 [Micromodem](INFO): Nmea in: $SNTTA,0.089665,,,,232934.58*44 2021-02-17T23:29:35.759Z,1613604575.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.699997 m, bearing: 185.599148 deg, deltaT: 4.438737 s, approachRate: 0.743455 m/s, LOS rate: -2.963201 deg/s, posRepo size: 4 2021-02-17T23:29:38.225Z,1613604578.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:38.967Z,1613604578.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:29:39.362Z,1613604579.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:29:40.218Z,1613604580.218 [Micromodem](INFO): Nmea in: $SNTTA,0.091901,,,,232939.03*43 2021-02-17T23:29:40.252Z,1613604580.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.059998 m, bearing: 185.797374 deg, deltaT: 4.478352 s, approachRate: 0.750276 m/s, LOS rate: 0.044263 deg/s, posRepo size: 4 2021-02-17T23:29:42.606Z,1613604582.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:43.402Z,1613604583.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:29:43.833Z,1613604583.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:29:44.628Z,1613604584.628 [Micromodem](INFO): Nmea in: $SNTTA,0.094215,,,,232943.47*45 2021-02-17T23:29:44.672Z,1613604584.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.540009 m, bearing: 185.941628 deg, deltaT: 4.431674 s, approachRate: 0.785259 m/s, LOS rate: 0.032551 deg/s, posRepo size: 4 2021-02-17T23:29:47.070Z,1613604587.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:47.845Z,1613604587.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:29:48.257Z,1613604588.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:29:49.072Z,1613604589.072 [Micromodem](INFO): Nmea in: $SNTTA,0.096440,,,,232947.91*4E 2021-02-17T23:29:49.112Z,1613604589.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.839996 m, bearing: 189.714966 deg, deltaT: 4.420851 s, approachRate: 0.746460 m/s, LOS rate: 0.853532 deg/s, posRepo size: 4 2021-02-17T23:29:51.506Z,1613604591.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:52.288Z,1613604592.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:29:52.700Z,1613604592.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:29:53.523Z,1613604593.523 [Micromodem](INFO): Nmea in: $SNTTA,0.098678,,,,232952.35*43 2021-02-17T23:29:53.548Z,1613604593.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.200012 m, bearing: 192.066422 deg, deltaT: 4.449875 s, approachRate: 0.755081 m/s, LOS rate: 0.528432 deg/s, posRepo size: 4 2021-02-17T23:29:55.950Z,1613604595.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:29:56.732Z,1613604596.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:29:57.155Z,1613604597.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:29:57.957Z,1613604597.957 [Micromodem](INFO): Nmea in: $SNTTA,0.100788,,,,232956.80*47 2021-02-17T23:29:58.825Z,1613604598.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:00.372Z,1613604600.372 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:30:01.595Z,1613604601.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:02.394Z,1613604602.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:30:02.827Z,1613604602.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:30:03.607Z,1613604603.607 [Micromodem](INFO): Nmea in: $SNTTA,0.103489,,,,233002.46*45 2021-02-17T23:30:04.481Z,1613604604.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:06.034Z,1613604606.034 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:30:07.296Z,1613604607.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:08.049Z,1613604608.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:30:08.450Z,1613604608.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:30:09.263Z,1613604609.263 [Micromodem](INFO): Nmea in: $SNTTA,0.106222,,,,233008.12*4C 2021-02-17T23:30:10.096Z,1613604610.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:11.679Z,1613604611.679 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:30:12.917Z,1613604612.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:13.700Z,1613604613.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:30:14.106Z,1613604614.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:30:14.921Z,1613604614.921 [Micromodem](INFO): Nmea in: $SNTTA,0.108960,,,,233013.77*46 2021-02-17T23:30:15.758Z,1613604615.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:17.347Z,1613604617.347 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:30:18.575Z,1613604618.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:19.356Z,1613604619.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:30:19.765Z,1613604619.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:30:20.572Z,1613604620.572 [Micromodem](INFO): Nmea in: $SNTTA,0.111787,,,,233019.42*45 2021-02-17T23:30:21.406Z,1613604621.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:22.992Z,1613604622.992 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:30:24.258Z,1613604624.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:25.013Z,1613604625.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:30:25.418Z,1613604625.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:30:26.230Z,1613604626.230 [Micromodem](INFO): Nmea in: $SNTTA,0.114449,,,,233025.08*40 2021-02-17T23:30:27.071Z,1613604627.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:28.646Z,1613604628.646 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:30:29.892Z,1613604629.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:30.668Z,1613604630.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:30:31.075Z,1613604631.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:30:31.885Z,1613604631.885 [Micromodem](INFO): Nmea in: $SNTTA,0.117341,,,,233030.74*43 2021-02-17T23:30:32.723Z,1613604632.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:34.310Z,1613604634.310 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:30:35.542Z,1613604635.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:36.324Z,1613604636.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:30:36.731Z,1613604636.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:30:37.540Z,1613604637.540 [Micromodem](INFO): Nmea in: $SNTTA,0.120158,,,,233036.39*42 2021-02-17T23:30:38.373Z,1613604638.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:39.960Z,1613604639.960 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:30:41.242Z,1613604641.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:41.988Z,1613604641.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:30:42.385Z,1613604642.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:30:43.210Z,1613604643.210 [Micromodem](INFO): Nmea in: $SNTTA,0.123338,,,,233042.05*49 2021-02-17T23:30:44.038Z,1613604644.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:45.620Z,1613604645.620 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:30:46.866Z,1613604646.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:47.636Z,1613604647.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:30:48.042Z,1613604648.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:30:48.862Z,1613604648.862 [Micromodem](INFO): Nmea in: $SNTTA,0.126209,,,0.128697,233047.70*55 2021-02-17T23:30:49.699Z,1613604649.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:51.270Z,1613604651.270 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:30:52.528Z,1613604652.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:53.298Z,1613604653.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:30:53.698Z,1613604653.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:30:54.530Z,1613604654.530 [Micromodem](INFO): Nmea in: $SNTTA,0.129011,,,,233053.36*4B 2021-02-17T23:30:54.955Z,1613604654.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.859985 m, bearing: 189.474160 deg, deltaT: 61.449718 s, approachRate: 0.743046 m/s, LOS rate: -0.042185 deg/s, posRepo size: 4 2021-02-17T23:30:54.956Z,1613604654.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 193.86 m. Resuming terminal guidance. 2021-02-17T23:30:54.956Z,1613604654.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T23:30:57.357Z,1613604657.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:30:58.152Z,1613604658.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:30:58.546Z,1613604658.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:30:59.364Z,1613604659.364 [Micromodem](INFO): Nmea in: $SNTTA,0.130970,,,,233058.22*43 2021-02-17T23:31:00.226Z,1613604660.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:01.778Z,1613604661.778 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:31:03.036Z,1613604663.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:03.834Z,1613604663.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:31:04.214Z,1613604664.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:31:05.043Z,1613604665.043 [Micromodem](INFO): Nmea in: $SNTTA,0.133964,,,,233103.90*43 2021-02-17T23:31:05.883Z,1613604665.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:07.440Z,1613604667.440 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:31:08.663Z,1613604668.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:09.452Z,1613604669.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:31:09.864Z,1613604669.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:31:10.679Z,1613604670.679 [Micromodem](INFO): Nmea in: $SNTTA,0.136355,,,,233109.52*4A 2021-02-17T23:31:11.500Z,1613604671.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:13.091Z,1613604673.091 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:31:14.353Z,1613604674.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:15.118Z,1613604675.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:31:15.521Z,1613604675.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:31:16.331Z,1613604676.331 [Micromodem](INFO): Nmea in: $SNTTA,0.139129,,,,233115.18*4F 2021-02-17T23:31:17.187Z,1613604677.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:18.756Z,1613604678.756 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:31:19.000Z,1613604680.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:20.777Z,1613604680.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:31:21.205Z,1613604681.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:31:21.990Z,1613604681.990 [Micromodem](INFO): Nmea in: $SNTTA,0.141991,,,,233120.84*48 2021-02-17T23:31:22.873Z,1613604682.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:24.408Z,1613604684.408 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:31:25.640Z,1613604685.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:26.424Z,1613604686.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:31:26.842Z,1613604686.842 [Micromodem](INFO): Nmea in: $SNPGT,1,145 2021-02-17T23:31:26.843Z,1613604686.843 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,145 expected 58 2021-02-17T23:31:26.843Z,1613604686.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:31:26.846Z,1613604686.846 [Micromodem](INFO): Nmea in: $CATXP,400*46 2021-02-17T23:31:26.848Z,1613604686.848 [Micromodem](ERROR): Response from modem unexpected: $CATXP,400*46 2021-02-17T23:31:27.231Z,1613604687.231 [Micromodem](INFO): Nmea in: $CATXF,400*50 2021-02-17T23:31:27.231Z,1613604687.231 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50 2021-02-17T23:31:27.234Z,1613604687.234 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,233126.494280,3,0,40,4000,14500,1,0,0,0,2,0,3,0*77 2021-02-17T23:31:27.234Z,1613604687.234 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,233126.494280,3,0,40,4000,14500,1,0,0,0,2,0,3,0*77 2021-02-17T23:31:27.641Z,1613604687.641 [Micromodem](INFO): Nmea in: $CAERR,233126,NI ,29,Busy completing a previous request*7C 2021-02-17T23:31:27.641Z,1613604687.641 [Micromodem](ERROR): Got error from modem: $CAERR,233126,NI ,29,Busy completing a previous request*7C 2021-02-17T23:31:27.643Z,1613604687.643 [Micromodem](INFO): Nmea in: $SNTTA,0.144847,,,,233126.49*40 2021-02-17T23:31:27.643Z,1613604687.643 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.144847,,,,233126.49*40 2021-02-17T23:31:28.476Z,1613604688.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:30.064Z,1613604690.064 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:31:31.298Z,1613604691.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:34.146Z,1613604694.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:36.954Z,1613604696.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:38.144Z,1613604698.144 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:31:38.564Z,1613604698.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:31:39.360Z,1613604699.360 [Micromodem](INFO): Nmea in: $SNTTA,0.150594,,,,233138.21*47 2021-02-17T23:31:39.798Z,1613604699.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:40.570Z,1613604700.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:31:40.984Z,1613604700.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:31:41.818Z,1613604701.818 [Micromodem](INFO): Nmea in: $SNTTA,0.151707,,,,233140.64*40 2021-02-17T23:31:42.249Z,1613604702.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.699982 m, bearing: 181.373952 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T23:31:42.250Z,1613604702.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 181.373952deg and heading rate command to 0 deg/s. 2021-02-17T23:31:44.633Z,1613604704.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:45.418Z,1613604705.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:31:45.843Z,1613604705.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:31:46.632Z,1613604706.632 [Micromodem](INFO): Nmea in: $SNTTA,0.154173,,,,233145.48*4B 2021-02-17T23:31:47.083Z,1613604707.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.360001 m, bearing: 190.591006 deg, deltaT: 4.822288 s, approachRate: 0.758980 m/s, LOS rate: 1.911345 deg/s, posRepo size: 2 2021-02-17T23:31:47.085Z,1613604707.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 231.360001 m, bearing: 190.591006 deg, approachRate: 0.758980 m/s, LOS rate: 1.911345 deg/s, cmd update: 7.645378 deg/s, cmd heading: 181.373952 deg, new cmd heading: 181.373952 deg. 2021-02-17T23:31:49.486Z,1613604709.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:50.382Z,1613604710.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:31:50.775Z,1613604710.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:31:51.590Z,1613604711.590 [Micromodem](INFO): Nmea in: $SNTTA,0.156801,,,,233150.45*4C 2021-02-17T23:31:52.015Z,1613604712.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.899994 m, bearing: 230.337884 deg, deltaT: 4.962384 s, approachRate: 0.713365 m/s, LOS rate: 8.009634 deg/s, posRepo size: 3 2021-02-17T23:31:52.017Z,1613604712.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 234.899994 m, bearing: 230.337884 deg, approachRate: 0.713365 m/s, LOS rate: 8.009634 deg/s, cmd update: 12.000000 deg/s, cmd heading: 219.466369 deg, new cmd heading: 222.412730 deg. 2021-02-17T23:31:54.454Z,1613604714.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:31:55.224Z,1613604715.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:31:55.618Z,1613604715.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:31:56.443Z,1613604716.443 [Micromodem](INFO): Nmea in: $SNTTA,0.158697,,,,233155.29*4C 2021-02-17T23:31:56.875Z,1613604716.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.959991 m, bearing: 202.000222 deg, deltaT: 4.865778 s, approachRate: 0.628881 m/s, LOS rate: -5.823871 deg/s, posRepo size: 4 2021-02-17T23:31:56.877Z,1613604716.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 237.959991 m, bearing: 202.000222 deg, approachRate: 0.628881 m/s, LOS rate: -5.823871 deg/s, cmd update: -12.000000 deg/s, cmd heading: 277.855886 deg, new cmd heading: 282.413258 deg. 2021-02-17T23:31:59.278Z,1613604719.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:32:00.060Z,1613604720.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:32:00.467Z,1613604720.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:32:01.297Z,1613604721.297 [Micromodem](INFO): Nmea in: $SNTTA,0.160155,,,,233200.13*44 2021-02-17T23:32:01.732Z,1613604721.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.479996 m, bearing: 243.021546 deg, deltaT: 4.822697 s, approachRate: 0.522530 m/s, LOS rate: 8.505889 deg/s, posRepo size: 4 2021-02-17T23:32:01.737Z,1613604721.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 240.479996 m, bearing: 243.021546 deg, approachRate: 0.522530 m/s, LOS rate: 8.505889 deg/s, cmd update: 12.000000 deg/s, cmd heading: 219.937597 deg, new cmd heading: 215.030173 deg. 2021-02-17T23:32:04.124Z,1613604724.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:32:04.936Z,1613604724.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:32:05.319Z,1613604725.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:32:06.150Z,1613604726.150 [Micromodem](INFO): Nmea in: $SNTTA,0.161363,,,,233205.00*45 2021-02-17T23:32:06.575Z,1613604726.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.039993 m, bearing: 268.145823 deg, deltaT: 4.904710 s, approachRate: 0.318061 m/s, LOS rate: 5.122480 deg/s, posRepo size: 4 2021-02-17T23:32:06.577Z,1613604726.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 242.039993 m, bearing: 268.145823 deg, approachRate: 0.318061 m/s, LOS rate: 5.122480 deg/s, cmd update: 12.000000 deg/s, cmd heading: 278.699499 deg, new cmd heading: 282.980391 deg. 2021-02-17T23:32:08.974Z,1613604728.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:32:09.757Z,1613604729.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:32:10.180Z,1613604730.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:32:10.974Z,1613604730.974 [Micromodem](INFO): Nmea in: $SNTTA,0.162233,,,,233209.82*44 2021-02-17T23:32:11.419Z,1613604731.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.299988 m, bearing: 303.584123 deg, deltaT: 4.796971 s, approachRate: 0.262665 m/s, LOS rate: 7.387641 deg/s, posRepo size: 4 2021-02-17T23:32:11.421Z,1613604731.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 243.299988 m, bearing: 303.584123 deg, approachRate: 0.262665 m/s, LOS rate: 7.387641 deg/s, cmd update: 12.000000 deg/s, cmd heading: 336.357652 deg, new cmd heading: 341.107000 deg. 2021-02-17T23:32:13.928Z,1613604733.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:32:14.618Z,1613604734.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:32:15.015Z,1613604735.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:32:15.841Z,1613604735.841 [Micromodem](INFO): Nmea in: $SNTTA,0.162709,,,,233214.69*41 2021-02-17T23:32:16.271Z,1613604736.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 244.079987 m, bearing: 230.647756 deg, deltaT: 4.842280 s, approachRate: 0.161081 m/s, LOS rate: -15.062401 deg/s, posRepo size: 4 2021-02-17T23:32:16.272Z,1613604736.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.062401 deg/s. Setting heading cmd to target bearing of 230.647756deg and heading rate command to 0 deg/s. 2021-02-17T23:32:18.660Z,1613604738.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:32:19.452Z,1613604739.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:32:19.859Z,1613604739.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:32:20.670Z,1613604740.670 [Micromodem](INFO): Nmea in: $SNTTA,0.162474,,,,233219.52*4D 2021-02-17T23:32:21.123Z,1613604741.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.599991 m, bearing: 342.864732 deg, deltaT: 4.842920 s, approachRate: -0.099113 m/s, LOS rate: 23.171347 deg/s, posRepo size: 4 2021-02-17T23:32:21.124Z,1613604741.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.171347 deg/s. Setting heading cmd to target bearing of 342.864732deg and heading rate command to 0 deg/s. 2021-02-17T23:32:23.518Z,1613604743.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:32:24.306Z,1613604744.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:32:24.713Z,1613604744.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:32:25.521Z,1613604745.521 [Micromodem](INFO): Nmea in: $SNTTA,0.161600,,,,233224.37*42 2021-02-17T23:32:25.955Z,1613604745.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.219986 m, bearing: 5.504510 deg, deltaT: 4.864865 s, approachRate: -0.283668 m/s, LOS rate: 4.653731 deg/s, posRepo size: 4 2021-02-17T23:32:25.957Z,1613604745.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 242.219986 m, bearing: 5.504510 deg, approachRate: -0.283668 m/s, LOS rate: 4.653731 deg/s, cmd update: 12.000000 deg/s, cmd heading: 342.864732 deg, new cmd heading: 342.864732 deg. 2021-02-17T23:32:28.365Z,1613604748.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:32:29.170Z,1613604749.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:32:29.569Z,1613604749.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:32:30.383Z,1613604750.383 [Micromodem](INFO): Nmea in: $SNTTA,0.160218,,,,233229.24*41 2021-02-17T23:32:30.813Z,1613604750.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.179993 m, bearing: 352.394649 deg, deltaT: 4.864910 s, approachRate: -0.419328 m/s, LOS rate: -2.694779 deg/s, posRepo size: 4 2021-02-17T23:32:30.828Z,1613604750.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 240.179993 m, bearing: 352.394649 deg, approachRate: -0.419328 m/s, LOS rate: -2.694779 deg/s, cmd update: -10.779114 deg/s, cmd heading: 41.244674 deg, new cmd heading: 45.733394 deg. 2021-02-17T23:32:33.245Z,1613604753.245 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T23:32:33.260Z,1613604753.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:32:34.002Z,1613604754.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:32:34.401Z,1613604754.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:32:35.223Z,1613604755.223 [Micromodem](INFO): Nmea in: $SNTTA,0.158256,,,,233234.07*4D 2021-02-17T23:32:35.678Z,1613604755.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.179993 m, bearing: 356.815503 deg, deltaT: 4.851537 s, approachRate: -0.618361 m/s, LOS rate: 0.911227 deg/s, posRepo size: 4 2021-02-17T23:32:35.685Z,1613604755.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 237.179993 m, bearing: 356.815503 deg, approachRate: -0.618361 m/s, LOS rate: 0.911227 deg/s, cmd update: 3.644910 deg/s, cmd heading: 348.949606 deg, new cmd heading: 344.792167 deg. 2021-02-17T23:32:38.083Z,1613604758.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:32:38.853Z,1613604758.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:32:39.250Z,1613604759.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:32:40.074Z,1613604760.074 [Micromodem](INFO): Nmea in: $SNTTA,0.156095,,,,233238.92*4E 2021-02-17T23:32:40.506Z,1613604760.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.939987 m, bearing: 357.974531 deg, deltaT: 4.831970 s, approachRate: -0.670535 m/s, LOS rate: 0.239867 deg/s, posRepo size: 4 2021-02-17T23:32:40.508Z,1613604760.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 233.939987 m, bearing: 357.974531 deg, approachRate: -0.670535 m/s, LOS rate: 0.239867 deg/s, cmd update: 0.959467 deg/s, cmd heading: 6.488867 deg, new cmd heading: 7.977189 deg. 2021-02-17T23:32:42.914Z,1613604762.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:32:43.698Z,1613604763.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:32:44.108Z,1613604764.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:32:44.919Z,1613604764.919 [Micromodem](INFO): Nmea in: $SNTTA,0.153793,,,,233243.76*4C 2021-02-17T23:32:45.366Z,1613604765.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.519989 m, bearing: 358.487888 deg, deltaT: 4.857257 s, approachRate: -0.704101 m/s, LOS rate: 0.105689 deg/s, posRepo size: 4 2021-02-17T23:32:45.372Z,1613604765.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 230.519989 m, bearing: 358.487888 deg, approachRate: -0.704101 m/s, LOS rate: 0.105689 deg/s, cmd update: 0.422755 deg/s, cmd heading: 11.168389 deg, new cmd heading: 11.543749 deg. 2021-02-17T23:32:47.747Z,1613604767.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:32:48.540Z,1613604768.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:32:48.951Z,1613604768.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:32:49.760Z,1613604769.760 [Micromodem](INFO): Nmea in: $SNTTA,0.151586,,,,233248.61*45 2021-02-17T23:32:50.232Z,1613604770.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.219986 m, bearing: 356.606717 deg, deltaT: 4.803698 s, approachRate: -0.686971 m/s, LOS rate: -0.391609 deg/s, posRepo size: 4 2021-02-17T23:32:50.233Z,1613604770.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 227.219986 m, bearing: 356.606717 deg, approachRate: -0.686971 m/s, LOS rate: -0.391609 deg/s, cmd update: -1.566435 deg/s, cmd heading: 13.199195 deg, new cmd heading: 13.390477 deg. 2021-02-17T23:32:52.600Z,1613604772.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:32:53.400Z,1613604773.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:32:53.828Z,1613604773.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:32:54.628Z,1613604774.628 [Micromodem](INFO): Nmea in: $SNTTA,0.149197,,,,233253.46*47 2021-02-17T23:32:55.042Z,1613604775.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.619995 m, bearing: 355.579812 deg, deltaT: 4.883841 s, approachRate: -0.737123 m/s, LOS rate: -0.210266 deg/s, posRepo size: 4 2021-02-17T23:32:55.044Z,1613604775.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.619995 m, bearing: 355.579812 deg, approachRate: -0.737123 m/s, LOS rate: -0.210266 deg/s, cmd update: -0.841064 deg/s, cmd heading: 5.561852 deg, new cmd heading: 4.954348 deg. 2021-02-17T23:32:57.452Z,1613604777.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:32:58.236Z,1613604778.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:32:58.647Z,1613604778.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:32:59.454Z,1613604779.454 [Micromodem](INFO): Nmea in: $SNTTA,0.146958,,,,233258.30*49 2021-02-17T23:32:59.897Z,1613604779.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.259979 m, bearing: 356.369683 deg, deltaT: 4.847774 s, approachRate: -0.693105 m/s, LOS rate: 0.162935 deg/s, posRepo size: 4 2021-02-17T23:32:59.903Z,1613604779.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 220.259979 m, bearing: 356.369683 deg, approachRate: -0.693105 m/s, LOS rate: 0.162935 deg/s, cmd update: 0.651739 deg/s, cmd heading: 1.477682 deg, new cmd heading: 1.152525 deg. 2021-02-17T23:33:02.308Z,1613604782.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:33:03.090Z,1613604783.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:33:03.495Z,1613604783.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:33:04.318Z,1613604784.318 [Micromodem](INFO): Nmea in: $SNTTA,0.144649,,,,233303.15*4C 2021-02-17T23:33:04.737Z,1613604784.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.719986 m, bearing: 357.087071 deg, deltaT: 4.827624 s, approachRate: -0.733279 m/s, LOS rate: 0.148601 deg/s, posRepo size: 4 2021-02-17T23:33:04.739Z,1613604784.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 216.719986 m, bearing: 357.087071 deg, approachRate: -0.733279 m/s, LOS rate: 0.148601 deg/s, cmd update: 0.594403 deg/s, cmd heading: 4.626670 deg, new cmd heading: 4.884305 deg. 2021-02-17T23:33:07.211Z,1613604787.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:33:07.934Z,1613604787.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:33:08.343Z,1613604788.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:33:09.162Z,1613604789.162 [Micromodem](INFO): Nmea in: $SNTTA,0.142230,,,,233308.00*4F 2021-02-17T23:33:09.640Z,1613604789.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.179977 m, bearing: 356.841239 deg, deltaT: 4.909081 s, approachRate: -0.721114 m/s, LOS rate: -0.050077 deg/s, posRepo size: 4 2021-02-17T23:33:09.642Z,1613604789.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.179977 m, bearing: 356.841239 deg, approachRate: -0.721114 m/s, LOS rate: -0.050077 deg/s, cmd update: -0.200308 deg/s, cmd heading: 7.542244 deg, new cmd heading: 7.775765 deg. 2021-02-17T23:33:12.009Z,1613604792.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:33:12.826Z,1613604792.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:33:13.220Z,1613604793.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:33:14.022Z,1613604794.022 [Micromodem](INFO): Nmea in: $SNTTA,0.140003,,,,233312.89*45 2021-02-17T23:33:14.448Z,1613604794.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.819977 m, bearing: 356.603657 deg, deltaT: 4.828069 s, approachRate: -0.695931 m/s, LOS rate: -0.049208 deg/s, posRepo size: 4 2021-02-17T23:33:14.449Z,1613604794.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 209.819977 m, bearing: 356.603657 deg, approachRate: -0.695931 m/s, LOS rate: -0.049208 deg/s, cmd update: -0.196833 deg/s, cmd heading: 6.575145 deg, new cmd heading: 6.500599 deg. 2021-02-17T23:33:16.860Z,1613604796.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:33:17.628Z,1613604797.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:33:18.037Z,1613604798.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:33:18.848Z,1613604798.848 [Micromodem](INFO): Nmea in: $SNTTA,0.137605,,,0.140098,233317.69*54 2021-02-17T23:33:19.286Z,1613604799.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.219986 m, bearing: 356.339575 deg, deltaT: 4.817269 s, approachRate: -0.747310 m/s, LOS rate: -0.054820 deg/s, posRepo size: 4 2021-02-17T23:33:19.288Z,1613604799.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 206.219986 m, bearing: 356.339575 deg, approachRate: -0.747310 m/s, LOS rate: -0.054820 deg/s, cmd update: -0.219280 deg/s, cmd heading: 5.630866 deg, new cmd heading: 5.549464 deg. 2021-02-17T23:33:21.684Z,1613604801.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:33:22.482Z,1613604802.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:33:22.882Z,1613604802.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:33:23.700Z,1613604803.700 [Micromodem](INFO): Nmea in: $SNTTA,0.135059,,,,233322.55*4A 2021-02-17T23:33:24.146Z,1613604804.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.380005 m, bearing: 356.136964 deg, deltaT: 4.818672 s, approachRate: -0.796896 m/s, LOS rate: -0.042047 deg/s, posRepo size: 4 2021-02-17T23:33:24.148Z,1613604804.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.380005 m, bearing: 356.136964 deg, approachRate: -0.796896 m/s, LOS rate: -0.042047 deg/s, cmd update: -0.168188 deg/s, cmd heading: 4.568979 deg, new cmd heading: 4.475288 deg. 2021-02-17T23:33:26.557Z,1613604806.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:33:27.342Z,1613604807.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:33:27.735Z,1613604807.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:33:28.550Z,1613604808.550 [Micromodem](INFO): Nmea in: $SNTTA,0.132649,,,,233327.41*4A 2021-02-17T23:33:28.992Z,1613604808.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.719986 m, bearing: 356.231494 deg, deltaT: 4.881413 s, approachRate: -0.749787 m/s, LOS rate: 0.019365 deg/s, posRepo size: 4 2021-02-17T23:33:28.993Z,1613604808.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.719986 m, bearing: 356.231494 deg, approachRate: -0.749787 m/s, LOS rate: 0.019365 deg/s, cmd update: 0.077461 deg/s, cmd heading: 3.748001 deg, new cmd heading: 3.681630 deg. 2021-02-17T23:33:31.395Z,1613604811.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:33:32.208Z,1613604812.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:33:32.583Z,1613604812.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:33:33.417Z,1613604813.417 [Micromodem](INFO): Nmea in: $SNTTA,0.130109,,,,233332.27*4F 2021-02-17T23:33:33.848Z,1613604813.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.000000 m, bearing: 355.119020 deg, deltaT: 4.845392 s, approachRate: -0.767737 m/s, LOS rate: -0.229594 deg/s, posRepo size: 4 2021-02-17T23:33:33.849Z,1613604813.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.000000 m, bearing: 355.119020 deg, approachRate: -0.767737 m/s, LOS rate: -0.229594 deg/s, cmd update: -0.918377 deg/s, cmd heading: 4.123331 deg, new cmd heading: 4.154740 deg. 2021-02-17T23:33:36.241Z,1613604816.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:33:37.020Z,1613604817.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:33:37.443Z,1613604817.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:33:38.242Z,1613604818.242 [Micromodem](INFO): Nmea in: $SNTTA,0.127815,,,,233337.08*45 2021-02-17T23:33:38.666Z,1613604818.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.519989 m, bearing: 356.399025 deg, deltaT: 4.856099 s, approachRate: -0.716627 m/s, LOS rate: 0.263587 deg/s, posRepo size: 4 2021-02-17T23:33:38.668Z,1613604818.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.519989 m, bearing: 356.399025 deg, approachRate: -0.716627 m/s, LOS rate: 0.263587 deg/s, cmd update: 1.054348 deg/s, cmd heading: 359.667371 deg, new cmd heading: 359.325558 deg. 2021-02-17T23:33:41.084Z,1613604821.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:33:41.868Z,1613604821.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:33:42.274Z,1613604822.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:33:43.091Z,1613604823.091 [Micromodem](INFO): Nmea in: $SNTTA,0.125191,,,,233341.93*41 2021-02-17T23:33:43.540Z,1613604823.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.559998 m, bearing: 356.630760 deg, deltaT: 4.817629 s, approachRate: -0.821979 m/s, LOS rate: 0.048101 deg/s, posRepo size: 4 2021-02-17T23:33:43.542Z,1613604823.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.559998 m, bearing: 356.630760 deg, approachRate: -0.821979 m/s, LOS rate: 0.048101 deg/s, cmd update: 0.192406 deg/s, cmd heading: 4.751169 deg, new cmd heading: 5.198655 deg. 2021-02-17T23:33:45.954Z,1613604825.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:33:46.728Z,1613604826.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:33:47.122Z,1613604827.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:33:47.949Z,1613604827.949 [Micromodem](INFO): Nmea in: $SNTTA,0.122901,,,,233346.79*44 2021-02-17T23:33:48.377Z,1613604828.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.079987 m, bearing: 356.838097 deg, deltaT: 4.857722 s, approachRate: -0.716387 m/s, LOS rate: 0.042682 deg/s, posRepo size: 4 2021-02-17T23:33:48.379Z,1613604828.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.079987 m, bearing: 356.838097 deg, approachRate: -0.716387 m/s, LOS rate: 0.042682 deg/s, cmd update: 0.170728 deg/s, cmd heading: 5.685840 deg, new cmd heading: 5.763454 deg. 2021-02-17T23:33:50.792Z,1613604830.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:33:51.564Z,1613604831.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:33:51.977Z,1613604831.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:33:52.800Z,1613604832.800 [Micromodem](INFO): Nmea in: $SNTTA,0.120572,,,,233351.63*43 2021-02-17T23:33:52.854Z,1613604832.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.079987 m, bearing: 355.392146 deg, deltaT: 4.455084 s, approachRate: 0.000000 m/s, LOS rate: -0.324562 deg/s, posRepo size: 4 2021-02-17T23:33:52.860Z,1613604832.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.079987 m, bearing: 355.392146 deg, approachRate: 0.000000 m/s, LOS rate: -0.324562 deg/s, cmd update: -1.298248 deg/s, cmd heading: 6.444967 deg, new cmd heading: 6.519103 deg. 2021-02-17T23:33:55.238Z,1613604835.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:33:56.008Z,1613604836.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:33:56.414Z,1613604836.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:33:57.236Z,1613604837.236 [Micromodem](INFO): Nmea in: $SNTTA,0.118054,,,,233356.07*4C 2021-02-17T23:33:57.290Z,1613604837.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 355.342805 deg, deltaT: 4.440880 s, approachRate: -1.621296 m/s, LOS rate: -0.011111 deg/s, posRepo size: 4 2021-02-17T23:33:57.293Z,1613604837.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 355.342805 deg, approachRate: -1.621296 m/s, LOS rate: -0.011111 deg/s, cmd update: -0.044443 deg/s, cmd heading: 0.668321 deg, new cmd heading: 0.123505 deg. 2021-02-17T23:33:59.685Z,1613604839.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:00.462Z,1613604840.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:00.858Z,1613604840.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:01.684Z,1613604841.684 [Micromodem](INFO): Nmea in: $SNTTA,0.115818,,,,233400.53*44 2021-02-17T23:34:01.721Z,1613604841.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 355.659917 deg, deltaT: 4.440975 s, approachRate: 0.000000 m/s, LOS rate: 0.071406 deg/s, posRepo size: 4 2021-02-17T23:34:01.723Z,1613604841.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 355.659917 deg, approachRate: 0.000000 m/s, LOS rate: 0.071406 deg/s, cmd update: 0.285624 deg/s, cmd heading: 0.470961 deg, new cmd heading: 0.452686 deg. 2021-02-17T23:34:04.113Z,1613604844.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:04.902Z,1613604844.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:05.304Z,1613604845.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:06.136Z,1613604846.136 [Micromodem](INFO): Nmea in: $SNTTA,0.113536,,,,233404.97*4F 2021-02-17T23:34:06.208Z,1613604846.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 355.981700 deg, deltaT: 4.436686 s, approachRate: 0.000000 m/s, LOS rate: 0.072528 deg/s, posRepo size: 4 2021-02-17T23:34:06.210Z,1613604846.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 355.981700 deg, approachRate: 0.000000 m/s, LOS rate: 0.072528 deg/s, cmd update: 0.290112 deg/s, cmd heading: 1.737580 deg, new cmd heading: 1.861626 deg. 2021-02-17T23:34:08.558Z,1613604848.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:09.345Z,1613604849.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:09.745Z,1613604849.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:10.572Z,1613604850.572 [Micromodem](INFO): Nmea in: $SNTTA,0.111213,,,,233409.41*4B 2021-02-17T23:34:10.624Z,1613604850.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.319992 m, bearing: 355.956729 deg, deltaT: 4.484736 s, approachRate: -2.354656 m/s, LOS rate: -0.005568 deg/s, posRepo size: 4 2021-02-17T23:34:10.626Z,1613604850.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.319992 m, bearing: 355.956729 deg, approachRate: -2.354656 m/s, LOS rate: -0.005568 deg/s, cmd update: -0.022272 deg/s, cmd heading: 3.038136 deg, new cmd heading: 3.153247 deg. 2021-02-17T23:34:13.008Z,1613604853.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:13.801Z,1613604853.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:14.214Z,1613604854.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:15.020Z,1613604855.020 [Micromodem](INFO): Nmea in: $SNTTA,0.108957,,,,233413.87*49 2021-02-17T23:34:15.064Z,1613604855.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.319992 m, bearing: 355.871598 deg, deltaT: 4.398287 s, approachRate: 0.000000 m/s, LOS rate: -0.019356 deg/s, posRepo size: 4 2021-02-17T23:34:15.066Z,1613604855.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.319992 m, bearing: 355.871598 deg, approachRate: 0.000000 m/s, LOS rate: -0.019356 deg/s, cmd update: -0.077422 deg/s, cmd heading: 2.940202 deg, new cmd heading: 2.930421 deg. 2021-02-17T23:34:17.478Z,1613604857.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:18.231Z,1613604858.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:18.634Z,1613604858.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:19.456Z,1613604859.456 [Micromodem](INFO): Nmea in: $SNTTA,0.106753,,,,233418.30*4A 2021-02-17T23:34:19.501Z,1613604859.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.900009 m, bearing: 355.571069 deg, deltaT: 4.460081 s, approachRate: -1.439432 m/s, LOS rate: -0.067382 deg/s, posRepo size: 4 2021-02-17T23:34:19.503Z,1613604859.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.900009 m, bearing: 355.571069 deg, approachRate: -1.439432 m/s, LOS rate: -0.067382 deg/s, cmd update: -0.269527 deg/s, cmd heading: 2.594588 deg, new cmd heading: 2.562649 deg. 2021-02-17T23:34:21.901Z,1613604861.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:22.673Z,1613604862.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:23.082Z,1613604863.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:23.904Z,1613604863.904 [Micromodem](INFO): Nmea in: $SNTTA,0.104543,,,,233422.74*42 2021-02-17T23:34:23.948Z,1613604863.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.659988 m, bearing: 355.862418 deg, deltaT: 4.449927 s, approachRate: -0.728106 m/s, LOS rate: 0.065473 deg/s, posRepo size: 4 2021-02-17T23:34:23.950Z,1613604863.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.659988 m, bearing: 355.862418 deg, approachRate: -0.728106 m/s, LOS rate: 0.065473 deg/s, cmd update: 0.261891 deg/s, cmd heading: 1.397086 deg, new cmd heading: 1.290384 deg. 2021-02-17T23:34:26.348Z,1613604866.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:27.116Z,1613604867.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:27.535Z,1613604867.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:28.348Z,1613604868.348 [Micromodem](INFO): Nmea in: $SNTTA,0.102365,,,,233427.18*49 2021-02-17T23:34:28.388Z,1613604868.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.360001 m, bearing: 355.696062 deg, deltaT: 4.440676 s, approachRate: -0.743127 m/s, LOS rate: -0.037462 deg/s, posRepo size: 4 2021-02-17T23:34:28.389Z,1613604868.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.360001 m, bearing: 355.696062 deg, approachRate: -0.743127 m/s, LOS rate: -0.037462 deg/s, cmd update: -0.149848 deg/s, cmd heading: 2.561185 deg, new cmd heading: 2.668703 deg. 2021-02-17T23:34:30.782Z,1613604870.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:31.560Z,1613604871.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:31.971Z,1613604871.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:32.812Z,1613604872.812 [Micromodem](INFO): Nmea in: $SNTTA,0.100049,,,,233431.63*4D 2021-02-17T23:34:32.852Z,1613604872.852 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T23:34:32.864Z,1613604872.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.940002 m, bearing: 355.320538 deg, deltaT: 4.423422 s, approachRate: -0.773157 m/s, LOS rate: -0.084894 deg/s, posRepo size: 4 2021-02-17T23:34:32.866Z,1613604872.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.940002 m, bearing: 355.320538 deg, approachRate: -0.773157 m/s, LOS rate: -0.084894 deg/s, cmd update: -0.339578 deg/s, cmd heading: 1.897801 deg, new cmd heading: 1.828865 deg. 2021-02-17T23:34:35.237Z,1613604875.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:36.004Z,1613604876.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:36.413Z,1613604876.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:37.232Z,1613604877.232 [Micromodem](INFO): Nmea in: $SNTTA,0.097787,,,,233436.07*42 2021-02-17T23:34:37.272Z,1613604877.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.460007 m, bearing: 354.800269 deg, deltaT: 4.455053 s, approachRate: -0.781135 m/s, LOS rate: -0.116782 deg/s, posRepo size: 4 2021-02-17T23:34:37.274Z,1613604877.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.460007 m, bearing: 354.800269 deg, approachRate: -0.781135 m/s, LOS rate: -0.116782 deg/s, cmd update: -0.467127 deg/s, cmd heading: 0.384855 deg, new cmd heading: 0.244734 deg. 2021-02-17T23:34:39.656Z,1613604879.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:40.448Z,1613604880.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:40.855Z,1613604880.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:41.680Z,1613604881.680 [Micromodem](INFO): Nmea in: $SNTTA,0.095474,,,,233440.51*4D 2021-02-17T23:34:41.698Z,1613604881.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.979996 m, bearing: 354.206753 deg, deltaT: 4.429967 s, approachRate: -0.785561 m/s, LOS rate: -0.133978 deg/s, posRepo size: 4 2021-02-17T23:34:41.700Z,1613604881.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.979996 m, bearing: 354.206753 deg, approachRate: -0.785561 m/s, LOS rate: -0.133978 deg/s, cmd update: -0.535910 deg/s, cmd heading: 358.315536 deg, new cmd heading: 358.124482 deg. 2021-02-17T23:34:44.116Z,1613604884.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:44.894Z,1613604884.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:45.313Z,1613604885.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:46.120Z,1613604886.120 [Micromodem](INFO): Nmea in: $SNTTA,0.093438,,,,233444.96*4C 2021-02-17T23:34:46.197Z,1613604886.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.980011 m, bearing: 355.037140 deg, deltaT: 4.426959 s, approachRate: -0.677663 m/s, LOS rate: 0.187575 deg/s, posRepo size: 4 2021-02-17T23:34:46.204Z,1613604886.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.980011 m, bearing: 355.037140 deg, approachRate: -0.677663 m/s, LOS rate: 0.187575 deg/s, cmd update: 0.750300 deg/s, cmd heading: 355.943148 deg, new cmd heading: 355.689706 deg. 2021-02-17T23:34:48.553Z,1613604888.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:49.336Z,1613604889.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:49.749Z,1613604889.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:50.571Z,1613604890.571 [Micromodem](INFO): Nmea in: $SNTTA,0.091211,,,,233449.40*45 2021-02-17T23:34:50.595Z,1613604890.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.620010 m, bearing: 355.467688 deg, deltaT: 4.505506 s, approachRate: -0.745754 m/s, LOS rate: 0.095560 deg/s, posRepo size: 4 2021-02-17T23:34:50.597Z,1613604890.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.620010 m, bearing: 355.467688 deg, approachRate: -0.745754 m/s, LOS rate: 0.095560 deg/s, cmd update: 0.382241 deg/s, cmd heading: 359.323806 deg, new cmd heading: 359.604019 deg. 2021-02-17T23:34:53.014Z,1613604893.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:53.785Z,1613604893.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:54.229Z,1613604894.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:55.016Z,1613604895.016 [Micromodem](INFO): Nmea in: $SNTTA,0.088974,,,0.091479,233453.85*5B 2021-02-17T23:34:55.060Z,1613604895.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.259995 m, bearing: 354.700849 deg, deltaT: 4.410010 s, approachRate: -0.761907 m/s, LOS rate: -0.173886 deg/s, posRepo size: 4 2021-02-17T23:34:55.061Z,1613604895.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.259995 m, bearing: 354.700849 deg, approachRate: -0.761907 m/s, LOS rate: -0.173886 deg/s, cmd update: -0.695544 deg/s, cmd heading: 1.009401 deg, new cmd heading: 1.173050 deg. 2021-02-17T23:34:57.456Z,1613604897.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:34:58.233Z,1613604898.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:34:58.642Z,1613604898.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:34:59.456Z,1613604899.456 [Micromodem](INFO): Nmea in: $SNTTA,0.086736,,,,233458.30*44 2021-02-17T23:34:59.496Z,1613604899.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.960007 m, bearing: 354.345515 deg, deltaT: 4.446312 s, approachRate: -0.742185 m/s, LOS rate: -0.079917 deg/s, posRepo size: 4 2021-02-17T23:34:59.497Z,1613604899.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.960007 m, bearing: 354.345515 deg, approachRate: -0.742185 m/s, LOS rate: -0.079917 deg/s, cmd update: -0.319666 deg/s, cmd heading: 357.919608 deg, new cmd heading: 357.626372 deg. 2021-02-17T23:35:01.897Z,1613604901.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:35:02.670Z,1613604902.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:35:03.086Z,1613604903.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:35:03.896Z,1613604903.896 [Micromodem](INFO): Nmea in: $SNTTA,0.084317,,,,233502.73*48 2021-02-17T23:35:03.949Z,1613604903.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.300003 m, bearing: 355.269148 deg, deltaT: 4.437696 s, approachRate: -0.824753 m/s, LOS rate: 0.208133 deg/s, posRepo size: 4 2021-02-17T23:35:03.950Z,1613604903.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.300003 m, bearing: 355.269148 deg, approachRate: -0.824753 m/s, LOS rate: 0.208133 deg/s, cmd update: 0.832534 deg/s, cmd heading: 356.499729 deg, new cmd heading: 356.361291 deg. 2021-02-17T23:35:06.338Z,1613604906.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:35:07.112Z,1613604907.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:35:07.518Z,1613604907.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:35:08.345Z,1613604908.345 [Micromodem](INFO): Nmea in: $SNTTA,0.082331,,,,233507.18*42 2021-02-17T23:35:08.390Z,1613604908.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.299995 m, bearing: 355.322915 deg, deltaT: 4.448104 s, approachRate: -0.674446 m/s, LOS rate: 0.012088 deg/s, posRepo size: 4 2021-02-17T23:35:08.392Z,1613604908.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.299995 m, bearing: 355.322915 deg, approachRate: -0.674446 m/s, LOS rate: 0.012088 deg/s, cmd update: 0.048351 deg/s, cmd heading: 0.203078 deg, new cmd heading: 0.557875 deg. 2021-02-17T23:35:10.765Z,1613604910.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:35:11.566Z,1613604911.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:35:11.973Z,1613604911.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:35:12.804Z,1613604912.804 [Micromodem](INFO): Nmea in: $SNTTA,0.080071,,,,233511.63*4C 2021-02-17T23:35:12.865Z,1613604912.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.820000 m, bearing: 354.032556 deg, deltaT: 4.443216 s, approachRate: -0.783216 m/s, LOS rate: -0.290411 deg/s, posRepo size: 4 2021-02-17T23:35:12.866Z,1613604912.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.820000 m, bearing: 354.032556 deg, approachRate: -0.783216 m/s, LOS rate: -0.290411 deg/s, cmd update: -1.161645 deg/s, cmd heading: 0.417911 deg, new cmd heading: 0.440036 deg. 2021-02-17T23:35:15.241Z,1613604915.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:35:16.005Z,1613604916.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:35:16.406Z,1613604916.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:35:17.232Z,1613604917.232 [Micromodem](INFO): Nmea in: $SNTTA,0.077975,,,,233516.07*4C 2021-02-17T23:35:17.272Z,1613604917.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.760002 m, bearing: 357.024097 deg, deltaT: 4.449901 s, approachRate: -0.687655 m/s, LOS rate: 0.672271 deg/s, posRepo size: 4 2021-02-17T23:35:17.273Z,1613604917.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.760002 m, bearing: 357.024097 deg, approachRate: -0.687655 m/s, LOS rate: 0.672271 deg/s, cmd update: 2.689085 deg/s, cmd heading: 355.248652 deg, new cmd heading: 354.767166 deg. 2021-02-17T23:35:19.652Z,1613604919.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:35:20.461Z,1613604920.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:35:20.855Z,1613604920.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:35:21.680Z,1613604921.680 [Micromodem](INFO): Nmea in: $SNTTA,0.075635,,,,233520.53*41 2021-02-17T23:35:21.695Z,1613604921.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.279999 m, bearing: 358.294157 deg, deltaT: 4.445792 s, approachRate: -0.782763 m/s, LOS rate: 0.285677 deg/s, posRepo size: 4 2021-02-17T23:35:21.697Z,1613604921.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.279999 m, bearing: 358.294157 deg, approachRate: -0.782763 m/s, LOS rate: 0.285677 deg/s, cmd update: 1.142708 deg/s, cmd heading: 7.192983 deg, new cmd heading: 8.258280 deg. 2021-02-17T23:35:24.118Z,1613604924.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:35:24.497Z,1613604924.497 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:35:24.903Z,1613604924.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:35:25.301Z,1613604925.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:35:26.128Z,1613604926.128 [Micromodem](INFO): Nmea in: $SNTTA,0.073459,,,,233524.97*43 2021-02-17T23:35:26.210Z,1613604926.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.040009 m, bearing: 355.498861 deg, deltaT: 4.407656 s, approachRate: -0.735082 m/s, LOS rate: -0.634191 deg/s, posRepo size: 4 2021-02-17T23:35:26.216Z,1613604926.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.040009 m, bearing: 355.498861 deg, approachRate: -0.735082 m/s, LOS rate: -0.634191 deg/s, cmd update: -2.536764 deg/s, cmd heading: 12.234189 deg, new cmd heading: 12.804955 deg. 2021-02-17T23:35:28.213Z,1613604928.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:35:28.930Z,1613604928.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:35:29.335Z,1613604929.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:35:30.187Z,1613604930.187 [Micromodem](INFO): Nmea in: $SNTTA,0.071812,,,,233529.00*41 2021-02-17T23:35:30.235Z,1613604930.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.340004 m, bearing: 354.144598 deg, deltaT: 4.066163 s, approachRate: -0.664018 m/s, LOS rate: -0.333057 deg/s, posRepo size: 4 2021-02-17T23:35:30.237Z,1613604930.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.340004 m, bearing: 354.144598 deg, approachRate: -0.664018 m/s, LOS rate: -0.333057 deg/s, cmd update: -1.332227 deg/s, cmd heading: 1.919184 deg, new cmd heading: 0.755867 deg. 2021-02-17T23:35:32.585Z,1613604932.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:35:33.372Z,1613604933.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:35:33.808Z,1613604933.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:35:34.612Z,1613604934.612 [Micromodem](INFO): Nmea in: $SNTTA,0.069606,,,,233533.44*48 2021-02-17T23:35:34.634Z,1613604934.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.220001 m, bearing: 355.643497 deg, deltaT: 4.478036 s, approachRate: -0.696735 m/s, LOS rate: 0.334722 deg/s, posRepo size: 4 2021-02-17T23:35:34.636Z,1613604934.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.220001 m, bearing: 355.643497 deg, approachRate: -0.696735 m/s, LOS rate: 0.334722 deg/s, cmd update: 1.338889 deg/s, cmd heading: 355.974821 deg, new cmd heading: 355.447896 deg. 2021-02-17T23:35:37.054Z,1613604937.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:35:37.833Z,1613604937.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:35:38.222Z,1613604938.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:35:39.057Z,1613604939.057 [Micromodem](INFO): Nmea in: $SNTTA,0.067503,,,,233537.90*4D 2021-02-17T23:35:39.116Z,1613604939.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.099998 m, bearing: 355.194644 deg, deltaT: 4.385052 s, approachRate: -0.711509 m/s, LOS rate: -0.102360 deg/s, posRepo size: 4 2021-02-17T23:35:39.117Z,1613604939.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.099998 m, bearing: 355.194644 deg, approachRate: -0.711509 m/s, LOS rate: -0.102360 deg/s, cmd update: -0.409439 deg/s, cmd heading: 1.867081 deg, new cmd heading: 2.499002 deg. 2021-02-17T23:35:41.478Z,1613604941.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:35:42.266Z,1613604942.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:35:42.667Z,1613604942.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:35:43.492Z,1613604943.492 [Micromodem](INFO): Nmea in: $SNTTA,0.065288,,0.141776,,233542.33*5C 2021-02-17T23:35:43.540Z,1613604943.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.800003 m, bearing: 355.772615 deg, deltaT: 4.479134 s, approachRate: -0.736749 m/s, LOS rate: 0.129036 deg/s, posRepo size: 4 2021-02-17T23:35:43.541Z,1613604943.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.800003 m, bearing: 355.772615 deg, approachRate: -0.736749 m/s, LOS rate: 0.129036 deg/s, cmd update: 0.516145 deg/s, cmd heading: 0.034756 deg, new cmd heading: 359.860814 deg. 2021-02-17T23:35:45.926Z,1613604945.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:35:46.704Z,1613604946.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:35:47.110Z,1613604947.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:35:47.936Z,1613604947.936 [Micromodem](INFO): Nmea in: $SNTTA,0.063195,,,,233546.77*4D 2021-02-17T23:35:47.960Z,1613604947.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.619995 m, bearing: 353.704133 deg, deltaT: 4.455781 s, approachRate: -0.713681 m/s, LOS rate: -0.464224 deg/s, posRepo size: 4 2021-02-17T23:35:47.962Z,1613604947.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.619995 m, bearing: 353.704133 deg, approachRate: -0.713681 m/s, LOS rate: -0.464224 deg/s, cmd update: -1.856897 deg/s, cmd heading: 2.334592 deg, new cmd heading: 2.535574 deg. 2021-02-17T23:35:50.368Z,1613604950.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:35:51.152Z,1613604951.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:35:51.563Z,1613604951.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:35:52.376Z,1613604952.376 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233551.22*5D 2021-02-17T23:35:52.415Z,1613604952.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.320000 m, bearing: 353.392130 deg, deltaT: 4.423304 s, approachRate: -0.746048 m/s, LOS rate: -0.070536 deg/s, posRepo size: 4 2021-02-17T23:35:52.417Z,1613604952.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.320000 m, bearing: 353.392130 deg, approachRate: -0.746048 m/s, LOS rate: -0.070536 deg/s, cmd update: -0.282145 deg/s, cmd heading: 354.113295 deg, new cmd heading: 353.338417 deg. 2021-02-17T23:35:54.866Z,1613604954.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:35:55.592Z,1613604955.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:35:56.008Z,1613604956.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:35:56.844Z,1613604956.844 [Micromodem](INFO): Nmea in: $SNTTA,0.058806,,,,233555.66*44 2021-02-17T23:35:56.868Z,1613604956.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.960007 m, bearing: 354.533291 deg, deltaT: 4.441982 s, approachRate: -0.756418 m/s, LOS rate: 0.256903 deg/s, posRepo size: 4 2021-02-17T23:35:56.870Z,1613604956.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.960007 m, bearing: 354.533291 deg, approachRate: -0.756418 m/s, LOS rate: 0.256903 deg/s, cmd update: 1.027614 deg/s, cmd heading: 352.860009 deg, new cmd heading: 352.739319 deg. 2021-02-17T23:35:59.258Z,1613604959.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:00.038Z,1613604960.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:00.442Z,1613604960.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:01.264Z,1613604961.264 [Micromodem](INFO): Nmea in: $SNTTA,0.056623,,,,233600.10*41 2021-02-17T23:36:01.333Z,1613604961.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.779999 m, bearing: 355.508450 deg, deltaT: 4.463136 s, approachRate: -0.712505 m/s, LOS rate: 0.218492 deg/s, posRepo size: 4 2021-02-17T23:36:01.340Z,1613604961.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.779999 m, bearing: 355.508450 deg, approachRate: -0.712505 m/s, LOS rate: 0.218492 deg/s, cmd update: 0.873968 deg/s, cmd heading: 357.440283 deg, new cmd heading: 357.888053 deg. 2021-02-17T23:36:03.687Z,1613604963.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:04.487Z,1613604964.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:04.893Z,1613604964.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:05.719Z,1613604965.719 [Micromodem](INFO): Nmea in: $SNTTA,0.054524,,,,233604.55*42 2021-02-17T23:36:05.738Z,1613604965.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.600006 m, bearing: 355.445394 deg, deltaT: 4.426065 s, approachRate: -0.718470 m/s, LOS rate: -0.014247 deg/s, posRepo size: 4 2021-02-17T23:36:05.740Z,1613604965.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.600006 m, bearing: 355.445394 deg, approachRate: -0.718470 m/s, LOS rate: -0.014247 deg/s, cmd update: -0.056986 deg/s, cmd heading: 1.313719 deg, new cmd heading: 1.671244 deg. 2021-02-17T23:36:08.168Z,1613604968.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:08.926Z,1613604968.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:09.335Z,1613604969.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:10.156Z,1613604970.156 [Micromodem](INFO): Nmea in: $SNTTA,0.052192,,,,233608.99*41 2021-02-17T23:36:10.240Z,1613604970.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.119995 m, bearing: 355.150685 deg, deltaT: 4.494240 s, approachRate: -0.774327 m/s, LOS rate: -0.065575 deg/s, posRepo size: 4 2021-02-17T23:36:10.242Z,1613604970.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.119995 m, bearing: 355.150685 deg, approachRate: -0.774327 m/s, LOS rate: -0.065575 deg/s, cmd update: -0.262299 deg/s, cmd heading: 1.059246 deg, new cmd heading: 1.033879 deg. 2021-02-17T23:36:12.596Z,1613604972.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:13.371Z,1613604973.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:13.778Z,1613604973.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:14.604Z,1613604974.604 [Micromodem](INFO): Nmea in: $SNTTA,0.049820,,,,233613.44*41 2021-02-17T23:36:14.641Z,1613604974.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.520004 m, bearing: 354.766091 deg, deltaT: 4.415413 s, approachRate: -0.815324 m/s, LOS rate: -0.087103 deg/s, posRepo size: 4 2021-02-17T23:36:14.643Z,1613604974.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.520004 m, bearing: 354.766091 deg, approachRate: -0.815324 m/s, LOS rate: -0.087103 deg/s, cmd update: -0.348411 deg/s, cmd heading: 359.893566 deg, new cmd heading: 359.787965 deg. 2021-02-17T23:36:17.045Z,1613604977.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:17.835Z,1613604977.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:18.218Z,1613604978.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:19.052Z,1613604979.052 [Micromodem](INFO): Nmea in: $SNTTA,0.047559,,,,233617.90*41 2021-02-17T23:36:19.096Z,1613604979.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.220001 m, bearing: 355.880941 deg, deltaT: 4.395669 s, approachRate: -0.750740 m/s, LOS rate: 0.253625 deg/s, posRepo size: 4 2021-02-17T23:36:19.098Z,1613604979.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.220001 m, bearing: 355.880941 deg, approachRate: -0.750740 m/s, LOS rate: 0.253625 deg/s, cmd update: 1.014499 deg/s, cmd heading: 358.362058 deg, new cmd heading: 358.201187 deg. 2021-02-17T23:36:21.498Z,1613604981.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:22.257Z,1613604982.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:22.662Z,1613604982.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:23.488Z,1613604983.488 [Micromodem](INFO): Nmea in: $SNTTA,0.045533,,,,233622.32*41 2021-02-17T23:36:23.532Z,1613604983.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.099998 m, bearing: 353.970100 deg, deltaT: 4.471121 s, approachRate: -0.697812 m/s, LOS rate: -0.427374 deg/s, posRepo size: 4 2021-02-17T23:36:23.534Z,1613604983.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.099998 m, bearing: 353.970100 deg, approachRate: -0.697812 m/s, LOS rate: -0.427374 deg/s, cmd update: -1.709496 deg/s, cmd heading: 2.881825 deg, new cmd heading: 3.310411 deg. 2021-02-17T23:36:25.922Z,1613604985.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:26.706Z,1613604986.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:27.106Z,1613604987.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:27.936Z,1613604987.936 [Micromodem](INFO): Nmea in: $SNTTA,0.043101,,,,233626.77*47 2021-02-17T23:36:27.960Z,1613604987.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.440002 m, bearing: 353.397840 deg, deltaT: 4.459929 s, approachRate: -0.820640 m/s, LOS rate: -0.128312 deg/s, posRepo size: 4 2021-02-17T23:36:27.962Z,1613604987.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.440002 m, bearing: 353.397840 deg, approachRate: -0.820640 m/s, LOS rate: -0.128312 deg/s, cmd update: -0.513246 deg/s, cmd heading: 355.257826 deg, new cmd heading: 354.555811 deg. 2021-02-17T23:36:30.376Z,1613604990.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:31.150Z,1613604991.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:31.550Z,1613604991.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:32.381Z,1613604992.381 [Micromodem](INFO): Nmea in: $SNTTA,0.040899,0.056487,,0.043361,233631.21*42 2021-02-17T23:36:32.420Z,1613604992.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.140003 m, bearing: 353.965265 deg, deltaT: 4.429701 s, approachRate: -0.744971 m/s, LOS rate: 0.128096 deg/s, posRepo size: 4 2021-02-17T23:36:32.422Z,1613604992.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.140003 m, bearing: 353.965265 deg, approachRate: -0.744971 m/s, LOS rate: 0.128096 deg/s, cmd update: 0.512382 deg/s, cmd heading: 352.978105 deg, new cmd heading: 352.757902 deg. 2021-02-17T23:36:34.874Z,1613604994.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:35.590Z,1613604995.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:35.994Z,1613604995.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:36.844Z,1613604996.844 [Micromodem](INFO): Nmea in: $SNTTA,0.038568,,,,233635.66*42 2021-02-17T23:36:36.868Z,1613604996.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.660007 m, bearing: 354.474250 deg, deltaT: 4.455402 s, approachRate: -0.781073 m/s, LOS rate: 0.114240 deg/s, posRepo size: 4 2021-02-17T23:36:36.870Z,1613604996.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.660007 m, bearing: 354.474250 deg, approachRate: -0.781073 m/s, LOS rate: 0.114240 deg/s, cmd update: 0.456961 deg/s, cmd heading: 355.263036 deg, new cmd heading: 355.477011 deg. 2021-02-17T23:36:39.266Z,1613604999.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:40.038Z,1613605000.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:40.442Z,1613605000.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:41.264Z,1613605001.264 [Micromodem](INFO): Nmea in: $SNTTA,0.036407,,,,233640.10*47 2021-02-17T23:36:41.308Z,1613605001.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.359993 m, bearing: 354.535203 deg, deltaT: 4.434812 s, approachRate: -0.744116 m/s, LOS rate: 0.013744 deg/s, posRepo size: 4 2021-02-17T23:36:41.310Z,1613605001.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.359993 m, bearing: 354.535203 deg, approachRate: -0.744116 m/s, LOS rate: 0.013744 deg/s, cmd update: 0.054976 deg/s, cmd heading: 357.282274 deg, new cmd heading: 357.482921 deg. 2021-02-17T23:36:43.705Z,1613605003.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:44.477Z,1613605004.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:44.947Z,1613605004.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:45.704Z,1613605005.704 [Micromodem](INFO): Nmea in: $SNTTA,0.034285,,,,233644.54*4D 2021-02-17T23:36:45.748Z,1613605005.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.240005 m, bearing: 355.254668 deg, deltaT: 4.438384 s, approachRate: -0.702956 m/s, LOS rate: 0.162101 deg/s, posRepo size: 4 2021-02-17T23:36:45.750Z,1613605005.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.240005 m, bearing: 355.254668 deg, approachRate: -0.702956 m/s, LOS rate: 0.162101 deg/s, cmd update: 0.648403 deg/s, cmd heading: 357.527147 deg, new cmd heading: 357.550462 deg. 2021-02-17T23:36:48.146Z,1613605008.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:48.920Z,1613605008.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:49.332Z,1613605009.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:50.156Z,1613605010.156 [Micromodem](INFO): Nmea in: $SNTTA,0.031989,,,,233648.98*43 2021-02-17T23:36:50.177Z,1613605010.177 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T23:36:50.229Z,1613605010.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.759995 m, bearing: 355.440859 deg, deltaT: 4.492790 s, approachRate: -0.774577 m/s, LOS rate: 0.041442 deg/s, posRepo size: 4 2021-02-17T23:36:50.235Z,1613605010.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.759995 m, bearing: 355.440859 deg, approachRate: -0.774577 m/s, LOS rate: 0.041442 deg/s, cmd update: 0.165769 deg/s, cmd heading: 0.402646 deg, new cmd heading: 0.708117 deg. 2021-02-17T23:36:52.602Z,1613605012.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:53.370Z,1613605013.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:53.770Z,1613605013.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:54.596Z,1613605014.596 [Micromodem](INFO): Nmea in: $SNTTA,0.029776,,,,233653.44*4F 2021-02-17T23:36:54.633Z,1613605014.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.459999 m, bearing: 355.012633 deg, deltaT: 4.420208 s, approachRate: -0.746570 m/s, LOS rate: -0.096879 deg/s, posRepo size: 4 2021-02-17T23:36:54.635Z,1613605014.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.459999 m, bearing: 355.012633 deg, approachRate: -0.746570 m/s, LOS rate: -0.096879 deg/s, cmd update: -0.387516 deg/s, cmd heading: 1.145036 deg, new cmd heading: 1.210758 deg. 2021-02-17T23:36:57.035Z,1613605017.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:36:57.835Z,1613605017.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:36:58.224Z,1613605018.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:36:59.064Z,1613605019.064 [Micromodem](INFO): Nmea in: $SNTTA,0.027676,,,,233657.90*4D 2021-02-17T23:36:59.088Z,1613605019.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.340000 m, bearing: 354.783576 deg, deltaT: 4.409102 s, approachRate: -0.707627 m/s, LOS rate: -0.051951 deg/s, posRepo size: 4 2021-02-17T23:36:59.090Z,1613605019.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.340000 m, bearing: 354.783576 deg, approachRate: -0.707627 m/s, LOS rate: -0.051951 deg/s, cmd update: -0.207804 deg/s, cmd heading: 359.442661 deg, new cmd heading: 359.265213 deg. 2021-02-17T23:37:01.482Z,1613605021.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:02.270Z,1613605022.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:37:02.658Z,1613605022.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:37:03.504Z,1613605023.504 [Micromodem](INFO): Nmea in: $SNTTA,0.025511,,,,233702.33*45 2021-02-17T23:37:03.537Z,1613605023.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.040001 m, bearing: 354.396987 deg, deltaT: 4.456002 s, approachRate: -0.740574 m/s, LOS rate: -0.086757 deg/s, posRepo size: 4 2021-02-17T23:37:03.537Z,1613605023.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.04 m. 2021-02-17T23:37:03.539Z,1613605023.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.040001 m, bearing: 354.396987 deg, approachRate: -0.740574 m/s, LOS rate: -0.086757 deg/s, cmd update: -0.347027 deg/s, cmd heading: 358.513371 deg, new cmd heading: 358.422991 deg. 2021-02-17T23:37:03.890Z,1613605023.890 [PowerOnly](INFO): Powering up loadControl 2021-02-17T23:37:05.112Z,1613605025.112 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:37:05.913Z,1613605025.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:06.696Z,1613605026.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:37:07.107Z,1613605027.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:37:07.928Z,1613605027.928 [Micromodem](INFO): Nmea in: $SNTTA,0.023300,0.071044,,,233706.76*58 2021-02-17T23:37:07.952Z,1613605027.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.740002 m, bearing: 353.435980 deg, deltaT: 4.426439 s, approachRate: -0.745520 m/s, LOS rate: -0.217106 deg/s, posRepo size: 4 2021-02-17T23:37:07.953Z,1613605027.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.74 m. 2021-02-17T23:37:07.953Z,1613605027.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.74 m. 2021-02-17T23:37:07.953Z,1613605027.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T23:37:07.976Z,1613605027.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.740002 m, bearing: 353.435980 deg, approachRate: -0.745520 m/s, LOS rate: -0.217106 deg/s, cmd update: -0.868425 deg/s, cmd heading: 356.977306 deg, new cmd heading: 356.830036 deg. 2021-02-17T23:37:09.955Z,1613605029.955 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T23:37:10.384Z,1613605030.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:11.160Z,1613605031.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:37:11.552Z,1613605031.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:37:11.582Z,1613605031.582 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T23:37:12.384Z,1613605032.384 [Micromodem](INFO): Nmea in: $SNTTA,0.021081,,,,233711.23*4E 2021-02-17T23:37:12.425Z,1613605032.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.440002 m, bearing: 353.382212 deg, deltaT: 4.472793 s, approachRate: -0.737794 m/s, LOS rate: -0.012021 deg/s, posRepo size: 4 2021-02-17T23:37:12.427Z,1613605032.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.440002 m, bearing: 353.382212 deg, approachRate: -0.737794 m/s, LOS rate: -0.012021 deg/s, cmd update: -0.048084 deg/s, cmd heading: 353.103471 deg, new cmd heading: 352.724663 deg. 2021-02-17T23:37:14.872Z,1613605034.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:15.619Z,1613605035.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:37:15.990Z,1613605035.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:37:16.850Z,1613605036.850 [Micromodem](INFO): Nmea in: $SNTTA,0.019202,,,,233715.71*4F 2021-02-17T23:37:16.886Z,1613605036.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.079998 m, bearing: 353.729978 deg, deltaT: 4.437309 s, approachRate: -0.757217 m/s, LOS rate: 0.078373 deg/s, posRepo size: 4 2021-02-17T23:37:16.888Z,1613605036.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.079998 m, bearing: 353.729978 deg, approachRate: -0.757217 m/s, LOS rate: 0.078373 deg/s, cmd update: 0.313493 deg/s, cmd heading: 352.890292 deg, new cmd heading: 352.868001 deg. 2021-02-17T23:37:19.260Z,1613605039.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:20.034Z,1613605040.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:37:20.073Z,1613605040.073 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T23:37:20.448Z,1613605040.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:37:21.276Z,1613605041.276 [Micromodem](INFO): Nmea in: $SNTTA,0.016755,,,,233720.10*46 2021-02-17T23:37:21.301Z,1613605041.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.900000 m, bearing: 353.784456 deg, deltaT: 4.451418 s, approachRate: -0.714379 m/s, LOS rate: 0.012238 deg/s, posRepo size: 4 2021-02-17T23:37:21.303Z,1613605041.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.900000 m, bearing: 353.784456 deg, approachRate: -0.714379 m/s, LOS rate: 0.012238 deg/s, cmd update: 0.048953 deg/s, cmd heading: 354.290801 deg, new cmd heading: 354.419724 deg. 2021-02-17T23:37:23.680Z,1613605043.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:24.473Z,1613605044.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:37:24.939Z,1613605044.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:37:25.705Z,1613605045.705 [Micromodem](INFO): Nmea in: $SNTTA,0.014443,,0.031980,0.052105,233724.54*44 2021-02-17T23:37:25.742Z,1613605045.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.480000 m, bearing: 353.822623 deg, deltaT: 4.443513 s, approachRate: -0.769661 m/s, LOS rate: 0.008589 deg/s, posRepo size: 4 2021-02-17T23:37:25.744Z,1613605045.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.480000 m, bearing: 353.822623 deg, approachRate: -0.769661 m/s, LOS rate: 0.008589 deg/s, cmd update: 0.034358 deg/s, cmd heading: 354.508325 deg, new cmd heading: 354.528359 deg. 2021-02-17T23:37:28.134Z,1613605048.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:28.916Z,1613605048.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:37:29.331Z,1613605049.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:37:30.146Z,1613605050.146 [Micromodem](INFO): Nmea in: $SNTTA,0.012395,,0.027329,,233728.98*51 2021-02-17T23:37:30.219Z,1613605050.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.359997 m, bearing: 355.014109 deg, deltaT: 4.417795 s, approachRate: -0.706235 m/s, LOS rate: 0.269701 deg/s, posRepo size: 4 2021-02-17T23:37:30.221Z,1613605050.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.359997 m, bearing: 355.014109 deg, approachRate: -0.706235 m/s, LOS rate: 0.269701 deg/s, cmd update: 1.078806 deg/s, cmd heading: 354.659972 deg, new cmd heading: 354.676047 deg. 2021-02-17T23:37:32.259Z,1613605052.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:32.961Z,1613605052.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:37:33.361Z,1613605053.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:37:34.212Z,1613605054.212 [Micromodem](INFO): Nmea in: $SNTTA,0.010458,,,0.018913,233733.03*52 2021-02-17T23:37:34.246Z,1613605054.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.479998 m, bearing: 355.327669 deg, deltaT: 4.056067 s, approachRate: -0.710047 m/s, LOS rate: 0.077306 deg/s, posRepo size: 4 2021-02-17T23:37:34.248Z,1613605054.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.479998 m, bearing: 355.327669 deg, approachRate: -0.710047 m/s, LOS rate: 0.077306 deg/s, cmd update: 0.309226 deg/s, cmd heading: 359.013537 deg, new cmd heading: 359.513411 deg. 2021-02-17T23:37:36.609Z,1613605056.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:37.400Z,1613605057.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:37:37.834Z,1613605057.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:37:38.632Z,1613605058.632 [Micromodem](INFO): Nmea in: $SNTTA,0.008433,,0.023245,,233737.47*52 2021-02-17T23:37:38.669Z,1613605058.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.299998 m, bearing: 355.099568 deg, deltaT: 4.456174 s, approachRate: -0.713616 m/s, LOS rate: -0.051188 deg/s, posRepo size: 4 2021-02-17T23:37:38.671Z,1613605058.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.299998 m, bearing: 355.099568 deg, approachRate: -0.713616 m/s, LOS rate: -0.051188 deg/s, cmd update: -0.204751 deg/s, cmd heading: 0.399077 deg, new cmd heading: 0.524671 deg. 2021-02-17T23:37:39.889Z,1613605059.889 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T23:37:41.081Z,1613605061.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:41.851Z,1613605061.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:37:42.250Z,1613605062.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:37:43.081Z,1613605063.081 [Micromodem](INFO): Nmea in: $SNTTA,0.006223,,,,233741.92*4E 2021-02-17T23:37:43.156Z,1613605063.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.120000 m, bearing: 353.803335 deg, deltaT: 4.418392 s, approachRate: -0.719718 m/s, LOS rate: -0.293372 deg/s, posRepo size: 4 2021-02-17T23:37:43.159Z,1613605063.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.120000 m, bearing: 353.803335 deg, approachRate: -0.719718 m/s, LOS rate: -0.293372 deg/s, cmd update: -1.173489 deg/s, cmd heading: 359.497667 deg, new cmd heading: 359.398227 deg. 2021-02-17T23:37:45.533Z,1613605065.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:46.296Z,1613605066.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:37:46.694Z,1613605066.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:37:47.528Z,1613605067.528 [Micromodem](INFO): Nmea in: $SNTTA,0.004520,,,,233746.36*41 2021-02-17T23:37:47.553Z,1613605067.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.539999 m, bearing: 354.835677 deg, deltaT: 4.443810 s, approachRate: -0.580583 m/s, LOS rate: 0.232310 deg/s, posRepo size: 4 2021-02-17T23:37:47.555Z,1613605067.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.539999 m, bearing: 354.835677 deg, approachRate: -0.580583 m/s, LOS rate: 0.232310 deg/s, cmd update: 0.929241 deg/s, cmd heading: 354.264249 deg, new cmd heading: 353.762238 deg. 2021-02-17T23:37:49.950Z,1613605069.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:50.732Z,1613605070.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:37:51.140Z,1613605071.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:37:51.972Z,1613605071.972 [Micromodem](INFO): Nmea in: $SNTTA,0.003165,,,,233750.80*49 2021-02-17T23:37:51.994Z,1613605071.994 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T23:37:51.994Z,1613605071.994 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T23:37:51.994Z,1613605071.994 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T23:37:51.995Z,1613605071.995 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:37:51.995Z,1613605071.995 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T23:37:51.995Z,1613605071.995 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 2021-02-17T23:37:51.996Z,1613605071.996 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T23:37:51.996Z,1613605071.996 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T23:37:51.996Z,1613605071.996 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T23:37:51.998Z,1613605071.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 6.900467 deg, deltaT: 4.483984 s, approachRate: -0.428191 m/s, LOS rate: 2.690639 deg/s, posRepo size: 4 2021-02-17T23:37:51.000Z,1613605072.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.619999 m, bearing: 6.900467 deg, approachRate: -0.428191 m/s, LOS rate: 2.690639 deg/s, cmd update: 10.762555 deg/s, cmd heading: 358.431032 deg, new cmd heading: 358.791996 deg. 2021-02-17T23:37:52.408Z,1613605072.408 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T233752: (41.552319, -70.708603) 2021-02-17T23:37:52.408Z,1613605072.408 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T23:37:52.408Z,1613605072.408 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T23:37:52.408Z,1613605072.408 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:37:52.408Z,1613605072.408 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T23:37:52.408Z,1613605072.408 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:37:52.408Z,1613605072.408 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T23:37:52.408Z,1613605072.408 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T23:37:52.408Z,1613605072.408 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T23:37:54.405Z,1613605074.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:55.204Z,1613605075.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:37:55.587Z,1613605075.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:37:56.414Z,1613605076.414 [Micromodem](INFO): Nmea in: $SNTTA,0.004349,,0.028782,,233755.27*53 2021-02-17T23:37:56.453Z,1613605076.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 355.275213 deg, deltaT: 4.409687 s, approachRate: -0.013607 m/s, LOS rate: -2.636297 deg/s, posRepo size: 4 2021-02-17T23:37:56.454Z,1613605076.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.559999 m, bearing: 355.275213 deg, approachRate: -0.013607 m/s, LOS rate: -2.636297 deg/s, cmd update: -10.545189 deg/s, cmd heading: 45.889231 deg, new cmd heading: 50.555476 deg. 2021-02-17T23:37:58.859Z,1613605078.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:37:59.625Z,1613605079.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:38:00.036Z,1613605080.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:38:00.852Z,1613605080.852 [Micromodem](INFO): Nmea in: $SNTTA,0.004904,,,,233759.69*4F 2021-02-17T23:38:00.894Z,1613605080.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.440001 m, bearing: 356.410418 deg, deltaT: 4.452189 s, approachRate: 0.646873 m/s, LOS rate: 0.254977 deg/s, posRepo size: 4 2021-02-17T23:38:00.896Z,1613605080.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.440001 m, bearing: 356.410418 deg, approachRate: 0.646873 m/s, LOS rate: 0.254977 deg/s, cmd update: 1.019907 deg/s, cmd heading: 358.938929 deg, new cmd heading: 354.477576 deg. 2021-02-17T23:38:03.297Z,1613605083.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:04.064Z,1613605084.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:38:04.472Z,1613605084.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:38:05.292Z,1613605085.292 [Micromodem](INFO): Nmea in: $SNTTA,0.006927,,,,233804.13*46 2021-02-17T23:38:05.344Z,1613605085.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.999999 m, bearing: 358.212850 deg, deltaT: 4.452001 s, approachRate: 0.350404 m/s, LOS rate: 0.404859 deg/s, posRepo size: 4 2021-02-17T23:38:05.356Z,1613605085.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.999999 m, bearing: 358.212850 deg, approachRate: 0.350404 m/s, LOS rate: 0.404859 deg/s, cmd update: 1.619436 deg/s, cmd heading: 3.471469 deg, new cmd heading: 3.906124 deg. 2021-02-17T23:38:07.727Z,1613605087.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:08.518Z,1613605088.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:38:08.914Z,1613605088.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:38:09.744Z,1613605089.744 [Micromodem](INFO): Nmea in: $SNTTA,0.008215,,,,233808.58*41 2021-02-17T23:38:09.766Z,1613605089.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.479998 m, bearing: 355.743245 deg, deltaT: 4.416472 s, approachRate: 0.787959 m/s, LOS rate: -0.559181 deg/s, posRepo size: 4 2021-02-17T23:38:09.801Z,1613605089.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.479998 m, bearing: 355.743245 deg, approachRate: 0.787959 m/s, LOS rate: -0.559181 deg/s, cmd update: -2.236722 deg/s, cmd heading: 10.636547 deg, new cmd heading: 11.327149 deg. 2021-02-17T23:38:12.209Z,1613605092.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:12.957Z,1613605092.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:38:13.357Z,1613605093.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:38:14.214Z,1613605094.214 [Micromodem](INFO): Nmea in: $SNTTA,0.074841,,,,233813.02*44 2021-02-17T23:38:14.248Z,1613605094.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.140007 m, bearing: 6.973259 deg, deltaT: 4.438529 s, approachRate: 22.453388 m/s, LOS rate: 2.530123 deg/s, posRepo size: 4 2021-02-17T23:38:14.249Z,1613605094.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 112.14 m. Rolling out. 2021-02-17T23:38:14.249Z,1613605094.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T23:38:16.603Z,1613605096.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:17.398Z,1613605097.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:38:17.833Z,1613605097.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:38:18.628Z,1613605098.628 [Micromodem](INFO): Nmea in: $SNTTA,0.011743,,,0.066705,233817.46*52 2021-02-17T23:38:18.670Z,1613605098.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.039999 m, bearing: 0.240114 deg, deltaT: 4.481232 s, approachRate: -21.221844 m/s, LOS rate: -1.502521 deg/s, posRepo size: 4 2021-02-17T23:38:21.070Z,1613605101.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:21.850Z,1613605101.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:38:22.251Z,1613605102.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:38:23.076Z,1613605103.076 [Micromodem](INFO): Nmea in: $SNTTA,0.013594,,,,233821.91*4B 2021-02-17T23:38:23.125Z,1613605103.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.459999 m, bearing: 352.337166 deg, deltaT: 4.408826 s, approachRate: 0.775717 m/s, LOS rate: -1.792531 deg/s, posRepo size: 4 2021-02-17T23:38:25.532Z,1613605105.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:26.285Z,1613605106.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:38:26.689Z,1613605106.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:38:26.726Z,1613605106.726 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-17T23:38:26.726Z,1613605106.726 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-17T23:38:26.726Z,1613605106.726 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-17T23:38:26.726Z,1613605106.726 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T23:38:26.726Z,1613605106.726 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-17T23:38:27.210Z,1613605107.210 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D603F0000005D000004003E0000000000000000151D80030C5669BF92F9E571D9DDDE15E1D9AFE48759F51C288893C8FD4B6272311C3CE06FF5F52DAC08 2021-02-17T23:38:27.210Z,1613605107.210 [Micromodem](INFO): Outgoing frame #2, 16 bytes: 03AE85F49D8D95B19D01739B47DF7200 2021-02-17T23:38:27.211Z,1613605107.211 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T23:38:27.516Z,1613605107.516 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T23:38:27.538Z,1613605107.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.280001 m, bearing: 358.215691 deg, deltaT: 4.629349 s, approachRate: 0.609157 m/s, LOS rate: 1.269838 deg/s, posRepo size: 4 2021-02-17T23:38:27.924Z,1613605107.924 [Micromodem](INFO): Nmea in: $CADRQ,233827,1,10,0,64,1*79 2021-02-17T23:38:27.925Z,1613605107.925 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D603F0000005D000004003E0000000000000000151D80030C5669BF92F9E571D9DDDE15E1D9AFE48759F51C288893C8FD4B6272311C3CE06FF5F52DAC08*3E 2021-02-17T23:38:28.316Z,1613605108.316 [Micromodem](INFO): Nmea in: $SNTTA,0.015093,,,,233826.35*46 2021-02-17T23:38:28.317Z,1613605108.317 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.015093,,,,233826.35*46 2021-02-17T23:38:29.531Z,1613605109.531 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T23:38:29.925Z,1613605109.925 [Micromodem](INFO): Nmea in: $CADRQ,233827,1,10,0,64,2*7A 2021-02-17T23:38:29.926Z,1613605109.926 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,03AE85F49D8D95B19D01739B47DF7200*48 2021-02-17T23:38:30.016Z,1613605110.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:30.334Z,1613605110.334 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,16*4C 2021-02-17T23:38:30.733Z,1613605110.733 [Micromodem](INFO): Nmea in: $CATXP,80*7A 2021-02-17T23:38:30.734Z,1613605110.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:38:32.780Z,1613605112.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:33.155Z,1613605113.155 [Micromodem](INFO): Nmea in: $CATXF,80*6C 2021-02-17T23:38:33.156Z,1613605113.156 [Micromodem](ERROR): Response from modem unexpected: $CATXF,80*6C 2021-02-17T23:38:33.556Z,1613605113.556 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,233829.974432,3,0,200,4000,14500,1,1,10,1,2,2,3,80*40 2021-02-17T23:38:33.557Z,1613605113.557 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,233829.974432,3,0,200,4000,14500,1,1,10,1,2,2,3,80*40 2021-02-17T23:38:35.332Z,1613605115.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:38.041Z,1613605118.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:38.417Z,1613605118.417 [PowerOnly](INFO): Powering down loadControl 2021-02-17T23:38:40.900Z,1613605120.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:42.045Z,1613605122.045 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:38:42.473Z,1613605122.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:38:43.268Z,1613605123.268 [Micromodem](INFO): Nmea in: $SNTTA,0.022651,,,,233842.11*4E 2021-02-17T23:38:43.306Z,1613605123.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.079998 m, bearing: 0.658207 deg, deltaT: 15.627089 s, approachRate: 0.691107 m/s, LOS rate: 0.156300 deg/s, posRepo size: 4 2021-02-17T23:38:45.712Z,1613605125.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:46.484Z,1613605126.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:38:46.895Z,1613605126.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:38:47.716Z,1613605127.716 [Micromodem](INFO): Nmea in: $SNTTA,0.024861,,0.029695,,233846.55*5E 2021-02-17T23:38:47.817Z,1613605127.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.620003 m, bearing: 358.836801 deg, deltaT: 4.437913 s, approachRate: 0.797673 m/s, LOS rate: -0.410420 deg/s, posRepo size: 4 2021-02-17T23:38:50.210Z,1613605130.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:50.937Z,1613605130.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:38:51.348Z,1613605131.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:38:52.168Z,1613605132.168 [Micromodem](INFO): Nmea in: $SNTTA,0.027129,,,,233851.00*41 2021-02-17T23:38:52.258Z,1613605132.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.099998 m, bearing: 358.148073 deg, deltaT: 4.387786 s, approachRate: 0.793110 m/s, LOS rate: -0.156965 deg/s, posRepo size: 4 2021-02-17T23:38:54.697Z,1613605134.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:55.389Z,1613605135.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:38:55.794Z,1613605135.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:38:56.611Z,1613605136.611 [Micromodem](INFO): Nmea in: $SNTTA,0.029051,,,,233855.45*44 2021-02-17T23:38:56.631Z,1613605136.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.980000 m, bearing: 357.817218 deg, deltaT: 4.518471 s, approachRate: 0.637384 m/s, LOS rate: -0.073223 deg/s, posRepo size: 4 2021-02-17T23:38:59.147Z,1613605139.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:38:59.836Z,1613605139.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:00.221Z,1613605140.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:01.056Z,1613605141.056 [Micromodem](INFO): Nmea in: $SNTTA,0.031512,,,,233859.90*4B 2021-02-17T23:39:01.213Z,1613605141.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.639999 m, bearing: 358.625776 deg, deltaT: 4.407281 s, approachRate: 0.830444 m/s, LOS rate: 0.183460 deg/s, posRepo size: 4 2021-02-17T23:39:03.491Z,1613605143.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:39:04.266Z,1613605144.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:04.677Z,1613605144.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:05.492Z,1613605145.492 [Micromodem](INFO): Nmea in: $SNTTA,0.033661,,,,233904.33*4E 2021-02-17T23:39:05.620Z,1613605145.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 0.691386 deg, deltaT: 4.445835 s, approachRate: 0.674788 m/s, LOS rate: 0.464615 deg/s, posRepo size: 4 2021-02-17T23:39:07.937Z,1613605147.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:39:08.704Z,1613605148.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:09.127Z,1613605149.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:09.952Z,1613605149.952 [Micromodem](INFO): Nmea in: $SNTTA,0.037788,,,,233908.77*40 2021-02-17T23:39:10.008Z,1613605150.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.879997 m, bearing: 6.182004 deg, deltaT: 4.421693 s, approachRate: 1.411224 m/s, LOS rate: 1.241746 deg/s, posRepo size: 4 2021-02-17T23:39:12.068Z,1613605152.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:39:12.744Z,1613605152.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:13.154Z,1613605153.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:13.972Z,1613605153.972 [Micromodem](INFO): Nmea in: $SNTTA,0.038007,,,,233912.81*4D 2021-02-17T23:39:14.098Z,1613605154.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.240005 m, bearing: 3.739820 deg, deltaT: 4.049316 s, approachRate: 0.088906 m/s, LOS rate: -0.603110 deg/s, posRepo size: 4 2021-02-17T23:39:16.440Z,1613605156.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:39:17.209Z,1613605157.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:17.599Z,1613605157.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:18.428Z,1613605158.428 [Micromodem](INFO): Nmea in: $SNTTA,0.040225,,,,233917.27*49 2021-02-17T23:39:18.595Z,1613605158.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.720005 m, bearing: 3.658757 deg, deltaT: 4.464969 s, approachRate: 0.779401 m/s, LOS rate: -0.018155 deg/s, posRepo size: 4 2021-02-17T23:39:20.878Z,1613605160.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:39:21.640Z,1613605161.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:22.038Z,1613605162.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:22.864Z,1613605162.864 [Micromodem](INFO): Nmea in: $SNTTA,0.042267,,,,233921.70*4A 2021-02-17T23:39:22.908Z,1613605162.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.660007 m, bearing: 4.807219 deg, deltaT: 4.426322 s, approachRate: 0.664209 m/s, LOS rate: 0.259462 deg/s, posRepo size: 4 2021-02-17T23:39:25.027Z,1613605165.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:39:25.677Z,1613605165.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:26.077Z,1613605166.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:26.904Z,1613605166.904 [Micromodem](INFO): Nmea in: $SNTTA,0.044293,,,,233925.74*47 2021-02-17T23:39:27.054Z,1613605167.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.540009 m, bearing: 3.816054 deg, deltaT: 4.055683 s, approachRate: 0.710115 m/s, LOS rate: -0.244389 deg/s, posRepo size: 4 2021-02-17T23:39:29.351Z,1613605169.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:39:30.135Z,1613605170.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:30.526Z,1613605170.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:31.360Z,1613605171.360 [Micromodem](INFO): Nmea in: $SNTTA,0.046574,,,,233930.20*4E 2021-02-17T23:39:31.494Z,1613605171.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.139999 m, bearing: 5.283166 deg, deltaT: 4.445592 s, approachRate: 0.809789 m/s, LOS rate: 0.330015 deg/s, posRepo size: 4 2021-02-17T23:39:32.552Z,1613605172.552 [Micromodem](ERROR): Buffer fill timout failure. 2021-02-17T23:39:33.032Z,1613605173.032 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D603F0000005D000004003E0000000000000000151D80030C5669BF92F9E571D9DDDE15E1D9AFE48759F51C288893C8FD4B6272311C3CE06FF5F52DAC08 2021-02-17T23:39:33.032Z,1613605173.032 [Micromodem](INFO): Outgoing frame #2, 16 bytes: 03AE85F49D8D95B19D01739B47DF7200 2021-02-17T23:39:33.032Z,1613605173.032 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T23:39:33.376Z,1613605173.376 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T23:39:33.496Z,1613605173.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:39:33.758Z,1613605173.758 [Micromodem](INFO): Nmea in: $CADRQ,233933,1,10,0,64,1*7D 2021-02-17T23:39:33.760Z,1613605173.760 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D603F0000005D000004003E0000000000000000151D80030C5669BF92F9E571D9DDDE15E1D9AFE48759F51C288893C8FD4B6272311C3CE06FF5F52DAC08*3E 2021-02-17T23:39:34.173Z,1613605174.173 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T23:39:34.176Z,1613605174.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:34.566Z,1613605174.566 [Micromodem](INFO): Nmea in: $CADRQ,233933,1,10,0,64,2*7E 2021-02-17T23:39:34.566Z,1613605174.566 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,233933,1,10,0,64,2*7E 2021-02-17T23:39:34.985Z,1613605174.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:35.396Z,1613605175.396 [Micromodem](INFO): Nmea in: $SNTTA,0.048617,,,,233934.24*46 2021-02-17T23:39:35.441Z,1613605175.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.140007 m, bearing: 5.050448 deg, deltaT: 4.040344 s, approachRate: 0.742513 m/s, LOS rate: -0.057599 deg/s, posRepo size: 4 2021-02-17T23:39:37.940Z,1613605177.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:39:38.608Z,1613605178.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:39.006Z,1613605179.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:39.852Z,1613605179.852 [Micromodem](INFO): Nmea in: $SNTTA,0.050765,,,,233938.67*40 2021-02-17T23:39:39.998Z,1613605179.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.500000 m, bearing: 2.075422 deg, deltaT: 4.439675 s, approachRate: 0.756811 m/s, LOS rate: -0.670100 deg/s, posRepo size: 4 2021-02-17T23:39:42.285Z,1613605182.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:39:43.044Z,1613605183.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:43.450Z,1613605183.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:44.272Z,1613605184.272 [Micromodem](INFO): Nmea in: $SNTTA,0.052997,,,,233943.11*4C 2021-02-17T23:39:44.404Z,1613605184.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.680000 m, bearing: 4.096164 deg, deltaT: 4.439390 s, approachRate: 0.716315 m/s, LOS rate: 0.455185 deg/s, posRepo size: 4 2021-02-17T23:39:46.715Z,1613605186.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:39:47.489Z,1613605187.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:47.902Z,1613605187.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:48.716Z,1613605188.716 [Micromodem](INFO): Nmea in: $SNTTA,0.055225,,,,233947.55*4D 2021-02-17T23:39:48.753Z,1613605188.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.160004 m, bearing: 7.836202 deg, deltaT: 4.430606 s, approachRate: 0.785446 m/s, LOS rate: 0.844137 deg/s, posRepo size: 4 2021-02-17T23:39:50.890Z,1613605190.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:39:51.528Z,1613605191.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:51.935Z,1613605191.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:52.760Z,1613605192.760 [Micromodem](INFO): Nmea in: $SNTTA,0.057405,,,,233951.59*40 2021-02-17T23:39:52.926Z,1613605192.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.280006 m, bearing: 8.721545 deg, deltaT: 4.074212 s, approachRate: 0.765793 m/s, LOS rate: 0.217304 deg/s, posRepo size: 4 2021-02-17T23:39:55.227Z,1613605195.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:39:55.972Z,1613605195.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:39:56.378Z,1613605196.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:39:57.220Z,1613605197.220 [Micromodem](INFO): Nmea in: $SNTTA,0.059746,,,,233956.04*45 2021-02-17T23:39:57.356Z,1613605197.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.820007 m, bearing: 2.172726 deg, deltaT: 4.449151 s, approachRate: 0.795658 m/s, LOS rate: -1.471926 deg/s, posRepo size: 4 2021-02-17T23:39:59.642Z,1613605199.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:00.418Z,1613605200.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:40:00.841Z,1613605200.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:40:01.665Z,1613605201.665 [Micromodem](INFO): Nmea in: $SNTTA,0.062001,,,,234000.48*4C 2021-02-17T23:40:01.686Z,1613605201.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.360008 m, bearing: 4.270906 deg, deltaT: 4.413183 s, approachRate: 0.802142 m/s, LOS rate: 0.475435 deg/s, posRepo size: 4 2021-02-17T23:40:03.777Z,1613605203.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:04.072Z,1613605204.072 [Micromodem](INFO): Nmea in: $CAERR,234003,DATA_TIMEOUT,2*4B 2021-02-17T23:40:04.460Z,1613605204.460 [Micromodem](INFO): Nmea in: $CATXP,64*70 2021-02-17T23:40:04.461Z,1613605204.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:40:06.072Z,1613605206.072 [Micromodem](INFO): Nmea in: $CATXF,64*66 2021-02-17T23:40:06.073Z,1613605206.073 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66 2021-02-17T23:40:06.482Z,1613605206.482 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,234003.868460,3,0,200,4000,14500,1,1,10,1,2,1,3,64*45 2021-02-17T23:40:06.483Z,1613605206.483 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,234003.868460,3,0,200,4000,14500,1,1,10,1,2,1,3,64*45 2021-02-17T23:40:06.509Z,1613605206.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:07.688Z,1613605207.688 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31 2021-02-17T23:40:07.689Z,1613605207.689 [Micromodem](ERROR): Response from modem unexpected: $CAMSG,Bad Modulation Header,0*31 2021-02-17T23:40:08.096Z,1613605208.096 [Micromodem](INFO): Nmea in: $CACST,6,1,20210217234006.790772,06,752,28,0129,0150,59,02,02,00,02,-1,-01,-01,1,3,1,0,150,10.5,7.00,00,-4.00,-01,-0.30,38,14500,4000*65 2021-02-17T23:40:08.097Z,1613605208.097 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20210217234006.790772,06,752,28,0129,0150,59,02,02,00,02,-1,-01,-01,1,3,1,0,150,10.5,7.00,00,-4.00,-01,-0.30,38,14500,4000*65 2021-02-17T23:40:09.330Z,1613605209.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:12.289Z,1613605212.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:15.013Z,1613605215.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:15.777Z,1613605215.777 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:40:16.205Z,1613605216.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:40:17.004Z,1613605217.004 [Micromodem](INFO): Nmea in: $SNTTA,0.069718,,,,234015.84*4C 2021-02-17T23:40:17.044Z,1613605217.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.700005 m, bearing: 5.966672 deg, deltaT: 15.421638 s, approachRate: 0.735330 m/s, LOS rate: 0.109960 deg/s, posRepo size: 4 2021-02-17T23:40:19.448Z,1613605219.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:20.217Z,1613605220.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:40:20.629Z,1613605220.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:40:21.430Z,1613605221.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234020.28*53 2021-02-17T23:40:22.267Z,1613605222.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:23.856Z,1613605223.856 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:40:25.223Z,1613605225.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:25.872Z,1613605225.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:40:26.278Z,1613605226.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:40:27.103Z,1613605227.103 [Micromodem](INFO): Nmea in: $SNTTA,0.074506,,,,234025.94*4F 2021-02-17T23:40:27.127Z,1613605227.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.959999 m, bearing: 4.973746 deg, deltaT: 10.002724 s, approachRate: 0.725802 m/s, LOS rate: -0.099266 deg/s, posRepo size: 4 2021-02-17T23:40:29.644Z,1613605229.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:30.316Z,1613605230.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:40:30.727Z,1613605230.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:40:31.552Z,1613605231.552 [Micromodem](INFO): Nmea in: $SNTTA,0.076728,,,,234030.38*41 2021-02-17T23:40:31.685Z,1613605231.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.440010 m, bearing: 10.441058 deg, deltaT: 4.514560 s, approachRate: 0.770842 m/s, LOS rate: 1.211040 deg/s, posRepo size: 4 2021-02-17T23:40:33.982Z,1613605233.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:34.760Z,1613605234.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:40:35.206Z,1613605235.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:40:35.978Z,1613605235.978 [Micromodem](INFO): Nmea in: $SNTTA,0.079112,,,,234034.83*45 2021-02-17T23:40:36.844Z,1613605236.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:38.399Z,1613605238.399 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:40:38.400Z,1613605238.400 [Micromodem](ERROR): Buffer fill timout failure. 2021-02-17T23:40:38.909Z,1613605238.909 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D603F0000005D000004003E0000000000000000151D80030C5669BF92F9E571D9DDDE15E1D9AFE48759F51C288893C8FD4B6272311C3CE06FF5F52DAC08 2021-02-17T23:40:38.909Z,1613605238.909 [Micromodem](INFO): Outgoing frame #2, 16 bytes: 03AE85F49D8D95B19D01739B47DF7200 2021-02-17T23:40:38.910Z,1613605238.910 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T23:40:39.215Z,1613605239.215 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T23:40:39.618Z,1613605239.618 [Micromodem](INFO): Nmea in: $CADRQ,234038,1,10,0,64,1*78 2021-02-17T23:40:39.619Z,1613605239.619 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D603F0000005D000004003E0000000000000000151D80030C5669BF92F9E571D9DDDE15E1D9AFE48759F51C288893C8FD4B6272311C3CE06FF5F52DAC08*3E 2021-02-17T23:40:39.726Z,1613605239.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:40.021Z,1613605240.021 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T23:40:40.416Z,1613605240.416 [Micromodem](INFO): Nmea in: $CADRQ,234039,1,10,0,64,2*7A 2021-02-17T23:40:40.417Z,1613605240.417 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,03AE85F49D8D95B19D01739B47DF7200*48 2021-02-17T23:40:40.837Z,1613605240.837 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,16*4C 2021-02-17T23:40:40.838Z,1613605240.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:40:41.241Z,1613605241.241 [Micromodem](INFO): Nmea in: $CATXP,80*7A 2021-02-17T23:40:41.241Z,1613605241.241 [Micromodem](ERROR): Response from modem unexpected: $CATXP,80*7A 2021-02-17T23:40:42.560Z,1613605242.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:43.647Z,1613605243.647 [Micromodem](INFO): Nmea in: $CATXF,80*6C 2021-02-17T23:40:43.647Z,1613605243.647 [Micromodem](ERROR): Response from modem unexpected: $CATXF,80*6C 2021-02-17T23:40:44.054Z,1613605244.054 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,234040.468744,3,0,200,4000,14500,1,1,10,1,2,2,3,80*42 2021-02-17T23:40:44.054Z,1613605244.054 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,234040.468744,3,0,200,4000,14500,1,1,10,1,2,2,3,80*42 2021-02-17T23:40:45.306Z,1613605245.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:48.124Z,1613605248.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:51.044Z,1613605251.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:52.131Z,1613605252.131 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:40:52.543Z,1613605252.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:40:53.360Z,1613605253.360 [Micromodem](INFO): Nmea in: $SNTTA,0.087935,,,,234052.19*4A 2021-02-17T23:40:53.385Z,1613605253.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.120010 m, bearing: 7.892757 deg, deltaT: 21.752325 s, approachRate: 0.766815 m/s, LOS rate: -0.117151 deg/s, posRepo size: 4 2021-02-17T23:40:55.490Z,1613605255.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:40:56.202Z,1613605256.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:40:56.578Z,1613605256.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:40:57.412Z,1613605257.412 [Micromodem](INFO): Nmea in: $SNTTA,0.089888,,,,234056.27*4A 2021-02-17T23:40:57.660Z,1613605257.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.940002 m, bearing: 9.783667 deg, deltaT: 4.081367 s, approachRate: 0.690943 m/s, LOS rate: 0.463303 deg/s, posRepo size: 4 2021-02-17T23:40:59.864Z,1613605259.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:00.626Z,1613605260.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:41:01.026Z,1613605261.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:41:01.852Z,1613605261.852 [Micromodem](INFO): Nmea in: $SNTTA,0.092136,,,,234100.69*44 2021-02-17T23:41:01.978Z,1613605261.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.360001 m, bearing: 3.516507 deg, deltaT: 4.433663 s, approachRate: 0.771371 m/s, LOS rate: -1.413540 deg/s, posRepo size: 4 2021-02-17T23:41:04.282Z,1613605264.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:05.069Z,1613605265.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:41:05.478Z,1613605265.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:41:06.296Z,1613605266.296 [Micromodem](INFO): Nmea in: $SNTTA,0.094347,,,,234105.14*49 2021-02-17T23:41:06.334Z,1613605266.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.720001 m, bearing: 8.963988 deg, deltaT: 4.444921 s, approachRate: 0.755919 m/s, LOS rate: 1.225552 deg/s, posRepo size: 4 2021-02-17T23:41:08.436Z,1613605268.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:09.104Z,1613605269.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:41:09.510Z,1613605269.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:41:10.341Z,1613605270.341 [Micromodem](INFO): Nmea in: $SNTTA,0.096309,,0.113133,,234109.17*52 2021-02-17T23:41:10.466Z,1613605270.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.660004 m, bearing: 9.859189 deg, deltaT: 4.048837 s, approachRate: 0.726135 m/s, LOS rate: 0.221101 deg/s, posRepo size: 4 2021-02-17T23:41:12.777Z,1613605272.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:13.552Z,1613605273.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:41:13.954Z,1613605273.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:41:14.776Z,1613605274.776 [Micromodem](INFO): Nmea in: $SNTTA,0.098508,,,,234113.62*4E 2021-02-17T23:41:14.934Z,1613605274.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.960007 m, bearing: 8.971884 deg, deltaT: 4.451110 s, approachRate: 0.741389 m/s, LOS rate: -0.199345 deg/s, posRepo size: 4 2021-02-17T23:41:16.936Z,1613605276.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:17.594Z,1613605277.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:41:18.006Z,1613605278.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:41:18.844Z,1613605278.844 [Micromodem](INFO): Nmea in: $SNTTA,0.100530,,,,234117.66*45 2021-02-17T23:41:18.871Z,1613605278.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.960007 m, bearing: 5.549844 deg, deltaT: 4.020099 s, approachRate: 0.746250 m/s, LOS rate: -0.851233 deg/s, posRepo size: 4 2021-02-17T23:41:18.871Z,1613605278.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.96 m. Resuming terminal guidance. 2021-02-17T23:41:18.871Z,1613605278.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T23:41:21.354Z,1613605281.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:22.032Z,1613605282.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:41:22.446Z,1613605282.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:41:23.260Z,1613605283.260 [Micromodem](INFO): Nmea in: $SNTTA,0.102776,,,,234122.10*40 2021-02-17T23:41:23.389Z,1613605283.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.320007 m, bearing: 11.598587 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T23:41:23.389Z,1613605283.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 11.598587deg and heading rate command to 0 deg/s. 2021-02-17T23:41:25.715Z,1613605285.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:26.481Z,1613605286.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:41:26.881Z,1613605286.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:41:27.708Z,1613605287.708 [Micromodem](INFO): Nmea in: $SNTTA,0.104939,,,,234126.54*47 2021-02-17T23:41:27.866Z,1613605287.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.560013 m, bearing: 20.795631 deg, deltaT: 4.452075 s, approachRate: 0.727752 m/s, LOS rate: 2.065788 deg/s, posRepo size: 2 2021-02-17T23:41:27.868Z,1613605287.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.560013 m, bearing: 20.795631 deg, approachRate: 0.727752 m/s, LOS rate: 2.065788 deg/s, cmd update: 8.263153 deg/s, cmd heading: 11.598587 deg, new cmd heading: 11.598587 deg. 2021-02-17T23:41:29.884Z,1613605289.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:30.522Z,1613605290.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:41:30.921Z,1613605290.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:41:31.748Z,1613605291.748 [Micromodem](INFO): Nmea in: $SNTTA,0.106915,,,,234130.58*40 2021-02-17T23:41:31.806Z,1613605291.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.559998 m, bearing: 6.087809 deg, deltaT: 4.045654 s, approachRate: 0.741533 m/s, LOS rate: -3.635462 deg/s, posRepo size: 3 2021-02-17T23:41:31.821Z,1613605291.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.559998 m, bearing: 6.087809 deg, approachRate: 0.741533 m/s, LOS rate: -3.635462 deg/s, cmd update: -12.000000 deg/s, cmd heading: 44.964117 deg, new cmd heading: 48.439170 deg. 2021-02-17T23:41:34.339Z,1613605294.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:34.960Z,1613605294.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:41:35.378Z,1613605295.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:41:36.216Z,1613605296.216 [Micromodem](INFO): Nmea in: $SNTTA,0.108994,,,,234135.02*4D 2021-02-17T23:41:36.375Z,1613605296.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.500000 m, bearing: 18.368377 deg, deltaT: 4.471033 s, approachRate: 0.657567 m/s, LOS rate: 2.746696 deg/s, posRepo size: 4 2021-02-17T23:41:36.377Z,1613605296.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.500000 m, bearing: 18.368377 deg, approachRate: 0.657567 m/s, LOS rate: 2.746696 deg/s, cmd update: 10.986783 deg/s, cmd heading: 351.264020 deg, new cmd heading: 345.190556 deg. 2021-02-17T23:41:38.620Z,1613605298.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:39.404Z,1613605299.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:41:39.837Z,1613605299.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:41:40.632Z,1613605300.632 [Micromodem](INFO): Nmea in: $SNTTA,0.110569,,,,234139.47*47 2021-02-17T23:41:40.754Z,1613605300.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.139999 m, bearing: 85.009129 deg, deltaT: 4.445591 s, approachRate: 0.593847 m/s, LOS rate: 14.990302 deg/s, posRepo size: 4 2021-02-17T23:41:40.755Z,1613605300.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.990302 deg/s. Setting heading cmd to target bearing of 85.009129deg and heading rate command to 0 deg/s. 2021-02-17T23:41:43.084Z,1613605303.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:43.853Z,1613605303.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:41:44.263Z,1613605304.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:41:44.277Z,1613605304.277 [Micromodem](ERROR): Buffer fill timout failure. 2021-02-17T23:41:44.769Z,1613605304.769 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D603F0000005D000004003E0000000000000000151D80030C5669BF92F9E571D9DDDE15E1D9AFE48759F51C288893C8FD4B6272311C3CE06FF5F52DAC08 2021-02-17T23:41:44.770Z,1613605304.770 [Micromodem](INFO): Outgoing frame #2, 16 bytes: 03AE85F49D8D95B19D01739B47DF7200 2021-02-17T23:41:44.770Z,1613605304.770 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-17T23:41:45.107Z,1613605305.107 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-17T23:41:45.126Z,1613605305.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.139999 m, bearing: 9.614806 deg, deltaT: 4.555925 s, approachRate: 0.000000 m/s, LOS rate: -16.548630 deg/s, posRepo size: 4 2021-02-17T23:41:45.126Z,1613605305.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.548630 deg/s. Setting heading cmd to target bearing of 9.614806deg and heading rate command to 0 deg/s. 2021-02-17T23:41:45.492Z,1613605305.492 [Micromodem](INFO): Nmea in: $CADRQ,234144,1,10,0,64,1*72 2021-02-17T23:41:45.493Z,1613605305.493 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D603F0000005D000004003E0000000000000000151D80030C5669BF92F9E571D9DDDE15E1D9AFE48759F51C288893C8FD4B6272311C3CE06FF5F52DAC08*3E 2021-02-17T23:41:45.892Z,1613605305.892 [Micromodem](INFO): Nmea in: $SNTTA,0.112584,,,,234143.92*43 2021-02-17T23:41:45.892Z,1613605305.892 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.112584,,,,234143.92*43 2021-02-17T23:41:47.100Z,1613605307.100 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-17T23:41:47.487Z,1613605307.487 [Micromodem](INFO): Nmea in: $CADRQ,234145,1,10,0,64,2*70 2021-02-17T23:41:47.488Z,1613605307.488 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,03AE85F49D8D95B19D01739B47DF7200*48 2021-02-17T23:41:47.553Z,1613605307.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:47.897Z,1613605307.897 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,16*4C 2021-02-17T23:41:48.313Z,1613605308.313 [Micromodem](INFO): Nmea in: $CATXP,80*7A 2021-02-17T23:41:48.314Z,1613605308.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:41:50.392Z,1613605310.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:50.715Z,1613605310.715 [Micromodem](INFO): Nmea in: $CATXF,80*6C 2021-02-17T23:41:50.716Z,1613605310.716 [Micromodem](ERROR): Response from modem unexpected: $CATXF,80*6C 2021-02-17T23:41:51.132Z,1613605311.132 [Micromodem](INFO): Nmea in: $CAXST,6,20210217,234147.536636,3,0,200,4000,14500,1,1,10,1,2,2,3,80*4A 2021-02-17T23:41:51.133Z,1613605311.133 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210217,234147.536636,3,0,200,4000,14500,1,1,10,1,2,2,3,80*4A 2021-02-17T23:41:53.215Z,1613605313.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:53.546Z,1613605313.546 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-17T23:41:53.960Z,1613605313.960 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-17T23:41:53.961Z,1613605313.961 [Micromodem](INFO): Sent 72 bytes from file Logs/20210217T180521/Courier0063.lzma.parts 2021-02-17T23:41:53.961Z,1613605313.961 [Micromodem](INFO): Packets left to send: 0 2021-02-17T23:41:54.365Z,1613605314.365 [Micromodem](INFO): Nmea in: $CACST,6,0,20210217234152.374420,06,1482,31,0221,0150,59,02,02,00,02,1,010,001,0,4,1,0,150,10.7,4.00,07,-1.00,-01,-1.00,34,14500,4000*74 2021-02-17T23:41:54.365Z,1613605314.365 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210217234152.374420,06,1482,31,0221,0150,59,02,02,00,02,1,010,001,0,4,1,0,150,10.7,4.00,07,-1.00,-01,-1.00,34,14500,4000*74 2021-02-17T23:41:54.482Z,1613605314.482 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-17T23:41:54.482Z,1613605314.482 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-17T23:41:54.482Z,1613605314.482 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-17T23:41:54.482Z,1613605314.482 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-17T23:41:54.483Z,1613605314.483 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-17T23:41:55.744Z,1613605315.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:58.456Z,1613605318.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:41:59.649Z,1613605319.649 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:42:00.079Z,1613605320.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:42:00.879Z,1613605320.879 [Micromodem](INFO): Nmea in: $SNTTA,0.118809,,,,234159.71*47 2021-02-17T23:42:00.903Z,1613605320.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.139999 m, bearing: 17.028900 deg, deltaT: 15.640832 s, approachRate: 0.000000 m/s, LOS rate: 0.474022 deg/s, posRepo size: 4 2021-02-17T23:42:00.905Z,1613605320.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.139999 m, bearing: 17.028900 deg, approachRate: 0.000000 m/s, LOS rate: 0.474022 deg/s, cmd update: 1.896087 deg/s, cmd heading: 9.614806 deg, new cmd heading: 9.614806 deg. 2021-02-17T23:42:03.306Z,1613605323.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:04.088Z,1613605324.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:42:04.494Z,1613605324.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:42:05.320Z,1613605325.320 [Micromodem](INFO): Nmea in: $SNTTA,0.120712,,,,234204.15*40 2021-02-17T23:42:05.372Z,1613605325.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.559998 m, bearing: 33.701116 deg, deltaT: 4.510010 s, approachRate: 3.419061 m/s, LOS rate: 3.696714 deg/s, posRepo size: 4 2021-02-17T23:42:05.374Z,1613605325.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.559998 m, bearing: 33.701116 deg, approachRate: 3.419061 m/s, LOS rate: 3.696714 deg/s, cmd update: 12.000000 deg/s, cmd heading: 18.159805 deg, new cmd heading: 18.848125 deg. 2021-02-17T23:42:07.760Z,1613605327.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:08.535Z,1613605328.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:42:08.938Z,1613605328.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:42:09.749Z,1613605329.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234208.60*57 2021-02-17T23:42:10.298Z,1613605330.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.500000 m, bearing: 56.591126 deg, deltaT: 4.754023 s, approachRate: 0.618424 m/s, LOS rate: 4.814871 deg/s, posRepo size: 4 2021-02-17T23:42:10.300Z,1613605330.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.500000 m, bearing: 56.591126 deg, approachRate: 0.618424 m/s, LOS rate: 4.814871 deg/s, cmd update: 12.000000 deg/s, cmd heading: 75.257439 deg, new cmd heading: 81.674740 deg. 2021-02-17T23:42:12.271Z,1613605332.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:12.981Z,1613605332.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:42:13.400Z,1613605333.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:42:13.837Z,1613605333.837 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-17T23:42:14.224Z,1613605334.224 [Micromodem](INFO): Nmea in: $SNTTA,0.124992,,,,234213.05*45 2021-02-17T23:42:14.248Z,1613605334.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.500000 m, bearing: 20.685976 deg, deltaT: 4.110867 s, approachRate: 0.000000 m/s, LOS rate: -8.734203 deg/s, posRepo size: 4 2021-02-17T23:42:14.249Z,1613605334.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.500000 m, bearing: 20.685976 deg, approachRate: 0.000000 m/s, LOS rate: -8.734203 deg/s, cmd update: -12.000000 deg/s, cmd heading: 124.586441 deg, new cmd heading: 129.067997 deg. 2021-02-17T23:42:16.643Z,1613605336.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:17.427Z,1613605337.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:42:17.841Z,1613605337.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:42:18.643Z,1613605338.643 [Micromodem](INFO): Nmea in: $SNTTA,0.126619,,,,234217.49*47 2021-02-17T23:42:19.117Z,1613605339.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.080002 m, bearing: 57.463515 deg, deltaT: 4.783378 s, approachRate: 1.166540 m/s, LOS rate: 7.688612 deg/s, posRepo size: 4 2021-02-17T23:42:19.119Z,1613605339.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.080002 m, bearing: 57.463515 deg, approachRate: 1.166540 m/s, LOS rate: 7.688612 deg/s, cmd update: 12.000000 deg/s, cmd heading: 67.184464 deg, new cmd heading: 61.670931 deg. 2021-02-17T23:42:21.486Z,1613605341.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:22.268Z,1613605342.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:42:22.681Z,1613605342.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:42:23.487Z,1613605343.487 [Micromodem](INFO): Nmea in: $SNTTA,0.128044,,,,234222.33*4C 2021-02-17T23:42:23.918Z,1613605343.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.119995 m, bearing: 76.711050 deg, deltaT: 4.865558 s, approachRate: 0.419272 m/s, LOS rate: 3.955874 deg/s, posRepo size: 4 2021-02-17T23:42:23.920Z,1613605343.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.119995 m, bearing: 76.711050 deg, approachRate: 0.419272 m/s, LOS rate: 3.955874 deg/s, cmd update: 12.000000 deg/s, cmd heading: 125.525357 deg, new cmd heading: 130.315025 deg. 2021-02-17T23:42:26.313Z,1613605346.313 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-17T23:42:26.339Z,1613605346.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:27.122Z,1613605347.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:42:27.522Z,1613605347.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:42:28.334Z,1613605348.334 [Micromodem](INFO): Nmea in: $SNTTA,0.128953,,,,234227.19*4E 2021-02-17T23:42:29.215Z,1613605349.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:30.756Z,1613605350.756 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:42:32.002Z,1613605352.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:32.782Z,1613605352.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:42:33.207Z,1613605353.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:42:33.994Z,1613605353.994 [Micromodem](INFO): Nmea in: $SNTTA,0.129380,,,,234232.85*4A 2021-02-17T23:42:34.427Z,1613605354.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.039978 m, bearing: 79.964604 deg, deltaT: 10.511561 s, approachRate: 0.182654 m/s, LOS rate: 0.309521 deg/s, posRepo size: 4 2021-02-17T23:42:34.429Z,1613605354.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.039978 m, bearing: 79.964604 deg, approachRate: 0.182654 m/s, LOS rate: 0.309521 deg/s, cmd update: 1.238086 deg/s, cmd heading: 251.512702 deg, new cmd heading: 256.421422 deg. 2021-02-17T23:42:36.887Z,1613605356.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:37.626Z,1613605357.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:42:38.036Z,1613605358.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:42:38.848Z,1613605358.848 [Micromodem](INFO): Nmea in: $SNTTA,0.128935,,,,234237.69*48 2021-02-17T23:42:39.663Z,1613605359.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:41.260Z,1613605361.260 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:42:42.494Z,1613605362.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:43.281Z,1613605363.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:42:43.682Z,1613605363.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:42:44.503Z,1613605364.503 [Micromodem](INFO): Nmea in: $SNTTA,0.127795,,,,234243.34*48 2021-02-17T23:42:45.012Z,1613605365.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.519989 m, bearing: 181.720256 deg, deltaT: 10.516140 s, approachRate: -0.239631 m/s, LOS rate: 9.676141 deg/s, posRepo size: 4 2021-02-17T23:42:45.013Z,1613605365.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.519989 m, bearing: 181.720256 deg, approachRate: -0.239631 m/s, LOS rate: 9.676141 deg/s, cmd update: 12.000000 deg/s, cmd heading: 264.548160 deg, new cmd heading: 265.123197 deg. 2021-02-17T23:42:47.381Z,1613605367.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:48.129Z,1613605368.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:42:48.535Z,1613605368.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:42:49.354Z,1613605369.354 [Micromodem](INFO): Nmea in: $SNTTA,0.126357,,,,234248.19*47 2021-02-17T23:42:49.796Z,1613605369.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.479980 m, bearing: 184.289924 deg, deltaT: 4.830604 s, approachRate: -0.422309 m/s, LOS rate: 0.531956 deg/s, posRepo size: 4 2021-02-17T23:42:49.803Z,1613605369.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.479980 m, bearing: 184.289924 deg, approachRate: -0.422309 m/s, LOS rate: 0.531956 deg/s, cmd update: 2.127823 deg/s, cmd heading: 322.564106 deg, new cmd heading: 327.487262 deg. 2021-02-17T23:42:52.243Z,1613605372.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:52.977Z,1613605372.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:42:53.391Z,1613605373.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:42:54.220Z,1613605374.220 [Micromodem](INFO): Nmea in: $SNTTA,0.124356,,,,234253.04*42 2021-02-17T23:42:54.648Z,1613605374.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.300018 m, bearing: 186.057235 deg, deltaT: 4.872115 s, approachRate: -0.652686 m/s, LOS rate: 0.362740 deg/s, posRepo size: 4 2021-02-17T23:42:54.650Z,1613605374.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.300018 m, bearing: 186.057235 deg, approachRate: -0.652686 m/s, LOS rate: 0.362740 deg/s, cmd update: 1.450960 deg/s, cmd heading: 332.931163 deg, new cmd heading: 333.770170 deg. 2021-02-17T23:42:57.066Z,1613605377.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:42:57.838Z,1613605377.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:42:58.232Z,1613605378.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:42:59.043Z,1613605379.043 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234257.90*52 2021-02-17T23:42:59.882Z,1613605379.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:01.460Z,1613605381.460 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:43:02.696Z,1613605382.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:03.482Z,1613605383.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:43:03.891Z,1613605383.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:43:04.298Z,1613605384.298 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,2FC,0,61,E4 2,185,80,80,B9,FF 2021-02-17T23:43:04.694Z,1613605384.694 [Micromodem](INFO): Nmea in: $SNTTA,0.119575,,,,234303.55*4B 2021-02-17T23:43:05.524Z,1613605385.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:08.354Z,1613605388.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:11.233Z,1613605391.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:11.967Z,1613605391.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:43:12.365Z,1613605392.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:43:12.777Z,1613605392.777 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,502,0,61,E4 2,185,80,80,B9,FF 2021-02-17T23:43:13.206Z,1613605393.206 [Micromodem](INFO): Nmea in: $SNTTA,0.117278,,,,234312.03*4C 2021-02-17T23:43:14.022Z,1613605394.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:16.858Z,1613605396.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:19.656Z,1613605399.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:20.446Z,1613605400.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:43:20.861Z,1613605400.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:43:21.660Z,1613605401.660 [Micromodem](INFO): Nmea in: $SNTTA,0.116925,,,,234320.51*48 2021-02-17T23:43:22.506Z,1613605402.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:24.084Z,1613605404.084 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:43:25.354Z,1613605405.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:26.117Z,1613605406.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:43:26.515Z,1613605406.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:43:27.326Z,1613605407.326 [Micromodem](INFO): Nmea in: $SNTTA,0.117965,,,,234326.18*46 2021-02-17T23:43:27.747Z,1613605407.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.119995 m, bearing: 284.141279 deg, deltaT: 33.097042 s, approachRate: -0.277367 m/s, LOS rate: 2.963529 deg/s, posRepo size: 4 2021-02-17T23:43:27.749Z,1613605407.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.119995 m, bearing: 284.141279 deg, approachRate: -0.277367 m/s, LOS rate: 2.963529 deg/s, cmd update: 11.854116 deg/s, cmd heading: 20.953862 deg, new cmd heading: 21.528156 deg. 2021-02-17T23:43:30.221Z,1613605410.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:30.950Z,1613605410.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:43:31.359Z,1613605411.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:43:32.198Z,1613605412.198 [Micromodem](INFO): Nmea in: $SNTTA,0.119642,,,,234331.01*4C 2021-02-17T23:43:32.594Z,1613605412.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.639999 m, bearing: 290.846202 deg, deltaT: 4.902463 s, approachRate: 0.514028 m/s, LOS rate: 1.367664 deg/s, posRepo size: 4 2021-02-17T23:43:32.596Z,1613605412.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.639999 m, bearing: 290.846202 deg, approachRate: 0.514028 m/s, LOS rate: 1.367664 deg/s, cmd update: 5.470657 deg/s, cmd heading: 79.067837 deg, new cmd heading: 83.103381 deg. 2021-02-17T23:43:35.044Z,1613605415.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:35.829Z,1613605415.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:43:36.216Z,1613605416.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:43:37.029Z,1613605417.029 [Micromodem](INFO): Nmea in: $SNTTA,0.121659,,,,234335.89*49 2021-02-17T23:43:37.458Z,1613605417.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.699997 m, bearing: 336.926238 deg, deltaT: 4.800529 s, approachRate: 0.637429 m/s, LOS rate: 9.598950 deg/s, posRepo size: 4 2021-02-17T23:43:37.460Z,1613605417.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.699997 m, bearing: 336.926238 deg, approachRate: 0.637429 m/s, LOS rate: 9.598950 deg/s, cmd update: 12.000000 deg/s, cmd heading: 105.330109 deg, new cmd heading: 107.543280 deg. 2021-02-17T23:43:39.868Z,1613605419.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:40.646Z,1613605420.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:43:41.061Z,1613605421.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:43:41.867Z,1613605421.867 [Micromodem](INFO): Nmea in: $SNTTA,0.124142,,,,234340.71*44 2021-02-17T23:43:42.295Z,1613605422.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 67.468574 deg, deltaT: 4.868794 s, approachRate: 0.554551 m/s, LOS rate: 18.596462 deg/s, posRepo size: 4 2021-02-17T23:43:42.296Z,1613605422.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.596462 deg/s. Setting heading cmd to target bearing of 67.468574deg and heading rate command to 0 deg/s. 2021-02-17T23:43:44.713Z,1613605424.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:45.494Z,1613605425.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:43:45.906Z,1613605425.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:43:46.713Z,1613605426.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234345.56*5A 2021-02-17T23:43:47.200Z,1613605427.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.639984 m, bearing: 40.298984 deg, deltaT: 4.840884 s, approachRate: 0.669297 m/s, LOS rate: -5.612527 deg/s, posRepo size: 4 2021-02-17T23:43:47.202Z,1613605427.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.639984 m, bearing: 40.298984 deg, approachRate: 0.669297 m/s, LOS rate: -5.612527 deg/s, cmd update: -12.000000 deg/s, cmd heading: 67.468574 deg, new cmd heading: 67.468574 deg. 2021-02-17T23:43:49.571Z,1613605429.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:50.349Z,1613605430.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:43:50.746Z,1613605430.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:43:51.565Z,1613605431.565 [Micromodem](INFO): Nmea in: $SNTTA,0.127373,,,,234350.41*45 2021-02-17T23:43:52.014Z,1613605432.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.279999 m, bearing: 42.269657 deg, deltaT: 4.825949 s, approachRate: 0.547046 m/s, LOS rate: 0.408349 deg/s, posRepo size: 4 2021-02-17T23:43:52.017Z,1613605432.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.279999 m, bearing: 42.269657 deg, approachRate: 0.547046 m/s, LOS rate: 0.408349 deg/s, cmd update: 1.633398 deg/s, cmd heading: 9.558757 deg, new cmd heading: 4.470433 deg. 2021-02-17T23:43:54.412Z,1613605434.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:43:55.221Z,1613605435.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:43:55.594Z,1613605435.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:43:56.440Z,1613605436.440 [Micromodem](INFO): Nmea in: $SNTTA,0.128365,,,,234355.29*46 2021-02-17T23:43:56.891Z,1613605436.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.539978 m, bearing: 122.625993 deg, deltaT: 4.887215 s, approachRate: 0.257811 m/s, LOS rate: 16.442152 deg/s, posRepo size: 4 2021-02-17T23:43:56.892Z,1613605436.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.442152 deg/s. Setting heading cmd to target bearing of 122.625993deg and heading rate command to 0 deg/s. 2021-02-17T23:43:59.270Z,1613605439.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:00.041Z,1613605440.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:44:00.454Z,1613605440.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:44:01.256Z,1613605441.256 [Micromodem](INFO): Nmea in: $SNTTA,0.129606,,,,234400.10*4A 2021-02-17T23:44:01.682Z,1613605441.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.459991 m, bearing: 89.480662 deg, deltaT: 4.835767 s, approachRate: 0.397044 m/s, LOS rate: -6.854203 deg/s, posRepo size: 4 2021-02-17T23:44:01.684Z,1613605441.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.459991 m, bearing: 89.480662 deg, approachRate: 0.397044 m/s, LOS rate: -6.854203 deg/s, cmd update: -12.000000 deg/s, cmd heading: 122.625993 deg, new cmd heading: 122.625993 deg. 2021-02-17T23:44:04.124Z,1613605444.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:04.893Z,1613605444.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:44:05.290Z,1613605445.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:44:06.109Z,1613605446.109 [Micromodem](INFO): Nmea in: $SNTTA,0.131145,,,,234404.96*49 2021-02-17T23:44:06.542Z,1613605446.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.679993 m, bearing: 66.826496 deg, deltaT: 4.820615 s, approachRate: 0.460522 m/s, LOS rate: -4.699435 deg/s, posRepo size: 4 2021-02-17T23:44:06.545Z,1613605446.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.679993 m, bearing: 66.826496 deg, approachRate: 0.460522 m/s, LOS rate: -4.699435 deg/s, cmd update: -12.000000 deg/s, cmd heading: 64.779655 deg, new cmd heading: 59.864443 deg. 2021-02-17T23:44:08.963Z,1613605448.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:09.738Z,1613605449.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:44:10.196Z,1613605450.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:44:10.213Z,1613605450.213 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-17T23:44:10.953Z,1613605450.953 [Micromodem](INFO): Nmea in: $SNTTA,0.132897,,,,234409.80*46 2021-02-17T23:44:11.388Z,1613605451.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.500000 m, bearing: 66.659757 deg, deltaT: 4.887243 s, approachRate: 0.577014 m/s, LOS rate: -0.034117 deg/s, posRepo size: 4 2021-02-17T23:44:11.389Z,1613605451.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.500000 m, bearing: 66.659757 deg, approachRate: 0.577014 m/s, LOS rate: -0.034117 deg/s, cmd update: -0.136468 deg/s, cmd heading: 6.657221 deg, new cmd heading: 1.724837 deg. 2021-02-17T23:44:13.801Z,1613605453.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:14.580Z,1613605454.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:44:14.991Z,1613605454.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:44:15.837Z,1613605455.837 [Micromodem](INFO): Nmea in: $SNTTA,0.134263,,,0.136750,234414.64*5F 2021-02-17T23:44:16.250Z,1613605456.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.419998 m, bearing: 74.260159 deg, deltaT: 4.839460 s, approachRate: 0.396738 m/s, LOS rate: 1.570506 deg/s, posRepo size: 4 2021-02-17T23:44:16.252Z,1613605456.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.419998 m, bearing: 74.260159 deg, approachRate: 0.396738 m/s, LOS rate: 1.570506 deg/s, cmd update: 6.282025 deg/s, cmd heading: 5.990837 deg, new cmd heading: 5.937497 deg. 2021-02-17T23:44:18.642Z,1613605458.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:19.434Z,1613605459.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:44:19.848Z,1613605459.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:44:20.658Z,1613605460.658 [Micromodem](INFO): Nmea in: $SNTTA,0.136267,,,,234419.50*4B 2021-02-17T23:44:21.095Z,1613605461.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.479996 m, bearing: 25.647294 deg, deltaT: 4.812450 s, approachRate: 0.635850 m/s, LOS rate: -10.101480 deg/s, posRepo size: 4 2021-02-17T23:44:21.097Z,1613605461.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.479996 m, bearing: 25.647294 deg, approachRate: 0.635850 m/s, LOS rate: -10.101480 deg/s, cmd update: -12.000000 deg/s, cmd heading: 36.222317 deg, new cmd heading: 38.878307 deg. 2021-02-17T23:44:23.502Z,1613605463.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:24.281Z,1613605464.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:44:24.691Z,1613605464.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:44:25.515Z,1613605465.515 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234424.34*5E 2021-02-17T23:44:25.537Z,1613605465.537 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:44:25.968Z,1613605465.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.899994 m, bearing: 81.855104 deg, deltaT: 4.877827 s, approachRate: 0.701132 m/s, LOS rate: 11.523125 deg/s, posRepo size: 4 2021-02-17T23:44:25.969Z,1613605465.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.523125 deg/s. Setting heading cmd to target bearing of 81.855104deg and heading rate command to 0 deg/s. 2021-02-17T23:44:28.344Z,1613605468.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:29.145Z,1613605469.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:44:29.534Z,1613605469.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:44:30.358Z,1613605470.358 [Micromodem](INFO): Nmea in: $SNTTA,0.140780,,,,234429.21*43 2021-02-17T23:44:30.363Z,1613605470.363 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:44:30.788Z,1613605470.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.319977 m, bearing: 22.914074 deg, deltaT: 4.831067 s, approachRate: 0.707915 m/s, LOS rate: -12.200416 deg/s, posRepo size: 4 2021-02-17T23:44:30.788Z,1613605470.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.200416 deg/s. Setting heading cmd to target bearing of 22.914074deg and heading rate command to 0 deg/s. 2021-02-17T23:44:33.241Z,1613605473.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:33.981Z,1613605473.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:44:34.395Z,1613605474.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:44:35.255Z,1613605475.255 [Micromodem](INFO): Nmea in: $SNTTA,0.143071,,,,234434.04*42 2021-02-17T23:44:35.257Z,1613605475.257 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,234435,AUV,2.0.3273AREV,234435,COPROC,0.10.0.46*47 expected 29 2021-02-17T23:44:35.333Z,1613605475.333 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:44:36.046Z,1613605476.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:37.620Z,1613605477.620 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:44:38.868Z,1613605478.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:39.632Z,1613605479.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:44:40.037Z,1613605480.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:44:40.852Z,1613605480.852 [Micromodem](INFO): Nmea in: $SNTTA,0.146206,,,,234439.70*4B 2021-02-17T23:44:41.290Z,1613605481.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.819992 m, bearing: 30.237695 deg, deltaT: 10.518138 s, approachRate: 0.713055 m/s, LOS rate: 0.696285 deg/s, posRepo size: 4 2021-02-17T23:44:41.311Z,1613605481.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.819992 m, bearing: 30.237695 deg, approachRate: 0.713055 m/s, LOS rate: 0.696285 deg/s, cmd update: 2.785140 deg/s, cmd heading: 22.914074 deg, new cmd heading: 22.914074 deg. 2021-02-17T23:44:43.715Z,1613605483.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:44.481Z,1613605484.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:44:44.900Z,1613605484.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:44:45.699Z,1613605485.699 [Micromodem](INFO): Nmea in: $SNTTA,0.148386,,,,234444.55*41 2021-02-17T23:44:46.179Z,1613605486.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.360001 m, bearing: 67.295088 deg, deltaT: 4.837979 s, approachRate: 0.731712 m/s, LOS rate: 7.659685 deg/s, posRepo size: 4 2021-02-17T23:44:46.200Z,1613605486.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 222.360001 m, bearing: 67.295088 deg, approachRate: 0.731712 m/s, LOS rate: 7.659685 deg/s, cmd update: 12.000000 deg/s, cmd heading: 36.389153 deg, new cmd heading: 37.675924 deg. 2021-02-17T23:44:48.562Z,1613605488.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:49.333Z,1613605489.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:44:49.742Z,1613605489.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:44:50.547Z,1613605490.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234449.40*56 2021-02-17T23:44:50.978Z,1613605490.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.479996 m, bearing: 17.375376 deg, deltaT: 4.854392 s, approachRate: 0.642716 m/s, LOS rate: -10.283412 deg/s, posRepo size: 4 2021-02-17T23:44:51.009Z,1613605491.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.479996 m, bearing: 17.375376 deg, approachRate: 0.642716 m/s, LOS rate: -10.283412 deg/s, cmd update: -12.000000 deg/s, cmd heading: 94.923223 deg, new cmd heading: 99.569107 deg. 2021-02-17T23:44:53.402Z,1613605493.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:54.204Z,1613605494.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:44:54.585Z,1613605494.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:44:55.410Z,1613605495.410 [Micromodem](INFO): Nmea in: $SNTTA,0.152411,,,,234454.27*47 2021-02-17T23:44:55.864Z,1613605495.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.779999 m, bearing: 60.973174 deg, deltaT: 4.869201 s, approachRate: 0.677730 m/s, LOS rate: 8.953789 deg/s, posRepo size: 4 2021-02-17T23:44:55.865Z,1613605495.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 228.779999 m, bearing: 60.973174 deg, approachRate: 0.677730 m/s, LOS rate: 8.953789 deg/s, cmd update: 12.000000 deg/s, cmd heading: 36.511025 deg, new cmd heading: 31.651961 deg. 2021-02-17T23:44:58.246Z,1613605498.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:44:59.029Z,1613605499.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:44:59.431Z,1613605499.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:45:00.245Z,1613605500.245 [Micromodem](INFO): Nmea in: $SNTTA,0.154537,,,,234459.09*45 2021-02-17T23:45:00.694Z,1613605500.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.839996 m, bearing: 71.394567 deg, deltaT: 4.832975 s, approachRate: 0.633150 m/s, LOS rate: 2.156310 deg/s, posRepo size: 4 2021-02-17T23:45:00.696Z,1613605500.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 231.839996 m, bearing: 71.394567 deg, approachRate: 0.633150 m/s, LOS rate: 2.156310 deg/s, cmd update: 8.625241 deg/s, cmd heading: 94.482235 deg, new cmd heading: 99.335683 deg. 2021-02-17T23:45:03.104Z,1613605503.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:45:03.877Z,1613605503.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:45:04.284Z,1613605504.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:45:05.092Z,1613605505.092 [Micromodem](INFO): Nmea in: $SNTTA,0.155624,,,,234503.94*4F 2021-02-17T23:45:05.928Z,1613605505.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:45:07.514Z,1613605507.514 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:45:08.740Z,1613605508.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:45:09.528Z,1613605509.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:45:09.937Z,1613605509.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:45:10.356Z,1613605510.356 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T23:45:10.745Z,1613605510.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234509.59*5B 2021-02-17T23:45:11.221Z,1613605511.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.740005 m, bearing: 101.863734 deg, deltaT: 10.489581 s, approachRate: 0.371798 m/s, LOS rate: 2.904708 deg/s, posRepo size: 4 2021-02-17T23:45:11.222Z,1613605511.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 235.740005 m, bearing: 101.863734 deg, approachRate: 0.371798 m/s, LOS rate: 2.904708 deg/s, cmd update: 11.618831 deg/s, cmd heading: 184.888220 deg, new cmd heading: 188.766827 deg. 2021-02-17T23:45:13.600Z,1613605513.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:45:14.381Z,1613605514.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:45:14.803Z,1613605514.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:45:15.596Z,1613605515.596 [Micromodem](INFO): Nmea in: $SNTTA,0.158121,,,,234514.44*4B 2021-02-17T23:45:16.038Z,1613605516.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.179993 m, bearing: 158.760644 deg, deltaT: 4.827571 s, approachRate: 0.298284 m/s, LOS rate: 11.785825 deg/s, posRepo size: 4 2021-02-17T23:45:16.055Z,1613605516.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.785825 deg/s. Setting heading cmd to target bearing of 158.760644deg and heading rate command to 0 deg/s. 2021-02-17T23:45:18.453Z,1613605518.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:45:19.230Z,1613605519.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:45:19.630Z,1613605519.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:45:20.444Z,1613605520.444 [Micromodem](INFO): Nmea in: $SNTTA,0.157999,,,,234519.29*49 2021-02-17T23:45:20.907Z,1613605520.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.999985 m, bearing: 84.201466 deg, deltaT: 4.889870 s, approachRate: -0.036812 m/s, LOS rate: -15.247682 deg/s, posRepo size: 4 2021-02-17T23:45:20.908Z,1613605520.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.247682 deg/s. Setting heading cmd to target bearing of 84.201466deg and heading rate command to 0 deg/s. 2021-02-17T23:45:23.303Z,1613605523.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:45:24.072Z,1613605524.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:45:24.493Z,1613605524.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:45:25.300Z,1613605525.300 [Micromodem](INFO): Nmea in: $SNTTA,0.157538,,,,234524.14*4E 2021-02-17T23:45:25.726Z,1613605525.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.220001 m, bearing: 142.267554 deg, deltaT: 4.864570 s, approachRate: -0.160340 m/s, LOS rate: 11.936531 deg/s, posRepo size: 4 2021-02-17T23:45:25.727Z,1613605525.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.936531 deg/s. Setting heading cmd to target bearing of 142.267554deg and heading rate command to 0 deg/s. 2021-02-17T23:45:28.201Z,1613605528.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:45:28.926Z,1613605528.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:45:29.329Z,1613605529.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:45:30.147Z,1613605530.147 [Micromodem](INFO): Nmea in: $SNTTA,0.156021,,,,234528.99*4B 2021-02-17T23:45:30.588Z,1613605530.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.880005 m, bearing: 203.945050 deg, deltaT: 4.882678 s, approachRate: -0.479244 m/s, LOS rate: 12.631900 deg/s, posRepo size: 4 2021-02-17T23:45:30.589Z,1613605530.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.631900 deg/s. Setting heading cmd to target bearing of 203.945050deg and heading rate command to 0 deg/s. 2021-02-17T23:45:33.010Z,1613605533.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:45:33.789Z,1613605533.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:45:34.211Z,1613605534.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:45:35.019Z,1613605535.019 [Micromodem](INFO): Nmea in: $SNTTA,0.154792,,,,234533.85*41 2021-02-17T23:45:35.435Z,1613605535.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.020004 m, bearing: 205.385523 deg, deltaT: 4.828372 s, approachRate: -0.385223 m/s, LOS rate: 0.298335 deg/s, posRepo size: 4 2021-02-17T23:45:35.437Z,1613605535.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 232.020004 m, bearing: 205.385523 deg, approachRate: -0.385223 m/s, LOS rate: 0.298335 deg/s, cmd update: 1.193341 deg/s, cmd heading: 203.945050 deg, new cmd heading: 203.945050 deg. 2021-02-17T23:45:37.885Z,1613605537.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:45:38.620Z,1613605538.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:45:39.034Z,1613605539.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:45:39.848Z,1613605539.848 [Micromodem](INFO): Nmea in: $SNTTA,0.153011,,,,234538.68*42 2021-02-17T23:45:40.306Z,1613605540.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.319992 m, bearing: 189.763378 deg, deltaT: 4.815221 s, approachRate: -0.560724 m/s, LOS rate: -3.244326 deg/s, posRepo size: 4 2021-02-17T23:45:40.308Z,1613605540.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 229.319992 m, bearing: 189.763378 deg, approachRate: -0.560724 m/s, LOS rate: -3.244326 deg/s, cmd update: -12.000000 deg/s, cmd heading: 209.700974 deg, new cmd heading: 210.195703 deg. 2021-02-17T23:45:42.690Z,1613605542.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:45:43.473Z,1613605543.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:45:43.874Z,1613605543.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:45:44.690Z,1613605544.690 [Micromodem](INFO): Nmea in: $SNTTA,0.151243,,,,234543.54*46 2021-02-17T23:45:45.119Z,1613605545.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.619995 m, bearing: 192.342307 deg, deltaT: 4.812727 s, approachRate: -0.561012 m/s, LOS rate: 0.535856 deg/s, posRepo size: 4 2021-02-17T23:45:45.121Z,1613605545.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 226.619995 m, bearing: 192.342307 deg, approachRate: -0.561012 m/s, LOS rate: 0.535856 deg/s, cmd update: 2.143424 deg/s, cmd heading: 151.952161 deg, new cmd heading: 146.972521 deg. 2021-02-17T23:45:47.545Z,1613605547.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:45:48.316Z,1613605548.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:45:48.739Z,1613605548.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:45:49.533Z,1613605549.533 [Micromodem](INFO): Nmea in: $SNTTA,0.148959,,,,234548.38*4F 2021-02-17T23:45:50.032Z,1613605550.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.199997 m, bearing: 187.202494 deg, deltaT: 4.886069 s, approachRate: -0.699949 m/s, LOS rate: -1.051932 deg/s, posRepo size: 4 2021-02-17T23:45:50.034Z,1613605550.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.199997 m, bearing: 187.202494 deg, approachRate: -0.699949 m/s, LOS rate: -1.051932 deg/s, cmd update: -4.207729 deg/s, cmd heading: 162.417160 deg, new cmd heading: 163.372189 deg. 2021-02-17T23:45:52.390Z,1613605552.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:45:53.177Z,1613605553.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:45:53.572Z,1613605553.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:45:54.388Z,1613605554.388 [Micromodem](INFO): Nmea in: $SNTTA,0.146644,,,,234553.24*45 2021-02-17T23:45:54.841Z,1613605554.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.779984 m, bearing: 185.546296 deg, deltaT: 4.842415 s, approachRate: -0.706262 m/s, LOS rate: -0.342019 deg/s, posRepo size: 4 2021-02-17T23:45:54.843Z,1613605554.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 219.779984 m, bearing: 185.546296 deg, approachRate: -0.706262 m/s, LOS rate: -0.342019 deg/s, cmd update: -1.368076 deg/s, cmd heading: 142.024559 deg, new cmd heading: 140.305736 deg. 2021-02-17T23:45:57.244Z,1613605557.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:45:58.017Z,1613605558.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:45:58.419Z,1613605558.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:45:59.255Z,1613605559.255 [Micromodem](INFO): Nmea in: $SNTTA,0.145190,,,,234558.08*4D 2021-02-17T23:45:59.658Z,1613605559.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.559982 m, bearing: 203.106207 deg, deltaT: 4.846749 s, approachRate: -0.458039 m/s, LOS rate: 3.623029 deg/s, posRepo size: 4 2021-02-17T23:45:59.680Z,1613605559.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.559982 m, bearing: 203.106207 deg, approachRate: -0.458039 m/s, LOS rate: 3.623029 deg/s, cmd update: 12.000000 deg/s, cmd heading: 135.393844 deg, new cmd heading: 134.875693 deg. 2021-02-17T23:46:02.084Z,1613605562.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:46:02.865Z,1613605562.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:46:03.286Z,1613605563.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:46:04.082Z,1613605564.082 [Micromodem](INFO): Nmea in: $SNTTA,0.143819,,,,234602.93*4D 2021-02-17T23:46:04.541Z,1613605564.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.639999 m, bearing: 143.608293 deg, deltaT: 4.826189 s, approachRate: -0.397826 m/s, LOS rate: -12.328136 deg/s, posRepo size: 4 2021-02-17T23:46:04.542Z,1613605564.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.328136 deg/s. Setting heading cmd to target bearing of 143.608293deg and heading rate command to 0 deg/s. 2021-02-17T23:46:06.932Z,1613605566.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:46:07.715Z,1613605567.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:46:08.114Z,1613605568.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:46:08.930Z,1613605568.930 [Micromodem](INFO): Nmea in: $SNTTA,0.142365,,,,234607.78*4C 2021-02-17T23:46:09.366Z,1613605569.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.359985 m, bearing: 198.603200 deg, deltaT: 4.848531 s, approachRate: -0.470248 m/s, LOS rate: 11.342592 deg/s, posRepo size: 4 2021-02-17T23:46:09.368Z,1613605569.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.359985 m, bearing: 198.603200 deg, approachRate: -0.470248 m/s, LOS rate: 11.342592 deg/s, cmd update: 12.000000 deg/s, cmd heading: 143.608293 deg, new cmd heading: 143.608293 deg. 2021-02-17T23:46:11.769Z,1613605571.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:46:12.556Z,1613605572.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:46:12.968Z,1613605572.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:46:13.778Z,1613605573.778 [Micromodem](INFO): Nmea in: $SNTTA,0.140540,,,,234612.62*40 2021-02-17T23:46:14.281Z,1613605574.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.659973 m, bearing: 192.790846 deg, deltaT: 4.895082 s, approachRate: -0.551576 m/s, LOS rate: -1.187387 deg/s, posRepo size: 4 2021-02-17T23:46:14.282Z,1613605574.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.659973 m, bearing: 192.790846 deg, approachRate: -0.551576 m/s, LOS rate: -1.187387 deg/s, cmd update: -4.749546 deg/s, cmd heading: 202.299527 deg, new cmd heading: 207.527291 deg. 2021-02-17T23:46:16.626Z,1613605576.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:46:17.409Z,1613605577.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:46:17.835Z,1613605577.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:46:18.624Z,1613605578.624 [Micromodem](INFO): Nmea in: $SNTTA,0.138595,,,,234617.47*45 2021-02-17T23:46:19.055Z,1613605579.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.779984 m, bearing: 193.227650 deg, deltaT: 4.789538 s, approachRate: -0.601308 m/s, LOS rate: 0.091200 deg/s, posRepo size: 4 2021-02-17T23:46:19.057Z,1613605579.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.779984 m, bearing: 193.227650 deg, approachRate: -0.601308 m/s, LOS rate: 0.091200 deg/s, cmd update: 0.364799 deg/s, cmd heading: 179.531784 deg, new cmd heading: 177.554191 deg. 2021-02-17T23:46:21.519Z,1613605581.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:46:22.252Z,1613605582.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:46:22.659Z,1613605582.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:46:23.475Z,1613605583.475 [Micromodem](INFO): Nmea in: $SNTTA,0.136667,,,,234622.32*41 2021-02-17T23:46:23.907Z,1613605583.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.719986 m, bearing: 196.633251 deg, deltaT: 4.888932 s, approachRate: -0.625903 m/s, LOS rate: 0.696594 deg/s, posRepo size: 4 2021-02-17T23:46:23.909Z,1613605583.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.719986 m, bearing: 196.633251 deg, approachRate: -0.625903 m/s, LOS rate: 0.696594 deg/s, cmd update: 2.786376 deg/s, cmd heading: 181.313800 deg, new cmd heading: 181.453503 deg. 2021-02-17T23:46:25.517Z,1613605585.517 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-17T23:46:26.318Z,1613605586.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:46:27.100Z,1613605587.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:46:27.506Z,1613605587.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:46:28.317Z,1613605588.317 [Micromodem](INFO): Nmea in: $SNTTA,0.134436,,,,234627.16*46 2021-02-17T23:46:28.750Z,1613605588.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.360001 m, bearing: 194.284608 deg, deltaT: 4.830472 s, approachRate: -0.695581 m/s, LOS rate: -0.486214 deg/s, posRepo size: 4 2021-02-17T23:46:28.752Z,1613605588.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.360001 m, bearing: 194.284608 deg, approachRate: -0.695581 m/s, LOS rate: -0.486214 deg/s, cmd update: -1.944856 deg/s, cmd heading: 194.739487 deg, new cmd heading: 195.877312 deg. 2021-02-17T23:46:31.219Z,1613605591.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:46:31.956Z,1613605591.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:46:32.359Z,1613605592.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:46:33.212Z,1613605593.212 [Micromodem](INFO): Nmea in: $SNTTA,0.132231,,,,234632.02*40 2021-02-17T23:46:33.594Z,1613605593.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.119980 m, bearing: 194.573621 deg, deltaT: 4.907214 s, approachRate: -0.660257 m/s, LOS rate: 0.058895 deg/s, posRepo size: 4 2021-02-17T23:46:33.596Z,1613605593.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.119980 m, bearing: 194.573621 deg, approachRate: -0.660257 m/s, LOS rate: 0.058895 deg/s, cmd update: 0.235582 deg/s, cmd heading: 185.203175 deg, new cmd heading: 184.525076 deg. 2021-02-17T23:46:36.012Z,1613605596.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:46:36.827Z,1613605596.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:46:37.216Z,1613605597.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:46:38.030Z,1613605598.030 [Micromodem](INFO): Nmea in: $SNTTA,0.129685,,,,234636.89*46 2021-02-17T23:46:38.486Z,1613605598.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.279999 m, bearing: 194.619820 deg, deltaT: 4.813111 s, approachRate: -0.797817 m/s, LOS rate: 0.009599 deg/s, posRepo size: 4 2021-02-17T23:46:38.492Z,1613605598.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.279999 m, bearing: 194.619820 deg, approachRate: -0.797817 m/s, LOS rate: 0.009599 deg/s, cmd update: 0.038395 deg/s, cmd heading: 186.340798 deg, new cmd heading: 186.437758 deg. 2021-02-17T23:46:40.868Z,1613605600.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:46:41.665Z,1613605601.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:46:42.057Z,1613605602.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:46:42.871Z,1613605602.871 [Micromodem](INFO): Nmea in: $SNTTA,0.127484,,,,234641.73*4E 2021-02-17T23:46:43.685Z,1613605603.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:46:45.309Z,1613605605.309 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:46:46.528Z,1613605606.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:46:47.306Z,1613605607.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:46:47.713Z,1613605607.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:46:48.526Z,1613605608.526 [Micromodem](INFO): Nmea in: $SNTTA,0.124611,,,,234647.37*45 2021-02-17T23:46:48.967Z,1613605608.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.720001 m, bearing: 195.487240 deg, deltaT: 10.508662 s, approachRate: -0.719406 m/s, LOS rate: 0.082543 deg/s, posRepo size: 4 2021-02-17T23:46:48.973Z,1613605608.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.720001 m, bearing: 195.487240 deg, approachRate: -0.719406 m/s, LOS rate: 0.082543 deg/s, cmd update: 0.330173 deg/s, cmd heading: 186.744272 deg, new cmd heading: 186.759002 deg. 2021-02-17T23:46:51.364Z,1613605611.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:46:52.154Z,1613605612.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:46:52.554Z,1613605612.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:46:53.371Z,1613605613.371 [Micromodem](INFO): Nmea in: $SNTTA,0.122094,,,,234652.22*48 2021-02-17T23:46:53.842Z,1613605613.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.940002 m, bearing: 196.596736 deg, deltaT: 4.808181 s, approachRate: -0.786160 m/s, LOS rate: 0.230752 deg/s, posRepo size: 4 2021-02-17T23:46:53.844Z,1613605613.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.940002 m, bearing: 196.596736 deg, approachRate: -0.786160 m/s, LOS rate: 0.230752 deg/s, cmd update: 0.923007 deg/s, cmd heading: 188.333183 deg, new cmd heading: 188.480511 deg. 2021-02-17T23:46:56.246Z,1613605616.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:46:57.008Z,1613605617.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:46:57.402Z,1613605617.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:46:58.236Z,1613605618.236 [Micromodem](INFO): Nmea in: $SNTTA,0.119744,,,,234657.07*48 2021-02-17T23:46:58.289Z,1613605618.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.339996 m, bearing: 197.236233 deg, deltaT: 4.473812 s, approachRate: -0.804684 m/s, LOS rate: 0.142942 deg/s, posRepo size: 4 2021-02-17T23:46:58.291Z,1613605618.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.339996 m, bearing: 197.236233 deg, approachRate: -0.804684 m/s, LOS rate: 0.142942 deg/s, cmd update: 0.571769 deg/s, cmd heading: 192.462496 deg, new cmd heading: 192.849895 deg. 2021-02-17T23:47:00.675Z,1613605620.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:01.441Z,1613605621.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:47:01.859Z,1613605621.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:47:02.672Z,1613605622.672 [Micromodem](INFO): Nmea in: $SNTTA,0.117504,,,,234701.50*40 2021-02-17T23:47:02.706Z,1613605622.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.339996 m, bearing: 197.008378 deg, deltaT: 4.427113 s, approachRate: 0.000000 m/s, LOS rate: -0.051468 deg/s, posRepo size: 4 2021-02-17T23:47:02.708Z,1613605622.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.339996 m, bearing: 197.008378 deg, approachRate: 0.000000 m/s, LOS rate: -0.051468 deg/s, cmd update: -0.205872 deg/s, cmd heading: 194.993683 deg, new cmd heading: 195.228141 deg. 2021-02-17T23:47:05.114Z,1613605625.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:05.885Z,1613605625.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:47:06.302Z,1613605626.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:47:07.112Z,1613605627.112 [Micromodem](INFO): Nmea in: $SNTTA,0.115259,,,,234705.95*40 2021-02-17T23:47:07.154Z,1613605627.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.339996 m, bearing: 197.167481 deg, deltaT: 4.437735 s, approachRate: 0.000000 m/s, LOS rate: 0.035852 deg/s, posRepo size: 4 2021-02-17T23:47:07.156Z,1613605627.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.339996 m, bearing: 197.167481 deg, approachRate: 0.000000 m/s, LOS rate: 0.035852 deg/s, cmd update: 0.143409 deg/s, cmd heading: 194.080989 deg, new cmd heading: 193.993467 deg. 2021-02-17T23:47:09.553Z,1613605629.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:10.328Z,1613605630.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:47:10.734Z,1613605630.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:47:11.572Z,1613605631.572 [Micromodem](INFO): Nmea in: $SNTTA,0.112986,,,,234710.39*4C 2021-02-17T23:47:11.609Z,1613605631.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.980011 m, bearing: 196.940049 deg, deltaT: 4.481304 s, approachRate: -3.427571 m/s, LOS rate: -0.050751 deg/s, posRepo size: 4 2021-02-17T23:47:11.610Z,1613605631.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.980011 m, bearing: 196.940049 deg, approachRate: -3.427571 m/s, LOS rate: -0.050751 deg/s, cmd update: -0.203005 deg/s, cmd heading: 194.723723 deg, new cmd heading: 194.780734 deg. 2021-02-17T23:47:14.008Z,1613605634.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:14.779Z,1613605634.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:47:15.207Z,1613605635.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:47:16.008Z,1613605636.008 [Micromodem](INFO): Nmea in: $SNTTA,0.110711,,,0.113218,234714.84*5A 2021-02-17T23:47:16.052Z,1613605636.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.980011 m, bearing: 196.515225 deg, deltaT: 4.387615 s, approachRate: 0.000000 m/s, LOS rate: -0.096823 deg/s, posRepo size: 4 2021-02-17T23:47:16.054Z,1613605636.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.980011 m, bearing: 196.515225 deg, approachRate: 0.000000 m/s, LOS rate: -0.096823 deg/s, cmd update: -0.387294 deg/s, cmd heading: 193.832415 deg, new cmd heading: 193.740913 deg. 2021-02-17T23:47:18.445Z,1613605638.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:19.254Z,1613605639.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:47:19.622Z,1613605639.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:47:20.450Z,1613605640.450 [Micromodem](INFO): Nmea in: $SNTTA,0.108766,,,,234719.32*45 2021-02-17T23:47:20.914Z,1613605640.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 196.712385 deg, deltaT: 4.903773 s, approachRate: -0.220242 m/s, LOS rate: 0.040206 deg/s, posRepo size: 4 2021-02-17T23:47:20.920Z,1613605640.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.899994 m, bearing: 196.712385 deg, approachRate: -0.220242 m/s, LOS rate: 0.040206 deg/s, cmd update: 0.160823 deg/s, cmd heading: 191.932809 deg, new cmd heading: 191.774951 deg. 2021-02-17T23:47:23.287Z,1613605643.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:24.069Z,1613605644.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:47:24.476Z,1613605644.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:47:25.307Z,1613605645.307 [Micromodem](INFO): Nmea in: $SNTTA,0.106330,,,,234724.13*41 2021-02-17T23:47:25.364Z,1613605645.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.300003 m, bearing: 197.567798 deg, deltaT: 4.414310 s, approachRate: -0.815527 m/s, LOS rate: 0.193782 deg/s, posRepo size: 4 2021-02-17T23:47:25.366Z,1613605645.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.300003 m, bearing: 197.567798 deg, approachRate: -0.815527 m/s, LOS rate: 0.193782 deg/s, cmd update: 0.775127 deg/s, cmd heading: 192.642754 deg, new cmd heading: 192.714078 deg. 2021-02-17T23:47:27.716Z,1613605647.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:28.508Z,1613605648.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:47:28.914Z,1613605648.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:47:29.736Z,1613605649.736 [Micromodem](INFO): Nmea in: $SNTTA,0.104084,,,,234728.57*43 2021-02-17T23:47:29.785Z,1613605649.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.880005 m, bearing: 197.094807 deg, deltaT: 4.446145 s, approachRate: -0.769205 m/s, LOS rate: -0.106382 deg/s, posRepo size: 4 2021-02-17T23:47:29.786Z,1613605649.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.880005 m, bearing: 197.094807 deg, approachRate: -0.769205 m/s, LOS rate: -0.106382 deg/s, cmd update: -0.425529 deg/s, cmd heading: 196.089088 deg, new cmd heading: 196.412633 deg. 2021-02-17T23:47:32.230Z,1613605652.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:32.957Z,1613605652.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:47:33.358Z,1613605653.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:47:34.206Z,1613605654.206 [Micromodem](INFO): Nmea in: $SNTTA,0.101776,,0.110970,,234733.02*56 2021-02-17T23:47:34.240Z,1613605654.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.460007 m, bearing: 197.178559 deg, deltaT: 4.465305 s, approachRate: -0.765905 m/s, LOS rate: 0.018756 deg/s, posRepo size: 4 2021-02-17T23:47:34.242Z,1613605654.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.460007 m, bearing: 197.178559 deg, approachRate: -0.765905 m/s, LOS rate: 0.018756 deg/s, cmd update: 0.075024 deg/s, cmd heading: 194.203674 deg, new cmd heading: 194.015599 deg. 2021-02-17T23:47:36.660Z,1613605656.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:37.448Z,1613605657.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:47:37.854Z,1613605657.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:47:38.684Z,1613605658.684 [Micromodem](INFO): Nmea in: $SNTTA,0.099571,,,,234737.51*41 2021-02-17T23:47:38.706Z,1613605658.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.099991 m, bearing: 196.415572 deg, deltaT: 4.455858 s, approachRate: -0.754067 m/s, LOS rate: -0.171232 deg/s, posRepo size: 4 2021-02-17T23:47:38.708Z,1613605658.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.099991 m, bearing: 196.415572 deg, approachRate: -0.754067 m/s, LOS rate: -0.171232 deg/s, cmd update: -0.684929 deg/s, cmd heading: 194.540539 deg, new cmd heading: 194.571901 deg. 2021-02-17T23:47:41.114Z,1613605661.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:41.892Z,1613605661.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:47:42.300Z,1613605662.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:47:43.125Z,1613605663.125 [Micromodem](INFO): Nmea in: $SNTTA,0.097239,,,,234741.95*4D 2021-02-17T23:47:43.208Z,1613605663.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.560013 m, bearing: 195.552305 deg, deltaT: 4.447199 s, approachRate: -0.796002 m/s, LOS rate: -0.194115 deg/s, posRepo size: 4 2021-02-17T23:47:43.209Z,1613605663.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.560013 m, bearing: 195.552305 deg, approachRate: -0.796002 m/s, LOS rate: -0.194115 deg/s, cmd update: -0.776460 deg/s, cmd heading: 191.494296 deg, new cmd heading: 191.173883 deg. 2021-02-17T23:47:45.561Z,1613605665.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:46.353Z,1613605666.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:47:46.745Z,1613605666.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:47:47.576Z,1613605667.576 [Micromodem](INFO): Nmea in: $SNTTA,0.095166,,,,234746.42*4B 2021-02-17T23:47:47.600Z,1613605667.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.440002 m, bearing: 195.768808 deg, deltaT: 4.490009 s, approachRate: -0.694878 m/s, LOS rate: 0.048219 deg/s, posRepo size: 4 2021-02-17T23:47:47.602Z,1613605667.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.440002 m, bearing: 195.768808 deg, approachRate: -0.694878 m/s, LOS rate: 0.048219 deg/s, cmd update: 0.192876 deg/s, cmd heading: 188.008145 deg, new cmd heading: 187.717472 deg. 2021-02-17T23:47:49.998Z,1613605669.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:50.784Z,1613605670.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:47:51.216Z,1613605671.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:47:52.016Z,1613605672.016 [Micromodem](INFO): Nmea in: $SNTTA,0.093073,,,,234750.85*44 2021-02-17T23:47:52.040Z,1613605672.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.440002 m, bearing: 196.221964 deg, deltaT: 4.399290 s, approachRate: -0.681928 m/s, LOS rate: 0.103007 deg/s, posRepo size: 4 2021-02-17T23:47:52.041Z,1613605672.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.440002 m, bearing: 196.221964 deg, approachRate: -0.681928 m/s, LOS rate: 0.103007 deg/s, cmd update: 0.412026 deg/s, cmd heading: 188.856701 deg, new cmd heading: 188.936641 deg. 2021-02-17T23:47:54.456Z,1613605674.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:55.224Z,1613605675.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:47:55.630Z,1613605675.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:47:56.464Z,1613605676.464 [Micromodem](INFO): Nmea in: $SNTTA,0.090870,,,,234755.29*4F 2021-02-17T23:47:56.488Z,1613605676.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.960007 m, bearing: 196.817816 deg, deltaT: 4.440085 s, approachRate: -0.783768 m/s, LOS rate: 0.134198 deg/s, posRepo size: 4 2021-02-17T23:47:56.490Z,1613605676.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.960007 m, bearing: 196.817816 deg, approachRate: -0.783768 m/s, LOS rate: 0.134198 deg/s, cmd update: 0.536793 deg/s, cmd heading: 190.686141 deg, new cmd heading: 190.860678 deg. 2021-02-17T23:47:58.888Z,1613605678.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:47:59.668Z,1613605679.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:00.082Z,1613605680.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:00.896Z,1613605680.896 [Micromodem](INFO): Nmea in: $SNTTA,0.088806,,,,234759.73*44 2021-02-17T23:48:00.935Z,1613605680.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.960007 m, bearing: 199.358701 deg, deltaT: 4.463688 s, approachRate: -0.672090 m/s, LOS rate: 0.569234 deg/s, posRepo size: 4 2021-02-17T23:48:00.937Z,1613605680.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.960007 m, bearing: 199.358701 deg, approachRate: -0.672090 m/s, LOS rate: 0.569234 deg/s, cmd update: 2.276938 deg/s, cmd heading: 193.079939 deg, new cmd heading: 193.300277 deg. 2021-02-17T23:48:03.334Z,1613605683.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:48:04.118Z,1613605684.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:04.520Z,1613605684.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:05.381Z,1613605685.381 [Micromodem](INFO): Nmea in: $SNTTA,0.086606,0.089231,,,234804.18*51 2021-02-17T23:48:05.424Z,1613605685.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.660004 m, bearing: 198.855002 deg, deltaT: 4.441510 s, approachRate: -0.742991 m/s, LOS rate: -0.113407 deg/s, posRepo size: 4 2021-02-17T23:48:05.426Z,1613605685.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.660004 m, bearing: 198.855002 deg, approachRate: -0.742991 m/s, LOS rate: -0.113407 deg/s, cmd update: -0.453629 deg/s, cmd heading: 203.202130 deg, new cmd heading: 204.235653 deg. 2021-02-17T23:48:07.781Z,1613605687.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:48:08.562Z,1613605688.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:08.962Z,1613605688.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:09.788Z,1613605689.788 [Micromodem](INFO): Nmea in: $SNTTA,0.084439,,,,234808.63*42 2021-02-17T23:48:09.857Z,1613605689.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.419998 m, bearing: 197.220578 deg, deltaT: 4.442186 s, approachRate: -0.729372 m/s, LOS rate: -0.367932 deg/s, posRepo size: 4 2021-02-17T23:48:09.863Z,1613605689.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.419998 m, bearing: 197.220578 deg, approachRate: -0.729372 m/s, LOS rate: -0.367932 deg/s, cmd update: -1.471729 deg/s, cmd heading: 201.190817 deg, new cmd heading: 200.985179 deg. 2021-02-17T23:48:12.257Z,1613605692.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:48:13.011Z,1613605693.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:13.428Z,1613605693.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:14.236Z,1613605694.236 [Micromodem](INFO): Nmea in: $SNTTA,0.082129,,,,234813.08*47 2021-02-17T23:48:14.280Z,1613605694.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.000000 m, bearing: 198.691473 deg, deltaT: 4.471370 s, approachRate: -0.764866 m/s, LOS rate: 0.328958 deg/s, posRepo size: 4 2021-02-17T23:48:14.282Z,1613605694.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.000000 m, bearing: 198.691473 deg, approachRate: -0.764866 m/s, LOS rate: 0.328958 deg/s, cmd update: 1.315834 deg/s, cmd heading: 194.597610 deg, new cmd heading: 194.013577 deg. 2021-02-17T23:48:16.672Z,1613605696.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:48:17.449Z,1613605697.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:17.850Z,1613605697.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:18.676Z,1613605698.676 [Micromodem](INFO): Nmea in: $SNTTA,0.079808,,,,234817.51*41 2021-02-17T23:48:18.718Z,1613605698.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.459999 m, bearing: 199.491370 deg, deltaT: 4.418596 s, approachRate: -0.801160 m/s, LOS rate: 0.181030 deg/s, posRepo size: 4 2021-02-17T23:48:18.720Z,1613605698.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.459999 m, bearing: 199.491370 deg, approachRate: -0.801160 m/s, LOS rate: 0.181030 deg/s, cmd update: 0.724119 deg/s, cmd heading: 200.411519 deg, new cmd heading: 200.959422 deg. 2021-02-17T23:48:21.106Z,1613605701.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:48:21.890Z,1613605701.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:22.311Z,1613605702.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:23.116Z,1613605703.116 [Micromodem](INFO): Nmea in: $SNTTA,0.077705,,,,234821.95*40 2021-02-17T23:48:23.196Z,1613605703.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.340004 m, bearing: 198.973096 deg, deltaT: 4.408094 s, approachRate: -0.707788 m/s, LOS rate: -0.117573 deg/s, posRepo size: 4 2021-02-17T23:48:23.204Z,1613605703.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.340004 m, bearing: 198.973096 deg, approachRate: -0.707788 m/s, LOS rate: -0.117573 deg/s, cmd update: -0.470294 deg/s, cmd heading: 203.603468 deg, new cmd heading: 203.946577 deg. 2021-02-17T23:48:25.215Z,1613605705.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:48:25.934Z,1613605705.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:26.333Z,1613605706.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:27.184Z,1613605707.184 [Micromodem](INFO): Nmea in: $SNTTA,0.075725,,,,234826.00*4B 2021-02-17T23:48:27.245Z,1613605707.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.399994 m, bearing: 199.846841 deg, deltaT: 4.088943 s, approachRate: -0.719015 m/s, LOS rate: 0.213685 deg/s, posRepo size: 4 2021-02-17T23:48:27.246Z,1613605707.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.399994 m, bearing: 199.846841 deg, approachRate: -0.719015 m/s, LOS rate: 0.213685 deg/s, cmd update: 0.854739 deg/s, cmd heading: 201.686925 deg, new cmd heading: 201.470935 deg. 2021-02-17T23:48:29.578Z,1613605709.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:48:30.386Z,1613605710.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:30.789Z,1613605710.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:31.608Z,1613605711.608 [Micromodem](INFO): Nmea in: $SNTTA,0.073738,,,,234830.45*47 2021-02-17T23:48:31.630Z,1613605711.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.460007 m, bearing: 199.779509 deg, deltaT: 4.443265 s, approachRate: -0.661673 m/s, LOS rate: -0.015154 deg/s, posRepo size: 4 2021-02-17T23:48:31.652Z,1613605711.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.460007 m, bearing: 199.779509 deg, approachRate: -0.661673 m/s, LOS rate: -0.015154 deg/s, cmd update: -0.060615 deg/s, cmd heading: 205.496514 deg, new cmd heading: 205.827966 deg. 2021-02-17T23:48:34.042Z,1613605714.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:48:34.838Z,1613605714.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:35.222Z,1613605715.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:36.056Z,1613605716.056 [Micromodem](INFO): Nmea in: $SNTTA,0.071498,,,,234834.90*40 2021-02-17T23:48:36.125Z,1613605716.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.040001 m, bearing: 199.184299 deg, deltaT: 4.397260 s, approachRate: -0.777758 m/s, LOS rate: -0.135359 deg/s, posRepo size: 4 2021-02-17T23:48:36.128Z,1613605716.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.040001 m, bearing: 199.184299 deg, approachRate: -0.777758 m/s, LOS rate: -0.135359 deg/s, cmd update: -0.541437 deg/s, cmd heading: 205.229972 deg, new cmd heading: 205.200573 deg. 2021-02-17T23:48:38.496Z,1613605718.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:48:39.267Z,1613605719.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:39.666Z,1613605719.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:40.492Z,1613605720.492 [Micromodem](INFO): Nmea in: $SNTTA,0.069311,,,,234839.33*4B 2021-02-17T23:48:40.538Z,1613605720.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.800003 m, bearing: 198.779009 deg, deltaT: 4.472456 s, approachRate: -0.724434 m/s, LOS rate: -0.090619 deg/s, posRepo size: 4 2021-02-17T23:48:40.540Z,1613605720.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.800003 m, bearing: 198.779009 deg, approachRate: -0.724434 m/s, LOS rate: -0.090619 deg/s, cmd update: -0.362476 deg/s, cmd heading: 202.819579 deg, new cmd heading: 202.577570 deg. 2021-02-17T23:48:42.934Z,1613605722.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:48:43.705Z,1613605723.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:44.132Z,1613605724.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:44.932Z,1613605724.932 [Micromodem](INFO): Nmea in: $SNTTA,0.067179,,,,234843.77*44 2021-02-17T23:48:44.983Z,1613605724.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.560005 m, bearing: 199.599192 deg, deltaT: 4.424024 s, approachRate: -0.732364 m/s, LOS rate: 0.185393 deg/s, posRepo size: 4 2021-02-17T23:48:44.985Z,1613605724.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.560005 m, bearing: 199.599192 deg, approachRate: -0.732364 m/s, LOS rate: 0.185393 deg/s, cmd update: 0.741572 deg/s, cmd heading: 201.208509 deg, new cmd heading: 201.053833 deg. 2021-02-17T23:48:47.388Z,1613605727.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:48:48.153Z,1613605728.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:48.554Z,1613605728.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:49.380Z,1613605729.380 [Micromodem](INFO): Nmea in: $SNTTA,0.064977,,,,234848.22*4A 2021-02-17T23:48:49.420Z,1613605729.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.260002 m, bearing: 200.251926 deg, deltaT: 4.466951 s, approachRate: -0.738760 m/s, LOS rate: 0.146125 deg/s, posRepo size: 4 2021-02-17T23:48:49.422Z,1613605729.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.260002 m, bearing: 200.251926 deg, approachRate: -0.738760 m/s, LOS rate: 0.146125 deg/s, cmd update: 0.584501 deg/s, cmd heading: 204.515329 deg, new cmd heading: 204.829984 deg. 2021-02-17T23:48:51.846Z,1613605731.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:48:52.597Z,1613605732.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:52.998Z,1613605732.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:53.852Z,1613605733.852 [Micromodem](INFO): Nmea in: $SNTTA,0.062826,,,,234852.66*42 2021-02-17T23:48:53.876Z,1613605733.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.080002 m, bearing: 197.960821 deg, deltaT: 4.440421 s, approachRate: -0.716148 m/s, LOS rate: -0.515966 deg/s, posRepo size: 4 2021-02-17T23:48:53.878Z,1613605733.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.080002 m, bearing: 197.960821 deg, approachRate: -0.716148 m/s, LOS rate: -0.515966 deg/s, cmd update: -2.063863 deg/s, cmd heading: 207.113038 deg, new cmd heading: 207.368042 deg. 2021-02-17T23:48:56.300Z,1613605736.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:48:57.042Z,1613605737.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:48:57.442Z,1613605737.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:48:58.268Z,1613605738.268 [Micromodem](INFO): Nmea in: $SNTTA,0.060713,,,,234857.11*4C 2021-02-17T23:48:58.314Z,1613605738.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.900009 m, bearing: 197.459198 deg, deltaT: 4.454995 s, approachRate: -0.713804 m/s, LOS rate: -0.112598 deg/s, posRepo size: 4 2021-02-17T23:48:58.316Z,1613605738.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.900009 m, bearing: 197.459198 deg, approachRate: -0.713804 m/s, LOS rate: -0.112598 deg/s, cmd update: -0.450391 deg/s, cmd heading: 197.918537 deg, new cmd heading: 197.053665 deg. 2021-02-17T23:49:00.696Z,1613605740.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:01.485Z,1613605741.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:01.899Z,1613605741.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:49:02.719Z,1613605742.719 [Micromodem](INFO): Nmea in: $SNTTA,0.058506,,,,234901.55*43 2021-02-17T23:49:02.738Z,1613605742.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.600006 m, bearing: 199.862250 deg, deltaT: 4.425148 s, approachRate: -0.745738 m/s, LOS rate: 0.543044 deg/s, posRepo size: 4 2021-02-17T23:49:02.740Z,1613605742.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.600006 m, bearing: 199.862250 deg, approachRate: -0.745738 m/s, LOS rate: 0.543044 deg/s, cmd update: 2.172178 deg/s, cmd heading: 195.923672 deg, new cmd heading: 195.737084 deg. 2021-02-17T23:49:05.153Z,1613605745.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:05.929Z,1613605745.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:06.339Z,1613605746.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:49:07.176Z,1613605747.176 [Micromodem](INFO): Nmea in: $SNTTA,0.056266,,,,234905.99*48 2021-02-17T23:49:07.226Z,1613605747.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.180000 m, bearing: 201.940089 deg, deltaT: 4.442452 s, approachRate: -0.769846 m/s, LOS rate: 0.467724 deg/s, posRepo size: 4 2021-02-17T23:49:07.228Z,1613605747.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.180000 m, bearing: 201.940089 deg, approachRate: -0.769846 m/s, LOS rate: 0.467724 deg/s, cmd update: 1.870894 deg/s, cmd heading: 205.564759 deg, new cmd heading: 206.572017 deg. 2021-02-17T23:49:09.591Z,1613605749.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:10.369Z,1613605750.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:10.786Z,1613605750.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:49:11.600Z,1613605751.600 [Micromodem](INFO): Nmea in: $SNTTA,0.054057,,,0.076969,234910.44*57 2021-02-17T23:49:11.638Z,1613605751.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.000008 m, bearing: 198.429577 deg, deltaT: 4.506270 s, approachRate: -0.705682 m/s, LOS rate: -0.779028 deg/s, posRepo size: 4 2021-02-17T23:49:11.640Z,1613605751.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.000008 m, bearing: 198.429577 deg, approachRate: -0.705682 m/s, LOS rate: -0.779028 deg/s, cmd update: -3.116114 deg/s, cmd heading: 214.003007 deg, new cmd heading: 214.687197 deg. 2021-02-17T23:49:14.039Z,1613605754.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:14.836Z,1613605754.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:15.218Z,1613605755.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:49:16.052Z,1613605756.052 [Micromodem](INFO): Nmea in: $SNTTA,0.051795,,,,234914.90*4F 2021-02-17T23:49:16.092Z,1613605756.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.460007 m, bearing: 197.735862 deg, deltaT: 4.383202 s, approachRate: -0.807629 m/s, LOS rate: -0.158267 deg/s, posRepo size: 4 2021-02-17T23:49:16.093Z,1613605756.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.460007 m, bearing: 197.735862 deg, approachRate: -0.807629 m/s, LOS rate: -0.158267 deg/s, cmd update: -0.633067 deg/s, cmd heading: 200.394939 deg, new cmd heading: 198.986621 deg. 2021-02-17T23:49:18.484Z,1613605758.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:19.256Z,1613605759.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:19.663Z,1613605759.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:49:20.488Z,1613605760.488 [Micromodem](INFO): Nmea in: $SNTTA,0.049942,,,,234919.32*47 2021-02-17T23:49:20.536Z,1613605760.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.459999 m, bearing: 198.752221 deg, deltaT: 4.451389 s, approachRate: -0.673949 m/s, LOS rate: 0.228324 deg/s, posRepo size: 4 2021-02-17T23:49:20.538Z,1613605760.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.459999 m, bearing: 198.752221 deg, approachRate: -0.673949 m/s, LOS rate: 0.228324 deg/s, cmd update: 0.913297 deg/s, cmd heading: 197.566634 deg, new cmd heading: 197.295371 deg. 2021-02-17T23:49:22.930Z,1613605762.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:23.706Z,1613605763.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:24.107Z,1613605764.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:49:24.935Z,1613605764.935 [Micromodem](INFO): Nmea in: $SNTTA,0.047458,,,,234923.77*47 2021-02-17T23:49:24.960Z,1613605764.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.100006 m, bearing: 200.568478 deg, deltaT: 4.437427 s, approachRate: -0.757194 m/s, LOS rate: 0.409304 deg/s, posRepo size: 4 2021-02-17T23:49:24.962Z,1613605764.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.100006 m, bearing: 200.568478 deg, approachRate: -0.757194 m/s, LOS rate: 0.409304 deg/s, cmd update: 1.637216 deg/s, cmd heading: 201.619193 deg, new cmd heading: 201.999128 deg. 2021-02-17T23:49:27.377Z,1613605767.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:28.172Z,1613605768.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:28.558Z,1613605768.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:49:29.387Z,1613605769.387 [Micromodem](INFO): Nmea in: $SNTTA,0.045201,,,,234928.23*45 2021-02-17T23:49:29.412Z,1613605769.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.680000 m, bearing: 200.528466 deg, deltaT: 4.445099 s, approachRate: -0.769388 m/s, LOS rate: -0.009001 deg/s, posRepo size: 4 2021-02-17T23:49:29.414Z,1613605769.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.680000 m, bearing: 200.528466 deg, approachRate: -0.769388 m/s, LOS rate: -0.009001 deg/s, cmd update: -0.036005 deg/s, cmd heading: 208.897003 deg, new cmd heading: 209.587745 deg. 2021-02-17T23:49:31.847Z,1613605771.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:32.588Z,1613605772.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:32.999Z,1613605772.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:49:33.844Z,1613605773.844 [Micromodem](INFO): Nmea in: $SNTTA,0.043247,,,,234932.65*48 2021-02-17T23:49:33.896Z,1613605773.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.919998 m, bearing: 198.697033 deg, deltaT: 4.461575 s, approachRate: -0.618616 m/s, LOS rate: -0.410490 deg/s, posRepo size: 4 2021-02-17T23:49:33.898Z,1613605773.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.919998 m, bearing: 198.697033 deg, approachRate: -0.618616 m/s, LOS rate: -0.410490 deg/s, cmd update: -1.641961 deg/s, cmd heading: 208.736515 deg, new cmd heading: 208.720500 deg. 2021-02-17T23:49:36.253Z,1613605776.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:37.044Z,1613605777.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:37.438Z,1613605777.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:49:38.268Z,1613605778.268 [Micromodem](INFO): Nmea in: $SNTTA,0.040958,,,,234937.11*48 2021-02-17T23:49:38.318Z,1613605778.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.320004 m, bearing: 198.250380 deg, deltaT: 4.437490 s, approachRate: -0.811268 m/s, LOS rate: -0.100655 deg/s, posRepo size: 4 2021-02-17T23:49:38.324Z,1613605778.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.320004 m, bearing: 198.250380 deg, approachRate: -0.811268 m/s, LOS rate: -0.100655 deg/s, cmd update: -0.402618 deg/s, cmd heading: 201.450068 deg, new cmd heading: 200.739248 deg. 2021-02-17T23:49:40.683Z,1613605780.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:41.476Z,1613605781.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:41.882Z,1613605781.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:49:42.704Z,1613605782.704 [Micromodem](INFO): Nmea in: $SNTTA,0.038710,,,,234941.54*45 2021-02-17T23:49:42.719Z,1613605782.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.840004 m, bearing: 199.445827 deg, deltaT: 4.429335 s, approachRate: -0.785671 m/s, LOS rate: 0.269893 deg/s, posRepo size: 4 2021-02-17T23:49:42.721Z,1613605782.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.840004 m, bearing: 199.445827 deg, approachRate: -0.785671 m/s, LOS rate: 0.269893 deg/s, cmd update: 1.079572 deg/s, cmd heading: 199.665120 deg, new cmd heading: 199.503679 deg. 2021-02-17T23:49:45.198Z,1613605785.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:45.925Z,1613605785.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:46.331Z,1613605786.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:49:47.164Z,1613605787.164 [Micromodem](INFO): Nmea in: $SNTTA,0.036675,,,,234945.99*4C 2021-02-17T23:49:47.235Z,1613605787.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.540005 m, bearing: 200.135252 deg, deltaT: 4.424046 s, approachRate: -0.745923 m/s, LOS rate: 0.155836 deg/s, posRepo size: 4 2021-02-17T23:49:47.237Z,1613605787.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.540005 m, bearing: 200.135252 deg, approachRate: -0.745923 m/s, LOS rate: 0.155836 deg/s, cmd update: 0.623344 deg/s, cmd heading: 204.441179 deg, new cmd heading: 204.964663 deg. 2021-02-17T23:49:49.254Z,1613605789.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:49.962Z,1613605789.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:50.373Z,1613605790.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:49:51.220Z,1613605791.220 [Micromodem](INFO): Nmea in: $SNTTA,0.034631,,,,234950.02*48 2021-02-17T23:49:51.274Z,1613605791.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.719997 m, bearing: 199.597307 deg, deltaT: 4.095605 s, approachRate: -0.688545 m/s, LOS rate: -0.131347 deg/s, posRepo size: 4 2021-02-17T23:49:51.280Z,1613605791.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.719997 m, bearing: 199.597307 deg, approachRate: -0.688545 m/s, LOS rate: -0.131347 deg/s, cmd update: -0.525388 deg/s, cmd heading: 206.991637 deg, new cmd heading: 207.265841 deg. 2021-02-17T23:49:53.611Z,1613605793.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:54.404Z,1613605794.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:54.840Z,1613605794.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:49:55.645Z,1613605795.645 [Micromodem](INFO): Nmea in: $SNTTA,0.032197,,,,234954.47*40 2021-02-17T23:49:55.666Z,1613605795.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.120003 m, bearing: 199.036671 deg, deltaT: 4.416216 s, approachRate: -0.815176 m/s, LOS rate: -0.126949 deg/s, posRepo size: 4 2021-02-17T23:49:55.668Z,1613605795.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.120003 m, bearing: 199.036671 deg, approachRate: -0.815176 m/s, LOS rate: -0.126949 deg/s, cmd update: -0.507797 deg/s, cmd heading: 204.669275 deg, new cmd heading: 204.452675 deg. 2021-02-17T23:49:58.066Z,1613605798.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:49:58.854Z,1613605798.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:49:59.254Z,1613605799.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:00.080Z,1613605800.080 [Micromodem](INFO): Nmea in: $SNTTA,0.030211,,,,234958.92*4B 2021-02-17T23:50:00.122Z,1613605800.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.820000 m, bearing: 198.042988 deg, deltaT: 4.432120 s, approachRate: -0.744565 m/s, LOS rate: -0.224200 deg/s, posRepo size: 4 2021-02-17T23:50:00.124Z,1613605800.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.820000 m, bearing: 198.042988 deg, approachRate: -0.744565 m/s, LOS rate: -0.224200 deg/s, cmd update: -0.896802 deg/s, cmd heading: 202.426793 deg, new cmd heading: 202.197084 deg. 2021-02-17T23:50:02.520Z,1613605802.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:50:03.297Z,1613605803.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:50:03.699Z,1613605803.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:04.524Z,1613605804.524 [Micromodem](INFO): Nmea in: $SNTTA,0.027649,,,,235003.36*4C 2021-02-17T23:50:04.568Z,1613605804.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.279999 m, bearing: 198.588870 deg, deltaT: 4.464981 s, approachRate: -0.792837 m/s, LOS rate: 0.122259 deg/s, posRepo size: 4 2021-02-17T23:50:04.570Z,1613605804.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.279999 m, bearing: 198.588870 deg, approachRate: -0.792837 m/s, LOS rate: 0.122259 deg/s, cmd update: 0.489034 deg/s, cmd heading: 198.408256 deg, new cmd heading: 198.034620 deg. 2021-02-17T23:50:06.965Z,1613605806.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:50:07.754Z,1613605807.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:50:08.154Z,1613605808.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:08.983Z,1613605808.983 [Micromodem](INFO): Nmea in: $SNTTA,0.025616,,,,235007.82*4F 2021-02-17T23:50:09.007Z,1613605809.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.220001 m, bearing: 199.516096 deg, deltaT: 4.443888 s, approachRate: -0.688586 m/s, LOS rate: 0.208652 deg/s, posRepo size: 4 2021-02-17T23:50:09.008Z,1613605809.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.22 m. 2021-02-17T23:50:09.009Z,1613605809.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.220001 m, bearing: 199.516096 deg, approachRate: -0.688586 m/s, LOS rate: 0.208652 deg/s, cmd update: 0.834607 deg/s, cmd heading: 200.579503 deg, new cmd heading: 200.783023 deg. 2021-02-17T23:50:09.381Z,1613605809.381 [PowerOnly](INFO): Powering up loadControl 2021-02-17T23:50:11.407Z,1613605811.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:50:12.208Z,1613605812.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:50:12.593Z,1613605812.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:13.420Z,1613605813.420 [Micromodem](INFO): Nmea in: $SNTTA,0.023343,,,,235012.27*47 2021-02-17T23:50:13.477Z,1613605813.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.859997 m, bearing: 200.392778 deg, deltaT: 4.450304 s, approachRate: -0.755006 m/s, LOS rate: 0.196994 deg/s, posRepo size: 4 2021-02-17T23:50:13.478Z,1613605813.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.86 m. 2021-02-17T23:50:13.478Z,1613605813.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.86 m. 2021-02-17T23:50:13.478Z,1613605813.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T23:50:13.484Z,1613605813.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.859997 m, bearing: 200.392778 deg, approachRate: -0.755006 m/s, LOS rate: 0.196994 deg/s, cmd update: 0.787975 deg/s, cmd heading: 204.293789 deg, new cmd heading: 204.657828 deg. 2021-02-17T23:50:15.867Z,1613605815.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:50:16.629Z,1613605816.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:50:17.030Z,1613605817.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:17.865Z,1613605817.865 [Micromodem](INFO): Nmea in: $SNTTA,0.021306,,,,235016.69*4A 2021-02-17T23:50:17.914Z,1613605817.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.320002 m, bearing: 199.529783 deg, deltaT: 4.440193 s, approachRate: -0.797262 m/s, LOS rate: -0.194360 deg/s, posRepo size: 4 2021-02-17T23:50:17.916Z,1613605817.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.320002 m, bearing: 199.529783 deg, approachRate: -0.797262 m/s, LOS rate: -0.194360 deg/s, cmd update: -0.777439 deg/s, cmd heading: 207.792536 deg, new cmd heading: 208.133262 deg. 2021-02-17T23:50:20.301Z,1613605820.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:50:21.077Z,1613605821.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:50:21.474Z,1613605821.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:22.300Z,1613605822.300 [Micromodem](INFO): Nmea in: $SNTTA,0.019195,,,,235021.14*47 2021-02-17T23:50:22.346Z,1613605822.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.199999 m, bearing: 196.506728 deg, deltaT: 4.448013 s, approachRate: -0.701437 m/s, LOS rate: -0.679642 deg/s, posRepo size: 4 2021-02-17T23:50:22.348Z,1613605822.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.199999 m, bearing: 196.506728 deg, approachRate: -0.701437 m/s, LOS rate: -0.679642 deg/s, cmd update: -2.718567 deg/s, cmd heading: 204.334669 deg, new cmd heading: 204.010620 deg. 2021-02-17T23:50:24.735Z,1613605824.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:50:25.516Z,1613605825.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:50:25.926Z,1613605825.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:26.744Z,1613605826.744 [Micromodem](INFO): Nmea in: $SNTTA,0.016623,,,,235025.58*4E 2021-02-17T23:50:26.784Z,1613605826.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.199999 m, bearing: 202.977690 deg, deltaT: 4.458640 s, approachRate: -0.672851 m/s, LOS rate: 1.451331 deg/s, posRepo size: 4 2021-02-17T23:50:26.785Z,1613605826.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.199999 m, bearing: 202.977690 deg, approachRate: -0.672851 m/s, LOS rate: 1.451331 deg/s, cmd update: 5.805324 deg/s, cmd heading: 192.240003 deg, new cmd heading: 191.137929 deg. 2021-02-17T23:50:29.235Z,1613605829.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:50:29.961Z,1613605829.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:50:30.374Z,1613605830.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:31.220Z,1613605831.220 [Micromodem](INFO): Nmea in: $SNTTA,0.014468,,,,235030.02*4A 2021-02-17T23:50:31.274Z,1613605831.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.959997 m, bearing: 206.970277 deg, deltaT: 4.425570 s, approachRate: -0.732109 m/s, LOS rate: 0.902163 deg/s, posRepo size: 4 2021-02-17T23:50:31.280Z,1613605831.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.959997 m, bearing: 206.970277 deg, approachRate: -0.732109 m/s, LOS rate: 0.902163 deg/s, cmd update: 3.608654 deg/s, cmd heading: 217.811910 deg, new cmd heading: 220.662219 deg. 2021-02-17T23:50:33.627Z,1613605833.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:50:34.401Z,1613605834.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:50:34.840Z,1613605834.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:35.628Z,1613605835.628 [Micromodem](INFO): Nmea in: $SNTTA,0.012859,,,,235034.46*46 2021-02-17T23:50:35.667Z,1613605835.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.079998 m, bearing: 199.611923 deg, deltaT: 4.435773 s, approachRate: -0.649267 m/s, LOS rate: -1.658866 deg/s, posRepo size: 4 2021-02-17T23:50:35.669Z,1613605835.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.079998 m, bearing: 199.611923 deg, approachRate: -0.649267 m/s, LOS rate: -1.658866 deg/s, cmd update: -6.635465 deg/s, cmd heading: 233.944194 deg, new cmd heading: 235.436267 deg. 2021-02-17T23:50:38.069Z,1613605838.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:50:38.857Z,1613605838.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:50:39.255Z,1613605839.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:40.122Z,1613605840.122 [Micromodem](INFO): Nmea in: $SNTTA,0.010344,,,,235038.92*46 2021-02-17T23:50:40.192Z,1613605840.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.240002 m, bearing: 192.453844 deg, deltaT: 4.414177 s, approachRate: -0.869924 m/s, LOS rate: -1.621611 deg/s, posRepo size: 4 2021-02-17T23:50:40.204Z,1613605840.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.240002 m, bearing: 192.453844 deg, approachRate: -0.869924 m/s, LOS rate: -1.621611 deg/s, cmd update: -6.486445 deg/s, cmd heading: 204.654569 deg, new cmd heading: 201.396503 deg. 2021-02-17T23:50:42.511Z,1613605842.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:50:43.311Z,1613605843.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:50:43.698Z,1613605843.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:44.532Z,1613605844.532 [Micromodem](INFO): Nmea in: $SNTTA,0.009730,,,,235043.37*4A 2021-02-17T23:50:44.581Z,1613605844.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.439999 m, bearing: 188.776976 deg, deltaT: 4.460052 s, approachRate: -0.403583 m/s, LOS rate: -0.824400 deg/s, posRepo size: 4 2021-02-17T23:50:44.587Z,1613605844.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.439999 m, bearing: 188.776976 deg, approachRate: -0.403583 m/s, LOS rate: -0.824400 deg/s, cmd update: -3.297601 deg/s, cmd heading: 175.724330 deg, new cmd heading: 172.783214 deg. 2021-02-17T23:50:46.949Z,1613605846.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:50:47.740Z,1613605847.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:50:48.138Z,1613605848.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:48.964Z,1613605848.964 [Micromodem](INFO): Nmea in: $SNTTA,0.007498,,,,235047.80*4D 2021-02-17T23:50:49.012Z,1613605849.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.839999 m, bearing: 194.556873 deg, deltaT: 4.454559 s, approachRate: -0.808161 m/s, LOS rate: 1.297524 deg/s, posRepo size: 4 2021-02-17T23:50:49.014Z,1613605849.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.839999 m, bearing: 194.556873 deg, approachRate: -0.808161 m/s, LOS rate: 1.297524 deg/s, cmd update: 5.190096 deg/s, cmd heading: 161.091735 deg, new cmd heading: 159.616507 deg. 2021-02-17T23:50:51.409Z,1613605851.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:50:52.205Z,1613605852.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:50:52.584Z,1613605852.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:53.418Z,1613605853.418 [Micromodem](INFO): Nmea in: $SNTTA,0.006022,,,,235052.27*40 2021-02-17T23:50:53.443Z,1613605853.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.199999 m, bearing: 188.795636 deg, deltaT: 4.443987 s, approachRate: -0.594061 m/s, LOS rate: -1.296412 deg/s, posRepo size: 4 2021-02-17T23:50:53.445Z,1613605853.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.199999 m, bearing: 188.795636 deg, approachRate: -0.594061 m/s, LOS rate: -1.296412 deg/s, cmd update: -5.185647 deg/s, cmd heading: 184.245251 deg, new cmd heading: 186.407751 deg. 2021-02-17T23:50:55.864Z,1613605855.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:50:56.625Z,1613605856.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:50:57.040Z,1613605857.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:50:57.856Z,1613605857.856 [Micromodem](INFO): Nmea in: $SNTTA,0.004730,,,,235056.69*48 2021-02-17T23:50:57.896Z,1613605857.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.839999 m, bearing: 198.992958 deg, deltaT: 4.450236 s, approachRate: -0.080895 m/s, LOS rate: 2.291411 deg/s, posRepo size: 4 2021-02-17T23:50:57.897Z,1613605857.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.839999 m, bearing: 198.992958 deg, approachRate: -0.080895 m/s, LOS rate: 2.291411 deg/s, cmd update: 9.165646 deg/s, cmd heading: 161.210362 deg, new cmd heading: 158.994519 deg. 2021-02-17T23:51:00.310Z,1613605860.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:01.069Z,1613605861.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:01.470Z,1613605861.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:02.300Z,1613605862.300 [Micromodem](INFO): Nmea in: $SNTTA,0.002987,,,,235101.13*42 2021-02-17T23:51:02.344Z,1613605862.344 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T23:51:02.344Z,1613605862.344 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T23:51:02.344Z,1613605862.344 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T23:51:02.344Z,1613605862.344 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:51:02.345Z,1613605862.345 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T23:51:02.345Z,1613605862.345 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.559999 m 2021-02-17T23:51:02.345Z,1613605862.345 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T23:51:02.345Z,1613605862.345 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T23:51:02.345Z,1613605862.345 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T23:51:02.348Z,1613605862.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 163.939771 deg, deltaT: 4.430747 s, approachRate: -0.514586 m/s, LOS rate: -7.911349 deg/s, posRepo size: 4 2021-02-17T23:51:02.350Z,1613605862.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.559999 m, bearing: 163.939771 deg, approachRate: -0.514586 m/s, LOS rate: -7.911349 deg/s, cmd update: -12.000000 deg/s, cmd heading: 201.859956 deg, new cmd heading: 205.934324 deg. 2021-02-17T23:51:02.713Z,1613605862.713 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T235102: (41.552319, -70.708603) 2021-02-17T23:51:02.713Z,1613605862.713 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T23:51:02.713Z,1613605862.713 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T23:51:02.713Z,1613605862.713 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:51:02.713Z,1613605862.713 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T23:51:02.713Z,1613605862.713 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:51:02.714Z,1613605862.714 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T23:51:02.714Z,1613605862.714 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T23:51:02.714Z,1613605862.714 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T23:51:03.137Z,1613605863.137 [UniversalFixResidualReporter](INFO): Fix residual: 3.8 %DT, over the last 537.2 m. Residual distance 20.5 m at bearing 116.1 degrees. Fix at (41.5516, -70.7095) with 0.0 m made good. 2021-02-17T23:51:04.715Z,1613605864.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:05.516Z,1613605865.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:05.914Z,1613605865.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:06.740Z,1613605866.740 [Micromodem](INFO): Nmea in: $SNTTA,0.004038,,,,235105.58*42 2021-02-17T23:51:06.783Z,1613605866.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.059999 m, bearing: 174.815823 deg, deltaT: 4.452725 s, approachRate: 0.336872 m/s, LOS rate: 2.442561 deg/s, posRepo size: 4 2021-02-17T23:51:06.785Z,1613605866.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.059999 m, bearing: 174.815823 deg, approachRate: 0.336872 m/s, LOS rate: 2.442561 deg/s, cmd update: 9.770243 deg/s, cmd heading: 148.426810 deg, new cmd heading: 143.306134 deg. 2021-02-17T23:51:09.219Z,1613605869.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:09.954Z,1613605869.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:10.370Z,1613605870.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:11.208Z,1613605871.208 [Micromodem](INFO): Nmea in: $SNTTA,0.005647,,,,235110.02*46 2021-02-17T23:51:11.246Z,1613605871.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.520000 m, bearing: 136.770044 deg, deltaT: 4.439934 s, approachRate: 0.554063 m/s, LOS rate: -8.568997 deg/s, posRepo size: 4 2021-02-17T23:51:11.248Z,1613605871.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.520000 m, bearing: 136.770044 deg, approachRate: 0.554063 m/s, LOS rate: -8.568997 deg/s, cmd update: -12.000000 deg/s, cmd heading: 191.596483 deg, new cmd heading: 196.206836 deg. 2021-02-17T23:51:13.603Z,1613605873.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:14.396Z,1613605874.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:14.831Z,1613605874.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:15.636Z,1613605875.636 [Micromodem](INFO): Nmea in: $SNTTA,0.007631,,,,235114.46*41 2021-02-17T23:51:15.658Z,1613605875.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.400001 m, bearing: 166.591825 deg, deltaT: 4.448091 s, approachRate: 0.647469 m/s, LOS rate: 6.704400 deg/s, posRepo size: 4 2021-02-17T23:51:15.660Z,1613605875.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.400001 m, bearing: 166.591825 deg, approachRate: 0.647469 m/s, LOS rate: 6.704400 deg/s, cmd update: 12.000000 deg/s, cmd heading: 137.913653 deg, new cmd heading: 132.993557 deg. 2021-02-17T23:51:18.074Z,1613605878.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:18.853Z,1613605878.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:19.256Z,1613605879.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:20.096Z,1613605880.096 [Micromodem](INFO): Nmea in: $SNTTA,0.014379,,,,235118.92*4F 2021-02-17T23:51:20.120Z,1613605880.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.580000 m, bearing: 169.335279 deg, deltaT: 4.426887 s, approachRate: 2.073692 m/s, LOS rate: 0.619725 deg/s, posRepo size: 4 2021-02-17T23:51:20.121Z,1613605880.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.58 m. Rolling out. 2021-02-17T23:51:20.121Z,1613605880.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-17T23:51:22.518Z,1613605882.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:23.285Z,1613605883.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:23.689Z,1613605883.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:24.512Z,1613605884.512 [Micromodem](INFO): Nmea in: $SNTTA,0.011693,,,,235123.35*4E 2021-02-17T23:51:24.561Z,1613605884.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 167.271087 deg, deltaT: 4.460972 s, approachRate: -0.659050 m/s, LOS rate: -0.462723 deg/s, posRepo size: 4 2021-02-17T23:51:26.954Z,1613605886.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:27.733Z,1613605887.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:28.135Z,1613605888.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:28.968Z,1613605888.968 [Micromodem](INFO): Nmea in: $SNTTA,0.014562,,,,235127.79*4A 2021-02-17T23:51:28.993Z,1613605888.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.299999 m, bearing: 174.668141 deg, deltaT: 4.427367 s, approachRate: 0.826677 m/s, LOS rate: 1.670757 deg/s, posRepo size: 4 2021-02-17T23:51:31.406Z,1613605891.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:32.205Z,1613605892.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:32.583Z,1613605892.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:33.420Z,1613605893.420 [Micromodem](INFO): Nmea in: $SNTTA,0.015745,,,,235132.27*43 2021-02-17T23:51:33.469Z,1613605893.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.819998 m, bearing: 217.368148 deg, deltaT: 4.457987 s, approachRate: 0.565277 m/s, LOS rate: 9.578316 deg/s, posRepo size: 4 2021-02-17T23:51:35.863Z,1613605895.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:36.621Z,1613605896.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:37.022Z,1613605897.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:37.044Z,1613605897.044 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-17T23:51:37.856Z,1613605897.856 [Micromodem](INFO): Nmea in: $SNTTA,0.027978,,,0.019341,235136.68*5D 2021-02-17T23:51:37.902Z,1613605897.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.819998 m, bearing: 230.329961 deg, deltaT: 4.447597 s, approachRate: 0.674522 m/s, LOS rate: 2.914341 deg/s, posRepo size: 4 2021-02-17T23:51:40.286Z,1613605900.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:41.060Z,1613605901.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:41.466Z,1613605901.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:42.288Z,1613605902.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.044878,235141.12*44 2021-02-17T23:51:42.334Z,1613605902.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.880001 m, bearing: 232.987588 deg, deltaT: 4.442386 s, approachRate: 0.688820 m/s, LOS rate: 0.598243 deg/s, posRepo size: 4 2021-02-17T23:51:43.900Z,1613605903.900 [PowerOnly](INFO): Powering down loadControl 2021-02-17T23:51:44.719Z,1613605904.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:45.548Z,1613605905.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:45.912Z,1613605905.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:46.746Z,1613605906.746 [Micromodem](INFO): Nmea in: $SNTTA,0.044928,,,,235145.61*40 2021-02-17T23:51:46.789Z,1613605906.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.999996 m, bearing: 229.694508 deg, deltaT: 4.442860 s, approachRate: 0.702249 m/s, LOS rate: -0.741207 deg/s, posRepo size: 4 2021-02-17T23:51:49.217Z,1613605909.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:49.948Z,1613605909.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:50.359Z,1613605910.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:51.212Z,1613605911.212 [Micromodem](INFO): Nmea in: $SNTTA,0.024495,,,,235150.01*4F 2021-02-17T23:51:51.258Z,1613605911.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.419998 m, bearing: 219.879021 deg, deltaT: 4.426603 s, approachRate: 0.772602 m/s, LOS rate: -2.217386 deg/s, posRepo size: 4 2021-02-17T23:51:53.287Z,1613605913.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:53.989Z,1613605913.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:54.401Z,1613605914.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:55.231Z,1613605915.231 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235154.05*5F 2021-02-17T23:51:55.255Z,1613605915.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.360001 m, bearing: 220.675393 deg, deltaT: 4.097096 s, approachRate: 0.717582 m/s, LOS rate: 0.194375 deg/s, posRepo size: 4 2021-02-17T23:51:57.642Z,1613605917.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:51:58.432Z,1613605918.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:51:58.849Z,1613605918.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:51:59.665Z,1613605919.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235158.49*5B 2021-02-17T23:51:59.702Z,1613605919.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.419998 m, bearing: 231.059590 deg, deltaT: 4.398546 s, approachRate: 0.695684 m/s, LOS rate: 2.360825 deg/s, posRepo size: 4 2021-02-17T23:52:02.097Z,1613605922.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:02.877Z,1613605922.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:52:03.288Z,1613605923.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:52:04.104Z,1613605924.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235202.94*57 2021-02-17T23:52:04.146Z,1613605924.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.780003 m, bearing: 233.775847 deg, deltaT: 4.442697 s, approachRate: 0.756298 m/s, LOS rate: 0.611398 deg/s, posRepo size: 4 2021-02-17T23:52:06.538Z,1613605926.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:07.326Z,1613605927.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:52:07.731Z,1613605927.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:52:08.552Z,1613605928.552 [Micromodem](INFO): Nmea in: $SNTTA,0.046423,,,,235207.39*4C 2021-02-17T23:52:08.576Z,1613605928.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.259998 m, bearing: 229.865700 deg, deltaT: 4.493527 s, approachRate: 0.774446 m/s, LOS rate: -0.870173 deg/s, posRepo size: 4 2021-02-17T23:52:10.997Z,1613605930.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:11.769Z,1613605931.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:52:12.201Z,1613605932.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:52:12.996Z,1613605932.996 [Micromodem](INFO): Nmea in: $SNTTA,0.034859,,,,235211.83*4E 2021-02-17T23:52:13.042Z,1613605933.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.680004 m, bearing: 201.637908 deg, deltaT: 4.373345 s, approachRate: 0.782011 m/s, LOS rate: -6.454508 deg/s, posRepo size: 4 2021-02-17T23:52:15.433Z,1613605935.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:16.213Z,1613605936.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:52:16.623Z,1613605936.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:52:17.436Z,1613605937.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.049619,235216.27*47 2021-02-17T23:52:17.474Z,1613605937.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.680000 m, bearing: 218.164110 deg, deltaT: 4.473997 s, approachRate: 0.670541 m/s, LOS rate: 3.693834 deg/s, posRepo size: 4 2021-02-17T23:52:19.874Z,1613605939.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:20.652Z,1613605940.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:52:21.058Z,1613605941.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:52:21.868Z,1613605941.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235220.71*5C 2021-02-17T23:52:22.698Z,1613605942.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:24.294Z,1613605944.294 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:52:25.573Z,1613605945.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:26.316Z,1613605946.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:52:26.718Z,1613605946.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:52:27.540Z,1613605947.540 [Micromodem](INFO): Nmea in: $SNTTA,0.042120,,,,235226.38*4C 2021-02-17T23:52:27.588Z,1613605947.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.299999 m, bearing: 206.334469 deg, deltaT: 10.165557 s, approachRate: 0.749590 m/s, LOS rate: -1.163698 deg/s, posRepo size: 4 2021-02-17T23:52:29.980Z,1613605949.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:30.758Z,1613605950.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:52:31.180Z,1613605951.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:52:31.984Z,1613605951.984 [Micromodem](INFO): Nmea in: $SNTTA,0.043943,,,,235230.82*46 2021-02-17T23:52:32.019Z,1613605952.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.120003 m, bearing: 219.438091 deg, deltaT: 4.363562 s, approachRate: 0.646262 m/s, LOS rate: 3.002965 deg/s, posRepo size: 4 2021-02-17T23:52:34.418Z,1613605954.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:35.210Z,1613605955.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:52:35.607Z,1613605955.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:52:36.435Z,1613605956.435 [Micromodem](INFO): Nmea in: $SNTTA,0.046357,,,,235235.27*46 2021-02-17T23:52:36.460Z,1613605956.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.659996 m, bearing: 221.908625 deg, deltaT: 4.456203 s, approachRate: 0.794397 m/s, LOS rate: 0.554403 deg/s, posRepo size: 4 2021-02-17T23:52:38.904Z,1613605958.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:39.640Z,1613605959.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:52:40.052Z,1613605960.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:52:40.884Z,1613605960.884 [Micromodem](INFO): Nmea in: $SNTTA,0.048430,,,,235239.70*40 2021-02-17T23:52:40.908Z,1613605960.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.900002 m, bearing: 202.744125 deg, deltaT: 4.433933 s, approachRate: 0.730729 m/s, LOS rate: -4.322235 deg/s, posRepo size: 4 2021-02-17T23:52:43.306Z,1613605963.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:44.084Z,1613605964.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:52:44.489Z,1613605964.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:52:45.312Z,1613605965.312 [Micromodem](INFO): Nmea in: $SNTTA,0.050713,,,,235244.15*42 2021-02-17T23:52:45.336Z,1613605965.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.440010 m, bearing: 201.784046 deg, deltaT: 4.438621 s, approachRate: 0.797547 m/s, LOS rate: -0.216301 deg/s, posRepo size: 4 2021-02-17T23:52:47.743Z,1613605967.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:48.529Z,1613605968.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:52:48.945Z,1613605968.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:52:49.760Z,1613605969.760 [Micromodem](INFO): Nmea in: $SNTTA,0.052839,,,,235248.59*43 2021-02-17T23:52:49.837Z,1613605969.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.500008 m, bearing: 208.439574 deg, deltaT: 4.461412 s, approachRate: 0.685881 m/s, LOS rate: 1.491798 deg/s, posRepo size: 4 2021-02-17T23:52:52.250Z,1613605972.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:52.973Z,1613605972.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:52:53.395Z,1613605973.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:52:54.223Z,1613605974.223 [Micromodem](INFO): Nmea in: $SNTTA,0.055005,,,,235253.04*41 2021-02-17T23:52:54.261Z,1613605974.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.739998 m, bearing: 211.481016 deg, deltaT: 4.460295 s, approachRate: 0.726407 m/s, LOS rate: 0.681893 deg/s, posRepo size: 4 2021-02-17T23:52:56.633Z,1613605976.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:52:57.421Z,1613605977.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:52:57.840Z,1613605977.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:52:58.649Z,1613605978.649 [Micromodem](INFO): Nmea in: $SNTTA,0.057255,,,,235257.48*48 2021-02-17T23:52:58.682Z,1613605978.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.100006 m, bearing: 209.259402 deg, deltaT: 4.442649 s, approachRate: 0.756307 m/s, LOS rate: -0.500065 deg/s, posRepo size: 4 2021-02-17T23:53:01.082Z,1613605981.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:01.860Z,1613605981.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:53:02.274Z,1613605982.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:53:03.088Z,1613605983.088 [Micromodem](INFO): Nmea in: $SNTTA,0.059301,,,,235301.92*43 2021-02-17T23:53:03.134Z,1613605983.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.220009 m, bearing: 185.755068 deg, deltaT: 4.415955 s, approachRate: 0.706530 m/s, LOS rate: -5.322594 deg/s, posRepo size: 4 2021-02-17T23:53:05.522Z,1613605985.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:06.304Z,1613605986.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:53:06.711Z,1613605986.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:53:07.535Z,1613605987.535 [Micromodem](INFO): Nmea in: $SNTTA,0.061576,,,,235306.37*46 2021-02-17T23:53:07.559Z,1613605987.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.700005 m, bearing: 195.489604 deg, deltaT: 4.449039 s, approachRate: 0.782190 m/s, LOS rate: 2.188009 deg/s, posRepo size: 4 2021-02-17T23:53:09.964Z,1613605989.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:10.748Z,1613605990.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:53:11.162Z,1613605991.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:53:11.980Z,1613605991.980 [Micromodem](INFO): Nmea in: $SNTTA,0.063596,,,,235310.81*40 2021-02-17T23:53:12.004Z,1613605992.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.640007 m, bearing: 200.976554 deg, deltaT: 4.423276 s, approachRate: 0.664666 m/s, LOS rate: 1.240472 deg/s, posRepo size: 4 2021-02-17T23:53:14.421Z,1613605994.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:15.210Z,1613605995.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:53:15.620Z,1613605995.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:53:16.428Z,1613605996.428 [Micromodem](INFO): Nmea in: $SNTTA,0.065854,,,,235315.27*4C 2021-02-17T23:53:16.469Z,1613605996.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.940010 m, bearing: 208.863346 deg, deltaT: 4.474065 s, approachRate: 0.737585 m/s, LOS rate: 1.762780 deg/s, posRepo size: 4 2021-02-17T23:53:18.870Z,1613605998.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:19.641Z,1613605999.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:53:20.041Z,1613606000.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:53:20.884Z,1613606000.884 [Micromodem](INFO): Nmea in: $SNTTA,0.067958,,,,235319.70*4D 2021-02-17T23:53:20.908Z,1613606000.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.059998 m, bearing: 208.124115 deg, deltaT: 4.443264 s, approachRate: 0.702184 m/s, LOS rate: -0.166371 deg/s, posRepo size: 4 2021-02-17T23:53:23.304Z,1613606003.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:24.080Z,1613606004.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:53:24.495Z,1613606004.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:53:25.296Z,1613606005.296 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235324.14*5A 2021-02-17T23:53:26.145Z,1613606006.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:27.714Z,1613606007.714 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:53:28.959Z,1613606008.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:29.742Z,1613606009.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:53:30.151Z,1613606010.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:53:30.989Z,1613606010.989 [Micromodem](INFO): Nmea in: $SNTTA,0.072839,,,,235329.81*42 2021-02-17T23:53:31.013Z,1613606011.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.380005 m, bearing: 219.724098 deg, deltaT: 10.100293 s, approachRate: 0.724732 m/s, LOS rate: 1.148480 deg/s, posRepo size: 4 2021-02-17T23:53:33.407Z,1613606013.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:34.209Z,1613606014.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:53:34.590Z,1613606014.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:53:35.414Z,1613606015.414 [Micromodem](INFO): Nmea in: $SNTTA,0.075008,,,,235334.27*4F 2021-02-17T23:53:36.260Z,1613606016.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:37.837Z,1613606017.837 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:53:39.074Z,1613606019.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:39.846Z,1613606019.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:53:40.242Z,1613606020.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:53:41.068Z,1613606021.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235339.91*5B 2021-02-17T23:53:41.112Z,1613606021.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.940002 m, bearing: 203.462825 deg, deltaT: 10.070732 s, approachRate: 0.750690 m/s, LOS rate: -1.614706 deg/s, posRepo size: 4 2021-02-17T23:53:43.519Z,1613606023.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:44.281Z,1613606024.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:53:44.694Z,1613606024.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:53:45.512Z,1613606025.512 [Micromodem](INFO): Nmea in: $SNTTA,0.080048,,,,235344.34*44 2021-02-17T23:53:45.536Z,1613606025.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.180008 m, bearing: 202.990422 deg, deltaT: 4.469835 s, approachRate: 0.724860 m/s, LOS rate: -0.105687 deg/s, posRepo size: 4 2021-02-17T23:53:47.944Z,1613606027.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:48.724Z,1613606028.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:53:49.129Z,1613606029.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:53:49.952Z,1613606029.952 [Micromodem](INFO): Nmea in: $SNTTA,0.082283,,,,235348.79*46 2021-02-17T23:53:49.976Z,1613606029.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.600006 m, bearing: 202.290163 deg, deltaT: 4.452771 s, approachRate: 0.768061 m/s, LOS rate: -0.157263 deg/s, posRepo size: 4 2021-02-17T23:53:52.396Z,1613606032.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:53.199Z,1613606033.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:53:53.593Z,1613606033.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:53:54.408Z,1613606034.408 [Micromodem](INFO): Nmea in: $SNTTA,0.084598,,,,235353.26*4D 2021-02-17T23:53:54.453Z,1613606034.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.080002 m, bearing: 203.658578 deg, deltaT: 4.443037 s, approachRate: 0.783247 m/s, LOS rate: 0.307991 deg/s, posRepo size: 4 2021-02-17T23:53:56.860Z,1613606036.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:53:57.614Z,1613606037.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:53:58.026Z,1613606038.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:53:58.842Z,1613606038.842 [Micromodem](INFO): Nmea in: $SNTTA,0.086893,,,,235357.68*47 2021-02-17T23:53:59.652Z,1613606039.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:01.246Z,1613606041.246 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:54:02.486Z,1613606042.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:03.268Z,1613606043.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:54:03.683Z,1613606043.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:54:04.503Z,1613606044.503 [Micromodem](INFO): Nmea in: $SNTTA,0.089524,,,,235403.33*41 2021-02-17T23:54:04.532Z,1613606044.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.459991 m, bearing: 205.304640 deg, deltaT: 10.089728 s, approachRate: 0.731436 m/s, LOS rate: 0.163142 deg/s, posRepo size: 4 2021-02-17T23:54:06.933Z,1613606046.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:07.712Z,1613606047.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:54:08.122Z,1613606048.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:54:08.945Z,1613606048.945 [Micromodem](INFO): Nmea in: $SNTTA,0.091827,,,,235407.77*42 2021-02-17T23:54:09.004Z,1613606049.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.940002 m, bearing: 206.467111 deg, deltaT: 4.454103 s, approachRate: 0.781305 m/s, LOS rate: 0.260989 deg/s, posRepo size: 4 2021-02-17T23:54:11.374Z,1613606051.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:12.188Z,1613606052.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:54:12.562Z,1613606052.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:54:13.396Z,1613606053.396 [Micromodem](INFO): Nmea in: $SNTTA,0.094245,,,,235412.25*4A 2021-02-17T23:54:13.444Z,1613606053.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.660004 m, bearing: 202.550175 deg, deltaT: 4.427519 s, approachRate: 0.840200 m/s, LOS rate: -0.884680 deg/s, posRepo size: 4 2021-02-17T23:54:15.863Z,1613606055.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:16.605Z,1613606056.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:54:17.006Z,1613606057.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:54:17.838Z,1613606057.838 [Micromodem](INFO): Nmea in: $SNTTA,0.096306,,,,235416.67*4C 2021-02-17T23:54:18.642Z,1613606058.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:20.234Z,1613606060.234 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:54:21.477Z,1613606061.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:22.256Z,1613606062.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:54:22.663Z,1613606062.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:54:23.472Z,1613606063.472 [Micromodem](INFO): Nmea in: $SNTTA,0.099196,,,,235422.32*4F 2021-02-17T23:54:24.309Z,1613606064.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:25.896Z,1613606065.896 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:54:27.128Z,1613606067.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:27.913Z,1613606067.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:54:28.319Z,1613606068.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:54:29.137Z,1613606069.137 [Micromodem](INFO): Nmea in: $SNTTA,0.101954,,,,235427.97*43 2021-02-17T23:54:29.976Z,1613606069.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:31.552Z,1613606071.552 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:54:32.791Z,1613606072.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:33.568Z,1613606073.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:54:33.977Z,1613606073.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:54:34.788Z,1613606074.788 [Micromodem](INFO): Nmea in: $SNTTA,0.104917,,,,235433.63*4F 2021-02-17T23:54:35.612Z,1613606075.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:37.212Z,1613606077.212 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:54:38.440Z,1613606078.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:39.224Z,1613606079.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:54:39.630Z,1613606079.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:54:40.445Z,1613606080.445 [Micromodem](INFO): Nmea in: $SNTTA,0.107760,,,,235439.29*46 2021-02-17T23:54:41.273Z,1613606081.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:42.869Z,1613606082.869 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-17T23:54:44.113Z,1613606084.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:44.883Z,1613606084.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:54:45.298Z,1613606085.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:54:46.116Z,1613606086.116 [Micromodem](INFO): Nmea in: $SNTTA,0.110739,,,,235444.94*40 2021-02-17T23:54:46.141Z,1613606086.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.200012 m, bearing: 204.443872 deg, deltaT: 32.737207 s, approachRate: 0.749606 m/s, LOS rate: 0.057845 deg/s, posRepo size: 4 2021-02-17T23:54:46.142Z,1613606086.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 166.20 m. Resuming terminal guidance. 2021-02-17T23:54:46.163Z,1613606086.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-17T23:54:48.541Z,1613606088.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:49.324Z,1613606089.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:54:49.738Z,1613606089.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:54:50.552Z,1613606090.552 [Micromodem](INFO): Nmea in: $SNTTA,0.112965,,,,235449.38*4E 2021-02-17T23:54:50.590Z,1613606090.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.080002 m, bearing: 210.064858 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-17T23:54:50.591Z,1613606090.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 210.064858deg and heading rate command to 0 deg/s. 2021-02-17T23:54:52.992Z,1613606092.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:53.770Z,1613606093.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:54:54.205Z,1613606094.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:54:55.007Z,1613606095.007 [Micromodem](INFO): Nmea in: $SNTTA,0.115158,,,,235453.83*44 2021-02-17T23:54:55.032Z,1613606095.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.860001 m, bearing: 218.452071 deg, deltaT: 4.399800 s, approachRate: 0.859130 m/s, LOS rate: 1.906271 deg/s, posRepo size: 2 2021-02-17T23:54:55.033Z,1613606095.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.860001 m, bearing: 218.452071 deg, approachRate: 0.859130 m/s, LOS rate: 1.906271 deg/s, cmd update: 7.625086 deg/s, cmd heading: 210.064858 deg, new cmd heading: 210.064858 deg. 2021-02-17T23:54:57.430Z,1613606097.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:54:58.216Z,1613606098.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:54:58.618Z,1613606098.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:54:59.441Z,1613606099.441 [Micromodem](INFO): Nmea in: $SNTTA,0.117225,,,,235458.28*45 2021-02-17T23:54:59.465Z,1613606099.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.860001 m, bearing: 253.163639 deg, deltaT: 4.442221 s, approachRate: 0.000000 m/s, LOS rate: 7.814012 deg/s, posRepo size: 3 2021-02-17T23:54:59.467Z,1613606099.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.860001 m, bearing: 253.163639 deg, approachRate: 0.000000 m/s, LOS rate: 7.814012 deg/s, cmd update: 12.000000 deg/s, cmd heading: 243.936930 deg, new cmd heading: 247.086045 deg. 2021-02-17T23:55:01.877Z,1613606101.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:55:02.656Z,1613606102.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:55:03.070Z,1613606103.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:55:03.090Z,1613606103.090 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T23:55:03.887Z,1613606103.887 [Micromodem](INFO): Nmea in: $SNTTA,0.119018,,,,235502.72*46 2021-02-17T23:55:03.911Z,1613606103.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.860001 m, bearing: 233.273336 deg, deltaT: 4.451706 s, approachRate: 0.000000 m/s, LOS rate: -4.468018 deg/s, posRepo size: 4 2021-02-17T23:55:03.913Z,1613606103.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.860001 m, bearing: 233.273336 deg, approachRate: 0.000000 m/s, LOS rate: -4.468018 deg/s, cmd update: -12.000000 deg/s, cmd heading: 297.355796 deg, new cmd heading: 302.246900 deg. 2021-02-17T23:55:06.316Z,1613606106.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:55:07.100Z,1613606107.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:55:07.506Z,1613606107.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:55:08.337Z,1613606108.337 [Micromodem](INFO): Nmea in: $SNTTA,0.120534,,,,235507.16*40 2021-02-17T23:55:08.395Z,1613606108.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.860001 m, bearing: 244.222484 deg, deltaT: 4.454981 s, approachRate: 0.000000 m/s, LOS rate: 2.457732 deg/s, posRepo size: 4 2021-02-17T23:55:08.397Z,1613606108.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.860001 m, bearing: 244.222484 deg, approachRate: 0.000000 m/s, LOS rate: 2.457732 deg/s, cmd update: 9.830927 deg/s, cmd heading: 244.133971 deg, new cmd heading: 238.708374 deg. 2021-02-17T23:55:10.777Z,1613606110.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:55:11.553Z,1613606111.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:55:11.956Z,1613606111.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:55:12.766Z,1613606112.766 [Micromodem](INFO): Nmea in: $SNTTA,0.121570,,,,235511.61*46 2021-02-17T23:55:13.236Z,1613606113.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.399994 m, bearing: 305.695689 deg, deltaT: 4.824925 s, approachRate: 1.977231 m/s, LOS rate: 12.740759 deg/s, posRepo size: 4 2021-02-17T23:55:13.237Z,1613606113.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.740759 deg/s. Setting heading cmd to target bearing of 305.695689deg and heading rate command to 0 deg/s. 2021-02-17T23:55:15.622Z,1613606115.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:55:16.399Z,1613606116.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:55:16.841Z,1613606116.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:55:17.616Z,1613606117.616 [Micromodem](INFO): Nmea in: $SNTTA,0.122375,,,,235516.46*44 2021-02-17T23:55:18.047Z,1613606118.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.600006 m, bearing: 320.078374 deg, deltaT: 4.869013 s, approachRate: 0.246459 m/s, LOS rate: 2.953922 deg/s, posRepo size: 4 2021-02-17T23:55:18.049Z,1613606118.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.600006 m, bearing: 320.078374 deg, approachRate: 0.246459 m/s, LOS rate: 2.953922 deg/s, cmd update: 11.815688 deg/s, cmd heading: 305.695689 deg, new cmd heading: 305.695689 deg. 2021-02-17T23:55:18.430Z,1613606118.430 [RDI_Pathfinder](ERROR): only read 0 of 4 data items 2021-02-17T23:55:20.457Z,1613606120.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:55:21.258Z,1613606121.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:55:21.646Z,1613606121.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:55:22.471Z,1613606122.471 [Micromodem](INFO): Nmea in: $SNTTA,0.122566,,,0.125054,235521.32*5E 2021-02-17T23:55:22.891Z,1613606122.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.839996 m, bearing: 264.648001 deg, deltaT: 4.864532 s, approachRate: 0.049335 m/s, LOS rate: -11.394801 deg/s, posRepo size: 4 2021-02-17T23:55:22.893Z,1613606122.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.839996 m, bearing: 264.648001 deg, approachRate: 0.049335 m/s, LOS rate: -11.394801 deg/s, cmd update: -12.000000 deg/s, cmd heading: 3.172086 deg, new cmd heading: 7.855269 deg. 2021-02-17T23:55:25.339Z,1613606125.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:55:26.088Z,1613606126.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:55:26.494Z,1613606126.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:55:27.320Z,1613606127.320 [Micromodem](INFO): Nmea in: $SNTTA,0.122105,,,,235526.15*44 2021-02-17T23:55:27.364Z,1613606127.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.839996 m, bearing: 282.761827 deg, deltaT: 4.428627 s, approachRate: 0.000000 m/s, LOS rate: 4.090167 deg/s, posRepo size: 4 2021-02-17T23:55:27.366Z,1613606127.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.839996 m, bearing: 282.761827 deg, approachRate: 0.000000 m/s, LOS rate: 4.090167 deg/s, cmd update: 12.000000 deg/s, cmd heading: 309.752452 deg, new cmd heading: 304.977244 deg. 2021-02-17T23:55:29.744Z,1613606129.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:55:30.532Z,1613606130.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:55:30.940Z,1613606130.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:55:31.749Z,1613606131.749 [Micromodem](INFO): Nmea in: $SNTTA,0.121135,,,,235530.59*4B 2021-02-17T23:55:32.220Z,1613606132.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.559998 m, bearing: 26.533489 deg, deltaT: 4.849312 s, approachRate: -0.470170 m/s, LOS rate: 21.399252 deg/s, posRepo size: 4 2021-02-17T23:55:32.221Z,1613606132.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.399252 deg/s. Setting heading cmd to target bearing of 26.533489deg and heading rate command to 0 deg/s. 2021-02-17T23:55:34.608Z,1613606134.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:55:35.382Z,1613606135.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:55:35.790Z,1613606135.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:55:36.612Z,1613606136.612 [Micromodem](INFO): Nmea in: $SNTTA,0.119646,,,,235535.44*4A 2021-02-17T23:55:36.634Z,1613606136.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.559998 m, bearing: 12.570272 deg, deltaT: 4.464921 s, approachRate: 0.000000 m/s, LOS rate: -3.127316 deg/s, posRepo size: 4 2021-02-17T23:55:36.656Z,1613606136.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.559998 m, bearing: 12.570272 deg, approachRate: 0.000000 m/s, LOS rate: -3.127316 deg/s, cmd update: -12.000000 deg/s, cmd heading: 26.533489 deg, new cmd heading: 26.533489 deg. 2021-02-17T23:55:39.040Z,1613606139.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:55:39.844Z,1613606139.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:55:40.230Z,1613606140.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:55:41.053Z,1613606141.053 [Micromodem](INFO): Nmea in: $SNTTA,0.118081,,,,235539.91*42 2021-02-17T23:55:41.486Z,1613606141.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 17.800446 deg, deltaT: 4.815577 s, approachRate: -0.971845 m/s, LOS rate: 1.086095 deg/s, posRepo size: 4 2021-02-17T23:55:41.488Z,1613606141.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 17.800446 deg, approachRate: -0.971845 m/s, LOS rate: 1.086095 deg/s, cmd update: 4.344381 deg/s, cmd heading: 328.745470 deg, new cmd heading: 323.836618 deg. 2021-02-17T23:55:43.904Z,1613606143.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:55:44.677Z,1613606144.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:55:45.092Z,1613606145.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:55:45.908Z,1613606145.908 [Micromodem](INFO): Nmea in: $SNTTA,0.116020,,,,235544.74*46 2021-02-17T23:55:45.952Z,1613606145.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 17.536408 deg, deltaT: 4.465303 s, approachRate: 0.000000 m/s, LOS rate: -0.059131 deg/s, posRepo size: 4 2021-02-17T23:55:45.954Z,1613606145.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 17.536408 deg, approachRate: 0.000000 m/s, LOS rate: -0.059131 deg/s, cmd update: -0.236524 deg/s, cmd heading: 348.120126 deg, new cmd heading: 349.924070 deg. 2021-02-17T23:55:48.349Z,1613606148.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:55:49.119Z,1613606149.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:55:49.522Z,1613606149.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:55:50.360Z,1613606150.360 [Micromodem](INFO): Nmea in: $SNTTA,0.114350,,,,235549.18*47 2021-02-17T23:55:50.404Z,1613606150.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.360001 m, bearing: 14.361781 deg, deltaT: 4.460080 s, approachRate: -1.237647 m/s, LOS rate: -0.711787 deg/s, posRepo size: 4 2021-02-17T23:55:50.406Z,1613606150.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.360001 m, bearing: 14.361781 deg, approachRate: -1.237647 m/s, LOS rate: -0.711787 deg/s, cmd update: -2.847149 deg/s, cmd heading: 347.063894 deg, new cmd heading: 346.973719 deg. 2021-02-17T23:55:52.770Z,1613606152.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:55:53.560Z,1613606153.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:55:53.974Z,1613606153.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:55:54.812Z,1613606154.812 [Micromodem](INFO): Nmea in: $SNTTA,0.112748,,,,235553.62*4A 2021-02-17T23:55:54.841Z,1613606154.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.360001 m, bearing: 14.694764 deg, deltaT: 4.424272 s, approachRate: 0.000000 m/s, LOS rate: 0.075263 deg/s, posRepo size: 4 2021-02-17T23:55:54.843Z,1613606154.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.360001 m, bearing: 14.694764 deg, approachRate: 0.000000 m/s, LOS rate: 0.075263 deg/s, cmd update: 0.301052 deg/s, cmd heading: 334.478720 deg, new cmd heading: 333.287516 deg. 2021-02-17T23:55:57.240Z,1613606157.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:55:58.004Z,1613606158.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:55:58.417Z,1613606158.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:55:59.251Z,1613606159.251 [Micromodem](INFO): Nmea in: $SNTTA,0.111247,,,,235558.07*4B 2021-02-17T23:55:59.276Z,1613606159.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.740005 m, bearing: 21.824592 deg, deltaT: 4.439499 s, approachRate: -1.040657 m/s, LOS rate: 1.605998 deg/s, posRepo size: 4 2021-02-17T23:55:59.278Z,1613606159.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.740005 m, bearing: 21.824592 deg, approachRate: -1.040657 m/s, LOS rate: 1.605998 deg/s, cmd update: 6.423993 deg/s, cmd heading: 335.816432 deg, new cmd heading: 335.939813 deg. 2021-02-17T23:56:01.655Z,1613606161.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:56:02.451Z,1613606162.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:56:02.854Z,1613606162.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:56:03.676Z,1613606163.676 [Micromodem](INFO): Nmea in: $SNTTA,0.109913,,,,235602.51*47 2021-02-17T23:56:03.716Z,1613606163.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.740005 m, bearing: 24.694013 deg, deltaT: 4.434864 s, approachRate: 0.000000 m/s, LOS rate: 0.647014 deg/s, posRepo size: 4 2021-02-17T23:56:03.717Z,1613606163.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.740005 m, bearing: 24.694013 deg, approachRate: 0.000000 m/s, LOS rate: 0.647014 deg/s, cmd update: 2.588057 deg/s, cmd heading: 4.306283 deg, new cmd heading: 6.966850 deg. 2021-02-17T23:56:06.124Z,1613606166.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:56:06.892Z,1613606166.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:56:07.304Z,1613606167.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:56:08.120Z,1613606168.120 [Micromodem](INFO): Nmea in: $SNTTA,0.108440,,,,235606.95*41 2021-02-17T23:56:08.170Z,1613606168.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.480011 m, bearing: 20.080481 deg, deltaT: 4.444351 s, approachRate: -0.958519 m/s, LOS rate: -1.038066 deg/s, posRepo size: 4 2021-02-17T23:56:08.185Z,1613606168.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.480011 m, bearing: 20.080481 deg, approachRate: -0.958519 m/s, LOS rate: -1.038066 deg/s, cmd update: -4.152266 deg/s, cmd heading: 15.808546 deg, new cmd heading: 16.889604 deg. 2021-02-17T23:56:10.572Z,1613606170.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:56:11.348Z,1613606171.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:56:11.742Z,1613606171.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:56:12.572Z,1613606172.572 [Micromodem](INFO): Nmea in: $SNTTA,0.106686,,,,235611.41*48 2021-02-17T23:56:12.616Z,1613606172.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.119995 m, bearing: 22.130810 deg, deltaT: 4.479828 s, approachRate: -3.428707 m/s, LOS rate: 0.457680 deg/s, posRepo size: 4 2021-02-17T23:56:12.618Z,1613606172.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.119995 m, bearing: 22.130810 deg, approachRate: -3.428707 m/s, LOS rate: 0.457680 deg/s, cmd update: 1.830721 deg/s, cmd heading: 357.223827 deg, new cmd heading: 355.582955 deg. 2021-02-17T23:56:15.012Z,1613606175.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:56:15.789Z,1613606175.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:56:16.217Z,1613606176.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:56:17.012Z,1613606177.012 [Micromodem](INFO): Nmea in: $SNTTA,0.104787,,,,235615.85*46 2021-02-17T23:56:17.052Z,1613606177.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.960007 m, bearing: 22.592811 deg, deltaT: 4.403388 s, approachRate: 2.234646 m/s, LOS rate: 0.104919 deg/s, posRepo size: 4 2021-02-17T23:56:17.054Z,1613606177.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.960007 m, bearing: 22.592811 deg, approachRate: 2.234646 m/s, LOS rate: 0.104919 deg/s, cmd update: 0.419678 deg/s, cmd heading: 5.292561 deg, new cmd heading: 6.068170 deg. 2021-02-17T23:56:19.470Z,1613606179.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:56:20.224Z,1613606180.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:56:20.633Z,1613606180.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:56:21.454Z,1613606181.454 [Micromodem](INFO): Nmea in: $SNTTA,0.102829,,,,235620.28*4A 2021-02-17T23:56:21.524Z,1613606181.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.020004 m, bearing: 21.990460 deg, deltaT: 4.450705 s, approachRate: -0.660570 m/s, LOS rate: -0.135338 deg/s, posRepo size: 4 2021-02-17T23:56:21.526Z,1613606181.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.020004 m, bearing: 21.990460 deg, approachRate: -0.660570 m/s, LOS rate: -0.135338 deg/s, cmd update: -0.541353 deg/s, cmd heading: 7.159819 deg, new cmd heading: 7.341923 deg. 2021-02-17T23:56:23.902Z,1613606183.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:56:24.681Z,1613606184.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:56:25.091Z,1613606185.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:56:25.904Z,1613606185.904 [Micromodem](INFO): Nmea in: $SNTTA,0.100857,,,,235624.74*4C 2021-02-17T23:56:25.949Z,1613606185.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.079987 m, bearing: 23.622549 deg, deltaT: 4.448357 s, approachRate: -0.660922 m/s, LOS rate: 0.366897 deg/s, posRepo size: 4 2021-02-17T23:56:25.951Z,1613606185.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.079987 m, bearing: 23.622549 deg, approachRate: -0.660922 m/s, LOS rate: 0.366897 deg/s, cmd update: 1.467588 deg/s, cmd heading: 4.759674 deg, new cmd heading: 4.522941 deg. 2021-02-17T23:56:28.330Z,1613606188.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:56:29.118Z,1613606189.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:56:29.518Z,1613606189.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:56:30.348Z,1613606190.348 [Micromodem](INFO): Nmea in: $SNTTA,0.098911,,,,235629.18*48 2021-02-17T23:56:30.373Z,1613606190.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.139999 m, bearing: 23.470174 deg, deltaT: 4.450964 s, approachRate: -0.660528 m/s, LOS rate: -0.034234 deg/s, posRepo size: 4 2021-02-17T23:56:30.374Z,1613606190.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.139999 m, bearing: 23.470174 deg, approachRate: -0.660528 m/s, LOS rate: -0.034234 deg/s, cmd update: -0.136936 deg/s, cmd heading: 11.289373 deg, new cmd heading: 11.893660 deg. 2021-02-17T23:56:32.775Z,1613606192.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:56:33.557Z,1613606193.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:56:33.976Z,1613606193.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:56:34.784Z,1613606194.784 [Micromodem](INFO): Nmea in: $SNTTA,0.096917,,,,235633.62*46 2021-02-17T23:56:34.852Z,1613606194.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.140015 m, bearing: 24.692213 deg, deltaT: 4.428321 s, approachRate: -0.677454 m/s, LOS rate: 0.275960 deg/s, posRepo size: 4 2021-02-17T23:56:34.854Z,1613606194.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.140015 m, bearing: 24.692213 deg, approachRate: -0.677454 m/s, LOS rate: 0.275960 deg/s, cmd update: 1.103839 deg/s, cmd heading: 10.680531 deg, new cmd heading: 10.620148 deg. 2021-02-17T23:56:37.263Z,1613606197.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:56:37.000Z,1613606198.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:56:38.422Z,1613606198.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:56:39.236Z,1613606199.236 [Micromodem](INFO): Nmea in: $SNTTA,0.094763,,,,235638.06*40 2021-02-17T23:56:39.275Z,1613606199.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.899994 m, bearing: 23.817409 deg, deltaT: 4.456282 s, approachRate: -0.727068 m/s, LOS rate: -0.196308 deg/s, posRepo size: 4 2021-02-17T23:56:39.277Z,1613606199.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.899994 m, bearing: 23.817409 deg, approachRate: -0.727068 m/s, LOS rate: -0.196308 deg/s, cmd update: -0.785232 deg/s, cmd heading: 15.599307 deg, new cmd heading: 16.053957 deg. 2021-02-17T23:56:41.678Z,1613606201.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:56:42.446Z,1613606202.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:56:42.850Z,1613606202.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:56:43.676Z,1613606203.676 [Micromodem](INFO): Nmea in: $SNTTA,0.092680,,,,235642.51*45 2021-02-17T23:56:43.698Z,1613606203.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.779999 m, bearing: 25.715676 deg, deltaT: 4.430097 s, approachRate: -0.704272 m/s, LOS rate: 0.428493 deg/s, posRepo size: 4 2021-02-17T23:56:43.721Z,1613606203.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.779999 m, bearing: 25.715676 deg, approachRate: -0.704272 m/s, LOS rate: 0.428493 deg/s, cmd update: 1.713973 deg/s, cmd heading: 12.132983 deg, new cmd heading: 11.802574 deg. 2021-02-17T23:56:46.112Z,1613606206.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:56:46.896Z,1613606206.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:56:47.299Z,1613606207.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:56:48.127Z,1613606208.127 [Micromodem](INFO): Nmea in: $SNTTA,0.090558,,,,235646.96*4E 2021-02-17T23:56:48.155Z,1613606208.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.540009 m, bearing: 24.728611 deg, deltaT: 4.433863 s, approachRate: -0.730738 m/s, LOS rate: -0.222620 deg/s, posRepo size: 4 2021-02-17T23:56:48.160Z,1613606208.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.540009 m, bearing: 24.728611 deg, approachRate: -0.730738 m/s, LOS rate: -0.222620 deg/s, cmd update: -0.890478 deg/s, cmd heading: 19.759489 deg, new cmd heading: 20.492960 deg. 2021-02-17T23:56:50.550Z,1613606210.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:56:51.337Z,1613606211.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:56:51.746Z,1613606211.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:56:52.564Z,1613606212.564 [Micromodem](INFO): Nmea in: $SNTTA,0.088504,,,,235651.40*43 2021-02-17T23:56:52.602Z,1613606212.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.479996 m, bearing: 26.983695 deg, deltaT: 4.521270 s, approachRate: -0.676804 m/s, LOS rate: 0.498772 deg/s, posRepo size: 4 2021-02-17T23:56:52.604Z,1613606212.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.479996 m, bearing: 26.983695 deg, approachRate: -0.676804 m/s, LOS rate: 0.498772 deg/s, cmd update: 1.995089 deg/s, cmd heading: 15.742199 deg, new cmd heading: 15.418177 deg. 2021-02-17T23:56:55.000Z,1613606215.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:56:55.799Z,1613606215.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:56:56.210Z,1613606216.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:56:57.016Z,1613606217.016 [Micromodem](INFO): Nmea in: $SNTTA,0.086282,,,,235655.86*4A 2021-02-17T23:56:57.061Z,1613606217.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.180008 m, bearing: 25.369493 deg, deltaT: 4.370802 s, approachRate: -0.755007 m/s, LOS rate: -0.369315 deg/s, posRepo size: 4 2021-02-17T23:56:57.062Z,1613606217.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.180008 m, bearing: 25.369493 deg, approachRate: -0.755007 m/s, LOS rate: -0.369315 deg/s, cmd update: -1.477260 deg/s, cmd heading: 24.482119 deg, new cmd heading: 25.363188 deg. 2021-02-17T23:56:59.458Z,1613606219.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:00.223Z,1613606220.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:00.627Z,1613606220.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:01.448Z,1613606221.448 [Micromodem](INFO): Nmea in: $SNTTA,0.084299,,,,235700.29*46 2021-02-17T23:57:01.487Z,1613606221.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.239998 m, bearing: 28.613817 deg, deltaT: 4.450586 s, approachRate: -0.660589 m/s, LOS rate: 0.728966 deg/s, posRepo size: 4 2021-02-17T23:57:01.489Z,1613606221.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.239998 m, bearing: 28.613817 deg, approachRate: -0.660589 m/s, LOS rate: 0.728966 deg/s, cmd update: 2.915863 deg/s, cmd heading: 17.913366 deg, new cmd heading: 17.291211 deg. 2021-02-17T23:57:03.909Z,1613606223.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:04.664Z,1613606224.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:05.075Z,1613606225.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:05.903Z,1613606225.903 [Micromodem](INFO): Nmea in: $SNTTA,0.082163,,,,235704.73*4D 2021-02-17T23:57:05.927Z,1613606225.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.060005 m, bearing: 28.781399 deg, deltaT: 4.446744 s, approachRate: -0.715128 m/s, LOS rate: 0.037686 deg/s, posRepo size: 4 2021-02-17T23:57:05.929Z,1613606225.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.060005 m, bearing: 28.781399 deg, approachRate: -0.715128 m/s, LOS rate: 0.037686 deg/s, cmd update: 0.150746 deg/s, cmd heading: 30.891752 deg, new cmd heading: 32.088309 deg. 2021-02-17T23:57:08.332Z,1613606228.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:09.114Z,1613606229.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:09.515Z,1613606229.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:10.344Z,1613606230.344 [Micromodem](INFO): Nmea in: $SNTTA,0.079840,,,,235709.17*4E 2021-02-17T23:57:10.369Z,1613606230.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.579994 m, bearing: 29.766063 deg, deltaT: 4.429622 s, approachRate: -0.785623 m/s, LOS rate: 0.222291 deg/s, posRepo size: 4 2021-02-17T23:57:10.371Z,1613606230.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.579994 m, bearing: 29.766063 deg, approachRate: -0.785623 m/s, LOS rate: 0.222291 deg/s, cmd update: 0.889163 deg/s, cmd heading: 31.559491 deg, new cmd heading: 31.623186 deg. 2021-02-17T23:57:12.772Z,1613606232.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:13.552Z,1613606233.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:13.964Z,1613606233.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:14.783Z,1613606234.783 [Micromodem](INFO): Nmea in: $SNTTA,0.077670,,,,235713.61*47 2021-02-17T23:57:14.850Z,1613606234.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.340004 m, bearing: 29.951588 deg, deltaT: 4.452374 s, approachRate: -0.727699 m/s, LOS rate: 0.041669 deg/s, posRepo size: 4 2021-02-17T23:57:14.856Z,1613606234.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.340004 m, bearing: 29.951588 deg, approachRate: -0.727699 m/s, LOS rate: 0.041669 deg/s, cmd update: 0.166675 deg/s, cmd heading: 35.518203 deg, new cmd heading: 35.919941 deg. 2021-02-17T23:57:17.243Z,1613606237.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:18.001Z,1613606238.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:18.409Z,1613606238.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:19.239Z,1613606239.239 [Micromodem](INFO): Nmea in: $SNTTA,0.075560,,,,235718.06*4D 2021-02-17T23:57:19.264Z,1613606239.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.160004 m, bearing: 29.405119 deg, deltaT: 4.460665 s, approachRate: -0.712898 m/s, LOS rate: -0.122509 deg/s, posRepo size: 4 2021-02-17T23:57:19.266Z,1613606239.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.160004 m, bearing: 29.405119 deg, approachRate: -0.712898 m/s, LOS rate: -0.122509 deg/s, cmd update: -0.490034 deg/s, cmd heading: 36.261690 deg, new cmd heading: 36.329230 deg. 2021-02-17T23:57:21.657Z,1613606241.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:22.457Z,1613606242.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:22.867Z,1613606242.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:23.676Z,1613606243.676 [Micromodem](INFO): Nmea in: $SNTTA,0.073269,,,,235722.52*4D 2021-02-17T23:57:23.691Z,1613606243.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.739998 m, bearing: 29.108709 deg, deltaT: 4.429985 s, approachRate: -0.772013 m/s, LOS rate: -0.066910 deg/s, posRepo size: 4 2021-02-17T23:57:23.693Z,1613606243.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.739998 m, bearing: 29.108709 deg, approachRate: -0.772013 m/s, LOS rate: -0.066910 deg/s, cmd update: -0.267639 deg/s, cmd heading: 34.092697 deg, new cmd heading: 33.893968 deg. 2021-02-17T23:57:26.121Z,1613606246.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:26.885Z,1613606246.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:27.299Z,1613606247.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:28.112Z,1613606248.112 [Micromodem](INFO): Nmea in: $SNTTA,0.070902,,,,235726.95*47 2021-02-17T23:57:28.165Z,1613606248.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.199997 m, bearing: 30.059260 deg, deltaT: 4.432859 s, approachRate: -0.798582 m/s, LOS rate: 0.214433 deg/s, posRepo size: 4 2021-02-17T23:57:28.185Z,1613606248.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.199997 m, bearing: 30.059260 deg, approachRate: -0.798582 m/s, LOS rate: 0.214433 deg/s, cmd update: 0.857731 deg/s, cmd heading: 32.906317 deg, new cmd heading: 32.787689 deg. 2021-02-17T23:57:30.568Z,1613606250.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:31.334Z,1613606251.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:31.735Z,1613606251.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:32.568Z,1613606252.568 [Micromodem](INFO): Nmea in: $SNTTA,0.068874,,,,235731.40*40 2021-02-17T23:57:32.636Z,1613606252.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.139999 m, bearing: 29.923568 deg, deltaT: 4.504845 s, approachRate: -0.679268 m/s, LOS rate: -0.030121 deg/s, posRepo size: 4 2021-02-17T23:57:32.637Z,1613606252.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.139999 m, bearing: 29.923568 deg, approachRate: -0.679268 m/s, LOS rate: -0.030121 deg/s, cmd update: -0.120485 deg/s, cmd heading: 36.766779 deg, new cmd heading: 37.120424 deg. 2021-02-17T23:57:35.004Z,1613606255.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:35.772Z,1613606255.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:36.207Z,1613606256.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:36.255Z,1613606256.255 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T23:57:37.004Z,1613606257.004 [Micromodem](INFO): Nmea in: $SNTTA,0.066521,,,0.071989,235735.84*5F 2021-02-17T23:57:37.043Z,1613606257.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.599998 m, bearing: 29.436493 deg, deltaT: 4.382743 s, approachRate: -0.807714 m/s, LOS rate: -0.111135 deg/s, posRepo size: 4 2021-02-17T23:57:37.045Z,1613606257.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.599998 m, bearing: 29.436493 deg, approachRate: -0.807714 m/s, LOS rate: -0.111135 deg/s, cmd update: -0.444538 deg/s, cmd heading: 36.239664 deg, new cmd heading: 36.185518 deg. 2021-02-17T23:57:39.462Z,1613606259.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:40.221Z,1613606260.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:40.622Z,1613606260.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:41.036Z,1613606261.036 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T23:57:41.448Z,1613606261.448 [Micromodem](INFO): Nmea in: $SNTTA,0.064349,,,,235740.28*41 2021-02-17T23:57:41.496Z,1613606261.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 29.111448 deg, deltaT: 4.466489 s, approachRate: -0.752267 m/s, LOS rate: -0.072774 deg/s, posRepo size: 4 2021-02-17T23:57:41.498Z,1613606261.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.240005 m, bearing: 29.111448 deg, approachRate: -0.752267 m/s, LOS rate: -0.072774 deg/s, cmd update: -0.291097 deg/s, cmd heading: 34.259624 deg, new cmd heading: 34.071099 deg. 2021-02-17T23:57:43.898Z,1613606263.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:44.661Z,1613606264.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:45.066Z,1613606265.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:45.900Z,1613606265.900 [Micromodem](INFO): Nmea in: $SNTTA,0.062129,,,,235744.72*48 2021-02-17T23:57:45.908Z,1613606265.908 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T23:57:45.926Z,1613606265.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.000000 m, bearing: 30.384674 deg, deltaT: 4.431100 s, approachRate: -0.731197 m/s, LOS rate: 0.287339 deg/s, posRepo size: 4 2021-02-17T23:57:45.952Z,1613606265.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.000000 m, bearing: 30.384674 deg, approachRate: -0.731197 m/s, LOS rate: 0.287339 deg/s, cmd update: 1.149354 deg/s, cmd heading: 32.962683 deg, new cmd heading: 32.839616 deg. 2021-02-17T23:57:48.372Z,1613606268.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:49.104Z,1613606269.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:49.515Z,1613606269.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:50.340Z,1613606270.340 [Micromodem](INFO): Nmea in: $SNTTA,0.060074,,,,235749.17*4D 2021-02-17T23:57:50.364Z,1613606270.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.879997 m, bearing: 27.815331 deg, deltaT: 4.440800 s, approachRate: -0.702577 m/s, LOS rate: -0.578577 deg/s, posRepo size: 4 2021-02-17T23:57:50.366Z,1613606270.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.879997 m, bearing: 27.815331 deg, approachRate: -0.702577 m/s, LOS rate: -0.578577 deg/s, cmd update: -2.314307 deg/s, cmd heading: 38.070996 deg, new cmd heading: 38.549273 deg. 2021-02-17T23:57:51.149Z,1613606271.149 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T23:57:52.760Z,1613606272.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:53.553Z,1613606273.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:53.956Z,1613606273.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:54.796Z,1613606274.796 [Micromodem](INFO): Nmea in: $SNTTA,0.057812,,,,235753.61*4B 2021-02-17T23:57:54.859Z,1613606274.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.579994 m, bearing: 29.067373 deg, deltaT: 4.444390 s, approachRate: -0.742510 m/s, LOS rate: 0.281713 deg/s, posRepo size: 4 2021-02-17T23:57:54.861Z,1613606274.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.579994 m, bearing: 29.067373 deg, approachRate: -0.742510 m/s, LOS rate: 0.281713 deg/s, cmd update: 1.126852 deg/s, cmd heading: 27.784559 deg, new cmd heading: 26.714856 deg. 2021-02-17T23:57:55.993Z,1613606275.993 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-17T23:57:57.255Z,1613606277.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:57:57.993Z,1613606277.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:57:58.406Z,1613606278.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:57:59.235Z,1613606279.235 [Micromodem](INFO): Nmea in: $SNTTA,0.055516,,,,235758.05*49 2021-02-17T23:57:59.260Z,1613606279.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.980003 m, bearing: 28.885287 deg, deltaT: 4.488953 s, approachRate: -0.801967 m/s, LOS rate: -0.040563 deg/s, posRepo size: 4 2021-02-17T23:57:59.262Z,1613606279.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.980003 m, bearing: 28.885287 deg, approachRate: -0.801967 m/s, LOS rate: -0.040563 deg/s, cmd update: -0.162253 deg/s, cmd heading: 32.842967 deg, new cmd heading: 33.268878 deg. 2021-02-17T23:58:00.888Z,1613606280.888 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-17T23:58:01.643Z,1613606281.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:58:02.439Z,1613606282.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:58:02.858Z,1613606282.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:58:03.664Z,1613606283.664 [Micromodem](INFO): Nmea in: $SNTTA,0.053358,,,,235802.50*43 2021-02-17T23:58:03.710Z,1613606283.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.740005 m, bearing: 28.505969 deg, deltaT: 4.436168 s, approachRate: -0.730360 m/s, LOS rate: -0.085506 deg/s, posRepo size: 4 2021-02-17T23:58:03.716Z,1613606283.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.740005 m, bearing: 28.505969 deg, approachRate: -0.730360 m/s, LOS rate: -0.085506 deg/s, cmd update: -0.342023 deg/s, cmd heading: 32.123843 deg, new cmd heading: 32.059533 deg. 2021-02-17T23:58:06.168Z,1613606286.168 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout 2021-02-17T23:58:06.168Z,1613606286.168 [RDI_PathfinderUp] Communications Fault, FailCount= 1 2021-02-17T23:58:06.168Z,1613606286.168 [RDI_PathfinderUp](ERROR): Communications Fault 2021-02-17T23:58:06.228Z,1613606286.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:58:06.343Z,1613606286.343 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp 2021-02-17T23:58:06.571Z,1613606286.571 [RDI_PathfinderUp](INFO): Powering down 2021-02-17T23:58:06.897Z,1613606286.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:58:07.295Z,1613606287.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:58:07.464Z,1613606287.464 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp 2021-02-17T23:58:07.464Z,1613606287.464 [RDI_PathfinderUp] No Fault, FailCount= 1 2021-02-17T23:58:08.132Z,1613606288.132 [Micromodem](INFO): Nmea in: $SNTTA,0.051268,,,,235806.96*4D 2021-02-17T23:58:08.192Z,1613606288.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.800003 m, bearing: 28.753877 deg, deltaT: 4.397128 s, approachRate: -0.668619 m/s, LOS rate: 0.056380 deg/s, posRepo size: 4 2021-02-17T23:58:08.200Z,1613606288.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.800003 m, bearing: 28.753877 deg, approachRate: -0.668619 m/s, LOS rate: 0.056380 deg/s, cmd update: 0.225519 deg/s, cmd heading: 30.618565 deg, new cmd heading: 30.467212 deg. 2021-02-17T23:58:10.546Z,1613606290.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:58:11.324Z,1613606291.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:58:11.739Z,1613606291.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:58:12.552Z,1613606292.552 [Micromodem](INFO): Nmea in: $SNTTA,0.048916,,,,235811.39*44 2021-02-17T23:58:12.590Z,1613606292.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.320007 m, bearing: 30.928292 deg, deltaT: 4.497922 s, approachRate: -0.773690 m/s, LOS rate: 0.483426 deg/s, posRepo size: 4 2021-02-17T23:58:12.592Z,1613606292.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.320007 m, bearing: 30.928292 deg, approachRate: -0.773690 m/s, LOS rate: 0.483426 deg/s, cmd update: 1.933706 deg/s, cmd heading: 31.632043 deg, new cmd heading: 31.718002 deg. 2021-02-17T23:58:14.982Z,1613606294.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:58:15.774Z,1613606295.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:58:16.205Z,1613606296.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:58:17.014Z,1613606297.014 [Micromodem](INFO): Nmea in: $SNTTA,0.046756,,,0.049275,235815.83*56 2021-02-17T23:58:17.040Z,1613606297.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.959999 m, bearing: 31.146622 deg, deltaT: 4.393144 s, approachRate: -0.764830 m/s, LOS rate: 0.049698 deg/s, posRepo size: 4 2021-02-17T23:58:17.043Z,1613606297.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.959999 m, bearing: 31.146622 deg, approachRate: -0.764830 m/s, LOS rate: 0.049698 deg/s, cmd update: 0.198792 deg/s, cmd heading: 40.127006 deg, new cmd heading: 40.973937 deg. 2021-02-17T23:58:19.439Z,1613606299.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:58:20.221Z,1613606300.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:58:20.630Z,1613606300.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:58:21.444Z,1613606301.444 [Micromodem](INFO): Nmea in: $SNTTA,0.044444,,,,235820.28*40 2021-02-17T23:58:21.482Z,1613606301.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.480003 m, bearing: 30.528132 deg, deltaT: 4.457453 s, approachRate: -0.780714 m/s, LOS rate: -0.138754 deg/s, posRepo size: 4 2021-02-17T23:58:21.484Z,1613606301.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.480003 m, bearing: 30.528132 deg, approachRate: -0.780714 m/s, LOS rate: -0.138754 deg/s, cmd update: -0.555017 deg/s, cmd heading: 41.013912 deg, new cmd heading: 41.097107 deg. 2021-02-17T23:58:23.873Z,1613606303.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:58:24.667Z,1613606304.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:58:25.062Z,1613606305.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:58:25.896Z,1613606305.896 [Micromodem](INFO): Nmea in: $SNTTA,0.042415,,,,235824.73*48 2021-02-17T23:58:25.934Z,1613606305.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.420006 m, bearing: 28.820065 deg, deltaT: 4.459619 s, approachRate: -0.686157 m/s, LOS rate: -0.383007 deg/s, posRepo size: 4 2021-02-17T23:58:25.936Z,1613606305.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.420006 m, bearing: 28.820065 deg, approachRate: -0.686157 m/s, LOS rate: -0.383007 deg/s, cmd update: -1.532029 deg/s, cmd heading: 38.545823 deg, new cmd heading: 38.310749 deg. 2021-02-17T23:58:28.333Z,1613606308.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:58:29.112Z,1613606309.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:58:29.506Z,1613606309.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:58:30.336Z,1613606310.336 [Micromodem](INFO): Nmea in: $SNTTA,0.040350,,,,235829.17*43 2021-02-17T23:58:30.360Z,1613606310.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.480003 m, bearing: 31.604368 deg, deltaT: 4.400800 s, approachRate: -0.668061 m/s, LOS rate: 0.632681 deg/s, posRepo size: 4 2021-02-17T23:58:30.362Z,1613606310.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.480003 m, bearing: 31.604368 deg, approachRate: -0.668061 m/s, LOS rate: 0.632681 deg/s, cmd update: 2.530724 deg/s, cmd heading: 31.784192 deg, new cmd heading: 31.115883 deg. 2021-02-17T23:58:32.763Z,1613606312.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:58:33.569Z,1613606313.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:58:33.950Z,1613606313.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:58:34.784Z,1613606314.784 [Micromodem](INFO): Nmea in: $SNTTA,0.038012,,,,235833.63*41 2021-02-17T23:58:34.839Z,1613606314.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.760002 m, bearing: 30.873094 deg, deltaT: 4.451701 s, approachRate: -0.835636 m/s, LOS rate: -0.164268 deg/s, posRepo size: 4 2021-02-17T23:58:34.841Z,1613606314.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.760002 m, bearing: 30.873094 deg, approachRate: -0.835636 m/s, LOS rate: -0.164268 deg/s, cmd update: -0.657074 deg/s, cmd heading: 43.049949 deg, new cmd heading: 44.195881 deg. 2021-02-17T23:58:37.239Z,1613606317.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:58:37.993Z,1613606317.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:58:38.394Z,1613606318.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:58:39.227Z,1613606319.227 [Micromodem](INFO): Nmea in: $SNTTA,0.035904,,,,235838.06*4A 2021-02-17T23:58:39.274Z,1613606319.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.639999 m, bearing: 29.166899 deg, deltaT: 4.449567 s, approachRate: -0.701192 m/s, LOS rate: -0.383452 deg/s, posRepo size: 4 2021-02-17T23:58:39.280Z,1613606319.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.639999 m, bearing: 29.166899 deg, approachRate: -0.701192 m/s, LOS rate: -0.383452 deg/s, cmd update: -1.533808 deg/s, cmd heading: 40.129552 deg, new cmd heading: 39.831688 deg. 2021-02-17T23:58:41.670Z,1613606321.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:58:42.438Z,1613606322.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:58:42.844Z,1613606322.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:58:43.664Z,1613606323.664 [Micromodem](INFO): Nmea in: $SNTTA,0.033843,,,,235842.50*40 2021-02-17T23:58:43.708Z,1613606323.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 32.355750 deg, deltaT: 4.464307 s, approachRate: -0.671998 m/s, LOS rate: 0.714299 deg/s, posRepo size: 4 2021-02-17T23:58:43.710Z,1613606323.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.639996 m, bearing: 32.355750 deg, approachRate: -0.671998 m/s, LOS rate: 0.714299 deg/s, cmd update: 2.857197 deg/s, cmd heading: 33.280373 deg, new cmd heading: 32.663058 deg. 2021-02-17T23:58:46.103Z,1613606326.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:58:46.881Z,1613606326.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:58:47.281Z,1613606327.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:58:48.108Z,1613606328.108 [Micromodem](INFO): Nmea in: $SNTTA,0.031494,,,,235846.94*48 2021-02-17T23:58:48.150Z,1613606328.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.040001 m, bearing: 31.367309 deg, deltaT: 4.438106 s, approachRate: -0.811156 m/s, LOS rate: -0.222717 deg/s, posRepo size: 4 2021-02-17T23:58:48.152Z,1613606328.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.040001 m, bearing: 31.367309 deg, approachRate: -0.811156 m/s, LOS rate: -0.222717 deg/s, cmd update: -0.890867 deg/s, cmd heading: 45.971600 deg, new cmd heading: 47.179003 deg. 2021-02-17T23:58:50.581Z,1613606330.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:58:51.325Z,1613606331.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:58:51.726Z,1613606331.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:58:52.580Z,1613606332.580 [Micromodem](INFO): Nmea in: $SNTTA,0.029521,,,,235851.39*4F 2021-02-17T23:58:52.617Z,1613606332.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.799999 m, bearing: 28.475653 deg, deltaT: 4.420458 s, approachRate: -0.732956 m/s, LOS rate: -0.654153 deg/s, posRepo size: 4 2021-02-17T23:58:52.619Z,1613606332.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.799999 m, bearing: 28.475653 deg, approachRate: -0.732956 m/s, LOS rate: -0.654153 deg/s, cmd update: -2.616612 deg/s, cmd heading: 42.033382 deg, new cmd heading: 41.615191 deg. 2021-02-17T23:58:54.976Z,1613606334.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:58:55.764Z,1613606335.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:58:56.207Z,1613606336.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:58:57.000Z,1613606337.000 [Micromodem](INFO): Nmea in: $SNTTA,0.027545,,0.035427,,235855.83*5F 2021-02-17T23:58:57.022Z,1613606337.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.799999 m, bearing: 29.369284 deg, deltaT: 4.481517 s, approachRate: -0.669416 m/s, LOS rate: 0.199404 deg/s, posRepo size: 4 2021-02-17T23:58:57.044Z,1613606337.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.799999 m, bearing: 29.369284 deg, approachRate: -0.669416 m/s, LOS rate: 0.199404 deg/s, cmd update: 0.797615 deg/s, cmd heading: 30.317312 deg, new cmd heading: 29.279804 deg. 2021-02-17T23:58:59.466Z,1613606339.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:00.224Z,1613606340.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:00.636Z,1613606340.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:01.444Z,1613606341.444 [Micromodem](INFO): Nmea in: $SNTTA,0.025022,,,,235900.29*41 2021-02-17T23:59:01.488Z,1613606341.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.380001 m, bearing: 30.231394 deg, deltaT: 4.400456 s, approachRate: -0.777192 m/s, LOS rate: 0.195914 deg/s, posRepo size: 4 2021-02-17T23:59:01.489Z,1613606341.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.38 m. 2021-02-17T23:59:01.491Z,1613606341.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.380001 m, bearing: 30.231394 deg, approachRate: -0.777192 m/s, LOS rate: 0.195914 deg/s, cmd update: 0.783655 deg/s, cmd heading: 33.830405 deg, new cmd heading: 34.196204 deg. 2021-02-17T23:59:01.841Z,1613606341.841 [PowerOnly](INFO): Powering up loadControl 2021-02-17T23:59:03.874Z,1613606343.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:04.652Z,1613606344.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:05.063Z,1613606345.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:05.920Z,1613606345.920 [Micromodem](INFO): Nmea in: $SNTTA,0.023140,,,,235904.71*4B 2021-02-17T23:59:05.969Z,1613606345.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.559998 m, bearing: 27.867950 deg, deltaT: 4.471815 s, approachRate: -0.630617 m/s, LOS rate: -0.528520 deg/s, posRepo size: 4 2021-02-17T23:59:05.969Z,1613606345.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.56 m. 2021-02-17T23:59:05.969Z,1613606345.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.56 m. 2021-02-17T23:59:05.969Z,1613606345.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-17T23:59:05.978Z,1613606345.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.559998 m, bearing: 27.867950 deg, approachRate: -0.630617 m/s, LOS rate: -0.528520 deg/s, cmd update: -2.114080 deg/s, cmd heading: 37.334724 deg, new cmd heading: 37.700654 deg. 2021-02-17T23:59:08.328Z,1613606348.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:09.101Z,1613606349.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:09.508Z,1613606349.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:10.340Z,1613606350.340 [Micromodem](INFO): Nmea in: $SNTTA,0.020852,,,,235909.16*4E 2021-02-17T23:59:10.369Z,1613606350.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.020002 m, bearing: 27.223587 deg, deltaT: 4.440879 s, approachRate: -0.797138 m/s, LOS rate: -0.145098 deg/s, posRepo size: 4 2021-02-17T23:59:10.372Z,1613606350.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.020002 m, bearing: 27.223587 deg, approachRate: -0.797138 m/s, LOS rate: -0.145098 deg/s, cmd update: -0.580393 deg/s, cmd heading: 27.946784 deg, new cmd heading: 27.053500 deg. 2021-02-17T23:59:12.776Z,1613606352.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:13.560Z,1613606353.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:13.946Z,1613606353.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:14.784Z,1613606354.784 [Micromodem](INFO): Nmea in: $SNTTA,0.018859,,,0.030345,235913.62*59 2021-02-17T23:59:14.830Z,1613606354.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.079998 m, bearing: 30.317632 deg, deltaT: 4.458246 s, approachRate: -0.659453 m/s, LOS rate: 0.694005 deg/s, posRepo size: 4 2021-02-17T23:59:14.832Z,1613606354.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.079998 m, bearing: 30.317632 deg, approachRate: -0.659453 m/s, LOS rate: 0.694005 deg/s, cmd update: 2.776020 deg/s, cmd heading: 25.361434 deg, new cmd heading: 25.110026 deg. 2021-02-17T23:59:17.232Z,1613606357.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:17.989Z,1613606357.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:18.402Z,1613606358.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:19.224Z,1613606359.224 [Micromodem](INFO): Nmea in: $SNTTA,0.016498,,,,235918.05*43 2021-02-17T23:59:19.264Z,1613606359.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.600000 m, bearing: 31.150454 deg, deltaT: 4.435339 s, approachRate: -0.784607 m/s, LOS rate: 0.187770 deg/s, posRepo size: 4 2021-02-17T23:59:19.266Z,1613606359.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.600000 m, bearing: 31.150454 deg, approachRate: -0.784607 m/s, LOS rate: 0.187770 deg/s, cmd update: 0.751079 deg/s, cmd heading: 37.673349 deg, new cmd heading: 38.872218 deg. 2021-02-17T23:59:21.660Z,1613606361.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:22.431Z,1613606362.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:22.834Z,1613606362.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:23.656Z,1613606363.656 [Micromodem](INFO): Nmea in: $SNTTA,0.014533,,,,235922.49*40 2021-02-17T23:59:23.708Z,1613606363.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.600000 m, bearing: 27.669112 deg, deltaT: 4.448120 s, approachRate: -0.674442 m/s, LOS rate: -0.782655 deg/s, posRepo size: 4 2021-02-17T23:59:23.710Z,1613606363.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.600000 m, bearing: 27.669112 deg, approachRate: -0.674442 m/s, LOS rate: -0.782655 deg/s, cmd update: -3.130619 deg/s, cmd heading: 41.011236 deg, new cmd heading: 41.335632 deg. 2021-02-17T23:59:26.097Z,1613606366.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:26.877Z,1613606366.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:27.279Z,1613606367.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:28.104Z,1613606368.104 [Micromodem](INFO): Nmea in: $SNTTA,0.012434,,,,235926.94*44 2021-02-17T23:59:28.150Z,1613606368.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.479998 m, bearing: 27.913504 deg, deltaT: 4.444513 s, approachRate: -0.701990 m/s, LOS rate: 0.054988 deg/s, posRepo size: 4 2021-02-17T23:59:28.156Z,1613606368.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.479998 m, bearing: 27.913504 deg, approachRate: -0.701990 m/s, LOS rate: 0.054988 deg/s, cmd update: 0.219950 deg/s, cmd heading: 27.099225 deg, new cmd heading: 25.751444 deg. 2021-02-17T23:59:30.576Z,1613606370.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:31.316Z,1613606371.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:31.731Z,1613606371.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:32.568Z,1613606372.568 [Micromodem](INFO): Nmea in: $SNTTA,0.010484,,,,235931.38*4D 2021-02-17T23:59:32.616Z,1613606372.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.420000 m, bearing: 31.419949 deg, deltaT: 4.421373 s, approachRate: -0.692092 m/s, LOS rate: 0.793067 deg/s, posRepo size: 4 2021-02-17T23:59:32.618Z,1613606372.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.420000 m, bearing: 31.419949 deg, approachRate: -0.692092 m/s, LOS rate: 0.793067 deg/s, cmd update: 3.172268 deg/s, cmd heading: 28.072677 deg, new cmd heading: 28.176091 deg. 2021-02-17T23:59:34.985Z,1613606374.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:35.761Z,1613606375.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:36.202Z,1613606376.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:36.992Z,1613606376.992 [Micromodem](INFO): Nmea in: $SNTTA,0.008363,,,,235935.82*4F 2021-02-17T23:59:37.014Z,1613606377.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.360002 m, bearing: 30.242701 deg, deltaT: 4.474497 s, approachRate: -0.683875 m/s, LOS rate: -0.263102 deg/s, posRepo size: 4 2021-02-17T23:59:37.016Z,1613606377.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.360002 m, bearing: 30.242701 deg, approachRate: -0.683875 m/s, LOS rate: -0.263102 deg/s, cmd update: -1.052407 deg/s, cmd heading: 42.280897 deg, new cmd heading: 43.517025 deg. 2021-02-17T23:59:39.422Z,1613606379.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:40.221Z,1613606380.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:40.619Z,1613606380.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:41.448Z,1613606381.448 [Micromodem](INFO): Nmea in: $SNTTA,0.006372,,,,235940.28*43 2021-02-17T23:59:41.472Z,1613606381.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.180000 m, bearing: 24.638232 deg, deltaT: 4.413780 s, approachRate: -0.720471 m/s, LOS rate: -1.269766 deg/s, posRepo size: 4 2021-02-17T23:59:41.474Z,1613606381.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.180000 m, bearing: 24.638232 deg, approachRate: -0.720471 m/s, LOS rate: -1.269766 deg/s, cmd update: -5.079065 deg/s, cmd heading: 37.640040 deg, new cmd heading: 37.179287 deg. 2021-02-17T23:59:43.866Z,1613606383.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:44.656Z,1613606384.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:45.058Z,1613606385.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:45.910Z,1613606385.910 [Micromodem](INFO): Nmea in: $SNTTA,0.004592,,,,235944.72*42 2021-02-17T23:59:45.952Z,1613606385.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.779999 m, bearing: 31.769696 deg, deltaT: 4.458205 s, approachRate: -0.538334 m/s, LOS rate: 1.599627 deg/s, posRepo size: 4 2021-02-17T23:59:45.954Z,1613606385.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.779999 m, bearing: 31.769696 deg, approachRate: -0.538334 m/s, LOS rate: 1.599627 deg/s, cmd update: 6.398507 deg/s, cmd heading: 15.056997 deg, new cmd heading: 12.663208 deg. 2021-02-17T23:59:48.331Z,1613606388.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:49.110Z,1613606389.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:49.502Z,1613606389.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:50.333Z,1613606390.333 [Micromodem](INFO): Nmea in: $SNTTA,0.003429,,,,235949.17*4A 2021-02-17T23:59:50.378Z,1613606390.378 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-17T23:59:50.378Z,1613606390.378 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-17T23:59:50.379Z,1613606390.379 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-17T23:59:50.379Z,1613606390.379 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:59:50.379Z,1613606390.379 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-17T23:59:50.380Z,1613606390.380 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.800000 m 2021-02-17T23:59:50.380Z,1613606390.380 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-17T23:59:50.380Z,1613606390.380 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-17T23:59:50.380Z,1613606390.380 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-17T23:59:50.382Z,1613606390.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.800000 m, bearing: 42.786665 deg, deltaT: 4.556740 s, approachRate: -0.434521 m/s, LOS rate: 2.417730 deg/s, posRepo size: 4 2021-02-17T23:59:50.384Z,1613606390.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.800000 m, bearing: 42.786665 deg, approachRate: -0.434521 m/s, LOS rate: 2.417730 deg/s, cmd update: 9.670921 deg/s, cmd heading: 44.135996 deg, new cmd heading: 46.419131 deg. 2021-02-17T23:59:50.750Z,1613606390.750 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210217T235950: (41.552319, -70.708603) 2021-02-17T23:59:50.750Z,1613606390.750 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-17T23:59:50.750Z,1613606390.750 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-17T23:59:50.751Z,1613606390.751 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:59:50.751Z,1613606390.751 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-17T23:59:50.751Z,1613606390.751 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-17T23:59:50.751Z,1613606390.751 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-17T23:59:50.751Z,1613606390.751 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-17T23:59:50.751Z,1613606390.751 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-17T23:59:52.772Z,1613606392.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:53.560Z,1613606393.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:53.943Z,1613606393.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:54.776Z,1613606394.776 [Micromodem](INFO): Nmea in: $SNTTA,0.002967,,,,235953.62*45 2021-02-17T23:59:54.825Z,1613606394.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 12.037789 deg, deltaT: 4.314430 s, approachRate: -0.083441 m/s, LOS rate: -7.126985 deg/s, posRepo size: 4 2021-02-17T23:59:54.826Z,1613606394.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.440000 m, bearing: 12.037789 deg, approachRate: -0.083441 m/s, LOS rate: -7.126985 deg/s, cmd update: -12.000000 deg/s, cmd heading: 86.132203 deg, new cmd heading: 90.550915 deg. 2021-02-17T23:59:57.228Z,1613606397.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-17T23:59:57.981Z,1613606397.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-17T23:59:58.392Z,1613606398.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-17T23:59:59.224Z,1613606399.224 [Micromodem](INFO): Nmea in: $SNTTA,0.005914,,,,235958.04*4D 2021-02-17T23:59:59.248Z,1613606399.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.080001 m, bearing: 23.205223 deg, deltaT: 4.478722 s, approachRate: 0.589454 m/s, LOS rate: 2.493442 deg/s, posRepo size: 4 2021-02-17T23:59:59.250Z,1613606399.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.080001 m, bearing: 23.205223 deg, approachRate: 0.589454 m/s, LOS rate: 2.493442 deg/s, cmd update: 9.973768 deg/s, cmd heading: 32.387874 deg, new cmd heading: 27.563358 deg. 2021-02-18T00:00:01.649Z,1613606401.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:00:02.424Z,1613606402.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:00:02.837Z,1613606402.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:00:03.652Z,1613606403.652 [Micromodem](INFO): Nmea in: $SNTTA,0.004680,,,,000002.48*44 2021-02-18T00:00:03.702Z,1613606403.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.100000 m, bearing: 10.020147 deg, deltaT: 4.430377 s, approachRate: -0.446915 m/s, LOS rate: -2.976062 deg/s, posRepo size: 4 2021-02-18T00:00:03.708Z,1613606403.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.100000 m, bearing: 10.020147 deg, approachRate: -0.446915 m/s, LOS rate: -2.976062 deg/s, cmd update: -11.904247 deg/s, cmd heading: 76.575229 deg, new cmd heading: 80.815985 deg. 2021-02-18T00:00:06.096Z,1613606406.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:00:06.870Z,1613606406.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:00:07.291Z,1613606407.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:00:08.100Z,1613606408.100 [Micromodem](INFO): Nmea in: $SNTTA,0.003449,,,,000006.93*46 2021-02-18T00:00:08.122Z,1613606408.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.039999 m, bearing: 354.069166 deg, deltaT: 4.460506 s, approachRate: -0.013451 m/s, LOS rate: -3.576045 deg/s, posRepo size: 4 2021-02-18T00:00:08.145Z,1613606408.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.039999 m, bearing: 354.069166 deg, approachRate: -0.013451 m/s, LOS rate: -3.576045 deg/s, cmd update: -12.000000 deg/s, cmd heading: 23.523678 deg, new cmd heading: 18.899342 deg. 2021-02-18T00:00:10.599Z,1613606410.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:00:11.320Z,1613606411.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:00:11.723Z,1613606411.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:00:12.577Z,1613606412.577 [Micromodem](INFO): Nmea in: $SNTTA,0.005134,,0.035964,,000011.38*5B 2021-02-18T00:00:12.640Z,1613606412.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.859998 m, bearing: 358.742108 deg, deltaT: 4.396816 s, approachRate: 0.641373 m/s, LOS rate: 1.062801 deg/s, posRepo size: 4 2021-02-18T00:00:12.642Z,1613606412.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.859998 m, bearing: 358.742108 deg, approachRate: 0.641373 m/s, LOS rate: 1.062801 deg/s, cmd update: 4.251206 deg/s, cmd heading: 330.713668 deg, new cmd heading: 324.882844 deg. 2021-02-18T00:00:14.988Z,1613606414.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:00:15.779Z,1613606415.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:00:16.201Z,1613606416.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:00:16.996Z,1613606416.996 [Micromodem](INFO): Nmea in: $SNTTA,0.007289,,,0.085471,000015.84*5D 2021-02-18T00:00:17.034Z,1613606417.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.599998 m, bearing: 5.375126 deg, deltaT: 4.491562 s, approachRate: 0.387393 m/s, LOS rate: 1.476770 deg/s, posRepo size: 4 2021-02-18T00:00:17.036Z,1613606417.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.599998 m, bearing: 5.375126 deg, approachRate: 0.387393 m/s, LOS rate: 1.476770 deg/s, cmd update: 5.907081 deg/s, cmd heading: 349.808333 deg, new cmd heading: 351.543599 deg. 2021-02-18T00:00:19.425Z,1613606419.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:00:20.211Z,1613606420.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:00:20.618Z,1613606420.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:00:21.448Z,1613606421.448 [Micromodem](INFO): Nmea in: $SNTTA,0.007861,,0.064868,,000020.27*55 2021-02-18T00:00:21.472Z,1613606421.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.879998 m, bearing: 0.988451 deg, deltaT: 4.419548 s, approachRate: 0.515890 m/s, LOS rate: -0.992562 deg/s, posRepo size: 4 2021-02-18T00:00:21.474Z,1613606421.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.879998 m, bearing: 0.988451 deg, approachRate: 0.515890 m/s, LOS rate: -0.992562 deg/s, cmd update: -3.970247 deg/s, cmd heading: 15.777982 deg, new cmd heading: 18.435761 deg. 2021-02-18T00:00:23.868Z,1613606423.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:00:24.649Z,1613606424.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:00:25.054Z,1613606425.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:00:25.880Z,1613606425.880 [Micromodem](INFO): Nmea in: $SNTTA,0.009814,,,,000024.71*44 2021-02-18T00:00:25.957Z,1613606425.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.919997 m, bearing: 6.440158 deg, deltaT: 4.442974 s, approachRate: 0.459152 m/s, LOS rate: 1.227040 deg/s, posRepo size: 4 2021-02-18T00:00:25.957Z,1613606425.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.92 m. Rolling out. 2021-02-18T00:00:25.958Z,1613606425.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T00:00:28.314Z,1613606428.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:00:29.088Z,1613606429.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:00:29.494Z,1613606429.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:00:30.321Z,1613606430.321 [Micromodem](INFO): Nmea in: $SNTTA,0.012251,,,0.015039,000029.15*5A 2021-02-18T00:00:30.350Z,1613606430.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.820002 m, bearing: 4.505373 deg, deltaT: 4.427575 s, approachRate: 0.880844 m/s, LOS rate: -0.436985 deg/s, posRepo size: 4 2021-02-18T00:00:32.789Z,1613606432.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:00:33.537Z,1613606433.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:00:33.937Z,1613606433.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:00:34.768Z,1613606434.768 [Micromodem](INFO): Nmea in: $SNTTA,0.014046,,,0.058421,000033.60*55 2021-02-18T00:00:34.834Z,1613606434.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.059998 m, bearing: 358.600914 deg, deltaT: 4.448641 s, approachRate: 0.728311 m/s, LOS rate: -1.327252 deg/s, posRepo size: 4 2021-02-18T00:00:36.376Z,1613606436.376 [PowerOnly](INFO): Powering down loadControl 2021-02-18T00:00:37.228Z,1613606437.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:00:37.977Z,1613606437.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:00:38.381Z,1613606438.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:00:39.223Z,1613606439.223 [Micromodem](INFO): Nmea in: $SNTTA,0.016065,,,,000038.04*4B 2021-02-18T00:00:39.247Z,1613606439.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.180000 m, bearing: 2.983958 deg, deltaT: 4.463611 s, approachRate: 0.698986 m/s, LOS rate: 0.981947 deg/s, posRepo size: 4 2021-02-18T00:00:41.644Z,1613606441.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:00:42.426Z,1613606442.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:00:42.827Z,1613606442.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:00:43.652Z,1613606443.652 [Micromodem](INFO): Nmea in: $SNTTA,0.017852,,,,000042.49*42 2021-02-18T00:00:43.676Z,1613606443.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.880001 m, bearing: 350.164674 deg, deltaT: 4.431246 s, approachRate: 0.609310 m/s, LOS rate: -2.892927 deg/s, posRepo size: 4 2021-02-18T00:00:46.076Z,1613606446.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:00:46.864Z,1613606446.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:00:47.272Z,1613606447.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:00:48.097Z,1613606448.097 [Micromodem](INFO): Nmea in: $SNTTA,0.019904,,0.054590,,000046.92*5F 2021-02-18T00:00:48.111Z,1613606448.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.480000 m, bearing: 9.596090 deg, deltaT: 4.443065 s, approachRate: 0.810251 m/s, LOS rate: 4.373426 deg/s, posRepo size: 4 2021-02-18T00:00:50.529Z,1613606450.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:00:51.308Z,1613606451.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:00:51.715Z,1613606451.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:00:52.559Z,1613606452.559 [Micromodem](INFO): Nmea in: $SNTTA,0.022061,,,,000051.37*47 2021-02-18T00:00:52.618Z,1613606452.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.600002 m, bearing: 2.593925 deg, deltaT: 4.447380 s, approachRate: 0.701537 m/s, LOS rate: -1.574447 deg/s, posRepo size: 4 2021-02-18T00:00:55.062Z,1613606455.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:00:55.752Z,1613606455.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:00:56.189Z,1613606456.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:00:56.996Z,1613606456.996 [Micromodem](INFO): Nmea in: $SNTTA,0.024276,,,,000055.81*4C 2021-02-18T00:00:57.028Z,1613606457.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.539997 m, bearing: 353.151188 deg, deltaT: 4.468102 s, approachRate: 0.657996 m/s, LOS rate: -2.113364 deg/s, posRepo size: 4 2021-02-18T00:00:59.434Z,1613606459.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:00.211Z,1613606460.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:00.602Z,1613606460.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:01.432Z,1613606461.432 [Micromodem](INFO): Nmea in: $SNTTA,0.026775,,,,000100.27*45 2021-02-18T00:01:01.480Z,1613606461.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.559998 m, bearing: 358.540863 deg, deltaT: 4.442329 s, approachRate: 0.904931 m/s, LOS rate: 1.213254 deg/s, posRepo size: 4 2021-02-18T00:01:03.871Z,1613606463.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:04.657Z,1613606464.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:05.045Z,1613606465.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:05.876Z,1613606465.876 [Micromodem](INFO): Nmea in: $SNTTA,0.028961,,,,000104.72*44 2021-02-18T00:01:05.914Z,1613606465.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.980000 m, bearing: 1.429247 deg, deltaT: 4.440178 s, approachRate: 0.770240 m/s, LOS rate: 0.650513 deg/s, posRepo size: 4 2021-02-18T00:01:08.302Z,1613606468.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:09.090Z,1613606469.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:09.490Z,1613606469.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:10.316Z,1613606470.316 [Micromodem](INFO): Nmea in: $SNTTA,0.030982,,,,000109.15*4C 2021-02-18T00:01:10.340Z,1613606470.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.800003 m, bearing: 356.477982 deg, deltaT: 4.420667 s, approachRate: 0.637914 m/s, LOS rate: -1.120029 deg/s, posRepo size: 4 2021-02-18T00:01:12.745Z,1613606472.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:13.546Z,1613606473.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:13.933Z,1613606473.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:14.768Z,1613606474.768 [Micromodem](INFO): Nmea in: $SNTTA,0.033253,,,,000113.61*40 2021-02-18T00:01:14.814Z,1613606474.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.980003 m, bearing: 353.957615 deg, deltaT: 4.438305 s, approachRate: 0.716490 m/s, LOS rate: -0.567867 deg/s, posRepo size: 4 2021-02-18T00:01:17.251Z,1613606477.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:17.973Z,1613606477.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:18.384Z,1613606478.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:19.220Z,1613606479.220 [Micromodem](INFO): Nmea in: $SNTTA,0.035508,,,,000118.03*40 2021-02-18T00:01:19.244Z,1613606479.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.639999 m, bearing: 357.862898 deg, deltaT: 4.467787 s, approachRate: 0.819197 m/s, LOS rate: 0.874098 deg/s, posRepo size: 4 2021-02-18T00:01:21.650Z,1613606481.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:22.416Z,1613606482.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:22.839Z,1613606482.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:23.648Z,1613606483.648 [Micromodem](INFO): Nmea in: $SNTTA,0.037631,,,,000122.48*4D 2021-02-18T00:01:23.690Z,1613606483.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.820004 m, bearing: 357.217992 deg, deltaT: 4.439988 s, approachRate: 0.716219 m/s, LOS rate: -0.145250 deg/s, posRepo size: 4 2021-02-18T00:01:26.078Z,1613606486.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:26.860Z,1613606486.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:27.268Z,1613606487.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:28.095Z,1613606488.095 [Micromodem](INFO): Nmea in: $SNTTA,0.039938,,,,000126.92*46 2021-02-18T00:01:28.119Z,1613606488.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.240002 m, bearing: 357.754380 deg, deltaT: 4.437405 s, approachRate: 0.770720 m/s, LOS rate: 0.120879 deg/s, posRepo size: 4 2021-02-18T00:01:30.530Z,1613606490.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:31.306Z,1613606491.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:31.716Z,1613606491.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:32.547Z,1613606492.547 [Micromodem](INFO): Nmea in: $SNTTA,0.042218,,,,000131.37*4A 2021-02-18T00:01:32.615Z,1613606492.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.660007 m, bearing: 356.830966 deg, deltaT: 4.441010 s, approachRate: 0.770096 m/s, LOS rate: -0.207929 deg/s, posRepo size: 4 2021-02-18T00:01:34.960Z,1613606494.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:35.748Z,1613606495.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:36.185Z,1613606496.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:36.976Z,1613606496.976 [Micromodem](INFO): Nmea in: $SNTTA,0.044479,,,,000135.81*44 2021-02-18T00:01:37.018Z,1613606497.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.080002 m, bearing: 355.571971 deg, deltaT: 4.465769 s, approachRate: 0.765824 m/s, LOS rate: -0.281921 deg/s, posRepo size: 4 2021-02-18T00:01:39.425Z,1613606499.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:40.209Z,1613606500.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:40.604Z,1613606500.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:41.432Z,1613606501.432 [Micromodem](INFO): Nmea in: $SNTTA,0.046826,,,,000140.27*4E 2021-02-18T00:01:41.480Z,1613606501.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.380005 m, bearing: 355.029873 deg, deltaT: 4.435054 s, approachRate: 0.744073 m/s, LOS rate: -0.122230 deg/s, posRepo size: 4 2021-02-18T00:01:43.868Z,1613606503.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:44.638Z,1613606504.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:45.049Z,1613606505.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:45.869Z,1613606505.869 [Micromodem](INFO): Nmea in: $SNTTA,0.048793,,,,000144.70*47 2021-02-18T00:01:45.917Z,1613606505.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.500000 m, bearing: 355.402446 deg, deltaT: 4.437470 s, approachRate: 0.703102 m/s, LOS rate: 0.083961 deg/s, posRepo size: 4 2021-02-18T00:01:48.303Z,1613606508.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:49.085Z,1613606509.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:49.503Z,1613606509.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:50.316Z,1613606510.316 [Micromodem](INFO): Nmea in: $SNTTA,0.051099,,0.091532,,000149.15*5E 2021-02-18T00:01:50.361Z,1613606510.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.860008 m, bearing: 0.271946 deg, deltaT: 4.452819 s, approachRate: 0.754580 m/s, LOS rate: 1.093578 deg/s, posRepo size: 4 2021-02-18T00:01:52.764Z,1613606512.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:53.529Z,1613606513.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:53.930Z,1613606513.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:54.756Z,1613606514.756 [Micromodem](INFO): Nmea in: $SNTTA,0.053547,,,,000153.59*4B 2021-02-18T00:01:54.795Z,1613606514.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.459999 m, bearing: 3.455513 deg, deltaT: 4.466025 s, approachRate: 0.806084 m/s, LOS rate: 0.712841 deg/s, posRepo size: 4 2021-02-18T00:01:57.235Z,1613606517.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:01:57.968Z,1613606517.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:01:58.375Z,1613606518.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:01:59.220Z,1613606519.220 [Micromodem](INFO): Nmea in: $SNTTA,0.055684,,0.056890,,000158.03*59 2021-02-18T00:01:59.244Z,1613606519.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.640007 m, bearing: 2.804036 deg, deltaT: 4.411383 s, approachRate: 0.720864 m/s, LOS rate: -0.147681 deg/s, posRepo size: 4 2021-02-18T00:02:01.629Z,1613606521.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:02:02.418Z,1613606522.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:02:02.826Z,1613606522.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:02:03.668Z,1613606523.668 [Micromodem](INFO): Nmea in: $SNTTA,0.057823,,,,000202.48*47 2021-02-18T00:02:03.702Z,1613606523.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.120003 m, bearing: 358.603264 deg, deltaT: 4.430249 s, approachRate: 0.785508 m/s, LOS rate: -0.948203 deg/s, posRepo size: 4 2021-02-18T00:02:06.092Z,1613606526.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:02:06.862Z,1613606526.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:02:07.273Z,1613606527.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:02:08.088Z,1613606528.088 [Micromodem](INFO): Nmea in: $SNTTA,0.060100,,,,000206.92*48 2021-02-18T00:02:08.138Z,1613606528.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.240005 m, bearing: 359.523536 deg, deltaT: 4.467114 s, approachRate: 0.698438 m/s, LOS rate: 0.206010 deg/s, posRepo size: 4 2021-02-18T00:02:10.528Z,1613606530.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:02:11.307Z,1613606531.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:02:11.720Z,1613606531.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:02:12.532Z,1613606532.532 [Micromodem](INFO): Nmea in: $SNTTA,0.062363,,,,000211.37*44 2021-02-18T00:02:12.616Z,1613606532.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.720001 m, bearing: 2.150709 deg, deltaT: 4.410990 s, approachRate: 0.788938 m/s, LOS rate: 0.595599 deg/s, posRepo size: 4 2021-02-18T00:02:14.967Z,1613606534.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:02:15.744Z,1613606535.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:02:16.165Z,1613606536.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:02:16.972Z,1613606536.972 [Micromodem](INFO): Nmea in: $SNTTA,0.064608,,,,000215.80*42 2021-02-18T00:02:17.006Z,1613606537.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.080009 m, bearing: 1.507158 deg, deltaT: 4.543902 s, approachRate: 0.739454 m/s, LOS rate: -0.141630 deg/s, posRepo size: 4 2021-02-18T00:02:19.407Z,1613606539.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:02:20.209Z,1613606540.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:02:20.611Z,1613606540.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:02:21.428Z,1613606541.428 [Micromodem](INFO): Nmea in: $SNTTA,0.066756,,,,000220.27*41 2021-02-18T00:02:21.453Z,1613606541.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.260002 m, bearing: 4.605681 deg, deltaT: 4.388412 s, approachRate: 0.724634 m/s, LOS rate: 0.706069 deg/s, posRepo size: 4 2021-02-18T00:02:23.847Z,1613606543.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:02:24.640Z,1613606544.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:02:25.038Z,1613606545.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:02:25.868Z,1613606545.868 [Micromodem](INFO): Nmea in: $SNTTA,0.068854,,0.072861,,000224.70*50 2021-02-18T00:02:25.916Z,1613606545.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.380005 m, bearing: 10.127575 deg, deltaT: 4.425712 s, approachRate: 0.704972 m/s, LOS rate: 1.247685 deg/s, posRepo size: 4 2021-02-18T00:02:28.316Z,1613606548.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:02:29.077Z,1613606549.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:02:29.482Z,1613606549.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:02:30.304Z,1613606550.304 [Micromodem](INFO): Nmea in: $SNTTA,0.071211,,,,000229.14*48 2021-02-18T00:02:30.328Z,1613606550.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.040001 m, bearing: 8.257937 deg, deltaT: 4.452713 s, approachRate: 0.821970 m/s, LOS rate: -0.419887 deg/s, posRepo size: 4 2021-02-18T00:02:32.761Z,1613606552.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:02:33.525Z,1613606553.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:02:33.925Z,1613606553.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:02:34.752Z,1613606554.752 [Micromodem](INFO): Nmea in: $SNTTA,0.073490,,,,000233.59*47 2021-02-18T00:02:34.807Z,1613606554.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.400002 m, bearing: 7.376907 deg, deltaT: 4.452678 s, approachRate: 0.754602 m/s, LOS rate: -0.197865 deg/s, posRepo size: 4 2021-02-18T00:02:37.220Z,1613606557.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:02:37.969Z,1613606557.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:02:38.371Z,1613606558.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:02:39.224Z,1613606559.224 [Micromodem](INFO): Nmea in: $SNTTA,0.075551,,,0.078058,000238.03*55 2021-02-18T00:02:39.268Z,1613606559.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.459999 m, bearing: 2.283728 deg, deltaT: 4.436459 s, approachRate: 0.689739 m/s, LOS rate: -1.148028 deg/s, posRepo size: 4 2021-02-18T00:02:41.627Z,1613606561.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:02:42.414Z,1613606562.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:02:42.814Z,1613606562.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:02:43.636Z,1613606563.636 [Micromodem](INFO): Nmea in: $SNTTA,0.077594,,,,000242.47*4F 2021-02-18T00:02:43.676Z,1613606563.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.580002 m, bearing: 0.978874 deg, deltaT: 4.441112 s, approachRate: 0.702527 m/s, LOS rate: -0.293812 deg/s, posRepo size: 4 2021-02-18T00:02:46.098Z,1613606566.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:02:46.853Z,1613606566.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:02:47.265Z,1613606567.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:02:48.080Z,1613606568.080 [Micromodem](INFO): Nmea in: $SNTTA,0.079799,,,,000246.91*41 2021-02-18T00:02:48.113Z,1613606568.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.820000 m, bearing: 358.543213 deg, deltaT: 4.438230 s, approachRate: 0.730020 m/s, LOS rate: -0.548791 deg/s, posRepo size: 4 2021-02-18T00:02:50.533Z,1613606570.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:02:51.296Z,1613606571.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:02:51.703Z,1613606571.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:02:52.524Z,1613606572.524 [Micromodem](INFO): Nmea in: $SNTTA,0.082894,,,,000251.36*4C 2021-02-18T00:02:52.603Z,1613606572.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.119995 m, bearing: 3.629914 deg, deltaT: 4.432534 s, approachRate: 0.744494 m/s, LOS rate: 1.147584 deg/s, posRepo size: 4 2021-02-18T00:02:55.043Z,1613606575.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:02:55.746Z,1613606575.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:02:56.150Z,1613606576.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:02:56.968Z,1613606576.968 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000255.81*55 2021-02-18T00:02:57.010Z,1613606577.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.480003 m, bearing: 4.083970 deg, deltaT: 4.480606 s, approachRate: 0.749900 m/s, LOS rate: 0.101338 deg/s, posRepo size: 4 2021-02-18T00:02:59.411Z,1613606579.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:00.209Z,1613606580.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:00.593Z,1613606580.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:01.424Z,1613606581.424 [Micromodem](INFO): Nmea in: $SNTTA,0.086478,,,,000300.27*43 2021-02-18T00:03:01.472Z,1613606581.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.899994 m, bearing: 357.016720 deg, deltaT: 4.395006 s, approachRate: 0.778154 m/s, LOS rate: -1.608016 deg/s, posRepo size: 4 2021-02-18T00:03:03.865Z,1613606583.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:04.630Z,1613606584.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:05.034Z,1613606585.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:05.879Z,1613606585.879 [Micromodem](INFO): Nmea in: $SNTTA,0.088727,,,,000304.69*4A 2021-02-18T00:03:05.903Z,1613606585.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.259995 m, bearing: 5.882245 deg, deltaT: 4.471917 s, approachRate: 0.751356 m/s, LOS rate: 1.982488 deg/s, posRepo size: 4 2021-02-18T00:03:08.288Z,1613606588.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:09.072Z,1613606589.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:09.478Z,1613606589.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:10.304Z,1613606590.304 [Micromodem](INFO): Nmea in: $SNTTA,0.090864,,,,000309.13*4B 2021-02-18T00:03:10.333Z,1613606590.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.620010 m, bearing: 7.795735 deg, deltaT: 4.424282 s, approachRate: 0.759449 m/s, LOS rate: 0.432497 deg/s, posRepo size: 4 2021-02-18T00:03:12.760Z,1613606592.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:13.517Z,1613606593.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:13.926Z,1613606593.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:14.748Z,1613606594.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000313.58*52 2021-02-18T00:03:14.792Z,1613606594.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.699997 m, bearing: 359.766336 deg, deltaT: 4.469421 s, approachRate: 0.912867 m/s, LOS rate: -1.796518 deg/s, posRepo size: 4 2021-02-18T00:03:17.234Z,1613606597.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:17.960Z,1613606597.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:18.367Z,1613606598.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:19.216Z,1613606599.216 [Micromodem](INFO): Nmea in: $SNTTA,0.095241,,,,000318.02*43 2021-02-18T00:03:19.240Z,1613606599.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.099991 m, bearing: 5.997208 deg, deltaT: 4.433227 s, approachRate: 0.541365 m/s, LOS rate: 1.405493 deg/s, posRepo size: 4 2021-02-18T00:03:21.622Z,1613606601.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:22.410Z,1613606602.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:22.817Z,1613606602.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:23.636Z,1613606603.636 [Micromodem](INFO): Nmea in: $SNTTA,0.097525,,,0.112038,000322.47*5B 2021-02-18T00:03:23.676Z,1613606603.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.399994 m, bearing: 1.433147 deg, deltaT: 4.449305 s, approachRate: 0.741690 m/s, LOS rate: -1.025792 deg/s, posRepo size: 4 2021-02-18T00:03:26.076Z,1613606606.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:26.853Z,1613606606.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:27.255Z,1613606607.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:28.080Z,1613606608.080 [Micromodem](INFO): Nmea in: $SNTTA,0.100284,,,,000326.92*43 2021-02-18T00:03:28.114Z,1613606608.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.880005 m, bearing: 0.798061 deg, deltaT: 4.443855 s, approachRate: 0.783106 m/s, LOS rate: -0.142913 deg/s, posRepo size: 4 2021-02-18T00:03:30.562Z,1613606610.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:31.292Z,1613606611.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:31.699Z,1613606611.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:32.533Z,1613606612.533 [Micromodem](INFO): Nmea in: $SNTTA,0.102131,,,,000331.35*47 2021-02-18T00:03:32.600Z,1613606612.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.360001 m, bearing: 6.281585 deg, deltaT: 4.430579 s, approachRate: 0.785449 m/s, LOS rate: 1.237654 deg/s, posRepo size: 4 2021-02-18T00:03:32.600Z,1613606612.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.36 m. Resuming terminal guidance. 2021-02-18T00:03:32.601Z,1613606612.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T00:03:34.989Z,1613606614.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:35.742Z,1613606615.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:36.159Z,1613606616.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:36.984Z,1613606616.984 [Micromodem](INFO): Nmea in: $SNTTA,0.104313,,,,000335.80*49 2021-02-18T00:03:37.006Z,1613606617.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.659988 m, bearing: 9.909653 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T00:03:37.006Z,1613606617.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 9.909653deg and heading rate command to 0 deg/s. 2021-02-18T00:03:39.406Z,1613606619.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:40.207Z,1613606620.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:40.595Z,1613606620.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:41.477Z,1613606621.477 [Micromodem](INFO): Nmea in: $SNTTA,0.106512,,,,000340.27*43 2021-02-18T00:03:41.523Z,1613606621.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.900009 m, bearing: 14.838982 deg, deltaT: 4.400338 s, approachRate: 0.736312 m/s, LOS rate: 1.120216 deg/s, posRepo size: 2 2021-02-18T00:03:41.525Z,1613606621.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.900009 m, bearing: 14.838982 deg, approachRate: 0.736312 m/s, LOS rate: 1.120216 deg/s, cmd update: 4.480864 deg/s, cmd heading: 9.909653 deg, new cmd heading: 9.909653 deg. 2021-02-18T00:03:43.854Z,1613606623.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:44.637Z,1613606624.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:45.035Z,1613606625.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:45.868Z,1613606625.868 [Micromodem](INFO): Nmea in: $SNTTA,0.108560,,,,000344.70*4E 2021-02-18T00:03:45.905Z,1613606625.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.900009 m, bearing: 58.989373 deg, deltaT: 4.453308 s, approachRate: 0.000000 m/s, LOS rate: 9.914067 deg/s, posRepo size: 3 2021-02-18T00:03:45.907Z,1613606625.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.900009 m, bearing: 58.989373 deg, approachRate: 0.000000 m/s, LOS rate: 9.914067 deg/s, cmd update: 12.000000 deg/s, cmd heading: 29.847904 deg, new cmd heading: 31.728286 deg. 2021-02-18T00:03:48.313Z,1613606628.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:49.075Z,1613606629.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:49.488Z,1613606629.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:50.319Z,1613606630.319 [Micromodem](INFO): Nmea in: $SNTTA,0.110604,,,,000349.13*4E 2021-02-18T00:03:50.344Z,1613606630.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.080002 m, bearing: 14.680935 deg, deltaT: 4.448074 s, approachRate: 1.389364 m/s, LOS rate: -9.961264 deg/s, posRepo size: 4 2021-02-18T00:03:50.346Z,1613606630.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.080002 m, bearing: 14.680935 deg, approachRate: 1.389364 m/s, LOS rate: -9.961264 deg/s, cmd update: -12.000000 deg/s, cmd heading: 83.268390 deg, new cmd heading: 88.152834 deg. 2021-02-18T00:03:52.745Z,1613606632.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:53.513Z,1613606633.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:53.918Z,1613606633.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:54.756Z,1613606634.756 [Micromodem](INFO): Nmea in: $SNTTA,0.112371,,,,000353.57*40 2021-02-18T00:03:54.810Z,1613606634.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.660004 m, bearing: 52.224344 deg, deltaT: 4.487369 s, approachRate: 0.574948 m/s, LOS rate: 8.366463 deg/s, posRepo size: 4 2021-02-18T00:03:54.820Z,1613606634.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.660004 m, bearing: 52.224344 deg, approachRate: 0.574948 m/s, LOS rate: 8.366463 deg/s, cmd update: 12.000000 deg/s, cmd heading: 29.415533 deg, new cmd heading: 24.787529 deg. 2021-02-18T00:03:57.216Z,1613606637.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:03:57.962Z,1613606637.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:03:58.372Z,1613606638.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:03:59.216Z,1613606639.216 [Micromodem](INFO): Nmea in: $SNTTA,0.113709,,,,000358.02*41 2021-02-18T00:03:59.264Z,1613606639.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.660004 m, bearing: 58.102404 deg, deltaT: 4.389853 s, approachRate: 0.000000 m/s, LOS rate: 1.339011 deg/s, posRepo size: 4 2021-02-18T00:03:59.266Z,1613606639.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.660004 m, bearing: 58.102404 deg, approachRate: 0.000000 m/s, LOS rate: 1.339011 deg/s, cmd update: 5.356044 deg/s, cmd heading: 82.093602 deg, new cmd heading: 87.489366 deg. 2021-02-18T00:04:01.625Z,1613606641.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:04:02.400Z,1613606642.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:04:02.817Z,1613606642.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:04:03.644Z,1613606643.644 [Micromodem](INFO): Nmea in: $SNTTA,0.115049,,,,000402.46*4C 2021-02-18T00:04:03.679Z,1613606643.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.500000 m, bearing: 60.379193 deg, deltaT: 4.444584 s, approachRate: 0.863972 m/s, LOS rate: 0.512261 deg/s, posRepo size: 4 2021-02-18T00:04:03.682Z,1613606643.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.500000 m, bearing: 60.379193 deg, approachRate: 0.863972 m/s, LOS rate: 0.512261 deg/s, cmd update: 2.049046 deg/s, cmd heading: 105.898024 deg, new cmd heading: 108.144466 deg. 2021-02-18T00:04:06.081Z,1613606646.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:04:06.861Z,1613606646.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:04:07.269Z,1613606647.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:04:08.137Z,1613606648.137 [Micromodem](INFO): Nmea in: $SNTTA,0.116446,,,,000406.92*49 2021-02-18T00:04:08.542Z,1613606648.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.779999 m, bearing: 65.776224 deg, deltaT: 4.946720 s, approachRate: 0.460911 m/s, LOS rate: 1.091032 deg/s, posRepo size: 4 2021-02-18T00:04:08.549Z,1613606648.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.779999 m, bearing: 65.776224 deg, approachRate: 0.460911 m/s, LOS rate: 1.091032 deg/s, cmd update: 4.364129 deg/s, cmd heading: 116.026173 deg, new cmd heading: 116.714573 deg. 2021-02-18T00:04:10.911Z,1613606650.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:04:11.692Z,1613606651.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:04:12.107Z,1613606652.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:04:12.920Z,1613606652.920 [Micromodem](INFO): Nmea in: $SNTTA,0.117295,,,,000411.75*4F 2021-02-18T00:04:12.959Z,1613606652.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.779999 m, bearing: 131.796245 deg, deltaT: 4.379631 s, approachRate: 0.000000 m/s, LOS rate: 15.074333 deg/s, posRepo size: 4 2021-02-18T00:04:12.960Z,1613606652.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.074333 deg/s. Setting heading cmd to target bearing of 131.796245deg and heading rate command to 0 deg/s. 2021-02-18T00:04:15.388Z,1613606655.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:04:16.146Z,1613606656.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:04:16.570Z,1613606656.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:04:17.360Z,1613606657.360 [Micromodem](INFO): Nmea in: $SNTTA,0.117740,,,,000416.21*44 2021-02-18T00:04:17.803Z,1613606657.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.580002 m, bearing: 62.559567 deg, deltaT: 4.823284 s, approachRate: 0.373190 m/s, LOS rate: -14.354676 deg/s, posRepo size: 4 2021-02-18T00:04:17.804Z,1613606657.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.354676 deg/s. Setting heading cmd to target bearing of 62.559567deg and heading rate command to 0 deg/s. 2021-02-18T00:04:20.255Z,1613606660.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:04:20.989Z,1613606660.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:04:21.461Z,1613606661.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:04:22.247Z,1613606662.247 [Micromodem](INFO): Nmea in: $SNTTA,0.117475,,,,000421.05*43 2021-02-18T00:04:22.271Z,1613606662.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.580002 m, bearing: 162.738560 deg, deltaT: 4.458447 s, approachRate: 0.000000 m/s, LOS rate: 22.469482 deg/s, posRepo size: 4 2021-02-18T00:04:22.272Z,1613606662.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.469482 deg/s. Setting heading cmd to target bearing of 162.738560deg and heading rate command to 0 deg/s. 2021-02-18T00:04:24.660Z,1613606664.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:04:25.430Z,1613606665.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:04:25.834Z,1613606665.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:04:26.660Z,1613606666.660 [Micromodem](INFO): Nmea in: $SNTTA,0.116798,,0.121291,,000425.49*58 2021-02-18T00:04:26.700Z,1613606666.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.580002 m, bearing: 141.189832 deg, deltaT: 4.425175 s, approachRate: 0.000000 m/s, LOS rate: -4.869577 deg/s, posRepo size: 4 2021-02-18T00:04:26.701Z,1613606666.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.580002 m, bearing: 141.189832 deg, approachRate: 0.000000 m/s, LOS rate: -4.869577 deg/s, cmd update: -12.000000 deg/s, cmd heading: 162.738560 deg, new cmd heading: 162.738560 deg. 2021-02-18T00:04:29.090Z,1613606669.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:04:29.874Z,1613606669.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:04:30.296Z,1613606670.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:04:31.104Z,1613606671.104 [Micromodem](INFO): Nmea in: $SNTTA,0.116375,,,,000429.93*42 2021-02-18T00:04:31.201Z,1613606671.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.580002 m, bearing: 68.947652 deg, deltaT: 4.440417 s, approachRate: 0.000000 m/s, LOS rate: -16.269234 deg/s, posRepo size: 4 2021-02-18T00:04:31.202Z,1613606671.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.269234 deg/s. Setting heading cmd to target bearing of 68.947652deg and heading rate command to 0 deg/s. 2021-02-18T00:04:33.585Z,1613606673.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:04:34.318Z,1613606674.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:04:34.787Z,1613606674.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:04:35.576Z,1613606675.576 [Micromodem](INFO): Nmea in: $SNTTA,0.116080,,,,000434.38*46 2021-02-18T00:04:35.633Z,1613606675.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.580002 m, bearing: 171.769436 deg, deltaT: 4.480171 s, approachRate: 0.000000 m/s, LOS rate: 22.950416 deg/s, posRepo size: 4 2021-02-18T00:04:35.634Z,1613606675.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.950416 deg/s. Setting heading cmd to target bearing of 171.769436deg and heading rate command to 0 deg/s. 2021-02-18T00:04:37.983Z,1613606677.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:04:38.761Z,1613606678.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:04:39.191Z,1613606679.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:04:40.000Z,1613606680.000 [Micromodem](INFO): Nmea in: $SNTTA,0.115369,,,,000438.82*4C 2021-02-18T00:04:40.022Z,1613606680.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.039993 m, bearing: 86.525793 deg, deltaT: 4.407779 s, approachRate: -0.803128 m/s, LOS rate: -19.339365 deg/s, posRepo size: 4 2021-02-18T00:04:40.023Z,1613606680.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.339365 deg/s. Setting heading cmd to target bearing of 86.525793deg and heading rate command to 0 deg/s. 2021-02-18T00:04:42.424Z,1613606682.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:04:43.265Z,1613606683.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:04:43.620Z,1613606683.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:04:44.851Z,1613606684.851 [Micromodem](INFO): Nmea in: $SNTTA,0.115329,,,,000443.33*4E 2021-02-18T00:04:44.875Z,1613606684.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.980011 m, bearing: 157.744708 deg, deltaT: 4.868015 s, approachRate: -0.012322 m/s, LOS rate: 14.629970 deg/s, posRepo size: 4 2021-02-18T00:04:44.876Z,1613606684.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.629970 deg/s. Setting heading cmd to target bearing of 157.744708deg and heading rate command to 0 deg/s. 2021-02-18T00:04:47.290Z,1613606687.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:04:48.118Z,1613606688.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:04:48.476Z,1613606688.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:04:49.304Z,1613606689.304 [Micromodem](INFO): Nmea in: $SNTTA,0.115543,,,,000448.18*46 2021-02-18T00:04:49.782Z,1613606689.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.339996 m, bearing: 154.356210 deg, deltaT: 4.871851 s, approachRate: 0.073891 m/s, LOS rate: -0.695526 deg/s, posRepo size: 4 2021-02-18T00:04:49.784Z,1613606689.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.339996 m, bearing: 154.356210 deg, approachRate: 0.073891 m/s, LOS rate: -0.695526 deg/s, cmd update: -2.782103 deg/s, cmd heading: 157.744708 deg, new cmd heading: 157.744708 deg. 2021-02-18T00:04:52.108Z,1613606692.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:04:52.917Z,1613606692.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:04:53.306Z,1613606693.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:04:54.128Z,1613606694.128 [Micromodem](INFO): Nmea in: $SNTTA,0.115812,,,,000452.98*4C 2021-02-18T00:04:54.610Z,1613606694.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.640015 m, bearing: 80.742426 deg, deltaT: 4.807800 s, approachRate: 0.062402 m/s, LOS rate: -15.311324 deg/s, posRepo size: 4 2021-02-18T00:04:54.612Z,1613606694.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.311324 deg/s. Setting heading cmd to target bearing of 80.742426deg and heading rate command to 0 deg/s. 2021-02-18T00:04:56.591Z,1613606696.591 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T00:04:56.960Z,1613606696.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:04:57.761Z,1613606697.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:04:58.159Z,1613606698.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:04:58.984Z,1613606698.984 [Micromodem](INFO): Nmea in: $SNTTA,0.115335,,,,000457.82*4C 2021-02-18T00:04:59.030Z,1613606699.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.640015 m, bearing: 181.861068 deg, deltaT: 4.456162 s, approachRate: 0.000000 m/s, LOS rate: 22.691869 deg/s, posRepo size: 4 2021-02-18T00:04:59.031Z,1613606699.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.691869 deg/s. Setting heading cmd to target bearing of 181.861068deg and heading rate command to 0 deg/s. 2021-02-18T00:05:01.470Z,1613606701.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:02.233Z,1613606702.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:05:02.622Z,1613606702.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:05:03.494Z,1613606703.494 [Micromodem](INFO): Nmea in: $SNTTA,0.114841,,,,000502.29*45 2021-02-18T00:05:03.881Z,1613606703.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.139999 m, bearing: 84.892592 deg, deltaT: 4.917603 s, approachRate: -0.305030 m/s, LOS rate: -19.718647 deg/s, posRepo size: 4 2021-02-18T00:05:03.882Z,1613606703.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.718647 deg/s. Setting heading cmd to target bearing of 84.892592deg and heading rate command to 0 deg/s. 2021-02-18T00:05:06.270Z,1613606706.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:07.040Z,1613606707.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:05:07.448Z,1613606707.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:05:08.258Z,1613606708.258 [Micromodem](INFO): Nmea in: $SNTTA,0.114566,,,,000507.10*42 2021-02-18T00:05:09.077Z,1613606709.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:10.684Z,1613606710.684 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:05:11.494Z,1613606711.494 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T00:05:11.913Z,1613606711.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:12.697Z,1613606712.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:05:13.102Z,1613606713.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:05:13.509Z,1613606713.509 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,AFD,000,0E4 6,186,80,80,6E,FF 2021-02-18T00:05:13.916Z,1613606713.916 [Micromodem](INFO): Nmea in: $SNTTA,0.114453,,,,000512.76*41 2021-02-18T00:05:14.795Z,1613606714.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:17.637Z,1613606717.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:20.406Z,1613606720.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:21.224Z,1613606721.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:05:21.276Z,1613606721.276 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T00:05:21.594Z,1613606721.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:05:22.411Z,1613606722.411 [Micromodem](INFO): Nmea in: $SNTTA,0.115575,,,,000521.28*4E 2021-02-18T00:05:22.848Z,1613606722.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.399994 m, bearing: 130.040941 deg, deltaT: 18.930653 s, approachRate: 0.066558 m/s, LOS rate: 2.384934 deg/s, posRepo size: 4 2021-02-18T00:05:22.850Z,1613606722.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.399994 m, bearing: 130.040941 deg, approachRate: 0.066558 m/s, LOS rate: 2.384934 deg/s, cmd update: 9.539735 deg/s, cmd heading: 84.892592 deg, new cmd heading: 84.892592 deg. 2021-02-18T00:05:25.253Z,1613606725.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:26.033Z,1613606726.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:05:26.436Z,1613606726.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:05:26.452Z,1613606726.452 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T00:05:27.264Z,1613606727.264 [Micromodem](INFO): Nmea in: $SNTTA,0.116620,,,,000526.09*4A 2021-02-18T00:05:27.313Z,1613606727.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.320007 m, bearing: 140.812355 deg, deltaT: 4.440019 s, approachRate: 0.432434 m/s, LOS rate: 2.425984 deg/s, posRepo size: 4 2021-02-18T00:05:27.315Z,1613606727.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.320007 m, bearing: 140.812355 deg, approachRate: 0.432434 m/s, LOS rate: 2.425984 deg/s, cmd update: 9.703934 deg/s, cmd heading: 127.284301 deg, new cmd heading: 131.144078 deg. 2021-02-18T00:05:29.718Z,1613606729.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:30.496Z,1613606730.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:05:30.919Z,1613606730.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:05:31.348Z,1613606731.348 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T00:05:31.720Z,1613606731.720 [Micromodem](INFO): Nmea in: $SNTTA,0.117341,,0.120103,,000530.56*5B 2021-02-18T00:05:31.756Z,1613606731.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.320007 m, bearing: 165.388031 deg, deltaT: 4.470297 s, approachRate: 0.000000 m/s, LOS rate: 5.497549 deg/s, posRepo size: 4 2021-02-18T00:05:31.758Z,1613606731.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.320007 m, bearing: 165.388031 deg, approachRate: 0.000000 m/s, LOS rate: 5.497549 deg/s, cmd update: 12.000000 deg/s, cmd heading: 170.704767 deg, new cmd heading: 174.326780 deg. 2021-02-18T00:05:34.123Z,1613606734.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:34.916Z,1613606734.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:05:35.324Z,1613606735.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:05:36.150Z,1613606736.150 [Micromodem](INFO): Nmea in: $SNTTA,0.117422,,,,000534.98*40 2021-02-18T00:05:36.283Z,1613606736.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.099991 m, bearing: 90.724057 deg, deltaT: 4.406382 s, approachRate: 0.177012 m/s, LOS rate: -16.944507 deg/s, posRepo size: 4 2021-02-18T00:05:36.284Z,1613606736.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.944507 deg/s. Setting heading cmd to target bearing of 90.724057deg and heading rate command to 0 deg/s. 2021-02-18T00:05:36.576Z,1613606736.576 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T00:05:38.638Z,1613606738.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:39.361Z,1613606739.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:05:39.767Z,1613606739.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:05:40.608Z,1613606740.608 [Micromodem](INFO): Nmea in: $SNTTA,0.116975,,,,000539.42*44 2021-02-18T00:05:40.632Z,1613606740.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.320007 m, bearing: 193.715599 deg, deltaT: 4.439657 s, approachRate: -0.175686 m/s, LOS rate: 23.198085 deg/s, posRepo size: 4 2021-02-18T00:05:40.633Z,1613606740.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.198085 deg/s. Setting heading cmd to target bearing of 193.715599deg and heading rate command to 0 deg/s. 2021-02-18T00:05:41.425Z,1613606741.425 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T00:05:43.022Z,1613606743.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:43.812Z,1613606743.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:05:44.235Z,1613606744.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:05:45.036Z,1613606745.036 [Micromodem](INFO): Nmea in: $SNTTA,0.116171,,,,000543.87*4C 2021-02-18T00:05:45.069Z,1613606745.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.059998 m, bearing: 209.005906 deg, deltaT: 4.436926 s, approachRate: -0.283983 m/s, LOS rate: 3.446149 deg/s, posRepo size: 4 2021-02-18T00:05:45.071Z,1613606745.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.059998 m, bearing: 209.005906 deg, approachRate: -0.283983 m/s, LOS rate: 3.446149 deg/s, cmd update: 12.000000 deg/s, cmd heading: 193.715599 deg, new cmd heading: 193.715599 deg. 2021-02-18T00:05:46.261Z,1613606746.261 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T00:05:47.473Z,1613606747.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:48.248Z,1613606748.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:05:48.664Z,1613606748.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:05:49.476Z,1613606749.476 [Micromodem](INFO): Nmea in: $SNTTA,0.114750,,,,000548.31*4D 2021-02-18T00:05:49.514Z,1613606749.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.059998 m, bearing: 197.106692 deg, deltaT: 4.435552 s, approachRate: 0.000000 m/s, LOS rate: -2.682691 deg/s, posRepo size: 4 2021-02-18T00:05:49.516Z,1613606749.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.059998 m, bearing: 197.106692 deg, approachRate: 0.000000 m/s, LOS rate: -2.682691 deg/s, cmd update: -10.730763 deg/s, cmd heading: 246.893336 deg, new cmd heading: 251.890208 deg. 2021-02-18T00:05:51.509Z,1613606751.509 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T00:05:51.917Z,1613606751.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:52.693Z,1613606752.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:05:53.106Z,1613606753.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:05:53.940Z,1613606753.940 [Micromodem](INFO): Nmea in: $SNTTA,0.112953,,,,000552.75*4D 2021-02-18T00:05:53.970Z,1613606753.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.260010 m, bearing: 196.242960 deg, deltaT: 4.486866 s, approachRate: -1.069786 m/s, LOS rate: -0.192502 deg/s, posRepo size: 4 2021-02-18T00:05:53.973Z,1613606753.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.260010 m, bearing: 196.242960 deg, approachRate: -1.069786 m/s, LOS rate: -0.192502 deg/s, cmd update: -0.770009 deg/s, cmd heading: 198.744984 deg, new cmd heading: 194.603972 deg. 2021-02-18T00:05:56.372Z,1613606756.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:05:57.246Z,1613606757.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:05:57.585Z,1613606757.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:05:58.764Z,1613606758.764 [Micromodem](INFO): Nmea in: $SNTTA,0.110791,,,,000557.31*4A 2021-02-18T00:05:58.808Z,1613606758.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 196.372733 deg, deltaT: 4.852495 s, approachRate: -0.667699 m/s, LOS rate: 0.026744 deg/s, posRepo size: 4 2021-02-18T00:05:58.810Z,1613606758.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.020004 m, bearing: 196.372733 deg, approachRate: -0.667699 m/s, LOS rate: 0.026744 deg/s, cmd update: 0.106975 deg/s, cmd heading: 195.014534 deg, new cmd heading: 194.738145 deg. 2021-02-18T00:06:01.265Z,1613606761.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:01.984Z,1613606761.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:06:02.405Z,1613606762.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:06:03.224Z,1613606763.224 [Micromodem](INFO): Nmea in: $SNTTA,0.108549,,,,000602.05*40 2021-02-18T00:06:03.248Z,1613606763.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.599991 m, bearing: 195.090816 deg, deltaT: 4.393921 s, approachRate: -0.778351 m/s, LOS rate: -0.291748 deg/s, posRepo size: 4 2021-02-18T00:06:03.250Z,1613606763.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.599991 m, bearing: 195.090816 deg, approachRate: -0.778351 m/s, LOS rate: -0.291748 deg/s, cmd update: -1.166992 deg/s, cmd heading: 195.485836 deg, new cmd heading: 195.530043 deg. 2021-02-18T00:06:05.656Z,1613606765.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:06.433Z,1613606766.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:06:06.842Z,1613606766.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:06:07.741Z,1613606767.741 [Micromodem](INFO): Nmea in: $SNTTA,0.106441,,,0.108940,000606.49*51 2021-02-18T00:06:07.765Z,1613606767.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.420013 m, bearing: 194.906879 deg, deltaT: 4.445822 s, approachRate: -0.715273 m/s, LOS rate: -0.041373 deg/s, posRepo size: 4 2021-02-18T00:06:07.791Z,1613606767.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.420013 m, bearing: 194.906879 deg, approachRate: -0.715273 m/s, LOS rate: -0.041373 deg/s, cmd update: -0.165492 deg/s, cmd heading: 190.297622 deg, new cmd heading: 189.731925 deg. 2021-02-18T00:06:10.101Z,1613606770.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:10.894Z,1613606770.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:06:11.311Z,1613606771.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:06:12.112Z,1613606772.112 [Micromodem](INFO): Nmea in: $SNTTA,0.104115,,,,000610.95*4B 2021-02-18T00:06:12.153Z,1613606772.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.940002 m, bearing: 195.791621 deg, deltaT: 4.453872 s, approachRate: -0.781345 m/s, LOS rate: 0.198646 deg/s, posRepo size: 4 2021-02-18T00:06:12.155Z,1613606772.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.940002 m, bearing: 195.791621 deg, approachRate: -0.781345 m/s, LOS rate: 0.198646 deg/s, cmd update: 0.794582 deg/s, cmd heading: 189.560538 deg, new cmd heading: 189.491262 deg. 2021-02-18T00:06:14.583Z,1613606774.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:15.318Z,1613606775.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:06:15.722Z,1613606775.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:06:16.556Z,1613606776.556 [Micromodem](INFO): Nmea in: $SNTTA,0.102030,,,,000615.38*49 2021-02-18T00:06:16.636Z,1613606776.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.759995 m, bearing: 196.156339 deg, deltaT: 4.454498 s, approachRate: -0.713887 m/s, LOS rate: 0.081876 deg/s, posRepo size: 4 2021-02-18T00:06:16.638Z,1613606776.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.759995 m, bearing: 196.156339 deg, approachRate: -0.713887 m/s, LOS rate: 0.081876 deg/s, cmd update: 0.327506 deg/s, cmd heading: 193.073678 deg, new cmd heading: 193.455334 deg. 2021-02-18T00:06:18.968Z,1613606778.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:19.761Z,1613606779.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:06:20.203Z,1613606780.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:06:21.052Z,1613606781.052 [Micromodem](INFO): Nmea in: $SNTTA,0.099732,,,,000619.82*42 2021-02-18T00:06:21.090Z,1613606781.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.339996 m, bearing: 196.574251 deg, deltaT: 4.437634 s, approachRate: -0.770681 m/s, LOS rate: 0.094174 deg/s, posRepo size: 4 2021-02-18T00:06:21.092Z,1613606781.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.339996 m, bearing: 196.574251 deg, approachRate: -0.770681 m/s, LOS rate: 0.094174 deg/s, cmd update: 0.376698 deg/s, cmd heading: 194.537867 deg, new cmd heading: 194.689748 deg. 2021-02-18T00:06:23.486Z,1613606783.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:24.233Z,1613606784.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:06:24.628Z,1613606784.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:06:25.448Z,1613606785.448 [Micromodem](INFO): Nmea in: $SNTTA,0.097566,,,,000624.29*40 2021-02-18T00:06:25.493Z,1613606785.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.039993 m, bearing: 196.447510 deg, deltaT: 4.451230 s, approachRate: -0.741369 m/s, LOS rate: -0.028473 deg/s, posRepo size: 4 2021-02-18T00:06:25.495Z,1613606785.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.039993 m, bearing: 196.447510 deg, approachRate: -0.741369 m/s, LOS rate: -0.028473 deg/s, cmd update: -0.113893 deg/s, cmd heading: 196.213126 deg, new cmd heading: 196.370936 deg. 2021-02-18T00:06:27.885Z,1613606787.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:28.653Z,1613606788.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:06:29.063Z,1613606789.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:06:29.880Z,1613606789.880 [Micromodem](INFO): Nmea in: $SNTTA,0.095424,,,,000628.71*44 2021-02-18T00:06:29.918Z,1613606789.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.919998 m, bearing: 195.738755 deg, deltaT: 4.418688 s, approachRate: -0.706091 m/s, LOS rate: -0.160399 deg/s, posRepo size: 4 2021-02-18T00:06:29.920Z,1613606789.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.919998 m, bearing: 195.738755 deg, approachRate: -0.706091 m/s, LOS rate: -0.160399 deg/s, cmd update: -0.641598 deg/s, cmd heading: 195.709406 deg, new cmd heading: 195.661377 deg. 2021-02-18T00:06:32.310Z,1613606792.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:33.104Z,1613606793.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:06:33.503Z,1613606793.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:06:34.396Z,1613606794.396 [Micromodem](INFO): Nmea in: $SNTTA,0.093137,,,,000633.16*4E 2021-02-18T00:06:34.430Z,1613606794.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.500000 m, bearing: 195.330870 deg, deltaT: 4.451933 s, approachRate: -0.768205 m/s, LOS rate: -0.091620 deg/s, posRepo size: 4 2021-02-18T00:06:34.432Z,1613606794.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.500000 m, bearing: 195.330870 deg, approachRate: -0.768205 m/s, LOS rate: -0.091620 deg/s, cmd update: -0.366479 deg/s, cmd heading: 192.865989 deg, new cmd heading: 192.543910 deg. 2021-02-18T00:06:36.776Z,1613606796.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:37.597Z,1613606797.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:06:37.959Z,1613606797.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:06:38.770Z,1613606798.770 [Micromodem](INFO): Nmea in: $SNTTA,0.090894,,,,000637.66*4E 2021-02-18T00:06:38.829Z,1613606798.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.660004 m, bearing: 196.014504 deg, deltaT: 4.460307 s, approachRate: -0.860926 m/s, LOS rate: 0.153271 deg/s, posRepo size: 4 2021-02-18T00:06:38.830Z,1613606798.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.660004 m, bearing: 196.014504 deg, approachRate: -0.860926 m/s, LOS rate: 0.153271 deg/s, cmd update: 0.613082 deg/s, cmd heading: 191.224064 deg, new cmd heading: 191.070159 deg. 2021-02-18T00:06:41.279Z,1613606801.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:41.982Z,1613606801.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:06:42.386Z,1613606802.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:06:43.296Z,1613606803.296 [Micromodem](INFO): Nmea in: $SNTTA,0.088565,,,,000642.04*42 2021-02-18T00:06:43.321Z,1613606803.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.599991 m, bearing: 196.125440 deg, deltaT: 4.432313 s, approachRate: -0.690387 m/s, LOS rate: 0.025029 deg/s, posRepo size: 4 2021-02-18T00:06:43.322Z,1613606803.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.599991 m, bearing: 196.125440 deg, approachRate: -0.690387 m/s, LOS rate: 0.025029 deg/s, cmd update: 0.100116 deg/s, cmd heading: 193.939052 deg, new cmd heading: 194.235468 deg. 2021-02-18T00:06:45.646Z,1613606805.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:46.436Z,1613606806.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:06:46.831Z,1613606806.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:06:47.668Z,1613606807.668 [Micromodem](INFO): Nmea in: $SNTTA,0.086398,,,,000646.50*4D 2021-02-18T00:06:47.737Z,1613606807.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.360001 m, bearing: 196.550469 deg, deltaT: 4.503145 s, approachRate: -0.719495 m/s, LOS rate: 0.094385 deg/s, posRepo size: 4 2021-02-18T00:06:47.747Z,1613606807.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.360001 m, bearing: 196.550469 deg, approachRate: -0.719495 m/s, LOS rate: 0.094385 deg/s, cmd update: 0.377540 deg/s, cmd heading: 194.388247 deg, new cmd heading: 194.429647 deg. 2021-02-18T00:06:50.082Z,1613606810.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:50.934Z,1613606810.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:06:51.282Z,1613606811.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:06:52.106Z,1613606812.106 [Micromodem](INFO): Nmea in: $SNTTA,0.084195,,,,000650.99*42 2021-02-18T00:06:52.181Z,1613606812.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.000000 m, bearing: 195.665945 deg, deltaT: 4.393683 s, approachRate: -0.764734 m/s, LOS rate: -0.201317 deg/s, posRepo size: 4 2021-02-18T00:06:52.197Z,1613606812.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.000000 m, bearing: 195.665945 deg, approachRate: -0.764734 m/s, LOS rate: -0.201317 deg/s, cmd update: -0.805268 deg/s, cmd heading: 196.054691 deg, new cmd heading: 196.217582 deg. 2021-02-18T00:06:54.579Z,1613606814.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:55.317Z,1613606815.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:06:55.726Z,1613606815.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:06:56.548Z,1613606816.548 [Micromodem](INFO): Nmea in: $SNTTA,0.081839,,,,000655.38*46 2021-02-18T00:06:56.633Z,1613606816.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.580002 m, bearing: 197.917995 deg, deltaT: 4.413451 s, approachRate: -0.774903 m/s, LOS rate: 0.510270 deg/s, posRepo size: 4 2021-02-18T00:06:56.635Z,1613606816.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.580002 m, bearing: 197.917995 deg, approachRate: -0.774903 m/s, LOS rate: 0.510270 deg/s, cmd update: 2.041078 deg/s, cmd heading: 192.500734 deg, new cmd heading: 192.112870 deg. 2021-02-18T00:06:58.968Z,1613606818.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:06:59.762Z,1613606819.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:00.187Z,1613606820.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:01.056Z,1613606821.056 [Micromodem](INFO): Nmea in: $SNTTA,0.079773,,,0.082284,000659.82*57 2021-02-18T00:07:01.101Z,1613606821.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.459999 m, bearing: 198.225040 deg, deltaT: 4.485746 s, approachRate: -0.695537 m/s, LOS rate: 0.068449 deg/s, posRepo size: 4 2021-02-18T00:07:01.103Z,1613606821.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.459999 m, bearing: 198.225040 deg, approachRate: -0.695537 m/s, LOS rate: 0.068449 deg/s, cmd update: 0.273796 deg/s, cmd heading: 201.648827 deg, new cmd heading: 202.603852 deg. 2021-02-18T00:07:03.419Z,1613606823.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:07:04.277Z,1613606824.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:04.613Z,1613606824.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:05.449Z,1613606825.449 [Micromodem](INFO): Nmea in: $SNTTA,0.077420,,,,000704.34*42 2021-02-18T00:07:05.504Z,1613606825.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.980003 m, bearing: 197.370228 deg, deltaT: 4.484025 s, approachRate: -0.776088 m/s, LOS rate: -0.190635 deg/s, posRepo size: 4 2021-02-18T00:07:05.506Z,1613606825.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.980003 m, bearing: 197.370228 deg, approachRate: -0.776088 m/s, LOS rate: -0.190635 deg/s, cmd update: -0.762540 deg/s, cmd heading: 202.877578 deg, new cmd heading: 202.981131 deg. 2021-02-18T00:07:07.864Z,1613606827.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:07:08.645Z,1613606828.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:09.053Z,1613606829.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:09.872Z,1613606829.872 [Micromodem](INFO): Nmea in: $SNTTA,0.075385,,,,000708.71*45 2021-02-18T00:07:09.915Z,1613606829.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.920006 m, bearing: 196.736263 deg, deltaT: 4.381812 s, approachRate: -0.698341 m/s, LOS rate: -0.144681 deg/s, posRepo size: 4 2021-02-18T00:07:09.917Z,1613606829.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.920006 m, bearing: 196.736263 deg, approachRate: -0.698341 m/s, LOS rate: -0.144681 deg/s, cmd update: -0.578724 deg/s, cmd heading: 199.539487 deg, new cmd heading: 199.222105 deg. 2021-02-18T00:07:12.319Z,1613606832.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:07:13.094Z,1613606833.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:13.502Z,1613606833.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:14.384Z,1613606834.384 [Micromodem](INFO): Nmea in: $SNTTA,0.073115,,,,000713.15*40 2021-02-18T00:07:14.409Z,1613606834.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.500000 m, bearing: 196.979801 deg, deltaT: 4.435981 s, approachRate: -0.770969 m/s, LOS rate: 0.054900 deg/s, posRepo size: 4 2021-02-18T00:07:14.411Z,1613606834.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.500000 m, bearing: 196.979801 deg, approachRate: -0.770969 m/s, LOS rate: 0.054900 deg/s, cmd update: 0.219602 deg/s, cmd heading: 196.969926 deg, new cmd heading: 196.697700 deg. 2021-02-18T00:07:16.769Z,1613606836.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:07:17.567Z,1613606837.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:17.948Z,1613606837.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:18.780Z,1613606838.780 [Micromodem](INFO): Nmea in: $SNTTA,0.070865,,,,000717.63*48 2021-02-18T00:07:18.803Z,1613606838.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.140007 m, bearing: 197.610227 deg, deltaT: 4.450444 s, approachRate: -0.754979 m/s, LOS rate: 0.141655 deg/s, posRepo size: 4 2021-02-18T00:07:18.805Z,1613606838.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.140007 m, bearing: 197.610227 deg, approachRate: -0.754979 m/s, LOS rate: 0.141655 deg/s, cmd update: 0.566619 deg/s, cmd heading: 197.947281 deg, new cmd heading: 198.038160 deg. 2021-02-18T00:07:21.226Z,1613606841.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:07:21.978Z,1613606841.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:22.391Z,1613606842.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:23.220Z,1613606843.220 [Micromodem](INFO): Nmea in: $SNTTA,0.068720,,,,000722.04*48 2021-02-18T00:07:23.244Z,1613606843.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.959999 m, bearing: 198.504176 deg, deltaT: 4.434896 s, approachRate: -0.717042 m/s, LOS rate: 0.201572 deg/s, posRepo size: 4 2021-02-18T00:07:23.246Z,1613606843.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.959999 m, bearing: 198.504176 deg, approachRate: -0.717042 m/s, LOS rate: 0.201572 deg/s, cmd update: 0.806286 deg/s, cmd heading: 200.460274 deg, new cmd heading: 200.698318 deg. 2021-02-18T00:07:25.645Z,1613606845.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:07:26.426Z,1613606846.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:26.827Z,1613606846.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:27.716Z,1613606847.716 [Micromodem](INFO): Nmea in: $SNTTA,0.066485,,,,000726.48*46 2021-02-18T00:07:27.759Z,1613606847.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.599998 m, bearing: 197.861414 deg, deltaT: 4.455270 s, approachRate: -0.754163 m/s, LOS rate: -0.144270 deg/s, posRepo size: 4 2021-02-18T00:07:27.761Z,1613606847.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.599998 m, bearing: 197.861414 deg, approachRate: -0.754163 m/s, LOS rate: -0.144270 deg/s, cmd update: -0.577080 deg/s, cmd heading: 204.052509 deg, new cmd heading: 204.439026 deg. 2021-02-18T00:07:30.072Z,1613606850.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:07:30.874Z,1613606850.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:31.319Z,1613606851.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:32.096Z,1613606852.096 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000730.93*50 2021-02-18T00:07:32.132Z,1613606852.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.299995 m, bearing: 197.586403 deg, deltaT: 4.448108 s, approachRate: -0.741889 m/s, LOS rate: -0.061826 deg/s, posRepo size: 4 2021-02-18T00:07:32.134Z,1613606852.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.299995 m, bearing: 197.586403 deg, approachRate: -0.741889 m/s, LOS rate: -0.061826 deg/s, cmd update: -0.247306 deg/s, cmd heading: 201.485607 deg, new cmd heading: 201.252382 deg. 2021-02-18T00:07:34.550Z,1613606854.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:07:35.308Z,1613606855.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:35.731Z,1613606855.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:36.548Z,1613606856.548 [Micromodem](INFO): Nmea in: $SNTTA,0.061999,,,,000735.37*4B 2021-02-18T00:07:36.625Z,1613606856.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.759995 m, bearing: 196.752314 deg, deltaT: 4.415884 s, approachRate: -0.801652 m/s, LOS rate: -0.188884 deg/s, posRepo size: 4 2021-02-18T00:07:36.626Z,1613606856.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.759995 m, bearing: 196.752314 deg, approachRate: -0.801652 m/s, LOS rate: -0.188884 deg/s, cmd update: -0.755535 deg/s, cmd heading: 200.396831 deg, new cmd heading: 200.274568 deg. 2021-02-18T00:07:38.977Z,1613606858.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:07:39.754Z,1613606859.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:40.181Z,1613606860.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:40.985Z,1613606860.985 [Micromodem](INFO): Nmea in: $SNTTA,0.059769,,,,000739.81*40 2021-02-18T00:07:41.037Z,1613606861.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.519997 m, bearing: 197.695031 deg, deltaT: 4.467953 s, approachRate: -0.725164 m/s, LOS rate: 0.210995 deg/s, posRepo size: 4 2021-02-18T00:07:41.058Z,1613606861.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.519997 m, bearing: 197.695031 deg, approachRate: -0.725164 m/s, LOS rate: 0.210995 deg/s, cmd update: 0.843981 deg/s, cmd heading: 197.011049 deg, new cmd heading: 196.692238 deg. 2021-02-18T00:07:43.414Z,1613606863.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:07:44.284Z,1613606864.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:44.609Z,1613606864.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:45.497Z,1613606865.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.159996 m, bearing: 196.249530 deg, deltaT: 4.435896 s, approachRate: -0.757457 m/s, LOS rate: -0.325864 deg/s, posRepo size: 4 2021-02-18T00:07:45.499Z,1613606865.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.159996 m, bearing: 196.249530 deg, approachRate: -0.757457 m/s, LOS rate: -0.325864 deg/s, cmd update: -1.303457 deg/s, cmd heading: 200.754720 deg, new cmd heading: 201.134661 deg. 2021-02-18T00:07:45.847Z,1613606865.847 [Micromodem](INFO): Nmea in: $SNTTA,0.057612,,,,000744.34*47 2021-02-18T00:07:47.864Z,1613606867.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:07:48.642Z,1613606868.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:49.049Z,1613606869.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:49.886Z,1613606869.886 [Micromodem](INFO): Nmea in: $SNTTA,0.055388,,,,000748.70*4F 2021-02-18T00:07:49.910Z,1613606869.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.919998 m, bearing: 197.876290 deg, deltaT: 4.470181 s, approachRate: -0.724802 m/s, LOS rate: 0.363914 deg/s, posRepo size: 4 2021-02-18T00:07:49.912Z,1613606869.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.919998 m, bearing: 197.876290 deg, approachRate: -0.724802 m/s, LOS rate: 0.363914 deg/s, cmd update: 1.455655 deg/s, cmd heading: 194.946071 deg, new cmd heading: 194.416525 deg. 2021-02-18T00:07:52.309Z,1613606872.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:07:53.090Z,1613606873.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:53.490Z,1613606873.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:54.320Z,1613606874.320 [Micromodem](INFO): Nmea in: $SNTTA,0.053232,,,,000753.15*40 2021-02-18T00:07:54.344Z,1613606874.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.680000 m, bearing: 198.299011 deg, deltaT: 4.401141 s, approachRate: -0.736172 m/s, LOS rate: 0.096048 deg/s, posRepo size: 4 2021-02-18T00:07:54.346Z,1613606874.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.680000 m, bearing: 198.299011 deg, approachRate: -0.736172 m/s, LOS rate: 0.096048 deg/s, cmd update: 0.384192 deg/s, cmd heading: 201.372741 deg, new cmd heading: 201.992589 deg. 2021-02-18T00:07:56.750Z,1613606876.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:07:57.533Z,1613606877.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:07:58.018Z,1613606878.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:07:58.776Z,1613606878.776 [Micromodem](INFO): Nmea in: $SNTTA,0.051203,,,,000757.59*4C 2021-02-18T00:07:58.800Z,1613606878.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.680000 m, bearing: 197.373575 deg, deltaT: 4.487303 s, approachRate: -0.668553 m/s, LOS rate: -0.206234 deg/s, posRepo size: 4 2021-02-18T00:07:58.802Z,1613606878.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.680000 m, bearing: 197.373575 deg, approachRate: -0.668553 m/s, LOS rate: -0.206234 deg/s, cmd update: -0.824937 deg/s, cmd heading: 203.095249 deg, new cmd heading: 203.248041 deg. 2021-02-18T00:08:01.226Z,1613606881.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:01.973Z,1613606881.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:08:02.396Z,1613606882.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:08:03.220Z,1613606883.220 [Micromodem](INFO): Nmea in: $SNTTA,0.048878,,,,000802.03*42 2021-02-18T00:08:03.255Z,1613606883.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.140007 m, bearing: 197.220114 deg, deltaT: 4.412399 s, approachRate: -0.802283 m/s, LOS rate: -0.034779 deg/s, posRepo size: 4 2021-02-18T00:08:03.258Z,1613606883.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.140007 m, bearing: 197.220114 deg, approachRate: -0.802283 m/s, LOS rate: -0.034779 deg/s, cmd update: -0.139118 deg/s, cmd heading: 199.451963 deg, new cmd heading: 199.092704 deg. 2021-02-18T00:08:05.634Z,1613606885.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:06.422Z,1613606886.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:08:06.831Z,1613606886.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:08:07.656Z,1613606887.656 [Micromodem](INFO): Nmea in: $SNTTA,0.046653,,,,000806.48*40 2021-02-18T00:08:07.680Z,1613606887.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.959999 m, bearing: 198.949969 deg, deltaT: 4.443949 s, approachRate: -0.715582 m/s, LOS rate: 0.389261 deg/s, posRepo size: 4 2021-02-18T00:08:07.682Z,1613606887.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.959999 m, bearing: 198.949969 deg, approachRate: -0.715582 m/s, LOS rate: 0.389261 deg/s, cmd update: 1.557043 deg/s, cmd heading: 198.833732 deg, new cmd heading: 198.775628 deg. 2021-02-18T00:08:10.084Z,1613606890.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:10.862Z,1613606890.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:08:11.357Z,1613606891.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:08:12.108Z,1613606892.108 [Micromodem](INFO): Nmea in: $SNTTA,0.044309,,,,000810.92*48 2021-02-18T00:08:12.123Z,1613606892.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.239998 m, bearing: 197.917763 deg, deltaT: 4.488000 s, approachRate: -0.828877 m/s, LOS rate: -0.229992 deg/s, posRepo size: 4 2021-02-18T00:08:12.125Z,1613606892.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.239998 m, bearing: 197.917763 deg, approachRate: -0.828877 m/s, LOS rate: -0.229992 deg/s, cmd update: -0.919969 deg/s, cmd heading: 205.813615 deg, new cmd heading: 206.401445 deg. 2021-02-18T00:08:14.581Z,1613606894.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:15.309Z,1613606895.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:08:15.718Z,1613606895.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:08:16.560Z,1613606896.560 [Micromodem](INFO): Nmea in: $SNTTA,0.042113,,0.097793,,000815.37*50 2021-02-18T00:08:16.618Z,1613606896.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.000004 m, bearing: 195.352508 deg, deltaT: 4.395475 s, approachRate: -0.737120 m/s, LOS rate: -0.583613 deg/s, posRepo size: 4 2021-02-18T00:08:16.620Z,1613606896.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.000004 m, bearing: 195.352508 deg, approachRate: -0.737120 m/s, LOS rate: -0.583613 deg/s, cmd update: -2.334451 deg/s, cmd heading: 201.775409 deg, new cmd heading: 201.330813 deg. 2021-02-18T00:08:18.978Z,1613606898.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:19.758Z,1613606899.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:08:20.179Z,1613606900.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:08:20.984Z,1613606900.984 [Micromodem](INFO): Nmea in: $SNTTA,0.039807,,,,000819.82*4F 2021-02-18T00:08:21.021Z,1613606901.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.280003 m, bearing: 197.398355 deg, deltaT: 4.498972 s, approachRate: -0.826856 m/s, LOS rate: 0.454736 deg/s, posRepo size: 4 2021-02-18T00:08:21.023Z,1613606901.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.280003 m, bearing: 197.398355 deg, approachRate: -0.826856 m/s, LOS rate: 0.454736 deg/s, cmd update: 1.818946 deg/s, cmd heading: 191.283780 deg, new cmd heading: 190.368024 deg. 2021-02-18T00:08:23.440Z,1613606903.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:24.209Z,1613606904.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:08:24.665Z,1613606904.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:08:25.456Z,1613606905.456 [Micromodem](INFO): Nmea in: $SNTTA,0.037778,,,,000824.27*47 2021-02-18T00:08:25.480Z,1613606905.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.459995 m, bearing: 198.153910 deg, deltaT: 4.392589 s, approachRate: -0.641992 m/s, LOS rate: 0.172007 deg/s, posRepo size: 4 2021-02-18T00:08:25.482Z,1613606905.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.459995 m, bearing: 198.153910 deg, approachRate: -0.641992 m/s, LOS rate: 0.172007 deg/s, cmd update: 0.688028 deg/s, cmd heading: 199.273642 deg, new cmd heading: 200.107125 deg. 2021-02-18T00:08:27.852Z,1613606907.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:28.644Z,1613606908.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:08:29.047Z,1613606909.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:08:29.868Z,1613606909.868 [Micromodem](INFO): Nmea in: $SNTTA,0.035435,,,,000828.70*41 2021-02-18T00:08:29.915Z,1613606909.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.100006 m, bearing: 198.946021 deg, deltaT: 4.450619 s, approachRate: -0.754949 m/s, LOS rate: 0.177978 deg/s, posRepo size: 4 2021-02-18T00:08:29.917Z,1613606909.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.100006 m, bearing: 198.946021 deg, approachRate: -0.754949 m/s, LOS rate: 0.177978 deg/s, cmd update: 0.711911 deg/s, cmd heading: 202.332889 deg, new cmd heading: 202.640567 deg. 2021-02-18T00:08:32.302Z,1613606912.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:33.080Z,1613606913.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:08:33.486Z,1613606913.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:08:34.312Z,1613606914.312 [Micromodem](INFO): Nmea in: $SNTTA,0.033335,,,,000833.14*48 2021-02-18T00:08:34.358Z,1613606914.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.859997 m, bearing: 197.912340 deg, deltaT: 4.443515 s, approachRate: -0.729155 m/s, LOS rate: -0.232627 deg/s, posRepo size: 4 2021-02-18T00:08:34.360Z,1613606914.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.859997 m, bearing: 197.912340 deg, approachRate: -0.729155 m/s, LOS rate: -0.232627 deg/s, cmd update: -0.930507 deg/s, cmd heading: 205.510592 deg, new cmd heading: 205.814524 deg. 2021-02-18T00:08:36.754Z,1613606916.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:37.530Z,1613606917.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:08:37.936Z,1613606917.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:08:38.764Z,1613606918.764 [Micromodem](INFO): Nmea in: $SNTTA,0.031200,,,,000837.59*40 2021-02-18T00:08:38.812Z,1613606918.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.560001 m, bearing: 196.726141 deg, deltaT: 4.503197 s, approachRate: -0.732812 m/s, LOS rate: -0.263413 deg/s, posRepo size: 4 2021-02-18T00:08:38.814Z,1613606918.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.560001 m, bearing: 196.726141 deg, approachRate: -0.732812 m/s, LOS rate: -0.263413 deg/s, cmd update: -1.053650 deg/s, cmd heading: 201.320315 deg, new cmd heading: 200.973275 deg. 2021-02-18T00:08:41.220Z,1613606921.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:41.968Z,1613606921.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:08:42.391Z,1613606922.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:08:43.207Z,1613606923.207 [Micromodem](INFO): Nmea in: $SNTTA,0.029043,,,,000842.03*41 2021-02-18T00:08:44.012Z,1613606924.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:45.603Z,1613606925.603 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:08:46.852Z,1613606926.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:47.626Z,1613606927.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:08:48.043Z,1613606928.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:08:48.880Z,1613606928.880 [Micromodem](INFO): Nmea in: $SNTTA,0.026313,,,,000847.68*40 2021-02-18T00:08:48.922Z,1613606928.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.299999 m, bearing: 198.045378 deg, deltaT: 10.154008 s, approachRate: -0.714989 m/s, LOS rate: 0.129923 deg/s, posRepo size: 4 2021-02-18T00:08:48.927Z,1613606928.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.30 m. 2021-02-18T00:08:48.929Z,1613606928.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.299999 m, bearing: 198.045378 deg, approachRate: -0.714989 m/s, LOS rate: 0.129923 deg/s, cmd update: 0.519691 deg/s, cmd heading: 190.668933 deg, new cmd heading: 190.270159 deg. 2021-02-18T00:08:49.273Z,1613606929.273 [PowerOnly](INFO): Powering up loadControl 2021-02-18T00:08:51.287Z,1613606931.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:52.145Z,1613606932.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:08:52.481Z,1613606932.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:08:53.371Z,1613606933.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.299995 m, bearing: 200.329885 deg, deltaT: 4.325539 s, approachRate: -0.693556 m/s, LOS rate: 0.528144 deg/s, posRepo size: 4 2021-02-18T00:08:53.375Z,1613606933.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.30 m. 2021-02-18T00:08:53.376Z,1613606933.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.30 m. 2021-02-18T00:08:53.376Z,1613606933.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T00:08:53.378Z,1613606933.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.299995 m, bearing: 200.329885 deg, approachRate: -0.693556 m/s, LOS rate: 0.528144 deg/s, cmd update: 2.112576 deg/s, cmd heading: 192.940254 deg, new cmd heading: 193.177349 deg. 2021-02-18T00:08:53.701Z,1613606933.701 [Micromodem](INFO): Nmea in: $SNTTA,0.024134,,,,000852.20*4D 2021-02-18T00:08:55.742Z,1613606935.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:08:56.516Z,1613606936.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:08:56.920Z,1613606936.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:08:57.744Z,1613606937.744 [Micromodem](INFO): Nmea in: $SNTTA,0.021878,,0.054677,,000856.57*54 2021-02-18T00:08:57.788Z,1613606937.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.580002 m, bearing: 201.182061 deg, deltaT: 4.469277 s, approachRate: -0.832348 m/s, LOS rate: 0.190674 deg/s, posRepo size: 4 2021-02-18T00:08:57.790Z,1613606937.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.580002 m, bearing: 201.182061 deg, approachRate: -0.832348 m/s, LOS rate: 0.190674 deg/s, cmd update: 0.762696 deg/s, cmd heading: 202.373506 deg, new cmd heading: 203.194121 deg. 2021-02-18T00:09:00.214Z,1613606940.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:00.958Z,1613606940.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:01.378Z,1613606941.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:02.224Z,1613606942.224 [Micromodem](INFO): Nmea in: $SNTTA,0.019829,,,,000901.02*41 2021-02-18T00:09:02.297Z,1613606942.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.519999 m, bearing: 198.544228 deg, deltaT: 4.470656 s, approachRate: -0.684464 m/s, LOS rate: -0.590033 deg/s, posRepo size: 4 2021-02-18T00:09:02.304Z,1613606942.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.519999 m, bearing: 198.544228 deg, approachRate: -0.684464 m/s, LOS rate: -0.590033 deg/s, cmd update: -2.360130 deg/s, cmd heading: 205.786314 deg, new cmd heading: 206.124360 deg. 2021-02-18T00:09:04.635Z,1613606944.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:05.409Z,1613606945.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:05.833Z,1613606945.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:06.632Z,1613606946.632 [Micromodem](INFO): Nmea in: $SNTTA,0.017524,,,,000905.47*4A 2021-02-18T00:09:06.678Z,1613606946.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.099998 m, bearing: 198.351002 deg, deltaT: 4.407689 s, approachRate: -0.775917 m/s, LOS rate: -0.043838 deg/s, posRepo size: 4 2021-02-18T00:09:06.680Z,1613606946.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.099998 m, bearing: 198.351002 deg, approachRate: -0.775917 m/s, LOS rate: -0.043838 deg/s, cmd update: -0.175354 deg/s, cmd heading: 195.383826 deg, new cmd heading: 194.401643 deg. 2021-02-18T00:09:09.052Z,1613606949.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:09.846Z,1613606949.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:10.265Z,1613606950.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:11.078Z,1613606951.078 [Micromodem](INFO): Nmea in: $SNTTA,0.015766,,,,000909.91*4B 2021-02-18T00:09:11.133Z,1613606951.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.000002 m, bearing: 203.812175 deg, deltaT: 4.438671 s, approachRate: -0.473114 m/s, LOS rate: 1.230362 deg/s, posRepo size: 4 2021-02-18T00:09:11.136Z,1613606951.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.000002 m, bearing: 203.812175 deg, approachRate: -0.473114 m/s, LOS rate: 1.230362 deg/s, cmd update: 4.921449 deg/s, cmd heading: 194.606175 deg, new cmd heading: 194.529834 deg. 2021-02-18T00:09:13.506Z,1613606953.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:14.307Z,1613606954.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:14.699Z,1613606954.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:15.624Z,1613606955.624 [Micromodem](INFO): Nmea in: $SNTTA,0.013664,,,,000914.37*4E 2021-02-18T00:09:15.698Z,1613606955.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.280001 m, bearing: 201.775550 deg, deltaT: 4.410479 s, approachRate: -0.843446 m/s, LOS rate: -0.461770 deg/s, posRepo size: 4 2021-02-18T00:09:15.704Z,1613606955.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.280001 m, bearing: 201.775550 deg, approachRate: -0.843446 m/s, LOS rate: -0.461770 deg/s, cmd update: -1.847079 deg/s, cmd heading: 216.331888 deg, new cmd heading: 219.221389 deg. 2021-02-18T00:09:17.958Z,1613606957.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:18.746Z,1613606958.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:19.156Z,1613606959.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:19.975Z,1613606959.975 [Micromodem](INFO): Nmea in: $SNTTA,0.011483,,,,000918.80*47 2021-02-18T00:09:19.998Z,1613606959.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.079996 m, bearing: 193.982987 deg, deltaT: 4.525109 s, approachRate: -0.928155 m/s, LOS rate: -1.722072 deg/s, posRepo size: 4 2021-02-18T00:09:20.000Z,1613606960.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.079996 m, bearing: 193.982987 deg, approachRate: -0.928155 m/s, LOS rate: -1.722072 deg/s, cmd update: -6.888287 deg/s, cmd heading: 207.974097 deg, new cmd heading: 207.305218 deg. 2021-02-18T00:09:22.418Z,1613606962.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:23.206Z,1613606963.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:23.592Z,1613606963.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:24.421Z,1613606964.421 [Micromodem](INFO): Nmea in: $SNTTA,0.009422,,0.017005,,000923.27*5D 2021-02-18T00:09:24.482Z,1613606964.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.639997 m, bearing: 198.507290 deg, deltaT: 4.364885 s, approachRate: -0.329906 m/s, LOS rate: 1.036523 deg/s, posRepo size: 4 2021-02-18T00:09:24.488Z,1613606964.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.639997 m, bearing: 198.507290 deg, approachRate: -0.329906 m/s, LOS rate: 1.036523 deg/s, cmd update: 4.146092 deg/s, cmd heading: 177.905801 deg, new cmd heading: 174.595821 deg. 2021-02-18T00:09:26.856Z,1613606966.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:27.621Z,1613606967.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:28.026Z,1613606968.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:28.920Z,1613606968.920 [Micromodem](INFO): Nmea in: $SNTTA,0.006775,,,,000927.68*41 2021-02-18T00:09:28.950Z,1613606968.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.899997 m, bearing: 198.859701 deg, deltaT: 4.488395 s, approachRate: -1.056057 m/s, LOS rate: 0.078516 deg/s, posRepo size: 4 2021-02-18T00:09:28.952Z,1613606968.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.899997 m, bearing: 198.859701 deg, approachRate: -1.056057 m/s, LOS rate: 0.078516 deg/s, cmd update: 0.314064 deg/s, cmd heading: 196.498180 deg, new cmd heading: 198.424956 deg. 2021-02-18T00:09:31.299Z,1613606971.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:32.129Z,1613606972.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:32.489Z,1613606972.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:33.314Z,1613606973.314 [Micromodem](INFO): Nmea in: $SNTTA,0.004945,,,,000932.19*4C 2021-02-18T00:09:33.389Z,1613606973.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.139998 m, bearing: 194.367458 deg, deltaT: 4.437831 s, approachRate: -0.621925 m/s, LOS rate: -1.012261 deg/s, posRepo size: 4 2021-02-18T00:09:33.396Z,1613606973.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.139998 m, bearing: 194.367458 deg, approachRate: -0.621925 m/s, LOS rate: -1.012261 deg/s, cmd update: -4.049044 deg/s, cmd heading: 197.893185 deg, new cmd heading: 198.038150 deg. 2021-02-18T00:09:35.733Z,1613606975.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:36.513Z,1613606976.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:36.919Z,1613606976.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:37.740Z,1613606977.740 [Micromodem](INFO): Nmea in: $SNTTA,0.003332,,,,000936.57*4F 2021-02-18T00:09:37.762Z,1613606977.762 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T00:09:37.762Z,1613606977.762 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T00:09:37.762Z,1613606977.762 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T00:09:37.762Z,1613606977.762 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T00:09:37.762Z,1613606977.762 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T00:09:37.783Z,1613606977.783 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 2021-02-18T00:09:37.783Z,1613606977.783 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T00:09:37.783Z,1613606977.783 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T00:09:37.783Z,1613606977.783 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T00:09:37.786Z,1613606977.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 194.114960 deg, deltaT: 4.439062 s, approachRate: -0.513622 m/s, LOS rate: -0.056881 deg/s, posRepo size: 4 2021-02-18T00:09:37.792Z,1613606977.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.860001 m, bearing: 194.114960 deg, approachRate: -0.513622 m/s, LOS rate: -0.056881 deg/s, cmd update: -0.227524 deg/s, cmd heading: 179.935283 deg, new cmd heading: 178.221186 deg. 2021-02-18T00:09:38.205Z,1613606978.205 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T000938: (41.552319, -70.708603) 2021-02-18T00:09:38.205Z,1613606978.205 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T00:09:38.205Z,1613606978.205 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T00:09:38.205Z,1613606978.205 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T00:09:38.205Z,1613606978.205 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T00:09:38.205Z,1613606978.205 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T00:09:38.206Z,1613606978.206 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T00:09:38.206Z,1613606978.206 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T00:09:38.206Z,1613606978.206 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T00:09:40.201Z,1613606980.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:40.954Z,1613606980.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:41.358Z,1613606981.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:42.280Z,1613606982.280 [Micromodem](INFO): Nmea in: $SNTTA,0.003020,,,,000941.01*4C 2021-02-18T00:09:42.325Z,1613606982.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 129.917793 deg, deltaT: 4.452532 s, approachRate: -0.107804 m/s, LOS rate: -14.418126 deg/s, posRepo size: 4 2021-02-18T00:09:42.326Z,1613606982.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.418126 deg/s. Setting heading cmd to target bearing of 129.917793deg and heading rate command to 0 deg/s. 2021-02-18T00:09:44.623Z,1613606984.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:45.404Z,1613606985.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:45.819Z,1613606985.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:46.636Z,1613606986.636 [Micromodem](INFO): Nmea in: $SNTTA,0.003410,,,,000945.46*4C 2021-02-18T00:09:46.660Z,1613606986.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.100000 m, bearing: 191.115482 deg, deltaT: 4.434818 s, approachRate: 0.162352 m/s, LOS rate: 13.799368 deg/s, posRepo size: 4 2021-02-18T00:09:46.661Z,1613606986.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.799368 deg/s. Setting heading cmd to target bearing of 191.115482deg and heading rate command to 0 deg/s. 2021-02-18T00:09:49.055Z,1613606989.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:49.865Z,1613606989.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:50.251Z,1613606990.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:51.080Z,1613606991.080 [Micromodem](INFO): Nmea in: $SNTTA,0.004757,,,,000949.93*4F 2021-02-18T00:09:51.122Z,1613606991.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.199999 m, bearing: 195.540133 deg, deltaT: 4.418907 s, approachRate: 0.475230 m/s, LOS rate: 1.001300 deg/s, posRepo size: 4 2021-02-18T00:09:51.128Z,1613606991.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.199999 m, bearing: 195.540133 deg, approachRate: 0.475230 m/s, LOS rate: 1.001300 deg/s, cmd update: 4.005199 deg/s, cmd heading: 191.115482 deg, new cmd heading: 191.115482 deg. 2021-02-18T00:09:53.578Z,1613606993.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:54.299Z,1613606994.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:54.695Z,1613606994.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:55.531Z,1613606995.531 [Micromodem](INFO): Nmea in: $SNTTA,0.006435,,,,000954.36*49 2021-02-18T00:09:55.618Z,1613606995.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.719998 m, bearing: 175.415596 deg, deltaT: 4.456028 s, approachRate: 0.565526 m/s, LOS rate: -4.516250 deg/s, posRepo size: 4 2021-02-18T00:09:55.626Z,1613606995.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.719998 m, bearing: 175.415596 deg, approachRate: 0.565526 m/s, LOS rate: -4.516250 deg/s, cmd update: -12.000000 deg/s, cmd heading: 208.962339 deg, new cmd heading: 210.921718 deg. 2021-02-18T00:09:57.663Z,1613606997.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:09:57.924Z,1613606997.924 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-02-18T00:09:57.926Z,1613606997.926 [BPC1](INFO): Received data from all battery sticks. 2021-02-18T00:09:58.326Z,1613606998.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:09:58.730Z,1613606998.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:09:59.560Z,1613606999.560 [Micromodem](INFO): Nmea in: $SNTTA,0.009013,,,,000958.39*45 2021-02-18T00:09:59.635Z,1613606999.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.599998 m, bearing: 186.514503 deg, deltaT: 4.081223 s, approachRate: 0.705671 m/s, LOS rate: 2.719505 deg/s, posRepo size: 4 2021-02-18T00:09:59.637Z,1613606999.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.599998 m, bearing: 186.514503 deg, approachRate: 0.705671 m/s, LOS rate: 2.719505 deg/s, cmd update: 10.878021 deg/s, cmd heading: 160.035901 deg, new cmd heading: 154.885801 deg. 2021-02-18T00:10:02.005Z,1613607002.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:10:02.774Z,1613607002.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:10:03.207Z,1613607003.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:10:04.004Z,1613607004.004 [Micromodem](INFO): Nmea in: $SNTTA,0.010848,,,,001002.83*4D 2021-02-18T00:10:04.046Z,1613607004.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.660002 m, bearing: 193.748274 deg, deltaT: 4.427830 s, approachRate: 0.691084 m/s, LOS rate: 1.633706 deg/s, posRepo size: 4 2021-02-18T00:10:04.046Z,1613607004.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.66 m. Rolling out. 2021-02-18T00:10:04.046Z,1613607004.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T00:10:06.474Z,1613607006.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:10:07.220Z,1613607007.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:10:07.618Z,1613607007.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:10:08.444Z,1613607008.444 [Micromodem](INFO): Nmea in: $SNTTA,0.012490,,,,001007.28*42 2021-02-18T00:10:08.485Z,1613607008.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.899998 m, bearing: 179.878373 deg, deltaT: 4.412030 s, approachRate: 0.734355 m/s, LOS rate: -3.143655 deg/s, posRepo size: 4 2021-02-18T00:10:10.887Z,1613607010.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:10:11.661Z,1613607011.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:10:12.062Z,1613607012.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:10:12.892Z,1613607012.892 [Micromodem](INFO): Nmea in: $SNTTA,0.015103,,,,001011.72*42 2021-02-18T00:10:12.931Z,1613607012.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.740000 m, bearing: 195.426301 deg, deltaT: 4.462486 s, approachRate: 0.860507 m/s, LOS rate: 3.484141 deg/s, posRepo size: 4 2021-02-18T00:10:15.331Z,1613607015.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:10:16.100Z,1613607016.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:10:16.511Z,1613607016.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:10:17.328Z,1613607017.328 [Micromodem](INFO): Nmea in: $SNTTA,0.016883,,,,001016.16*45 2021-02-18T00:10:17.353Z,1613607017.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.020000 m, bearing: 244.367093 deg, deltaT: 4.409619 s, approachRate: 0.517052 m/s, LOS rate: 11.098644 deg/s, posRepo size: 4 2021-02-18T00:10:19.780Z,1613607019.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:10:20.571Z,1613607020.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:10:20.950Z,1613607020.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:10:21.784Z,1613607021.784 [Micromodem](INFO): Nmea in: $SNTTA,0.019020,,,,001020.63*4C 2021-02-18T00:10:21.833Z,1613607021.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.320000 m, bearing: 250.760287 deg, deltaT: 4.453327 s, approachRate: 0.741019 m/s, LOS rate: 1.435599 deg/s, posRepo size: 4 2021-02-18T00:10:23.792Z,1613607023.792 [PowerOnly](INFO): Powering down loadControl 2021-02-18T00:10:24.272Z,1613607024.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:10:24.993Z,1613607024.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:10:25.397Z,1613607025.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:10:26.231Z,1613607026.231 [Micromodem](INFO): Nmea in: $SNTTA,0.021394,,,,001025.05*4E 2021-02-18T00:10:26.255Z,1613607026.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.500000 m, bearing: 250.808153 deg, deltaT: 4.468066 s, approachRate: 0.711717 m/s, LOS rate: 0.010713 deg/s, posRepo size: 4 2021-02-18T00:10:28.653Z,1613607028.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:10:29.432Z,1613607029.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:10:29.856Z,1613607029.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:10:30.664Z,1613607030.664 [Micromodem](INFO): Nmea in: $SNTTA,0.118942,,,,001029.49*40 2021-02-18T00:10:30.706Z,1613607030.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.620003 m, bearing: 250.369217 deg, deltaT: 4.436303 s, approachRate: 0.703289 m/s, LOS rate: -0.098942 deg/s, posRepo size: 4 2021-02-18T00:10:33.084Z,1613607033.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:10:33.898Z,1613607033.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:10:34.296Z,1613607034.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:10:35.112Z,1613607035.112 [Micromodem](INFO): Nmea in: $SNTTA,0.025472,,,,001033.96*48 2021-02-18T00:10:35.154Z,1613607035.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.980000 m, bearing: 251.851041 deg, deltaT: 4.453965 s, approachRate: 0.754383 m/s, LOS rate: 0.332698 deg/s, posRepo size: 4 2021-02-18T00:10:37.643Z,1613607037.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:10:38.325Z,1613607038.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:10:38.730Z,1613607038.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:10:39.556Z,1613607039.556 [Micromodem](INFO): Nmea in: $SNTTA,0.027606,,,,001038.38*44 2021-02-18T00:10:39.636Z,1613607039.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.220001 m, bearing: 247.071602 deg, deltaT: 4.468055 s, approachRate: 0.725148 m/s, LOS rate: -1.069691 deg/s, posRepo size: 4 2021-02-18T00:10:41.985Z,1613607041.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:10:42.764Z,1613607042.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:10:43.225Z,1613607043.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:10:43.999Z,1613607043.999 [Micromodem](INFO): Nmea in: $SNTTA,0.029545,,,,001042.82*42 2021-02-18T00:10:44.018Z,1613607044.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.820000 m, bearing: 233.336064 deg, deltaT: 4.413344 s, approachRate: 0.815708 m/s, LOS rate: -3.112275 deg/s, posRepo size: 4 2021-02-18T00:10:46.494Z,1613607046.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:10:47.214Z,1613607047.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:10:47.618Z,1613607047.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:10:48.436Z,1613607048.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001047.27*59 2021-02-18T00:10:48.461Z,1613607048.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.239998 m, bearing: 234.163282 deg, deltaT: 4.416035 s, approachRate: 0.774450 m/s, LOS rate: 0.187321 deg/s, posRepo size: 4 2021-02-18T00:10:50.868Z,1613607050.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:10:51.660Z,1613607051.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:10:52.058Z,1613607052.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:10:52.889Z,1613607052.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001051.72*5E 2021-02-18T00:10:52.932Z,1613607052.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.180000 m, bearing: 247.951604 deg, deltaT: 4.468453 s, approachRate: 0.657946 m/s, LOS rate: 3.085704 deg/s, posRepo size: 4 2021-02-18T00:10:55.324Z,1613607055.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:10:56.098Z,1613607056.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:10:56.508Z,1613607056.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:10:57.328Z,1613607057.328 [Micromodem](INFO): Nmea in: $SNTTA,0.036218,,,,001056.16*4B 2021-02-18T00:10:57.352Z,1613607057.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.480000 m, bearing: 247.902672 deg, deltaT: 4.427906 s, approachRate: 0.745273 m/s, LOS rate: -0.011051 deg/s, posRepo size: 4 2021-02-18T00:10:59.776Z,1613607059.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:00.562Z,1613607060.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:11:00.946Z,1613607060.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:11:01.784Z,1613607061.784 [Micromodem](INFO): Nmea in: $SNTTA,0.050989,,0.041426,,001100.62*52 2021-02-18T00:11:01.834Z,1613607061.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.200001 m, bearing: 235.294443 deg, deltaT: 4.477970 s, approachRate: 0.830734 m/s, LOS rate: -2.815613 deg/s, posRepo size: 4 2021-02-18T00:11:04.237Z,1613607064.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:04.984Z,1613607064.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:11:05.390Z,1613607065.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:11:06.224Z,1613607066.224 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001105.04*5F 2021-02-18T00:11:06.281Z,1613607066.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.560005 m, bearing: 237.056031 deg, deltaT: 4.431773 s, approachRate: 0.758163 m/s, LOS rate: 0.397491 deg/s, posRepo size: 4 2021-02-18T00:11:08.675Z,1613607068.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:09.429Z,1613607069.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:11:09.842Z,1613607069.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:11:10.658Z,1613607070.658 [Micromodem](INFO): Nmea in: $SNTTA,0.042918,,,,001109.49*42 2021-02-18T00:11:10.705Z,1613607070.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.739998 m, bearing: 236.193570 deg, deltaT: 4.460906 s, approachRate: 0.712858 m/s, LOS rate: -0.193338 deg/s, posRepo size: 4 2021-02-18T00:11:13.091Z,1613607073.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:13.872Z,1613607073.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:11:14.283Z,1613607074.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:11:15.100Z,1613607075.100 [Micromodem](INFO): Nmea in: $SNTTA,0.045186,,,,001113.93*46 2021-02-18T00:11:15.153Z,1613607075.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.980003 m, bearing: 240.135217 deg, deltaT: 4.417619 s, approachRate: 0.733428 m/s, LOS rate: 0.892256 deg/s, posRepo size: 4 2021-02-18T00:11:17.588Z,1613607077.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:18.322Z,1613607078.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:11:18.730Z,1613607078.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:11:19.564Z,1613607079.564 [Micromodem](INFO): Nmea in: $SNTTA,0.047500,,,,001118.38*44 2021-02-18T00:11:19.626Z,1613607079.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.519997 m, bearing: 232.315252 deg, deltaT: 4.451174 s, approachRate: 0.795294 m/s, LOS rate: -1.756832 deg/s, posRepo size: 4 2021-02-18T00:11:21.972Z,1613607081.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:22.762Z,1613607082.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:11:23.194Z,1613607083.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:11:23.988Z,1613607083.988 [Micromodem](INFO): Nmea in: $SNTTA,0.049620,,,,001122.82*43 2021-02-18T00:11:24.024Z,1613607084.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.760002 m, bearing: 220.038355 deg, deltaT: 4.477872 s, approachRate: 0.723559 m/s, LOS rate: -2.741681 deg/s, posRepo size: 4 2021-02-18T00:11:26.422Z,1613607086.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:27.212Z,1613607087.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:11:27.610Z,1613607087.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:11:28.436Z,1613607088.436 [Micromodem](INFO): Nmea in: $SNTTA,0.051984,,,,001127.27*41 2021-02-18T00:11:28.474Z,1613607088.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.119995 m, bearing: 233.261178 deg, deltaT: 4.410405 s, approachRate: 0.761833 m/s, LOS rate: 2.998097 deg/s, posRepo size: 4 2021-02-18T00:11:30.876Z,1613607090.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:31.653Z,1613607091.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:11:32.062Z,1613607092.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:11:32.880Z,1613607092.880 [Micromodem](INFO): Nmea in: $SNTTA,0.054087,,,,001131.71*4A 2021-02-18T00:11:32.918Z,1613607092.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.360008 m, bearing: 230.779934 deg, deltaT: 4.442759 s, approachRate: 0.729280 m/s, LOS rate: -0.558492 deg/s, posRepo size: 4 2021-02-18T00:11:35.325Z,1613607095.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:36.096Z,1613607096.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:11:36.508Z,1613607096.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:11:37.328Z,1613607097.328 [Micromodem](INFO): Nmea in: $SNTTA,0.056209,,,,001136.15*49 2021-02-18T00:11:37.374Z,1613607097.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.599998 m, bearing: 233.776530 deg, deltaT: 4.461729 s, approachRate: 0.726174 m/s, LOS rate: 0.671622 deg/s, posRepo size: 4 2021-02-18T00:11:39.770Z,1613607099.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:40.560Z,1613607100.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:11:40.947Z,1613607100.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:11:41.784Z,1613607101.784 [Micromodem](INFO): Nmea in: $SNTTA,0.058465,,,,001140.62*4A 2021-02-18T00:11:41.812Z,1613607101.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.019997 m, bearing: 210.224507 deg, deltaT: 4.429968 s, approachRate: 0.772014 m/s, LOS rate: -5.316522 deg/s, posRepo size: 4 2021-02-18T00:11:44.242Z,1613607104.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:44.984Z,1613607104.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:11:45.395Z,1613607105.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:11:46.244Z,1613607106.244 [Micromodem](INFO): Nmea in: $SNTTA,0.060629,,,,001145.04*4E 2021-02-18T00:11:46.276Z,1613607106.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.139999 m, bearing: 219.434389 deg, deltaT: 4.433470 s, approachRate: 0.703738 m/s, LOS rate: 2.077353 deg/s, posRepo size: 4 2021-02-18T00:11:48.644Z,1613607108.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:49.436Z,1613607109.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:11:49.834Z,1613607109.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:11:50.660Z,1613607110.660 [Micromodem](INFO): Nmea in: $SNTTA,0.062739,,,,001149.50*41 2021-02-18T00:11:50.704Z,1613607110.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.560005 m, bearing: 221.851812 deg, deltaT: 4.468051 s, approachRate: 0.765436 m/s, LOS rate: 0.541046 deg/s, posRepo size: 4 2021-02-18T00:11:53.078Z,1613607113.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:53.874Z,1613607113.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:11:54.278Z,1613607114.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:11:54.728Z,1613607114.728 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T00:11:54.728Z,1613607114.728 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T00:11:54.729Z,1613607114.729 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T00:11:54.729Z,1613607114.729 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T00:11:54.729Z,1613607114.729 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T00:11:55.090Z,1613607115.090 [Micromodem](INFO): Nmea in: $SNTTA,0.065036,,,,001153.93*4A 2021-02-18T00:11:55.211Z,1613607115.211 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60420000005D000004004A0000000000000000151D80030C5669BF92F9E5925A27A7AF984C0DECAF616FE730FDB353DE447D6430E667C8122C5D7CF3AC 2021-02-18T00:11:55.212Z,1613607115.212 [Micromodem](INFO): Outgoing frame #2, 27 bytes: F7B4C1E56FB7A1757E62B8B0D9B1A40740416CCD2AD3EE62143600 2021-02-18T00:11:55.212Z,1613607115.212 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T00:11:55.965Z,1613607115.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:56.298Z,1613607116.298 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T00:11:56.705Z,1613607116.705 [Micromodem](INFO): Nmea in: $CADRQ,001155,1,10,0,64,1*76 2021-02-18T00:11:56.706Z,1613607116.706 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60420000005D000004004A0000000000000000151D80030C5669BF92F9E5925A27A7AF984C0DECAF616FE730FDB353DE447D6430E667C8122C5D7CF3AC*3B 2021-02-18T00:11:57.105Z,1613607117.105 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T00:11:57.513Z,1613607117.513 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:11:57.532Z,1613607117.532 [Micromodem](INFO): Nmea in: $CADRQ,001156,1,10,0,64,2*76 2021-02-18T00:11:57.532Z,1613607117.532 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,F7B4C1E56FB7A1757E62B8B0D9B1A40740416CCD2AD3EE62143600*4A 2021-02-18T00:11:57.917Z,1613607117.917 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,27*4E 2021-02-18T00:11:58.317Z,1613607118.317 [Micromodem](INFO): Nmea in: $CATXP,91*7A 2021-02-18T00:11:58.752Z,1613607118.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:11:59.533Z,1613607119.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:12:00.745Z,1613607120.745 [Micromodem](INFO): Nmea in: $CATXF,91*6C 2021-02-18T00:12:00.745Z,1613607120.745 [Micromodem](ERROR): Response from modem unexpected: $CATXF,91*6C 2021-02-18T00:12:01.145Z,1613607121.145 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,001157.588555,3,0,200,4000,14500,1,1,10,1,2,2,3,91*43 2021-02-18T00:12:01.145Z,1613607121.145 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,001157.588555,3,0,200,4000,14500,1,1,10,1,2,2,3,91*43 2021-02-18T00:12:01.323Z,1613607121.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:03.989Z,1613607123.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:06.825Z,1613607126.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:09.766Z,1613607129.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:10.857Z,1613607130.857 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:12:11.246Z,1613607131.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:12:12.076Z,1613607132.076 [Micromodem](INFO): Nmea in: $SNTTA,0.073575,,,,001210.92*4A 2021-02-18T00:12:12.121Z,1613607132.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.519997 m, bearing: 227.817217 deg, deltaT: 21.410463 s, approachRate: 0.745430 m/s, LOS rate: 0.278621 deg/s, posRepo size: 4 2021-02-18T00:12:14.236Z,1613607134.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:14.886Z,1613607134.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:12:15.285Z,1613607135.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:12:16.112Z,1613607136.112 [Micromodem](INFO): Nmea in: $SNTTA,0.075556,,,,001214.94*4F 2021-02-18T00:12:16.274Z,1613607136.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.580009 m, bearing: 231.584585 deg, deltaT: 4.051002 s, approachRate: 0.755372 m/s, LOS rate: 0.929984 deg/s, posRepo size: 4 2021-02-18T00:12:18.594Z,1613607138.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:19.324Z,1613607139.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:12:19.741Z,1613607139.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:12:20.558Z,1613607140.558 [Micromodem](INFO): Nmea in: $SNTTA,0.077709,,,,001219.38*4E 2021-02-18T00:12:21.381Z,1613607141.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:22.976Z,1613607142.976 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:12:24.248Z,1613607144.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:24.982Z,1613607144.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:12:25.387Z,1613607145.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:12:26.224Z,1613607146.224 [Micromodem](INFO): Nmea in: $SNTTA,0.080584,,,,001225.04*41 2021-02-18T00:12:26.248Z,1613607146.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.320000 m, bearing: 231.396455 deg, deltaT: 10.066996 s, approachRate: 0.768848 m/s, LOS rate: -0.018688 deg/s, posRepo size: 4 2021-02-18T00:12:28.674Z,1613607148.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:29.424Z,1613607149.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:12:29.836Z,1613607149.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:12:30.652Z,1613607150.652 [Micromodem](INFO): Nmea in: $SNTTA,0.082764,,,,001229.48*4B 2021-02-18T00:12:30.690Z,1613607150.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.559998 m, bearing: 227.480120 deg, deltaT: 4.466596 s, approachRate: 0.725384 m/s, LOS rate: -0.876805 deg/s, posRepo size: 4 2021-02-18T00:12:33.096Z,1613607153.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:33.868Z,1613607153.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:12:34.275Z,1613607154.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:12:35.107Z,1613607155.107 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001233.93*57 2021-02-18T00:12:35.146Z,1613607155.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.740005 m, bearing: 231.166523 deg, deltaT: 4.463823 s, approachRate: 0.712396 m/s, LOS rate: 0.825840 deg/s, posRepo size: 4 2021-02-18T00:12:37.535Z,1613607157.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:38.317Z,1613607158.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:12:38.725Z,1613607158.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:12:39.564Z,1613607159.564 [Micromodem](INFO): Nmea in: $SNTTA,0.087240,,,,001238.38*4A 2021-02-18T00:12:39.629Z,1613607159.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.100006 m, bearing: 221.551707 deg, deltaT: 4.419981 s, approachRate: 0.760184 m/s, LOS rate: -2.175307 deg/s, posRepo size: 4 2021-02-18T00:12:42.082Z,1613607162.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:42.761Z,1613607162.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:12:43.195Z,1613607163.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:12:43.989Z,1613607163.989 [Micromodem](INFO): Nmea in: $SNTTA,0.089425,,,,001242.82*4D 2021-02-18T00:12:44.024Z,1613607164.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.339996 m, bearing: 221.675292 deg, deltaT: 4.443076 s, approachRate: 0.729222 m/s, LOS rate: 0.027815 deg/s, posRepo size: 4 2021-02-18T00:12:46.582Z,1613607166.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:47.214Z,1613607167.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:12:47.606Z,1613607167.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:12:48.440Z,1613607168.440 [Micromodem](INFO): Nmea in: $SNTTA,0.091689,,,,001247.27*4A 2021-02-18T00:12:48.606Z,1613607168.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.639999 m, bearing: 221.060124 deg, deltaT: 4.453126 s, approachRate: 0.741053 m/s, LOS rate: -0.138143 deg/s, posRepo size: 4 2021-02-18T00:12:50.881Z,1613607170.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:51.647Z,1613607171.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:12:52.058Z,1613607172.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:12:52.883Z,1613607172.883 [Micromodem](INFO): Nmea in: $SNTTA,0.093914,,,,001251.71*47 2021-02-18T00:12:53.699Z,1613607173.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:55.288Z,1613607175.288 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:12:56.516Z,1613607176.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:12:56.920Z,1613607176.920 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T00:12:57.306Z,1613607177.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:12:57.707Z,1613607177.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:12:58.552Z,1613607178.552 [Micromodem](INFO): Nmea in: $SNTTA,0.096708,,,,001257.36*44 2021-02-18T00:12:58.615Z,1613607178.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.199997 m, bearing: 222.039300 deg, deltaT: 10.073666 s, approachRate: 0.750471 m/s, LOS rate: 0.097202 deg/s, posRepo size: 4 2021-02-18T00:13:00.549Z,1613607180.549 [Micromodem](ERROR): Buffer fill timout failure. 2021-02-18T00:13:01.013Z,1613607181.013 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60420000005D000004004A0000000000000000151D80030C5669BF92F9E5925A27A7AF984C0DECAF616FE730FDB353DE447D6430E667C8122C5D7CF3AC 2021-02-18T00:13:01.014Z,1613607181.014 [Micromodem](INFO): Outgoing frame #2, 27 bytes: F7B4C1E56FB7A1757E62B8B0D9B1A40740416CCD2AD3EE62143600 2021-02-18T00:13:01.014Z,1613607181.014 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T00:13:01.082Z,1613607181.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:01.350Z,1613607181.350 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T00:13:01.745Z,1613607181.745 [Micromodem](INFO): Nmea in: $CADRQ,001300,1,10,0,64,1*74 2021-02-18T00:13:01.745Z,1613607181.745 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60420000005D000004004A0000000000000000151D80030C5669BF92F9E5925A27A7AF984C0DECAF616FE730FDB353DE447D6430E667C8122C5D7CF3AC*3B 2021-02-18T00:13:02.152Z,1613607182.152 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T00:13:02.152Z,1613607182.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:13:02.584Z,1613607182.584 [Micromodem](INFO): Nmea in: $CADRQ,001301,1,10,0,64,2*76 2021-02-18T00:13:02.584Z,1613607182.584 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,001301,1,10,0,64,2*76 2021-02-18T00:13:02.964Z,1613607182.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:13:03.376Z,1613607183.376 [Micromodem](INFO): Nmea in: $SNTTA,0.099202,,,,001302.21*43 2021-02-18T00:13:03.421Z,1613607183.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.979996 m, bearing: 225.020350 deg, deltaT: 4.874686 s, approachRate: 0.775434 m/s, LOS rate: 0.611537 deg/s, posRepo size: 4 2021-02-18T00:13:05.904Z,1613607185.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:06.607Z,1613607186.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:13:06.652Z,1613607186.652 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T00:13:06.999Z,1613607186.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:13:07.832Z,1613607187.832 [Micromodem](INFO): Nmea in: $SNTTA,0.101436,,,,001306.67*44 2021-02-18T00:13:07.950Z,1613607187.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.279999 m, bearing: 224.113629 deg, deltaT: 4.432207 s, approachRate: 0.744551 m/s, LOS rate: -0.204576 deg/s, posRepo size: 4 2021-02-18T00:13:07.951Z,1613607187.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.28 m. Resuming terminal guidance. 2021-02-18T00:13:07.951Z,1613607187.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T00:13:10.256Z,1613607190.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:11.036Z,1613607191.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:13:11.451Z,1613607191.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:13:11.878Z,1613607191.878 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T00:13:12.264Z,1613607192.264 [Micromodem](INFO): Nmea in: $SNTTA,0.103625,,,,001311.10*40 2021-02-18T00:13:12.379Z,1613607192.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.580002 m, bearing: 222.136904 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T00:13:12.380Z,1613607192.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 222.136904deg and heading rate command to 0 deg/s. 2021-02-18T00:13:14.702Z,1613607194.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:15.485Z,1613607195.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:13:15.891Z,1613607195.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:13:16.700Z,1613607196.700 [Micromodem](INFO): Nmea in: $SNTTA,0.105615,,,,001315.54*41 2021-02-18T00:13:17.585Z,1613607197.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:19.114Z,1613607199.114 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:13:20.372Z,1613607200.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:21.142Z,1613607201.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:13:21.594Z,1613607201.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:13:22.388Z,1613607202.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001321.20*5D 2021-02-18T00:13:22.426Z,1613607202.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.660004 m, bearing: 209.008624 deg, deltaT: 10.054672 s, approachRate: 0.704150 m/s, LOS rate: -1.305689 deg/s, posRepo size: 2 2021-02-18T00:13:22.428Z,1613607202.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.660004 m, bearing: 209.008624 deg, approachRate: 0.704150 m/s, LOS rate: -1.305689 deg/s, cmd update: -5.222758 deg/s, cmd heading: 222.136904 deg, new cmd heading: 222.136904 deg. 2021-02-18T00:13:24.802Z,1613607204.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:25.600Z,1613607205.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:13:25.986Z,1613607205.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:13:26.828Z,1613607206.828 [Micromodem](INFO): Nmea in: $SNTTA,0.110574,,,,001325.66*43 2021-02-18T00:13:26.867Z,1613607206.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.660004 m, bearing: 218.855257 deg, deltaT: 4.480234 s, approachRate: 0.000000 m/s, LOS rate: 2.197794 deg/s, posRepo size: 3 2021-02-18T00:13:26.869Z,1613607206.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.660004 m, bearing: 218.855257 deg, approachRate: 0.000000 m/s, LOS rate: 2.197794 deg/s, cmd update: 8.791177 deg/s, cmd heading: 198.819770 deg, new cmd heading: 196.631968 deg. 2021-02-18T00:13:29.254Z,1613607209.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:30.024Z,1613607210.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:13:30.430Z,1613607210.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:13:31.268Z,1613607211.268 [Micromodem](INFO): Nmea in: $SNTTA,0.112636,,,,001330.08*48 2021-02-18T00:13:31.299Z,1613607211.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.139999 m, bearing: 208.340085 deg, deltaT: 4.435720 s, approachRate: 1.460867 m/s, LOS rate: -2.370567 deg/s, posRepo size: 4 2021-02-18T00:13:31.301Z,1613607211.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.139999 m, bearing: 208.340085 deg, approachRate: 1.460867 m/s, LOS rate: -2.370567 deg/s, cmd update: -9.482268 deg/s, cmd heading: 237.929424 deg, new cmd heading: 241.603652 deg. 2021-02-18T00:13:32.464Z,1613607212.464 [Micromodem](INFO): Nmea in: $CAERR,001331,DATA_TIMEOUT,2*4D 2021-02-18T00:13:32.868Z,1613607212.868 [Micromodem](INFO): Nmea in: $CATXP,64*70 2021-02-18T00:13:33.728Z,1613607213.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:34.081Z,1613607214.081 [Micromodem](INFO): Nmea in: $CATXF,64*66 2021-02-18T00:13:34.470Z,1613607214.470 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,001331.842622,3,0,200,4000,14500,1,1,10,1,2,1,3,64*40 2021-02-18T00:13:34.471Z,1613607214.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:13:34.874Z,1613607214.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:13:35.686Z,1613607215.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001334.53*5D 2021-02-18T00:13:36.606Z,1613607216.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:38.112Z,1613607218.112 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:13:39.365Z,1613607219.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:40.136Z,1613607220.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:13:40.533Z,1613607220.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:13:41.349Z,1613607221.349 [Micromodem](INFO): Nmea in: $SNTTA,0.117469,,,,001340.20*48 2021-02-18T00:13:41.795Z,1613607221.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.700012 m, bearing: 230.530933 deg, deltaT: 10.489018 s, approachRate: 0.720755 m/s, LOS rate: 2.115627 deg/s, posRepo size: 4 2021-02-18T00:13:41.797Z,1613607221.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.700012 m, bearing: 230.530933 deg, approachRate: 0.720755 m/s, LOS rate: 2.115627 deg/s, cmd update: 8.462507 deg/s, cmd heading: 138.433371 deg, new cmd heading: 134.437382 deg. 2021-02-18T00:13:44.241Z,1613607224.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:44.977Z,1613607224.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:13:45.395Z,1613607225.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:13:46.213Z,1613607226.213 [Micromodem](INFO): Nmea in: $SNTTA,0.119752,,,,001345.04*4E 2021-02-18T00:13:46.706Z,1613607226.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.819992 m, bearing: 165.162430 deg, deltaT: 4.863362 s, approachRate: 0.641527 m/s, LOS rate: -13.441011 deg/s, posRepo size: 4 2021-02-18T00:13:46.708Z,1613607226.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.441011 deg/s. Setting heading cmd to target bearing of 165.162430deg and heading rate command to 0 deg/s. 2021-02-18T00:13:49.043Z,1613607229.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:49.828Z,1613607229.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:13:50.228Z,1613607230.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:13:51.042Z,1613607231.042 [Micromodem](INFO): Nmea in: $SNTTA,0.121944,,,,001349.89*45 2021-02-18T00:13:51.507Z,1613607231.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.059998 m, bearing: 123.385086 deg, deltaT: 4.868330 s, approachRate: 0.665527 m/s, LOS rate: -8.581453 deg/s, posRepo size: 4 2021-02-18T00:13:51.509Z,1613607231.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.059998 m, bearing: 123.385086 deg, approachRate: 0.665527 m/s, LOS rate: -8.581453 deg/s, cmd update: -12.000000 deg/s, cmd heading: 165.162430 deg, new cmd heading: 165.162430 deg. 2021-02-18T00:13:51.968Z,1613607231.968 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T00:13:53.890Z,1613607233.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:54.668Z,1613607234.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:13:55.075Z,1613607235.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:13:55.886Z,1613607235.886 [Micromodem](INFO): Nmea in: $SNTTA,0.123935,,,,001354.73*48 2021-02-18T00:13:56.430Z,1613607236.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.059998 m, bearing: 152.117096 deg, deltaT: 4.828207 s, approachRate: 0.621349 m/s, LOS rate: 5.950865 deg/s, posRepo size: 4 2021-02-18T00:13:56.432Z,1613607236.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.059998 m, bearing: 152.117096 deg, approachRate: 0.621349 m/s, LOS rate: 5.950865 deg/s, cmd update: 12.000000 deg/s, cmd heading: 107.221688 deg, new cmd heading: 101.265200 deg. 2021-02-18T00:13:58.456Z,1613607238.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:13:59.118Z,1613607239.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:13:59.538Z,1613607239.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:14:00.348Z,1613607240.348 [Micromodem](INFO): Nmea in: $SNTTA,0.125048,,,,001359.18*4D 2021-02-18T00:14:00.392Z,1613607240.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.059998 m, bearing: 140.380304 deg, deltaT: 4.052213 s, approachRate: 0.000000 m/s, LOS rate: -2.896391 deg/s, posRepo size: 4 2021-02-18T00:14:00.394Z,1613607240.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.059998 m, bearing: 140.380304 deg, approachRate: 0.000000 m/s, LOS rate: -2.896391 deg/s, cmd update: -11.585563 deg/s, cmd heading: 155.776221 deg, new cmd heading: 160.482849 deg. 2021-02-18T00:14:02.872Z,1613607242.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:03.589Z,1613607243.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:14:03.963Z,1613607243.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:14:04.801Z,1613607244.801 [Micromodem](INFO): Nmea in: $SNTTA,0.125885,,,,001403.65*46 2021-02-18T00:14:05.244Z,1613607245.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.819977 m, bearing: 88.251638 deg, deltaT: 4.940135 s, approachRate: 0.558685 m/s, LOS rate: -10.552073 deg/s, posRepo size: 4 2021-02-18T00:14:05.246Z,1613607245.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.819977 m, bearing: 88.251638 deg, approachRate: 0.558685 m/s, LOS rate: -10.552073 deg/s, cmd update: -12.000000 deg/s, cmd heading: 98.472496 deg, new cmd heading: 94.792493 deg. 2021-02-18T00:14:06.396Z,1613607246.396 [Micromodem](ERROR): Buffer fill timout failure. 2021-02-18T00:14:06.899Z,1613607246.899 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60420000005D000004004A0000000000000000151D80030C5669BF92F9E5925A27A7AF984C0DECAF616FE730FDB353DE447D6430E667C8122C5D7CF3AC 2021-02-18T00:14:06.900Z,1613607246.900 [Micromodem](INFO): Outgoing frame #2, 27 bytes: F7B4C1E56FB7A1757E62B8B0D9B1A40740416CCD2AD3EE62143600 2021-02-18T00:14:06.901Z,1613607246.901 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T00:14:07.220Z,1613607247.220 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T00:14:07.598Z,1613607247.598 [Micromodem](INFO): Nmea in: $CADRQ,001406,1,10,0,64,1*75 2021-02-18T00:14:07.599Z,1613607247.599 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60420000005D000004004A0000000000000000151D80030C5669BF92F9E5925A27A7AF984C0DECAF616FE730FDB353DE447D6430E667C8122C5D7CF3AC*3B 2021-02-18T00:14:07.722Z,1613607247.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:08.010Z,1613607248.010 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T00:14:08.405Z,1613607248.405 [Micromodem](INFO): Nmea in: $CADRQ,001407,1,10,0,64,2*77 2021-02-18T00:14:08.406Z,1613607248.406 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,F7B4C1E56FB7A1757E62B8B0D9B1A40740416CCD2AD3EE62143600*4A 2021-02-18T00:14:08.814Z,1613607248.814 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,27*4E 2021-02-18T00:14:08.815Z,1613607248.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:14:09.217Z,1613607249.217 [Micromodem](INFO): Nmea in: $CATXP,91*7A 2021-02-18T00:14:09.217Z,1613607249.217 [Micromodem](ERROR): Response from modem unexpected: $CATXP,91*7A 2021-02-18T00:14:10.504Z,1613607250.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:11.643Z,1613607251.643 [Micromodem](INFO): Nmea in: $CATXF,91*6C 2021-02-18T00:14:11.644Z,1613607251.644 [Micromodem](ERROR): Response from modem unexpected: $CATXF,91*6C 2021-02-18T00:14:12.040Z,1613607252.040 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,001408.460405,3,0,200,4000,14500,1,1,10,1,2,2,3,91*4F 2021-02-18T00:14:12.040Z,1613607252.040 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,001408.460405,3,0,200,4000,14500,1,1,10,1,2,2,3,91*4F 2021-02-18T00:14:13.286Z,1613607253.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:14.469Z,1613607254.469 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T00:14:14.869Z,1613607254.869 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-18T00:14:14.870Z,1613607254.870 [Micromodem](INFO): Sent 83 bytes from file Logs/20210217T180521/Courier0066.lzma.parts 2021-02-18T00:14:14.870Z,1613607254.870 [Micromodem](INFO): Packets left to send: 0 2021-02-18T00:14:15.275Z,1613607255.275 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218001413.317157,06,6747,38,0291,0150,07,01,01,00,04,1,010,001,0,4,1,0,150,21.8,13.00,24,-10.00,-01,0.07,24,14500,4000*5D 2021-02-18T00:14:15.275Z,1613607255.275 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218001413.317157,06,6747,38,0291,0150,07,01,01,00,04,1,010,001,0,4,1,0,150,21.8,13.00,24,-10.00,-01,0.07,24,14500,4000*5D 2021-02-18T00:14:15.432Z,1613607255.432 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T00:14:15.432Z,1613607255.432 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T00:14:15.432Z,1613607255.432 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T00:14:15.433Z,1613607255.433 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T00:14:15.433Z,1613607255.433 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T00:14:15.870Z,1613607255.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:18.591Z,1613607258.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:20.118Z,1613607260.118 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:14:20.542Z,1613607260.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:14:21.335Z,1613607261.335 [Micromodem](INFO): Nmea in: $SNTTA,0.126407,,,,001420.18*48 2021-02-18T00:14:21.361Z,1613607261.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:24.221Z,1613607264.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:24.973Z,1613607264.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:14:25.386Z,1613607265.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:14:26.210Z,1613607266.210 [Micromodem](INFO): Nmea in: $SNTTA,0.125136,,,,001425.03*43 2021-02-18T00:14:26.665Z,1613607266.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.619980 m, bearing: 27.721142 deg, deltaT: 21.328101 s, approachRate: -0.056264 m/s, LOS rate: -2.838063 deg/s, posRepo size: 4 2021-02-18T00:14:26.667Z,1613607266.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.619980 m, bearing: 27.721142 deg, approachRate: -0.056264 m/s, LOS rate: -2.838063 deg/s, cmd update: -11.352253 deg/s, cmd heading: 202.535290 deg, new cmd heading: 197.600050 deg. 2021-02-18T00:14:29.029Z,1613607269.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:29.816Z,1613607269.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:14:30.228Z,1613607270.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:14:31.037Z,1613607271.037 [Micromodem](INFO): Nmea in: $SNTTA,0.123600,,0.133373,,001429.88*50 2021-02-18T00:14:31.468Z,1613607271.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.279999 m, bearing: 13.566764 deg, deltaT: 4.798358 s, approachRate: -0.487663 m/s, LOS rate: -2.949838 deg/s, posRepo size: 4 2021-02-18T00:14:31.470Z,1613607271.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.279999 m, bearing: 13.566764 deg, approachRate: -0.487663 m/s, LOS rate: -2.949838 deg/s, cmd update: -11.799352 deg/s, cmd heading: 148.066910 deg, new cmd heading: 143.349959 deg. 2021-02-18T00:14:33.906Z,1613607273.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:34.671Z,1613607274.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:14:35.069Z,1613607275.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:14:35.892Z,1613607275.892 [Micromodem](INFO): Nmea in: $SNTTA,0.122510,,,,001434.73*43 2021-02-18T00:14:36.332Z,1613607276.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.720001 m, bearing: 69.008147 deg, deltaT: 4.887726 s, approachRate: -0.319166 m/s, LOS rate: 11.342981 deg/s, posRepo size: 4 2021-02-18T00:14:36.333Z,1613607276.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.720001 m, bearing: 69.008147 deg, approachRate: -0.319166 m/s, LOS rate: 11.342981 deg/s, cmd update: 12.000000 deg/s, cmd heading: 90.676492 deg, new cmd heading: 85.775136 deg. 2021-02-18T00:14:38.744Z,1613607278.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:39.517Z,1613607279.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:14:39.918Z,1613607279.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:14:40.734Z,1613607280.734 [Micromodem](INFO): Nmea in: $SNTTA,0.122207,,,,001439.58*46 2021-02-18T00:14:41.160Z,1613607281.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.419998 m, bearing: 95.676778 deg, deltaT: 4.821100 s, approachRate: -0.062227 m/s, LOS rate: 5.531649 deg/s, posRepo size: 4 2021-02-18T00:14:41.163Z,1613607281.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.419998 m, bearing: 95.676778 deg, approachRate: -0.062227 m/s, LOS rate: 5.531649 deg/s, cmd update: 12.000000 deg/s, cmd heading: 148.792302 deg, new cmd heading: 153.606582 deg. 2021-02-18T00:14:43.638Z,1613607283.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:44.365Z,1613607284.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:14:44.772Z,1613607284.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:14:45.585Z,1613607285.585 [Micromodem](INFO): Nmea in: $SNTTA,0.122074,,,,001444.42*41 2021-02-18T00:14:46.387Z,1613607286.387 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T00:14:46.414Z,1613607286.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:47.996Z,1613607287.996 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:14:49.263Z,1613607289.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:50.027Z,1613607290.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:14:50.421Z,1613607290.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:14:51.243Z,1613607291.243 [Micromodem](INFO): Nmea in: $SNTTA,0.122786,0.124823,,,001450.08*50 2021-02-18T00:14:51.701Z,1613607291.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.199997 m, bearing: 89.747805 deg, deltaT: 10.506140 s, approachRate: 0.074242 m/s, LOS rate: -0.564334 deg/s, posRepo size: 4 2021-02-18T00:14:51.707Z,1613607291.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.199997 m, bearing: 89.747805 deg, approachRate: 0.074242 m/s, LOS rate: -0.564334 deg/s, cmd update: -2.257336 deg/s, cmd heading: 274.893884 deg, new cmd heading: 280.100192 deg. 2021-02-18T00:14:54.072Z,1613607294.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:54.869Z,1613607294.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:14:55.405Z,1613607295.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:14:56.218Z,1613607296.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001454.93*50 2021-02-18T00:14:56.705Z,1613607296.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:14:58.234Z,1613607298.234 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:14:59.470Z,1613607299.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:00.253Z,1613607300.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:15:00.661Z,1613607300.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:15:01.468Z,1613607301.468 [Micromodem](INFO): Nmea in: $SNTTA,0.126749,,,,001500.31*49 2021-02-18T00:15:01.915Z,1613607301.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.259995 m, bearing: 193.694794 deg, deltaT: 10.258568 s, approachRate: 0.590725 m/s, LOS rate: 10.132700 deg/s, posRepo size: 4 2021-02-18T00:15:01.917Z,1613607301.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.259995 m, bearing: 193.694794 deg, approachRate: 0.590725 m/s, LOS rate: 10.132700 deg/s, cmd update: 12.000000 deg/s, cmd heading: 251.749153 deg, new cmd heading: 250.894925 deg. 2021-02-18T00:15:04.328Z,1613607304.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:05.096Z,1613607305.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:15:05.501Z,1613607305.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:15:06.316Z,1613607306.316 [Micromodem](INFO): Nmea in: $SNTTA,0.128696,,,,001505.16*44 2021-02-18T00:15:06.754Z,1613607306.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.539978 m, bearing: 182.003955 deg, deltaT: 4.815080 s, approachRate: 0.473509 m/s, LOS rate: -2.427964 deg/s, posRepo size: 4 2021-02-18T00:15:06.756Z,1613607306.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.539978 m, bearing: 182.003955 deg, approachRate: 0.473509 m/s, LOS rate: -2.427964 deg/s, cmd update: -9.711855 deg/s, cmd heading: 309.595358 deg, new cmd heading: 314.556638 deg. 2021-02-18T00:15:09.250Z,1613607309.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:09.944Z,1613607309.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:15:10.351Z,1613607310.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:15:11.169Z,1613607311.169 [Micromodem](INFO): Nmea in: $SNTTA,0.131055,,,,001510.00*46 2021-02-18T00:15:11.633Z,1613607311.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.019989 m, bearing: 246.368393 deg, deltaT: 4.890371 s, approachRate: 0.711605 m/s, LOS rate: 13.161463 deg/s, posRepo size: 4 2021-02-18T00:15:11.634Z,1613607311.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.161463 deg/s. Setting heading cmd to target bearing of 246.368393deg and heading rate command to 0 deg/s. 2021-02-18T00:15:14.006Z,1613607314.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:14.794Z,1613607314.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:15:15.218Z,1613607315.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:15:16.010Z,1613607316.010 [Micromodem](INFO): Nmea in: $SNTTA,0.132695,,,,001514.85*46 2021-02-18T00:15:16.443Z,1613607316.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.139984 m, bearing: 237.852950 deg, deltaT: 4.794636 s, approachRate: 0.650726 m/s, LOS rate: -1.776035 deg/s, posRepo size: 4 2021-02-18T00:15:16.445Z,1613607316.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.139984 m, bearing: 237.852950 deg, approachRate: 0.650726 m/s, LOS rate: -1.776035 deg/s, cmd update: -7.104141 deg/s, cmd heading: 246.368393 deg, new cmd heading: 246.368393 deg. 2021-02-18T00:15:18.858Z,1613607318.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:19.648Z,1613607319.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:15:20.052Z,1613607320.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:15:20.862Z,1613607320.862 [Micromodem](INFO): Nmea in: $SNTTA,0.134302,,,,001519.71*4D 2021-02-18T00:15:21.291Z,1613607321.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.539993 m, bearing: 238.164352 deg, deltaT: 4.884291 s, approachRate: 0.491373 m/s, LOS rate: 0.063756 deg/s, posRepo size: 4 2021-02-18T00:15:21.293Z,1613607321.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.539993 m, bearing: 238.164352 deg, approachRate: 0.491373 m/s, LOS rate: 0.063756 deg/s, cmd update: 0.255023 deg/s, cmd heading: 211.838800 deg, new cmd heading: 208.963327 deg. 2021-02-18T00:15:23.705Z,1613607323.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:24.508Z,1613607324.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:15:24.894Z,1613607324.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:15:25.715Z,1613607325.715 [Micromodem](INFO): Nmea in: $SNTTA,0.135904,,,,001524.57*4A 2021-02-18T00:15:26.536Z,1613607326.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:28.122Z,1613607328.122 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:15:29.388Z,1613607329.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:30.155Z,1613607330.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:15:30.594Z,1613607330.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:15:31.375Z,1613607331.375 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001530.22*59 2021-02-18T00:15:31.809Z,1613607331.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.599976 m, bearing: 204.276355 deg, deltaT: 10.492966 s, approachRate: 0.577528 m/s, LOS rate: -3.229592 deg/s, posRepo size: 4 2021-02-18T00:15:31.811Z,1613607331.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.599976 m, bearing: 204.276355 deg, approachRate: 0.577528 m/s, LOS rate: -3.229592 deg/s, cmd update: -12.000000 deg/s, cmd heading: 214.520877 deg, new cmd heading: 214.624466 deg. 2021-02-18T00:15:34.238Z,1613607334.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:34.997Z,1613607334.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:15:35.410Z,1613607335.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:15:36.218Z,1613607336.218 [Micromodem](INFO): Nmea in: $SNTTA,0.141105,,,,001535.05*47 2021-02-18T00:15:36.644Z,1613607336.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.259995 m, bearing: 215.012306 deg, deltaT: 4.871340 s, approachRate: 0.751337 m/s, LOS rate: 2.203901 deg/s, posRepo size: 4 2021-02-18T00:15:36.645Z,1613607336.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 211.259995 m, bearing: 215.012306 deg, approachRate: 0.751337 m/s, LOS rate: 2.203901 deg/s, cmd update: 8.815604 deg/s, cmd heading: 156.115352 deg, new cmd heading: 151.641752 deg. 2021-02-18T00:15:39.064Z,1613607339.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:39.841Z,1613607339.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:15:40.254Z,1613607340.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:15:41.063Z,1613607341.063 [Micromodem](INFO): Nmea in: $SNTTA,0.143316,,,,001539.90*45 2021-02-18T00:15:41.508Z,1613607341.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.099991 m, bearing: 184.453889 deg, deltaT: 4.830576 s, approachRate: 0.794936 m/s, LOS rate: -6.326040 deg/s, posRepo size: 4 2021-02-18T00:15:41.509Z,1613607341.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.099991 m, bearing: 184.453889 deg, approachRate: 0.794936 m/s, LOS rate: -6.326040 deg/s, cmd update: -12.000000 deg/s, cmd heading: 198.701480 deg, new cmd heading: 202.141364 deg. 2021-02-18T00:15:43.925Z,1613607343.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:44.689Z,1613607344.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:15:45.102Z,1613607345.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:15:45.907Z,1613607345.907 [Micromodem](INFO): Nmea in: $SNTTA,0.145682,,,,001544.75*4A 2021-02-18T00:15:46.364Z,1613607346.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.699997 m, bearing: 149.110748 deg, deltaT: 4.837747 s, approachRate: 0.744149 m/s, LOS rate: -7.305703 deg/s, posRepo size: 4 2021-02-18T00:15:46.366Z,1613607346.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.699997 m, bearing: 149.110748 deg, approachRate: 0.744149 m/s, LOS rate: -7.305703 deg/s, cmd update: -12.000000 deg/s, cmd heading: 140.650962 deg, new cmd heading: 135.599094 deg. 2021-02-18T00:15:48.765Z,1613607348.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:49.543Z,1613607349.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:15:49.942Z,1613607349.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:15:50.761Z,1613607350.761 [Micromodem](INFO): Nmea in: $SNTTA,0.148099,,,,001549.60*42 2021-02-18T00:15:51.218Z,1613607351.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.299988 m, bearing: 180.620801 deg, deltaT: 4.872933 s, approachRate: 0.738773 m/s, LOS rate: 6.466342 deg/s, posRepo size: 4 2021-02-18T00:15:51.220Z,1613607351.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 222.299988 m, bearing: 180.620801 deg, approachRate: 0.738773 m/s, LOS rate: 6.466342 deg/s, cmd update: 12.000000 deg/s, cmd heading: 82.174240 deg, new cmd heading: 77.294884 deg. 2021-02-18T00:15:53.626Z,1613607353.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:54.389Z,1613607354.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:15:54.803Z,1613607354.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:15:55.604Z,1613607355.604 [Micromodem](INFO): Nmea in: $SNTTA,0.150172,,,,001554.45*44 2021-02-18T00:15:56.040Z,1613607356.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.419998 m, bearing: 155.472755 deg, deltaT: 4.831966 s, approachRate: 0.645702 m/s, LOS rate: -5.204516 deg/s, posRepo size: 4 2021-02-18T00:15:56.042Z,1613607356.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.419998 m, bearing: 155.472755 deg, approachRate: 0.645702 m/s, LOS rate: -5.204516 deg/s, cmd update: -12.000000 deg/s, cmd heading: 139.965845 deg, new cmd heading: 144.892169 deg. 2021-02-18T00:15:58.466Z,1613607358.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:15:59.240Z,1613607359.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:15:59.646Z,1613607359.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:16:00.454Z,1613607360.454 [Micromodem](INFO): Nmea in: $SNTTA,0.151747,,,,001559.30*4A 2021-02-18T00:16:00.888Z,1613607360.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.639999 m, bearing: 124.270798 deg, deltaT: 4.860708 s, approachRate: 0.456724 m/s, LOS rate: -6.419221 deg/s, posRepo size: 4 2021-02-18T00:16:00.889Z,1613607360.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 227.639999 m, bearing: 124.270798 deg, approachRate: 0.456724 m/s, LOS rate: -6.419221 deg/s, cmd update: -12.000000 deg/s, cmd heading: 81.400912 deg, new cmd heading: 76.851027 deg. 2021-02-18T00:16:03.297Z,1613607363.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:16:04.097Z,1613607364.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:16:04.486Z,1613607364.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:16:05.308Z,1613607365.308 [Micromodem](INFO): Nmea in: $SNTTA,0.152581,,,,001604.16*4E 2021-02-18T00:16:05.740Z,1613607365.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.839996 m, bearing: 60.879955 deg, deltaT: 4.852174 s, approachRate: 0.247311 m/s, LOS rate: -13.064420 deg/s, posRepo size: 4 2021-02-18T00:16:05.741Z,1613607365.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.064420 deg/s. Setting heading cmd to target bearing of 60.879955deg and heading rate command to 0 deg/s. 2021-02-18T00:16:08.140Z,1613607368.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:16:08.929Z,1613607368.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:16:09.335Z,1613607369.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:16:10.149Z,1613607370.149 [Micromodem](INFO): Nmea in: $SNTTA,0.152865,,,,001608.99*42 2021-02-18T00:16:10.623Z,1613607370.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.739990 m, bearing: 134.454541 deg, deltaT: 4.939403 s, approachRate: 0.182207 m/s, LOS rate: 14.895440 deg/s, posRepo size: 4 2021-02-18T00:16:10.624Z,1613607370.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.895440 deg/s. Setting heading cmd to target bearing of 134.454541deg and heading rate command to 0 deg/s. 2021-02-18T00:16:13.000Z,1613607373.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:16:13.777Z,1613607373.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:16:14.228Z,1613607374.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:16:14.999Z,1613607374.999 [Micromodem](INFO): Nmea in: $SNTTA,0.152234,,,,001613.83*4D 2021-02-18T00:16:15.450Z,1613607375.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.239990 m, bearing: 17.027925 deg, deltaT: 4.745046 s, approachRate: -0.316119 m/s, LOS rate: -24.747205 deg/s, posRepo size: 4 2021-02-18T00:16:15.451Z,1613607375.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -24.747205 deg/s. Setting heading cmd to target bearing of 17.027925deg and heading rate command to 0 deg/s. 2021-02-18T00:16:17.856Z,1613607377.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:16:18.625Z,1613607378.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:16:19.029Z,1613607379.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:16:19.847Z,1613607379.847 [Micromodem](INFO): Nmea in: $SNTTA,0.151305,,,,001618.68*43 2021-02-18T00:16:20.280Z,1613607380.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.859985 m, bearing: 27.743708 deg, deltaT: 4.849297 s, approachRate: -0.284578 m/s, LOS rate: 2.209760 deg/s, posRepo size: 4 2021-02-18T00:16:20.282Z,1613607380.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 226.859985 m, bearing: 27.743708 deg, approachRate: -0.284578 m/s, LOS rate: 2.209760 deg/s, cmd update: 8.839040 deg/s, cmd heading: 17.027925 deg, new cmd heading: 17.027925 deg. 2021-02-18T00:16:22.690Z,1613607382.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:16:23.477Z,1613607383.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:16:23.896Z,1613607383.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:16:24.698Z,1613607384.698 [Micromodem](INFO): Nmea in: $SNTTA,0.150801,,,,001623.54*4A 2021-02-18T00:16:25.118Z,1613607385.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.199982 m, bearing: 73.682353 deg, deltaT: 4.832498 s, approachRate: -0.136576 m/s, LOS rate: 9.506190 deg/s, posRepo size: 4 2021-02-18T00:16:25.120Z,1613607385.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 226.199982 m, bearing: 73.682353 deg, approachRate: -0.136576 m/s, LOS rate: 9.506190 deg/s, cmd update: 12.000000 deg/s, cmd heading: 59.813952 deg, new cmd heading: 63.273199 deg. 2021-02-18T00:16:27.586Z,1613607387.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:16:28.320Z,1613607388.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:16:28.731Z,1613607388.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:16:29.544Z,1613607389.544 [Micromodem](INFO): Nmea in: $SNTTA,0.149880,,,,001628.38*4A 2021-02-18T00:16:29.992Z,1613607389.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.699982 m, bearing: 10.441053 deg, deltaT: 4.904255 s, approachRate: -0.305857 m/s, LOS rate: -12.895191 deg/s, posRepo size: 4 2021-02-18T00:16:29.993Z,1613607389.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.895191 deg/s. Setting heading cmd to target bearing of 10.441053deg and heading rate command to 0 deg/s. 2021-02-18T00:16:32.393Z,1613607392.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:16:33.206Z,1613607393.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:16:33.613Z,1613607393.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:16:34.406Z,1613607394.406 [Micromodem](INFO): Nmea in: $SNTTA,0.148818,,,,001633.26*4F 2021-02-18T00:16:34.834Z,1613607394.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.080002 m, bearing: 12.006226 deg, deltaT: 4.800230 s, approachRate: -0.337480 m/s, LOS rate: 0.326062 deg/s, posRepo size: 4 2021-02-18T00:16:34.836Z,1613607394.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.080002 m, bearing: 12.006226 deg, approachRate: -0.337480 m/s, LOS rate: 0.326062 deg/s, cmd update: 1.304248 deg/s, cmd heading: 10.441053 deg, new cmd heading: 10.441053 deg. 2021-02-18T00:16:37.248Z,1613607397.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:16:38.016Z,1613607398.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:16:38.423Z,1613607398.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:16:39.239Z,1613607399.239 [Micromodem](INFO): Nmea in: $SNTTA,0.147859,,,,001638.07*4D 2021-02-18T00:16:39.686Z,1613607399.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.699997 m, bearing: 78.647887 deg, deltaT: 4.859851 s, approachRate: -0.283960 m/s, LOS rate: 13.712697 deg/s, posRepo size: 4 2021-02-18T00:16:39.687Z,1613607399.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.712697 deg/s. Setting heading cmd to target bearing of 78.647887deg and heading rate command to 0 deg/s. 2021-02-18T00:16:42.094Z,1613607402.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:16:42.873Z,1613607402.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:16:43.276Z,1613607403.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:16:44.087Z,1613607404.087 [Micromodem](INFO): Nmea in: $SNTTA,0.146749,,,,001642.93*42 2021-02-18T00:16:44.532Z,1613607404.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.019989 m, bearing: 4.397806 deg, deltaT: 4.829990 s, approachRate: -0.347828 m/s, LOS rate: -15.372719 deg/s, posRepo size: 4 2021-02-18T00:16:44.532Z,1613607404.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.372719 deg/s. Setting heading cmd to target bearing of 4.397806deg and heading rate command to 0 deg/s. 2021-02-18T00:16:46.960Z,1613607406.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:16:47.712Z,1613607407.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:16:48.129Z,1613607408.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:16:48.929Z,1613607408.929 [Micromodem](INFO): Nmea in: $SNTTA,0.145359,,,,001647.77*4B 2021-02-18T00:16:49.368Z,1613607409.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.859985 m, bearing: 12.560175 deg, deltaT: 4.859713 s, approachRate: -0.444471 m/s, LOS rate: 1.679599 deg/s, posRepo size: 4 2021-02-18T00:16:49.370Z,1613607409.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.859985 m, bearing: 12.560175 deg, approachRate: -0.444471 m/s, LOS rate: 1.679599 deg/s, cmd update: 6.718395 deg/s, cmd heading: 4.397806 deg, new cmd heading: 4.397806 deg. 2021-02-18T00:16:51.817Z,1613607411.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:16:52.588Z,1613607412.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:16:52.965Z,1613607412.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:16:53.793Z,1613607413.793 [Micromodem](INFO): Nmea in: $SNTTA,0.143667,,,,001652.65*42 2021-02-18T00:16:54.264Z,1613607414.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.279999 m, bearing: 7.158509 deg, deltaT: 4.835551 s, approachRate: -0.533545 m/s, LOS rate: -1.117074 deg/s, posRepo size: 4 2021-02-18T00:16:54.266Z,1613607414.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.279999 m, bearing: 7.158509 deg, approachRate: -0.533545 m/s, LOS rate: -1.117074 deg/s, cmd update: -4.468294 deg/s, cmd heading: 36.911849 deg, new cmd heading: 39.783070 deg. 2021-02-18T00:16:56.646Z,1613607416.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:16:57.407Z,1613607417.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:16:57.815Z,1613607417.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:16:58.632Z,1613607418.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001657.46*59 2021-02-18T00:16:59.077Z,1613607419.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.279984 m, bearing: 7.592560 deg, deltaT: 4.860880 s, approachRate: -0.617175 m/s, LOS rate: 0.089295 deg/s, posRepo size: 4 2021-02-18T00:16:59.083Z,1613607419.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.279984 m, bearing: 7.592560 deg, approachRate: -0.617175 m/s, LOS rate: 0.089295 deg/s, cmd update: 0.357179 deg/s, cmd heading: 15.191980 deg, new cmd heading: 13.405824 deg. 2021-02-18T00:17:01.474Z,1613607421.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:17:02.261Z,1613607422.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:17:02.667Z,1613607422.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:17:03.489Z,1613607423.489 [Micromodem](INFO): Nmea in: $SNTTA,0.139499,,,,001702.32*4A 2021-02-18T00:17:03.932Z,1613607423.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.979996 m, bearing: 6.082973 deg, deltaT: 4.835290 s, approachRate: -0.682480 m/s, LOS rate: -0.312202 deg/s, posRepo size: 4 2021-02-18T00:17:03.934Z,1613607423.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.979996 m, bearing: 6.082973 deg, approachRate: -0.682480 m/s, LOS rate: -0.312202 deg/s, cmd update: -1.248807 deg/s, cmd heading: 16.919035 deg, new cmd heading: 17.068581 deg. 2021-02-18T00:17:06.322Z,1613607426.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:17:07.111Z,1613607427.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:17:07.509Z,1613607427.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:17:08.326Z,1613607428.326 [Micromodem](INFO): Nmea in: $SNTTA,0.137593,,,,001707.17*4D 2021-02-18T00:17:08.768Z,1613607428.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.559982 m, bearing: 6.412041 deg, deltaT: 4.837116 s, approachRate: -0.707036 m/s, LOS rate: 0.068030 deg/s, posRepo size: 4 2021-02-18T00:17:08.769Z,1613607428.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.559982 m, bearing: 6.412041 deg, approachRate: -0.707036 m/s, LOS rate: 0.068030 deg/s, cmd update: 0.272119 deg/s, cmd heading: 10.878407 deg, new cmd heading: 10.356865 deg. 2021-02-18T00:17:11.182Z,1613607431.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:17:11.957Z,1613607431.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:17:12.365Z,1613607432.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:17:13.204Z,1613607433.204 [Micromodem](INFO): Nmea in: $SNTTA,0.135332,,,,001712.02*42 2021-02-18T00:17:13.655Z,1613607433.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.139984 m, bearing: 4.971740 deg, deltaT: 4.897407 s, approachRate: -0.698328 m/s, LOS rate: -0.294095 deg/s, posRepo size: 4 2021-02-18T00:17:13.657Z,1613607433.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.139984 m, bearing: 4.971740 deg, approachRate: -0.698328 m/s, LOS rate: -0.294095 deg/s, cmd update: -1.176378 deg/s, cmd heading: 12.211027 deg, new cmd heading: 12.315513 deg. 2021-02-18T00:17:16.019Z,1613607436.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:17:16.821Z,1613607436.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:17:17.219Z,1613607437.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:17:18.029Z,1613607438.029 [Micromodem](INFO): Nmea in: $SNTTA,0.132644,,,,001716.88*47 2021-02-18T00:17:18.452Z,1613607438.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.779984 m, bearing: 7.607436 deg, deltaT: 4.819776 s, approachRate: -0.697128 m/s, LOS rate: 0.546850 deg/s, posRepo size: 4 2021-02-18T00:17:18.453Z,1613607438.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.779984 m, bearing: 7.607436 deg, approachRate: -0.697128 m/s, LOS rate: 0.546850 deg/s, cmd update: 2.187401 deg/s, cmd heading: 6.541146 deg, new cmd heading: 6.088587 deg. 2021-02-18T00:17:20.902Z,1613607440.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:17:21.647Z,1613607441.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:17:22.055Z,1613607442.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:17:22.871Z,1613607442.871 [Micromodem](INFO): Nmea in: $SNTTA,0.130718,,,,001721.70*4E 2021-02-18T00:17:23.329Z,1613607443.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.239990 m, bearing: 6.196293 deg, deltaT: 4.855793 s, approachRate: -0.729025 m/s, LOS rate: -0.290610 deg/s, posRepo size: 4 2021-02-18T00:17:23.331Z,1613607443.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.239990 m, bearing: 6.196293 deg, approachRate: -0.729025 m/s, LOS rate: -0.290610 deg/s, cmd update: -1.162440 deg/s, cmd heading: 17.154335 deg, new cmd heading: 18.051966 deg. 2021-02-18T00:17:25.733Z,1613607445.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:17:26.501Z,1613607446.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:17:26.907Z,1613607446.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:17:27.717Z,1613607447.717 [Micromodem](INFO): Nmea in: $SNTTA,0.127983,,,,001726.56*47 2021-02-18T00:17:28.155Z,1613607448.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.819992 m, bearing: 8.292528 deg, deltaT: 4.818124 s, approachRate: -0.709819 m/s, LOS rate: 0.435073 deg/s, posRepo size: 4 2021-02-18T00:17:28.157Z,1613607448.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.819992 m, bearing: 8.292528 deg, approachRate: -0.709819 m/s, LOS rate: 0.435073 deg/s, cmd update: 1.740291 deg/s, cmd heading: 11.548853 deg, new cmd heading: 11.067430 deg. 2021-02-18T00:17:30.628Z,1613607450.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:17:31.355Z,1613607451.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:17:31.749Z,1613607451.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:17:32.588Z,1613607452.588 [Micromodem](INFO): Nmea in: $SNTTA,0.125600,,,,001731.41*41 2021-02-18T00:17:32.993Z,1613607452.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.160004 m, bearing: 7.806216 deg, deltaT: 4.912404 s, approachRate: -0.745050 m/s, LOS rate: -0.098997 deg/s, posRepo size: 4 2021-02-18T00:17:32.995Z,1613607452.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.160004 m, bearing: 7.806216 deg, approachRate: -0.745050 m/s, LOS rate: -0.098997 deg/s, cmd update: -0.395987 deg/s, cmd heading: 20.076781 deg, new cmd heading: 20.689697 deg. 2021-02-18T00:17:35.425Z,1613607455.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:17:36.213Z,1613607456.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:17:36.600Z,1613607456.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:17:37.420Z,1613607457.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001736.27*58 2021-02-18T00:17:37.860Z,1613607457.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.039993 m, bearing: 8.421406 deg, deltaT: 4.810863 s, approachRate: -0.648534 m/s, LOS rate: 0.127875 deg/s, posRepo size: 4 2021-02-18T00:17:37.862Z,1613607457.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.039993 m, bearing: 8.421406 deg, approachRate: -0.648534 m/s, LOS rate: 0.127875 deg/s, cmd update: 0.511501 deg/s, cmd heading: 18.175018 deg, new cmd heading: 18.010722 deg. 2021-02-18T00:17:40.257Z,1613607460.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:17:41.052Z,1613607461.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:17:41.463Z,1613607461.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:17:42.265Z,1613607462.265 [Micromodem](INFO): Nmea in: $SNTTA,0.121017,,,,001741.11*47 2021-02-18T00:17:42.696Z,1613607462.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.320007 m, bearing: 6.844726 deg, deltaT: 4.824516 s, approachRate: -0.771059 m/s, LOS rate: -0.326806 deg/s, posRepo size: 4 2021-02-18T00:17:42.698Z,1613607462.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.320007 m, bearing: 6.844726 deg, approachRate: -0.771059 m/s, LOS rate: -0.326806 deg/s, cmd update: -1.307224 deg/s, cmd heading: 20.653051 deg, new cmd heading: 20.861350 deg. 2021-02-18T00:17:45.101Z,1613607465.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:17:45.887Z,1613607465.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:17:46.304Z,1613607466.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:17:47.116Z,1613607467.116 [Micromodem](INFO): Nmea in: $SNTTA,0.118901,,,,001745.94*4A 2021-02-18T00:17:47.198Z,1613607467.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.320007 m, bearing: 6.732625 deg, deltaT: 4.468255 s, approachRate: 0.000000 m/s, LOS rate: -0.025088 deg/s, posRepo size: 4 2021-02-18T00:17:47.204Z,1613607467.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.320007 m, bearing: 6.732625 deg, approachRate: 0.000000 m/s, LOS rate: -0.025088 deg/s, cmd update: -0.100354 deg/s, cmd heading: 14.816902 deg, new cmd heading: 14.245727 deg. 2021-02-18T00:17:49.629Z,1613607469.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:17:50.340Z,1613607470.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:17:50.742Z,1613607470.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:17:51.597Z,1613607471.597 [Micromodem](INFO): Nmea in: $SNTTA,0.116718,,,,001750.40*4F 2021-02-18T00:17:51.668Z,1613607471.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.320007 m, bearing: 7.412322 deg, deltaT: 4.453990 s, approachRate: 0.000000 m/s, LOS rate: 0.152604 deg/s, posRepo size: 4 2021-02-18T00:17:51.670Z,1613607471.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.320007 m, bearing: 7.412322 deg, approachRate: 0.000000 m/s, LOS rate: 0.152604 deg/s, cmd update: 0.610417 deg/s, cmd heading: 14.369952 deg, new cmd heading: 14.323676 deg. 2021-02-18T00:17:53.996Z,1613607473.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:17:54.787Z,1613607474.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:17:55.211Z,1613607475.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:17:56.008Z,1613607476.008 [Micromodem](INFO): Nmea in: $SNTTA,0.114558,,,,001754.84*47 2021-02-18T00:17:56.046Z,1613607476.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.320007 m, bearing: 7.650648 deg, deltaT: 4.427122 s, approachRate: 0.000000 m/s, LOS rate: 0.053833 deg/s, posRepo size: 4 2021-02-18T00:17:56.048Z,1613607476.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.320007 m, bearing: 7.650648 deg, approachRate: 0.000000 m/s, LOS rate: 0.053833 deg/s, cmd update: 0.215332 deg/s, cmd heading: 17.074911 deg, new cmd heading: 17.323678 deg. 2021-02-18T00:17:58.459Z,1613607478.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:17:59.225Z,1613607479.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:17:59.631Z,1613607479.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:00.452Z,1613607480.452 [Micromodem](INFO): Nmea in: $SNTTA,0.112478,,,,001759.28*49 2021-02-18T00:18:00.504Z,1613607480.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.479996 m, bearing: 6.401829 deg, deltaT: 4.583487 s, approachRate: -2.801363 m/s, LOS rate: -0.272460 deg/s, posRepo size: 4 2021-02-18T00:18:00.506Z,1613607480.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.479996 m, bearing: 6.401829 deg, approachRate: -2.801363 m/s, LOS rate: -0.272460 deg/s, cmd update: -1.089841 deg/s, cmd heading: 18.058572 deg, new cmd heading: 18.121833 deg. 2021-02-18T00:18:02.885Z,1613607482.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:18:03.664Z,1613607483.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:18:04.071Z,1613607484.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:04.898Z,1613607484.898 [Micromodem](INFO): Nmea in: $SNTTA,0.110343,,,,001803.72*4B 2021-02-18T00:18:04.934Z,1613607484.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.299988 m, bearing: 6.925055 deg, deltaT: 4.288536 s, approachRate: -0.741514 m/s, LOS rate: 0.122006 deg/s, posRepo size: 4 2021-02-18T00:18:04.936Z,1613607484.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.299988 m, bearing: 6.925055 deg, approachRate: -0.741514 m/s, LOS rate: 0.122006 deg/s, cmd update: 0.488022 deg/s, cmd heading: 13.368096 deg, new cmd heading: 12.905749 deg. 2021-02-18T00:18:07.326Z,1613607487.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:18:08.108Z,1613607488.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:18:08.519Z,1613607488.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:09.352Z,1613607489.352 [Micromodem](INFO): Nmea in: $SNTTA,0.108185,,,,001808.17*42 2021-02-18T00:18:09.377Z,1613607489.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.059998 m, bearing: 7.038663 deg, deltaT: 4.432816 s, approachRate: -0.730910 m/s, LOS rate: 0.025629 deg/s, posRepo size: 4 2021-02-18T00:18:09.379Z,1613607489.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.059998 m, bearing: 7.038663 deg, approachRate: -0.730910 m/s, LOS rate: 0.025629 deg/s, cmd update: 0.102516 deg/s, cmd heading: 15.531434 deg, new cmd heading: 15.743228 deg. 2021-02-18T00:18:11.788Z,1613607491.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:18:12.589Z,1613607492.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:18:12.958Z,1613607492.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:13.788Z,1613607493.788 [Micromodem](INFO): Nmea in: $SNTTA,0.106054,,,,001812.65*4F 2021-02-18T00:18:14.256Z,1613607494.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.879990 m, bearing: 6.656710 deg, deltaT: 4.871379 s, approachRate: -0.652794 m/s, LOS rate: -0.078408 deg/s, posRepo size: 4 2021-02-18T00:18:14.258Z,1613607494.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.879990 m, bearing: 6.656710 deg, approachRate: -0.652794 m/s, LOS rate: -0.078408 deg/s, cmd update: -0.313630 deg/s, cmd heading: 16.030831 deg, new cmd heading: 16.074440 deg. 2021-02-18T00:18:16.646Z,1613607496.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:18:17.405Z,1613607497.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:18:17.805Z,1613607497.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:18.632Z,1613607498.632 [Micromodem](INFO): Nmea in: $SNTTA,0.103481,,,,001817.46*42 2021-02-18T00:18:18.670Z,1613607498.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.040009 m, bearing: 5.997692 deg, deltaT: 4.443560 s, approachRate: -0.864168 m/s, LOS rate: -0.148309 deg/s, posRepo size: 4 2021-02-18T00:18:18.677Z,1613607498.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.040009 m, bearing: 5.997692 deg, approachRate: -0.864168 m/s, LOS rate: -0.148309 deg/s, cmd update: -0.593234 deg/s, cmd heading: 14.637186 deg, new cmd heading: 14.508046 deg. 2021-02-18T00:18:21.058Z,1613607501.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:18:21.856Z,1613607501.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:18:22.250Z,1613607502.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:23.088Z,1613607503.088 [Micromodem](INFO): Nmea in: $SNTTA,0.101091,,,,001821.91*4A 2021-02-18T00:18:23.110Z,1613607503.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.440018 m, bearing: 6.555508 deg, deltaT: 4.429951 s, approachRate: -0.812648 m/s, LOS rate: 0.125919 deg/s, posRepo size: 4 2021-02-18T00:18:23.112Z,1613607503.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.440018 m, bearing: 6.555508 deg, approachRate: -0.812648 m/s, LOS rate: 0.125919 deg/s, cmd update: 0.503677 deg/s, cmd heading: 12.009182 deg, new cmd heading: 11.758523 deg. 2021-02-18T00:18:25.509Z,1613607505.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:18:26.300Z,1613607506.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:18:26.694Z,1613607506.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:27.524Z,1613607507.524 [Micromodem](INFO): Nmea in: $SNTTA,0.099008,,,,001826.36*40 2021-02-18T00:18:27.595Z,1613607507.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.320007 m, bearing: 5.555611 deg, deltaT: 4.428052 s, approachRate: -0.704601 m/s, LOS rate: -0.225810 deg/s, posRepo size: 4 2021-02-18T00:18:27.604Z,1613607507.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.320007 m, bearing: 5.555611 deg, approachRate: -0.704601 m/s, LOS rate: -0.225810 deg/s, cmd update: -0.903239 deg/s, cmd heading: 14.239467 deg, new cmd heading: 14.480651 deg. 2021-02-18T00:18:29.978Z,1613607509.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:18:30.733Z,1613607510.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:18:31.137Z,1613607511.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:31.960Z,1613607511.960 [Micromodem](INFO): Nmea in: $SNTTA,0.096868,,,,001830.79*4D 2021-02-18T00:18:31.982Z,1613607511.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.199997 m, bearing: 5.797293 deg, deltaT: 4.527488 s, approachRate: -0.689126 m/s, LOS rate: 0.053381 deg/s, posRepo size: 4 2021-02-18T00:18:31.984Z,1613607511.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.199997 m, bearing: 5.797293 deg, approachRate: -0.689126 m/s, LOS rate: 0.053381 deg/s, cmd update: 0.213524 deg/s, cmd heading: 10.153684 deg, new cmd heading: 9.844063 deg. 2021-02-18T00:18:34.398Z,1613607514.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:18:35.205Z,1613607515.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:18:35.595Z,1613607515.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:36.420Z,1613607516.420 [Micromodem](INFO): Nmea in: $SNTTA,0.094616,,,,001835.26*47 2021-02-18T00:18:36.445Z,1613607516.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.720001 m, bearing: 5.911340 deg, deltaT: 4.368185 s, approachRate: -0.796669 m/s, LOS rate: 0.026109 deg/s, posRepo size: 4 2021-02-18T00:18:36.467Z,1613607516.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.720001 m, bearing: 5.911340 deg, approachRate: -0.796669 m/s, LOS rate: 0.026109 deg/s, cmd update: 0.104435 deg/s, cmd heading: 11.087270 deg, new cmd heading: 11.179841 deg. 2021-02-18T00:18:38.844Z,1613607518.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:18:39.620Z,1613607519.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:18:40.044Z,1613607520.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:40.848Z,1613607520.848 [Micromodem](INFO): Nmea in: $SNTTA,0.092650,,,,001839.68*45 2021-02-18T00:18:40.891Z,1613607520.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.720001 m, bearing: 5.451807 deg, deltaT: 4.461982 s, approachRate: -0.672347 m/s, LOS rate: -0.102989 deg/s, posRepo size: 4 2021-02-18T00:18:40.897Z,1613607520.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.720001 m, bearing: 5.451807 deg, approachRate: -0.672347 m/s, LOS rate: -0.102989 deg/s, cmd update: -0.411955 deg/s, cmd heading: 11.552835 deg, new cmd heading: 11.596815 deg. 2021-02-18T00:18:43.292Z,1613607523.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:18:44.069Z,1613607524.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:18:44.477Z,1613607524.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:45.292Z,1613607525.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001844.13*55 2021-02-18T00:18:45.330Z,1613607525.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.660004 m, bearing: 4.570837 deg, deltaT: 4.452261 s, approachRate: -0.687291 m/s, LOS rate: -0.197870 deg/s, posRepo size: 4 2021-02-18T00:18:45.332Z,1613607525.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.660004 m, bearing: 4.570837 deg, approachRate: -0.687291 m/s, LOS rate: -0.197870 deg/s, cmd update: -0.791481 deg/s, cmd heading: 9.718719 deg, new cmd heading: 9.550571 deg. 2021-02-18T00:18:47.736Z,1613607527.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:18:48.512Z,1613607528.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:18:48.919Z,1613607528.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:49.744Z,1613607529.744 [Micromodem](INFO): Nmea in: $SNTTA,0.088481,,0.093481,,001848.57*53 2021-02-18T00:18:49.767Z,1613607529.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.479996 m, bearing: 5.929741 deg, deltaT: 4.426421 s, approachRate: -0.718415 m/s, LOS rate: 0.306998 deg/s, posRepo size: 4 2021-02-18T00:18:49.769Z,1613607529.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.479996 m, bearing: 5.929741 deg, approachRate: -0.718415 m/s, LOS rate: 0.306998 deg/s, cmd update: 1.227993 deg/s, cmd heading: 6.212525 deg, new cmd heading: 5.883659 deg. 2021-02-18T00:18:52.223Z,1613607532.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:18:52.956Z,1613607532.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:18:53.369Z,1613607533.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:54.216Z,1613607534.216 [Micromodem](INFO): Nmea in: $SNTTA,0.086364,,,,001853.01*41 2021-02-18T00:18:54.241Z,1613607534.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.300003 m, bearing: 5.051881 deg, deltaT: 4.464507 s, approachRate: -0.712283 m/s, LOS rate: -0.196631 deg/s, posRepo size: 4 2021-02-18T00:18:54.243Z,1613607534.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.300003 m, bearing: 5.051881 deg, approachRate: -0.712283 m/s, LOS rate: -0.196631 deg/s, cmd update: -0.786523 deg/s, cmd heading: 11.683318 deg, new cmd heading: 12.216467 deg. 2021-02-18T00:18:56.638Z,1613607536.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:18:57.408Z,1613607537.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:18:57.811Z,1613607537.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:18:58.643Z,1613607538.643 [Micromodem](INFO): Nmea in: $SNTTA,0.084069,,,,001857.46*4A 2021-02-18T00:18:58.667Z,1613607538.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.940002 m, bearing: 7.208720 deg, deltaT: 4.430384 s, approachRate: -0.758399 m/s, LOS rate: 0.486829 deg/s, posRepo size: 4 2021-02-18T00:18:58.669Z,1613607538.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.940002 m, bearing: 7.208720 deg, approachRate: -0.758399 m/s, LOS rate: 0.486829 deg/s, cmd update: 1.947316 deg/s, cmd heading: 8.191046 deg, new cmd heading: 7.860723 deg. 2021-02-18T00:19:01.076Z,1613607541.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:01.845Z,1613607541.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:19:02.249Z,1613607542.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:19:03.076Z,1613607543.076 [Micromodem](INFO): Nmea in: $SNTTA,0.081798,,,,001901.91*4E 2021-02-18T00:19:03.122Z,1613607543.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.519997 m, bearing: 6.535186 deg, deltaT: 4.456642 s, approachRate: -0.767395 m/s, LOS rate: -0.151130 deg/s, posRepo size: 4 2021-02-18T00:19:03.128Z,1613607543.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.519997 m, bearing: 6.535186 deg, approachRate: -0.767395 m/s, LOS rate: -0.151130 deg/s, cmd update: -0.604521 deg/s, cmd heading: 16.869938 deg, new cmd heading: 17.684932 deg. 2021-02-18T00:19:05.524Z,1613607545.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:06.289Z,1613607546.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:19:06.694Z,1613607546.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:19:07.520Z,1613607547.520 [Micromodem](INFO): Nmea in: $SNTTA,0.079575,,,,001906.35*41 2021-02-18T00:19:07.612Z,1613607547.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.160011 m, bearing: 5.392935 deg, deltaT: 4.411577 s, approachRate: -0.761629 m/s, LOS rate: -0.258921 deg/s, posRepo size: 4 2021-02-18T00:19:07.614Z,1613607547.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.160011 m, bearing: 5.392935 deg, approachRate: -0.761629 m/s, LOS rate: -0.258921 deg/s, cmd update: -1.035685 deg/s, cmd heading: 14.203169 deg, new cmd heading: 13.902865 deg. 2021-02-18T00:19:09.960Z,1613607549.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:10.731Z,1613607550.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:19:11.152Z,1613607551.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:19:11.960Z,1613607551.960 [Micromodem](INFO): Nmea in: $SNTTA,0.077232,,,,001910.79*44 2021-02-18T00:19:11.997Z,1613607551.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.739998 m, bearing: 5.342388 deg, deltaT: 4.511443 s, approachRate: -0.758075 m/s, LOS rate: -0.011204 deg/s, posRepo size: 4 2021-02-18T00:19:11.999Z,1613607551.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.739998 m, bearing: 5.342388 deg, approachRate: -0.758075 m/s, LOS rate: -0.011204 deg/s, cmd update: -0.044817 deg/s, cmd heading: 9.530632 deg, new cmd heading: 9.146587 deg. 2021-02-18T00:19:14.394Z,1613607554.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:15.205Z,1613607555.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:19:15.596Z,1613607555.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:19:16.421Z,1613607556.421 [Micromodem](INFO): Nmea in: $SNTTA,0.075002,,,,001915.26*48 2021-02-18T00:19:16.475Z,1613607556.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.260002 m, bearing: 5.888781 deg, deltaT: 4.373845 s, approachRate: -0.795638 m/s, LOS rate: 0.124923 deg/s, posRepo size: 4 2021-02-18T00:19:16.477Z,1613607556.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.260002 m, bearing: 5.888781 deg, approachRate: -0.795638 m/s, LOS rate: 0.124923 deg/s, cmd update: 0.499691 deg/s, cmd heading: 9.334616 deg, new cmd heading: 9.313516 deg. 2021-02-18T00:19:18.838Z,1613607558.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:19.629Z,1613607559.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:19:20.031Z,1613607560.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:19:20.852Z,1613607560.852 [Micromodem](INFO): Nmea in: $SNTTA,0.072901,,,,001919.69*42 2021-02-18T00:19:20.901Z,1613607560.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.139999 m, bearing: 4.142069 deg, deltaT: 4.480983 s, approachRate: -0.696276 m/s, LOS rate: -0.389806 deg/s, posRepo size: 4 2021-02-18T00:19:20.902Z,1613607560.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.139999 m, bearing: 4.142069 deg, approachRate: -0.696276 m/s, LOS rate: -0.389806 deg/s, cmd update: -1.559223 deg/s, cmd heading: 11.571733 deg, new cmd heading: 11.783294 deg. 2021-02-18T00:19:23.298Z,1613607563.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:24.065Z,1613607564.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:19:24.478Z,1613607564.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:19:25.292Z,1613607565.292 [Micromodem](INFO): Nmea in: $SNTTA,0.070699,,,,001924.12*4C 2021-02-18T00:19:25.330Z,1613607565.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.779999 m, bearing: 5.600205 deg, deltaT: 4.447092 s, approachRate: -0.755550 m/s, LOS rate: 0.327885 deg/s, posRepo size: 4 2021-02-18T00:19:25.332Z,1613607565.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.779999 m, bearing: 5.600205 deg, approachRate: -0.755550 m/s, LOS rate: 0.327885 deg/s, cmd update: 1.311541 deg/s, cmd heading: 4.633939 deg, new cmd heading: 4.004798 deg. 2021-02-18T00:19:27.725Z,1613607567.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:28.513Z,1613607568.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:19:28.915Z,1613607568.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:19:29.748Z,1613607569.748 [Micromodem](INFO): Nmea in: $SNTTA,0.068531,,,,001928.57*49 2021-02-18T00:19:29.772Z,1613607569.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.660011 m, bearing: 5.622128 deg, deltaT: 4.424636 s, approachRate: -0.705140 m/s, LOS rate: 0.004955 deg/s, posRepo size: 4 2021-02-18T00:19:29.774Z,1613607569.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.660011 m, bearing: 5.622128 deg, approachRate: -0.705140 m/s, LOS rate: 0.004955 deg/s, cmd update: 0.019819 deg/s, cmd heading: 10.438950 deg, new cmd heading: 10.988447 deg. 2021-02-18T00:19:32.221Z,1613607572.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:32.957Z,1613607572.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:19:33.365Z,1613607573.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:19:33.403Z,1613607573.403 [RDI_Pathfinder](ERROR): only read -1 of 4 data items 2021-02-18T00:19:34.215Z,1613607574.215 [Micromodem](INFO): Nmea in: $SNTTA,0.066347,,,,001933.02*4A 2021-02-18T00:19:34.240Z,1613607574.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.300003 m, bearing: 5.068957 deg, deltaT: 4.459159 s, approachRate: -0.753507 m/s, LOS rate: -0.124053 deg/s, posRepo size: 4 2021-02-18T00:19:34.242Z,1613607574.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.300003 m, bearing: 5.068957 deg, approachRate: -0.753507 m/s, LOS rate: -0.124053 deg/s, cmd update: -0.496211 deg/s, cmd heading: 10.527253 deg, new cmd heading: 10.535809 deg. 2021-02-18T00:19:36.634Z,1613607576.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:37.397Z,1613607577.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:19:37.810Z,1613607577.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:19:38.624Z,1613607578.624 [Micromodem](INFO): Nmea in: $SNTTA,0.064164,,,,001937.46*4F 2021-02-18T00:19:38.671Z,1613607578.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.000008 m, bearing: 3.499382 deg, deltaT: 4.435808 s, approachRate: -0.743945 m/s, LOS rate: -0.353842 deg/s, posRepo size: 4 2021-02-18T00:19:38.674Z,1613607578.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.000008 m, bearing: 3.499382 deg, approachRate: -0.743945 m/s, LOS rate: -0.353842 deg/s, cmd update: -1.415368 deg/s, cmd heading: 8.324278 deg, new cmd heading: 8.114507 deg. 2021-02-18T00:19:41.046Z,1613607581.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:41.850Z,1613607581.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:19:42.246Z,1613607582.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:19:43.072Z,1613607583.072 [Micromodem](INFO): Nmea in: $SNTTA,0.061926,,,,001941.91*4F 2021-02-18T00:19:43.108Z,1613607583.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.759995 m, bearing: 6.556518 deg, deltaT: 4.443552 s, approachRate: -0.729149 m/s, LOS rate: 0.687994 deg/s, posRepo size: 4 2021-02-18T00:19:43.110Z,1613607583.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.759995 m, bearing: 6.556518 deg, approachRate: -0.729149 m/s, LOS rate: 0.687994 deg/s, cmd update: 2.751974 deg/s, cmd heading: 2.040638 deg, new cmd heading: 1.445582 deg. 2021-02-18T00:19:45.506Z,1613607585.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:46.290Z,1613607586.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:19:46.695Z,1613607586.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:19:47.516Z,1613607587.516 [Micromodem](INFO): Nmea in: $SNTTA,0.059790,,,,001946.35*4E 2021-02-18T00:19:47.584Z,1613607587.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.400002 m, bearing: 5.006671 deg, deltaT: 4.454816 s, approachRate: -0.754238 m/s, LOS rate: -0.347904 deg/s, posRepo size: 4 2021-02-18T00:19:47.586Z,1613607587.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.400002 m, bearing: 5.006671 deg, approachRate: -0.754238 m/s, LOS rate: -0.347904 deg/s, cmd update: -1.391615 deg/s, cmd heading: 14.247141 deg, new cmd heading: 15.504573 deg. 2021-02-18T00:19:49.945Z,1613607589.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:50.733Z,1613607590.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:19:51.136Z,1613607591.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:19:51.968Z,1613607591.968 [Micromodem](INFO): Nmea in: $SNTTA,0.057570,,,,001950.79*43 2021-02-18T00:19:51.995Z,1613607591.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.220001 m, bearing: 6.616460 deg, deltaT: 4.470744 s, approachRate: -0.711291 m/s, LOS rate: 0.360072 deg/s, posRepo size: 4 2021-02-18T00:19:51.997Z,1613607591.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.220001 m, bearing: 6.616460 deg, approachRate: -0.711291 m/s, LOS rate: 0.360072 deg/s, cmd update: 1.440287 deg/s, cmd heading: 7.993031 deg, new cmd heading: 7.467650 deg. 2021-02-18T00:19:54.396Z,1613607594.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:55.195Z,1613607595.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:19:55.592Z,1613607595.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:19:56.408Z,1613607596.408 [Micromodem](INFO): Nmea in: $SNTTA,0.055527,,,,001955.25*4F 2021-02-18T00:19:56.446Z,1613607596.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.099998 m, bearing: 6.678139 deg, deltaT: 4.376596 s, approachRate: -0.712883 m/s, LOS rate: 0.014093 deg/s, posRepo size: 4 2021-02-18T00:19:56.448Z,1613607596.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.099998 m, bearing: 6.678139 deg, approachRate: -0.712883 m/s, LOS rate: 0.014093 deg/s, cmd update: 0.056372 deg/s, cmd heading: 14.296642 deg, new cmd heading: 14.948359 deg. 2021-02-18T00:19:58.870Z,1613607598.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:19:59.616Z,1613607599.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:00.028Z,1613607600.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:00.864Z,1613607600.864 [Micromodem](INFO): Nmea in: $SNTTA,0.053119,,,,001959.67*4A 2021-02-18T00:20:00.903Z,1613607600.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.500008 m, bearing: 5.358121 deg, deltaT: 4.453454 s, approachRate: -0.808359 m/s, LOS rate: -0.296403 deg/s, posRepo size: 4 2021-02-18T00:20:00.905Z,1613607600.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.500008 m, bearing: 5.358121 deg, approachRate: -0.808359 m/s, LOS rate: -0.296403 deg/s, cmd update: -1.185613 deg/s, cmd heading: 14.547686 deg, new cmd heading: 14.573378 deg. 2021-02-18T00:20:03.294Z,1613607603.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:20:04.065Z,1613607604.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:04.466Z,1613607604.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:05.300Z,1613607605.300 [Micromodem](INFO): Nmea in: $SNTTA,0.050814,,,,002004.13*4C 2021-02-18T00:20:05.344Z,1613607605.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.020004 m, bearing: 4.764956 deg, deltaT: 4.472908 s, approachRate: -0.778018 m/s, LOS rate: -0.132613 deg/s, posRepo size: 4 2021-02-18T00:20:05.346Z,1613607605.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.020004 m, bearing: 4.764956 deg, approachRate: -0.778018 m/s, LOS rate: -0.132613 deg/s, cmd update: -0.530451 deg/s, cmd heading: 9.254331 deg, new cmd heading: 8.741507 deg. 2021-02-18T00:20:07.736Z,1613607607.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:20:08.505Z,1613607608.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:08.910Z,1613607608.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:09.736Z,1613607609.736 [Micromodem](INFO): Nmea in: $SNTTA,0.048716,,,,002008.56*45 2021-02-18T00:20:09.760Z,1613607609.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.959999 m, bearing: 6.489222 deg, deltaT: 4.415928 s, approachRate: -0.692947 m/s, LOS rate: 0.390465 deg/s, posRepo size: 4 2021-02-18T00:20:09.762Z,1613607609.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.959999 m, bearing: 6.489222 deg, approachRate: -0.692947 m/s, LOS rate: 0.390465 deg/s, cmd update: 1.561860 deg/s, cmd heading: 6.907571 deg, new cmd heading: 6.682691 deg. 2021-02-18T00:20:12.197Z,1613607612.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:20:12.950Z,1613607612.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:13.359Z,1613607613.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:14.192Z,1613607614.192 [Micromodem](INFO): Nmea in: $SNTTA,0.046597,,,,002013.01*48 2021-02-18T00:20:14.240Z,1613607614.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.720001 m, bearing: 5.707476 deg, deltaT: 4.459228 s, approachRate: -0.726583 m/s, LOS rate: -0.175310 deg/s, posRepo size: 4 2021-02-18T00:20:14.242Z,1613607614.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.720001 m, bearing: 5.707476 deg, approachRate: -0.726583 m/s, LOS rate: -0.175310 deg/s, cmd update: -0.701238 deg/s, cmd heading: 13.847527 deg, new cmd heading: 14.566644 deg. 2021-02-18T00:20:16.631Z,1613607616.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:20:17.393Z,1613607617.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:17.809Z,1613607617.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:18.624Z,1613607618.624 [Micromodem](INFO): Nmea in: $SNTTA,0.044423,,,,002017.45*40 2021-02-18T00:20:18.662Z,1613607618.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.480003 m, bearing: 4.691608 deg, deltaT: 4.451126 s, approachRate: -0.727905 m/s, LOS rate: -0.228227 deg/s, posRepo size: 4 2021-02-18T00:20:18.664Z,1613607618.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.480003 m, bearing: 4.691608 deg, approachRate: -0.727905 m/s, LOS rate: -0.228227 deg/s, cmd update: -0.912909 deg/s, cmd heading: 10.714996 deg, new cmd heading: 10.423516 deg. 2021-02-18T00:20:21.042Z,1613607621.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:20:21.837Z,1613607621.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:22.282Z,1613607622.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:23.098Z,1613607623.098 [Micromodem](INFO): Nmea in: $SNTTA,0.042467,,,,002021.89*43 2021-02-18T00:20:23.118Z,1613607623.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.540001 m, bearing: 5.598819 deg, deltaT: 4.421077 s, approachRate: -0.664997 m/s, LOS rate: 0.205201 deg/s, posRepo size: 4 2021-02-18T00:20:23.120Z,1613607623.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.540001 m, bearing: 5.598819 deg, approachRate: -0.664997 m/s, LOS rate: 0.205201 deg/s, cmd update: 0.820805 deg/s, cmd heading: 6.678941 deg, new cmd heading: 6.267502 deg. 2021-02-18T00:20:25.498Z,1613607625.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:20:26.286Z,1613607626.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:26.703Z,1613607626.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:27.519Z,1613607627.519 [Micromodem](INFO): Nmea in: $SNTTA,0.040297,,,,002026.34*49 2021-02-18T00:20:27.593Z,1613607627.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.240002 m, bearing: 6.464780 deg, deltaT: 4.450976 s, approachRate: -0.741410 m/s, LOS rate: 0.194555 deg/s, posRepo size: 4 2021-02-18T00:20:27.595Z,1613607627.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.240002 m, bearing: 6.464780 deg, approachRate: -0.741410 m/s, LOS rate: 0.194555 deg/s, cmd update: 0.778221 deg/s, cmd heading: 10.332310 deg, new cmd heading: 10.721613 deg. 2021-02-18T00:20:29.934Z,1613607629.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:20:30.724Z,1613607630.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:31.132Z,1613607631.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:31.980Z,1613607631.980 [Micromodem](INFO): Nmea in: $SNTTA,0.038239,,,,002030.78*4D 2021-02-18T00:20:32.002Z,1613607632.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.299999 m, bearing: 5.701591 deg, deltaT: 4.502662 s, approachRate: -0.652948 m/s, LOS rate: -0.169497 deg/s, posRepo size: 4 2021-02-18T00:20:32.004Z,1613607632.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.299999 m, bearing: 5.701591 deg, approachRate: -0.652948 m/s, LOS rate: -0.169497 deg/s, cmd update: -0.677988 deg/s, cmd heading: 13.836411 deg, new cmd heading: 14.132592 deg. 2021-02-18T00:20:34.402Z,1613607634.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:20:35.195Z,1613607635.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:35.601Z,1613607635.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:36.428Z,1613607636.428 [Micromodem](INFO): Nmea in: $SNTTA,0.036081,,0.047593,,002035.25*5D 2021-02-18T00:20:36.452Z,1613607636.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.880001 m, bearing: 4.571260 deg, deltaT: 4.369235 s, approachRate: -0.782745 m/s, LOS rate: -0.258702 deg/s, posRepo size: 4 2021-02-18T00:20:36.454Z,1613607636.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.880001 m, bearing: 4.571260 deg, approachRate: -0.782745 m/s, LOS rate: -0.258702 deg/s, cmd update: -1.034809 deg/s, cmd heading: 10.874150 deg, new cmd heading: 10.561385 deg. 2021-02-18T00:20:38.847Z,1613607638.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:20:39.630Z,1613607639.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:40.062Z,1613607640.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:40.853Z,1613607640.853 [Micromodem](INFO): Nmea in: $SNTTA,0.033851,,0.071845,,002039.69*5A 2021-02-18T00:20:40.877Z,1613607640.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.520000 m, bearing: 4.346875 deg, deltaT: 4.471640 s, approachRate: -0.751402 m/s, LOS rate: -0.050180 deg/s, posRepo size: 4 2021-02-18T00:20:40.878Z,1613607640.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.520000 m, bearing: 4.346875 deg, approachRate: -0.751402 m/s, LOS rate: -0.050180 deg/s, cmd update: -0.200719 deg/s, cmd heading: 6.246857 deg, new cmd heading: 5.818002 deg. 2021-02-18T00:20:43.284Z,1613607643.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:20:44.056Z,1613607644.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:44.469Z,1613607644.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:45.284Z,1613607645.284 [Micromodem](INFO): Nmea in: $SNTTA,0.031756,,,,002044.11*44 2021-02-18T00:20:45.328Z,1613607645.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.459999 m, bearing: 5.634034 deg, deltaT: 4.491241 s, approachRate: -0.681326 m/s, LOS rate: 0.286593 deg/s, posRepo size: 4 2021-02-18T00:20:45.330Z,1613607645.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.459999 m, bearing: 5.634034 deg, approachRate: -0.681326 m/s, LOS rate: 0.286593 deg/s, cmd update: 1.146372 deg/s, cmd heading: 5.348641 deg, new cmd heading: 5.270198 deg. 2021-02-18T00:20:47.724Z,1613607647.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:20:48.500Z,1613607648.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:48.913Z,1613607648.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:49.733Z,1613607649.733 [Micromodem](INFO): Nmea in: $SNTTA,0.029520,,,0.059045,002048.56*52 2021-02-18T00:20:49.773Z,1613607649.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.339996 m, bearing: 7.527181 deg, deltaT: 4.398779 s, approachRate: -0.709288 m/s, LOS rate: 0.430380 deg/s, posRepo size: 4 2021-02-18T00:20:49.774Z,1613607649.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.339996 m, bearing: 7.527181 deg, approachRate: -0.709288 m/s, LOS rate: 0.430380 deg/s, cmd update: 1.721521 deg/s, cmd heading: 10.409697 deg, new cmd heading: 10.891941 deg. 2021-02-18T00:20:52.157Z,1613607652.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:20:52.593Z,1613607652.593 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 54 2021-02-18T00:20:52.944Z,1613607652.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:53.357Z,1613607653.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:54.199Z,1613607654.199 [Micromodem](INFO): Nmea in: $SNTTA,0.027393,,,,002053.00*48 2021-02-18T00:20:54.244Z,1613607654.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.859997 m, bearing: 5.369142 deg, deltaT: 4.441300 s, approachRate: -0.783554 m/s, LOS rate: -0.485903 deg/s, posRepo size: 4 2021-02-18T00:20:54.246Z,1613607654.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.859997 m, bearing: 5.369142 deg, approachRate: -0.783554 m/s, LOS rate: -0.485903 deg/s, cmd update: -1.943610 deg/s, cmd heading: 18.055819 deg, new cmd heading: 18.824404 deg. 2021-02-18T00:20:56.629Z,1613607656.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:20:57.393Z,1613607657.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:20:57.794Z,1613607657.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:20:58.620Z,1613607658.620 [Micromodem](INFO): Nmea in: $SNTTA,0.025648,,,,002057.45*4C 2021-02-18T00:20:58.658Z,1613607658.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.920002 m, bearing: 3.800996 deg, deltaT: 4.451635 s, approachRate: -0.660430 m/s, LOS rate: -0.352263 deg/s, posRepo size: 4 2021-02-18T00:20:58.658Z,1613607658.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.92 m. 2021-02-18T00:20:58.660Z,1613607658.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.920002 m, bearing: 3.800996 deg, approachRate: -0.660430 m/s, LOS rate: -0.352263 deg/s, cmd update: -1.409051 deg/s, cmd heading: 9.403546 deg, new cmd heading: 8.601245 deg. 2021-02-18T00:20:59.025Z,1613607659.025 [PowerOnly](INFO): Powering up loadControl 2021-02-18T00:21:01.045Z,1613607661.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:01.838Z,1613607661.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:21:02.239Z,1613607662.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:21:03.071Z,1613607663.071 [Micromodem](INFO): Nmea in: $SNTTA,0.023315,,,,002101.90*4D 2021-02-18T00:21:03.090Z,1613607663.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.740002 m, bearing: 4.379469 deg, deltaT: 4.434397 s, approachRate: -0.717121 m/s, LOS rate: 0.130451 deg/s, posRepo size: 4 2021-02-18T00:21:03.090Z,1613607663.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.74 m. 2021-02-18T00:21:03.091Z,1613607663.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.74 m. 2021-02-18T00:21:03.091Z,1613607663.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T00:21:03.093Z,1613607663.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.740002 m, bearing: 4.379469 deg, approachRate: -0.717121 m/s, LOS rate: 0.130451 deg/s, cmd update: 0.521805 deg/s, cmd heading: 3.155265 deg, new cmd heading: 2.577077 deg. 2021-02-18T00:21:05.510Z,1613607665.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:06.278Z,1613607666.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:21:06.691Z,1613607666.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:21:07.504Z,1613607667.504 [Micromodem](INFO): Nmea in: $SNTTA,0.021238,,,,002106.33*4F 2021-02-18T00:21:07.557Z,1613607667.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.679998 m, bearing: 4.298978 deg, deltaT: 4.452573 s, approachRate: -0.687244 m/s, LOS rate: -0.018077 deg/s, posRepo size: 4 2021-02-18T00:21:07.576Z,1613607667.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.679998 m, bearing: 4.298978 deg, approachRate: -0.687244 m/s, LOS rate: -0.018077 deg/s, cmd update: -0.072309 deg/s, cmd heading: 5.474346 deg, new cmd heading: 5.698361 deg. 2021-02-18T00:21:09.946Z,1613607669.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:10.720Z,1613607670.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:21:11.148Z,1613607671.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:21:11.990Z,1613607671.990 [Micromodem](INFO): Nmea in: $SNTTA,0.019034,,,,002110.78*42 2021-02-18T00:21:12.031Z,1613607672.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.440001 m, bearing: 5.243947 deg, deltaT: 4.485426 s, approachRate: -0.722339 m/s, LOS rate: 0.210675 deg/s, posRepo size: 4 2021-02-18T00:21:12.033Z,1613607672.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.440001 m, bearing: 5.243947 deg, approachRate: -0.722339 m/s, LOS rate: 0.210675 deg/s, cmd update: 0.842702 deg/s, cmd heading: 5.149413 deg, new cmd heading: 5.119823 deg. 2021-02-18T00:21:14.396Z,1613607674.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:15.202Z,1613607675.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:21:15.593Z,1613607675.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:21:16.410Z,1613607676.410 [Micromodem](INFO): Nmea in: $SNTTA,0.016885,,,0.036673,002115.26*58 2021-02-18T00:21:16.434Z,1613607676.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.140001 m, bearing: 5.120836 deg, deltaT: 4.371804 s, approachRate: -0.754837 m/s, LOS rate: -0.028160 deg/s, posRepo size: 4 2021-02-18T00:21:16.452Z,1613607676.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.140001 m, bearing: 5.120836 deg, approachRate: -0.754837 m/s, LOS rate: -0.028160 deg/s, cmd update: -0.112641 deg/s, cmd heading: 8.833514 deg, new cmd heading: 9.208511 deg. 2021-02-18T00:21:18.830Z,1613607678.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:19.608Z,1613607679.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:21:20.013Z,1613607680.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:21:20.840Z,1613607680.840 [Micromodem](INFO): Nmea in: $SNTTA,0.014818,,,,002119.67*4E 2021-02-18T00:21:20.865Z,1613607680.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.020000 m, bearing: 4.474684 deg, deltaT: 4.488630 s, approachRate: -0.695090 m/s, LOS rate: -0.143953 deg/s, posRepo size: 4 2021-02-18T00:21:20.866Z,1613607680.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.020000 m, bearing: 4.474684 deg, approachRate: -0.695090 m/s, LOS rate: -0.143953 deg/s, cmd update: -0.575812 deg/s, cmd heading: 8.328534 deg, new cmd heading: 8.284340 deg. 2021-02-18T00:21:23.289Z,1613607683.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:24.061Z,1613607684.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:21:24.463Z,1613607684.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:21:25.284Z,1613607685.284 [Micromodem](INFO): Nmea in: $SNTTA,0.012759,,,,002124.12*4E 2021-02-18T00:21:25.329Z,1613607685.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.899998 m, bearing: 4.677744 deg, deltaT: 4.445139 s, approachRate: -0.701891 m/s, LOS rate: 0.045681 deg/s, posRepo size: 4 2021-02-18T00:21:25.330Z,1613607685.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.899998 m, bearing: 4.677744 deg, approachRate: -0.701891 m/s, LOS rate: 0.045681 deg/s, cmd update: 0.182725 deg/s, cmd heading: 5.768117 deg, new cmd heading: 5.532286 deg. 2021-02-18T00:21:27.723Z,1613607687.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:28.496Z,1613607688.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:21:28.906Z,1613607688.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:21:29.724Z,1613607689.724 [Micromodem](INFO): Nmea in: $SNTTA,0.010614,,,,002128.55*4B 2021-02-18T00:21:29.773Z,1613607689.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.719999 m, bearing: 5.389568 deg, deltaT: 4.433343 s, approachRate: -0.717291 m/s, LOS rate: 0.160561 deg/s, posRepo size: 4 2021-02-18T00:21:29.775Z,1613607689.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.719999 m, bearing: 5.389568 deg, approachRate: -0.717291 m/s, LOS rate: 0.160561 deg/s, cmd update: 0.642246 deg/s, cmd heading: 6.578950 deg, new cmd heading: 6.655073 deg. 2021-02-18T00:21:32.214Z,1613607692.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:32.941Z,1613607692.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:21:33.357Z,1613607693.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:21:34.176Z,1613607694.176 [Micromodem](INFO): Nmea in: $SNTTA,0.008682,,,,002133.00*47 2021-02-18T00:21:34.257Z,1613607694.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.660002 m, bearing: 4.035225 deg, deltaT: 4.434410 s, approachRate: -0.690057 m/s, LOS rate: -0.305417 deg/s, posRepo size: 4 2021-02-18T00:21:34.264Z,1613607694.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.660002 m, bearing: 4.035225 deg, approachRate: -0.690057 m/s, LOS rate: -0.305417 deg/s, cmd update: -1.221667 deg/s, cmd heading: 9.426911 deg, new cmd heading: 9.726358 deg. 2021-02-18T00:21:36.619Z,1613607696.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:37.392Z,1613607697.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:21:37.795Z,1613607697.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:21:38.616Z,1613607698.616 [Micromodem](INFO): Nmea in: $SNTTA,0.006738,,,,002137.45*4C 2021-02-18T00:21:38.662Z,1613607698.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.540000 m, bearing: 4.323063 deg, deltaT: 4.457222 s, approachRate: -0.699988 m/s, LOS rate: 0.064578 deg/s, posRepo size: 4 2021-02-18T00:21:38.664Z,1613607698.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.540000 m, bearing: 4.323063 deg, approachRate: -0.699988 m/s, LOS rate: 0.064578 deg/s, cmd update: 0.258312 deg/s, cmd heading: 3.981862 deg, new cmd heading: 3.476280 deg. 2021-02-18T00:21:41.055Z,1613607701.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:41.830Z,1613607701.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:21:42.233Z,1613607702.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:21:43.060Z,1613607703.060 [Micromodem](INFO): Nmea in: $SNTTA,0.004844,,,0.050594,002141.89*58 2021-02-18T00:21:43.102Z,1613607703.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.960000 m, bearing: 4.889835 deg, deltaT: 4.435497 s, approachRate: -0.581671 m/s, LOS rate: 0.127781 deg/s, posRepo size: 4 2021-02-18T00:21:43.105Z,1613607703.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.960000 m, bearing: 4.889835 deg, approachRate: -0.581671 m/s, LOS rate: 0.127781 deg/s, cmd update: 0.511124 deg/s, cmd heading: 5.125691 deg, new cmd heading: 5.234764 deg. 2021-02-18T00:21:45.500Z,1613607705.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:46.278Z,1613607706.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:21:46.677Z,1613607706.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:21:47.508Z,1613607707.508 [Micromodem](INFO): Nmea in: $SNTTA,0.003554,,,,002146.34*41 2021-02-18T00:21:47.592Z,1613607707.592 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T00:21:47.592Z,1613607707.592 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T00:21:47.592Z,1613607707.592 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T00:21:47.592Z,1613607707.592 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T00:21:47.592Z,1613607707.592 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T00:21:47.593Z,1613607707.593 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 2021-02-18T00:21:47.593Z,1613607707.593 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T00:21:47.593Z,1613607707.593 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T00:21:47.593Z,1613607707.593 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T00:21:47.599Z,1613607707.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 11.335896 deg, deltaT: 4.437873 s, approachRate: -0.473200 m/s, LOS rate: 1.452511 deg/s, posRepo size: 4 2021-02-18T00:21:47.601Z,1613607707.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.860001 m, bearing: 11.335896 deg, approachRate: -0.473200 m/s, LOS rate: 1.452511 deg/s, cmd update: 5.810045 deg/s, cmd heading: 7.397816 deg, new cmd heading: 7.639955 deg. 2021-02-18T00:21:47.929Z,1613607707.929 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T002147: (41.552319, -70.708603) 2021-02-18T00:21:47.929Z,1613607707.929 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T00:21:47.929Z,1613607707.929 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T00:21:47.929Z,1613607707.929 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T00:21:47.930Z,1613607707.930 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T00:21:47.930Z,1613607707.930 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T00:21:47.930Z,1613607707.930 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T00:21:47.930Z,1613607707.930 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T00:21:47.930Z,1613607707.930 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T00:21:49.970Z,1613607709.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:50.717Z,1613607710.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:21:51.122Z,1613607711.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:21:51.948Z,1613607711.948 [Micromodem](INFO): Nmea in: $SNTTA,0.002891,,,,002150.78*4B 2021-02-18T00:21:52.028Z,1613607712.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 7.929789 deg, deltaT: 4.473467 s, approachRate: -0.120712 m/s, LOS rate: -0.761402 deg/s, posRepo size: 4 2021-02-18T00:21:52.029Z,1613607712.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.319999 m, bearing: 7.929789 deg, approachRate: -0.120712 m/s, LOS rate: -0.761402 deg/s, cmd update: -3.045608 deg/s, cmd heading: 33.365843 deg, new cmd heading: 35.902381 deg. 2021-02-18T00:21:54.418Z,1613607714.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:55.180Z,1613607715.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:21:55.597Z,1613607715.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:21:56.400Z,1613607716.400 [Micromodem](INFO): Nmea in: $SNTTA,0.003098,,,,002155.24*47 2021-02-18T00:21:56.464Z,1613607716.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 48.154760 deg, deltaT: 4.392616 s, approachRate: 0.040978 m/s, LOS rate: 9.157407 deg/s, posRepo size: 4 2021-02-18T00:21:56.466Z,1613607716.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 48.154760 deg, approachRate: 0.040978 m/s, LOS rate: 9.157407 deg/s, cmd update: 12.000000 deg/s, cmd heading: 19.975294 deg, new cmd heading: 18.542393 deg. 2021-02-18T00:21:58.842Z,1613607718.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:21:59.604Z,1613607719.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:00.015Z,1613607720.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:00.836Z,1613607720.836 [Micromodem](INFO): Nmea in: $SNTTA,0.004818,,,,002159.66*4A 2021-02-18T00:22:00.890Z,1613607720.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.139998 m, bearing: 48.412555 deg, deltaT: 4.517837 s, approachRate: 0.584350 m/s, LOS rate: 0.057062 deg/s, posRepo size: 4 2021-02-18T00:22:00.896Z,1613607720.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.139998 m, bearing: 48.412555 deg, approachRate: 0.584350 m/s, LOS rate: 0.057062 deg/s, cmd update: 0.228247 deg/s, cmd heading: 73.996056 deg, new cmd heading: 78.803484 deg. 2021-02-18T00:22:03.267Z,1613607723.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:04.053Z,1613607724.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:04.475Z,1613607724.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:05.288Z,1613607725.288 [Micromodem](INFO): Nmea in: $SNTTA,0.004812,,,,002204.11*4B 2021-02-18T00:22:05.312Z,1613607725.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.199999 m, bearing: 45.282675 deg, deltaT: 4.389845 s, approachRate: 0.013668 m/s, LOS rate: -0.712982 deg/s, posRepo size: 4 2021-02-18T00:22:05.314Z,1613607725.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.199999 m, bearing: 45.282675 deg, approachRate: 0.013668 m/s, LOS rate: -0.712982 deg/s, cmd update: -2.851927 deg/s, cmd heading: 75.001669 deg, new cmd heading: 75.096828 deg. 2021-02-18T00:22:07.708Z,1613607727.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:08.500Z,1613607728.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:08.898Z,1613607728.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:09.728Z,1613607729.728 [Micromodem](INFO): Nmea in: $SNTTA,0.007194,,,,002208.56*40 2021-02-18T00:22:09.778Z,1613607729.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.999999 m, bearing: 50.822304 deg, deltaT: 4.445668 s, approachRate: 1.079703 m/s, LOS rate: 1.246073 deg/s, posRepo size: 4 2021-02-18T00:22:09.784Z,1613607729.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.999999 m, bearing: 50.822304 deg, approachRate: 1.079703 m/s, LOS rate: 1.246073 deg/s, cmd update: 4.984293 deg/s, cmd heading: 62.368091 deg, new cmd heading: 61.076074 deg. 2021-02-18T00:22:12.148Z,1613607732.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:12.938Z,1613607732.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:13.361Z,1613607733.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:14.184Z,1613607734.184 [Micromodem](INFO): Nmea in: $SNTTA,0.009603,,,,002212.99*4F 2021-02-18T00:22:14.259Z,1613607734.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.520001 m, bearing: 69.827203 deg, deltaT: 4.452164 s, approachRate: 0.566017 m/s, LOS rate: 4.268688 deg/s, posRepo size: 4 2021-02-18T00:22:14.261Z,1613607734.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.520001 m, bearing: 69.827203 deg, approachRate: 0.566017 m/s, LOS rate: 4.268688 deg/s, cmd update: 12.000000 deg/s, cmd heading: 84.618725 deg, new cmd heading: 86.959479 deg. 2021-02-18T00:22:16.629Z,1613607736.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:17.397Z,1613607737.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:17.791Z,1613607737.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:18.639Z,1613607738.639 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002217.45*59 2021-02-18T00:22:18.691Z,1613607738.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.120001 m, bearing: 59.302564 deg, deltaT: 4.444166 s, approachRate: 0.135008 m/s, LOS rate: -2.368192 deg/s, posRepo size: 4 2021-02-18T00:22:18.693Z,1613607738.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.120001 m, bearing: 59.302564 deg, approachRate: 0.135008 m/s, LOS rate: -2.368192 deg/s, cmd update: -9.472768 deg/s, cmd heading: 137.938939 deg, new cmd heading: 143.390659 deg. 2021-02-18T00:22:21.036Z,1613607741.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:21.824Z,1613607741.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:22.236Z,1613607742.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:23.059Z,1613607743.059 [Micromodem](INFO): Nmea in: $SNTTA,0.011624,,,,002221.88*43 2021-02-18T00:22:23.082Z,1613607743.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.580000 m, bearing: 130.305734 deg, deltaT: 4.431821 s, approachRate: 0.555076 m/s, LOS rate: 16.021218 deg/s, posRepo size: 4 2021-02-18T00:22:23.083Z,1613607743.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.021218 deg/s. Setting heading cmd to target bearing of 130.305734deg and heading rate command to 0 deg/s. 2021-02-18T00:22:25.493Z,1613607745.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:26.274Z,1613607746.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:26.674Z,1613607746.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:27.512Z,1613607747.512 [Micromodem](INFO): Nmea in: $SNTTA,0.013298,,,,002226.33*45 2021-02-18T00:22:27.541Z,1613607747.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.980001 m, bearing: 155.130917 deg, deltaT: 4.429955 s, approachRate: 0.541767 m/s, LOS rate: 5.603936 deg/s, posRepo size: 4 2021-02-18T00:22:27.543Z,1613607747.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.980001 m, bearing: 155.130917 deg, approachRate: 0.541767 m/s, LOS rate: 5.603936 deg/s, cmd update: 12.000000 deg/s, cmd heading: 130.305734 deg, new cmd heading: 130.305734 deg. 2021-02-18T00:22:29.939Z,1613607749.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:30.712Z,1613607750.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:31.119Z,1613607751.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:31.940Z,1613607751.940 [Micromodem](INFO): Nmea in: $SNTTA,0.014734,,,,002230.77*46 2021-02-18T00:22:31.990Z,1613607751.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.860001 m, bearing: 109.077151 deg, deltaT: 4.508341 s, approachRate: 0.638816 m/s, LOS rate: -10.215236 deg/s, posRepo size: 4 2021-02-18T00:22:31.996Z,1613607751.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.860001 m, bearing: 109.077151 deg, approachRate: 0.638816 m/s, LOS rate: -10.215236 deg/s, cmd update: -12.000000 deg/s, cmd heading: 184.356724 deg, new cmd heading: 188.998204 deg. 2021-02-18T00:22:33.561Z,1613607753.561 [PowerOnly](INFO): Powering down loadControl 2021-02-18T00:22:34.380Z,1613607754.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:35.168Z,1613607755.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:35.593Z,1613607755.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:36.388Z,1613607756.388 [Micromodem](INFO): Nmea in: $SNTTA,0.015367,,,,002235.22*40 2021-02-18T00:22:36.428Z,1613607756.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.099997 m, bearing: 153.613345 deg, deltaT: 4.396914 s, approachRate: 0.054583 m/s, LOS rate: 10.128966 deg/s, posRepo size: 4 2021-02-18T00:22:36.429Z,1613607756.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.099997 m, bearing: 153.613345 deg, approachRate: 0.054583 m/s, LOS rate: 10.128966 deg/s, cmd update: 12.000000 deg/s, cmd heading: 131.787722 deg, new cmd heading: 126.467066 deg. 2021-02-18T00:22:38.825Z,1613607758.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:39.610Z,1613607759.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:40.006Z,1613607760.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:40.832Z,1613607760.832 [Micromodem](INFO): Nmea in: $SNTTA,0.016444,,,,002239.67*48 2021-02-18T00:22:40.878Z,1613607760.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.659998 m, bearing: 171.352876 deg, deltaT: 4.457349 s, approachRate: 0.349984 m/s, LOS rate: 3.979839 deg/s, posRepo size: 4 2021-02-18T00:22:40.880Z,1613607760.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.659998 m, bearing: 171.352876 deg, approachRate: 0.349984 m/s, LOS rate: 3.979839 deg/s, cmd update: 12.000000 deg/s, cmd heading: 185.470864 deg, new cmd heading: 190.515856 deg. 2021-02-18T00:22:43.262Z,1613607763.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:44.044Z,1613607764.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:44.467Z,1613607764.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:45.277Z,1613607765.277 [Micromodem](INFO): Nmea in: $SNTTA,0.017523,,,,002244.10*43 2021-02-18T00:22:45.326Z,1613607765.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.799997 m, bearing: 165.933340 deg, deltaT: 4.437809 s, approachRate: 0.256883 m/s, LOS rate: -1.221219 deg/s, posRepo size: 4 2021-02-18T00:22:45.328Z,1613607765.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.799997 m, bearing: 165.933340 deg, approachRate: 0.256883 m/s, LOS rate: -1.221219 deg/s, cmd update: -4.884876 deg/s, cmd heading: 238.722161 deg, new cmd heading: 243.892949 deg. 2021-02-18T00:22:46.507Z,1613607766.507 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2021-02-18T00:22:46.507Z,1613607766.507 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-02-18T00:22:46.507Z,1613607766.507 [RDI_Pathfinder](ERROR): Communications Fault 2021-02-18T00:22:46.707Z,1613607766.707 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-02-18T00:22:46.963Z,1613607766.963 [RDI_Pathfinder](INFO): Powering down 2021-02-18T00:22:47.704Z,1613607767.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:47.827Z,1613607767.827 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-02-18T00:22:47.827Z,1613607767.827 [RDI_Pathfinder] No Fault, FailCount= 1 2021-02-18T00:22:48.505Z,1613607768.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:48.916Z,1613607768.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:49.728Z,1613607769.728 [Micromodem](INFO): Nmea in: $SNTTA,0.017972,,0.055310,,002248.56*59 2021-02-18T00:22:49.771Z,1613607769.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.359999 m, bearing: 149.407752 deg, deltaT: 4.410770 s, approachRate: 0.353680 m/s, LOS rate: -3.746645 deg/s, posRepo size: 4 2021-02-18T00:22:49.773Z,1613607769.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.359999 m, bearing: 149.407752 deg, approachRate: 0.353680 m/s, LOS rate: -3.746645 deg/s, cmd update: -12.000000 deg/s, cmd heading: 217.155405 deg, new cmd heading: 214.904367 deg. 2021-02-18T00:22:52.146Z,1613607772.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:52.954Z,1613607772.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:53.338Z,1613607773.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:54.162Z,1613607774.162 [Micromodem](INFO): Nmea in: $SNTTA,0.018443,,,,002253.01*4D 2021-02-18T00:22:54.988Z,1613607774.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:56.593Z,1613607776.593 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:22:57.809Z,1613607777.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:22:58.600Z,1613607778.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:22:58.999Z,1613607778.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:22:59.824Z,1613607779.824 [Micromodem](INFO): Nmea in: $SNTTA,0.018795,,,,002258.66*4F 2021-02-18T00:22:59.847Z,1613607779.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.140001 m, bearing: 228.681195 deg, deltaT: 10.117980 s, approachRate: 0.077091 m/s, LOS rate: 7.834908 deg/s, posRepo size: 4 2021-02-18T00:22:59.849Z,1613607779.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.140001 m, bearing: 228.681195 deg, approachRate: 0.077091 m/s, LOS rate: 7.834908 deg/s, cmd update: 12.000000 deg/s, cmd heading: 95.742007 deg, new cmd heading: 90.716887 deg. 2021-02-18T00:23:02.268Z,1613607782.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:03.032Z,1613607783.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:23:03.443Z,1613607783.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:23:04.271Z,1613607784.271 [Micromodem](INFO): Nmea in: $SNTTA,0.020101,,,,002303.09*49 2021-02-18T00:23:04.295Z,1613607784.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.659998 m, bearing: 162.974761 deg, deltaT: 4.450902 s, approachRate: 0.566177 m/s, LOS rate: -14.762498 deg/s, posRepo size: 4 2021-02-18T00:23:04.296Z,1613607784.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.762498 deg/s. Setting heading cmd to target bearing of 162.974761deg and heading rate command to 0 deg/s. 2021-02-18T00:23:06.707Z,1613607786.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:07.476Z,1613607787.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:23:07.882Z,1613607787.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:23:08.720Z,1613607788.720 [Micromodem](INFO): Nmea in: $SNTTA,0.021513,,,,002307.53*44 2021-02-18T00:23:08.765Z,1613607788.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.460003 m, bearing: 141.870050 deg, deltaT: 4.429779 s, approachRate: 0.406342 m/s, LOS rate: -4.764281 deg/s, posRepo size: 4 2021-02-18T00:23:08.767Z,1613607788.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.460003 m, bearing: 141.870050 deg, approachRate: 0.406342 m/s, LOS rate: -4.764281 deg/s, cmd update: -12.000000 deg/s, cmd heading: 162.974761 deg, new cmd heading: 162.974761 deg. 2021-02-18T00:23:11.138Z,1613607791.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:11.944Z,1613607791.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:23:12.343Z,1613607792.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:23:13.150Z,1613607793.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002312.00*5C 2021-02-18T00:23:14.007Z,1613607794.007 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:15.585Z,1613607795.585 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:23:16.811Z,1613607796.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:17.596Z,1613607797.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:23:17.983Z,1613607797.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:23:18.801Z,1613607798.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002317.65*5A 2021-02-18T00:23:19.647Z,1613607799.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:21.210Z,1613607801.210 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:23:22.446Z,1613607802.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:23.234Z,1613607803.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:23:23.638Z,1613607803.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:23:24.469Z,1613607804.469 [Micromodem](INFO): Nmea in: $SNTTA,0.028670,,,,002323.29*40 2021-02-18T00:23:24.528Z,1613607804.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.139999 m, bearing: 98.829347 deg, deltaT: 15.776203 s, approachRate: 0.676969 m/s, LOS rate: -2.728204 deg/s, posRepo size: 4 2021-02-18T00:23:24.535Z,1613607804.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.139999 m, bearing: 98.829347 deg, approachRate: 0.676969 m/s, LOS rate: -2.728204 deg/s, cmd update: -10.912817 deg/s, cmd heading: 333.851719 deg, new cmd heading: 328.405435 deg. 2021-02-18T00:23:26.898Z,1613607806.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:27.760Z,1613607807.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:23:28.082Z,1613607808.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:23:28.976Z,1613607808.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.199997 m, bearing: 73.575802 deg, deltaT: 4.413273 s, approachRate: 0.693362 m/s, LOS rate: -5.722181 deg/s, posRepo size: 4 2021-02-18T00:23:28.977Z,1613607808.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 46.20 m. Rolling out. 2021-02-18T00:23:28.977Z,1613607808.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T00:23:29.307Z,1613607809.307 [Micromodem](INFO): Nmea in: $SNTTA,0.030695,,,,002327.82*47 2021-02-18T00:23:31.349Z,1613607811.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:32.132Z,1613607812.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:23:32.538Z,1613607812.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:23:33.367Z,1613607813.367 [Micromodem](INFO): Nmea in: $SNTTA,0.032409,0.040616,,,002332.19*5F 2021-02-18T00:23:33.386Z,1613607813.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.720001 m, bearing: 83.342515 deg, deltaT: 4.536504 s, approachRate: 0.555495 m/s, LOS rate: 2.152916 deg/s, posRepo size: 4 2021-02-18T00:23:35.786Z,1613607815.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:36.593Z,1613607816.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:23:36.981Z,1613607816.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:23:37.812Z,1613607817.812 [Micromodem](INFO): Nmea in: $SNTTA,0.033682,,,,002336.65*4B 2021-02-18T00:23:37.856Z,1613607817.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.580002 m, bearing: 41.677633 deg, deltaT: 4.360420 s, approachRate: 0.426565 m/s, LOS rate: -9.555245 deg/s, posRepo size: 4 2021-02-18T00:23:40.229Z,1613607820.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:41.029Z,1613607821.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:23:41.425Z,1613607821.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:23:42.264Z,1613607822.264 [Micromodem](INFO): Nmea in: $SNTTA,0.034523,,,,002341.09*4E 2021-02-18T00:23:42.288Z,1613607822.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.719997 m, bearing: 12.261206 deg, deltaT: 4.463865 s, approachRate: 0.255383 m/s, LOS rate: -6.589901 deg/s, posRepo size: 4 2021-02-18T00:23:44.686Z,1613607824.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:45.456Z,1613607825.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:23:45.870Z,1613607825.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:23:46.684Z,1613607826.684 [Micromodem](INFO): Nmea in: $SNTTA,0.034701,,,,002345.51*45 2021-02-18T00:23:46.734Z,1613607826.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.020000 m, bearing: 11.073695 deg, deltaT: 4.455787 s, approachRate: 0.067329 m/s, LOS rate: -0.266510 deg/s, posRepo size: 4 2021-02-18T00:23:49.128Z,1613607829.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:49.910Z,1613607829.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:23:50.308Z,1613607830.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:23:51.139Z,1613607831.139 [Micromodem](INFO): Nmea in: $SNTTA,0.034541,,,,002349.97*45 2021-02-18T00:23:51.164Z,1613607831.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.959999 m, bearing: 318.143354 deg, deltaT: 4.429808 s, approachRate: -0.013545 m/s, LOS rate: -11.948678 deg/s, posRepo size: 4 2021-02-18T00:23:53.602Z,1613607833.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:54.344Z,1613607834.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:23:54.759Z,1613607834.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:23:55.604Z,1613607835.604 [Micromodem](INFO): Nmea in: $SNTTA,0.033953,,,,002354.40*4B 2021-02-18T00:23:55.628Z,1613607835.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.760002 m, bearing: 289.462188 deg, deltaT: 4.468159 s, approachRate: -0.268566 m/s, LOS rate: -6.419012 deg/s, posRepo size: 4 2021-02-18T00:23:58.014Z,1613607838.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:23:58.793Z,1613607838.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:23:59.196Z,1613607839.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:00.027Z,1613607840.027 [Micromodem](INFO): Nmea in: $SNTTA,0.032761,,,,002358.85*40 2021-02-18T00:24:00.056Z,1613607840.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.320000 m, bearing: 286.008871 deg, deltaT: 4.425834 s, approachRate: -0.325363 m/s, LOS rate: -0.780263 deg/s, posRepo size: 4 2021-02-18T00:24:02.452Z,1613607842.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:24:03.232Z,1613607843.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:24:03.650Z,1613607843.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:04.469Z,1613607844.469 [Micromodem](INFO): Nmea in: $SNTTA,0.031328,,0.032666,0.039078,002403.29*47 2021-02-18T00:24:04.498Z,1613607844.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.739998 m, bearing: 282.785924 deg, deltaT: 4.457602 s, approachRate: -0.578787 m/s, LOS rate: -0.723023 deg/s, posRepo size: 4 2021-02-18T00:24:06.916Z,1613607846.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:24:07.676Z,1613607847.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:24:08.091Z,1613607848.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:08.916Z,1613607848.916 [Micromodem](INFO): Nmea in: $SNTTA,0.029389,,,,002407.73*4C 2021-02-18T00:24:08.997Z,1613607848.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.799999 m, bearing: 273.151149 deg, deltaT: 4.419975 s, approachRate: -0.665162 m/s, LOS rate: -2.179825 deg/s, posRepo size: 4 2021-02-18T00:24:11.338Z,1613607851.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:24:12.147Z,1613607852.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:24:12.535Z,1613607852.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:13.361Z,1613607853.361 [Micromodem](INFO): Nmea in: $SNTTA,0.027605,,0.032926,,002412.20*53 2021-02-18T00:24:13.405Z,1613607853.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.920002 m, bearing: 274.709006 deg, deltaT: 4.480151 s, approachRate: -0.642835 m/s, LOS rate: 0.347724 deg/s, posRepo size: 4 2021-02-18T00:24:15.782Z,1613607855.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:24:16.591Z,1613607856.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:24:16.979Z,1613607856.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:17.808Z,1613607857.808 [Micromodem](INFO): Nmea in: $SNTTA,0.025298,,,,002416.65*46 2021-02-18T00:24:17.860Z,1613607857.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.739998 m, bearing: 275.259465 deg, deltaT: 4.394660 s, approachRate: -0.723606 m/s, LOS rate: 0.125256 deg/s, posRepo size: 4 2021-02-18T00:24:20.253Z,1613607860.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:24:21.013Z,1613607861.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:24:21.414Z,1613607861.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:22.240Z,1613607862.240 [Micromodem](INFO): Nmea in: $SNTTA,0.023165,,,,002421.07*41 2021-02-18T00:24:22.279Z,1613607862.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.559998 m, bearing: 275.435684 deg, deltaT: 4.473039 s, approachRate: -0.710926 m/s, LOS rate: 0.039396 deg/s, posRepo size: 4 2021-02-18T00:24:24.682Z,1613607864.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:24:25.452Z,1613607865.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:24:25.859Z,1613607865.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:26.680Z,1613607866.680 [Micromodem](INFO): Nmea in: $SNTTA,0.021045,,,,002425.51*47 2021-02-18T00:24:26.726Z,1613607866.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.379999 m, bearing: 274.346050 deg, deltaT: 4.440069 s, approachRate: -0.716205 m/s, LOS rate: -0.245409 deg/s, posRepo size: 4 2021-02-18T00:24:29.118Z,1613607869.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:24:29.897Z,1613607869.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:24:30.304Z,1613607870.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:31.128Z,1613607871.128 [Micromodem](INFO): Nmea in: $SNTTA,0.018897,,,,002429.95*4E 2021-02-18T00:24:31.152Z,1613607871.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.140001 m, bearing: 275.164908 deg, deltaT: 4.430605 s, approachRate: -0.731277 m/s, LOS rate: 0.184818 deg/s, posRepo size: 4 2021-02-18T00:24:33.603Z,1613607873.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:24:34.340Z,1613607874.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:24:34.748Z,1613607874.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:35.604Z,1613607875.604 [Micromodem](INFO): Nmea in: $SNTTA,0.016559,,,,002434.40*4B 2021-02-18T00:24:35.647Z,1613607875.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.659998 m, bearing: 274.834327 deg, deltaT: 4.454336 s, approachRate: -0.781262 m/s, LOS rate: -0.074216 deg/s, posRepo size: 4 2021-02-18T00:24:38.072Z,1613607878.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:24:38.790Z,1613607878.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:24:38.833Z,1613607878.833 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T00:24:39.215Z,1613607879.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:40.016Z,1613607880.016 [Micromodem](INFO): Nmea in: $SNTTA,0.014304,,,,002438.85*42 2021-02-18T00:24:40.041Z,1613607880.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.239996 m, bearing: 274.203900 deg, deltaT: 4.435502 s, approachRate: -0.771052 m/s, LOS rate: -0.142132 deg/s, posRepo size: 4 2021-02-18T00:24:42.435Z,1613607882.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:24:43.234Z,1613607883.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:24:43.634Z,1613607883.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:44.460Z,1613607884.460 [Micromodem](INFO): Nmea in: $SNTTA,0.012211,,,,002443.29*4B 2021-02-18T00:24:44.482Z,1613607884.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.120001 m, bearing: 273.583118 deg, deltaT: 4.434617 s, approachRate: -0.703555 m/s, LOS rate: -0.139986 deg/s, posRepo size: 4 2021-02-18T00:24:46.904Z,1613607886.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:24:47.673Z,1613607887.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:24:48.078Z,1613607888.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:48.906Z,1613607888.906 [Micromodem](INFO): Nmea in: $SNTTA,0.009930,,,,002447.73*42 2021-02-18T00:24:48.975Z,1613607888.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.639997 m, bearing: 273.823021 deg, deltaT: 4.436324 s, approachRate: -0.784434 m/s, LOS rate: 0.054077 deg/s, posRepo size: 4 2021-02-18T00:24:51.348Z,1613607891.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:24:52.121Z,1613607892.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:24:52.522Z,1613607892.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:53.348Z,1613607893.348 [Micromodem](INFO): Nmea in: $SNTTA,0.007847,,,,002452.18*44 2021-02-18T00:24:53.385Z,1613607893.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.459998 m, bearing: 271.226593 deg, deltaT: 4.515527 s, approachRate: -0.704236 m/s, LOS rate: -0.575000 deg/s, posRepo size: 4 2021-02-18T00:24:55.784Z,1613607895.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:24:56.591Z,1613607896.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:24:56.977Z,1613607896.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:24:57.804Z,1613607897.804 [Micromodem](INFO): Nmea in: $SNTTA,0.006546,,,,002456.65*47 2021-02-18T00:24:57.828Z,1613607897.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.339999 m, bearing: 271.424560 deg, deltaT: 4.388265 s, approachRate: -0.710987 m/s, LOS rate: 0.045113 deg/s, posRepo size: 4 2021-02-18T00:25:00.238Z,1613607900.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:01.004Z,1613607901.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:25:01.418Z,1613607901.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:25:02.232Z,1613607902.232 [Micromodem](INFO): Nmea in: $SNTTA,0.004005,,,,002501.06*41 2021-02-18T00:25:02.270Z,1613607902.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.820000 m, bearing: 268.963724 deg, deltaT: 4.451189 s, approachRate: -0.566141 m/s, LOS rate: -0.552849 deg/s, posRepo size: 4 2021-02-18T00:25:04.673Z,1613607904.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:05.453Z,1613607905.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:25:05.854Z,1613607905.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:25:06.680Z,1613607906.680 [Micromodem](INFO): Nmea in: $SNTTA,0.002747,,,,002505.51*40 2021-02-18T00:25:06.704Z,1613607906.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.300001 m, bearing: 294.428391 deg, deltaT: 4.460443 s, approachRate: 0.107613 m/s, LOS rate: 5.709000 deg/s, posRepo size: 4 2021-02-18T00:25:09.108Z,1613607909.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:09.892Z,1613607909.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:25:10.298Z,1613607910.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:25:11.125Z,1613607911.125 [Micromodem](INFO): Nmea in: $SNTTA,0.003547,,,,002509.95*47 2021-02-18T00:25:11.170Z,1613607911.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.339999 m, bearing: 268.464574 deg, deltaT: 4.446605 s, approachRate: -0.215895 m/s, LOS rate: -5.839020 deg/s, posRepo size: 4 2021-02-18T00:25:13.594Z,1613607913.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:14.337Z,1613607914.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:25:14.753Z,1613607914.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:25:15.600Z,1613607915.600 [Micromodem](INFO): Nmea in: $SNTTA,0.006090,,,,002514.39*47 2021-02-18T00:25:15.644Z,1613607915.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.180000 m, bearing: 287.098833 deg, deltaT: 4.425635 s, approachRate: 0.867672 m/s, LOS rate: 4.210528 deg/s, posRepo size: 4 2021-02-18T00:25:18.001Z,1613607918.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:18.785Z,1613607918.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:25:19.193Z,1613607919.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:25:20.027Z,1613607920.027 [Micromodem](INFO): Nmea in: $SNTTA,0.008148,,0.033961,,002518.84*57 2021-02-18T00:25:20.061Z,1613607920.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.159998 m, bearing: 290.775360 deg, deltaT: 4.451980 s, approachRate: 0.444745 m/s, LOS rate: 0.825818 deg/s, posRepo size: 4 2021-02-18T00:25:22.432Z,1613607922.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:23.235Z,1613607923.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:25:23.630Z,1613607923.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:25:24.464Z,1613607924.464 [Micromodem](INFO): Nmea in: $SNTTA,0.010611,,,,002523.29*4A 2021-02-18T00:25:24.486Z,1613607924.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.120001 m, bearing: 290.534008 deg, deltaT: 4.425945 s, approachRate: 0.894725 m/s, LOS rate: -0.054531 deg/s, posRepo size: 4 2021-02-18T00:25:26.884Z,1613607926.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:27.673Z,1613607927.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:25:28.074Z,1613607928.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:25:28.909Z,1613607928.909 [Micromodem](INFO): Nmea in: $SNTTA,0.011515,,0.133584,,002527.73*51 2021-02-18T00:25:28.975Z,1613607928.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.400002 m, bearing: 286.253665 deg, deltaT: 4.440994 s, approachRate: 0.513399 m/s, LOS rate: -0.963825 deg/s, posRepo size: 4 2021-02-18T00:25:31.334Z,1613607931.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:32.117Z,1613607932.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:25:32.523Z,1613607932.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:25:33.347Z,1613607933.347 [Micromodem](INFO): Nmea in: $SNTTA,0.013671,,,,002532.17*42 2021-02-18T00:25:33.366Z,1613607933.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.639997 m, bearing: 281.555834 deg, deltaT: 4.498572 s, approachRate: 0.720228 m/s, LOS rate: -1.044294 deg/s, posRepo size: 4 2021-02-18T00:25:35.773Z,1613607935.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:36.591Z,1613607936.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:25:36.979Z,1613607936.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:25:37.800Z,1613607937.800 [Micromodem](INFO): Nmea in: $SNTTA,0.015839,,,,002536.65*47 2021-02-18T00:25:37.844Z,1613607937.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.300001 m, bearing: 284.303837 deg, deltaT: 4.382360 s, approachRate: 0.835167 m/s, LOS rate: 0.627060 deg/s, posRepo size: 4 2021-02-18T00:25:40.241Z,1613607940.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:40.000Z,1613607941.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:25:41.409Z,1613607941.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:25:42.240Z,1613607942.240 [Micromodem](INFO): Nmea in: $SNTTA,0.018091,,,,002541.06*45 2021-02-18T00:25:42.274Z,1613607942.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.659998 m, bearing: 285.467975 deg, deltaT: 4.461061 s, approachRate: 0.753183 m/s, LOS rate: 0.260955 deg/s, posRepo size: 4 2021-02-18T00:25:44.670Z,1613607944.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:45.449Z,1613607945.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:25:45.851Z,1613607945.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:25:46.668Z,1613607946.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002545.51*5C 2021-02-18T00:25:47.486Z,1613607947.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:49.084Z,1613607949.084 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:25:50.324Z,1613607950.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:51.106Z,1613607951.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:25:51.505Z,1613607951.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:25:52.332Z,1613607952.332 [Micromodem](INFO): Nmea in: $SNTTA,0.023041,,,,002551.16*40 2021-02-18T00:25:52.384Z,1613607952.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.680000 m, bearing: 283.478860 deg, deltaT: 10.134384 s, approachRate: 0.692692 m/s, LOS rate: -0.196274 deg/s, posRepo size: 4 2021-02-18T00:25:54.770Z,1613607954.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:55.554Z,1613607955.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:25:55.977Z,1613607955.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:25:56.780Z,1613607956.780 [Micromodem](INFO): Nmea in: $SNTTA,0.025596,,,,002555.61*4D 2021-02-18T00:25:56.832Z,1613607956.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.820000 m, bearing: 286.884392 deg, deltaT: 4.387242 s, approachRate: 0.943645 m/s, LOS rate: 0.776235 deg/s, posRepo size: 4 2021-02-18T00:25:59.221Z,1613607959.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:25:59.988Z,1613607959.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:00.395Z,1613607960.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:01.216Z,1613607961.216 [Micromodem](INFO): Nmea in: $SNTTA,0.027492,,,,002600.05*4B 2021-02-18T00:26:01.254Z,1613607961.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.340000 m, bearing: 284.438447 deg, deltaT: 4.468601 s, approachRate: 0.563935 m/s, LOS rate: -0.547363 deg/s, posRepo size: 4 2021-02-18T00:26:03.650Z,1613607963.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:26:04.438Z,1613607964.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:04.843Z,1613607964.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:05.668Z,1613607965.668 [Micromodem](INFO): Nmea in: $SNTTA,0.029749,,,,002604.49*4C 2021-02-18T00:26:05.692Z,1613607965.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.059998 m, bearing: 290.183756 deg, deltaT: 4.443192 s, approachRate: 0.837235 m/s, LOS rate: 1.293059 deg/s, posRepo size: 4 2021-02-18T00:26:08.093Z,1613607968.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:26:08.881Z,1613607968.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:09.282Z,1613607969.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:10.112Z,1613607970.112 [Micromodem](INFO): Nmea in: $SNTTA,0.032112,,,,002608.94*42 2021-02-18T00:26:10.136Z,1613607970.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.540005 m, bearing: 286.593973 deg, deltaT: 4.429998 s, approachRate: 0.785555 m/s, LOS rate: -0.810335 deg/s, posRepo size: 4 2021-02-18T00:26:12.543Z,1613607972.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:26:13.320Z,1613607973.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:13.732Z,1613607973.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:14.576Z,1613607974.576 [Micromodem](INFO): Nmea in: $SNTTA,0.034296,,,,002613.38*47 2021-02-18T00:26:14.623Z,1613607974.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.779999 m, bearing: 287.125443 deg, deltaT: 4.450045 s, approachRate: 0.728081 m/s, LOS rate: 0.119430 deg/s, posRepo size: 4 2021-02-18T00:26:17.010Z,1613607977.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:26:17.770Z,1613607977.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:18.170Z,1613607978.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:19.000Z,1613607979.000 [Micromodem](INFO): Nmea in: $SNTTA,0.036548,,,,002617.83*45 2021-02-18T00:26:19.049Z,1613607979.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.960007 m, bearing: 289.570870 deg, deltaT: 4.479646 s, approachRate: 0.709879 m/s, LOS rate: 0.545897 deg/s, posRepo size: 4 2021-02-18T00:26:21.421Z,1613607981.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:26:22.236Z,1613607982.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:22.616Z,1613607982.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:23.449Z,1613607983.449 [Micromodem](INFO): Nmea in: $SNTTA,0.038899,,0.056961,,002622.29*5F 2021-02-18T00:26:23.494Z,1613607983.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.739998 m, bearing: 283.880120 deg, deltaT: 4.402563 s, approachRate: 0.858589 m/s, LOS rate: -1.292599 deg/s, posRepo size: 4 2021-02-18T00:26:25.888Z,1613607985.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:26:26.653Z,1613607986.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:27.065Z,1613607987.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:27.884Z,1613607987.884 [Micromodem](INFO): Nmea in: $SNTTA,0.040924,,,,002626.71*4D 2021-02-18T00:26:27.973Z,1613607987.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.560005 m, bearing: 288.985413 deg, deltaT: 4.463863 s, approachRate: 0.631741 m/s, LOS rate: 1.143694 deg/s, posRepo size: 4 2021-02-18T00:26:30.314Z,1613607990.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:26:31.098Z,1613607991.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:31.503Z,1613607991.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:32.328Z,1613607992.328 [Micromodem](INFO): Nmea in: $SNTTA,0.043222,,,,002631.15*47 2021-02-18T00:26:32.353Z,1613607992.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.919998 m, bearing: 287.300679 deg, deltaT: 4.478919 s, approachRate: 0.750179 m/s, LOS rate: -0.376148 deg/s, posRepo size: 4 2021-02-18T00:26:34.758Z,1613607994.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:26:35.564Z,1613607995.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:35.970Z,1613607995.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:36.776Z,1613607996.776 [Micromodem](INFO): Nmea in: $SNTTA,0.045567,,,,002635.62*43 2021-02-18T00:26:36.800Z,1613607996.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.459999 m, bearing: 287.362041 deg, deltaT: 4.402056 s, approachRate: 0.804170 m/s, LOS rate: 0.013939 deg/s, posRepo size: 4 2021-02-18T00:26:39.207Z,1613607999.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:26:39.984Z,1613607999.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:40.391Z,1613608000.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:41.215Z,1613608001.215 [Micromodem](INFO): Nmea in: $SNTTA,0.047616,,,,002640.04*46 2021-02-18T00:26:41.240Z,1613608001.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.519997 m, bearing: 289.013909 deg, deltaT: 4.439466 s, approachRate: 0.689272 m/s, LOS rate: 0.372087 deg/s, posRepo size: 4 2021-02-18T00:26:43.644Z,1613608003.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:26:44.428Z,1613608004.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:44.841Z,1613608004.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:45.656Z,1613608005.656 [Micromodem](INFO): Nmea in: $SNTTA,0.049856,,,,002644.48*4E 2021-02-18T00:26:45.680Z,1613608005.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.000008 m, bearing: 298.416074 deg, deltaT: 4.435472 s, approachRate: 0.784586 m/s, LOS rate: 2.119766 deg/s, posRepo size: 4 2021-02-18T00:26:48.105Z,1613608008.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:26:48.872Z,1613608008.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:49.299Z,1613608009.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:50.116Z,1613608010.116 [Micromodem](INFO): Nmea in: $SNTTA,0.052052,,,0.077365,002648.93*5C 2021-02-18T00:26:50.154Z,1613608010.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.360001 m, bearing: 292.106536 deg, deltaT: 4.456815 s, approachRate: 0.753900 m/s, LOS rate: -1.415705 deg/s, posRepo size: 4 2021-02-18T00:26:52.524Z,1613608012.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:26:53.322Z,1613608013.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:53.728Z,1613608013.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:54.564Z,1613608014.564 [Micromodem](INFO): Nmea in: $SNTTA,0.054272,,,,002653.38*4F 2021-02-18T00:26:54.617Z,1613608014.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.659996 m, bearing: 289.788807 deg, deltaT: 4.460302 s, approachRate: 0.739859 m/s, LOS rate: -0.519635 deg/s, posRepo size: 4 2021-02-18T00:26:56.994Z,1613608016.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:26:57.760Z,1613608017.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:26:58.166Z,1613608018.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:26:58.988Z,1613608018.988 [Micromodem](INFO): Nmea in: $SNTTA,0.056501,,,,002657.82*4B 2021-02-18T00:26:59.037Z,1613608019.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.900009 m, bearing: 286.323880 deg, deltaT: 4.462089 s, approachRate: 0.726120 m/s, LOS rate: -0.776526 deg/s, posRepo size: 4 2021-02-18T00:27:01.420Z,1613608021.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:02.204Z,1613608022.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:02.612Z,1613608022.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:27:03.436Z,1613608023.436 [Micromodem](INFO): Nmea in: $SNTTA,0.058828,,,,002702.26*4C 2021-02-18T00:27:03.458Z,1613608023.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.320000 m, bearing: 292.419769 deg, deltaT: 4.404510 s, approachRate: 0.776475 m/s, LOS rate: 1.384011 deg/s, posRepo size: 4 2021-02-18T00:27:05.865Z,1613608025.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:06.648Z,1613608026.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:07.055Z,1613608027.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:27:07.876Z,1613608027.876 [Micromodem](INFO): Nmea in: $SNTTA,0.060950,,,,002706.70*4E 2021-02-18T00:27:07.946Z,1613608027.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.680008 m, bearing: 283.931592 deg, deltaT: 4.452740 s, approachRate: 0.754593 m/s, LOS rate: -1.906282 deg/s, posRepo size: 4 2021-02-18T00:27:10.330Z,1613608030.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:11.094Z,1613608031.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:11.498Z,1613608031.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:27:12.328Z,1613608032.328 [Micromodem](INFO): Nmea in: $SNTTA,0.063263,,,,002711.15*43 2021-02-18T00:27:12.370Z,1613608032.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.099998 m, bearing: 286.133782 deg, deltaT: 4.483008 s, approachRate: 0.762879 m/s, LOS rate: 0.491230 deg/s, posRepo size: 4 2021-02-18T00:27:14.765Z,1613608034.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:15.581Z,1613608035.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:15.992Z,1613608035.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:27:16.785Z,1613608036.785 [Micromodem](INFO): Nmea in: $SNTTA,0.065440,,,,002715.64*40 2021-02-18T00:27:16.838Z,1613608036.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.339996 m, bearing: 294.624827 deg, deltaT: 4.384507 s, approachRate: 0.738965 m/s, LOS rate: 1.936602 deg/s, posRepo size: 4 2021-02-18T00:27:19.206Z,1613608039.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:19.989Z,1613608039.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:20.391Z,1613608040.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:27:21.223Z,1613608041.223 [Micromodem](INFO): Nmea in: $SNTTA,0.067756,,0.085650,,002720.04*56 2021-02-18T00:27:21.248Z,1613608041.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.760002 m, bearing: 294.992783 deg, deltaT: 4.466844 s, approachRate: 0.765643 m/s, LOS rate: 0.082375 deg/s, posRepo size: 4 2021-02-18T00:27:23.646Z,1613608043.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:24.428Z,1613608044.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:24.851Z,1613608044.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:27:25.656Z,1613608045.656 [Micromodem](INFO): Nmea in: $SNTTA,0.069882,,,,002724.48*42 2021-02-18T00:27:25.685Z,1613608045.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.000000 m, bearing: 298.687779 deg, deltaT: 4.430694 s, approachRate: 0.731262 m/s, LOS rate: 0.833954 deg/s, posRepo size: 4 2021-02-18T00:27:28.112Z,1613608048.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:28.880Z,1613608048.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:29.284Z,1613608049.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:27:30.108Z,1613608050.108 [Micromodem](INFO): Nmea in: $SNTTA,0.072067,,,,002728.94*46 2021-02-18T00:27:30.153Z,1613608050.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.239998 m, bearing: 296.199650 deg, deltaT: 4.467050 s, approachRate: 0.725310 m/s, LOS rate: -0.556996 deg/s, posRepo size: 4 2021-02-18T00:27:32.584Z,1613608052.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:33.325Z,1613608053.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:33.722Z,1613608053.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:27:34.555Z,1613608054.555 [Micromodem](INFO): Nmea in: $SNTTA,0.074423,,,,002733.38*48 2021-02-18T00:27:34.633Z,1613608054.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.020004 m, bearing: 287.588120 deg, deltaT: 4.453545 s, approachRate: 0.848763 m/s, LOS rate: -1.933635 deg/s, posRepo size: 4 2021-02-18T00:27:36.998Z,1613608056.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:37.761Z,1613608057.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:38.166Z,1613608058.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:27:38.992Z,1613608058.992 [Micromodem](INFO): Nmea in: $SNTTA,0.076684,,,,002737.82*40 2021-02-18T00:27:39.034Z,1613608059.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.139999 m, bearing: 296.046381 deg, deltaT: 4.435200 s, approachRate: 0.703462 m/s, LOS rate: 1.907075 deg/s, posRepo size: 4 2021-02-18T00:27:41.422Z,1613608061.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:42.204Z,1613608062.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:42.610Z,1613608062.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:27:43.432Z,1613608063.432 [Micromodem](INFO): Nmea in: $SNTTA,0.078806,,,,002742.26*46 2021-02-18T00:27:43.454Z,1613608063.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.440002 m, bearing: 291.447560 deg, deltaT: 4.418731 s, approachRate: 0.746821 m/s, LOS rate: -1.040756 deg/s, posRepo size: 4 2021-02-18T00:27:45.865Z,1613608065.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:46.648Z,1613608066.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:47.053Z,1613608067.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:27:47.879Z,1613608067.879 [Micromodem](INFO): Nmea in: $SNTTA,0.081109,,,,002746.70*41 2021-02-18T00:27:47.903Z,1613608067.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.800003 m, bearing: 290.144988 deg, deltaT: 4.437580 s, approachRate: 0.757170 m/s, LOS rate: -0.293532 deg/s, posRepo size: 4 2021-02-18T00:27:49.978Z,1613608069.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:50.688Z,1613608070.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:51.099Z,1613608071.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:27:51.912Z,1613608071.912 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002750.74*5D 2021-02-18T00:27:51.995Z,1613608071.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.040001 m, bearing: 290.254954 deg, deltaT: 4.076223 s, approachRate: 0.794853 m/s, LOS rate: 0.026977 deg/s, posRepo size: 4 2021-02-18T00:27:54.357Z,1613608074.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:55.138Z,1613608075.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:55.543Z,1613608075.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:27:56.364Z,1613608076.364 [Micromodem](INFO): Nmea in: $SNTTA,0.085471,,,,002755.19*42 2021-02-18T00:27:56.396Z,1613608076.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.400009 m, bearing: 294.578956 deg, deltaT: 4.477072 s, approachRate: 0.750492 m/s, LOS rate: 0.965810 deg/s, posRepo size: 4 2021-02-18T00:27:58.794Z,1613608078.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:27:59.600Z,1613608079.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:27:59.982Z,1613608079.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:28:00.820Z,1613608080.820 [Micromodem](INFO): Nmea in: $SNTTA,0.087775,,,,002759.66*43 2021-02-18T00:28:00.844Z,1613608080.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.820007 m, bearing: 289.731980 deg, deltaT: 4.377657 s, approachRate: 0.781239 m/s, LOS rate: -1.107208 deg/s, posRepo size: 4 2021-02-18T00:28:03.265Z,1613608083.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:04.032Z,1613608084.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:28:04.427Z,1613608084.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:28:05.256Z,1613608085.256 [Micromodem](INFO): Nmea in: $SNTTA,0.090048,,,,002804.09*42 2021-02-18T00:28:05.301Z,1613608085.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.199997 m, bearing: 287.279614 deg, deltaT: 4.450566 s, approachRate: 0.984142 m/s, LOS rate: -0.551023 deg/s, posRepo size: 4 2021-02-18T00:28:07.696Z,1613608087.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:08.472Z,1613608088.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:28:08.870Z,1613608088.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:28:09.686Z,1613608089.686 [Micromodem](INFO): Nmea in: $SNTTA,0.092291,,,,002808.53*45 2021-02-18T00:28:10.515Z,1613608090.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:12.104Z,1613608092.104 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:28:13.343Z,1613608093.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:14.126Z,1613608094.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:28:14.525Z,1613608094.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:28:15.352Z,1613608095.352 [Micromodem](INFO): Nmea in: $SNTTA,0.095137,,,,002814.18*4F 2021-02-18T00:28:15.393Z,1613608095.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.979996 m, bearing: 299.143899 deg, deltaT: 10.174792 s, approachRate: 0.666353 m/s, LOS rate: 1.166047 deg/s, posRepo size: 4 2021-02-18T00:28:17.783Z,1613608097.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:18.595Z,1613608098.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:28:18.975Z,1613608098.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:28:19.806Z,1613608099.806 [Micromodem](INFO): Nmea in: $SNTTA,0.097952,,0.119213,,002818.65*57 2021-02-18T00:28:19.829Z,1613608099.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.979996 m, bearing: 288.835176 deg, deltaT: 4.367059 s, approachRate: 0.000000 m/s, LOS rate: -2.360564 deg/s, posRepo size: 4 2021-02-18T00:28:22.226Z,1613608102.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:23.008Z,1613608103.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:28:23.433Z,1613608103.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:28:23.829Z,1613608103.829 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T00:28:24.236Z,1613608104.236 [Micromodem](INFO): Nmea in: $SNTTA,0.099723,,,,002823.06*4B 2021-02-18T00:28:24.289Z,1613608104.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.759995 m, bearing: 297.505692 deg, deltaT: 4.460849 s, approachRate: 1.519890 m/s, LOS rate: 1.943692 deg/s, posRepo size: 4 2021-02-18T00:28:26.277Z,1613608106.277 [lineCaptureDepth:NeedComms] Running Loop=1 2021-02-18T00:28:26.277Z,1613608106.277 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms 2021-02-18T00:28:26.277Z,1613608106.277 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1 2021-02-18T00:28:26.277Z,1613608106.277 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-02-18T00:28:26.278Z,1613608106.278 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2021-02-18T00:28:26.278Z,1613608106.278 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2021-02-18T00:28:26.278Z,1613608106.278 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2021-02-18T00:28:26.279Z,1613608106.279 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-02-18T00:28:26.279Z,1613608106.279 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-02-18T00:28:26.280Z,1613608106.280 [lineCaptureDepth:NeedComms:A] Running Loop=1 2021-02-18T00:28:26.308Z,1613608106.308 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613602706.000000 second since 1970/01/01T00:00:00Z 2021-02-18T00:28:26.308Z,1613608106.308 [lineCaptureDepth:NeedComms:A] Stopped 2021-02-18T00:28:26.684Z,1613608106.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:27.458Z,1613608107.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:28:27.865Z,1613608107.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:28:28.673Z,1613608108.673 [Micromodem](INFO): Nmea in: $SNTTA,0.101720,,,,002827.51*4E 2021-02-18T00:28:29.495Z,1613608109.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:31.088Z,1613608111.088 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:28:32.372Z,1613608112.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:33.108Z,1613608113.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:28:33.516Z,1613608113.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:28:33.969Z,1613608113.969 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T00:28:34.340Z,1613608114.340 [Micromodem](INFO): Nmea in: $SNTTA,0.104721,,,,002833.16*4C 2021-02-18T00:28:34.377Z,1613608114.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.139999 m, bearing: 286.922860 deg, deltaT: 10.175826 s, approachRate: 0.725249 m/s, LOS rate: -1.039997 deg/s, posRepo size: 4 2021-02-18T00:28:34.378Z,1613608114.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 157.14 m. Resuming terminal guidance. 2021-02-18T00:28:34.378Z,1613608114.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T00:28:36.774Z,1613608116.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:37.588Z,1613608117.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:28:37.976Z,1613608117.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:28:38.800Z,1613608118.800 [Micromodem](INFO): Nmea in: $SNTTA,0.117841,,,,002837.64*46 2021-02-18T00:28:38.848Z,1613608118.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.139999 m, bearing: 287.998259 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T00:28:38.848Z,1613608118.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 287.998259deg and heading rate command to 0 deg/s. 2021-02-18T00:28:41.213Z,1613608121.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:41.996Z,1613608121.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:28:42.411Z,1613608122.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:28:43.232Z,1613608123.232 [Micromodem](INFO): Nmea in: $SNTTA,0.108910,,,,002842.05*48 2021-02-18T00:28:43.256Z,1613608123.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.259995 m, bearing: 285.877021 deg, deltaT: 4.458263 s, approachRate: 1.372731 m/s, LOS rate: -0.475799 deg/s, posRepo size: 2 2021-02-18T00:28:43.258Z,1613608123.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.259995 m, bearing: 285.877021 deg, approachRate: 1.372731 m/s, LOS rate: -0.475799 deg/s, cmd update: -1.903197 deg/s, cmd heading: 287.998259 deg, new cmd heading: 287.998259 deg. 2021-02-18T00:28:45.702Z,1613608125.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:46.440Z,1613608126.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:28:46.847Z,1613608126.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:28:47.684Z,1613608127.684 [Micromodem](INFO): Nmea in: $SNTTA,0.110847,,,,002846.49*4E 2021-02-18T00:28:47.714Z,1613608127.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.380005 m, bearing: 281.242847 deg, deltaT: 4.448412 s, approachRate: 0.701376 m/s, LOS rate: -1.041759 deg/s, posRepo size: 3 2021-02-18T00:28:47.716Z,1613608127.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.380005 m, bearing: 281.242847 deg, approachRate: 0.701376 m/s, LOS rate: -1.041759 deg/s, cmd update: -4.167037 deg/s, cmd heading: 279.532150 deg, new cmd heading: 278.731628 deg. 2021-02-18T00:28:50.108Z,1613608130.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:50.886Z,1613608130.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:28:51.290Z,1613608131.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:28:52.116Z,1613608132.116 [Micromodem](INFO): Nmea in: $SNTTA,,,0.126020,0.120534,002850.94*5A 2021-02-18T00:28:52.140Z,1613608132.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.440002 m, bearing: 284.014511 deg, deltaT: 4.457204 s, approachRate: 0.686529 m/s, LOS rate: 0.621839 deg/s, posRepo size: 4 2021-02-18T00:28:52.142Z,1613608132.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.440002 m, bearing: 284.014511 deg, approachRate: 0.686529 m/s, LOS rate: 0.621839 deg/s, cmd update: 2.487356 deg/s, cmd heading: 260.975635 deg, new cmd heading: 259.334997 deg. 2021-02-18T00:28:54.579Z,1613608134.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:55.338Z,1613608135.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:28:55.746Z,1613608135.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:28:56.585Z,1613608136.585 [Micromodem](INFO): Nmea in: $SNTTA,0.114944,,0.132231,,002855.39*53 2021-02-18T00:28:56.609Z,1613608136.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.440002 m, bearing: 246.654196 deg, deltaT: 4.444331 s, approachRate: 0.000000 m/s, LOS rate: -8.406285 deg/s, posRepo size: 4 2021-02-18T00:28:56.610Z,1613608136.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.440002 m, bearing: 246.654196 deg, approachRate: 0.000000 m/s, LOS rate: -8.406285 deg/s, cmd update: -12.000000 deg/s, cmd heading: 272.030324 deg, new cmd heading: 273.069777 deg. 2021-02-18T00:28:59.029Z,1613608139.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:28:59.777Z,1613608139.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:29:00.192Z,1613608140.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:29:01.023Z,1613608141.023 [Micromodem](INFO): Nmea in: $SNTTA,0.117032,,,,002859.83*4B 2021-02-18T00:29:01.057Z,1613608141.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.440002 m, bearing: 241.553410 deg, deltaT: 4.425818 s, approachRate: 0.000000 m/s, LOS rate: -1.152507 deg/s, posRepo size: 4 2021-02-18T00:29:01.059Z,1613608141.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.440002 m, bearing: 241.553410 deg, approachRate: 0.000000 m/s, LOS rate: -1.152507 deg/s, cmd update: -4.610027 deg/s, cmd heading: 219.124231 deg, new cmd heading: 213.634098 deg. 2021-02-18T00:29:02.683Z,1613608142.683 [lineCaptureDepth:NeedComms:C] Running Loop=1 2021-02-18T00:29:03.054Z,1613608143.054 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-18T00:29:03.054Z,1613608143.054 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T00:29:03.054Z,1613608143.054 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-18T00:29:03.054Z,1613608143.054 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-18T00:29:03.054Z,1613608143.054 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-18T00:29:03.054Z,1613608143.054 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-18T00:29:03.054Z,1613608143.054 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-18T00:29:03.204Z,1613608143.204 [Radio_Surface](INFO): Powering up 2021-02-18T00:29:03.422Z,1613608143.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:04.217Z,1613608144.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:29:04.622Z,1613608144.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:29:05.444Z,1613608145.444 [Micromodem](INFO): Nmea in: $SNTTA,0.118857,,,,002904.27*48 2021-02-18T00:29:05.479Z,1613608145.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.440002 m, bearing: 203.830480 deg, deltaT: 4.476692 s, approachRate: 0.000000 m/s, LOS rate: -8.426519 deg/s, posRepo size: 4 2021-02-18T00:29:05.481Z,1613608145.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.440002 m, bearing: 203.830480 deg, approachRate: 0.000000 m/s, LOS rate: -8.426519 deg/s, cmd update: -12.000000 deg/s, cmd heading: 198.437162 deg, new cmd heading: 196.629644 deg. 2021-02-18T00:29:07.922Z,1613608147.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:08.660Z,1613608148.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:29:09.035Z,1613608149.035 [DataOverHttps](INFO): Radio surface powered ON. 2021-02-18T00:29:09.074Z,1613608149.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:29:09.890Z,1613608149.890 [Micromodem](INFO): Nmea in: $SNTTA,0.120028,,,,002908.72*4F 2021-02-18T00:29:09.934Z,1613608149.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.440002 m, bearing: 186.848690 deg, deltaT: 4.412879 s, approachRate: 0.000000 m/s, LOS rate: -3.848234 deg/s, posRepo size: 4 2021-02-18T00:29:09.936Z,1613608149.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.440002 m, bearing: 186.848690 deg, approachRate: 0.000000 m/s, LOS rate: -3.848234 deg/s, cmd update: -12.000000 deg/s, cmd heading: 145.415749 deg, new cmd heading: 140.274901 deg. 2021-02-18T00:29:12.326Z,1613608152.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:13.104Z,1613608153.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:29:13.511Z,1613608153.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:29:14.345Z,1613608154.345 [Micromodem](INFO): Nmea in: $SNTTA,0.120668,,,,002913.16*45 2021-02-18T00:29:14.369Z,1613608154.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.440002 m, bearing: 201.167048 deg, deltaT: 4.493052 s, approachRate: 0.000000 m/s, LOS rate: 3.186778 deg/s, posRepo size: 4 2021-02-18T00:29:14.371Z,1613608154.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.440002 m, bearing: 201.167048 deg, approachRate: 0.000000 m/s, LOS rate: 3.186778 deg/s, cmd update: 12.000000 deg/s, cmd heading: 91.483632 deg, new cmd heading: 87.051864 deg. 2021-02-18T00:29:16.755Z,1613608156.755 [NAL9602](INFO): SBD MO Status=0, MOMSN=13621, MT Status=0, MTMSN=0 2021-02-18T00:29:16.755Z,1613608156.755 [NAL9602](INFO): No messages in MT queue 2021-02-18T00:29:16.779Z,1613608156.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:16.811Z,1613608156.811 [BuoyancyServo](FAULT): Overload Error 2021-02-18T00:29:16.811Z,1613608156.811 [BuoyancyServo] Hardware Fault, FailCount= 1 2021-02-18T00:29:16.811Z,1613608156.811 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T00:29:16.915Z,1613608156.915 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T00:29:17.553Z,1613608157.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:29:17.986Z,1613608157.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:29:18.769Z,1613608158.769 [Micromodem](INFO): Nmea in: $SNTTA,0.121197,,,,002917.61*47 2021-02-18T00:29:18.841Z,1613608158.841 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T00:29:18.841Z,1613608158.841 [BuoyancyServo](INFO): Powering down 2021-02-18T00:29:19.203Z,1613608159.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.860001 m, bearing: 161.572428 deg, deltaT: 4.817182 s, approachRate: 2.578270 m/s, LOS rate: -8.219457 deg/s, posRepo size: 4 2021-02-18T00:29:19.205Z,1613608159.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.860001 m, bearing: 161.572428 deg, approachRate: 2.578270 m/s, LOS rate: -8.219457 deg/s, cmd update: -12.000000 deg/s, cmd heading: 149.289590 deg, new cmd heading: 153.924758 deg. 2021-02-18T00:29:19.245Z,1613608159.245 [BuoyancyServo](FAULT): LCB fault: Current Limiter Activated. 2021-02-18T00:29:19.733Z,1613608159.733 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T00:29:19.734Z,1613608159.734 [BuoyancyServo] No Fault, FailCount= 1 2021-02-18T00:29:20.049Z,1613608160.049 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T00:29:20.050Z,1613608160.050 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T00:29:21.602Z,1613608161.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:22.405Z,1613608162.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:29:22.808Z,1613608162.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:29:23.618Z,1613608163.618 [Micromodem](INFO): Nmea in: $SNTTA,0.121354,,,,002922.46*49 2021-02-18T00:29:24.451Z,1613608164.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:26.042Z,1613608166.042 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:29:27.315Z,1613608167.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:28.053Z,1613608168.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:29:28.458Z,1613608168.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:29:28.862Z,1613608168.862 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,80,80,61,E4 8,189,80,80,B3,FF 2021-02-18T00:29:29.269Z,1613608169.269 [Micromodem](INFO): Nmea in: $SNTTA,0.121520,,,,002928.11*44 2021-02-18T00:29:30.139Z,1613608170.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:32.987Z,1613608172.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:35.795Z,1613608175.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:36.575Z,1613608176.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:29:36.969Z,1613608176.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:29:37.771Z,1613608177.771 [Micromodem](INFO): Nmea in: $SNTTA,0.121112,,,,002936.63*4B 2021-02-18T00:29:38.200Z,1613608178.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.620010 m, bearing: 158.355764 deg, deltaT: 19.019454 s, approachRate: -0.012618 m/s, LOS rate: -0.169125 deg/s, posRepo size: 4 2021-02-18T00:29:38.201Z,1613608178.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.620010 m, bearing: 158.355764 deg, approachRate: -0.012618 m/s, LOS rate: -0.169125 deg/s, cmd update: -0.676500 deg/s, cmd heading: 281.005723 deg, new cmd heading: 276.700423 deg. 2021-02-18T00:29:38.260Z,1613608178.260 [BuoyancyServo](FAULT): Overload Error 2021-02-18T00:29:38.260Z,1613608178.260 [BuoyancyServo] Hardware Fault, FailCount= 2 2021-02-18T00:29:38.260Z,1613608178.260 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T00:29:38.327Z,1613608178.327 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T00:29:39.163Z,1613608179.163 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T00:29:40.250Z,1613608180.250 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T00:29:40.250Z,1613608180.250 [BuoyancyServo](INFO): Powering down 2021-02-18T00:29:40.601Z,1613608180.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:41.145Z,1613608181.145 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T00:29:41.145Z,1613608181.145 [BuoyancyServo] No Fault, FailCount= 2 2021-02-18T00:29:41.390Z,1613608181.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:29:41.506Z,1613608181.506 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T00:29:41.511Z,1613608181.511 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T00:29:41.798Z,1613608181.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:29:42.608Z,1613608182.608 [Micromodem](INFO): Nmea in: $SNTTA,0.121096,,,,002941.45*42 2021-02-18T00:29:43.068Z,1613608183.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.679993 m, bearing: 156.653708 deg, deltaT: 4.820360 s, approachRate: 0.012444 m/s, LOS rate: -0.353097 deg/s, posRepo size: 4 2021-02-18T00:29:43.070Z,1613608183.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.679993 m, bearing: 156.653708 deg, approachRate: 0.012444 m/s, LOS rate: -0.353097 deg/s, cmd update: -1.412389 deg/s, cmd heading: 277.747542 deg, new cmd heading: 277.483186 deg. 2021-02-18T00:29:45.484Z,1613608185.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:46.248Z,1613608186.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:29:46.640Z,1613608186.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:29:47.476Z,1613608187.476 [Micromodem](INFO): Nmea in: $SNTTA,0.120815,,,,002946.30*45 2021-02-18T00:29:47.906Z,1613608187.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.080017 m, bearing: 102.828006 deg, deltaT: 4.868489 s, approachRate: -0.123237 m/s, LOS rate: -11.055936 deg/s, posRepo size: 4 2021-02-18T00:29:47.924Z,1613608187.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.080017 m, bearing: 102.828006 deg, approachRate: -0.123237 m/s, LOS rate: -11.055936 deg/s, cmd update: -12.000000 deg/s, cmd heading: 270.865862 deg, new cmd heading: 270.334123 deg. 2021-02-18T00:29:50.336Z,1613608190.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:51.086Z,1613608191.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:29:51.491Z,1613608191.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:29:52.312Z,1613608192.312 [Micromodem](INFO): Nmea in: $SNTTA,0.120856,,,,002951.14*42 2021-02-18T00:29:52.337Z,1613608192.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.080017 m, bearing: 156.958389 deg, deltaT: 4.473529 s, approachRate: 0.000000 m/s, LOS rate: 12.100152 deg/s, posRepo size: 4 2021-02-18T00:29:52.337Z,1613608192.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.100152 deg/s. Setting heading cmd to target bearing of 156.958389deg and heading rate command to 0 deg/s. 2021-02-18T00:29:54.746Z,1613608194.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:29:55.539Z,1613608195.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:29:55.941Z,1613608195.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:29:56.750Z,1613608196.750 [Micromodem](INFO): Nmea in: $SNTTA,0.120778,,,,002955.60*46 2021-02-18T00:29:57.206Z,1613608197.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.139999 m, bearing: 133.545744 deg, deltaT: 4.802417 s, approachRate: 0.012490 m/s, LOS rate: -4.875179 deg/s, posRepo size: 4 2021-02-18T00:29:57.208Z,1613608197.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.139999 m, bearing: 133.545744 deg, approachRate: 0.012490 m/s, LOS rate: -4.875179 deg/s, cmd update: -12.000000 deg/s, cmd heading: 156.958389 deg, new cmd heading: 156.958389 deg. 2021-02-18T00:29:59.615Z,1613608199.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:00.379Z,1613608200.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:30:00.528Z,1613608200.528 [BuoyancyServo](FAULT): Overload Error 2021-02-18T00:30:00.528Z,1613608200.528 [BuoyancyServo] Hardware Fault, FailCount= 3 2021-02-18T00:30:00.528Z,1613608200.528 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T00:30:00.600Z,1613608200.600 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T00:30:00.783Z,1613608200.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:30:01.594Z,1613608201.594 [Micromodem](INFO): Nmea in: $SNTTA,0.120588,,,,003000.43*42 2021-02-18T00:30:02.072Z,1613608202.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.720016 m, bearing: 84.332462 deg, deltaT: 4.837143 s, approachRate: -0.086825 m/s, LOS rate: -10.174039 deg/s, posRepo size: 4 2021-02-18T00:30:02.073Z,1613608202.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.720016 m, bearing: 84.332462 deg, approachRate: -0.086825 m/s, LOS rate: -10.174039 deg/s, cmd update: -12.000000 deg/s, cmd heading: 99.198200 deg, new cmd heading: 93.761360 deg. 2021-02-18T00:30:02.467Z,1613608202.467 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T00:30:02.471Z,1613608202.471 [BuoyancyServo](INFO): Powering down 2021-02-18T00:30:02.862Z,1613608202.862 [BuoyancyServo](FAULT): LCB fault: Software Overcurrent. Current Limiter Activated. 2021-02-18T00:30:03.361Z,1613608203.361 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T00:30:03.361Z,1613608203.361 [BuoyancyServo] No Fault, FailCount= 3 2021-02-18T00:30:03.660Z,1613608203.660 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T00:30:03.661Z,1613608203.661 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T00:30:04.428Z,1613608204.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:05.291Z,1613608205.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:30:05.637Z,1613608205.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:30:06.836Z,1613608206.836 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003005.35*5E 2021-02-18T00:30:07.291Z,1613608207.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:08.854Z,1613608208.854 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:30:10.113Z,1613608210.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:10.880Z,1613608210.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:30:11.287Z,1613608211.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:30:12.099Z,1613608212.099 [Micromodem](INFO): Nmea in: $SNTTA,0.120232,,,,003010.94*4F 2021-02-18T00:30:12.526Z,1613608212.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.260010 m, bearing: 86.276136 deg, deltaT: 10.539998 s, approachRate: 0.051233 m/s, LOS rate: 0.184409 deg/s, posRepo size: 4 2021-02-18T00:30:12.528Z,1613608212.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.260010 m, bearing: 86.276136 deg, approachRate: 0.051233 m/s, LOS rate: 0.184409 deg/s, cmd update: 0.737637 deg/s, cmd heading: 332.476072 deg, new cmd heading: 328.308724 deg. 2021-02-18T00:30:14.329Z,1613608214.329 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T00:30:15.000Z,1613608215.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:15.738Z,1613608215.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:30:16.151Z,1613608216.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:30:16.990Z,1613608216.990 [Micromodem](INFO): Nmea in: $SNTTA,0.120060,,,,003015.79*4C 2021-02-18T00:30:17.014Z,1613608217.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.260010 m, bearing: 83.582200 deg, deltaT: 4.447178 s, approachRate: 0.000000 m/s, LOS rate: -0.605763 deg/s, posRepo size: 4 2021-02-18T00:30:17.016Z,1613608217.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.260010 m, bearing: 83.582200 deg, approachRate: 0.000000 m/s, LOS rate: -0.605763 deg/s, cmd update: -2.423052 deg/s, cmd heading: 335.756495 deg, new cmd heading: 336.043104 deg. 2021-02-18T00:30:19.392Z,1613608219.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:20.173Z,1613608220.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:30:20.578Z,1613608220.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:30:21.147Z,1613608221.147 [BuoyancyServo](FAULT): Overload Error 2021-02-18T00:30:21.147Z,1613608221.147 [BuoyancyServo] Hardware Fault, FailCount= 4 2021-02-18T00:30:21.147Z,1613608221.147 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T00:30:21.255Z,1613608221.255 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T00:30:21.400Z,1613608221.400 [Micromodem](INFO): Nmea in: $SNTTA,0.119684,,,,003020.23*43 2021-02-18T00:30:21.454Z,1613608221.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.159988 m, bearing: 91.648004 deg, deltaT: 4.457581 s, approachRate: -0.471112 m/s, LOS rate: 1.809458 deg/s, posRepo size: 4 2021-02-18T00:30:21.460Z,1613608221.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.159988 m, bearing: 91.648004 deg, approachRate: -0.471112 m/s, LOS rate: 1.809458 deg/s, cmd update: 7.237831 deg/s, cmd heading: 324.960786 deg, new cmd heading: 324.057469 deg. 2021-02-18T00:30:23.064Z,1613608223.064 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T00:30:23.064Z,1613608223.064 [BuoyancyServo](INFO): Powering down 2021-02-18T00:30:23.871Z,1613608223.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:23.970Z,1613608223.970 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T00:30:23.970Z,1613608223.970 [BuoyancyServo] No Fault, FailCount= 4 2021-02-18T00:30:24.409Z,1613608224.409 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T00:30:24.410Z,1613608224.410 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T00:30:24.612Z,1613608224.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:30:25.023Z,1613608225.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:30:25.825Z,1613608225.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003024.67*5A 2021-02-18T00:30:26.695Z,1613608226.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:28.248Z,1613608228.248 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:30:29.505Z,1613608229.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:30.270Z,1613608230.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:30:30.677Z,1613608230.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:30:31.081Z,1613608231.081 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,2B780,61,E4 B,189,80,80,4C,FF 2021-02-18T00:30:31.485Z,1613608231.485 [Micromodem](INFO): Nmea in: $SNTTA,0.119351,,,,003030.32*4F 2021-02-18T00:30:32.337Z,1613608232.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:32.699Z,1613608232.699 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003033.00,A,4133.15040,N,07042.64441,W,0.544,328.88,180221,,,A*7C 2021-02-18T00:30:32.701Z,1613608232.701 [NAL9602](INFO): GPS fix at 20210218T003033: (41.552507, -70.710740) 2021-02-18T00:30:32.769Z,1613608232.769 [lineCaptureDepth:NeedComms:C] Stopped 2021-02-18T00:30:32.769Z,1613608232.769 [lineCaptureDepth:NeedComms:D] Running Loop=1 2021-02-18T00:30:35.186Z,1613608235.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:38.041Z,1613608238.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:38.761Z,1613608238.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:30:39.165Z,1613608239.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:30:39.573Z,1613608239.573 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,33F80,61,E4 B,189,80,80,4C,FF 2021-02-18T00:30:39.994Z,1613608239.994 [Micromodem](INFO): Nmea in: $SNTTA,0.118713,,,0.121225,003038.82*56 2021-02-18T00:30:40.803Z,1613608240.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:41.651Z,1613608241.651 [BuoyancyServo](FAULT): Overload Error 2021-02-18T00:30:41.651Z,1613608241.651 [BuoyancyServo] Hardware Fault, FailCount= 5 2021-02-18T00:30:41.651Z,1613608241.651 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T00:30:41.724Z,1613608241.724 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T00:30:43.402Z,1613608243.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:45.714Z,1613608245.714 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T00:30:45.715Z,1613608245.715 [BuoyancyServo](INFO): Powering down 2021-02-18T00:30:46.017Z,1613608246.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:46.415Z,1613608246.415 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T00:30:46.415Z,1613608246.415 [BuoyancyServo] No Fault, FailCount= 5 2021-02-18T00:30:46.749Z,1613608246.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:30:46.875Z,1613608246.875 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T00:30:46.887Z,1613608246.887 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T00:30:47.159Z,1613608247.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:30:48.000Z,1613608248.000 [Micromodem](INFO): Nmea in: $SNTTA,0.118597,,,,003046.81*4B 2021-02-18T00:30:48.024Z,1613608248.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.200012 m, bearing: 95.243402 deg, deltaT: 26.550447 s, approachRate: -0.036157 m/s, LOS rate: 0.135418 deg/s, posRepo size: 4 2021-02-18T00:30:48.026Z,1613608248.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.200012 m, bearing: 95.243402 deg, approachRate: -0.036157 m/s, LOS rate: 0.135418 deg/s, cmd update: 0.541670 deg/s, cmd heading: 157.172653 deg, new cmd heading: 159.966622 deg. 2021-02-18T00:30:49.479Z,1613608249.479 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T00:30:50.400Z,1613608250.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:51.188Z,1613608251.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:30:51.594Z,1613608251.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:30:52.416Z,1613608252.416 [Micromodem](INFO): Nmea in: $SNTTA,0.118490,,,,003051.25*45 2021-02-18T00:30:52.431Z,1613608252.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.200012 m, bearing: 88.577377 deg, deltaT: 4.432258 s, approachRate: 0.000000 m/s, LOS rate: -1.503980 deg/s, posRepo size: 4 2021-02-18T00:30:52.433Z,1613608252.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.200012 m, bearing: 88.577377 deg, approachRate: 0.000000 m/s, LOS rate: -1.503980 deg/s, cmd update: -6.015918 deg/s, cmd heading: 159.571312 deg, new cmd heading: 159.768916 deg. 2021-02-18T00:30:54.856Z,1613608254.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:30:55.638Z,1613608255.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:30:56.061Z,1613608256.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:30:56.444Z,1613608256.444 [NAL9602](INFO): SBD MO Status=1, MOMSN=13622, MT Status=0, MTMSN=0 2021-02-18T00:30:56.493Z,1613608256.493 [NAL9602](INFO): Sent 89 bytes from file Logs/20210217T180521/Courier0069.lzma 2021-02-18T00:30:56.494Z,1613608256.494 [NAL9602](INFO): Packets left to send: 0 2021-02-18T00:30:56.853Z,1613608256.853 [Micromodem](INFO): Nmea in: $SNTTA,0.118494,,,,003055.69*4D 2021-02-18T00:30:57.377Z,1613608257.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.659988 m, bearing: 95.304812 deg, deltaT: 5.109150 s, approachRate: -0.105697 m/s, LOS rate: 1.316743 deg/s, posRepo size: 4 2021-02-18T00:30:57.379Z,1613608257.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.659988 m, bearing: 95.304812 deg, approachRate: -0.105697 m/s, LOS rate: 1.316743 deg/s, cmd update: 5.266971 deg/s, cmd heading: 128.811471 deg, new cmd heading: 127.619357 deg. 2021-02-18T00:30:59.816Z,1613608259.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:31:00.366Z,1613608260.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:31:00.767Z,1613608260.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:31:01.584Z,1613608261.584 [Micromodem](INFO): Nmea in: $SNTTA,0.118392,,,,003100.42*44 2021-02-18T00:31:02.062Z,1613608262.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.479996 m, bearing: 103.475822 deg, deltaT: 4.419656 s, approachRate: -0.040725 m/s, LOS rate: 1.848789 deg/s, posRepo size: 4 2021-02-18T00:31:02.068Z,1613608262.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.479996 m, bearing: 103.475822 deg, approachRate: -0.040725 m/s, LOS rate: 1.848789 deg/s, cmd update: 7.395155 deg/s, cmd heading: 152.090107 deg, new cmd heading: 154.528035 deg. 2021-02-18T00:31:04.416Z,1613608264.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:31:05.217Z,1613608265.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:31:05.637Z,1613608265.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:31:06.433Z,1613608266.433 [Micromodem](INFO): Nmea in: $SNTTA,0.118394,,,,003105.27*44 2021-02-18T00:31:06.868Z,1613608266.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.540009 m, bearing: 144.481164 deg, deltaT: 4.849734 s, approachRate: 0.012374 m/s, LOS rate: 8.455173 deg/s, posRepo size: 4 2021-02-18T00:31:06.873Z,1613608266.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.540009 m, bearing: 144.481164 deg, approachRate: 0.012374 m/s, LOS rate: 8.455173 deg/s, cmd update: 12.000000 deg/s, cmd heading: 187.952490 deg, new cmd heading: 191.056510 deg. 2021-02-18T00:31:07.646Z,1613608267.646 [NAL9602](INFO): SBD MO Status=1, MOMSN=13623, MT Status=0, MTMSN=0 2021-02-18T00:31:07.699Z,1613608267.699 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0061.lzma 2021-02-18T00:31:07.699Z,1613608267.699 [NAL9602](INFO): Packets left to send: 1 2021-02-18T00:31:11.010Z,1613608271.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:31:11.510Z,1613608271.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:31:11.939Z,1613608271.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:31:12.757Z,1613608272.757 [Micromodem](INFO): Nmea in: $SNTTA,0.118094,,0.122138,,003111.56*51 2021-02-18T00:31:12.780Z,1613608272.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.540009 m, bearing: 101.897659 deg, deltaT: 5.917358 s, approachRate: 0.000000 m/s, LOS rate: -7.196371 deg/s, posRepo size: 4 2021-02-18T00:31:12.782Z,1613608272.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.540009 m, bearing: 101.897659 deg, approachRate: 0.000000 m/s, LOS rate: -7.196371 deg/s, cmd update: -12.000000 deg/s, cmd heading: 258.962049 deg, new cmd heading: 263.931093 deg. 2021-02-18T00:31:15.192Z,1613608275.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:31:15.966Z,1613608275.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:31:16.354Z,1613608276.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:31:17.177Z,1613608277.177 [Micromodem](INFO): Nmea in: $SNTTA,0.117817,,,,003116.02*4E 2021-02-18T00:31:17.647Z,1613608277.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.580002 m, bearing: 104.079877 deg, deltaT: 4.835477 s, approachRate: -0.198534 m/s, LOS rate: 0.451293 deg/s, posRepo size: 4 2021-02-18T00:31:17.649Z,1613608277.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.580002 m, bearing: 104.079877 deg, approachRate: -0.198534 m/s, LOS rate: 0.451293 deg/s, cmd update: 1.805173 deg/s, cmd heading: 200.934283 deg, new cmd heading: 195.630679 deg. 2021-02-18T00:31:20.091Z,1613608280.091 [NAL9602](INFO): SBD MO Status=1, MOMSN=13624, MT Status=0, MTMSN=0 2021-02-18T00:31:20.139Z,1613608280.139 [NAL9602](INFO): Sent 175 bytes from file Logs/20210217T180521/Express0061.lzma 2021-02-18T00:31:20.139Z,1613608280.139 [NAL9602](INFO): Packets left to send: 0 2021-02-18T00:31:20.258Z,1613608280.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:31:20.808Z,1613608280.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:31:21.202Z,1613608281.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:31:23.303Z,1613608283.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:31:23.455Z,1613608283.455 [Micromodem](INFO): Nmea in: $SNTTA,0.117919,,,,003120.86*48 2021-02-18T00:31:23.914Z,1613608283.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 142.578464 deg, deltaT: 6.284145 s, approachRate: 0.047740 m/s, LOS rate: 6.126304 deg/s, posRepo size: 4 2021-02-18T00:31:23.920Z,1613608283.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 142.578464 deg, approachRate: 0.047740 m/s, LOS rate: 6.126304 deg/s, cmd update: 12.000000 deg/s, cmd heading: 212.249313 deg, new cmd heading: 213.052698 deg. 2021-02-18T00:31:24.619Z,1613608284.619 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T00:31:26.322Z,1613608286.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:31:27.087Z,1613608287.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:31:27.512Z,1613608287.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:31:28.316Z,1613608288.316 [Micromodem](INFO): Nmea in: $SNTTA,0.117514,,,,003127.14*45 2021-02-18T00:31:28.319Z,1613608288.319 [NAL9602](INFO): SBD MO Status=1, MOMSN=13625, MT Status=0, MTMSN=0 2021-02-18T00:31:28.371Z,1613608288.371 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0064.lzma 2021-02-18T00:31:28.371Z,1613608288.371 [NAL9602](INFO): Packets left to send: 2 2021-02-18T00:31:28.408Z,1613608288.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 161.755573 deg, deltaT: 4.498918 s, approachRate: 0.000000 m/s, LOS rate: 4.262605 deg/s, posRepo size: 4 2021-02-18T00:31:28.410Z,1613608288.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 161.755573 deg, approachRate: 0.000000 m/s, LOS rate: 4.262605 deg/s, cmd update: 12.000000 deg/s, cmd heading: 266.274347 deg, new cmd heading: 271.371431 deg. 2021-02-18T00:31:31.593Z,1613608291.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:31:32.032Z,1613608292.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:31:32.443Z,1613608292.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:31:33.268Z,1613608293.268 [Micromodem](INFO): Nmea in: $SNTTA,0.117524,,,,003132.09*4E 2021-02-18T00:31:33.292Z,1613608293.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 160.199478 deg, deltaT: 4.884579 s, approachRate: 0.000000 m/s, LOS rate: -0.318573 deg/s, posRepo size: 4 2021-02-18T00:31:33.294Z,1613608293.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 160.199478 deg, approachRate: 0.000000 m/s, LOS rate: -0.318573 deg/s, cmd update: -1.274292 deg/s, cmd heading: 325.028965 deg, new cmd heading: 330.114109 deg. 2021-02-18T00:31:35.690Z,1613608295.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:31:36.473Z,1613608296.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:31:36.500Z,1613608296.500 [NAL9602](INFO): SBD MO Status=1, MOMSN=13626, MT Status=0, MTMSN=0 2021-02-18T00:31:36.550Z,1613608296.550 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0064.lzma 2021-02-18T00:31:36.551Z,1613608296.551 [NAL9602](INFO): Packets left to send: 1 2021-02-18T00:31:36.875Z,1613608296.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:31:39.456Z,1613608299.456 [Micromodem](INFO): Nmea in: $SNTTA,0.117361,,,,003136.53*42 2021-02-18T00:31:39.478Z,1613608299.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 163.951752 deg, deltaT: 6.499017 s, approachRate: 0.000000 m/s, LOS rate: 0.577360 deg/s, posRepo size: 4 2021-02-18T00:31:39.480Z,1613608299.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 163.951752 deg, approachRate: 0.000000 m/s, LOS rate: 0.577360 deg/s, cmd update: 2.309441 deg/s, cmd heading: 316.750909 deg, new cmd heading: 316.605690 deg. 2021-02-18T00:31:42.287Z,1613608302.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:31:43.054Z,1613608303.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:31:43.463Z,1613608303.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:31:44.283Z,1613608304.283 [Micromodem](INFO): Nmea in: $SNTTA,0.117062,,,,003143.11*46 2021-02-18T00:31:44.286Z,1613608304.286 [NAL9602](INFO): SBD MO Status=1, MOMSN=13627, MT Status=0, MTMSN=0 2021-02-18T00:31:44.335Z,1613608304.335 [NAL9602](INFO): Sent 19 bytes from file Logs/20210217T180521/Express0064.lzma 2021-02-18T00:31:44.336Z,1613608304.336 [NAL9602](INFO): Packets left to send: 0 2021-02-18T00:31:44.385Z,1613608304.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 164.058070 deg, deltaT: 4.535671 s, approachRate: 0.000000 m/s, LOS rate: 0.023441 deg/s, posRepo size: 4 2021-02-18T00:31:44.391Z,1613608304.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 164.058070 deg, approachRate: 0.000000 m/s, LOS rate: 0.023441 deg/s, cmd update: 0.093762 deg/s, cmd heading: 327.233450 deg, new cmd heading: 328.347573 deg. 2021-02-18T00:31:47.662Z,1613608307.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:31:48.108Z,1613608308.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:31:48.503Z,1613608308.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:31:49.328Z,1613608309.328 [Micromodem](INFO): Nmea in: $SNTTA,0.117260,,,,003148.16*4A 2021-02-18T00:31:49.352Z,1613608309.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 170.303513 deg, deltaT: 5.090870 s, approachRate: 0.000000 m/s, LOS rate: 1.226793 deg/s, posRepo size: 4 2021-02-18T00:31:49.354Z,1613608309.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 170.303513 deg, approachRate: 0.000000 m/s, LOS rate: 1.226793 deg/s, cmd update: 4.907172 deg/s, cmd heading: 327.710465 deg, new cmd heading: 327.744343 deg. 2021-02-18T00:31:51.763Z,1613608311.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:31:52.552Z,1613608312.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:31:52.982Z,1613608312.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:31:53.765Z,1613608313.765 [Micromodem](INFO): Nmea in: $SNTTA,0.117276,,,,003152.61*46 2021-02-18T00:31:54.196Z,1613608314.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.099991 m, bearing: 167.198468 deg, deltaT: 4.813822 s, approachRate: -0.162036 m/s, LOS rate: -0.645027 deg/s, posRepo size: 4 2021-02-18T00:31:54.197Z,1613608314.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.099991 m, bearing: 167.198468 deg, approachRate: -0.162036 m/s, LOS rate: -0.645027 deg/s, cmd update: -2.580108 deg/s, cmd heading: 351.253455 deg, new cmd heading: 353.252618 deg. 2021-02-18T00:31:56.610Z,1613608316.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:31:57.390Z,1613608317.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:31:57.795Z,1613608317.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:31:58.649Z,1613608318.649 [Micromodem](INFO): Nmea in: $SNTTA,0.117203,,,,003157.44*46 2021-02-18T00:31:58.698Z,1613608318.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.099991 m, bearing: 168.700113 deg, deltaT: 4.436157 s, approachRate: 0.000000 m/s, LOS rate: 0.338501 deg/s, posRepo size: 4 2021-02-18T00:31:58.704Z,1613608318.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.099991 m, bearing: 168.700113 deg, approachRate: 0.000000 m/s, LOS rate: 0.338501 deg/s, cmd update: 1.354005 deg/s, cmd heading: 339.754867 deg, new cmd heading: 338.585196 deg. 2021-02-18T00:31:59.759Z,1613608319.759 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T00:32:01.077Z,1613608321.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:01.839Z,1613608321.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:32:02.243Z,1613608322.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:32:03.064Z,1613608323.064 [Micromodem](INFO): Nmea in: $SNTTA,0.117156,,,,003201.90*4C 2021-02-18T00:32:03.088Z,1613608323.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.099991 m, bearing: 167.872786 deg, deltaT: 4.453389 s, approachRate: 0.000000 m/s, LOS rate: -0.185775 deg/s, posRepo size: 4 2021-02-18T00:32:03.090Z,1613608323.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.099991 m, bearing: 167.872786 deg, approachRate: 0.000000 m/s, LOS rate: -0.185775 deg/s, cmd update: -0.743099 deg/s, cmd heading: 345.779058 deg, new cmd heading: 346.312419 deg. 2021-02-18T00:32:05.504Z,1613608325.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:06.303Z,1613608326.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:32:06.701Z,1613608326.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:32:07.920Z,1613608327.920 [Micromodem](INFO): Nmea in: $SNTTA,0.117006,,,,003206.44*46 2021-02-18T00:32:07.989Z,1613608327.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.619995 m, bearing: 166.143628 deg, deltaT: 4.849870 s, approachRate: -0.098971 m/s, LOS rate: -0.356537 deg/s, posRepo size: 4 2021-02-18T00:32:07.995Z,1613608327.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.619995 m, bearing: 166.143628 deg, approachRate: -0.098971 m/s, LOS rate: -0.356537 deg/s, cmd update: -1.426148 deg/s, cmd heading: 342.185009 deg, new cmd heading: 341.843855 deg. 2021-02-18T00:32:10.360Z,1613608330.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:11.135Z,1613608331.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:32:11.535Z,1613608331.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:32:12.357Z,1613608332.357 [Micromodem](INFO): Nmea in: $SNTTA,0.116988,,,,003211.19*46 2021-02-18T00:32:12.418Z,1613608332.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.619995 m, bearing: 173.411686 deg, deltaT: 4.477958 s, approachRate: 0.000000 m/s, LOS rate: 1.623074 deg/s, posRepo size: 4 2021-02-18T00:32:12.427Z,1613608332.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.619995 m, bearing: 173.411686 deg, approachRate: 0.000000 m/s, LOS rate: 1.623074 deg/s, cmd update: 6.492298 deg/s, cmd heading: 335.779982 deg, new cmd heading: 335.214881 deg. 2021-02-18T00:32:13.158Z,1613608333.158 [NAL9602](INFO): SBD MO Status=2, MOMSN=13628, MT Status=2, MTMSN=0 2021-02-18T00:32:13.158Z,1613608333.158 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2021-02-18T00:32:14.801Z,1613608334.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:15.589Z,1613608335.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:32:16.000Z,1613608336.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:32:16.800Z,1613608336.800 [Micromodem](INFO): Nmea in: $SNTTA,0.116881,,0.165669,,003215.64*55 2021-02-18T00:32:17.236Z,1613608337.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.380005 m, bearing: 173.580406 deg, deltaT: 4.809748 s, approachRate: -0.049897 m/s, LOS rate: 0.035079 deg/s, posRepo size: 4 2021-02-18T00:32:17.238Z,1613608337.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.380005 m, bearing: 173.580406 deg, approachRate: -0.049897 m/s, LOS rate: 0.035079 deg/s, cmd update: 0.140314 deg/s, cmd heading: 6.954697 deg, new cmd heading: 9.630945 deg. 2021-02-18T00:32:20.977Z,1613608340.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:21.456Z,1613608341.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:32:21.876Z,1613608341.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:32:22.684Z,1613608342.684 [Micromodem](INFO): Nmea in: $SNTTA,0.116819,,,,003221.51*40 2021-02-18T00:32:22.706Z,1613608342.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.380005 m, bearing: 157.440751 deg, deltaT: 5.480090 s, approachRate: 0.000000 m/s, LOS rate: -2.945144 deg/s, posRepo size: 4 2021-02-18T00:32:22.708Z,1613608342.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.380005 m, bearing: 157.440751 deg, approachRate: 0.000000 m/s, LOS rate: -2.945144 deg/s, cmd update: -11.780576 deg/s, cmd heading: 7.724753 deg, new cmd heading: 7.780135 deg. 2021-02-18T00:32:25.158Z,1613608345.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:25.918Z,1613608345.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:32:26.315Z,1613608346.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:32:27.127Z,1613608347.127 [Micromodem](INFO): Nmea in: $SNTTA,0.116875,,,,003225.97*44 2021-02-18T00:32:28.011Z,1613608348.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:29.539Z,1613608349.539 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:32:29.885Z,1613608349.885 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004127 2021-02-18T00:32:30.022Z,1613608350.022 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T00:32:30.022Z,1613608350.022 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T00:32:30.022Z,1613608350.022 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T00:32:30.022Z,1613608350.022 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T00:32:30.022Z,1613608350.022 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T00:32:30.776Z,1613608350.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:31.561Z,1613608351.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:32:31.989Z,1613608351.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:32:32.368Z,1613608352.368 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,3FB80,61,E4 C,186,80,80,63,FF 2021-02-18T00:32:32.391Z,1613608352.391 [NAL9602](INFO): SBD MO Status=1, MOMSN=13628, MT Status=0, MTMSN=0 2021-02-18T00:32:32.439Z,1613608352.439 [NAL9602](INFO): Sent 170 bytes from file Logs/20210217T180521/Express0067.lzma 2021-02-18T00:32:32.439Z,1613608352.439 [NAL9602](INFO): Packets left to send: 0 2021-02-18T00:32:32.774Z,1613608352.774 [Micromodem](INFO): Nmea in: $SNTTA,0.116747,,,,003231.62*45 2021-02-18T00:32:33.633Z,1613608353.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:33.900Z,1613608353.900 [DataOverHttps](INFO): Sending 1046 bytes from file Logs/20210217T180521/Express0070.lzma 2021-02-18T00:32:34.901Z,1613608354.901 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0070.lzma.bak 2021-02-18T00:32:34.901Z,1613608354.901 [DataOverHttps](INFO): SBD MOMSN=82954 2021-02-18T00:32:36.435Z,1613608356.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:36.846Z,1613608356.846 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T00:32:36.846Z,1613608356.846 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T00:32:36.846Z,1613608356.846 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T00:32:36.846Z,1613608356.846 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T00:32:36.846Z,1613608356.846 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T00:32:36.846Z,1613608356.846 [lineCaptureDepth:NeedComms:D] Stopped 2021-02-18T00:32:36.847Z,1613608356.847 [lineCaptureDepth:NeedComms:E] Running Loop=1 2021-02-18T00:32:38.835Z,1613608358.835 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003239.00,A,4133.13993,N,07042.64110,W,0.467,204.58,180221,,,A*76 2021-02-18T00:32:38.837Z,1613608358.837 [NAL9602](INFO): GPS fix at 20210218T003239: (41.552332, -70.710685) 2021-02-18T00:32:38.884Z,1613608358.884 [lineCaptureDepth:NeedComms:E] Stopped 2021-02-18T00:32:38.885Z,1613608358.885 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms 2021-02-18T00:32:38.885Z,1613608358.885 [lineCaptureDepth:NeedComms] Stopped 2021-02-18T00:32:38.885Z,1613608358.885 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms 2021-02-18T00:32:38.886Z,1613608358.886 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped 2021-02-18T00:32:38.886Z,1613608358.886 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2021-02-18T00:32:39.292Z,1613608359.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:39.665Z,1613608359.665 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-18T00:32:39.665Z,1613608359.665 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T00:32:39.665Z,1613608359.665 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-18T00:32:39.665Z,1613608359.665 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-18T00:32:39.665Z,1613608359.665 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-18T00:32:39.665Z,1613608359.665 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-18T00:32:39.665Z,1613608359.665 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-18T00:32:40.040Z,1613608360.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:32:40.158Z,1613608360.158 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -9.14 mm. 2021-02-18T00:32:40.454Z,1613608360.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:32:40.851Z,1613608360.851 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,145,000,,E4 C,186,80,80,63,FF 2021-02-18T00:32:41.257Z,1613608361.257 [Micromodem](INFO): Nmea in: $SNTTA,0.116475,,,,003240.09*4C 2021-02-18T00:32:42.138Z,1613608362.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:44.919Z,1613608364.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:47.723Z,1613608367.723 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T00:32:47.737Z,1613608367.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:48.524Z,1613608368.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:32:48.936Z,1613608368.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:32:49.772Z,1613608369.772 [Micromodem](INFO): Nmea in: $SNTTA,0.116133,,,,003248.58*47 2021-02-18T00:32:49.796Z,1613608369.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.419998 m, bearing: 163.935195 deg, deltaT: 27.055439 s, approachRate: -0.035483 m/s, LOS rate: 0.240042 deg/s, posRepo size: 4 2021-02-18T00:32:49.798Z,1613608369.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.419998 m, bearing: 163.935195 deg, approachRate: -0.035483 m/s, LOS rate: 0.240042 deg/s, cmd update: 0.960168 deg/s, cmd heading: 48.955906 deg, new cmd heading: 43.941716 deg. 2021-02-18T00:32:52.194Z,1613608372.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:52.995Z,1613608372.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:32:53.391Z,1613608373.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:32:54.211Z,1613608374.211 [Micromodem](INFO): Nmea in: $SNTTA,0.115387,,,,003253.05*4B 2021-02-18T00:32:54.635Z,1613608374.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.919998 m, bearing: 89.396248 deg, deltaT: 4.865134 s, approachRate: -0.308316 m/s, LOS rate: -15.321047 deg/s, posRepo size: 4 2021-02-18T00:32:54.636Z,1613608374.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.321047 deg/s. Setting heading cmd to target bearing of 89.396248deg and heading rate command to 0 deg/s. 2021-02-18T00:32:57.068Z,1613608377.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:32:57.833Z,1613608377.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:32:58.238Z,1613608378.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:32:59.071Z,1613608379.071 [Micromodem](INFO): Nmea in: $SNTTA,0.114539,,,,003257.89*49 2021-02-18T00:32:59.117Z,1613608379.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.660004 m, bearing: 91.240228 deg, deltaT: 4.467371 s, approachRate: -0.282044 m/s, LOS rate: 0.412766 deg/s, posRepo size: 4 2021-02-18T00:32:59.118Z,1613608379.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.660004 m, bearing: 91.240228 deg, approachRate: -0.282044 m/s, LOS rate: 0.412766 deg/s, cmd update: 1.651065 deg/s, cmd heading: 89.396248 deg, new cmd heading: 89.396248 deg. 2021-02-18T00:33:01.489Z,1613608381.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:33:02.282Z,1613608382.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:33:02.687Z,1613608382.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:33:03.508Z,1613608383.508 [Micromodem](INFO): Nmea in: $SNTTA,0.113118,,,,003302.34*4E 2021-02-18T00:33:03.585Z,1613608383.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.660004 m, bearing: 84.188461 deg, deltaT: 4.438529 s, approachRate: 0.000000 m/s, LOS rate: -1.588762 deg/s, posRepo size: 4 2021-02-18T00:33:03.586Z,1613608383.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.660004 m, bearing: 84.188461 deg, approachRate: 0.000000 m/s, LOS rate: -1.588762 deg/s, cmd update: -6.355049 deg/s, cmd heading: 96.718021 deg, new cmd heading: 97.456626 deg. 2021-02-18T00:33:03.910Z,1613608383.910 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T00:33:06.013Z,1613608386.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:33:06.720Z,1613608386.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:33:07.125Z,1613608387.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:33:07.959Z,1613608387.959 [Micromodem](INFO): Nmea in: $SNTTA,0.111726,,,,003306.77*44 2021-02-18T00:33:08.013Z,1613608388.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.339996 m, bearing: 87.569500 deg, deltaT: 4.501144 s, approachRate: -0.959758 m/s, LOS rate: 0.751151 deg/s, posRepo size: 4 2021-02-18T00:33:08.020Z,1613608388.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.339996 m, bearing: 87.569500 deg, approachRate: -0.959758 m/s, LOS rate: 0.751151 deg/s, cmd update: 3.004604 deg/s, cmd heading: 68.087869 deg, new cmd heading: 65.729314 deg. 2021-02-18T00:33:10.386Z,1613608390.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:33:11.168Z,1613608391.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:33:11.170Z,1613608391.170 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T00:33:11.574Z,1613608391.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:33:12.396Z,1613608392.396 [Micromodem](INFO): Nmea in: $SNTTA,0.110029,,,,003311.22*4B 2021-02-18T00:33:12.438Z,1613608392.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.700012 m, bearing: 86.986141 deg, deltaT: 4.411469 s, approachRate: -0.598437 m/s, LOS rate: -0.132237 deg/s, posRepo size: 4 2021-02-18T00:33:12.444Z,1613608392.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.700012 m, bearing: 86.986141 deg, approachRate: -0.598437 m/s, LOS rate: -0.132237 deg/s, cmd update: -0.528948 deg/s, cmd heading: 81.315725 deg, new cmd heading: 82.497559 deg. 2021-02-18T00:33:14.849Z,1613608394.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:33:15.612Z,1613608395.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:33:16.038Z,1613608396.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:33:16.840Z,1613608396.840 [Micromodem](INFO): Nmea in: $SNTTA,0.108352,,,,003315.67*48 2021-02-18T00:33:16.897Z,1613608396.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.239990 m, bearing: 91.397835 deg, deltaT: 4.403031 s, approachRate: -0.558711 m/s, LOS rate: 1.001968 deg/s, posRepo size: 4 2021-02-18T00:33:16.903Z,1613608396.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.239990 m, bearing: 91.397835 deg, approachRate: -0.558711 m/s, LOS rate: 1.001968 deg/s, cmd update: 4.007870 deg/s, cmd heading: 78.982020 deg, new cmd heading: 78.749234 deg. 2021-02-18T00:33:17.264Z,1613608397.264 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -9.14 mm (1 active estimators). 2021-02-18T00:33:17.657Z,1613608397.657 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T00:33:19.283Z,1613608399.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:33:20.066Z,1613608400.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:33:20.475Z,1613608400.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:33:21.309Z,1613608401.309 [Micromodem](INFO): Nmea in: $SNTTA,0.106625,,,,003320.12*47 2021-02-18T00:33:21.352Z,1613608401.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.660004 m, bearing: 91.961223 deg, deltaT: 4.474208 s, approachRate: -0.576635 m/s, LOS rate: 0.125919 deg/s, posRepo size: 4 2021-02-18T00:33:21.354Z,1613608401.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.660004 m, bearing: 91.961223 deg, approachRate: -0.576635 m/s, LOS rate: 0.125919 deg/s, cmd update: 0.503676 deg/s, cmd heading: 96.873912 deg, new cmd heading: 98.602294 deg. 2021-02-18T00:33:23.732Z,1613608403.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:33:24.511Z,1613608404.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:33:24.911Z,1613608404.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:33:25.736Z,1613608405.736 [Micromodem](INFO): Nmea in: $SNTTA,0.104883,,,,003324.57*42 2021-02-18T00:33:25.780Z,1613608405.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.960007 m, bearing: 90.091800 deg, deltaT: 4.433913 s, approachRate: -0.608942 m/s, LOS rate: -0.421619 deg/s, posRepo size: 4 2021-02-18T00:33:25.782Z,1613608405.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.960007 m, bearing: 90.091800 deg, approachRate: -0.608942 m/s, LOS rate: -0.421619 deg/s, cmd update: -1.686477 deg/s, cmd heading: 99.110187 deg, new cmd heading: 99.321196 deg. 2021-02-18T00:33:27.763Z,1613608407.763 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items 2021-02-18T00:33:28.176Z,1613608408.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:33:28.979Z,1613608408.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:33:29.350Z,1613608409.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:33:30.195Z,1613608410.195 [Micromodem](INFO): Nmea in: $SNTTA,0.102923,,,,003329.04*44 2021-02-18T00:33:30.225Z,1613608410.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.960007 m, bearing: 90.470473 deg, deltaT: 4.479512 s, approachRate: 0.000000 m/s, LOS rate: 0.084534 deg/s, posRepo size: 4 2021-02-18T00:33:30.226Z,1613608410.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.960007 m, bearing: 90.470473 deg, approachRate: 0.000000 m/s, LOS rate: 0.084534 deg/s, cmd update: 0.338137 deg/s, cmd heading: 91.555463 deg, new cmd heading: 90.907832 deg. 2021-02-18T00:33:32.654Z,1613608412.654 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T00:33:32.689Z,1613608412.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:33:33.388Z,1613608413.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:33:33.795Z,1613608413.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:33:34.640Z,1613608414.640 [Micromodem](INFO): Nmea in: $SNTTA,0.100664,,,,003333.44*45 2021-02-18T00:33:34.682Z,1613608414.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.780014 m, bearing: 92.936069 deg, deltaT: 4.388766 s, approachRate: -1.408139 m/s, LOS rate: 0.561797 deg/s, posRepo size: 4 2021-02-18T00:33:34.688Z,1613608414.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.780014 m, bearing: 92.936069 deg, approachRate: -1.408139 m/s, LOS rate: 0.561797 deg/s, cmd update: 2.247188 deg/s, cmd heading: 93.040809 deg, new cmd heading: 93.192202 deg. 2021-02-18T00:33:37.048Z,1613608417.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:33:37.837Z,1613608417.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:33:38.245Z,1613608418.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:33:39.064Z,1613608419.064 [Micromodem](INFO): Nmea in: $SNTTA,0.098735,,,,003337.89*45 2021-02-18T00:33:39.088Z,1613608419.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.960007 m, bearing: 90.355794 deg, deltaT: 4.438348 s, approachRate: -0.635373 m/s, LOS rate: -0.581359 deg/s, posRepo size: 4 2021-02-18T00:33:39.090Z,1613608419.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.960007 m, bearing: 90.355794 deg, approachRate: -0.635373 m/s, LOS rate: -0.581359 deg/s, cmd update: -2.325437 deg/s, cmd heading: 103.014612 deg, new cmd heading: 103.951152 deg. 2021-02-18T00:33:41.498Z,1613608421.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:33:42.278Z,1613608422.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:33:42.699Z,1613608422.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:33:43.508Z,1613608423.508 [Micromodem](INFO): Nmea in: $SNTTA,0.101092,,,,003342.33*4D 2021-02-18T00:33:43.530Z,1613608423.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.539993 m, bearing: 87.709314 deg, deltaT: 4.439910 s, approachRate: -0.770289 m/s, LOS rate: -0.596066 deg/s, posRepo size: 4 2021-02-18T00:33:43.532Z,1613608423.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.539993 m, bearing: 87.709314 deg, approachRate: -0.770289 m/s, LOS rate: -0.596066 deg/s, cmd update: -2.384264 deg/s, cmd heading: 92.689846 deg, new cmd heading: 91.716469 deg. 2021-02-18T00:33:46.017Z,1613608426.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:33:46.731Z,1613608426.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:33:47.126Z,1613608427.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:33:47.976Z,1613608427.976 [Micromodem](INFO): Nmea in: $SNTTA,0.094611,,,,003346.79*47 2021-02-18T00:33:48.023Z,1613608428.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.720001 m, bearing: 90.757525 deg, deltaT: 4.516832 s, approachRate: -0.624330 m/s, LOS rate: 0.674856 deg/s, posRepo size: 4 2021-02-18T00:33:48.025Z,1613608428.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.720001 m, bearing: 90.757525 deg, approachRate: -0.624330 m/s, LOS rate: 0.674856 deg/s, cmd update: 2.699424 deg/s, cmd heading: 81.934933 deg, new cmd heading: 80.980395 deg. 2021-02-18T00:33:50.373Z,1613608430.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:33:51.164Z,1613608431.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:33:51.594Z,1613608431.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:33:52.392Z,1613608432.392 [Micromodem](INFO): Nmea in: $SNTTA,0.092578,,,0.095096,003351.22*58 2021-02-18T00:33:52.435Z,1613608432.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.600006 m, bearing: 90.613688 deg, deltaT: 4.395923 s, approachRate: -0.709747 m/s, LOS rate: -0.032721 deg/s, posRepo size: 4 2021-02-18T00:33:52.441Z,1613608432.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.600006 m, bearing: 90.613688 deg, approachRate: -0.709747 m/s, LOS rate: -0.032721 deg/s, cmd update: -0.130882 deg/s, cmd heading: 93.809806 deg, new cmd heading: 94.925092 deg. 2021-02-18T00:33:54.824Z,1613608434.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:33:55.610Z,1613608435.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:33:56.014Z,1613608436.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:33:56.836Z,1613608436.836 [Micromodem](INFO): Nmea in: $SNTTA,0.090360,,,,003355.66*4C 2021-02-18T00:33:56.885Z,1613608436.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.300003 m, bearing: 89.442557 deg, deltaT: 4.411328 s, approachRate: -0.748075 m/s, LOS rate: -0.265483 deg/s, posRepo size: 4 2021-02-18T00:33:56.886Z,1613608436.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.300003 m, bearing: 89.442557 deg, approachRate: -0.748075 m/s, LOS rate: -0.265483 deg/s, cmd update: -1.061931 deg/s, cmd heading: 93.232060 deg, new cmd heading: 93.173294 deg. 2021-02-18T00:33:59.300Z,1613608439.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:00.057Z,1613608440.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:00.457Z,1613608440.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:01.284Z,1613608441.284 [Micromodem](INFO): Nmea in: $SNTTA,0.088352,,,,003400.11*43 2021-02-18T00:34:01.308Z,1613608441.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.300003 m, bearing: 91.434363 deg, deltaT: 4.466050 s, approachRate: -0.671735 m/s, LOS rate: 0.445988 deg/s, posRepo size: 4 2021-02-18T00:34:01.310Z,1613608441.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.300003 m, bearing: 91.434363 deg, approachRate: -0.671735 m/s, LOS rate: 0.445988 deg/s, cmd update: 1.783953 deg/s, cmd heading: 88.489947 deg, new cmd heading: 88.057829 deg. 2021-02-18T00:34:03.730Z,1613608443.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:04.496Z,1613608444.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:04.906Z,1613608444.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:05.724Z,1613608445.724 [Micromodem](INFO): Nmea in: $SNTTA,0.086030,,,,003404.55*4E 2021-02-18T00:34:05.785Z,1613608445.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.820007 m, bearing: 91.560387 deg, deltaT: 4.451156 s, approachRate: -0.781818 m/s, LOS rate: 0.028313 deg/s, posRepo size: 4 2021-02-18T00:34:05.786Z,1613608445.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.820007 m, bearing: 91.560387 deg, approachRate: -0.781818 m/s, LOS rate: 0.028313 deg/s, cmd update: 0.113250 deg/s, cmd heading: 96.391122 deg, new cmd heading: 97.201984 deg. 2021-02-18T00:34:08.180Z,1613608448.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:08.969Z,1613608448.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:09.355Z,1613608449.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:10.188Z,1613608450.188 [Micromodem](INFO): Nmea in: $SNTTA,0.084077,,0.089972,,003409.02*53 2021-02-18T00:34:10.228Z,1613608450.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.940002 m, bearing: 91.474039 deg, deltaT: 4.426418 s, approachRate: -0.650640 m/s, LOS rate: -0.019507 deg/s, posRepo size: 4 2021-02-18T00:34:10.230Z,1613608450.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.940002 m, bearing: 91.474039 deg, approachRate: -0.650640 m/s, LOS rate: -0.019507 deg/s, cmd update: -0.078029 deg/s, cmd heading: 96.894977 deg, new cmd heading: 96.945781 deg. 2021-02-18T00:34:12.674Z,1613608452.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:13.384Z,1613608453.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:13.791Z,1613608453.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:14.616Z,1613608454.616 [Micromodem](INFO): Nmea in: $SNTTA,0.081950,,,,003413.44*40 2021-02-18T00:34:14.640Z,1613608454.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.640007 m, bearing: 90.202839 deg, deltaT: 4.443871 s, approachRate: -0.742595 m/s, LOS rate: -0.286057 deg/s, posRepo size: 4 2021-02-18T00:34:14.642Z,1613608454.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.640007 m, bearing: 90.202839 deg, approachRate: -0.742595 m/s, LOS rate: -0.286057 deg/s, cmd update: -1.144228 deg/s, cmd heading: 96.548240 deg, new cmd heading: 96.515699 deg. 2021-02-18T00:34:16.320Z,1613608456.320 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.247334 2021-02-18T00:34:17.046Z,1613608457.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:17.325Z,1613608457.325 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2021-02-18T00:34:17.580Z,1613608457.580 [Radio_Surface](INFO): Powering down 2021-02-18T00:34:17.830Z,1613608457.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:18.235Z,1613608458.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:19.064Z,1613608459.064 [Micromodem](INFO): Nmea in: $SNTTA,0.079796,,,,003417.88*47 2021-02-18T00:34:19.099Z,1613608459.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.459999 m, bearing: 90.429020 deg, deltaT: 4.451002 s, approachRate: -0.714448 m/s, LOS rate: 0.050816 deg/s, posRepo size: 4 2021-02-18T00:34:19.101Z,1613608459.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.459999 m, bearing: 90.429020 deg, approachRate: -0.714448 m/s, LOS rate: 0.050816 deg/s, cmd update: 0.203264 deg/s, cmd heading: 91.455069 deg, new cmd heading: 90.969091 deg. 2021-02-18T00:34:21.488Z,1613608461.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:22.278Z,1613608462.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:22.692Z,1613608462.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:23.504Z,1613608463.504 [Micromodem](INFO): Nmea in: $SNTTA,0.077636,,0.111567,,003422.33*5F 2021-02-18T00:34:23.547Z,1613608463.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.340004 m, bearing: 92.451016 deg, deltaT: 4.455690 s, approachRate: -0.700227 m/s, LOS rate: 0.453801 deg/s, posRepo size: 4 2021-02-18T00:34:23.549Z,1613608463.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.340004 m, bearing: 92.451016 deg, approachRate: -0.700227 m/s, LOS rate: 0.453801 deg/s, cmd update: 1.815203 deg/s, cmd heading: 92.360693 deg, new cmd heading: 92.445498 deg. 2021-02-18T00:34:26.002Z,1613608466.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:26.724Z,1613608466.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:27.122Z,1613608467.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:27.972Z,1613608467.972 [Micromodem](INFO): Nmea in: $SNTTA,0.075524,,,,003426.78*4D 2021-02-18T00:34:28.006Z,1613608468.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.100006 m, bearing: 91.222859 deg, deltaT: 4.412492 s, approachRate: -0.734278 m/s, LOS rate: -0.278336 deg/s, posRepo size: 4 2021-02-18T00:34:28.008Z,1613608468.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.100006 m, bearing: 91.222859 deg, approachRate: -0.734278 m/s, LOS rate: -0.278336 deg/s, cmd update: -1.113345 deg/s, cmd heading: 100.362787 deg, new cmd heading: 101.212160 deg. 2021-02-18T00:34:30.058Z,1613608470.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:30.768Z,1613608470.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:31.161Z,1613608471.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:31.992Z,1613608471.992 [Micromodem](INFO): Nmea in: $SNTTA,0.073366,,,,003430.82*49 2021-02-18T00:34:32.016Z,1613608472.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.919998 m, bearing: 90.925377 deg, deltaT: 4.088604 s, approachRate: -0.777773 m/s, LOS rate: -0.072759 deg/s, posRepo size: 4 2021-02-18T00:34:32.018Z,1613608472.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.919998 m, bearing: 90.925377 deg, approachRate: -0.777773 m/s, LOS rate: -0.072759 deg/s, cmd update: -0.291035 deg/s, cmd heading: 95.806098 deg, new cmd heading: 95.376580 deg. 2021-02-18T00:34:34.410Z,1613608474.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:35.200Z,1613608475.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:35.616Z,1613608475.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:36.428Z,1613608476.428 [Micromodem](INFO): Nmea in: $SNTTA,0.071248,,,,003435.26*4D 2021-02-18T00:34:36.462Z,1613608476.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.680000 m, bearing: 89.499814 deg, deltaT: 4.418978 s, approachRate: -0.733201 m/s, LOS rate: -0.322600 deg/s, posRepo size: 4 2021-02-18T00:34:36.464Z,1613608476.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.680000 m, bearing: 89.499814 deg, approachRate: -0.733201 m/s, LOS rate: -0.322600 deg/s, cmd update: -1.290401 deg/s, cmd heading: 94.520011 deg, new cmd heading: 94.399925 deg. 2021-02-18T00:34:38.866Z,1613608478.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:39.644Z,1613608479.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:40.057Z,1613608480.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:40.876Z,1613608480.876 [Micromodem](INFO): Nmea in: $SNTTA,0.069015,,,,003439.70*41 2021-02-18T00:34:40.963Z,1613608480.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.320000 m, bearing: 91.357578 deg, deltaT: 4.436810 s, approachRate: -0.757301 m/s, LOS rate: 0.418716 deg/s, posRepo size: 4 2021-02-18T00:34:40.965Z,1613608480.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.320000 m, bearing: 91.357578 deg, approachRate: -0.757301 m/s, LOS rate: 0.418716 deg/s, cmd update: 1.674864 deg/s, cmd heading: 88.799251 deg, new cmd heading: 88.185444 deg. 2021-02-18T00:34:43.317Z,1613608483.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:44.098Z,1613608484.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:44.499Z,1613608484.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:45.320Z,1613608485.320 [Micromodem](INFO): Nmea in: $SNTTA,0.066821,,,,003444.15*48 2021-02-18T00:34:45.361Z,1613608485.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.140007 m, bearing: 91.681254 deg, deltaT: 4.497692 s, approachRate: -0.707028 m/s, LOS rate: 0.071965 deg/s, posRepo size: 4 2021-02-18T00:34:45.364Z,1613608485.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.140007 m, bearing: 91.681254 deg, approachRate: -0.707028 m/s, LOS rate: 0.071965 deg/s, cmd update: 0.287859 deg/s, cmd heading: 96.332156 deg, new cmd heading: 96.969822 deg. 2021-02-18T00:34:47.766Z,1613608487.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:48.532Z,1613608488.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:48.965Z,1613608488.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:49.760Z,1613608489.760 [Micromodem](INFO): Nmea in: $SNTTA,0.064605,,,,003448.59*46 2021-02-18T00:34:49.798Z,1613608489.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.840004 m, bearing: 91.194575 deg, deltaT: 4.387230 s, approachRate: -0.752184 m/s, LOS rate: -0.110931 deg/s, posRepo size: 4 2021-02-18T00:34:49.800Z,1613608489.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.840004 m, bearing: 91.194575 deg, approachRate: -0.752184 m/s, LOS rate: -0.110931 deg/s, cmd update: -0.443723 deg/s, cmd heading: 97.591511 deg, new cmd heading: 97.718870 deg. 2021-02-18T00:34:52.206Z,1613608492.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:52.981Z,1613608492.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:53.381Z,1613608493.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:54.208Z,1613608494.208 [Micromodem](INFO): Nmea in: $SNTTA,0.062333,,,,003453.04*42 2021-02-18T00:34:54.247Z,1613608494.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.419998 m, bearing: 90.722841 deg, deltaT: 4.465795 s, approachRate: -0.765822 m/s, LOS rate: -0.105633 deg/s, posRepo size: 4 2021-02-18T00:34:54.249Z,1613608494.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.419998 m, bearing: 90.722841 deg, approachRate: -0.765822 m/s, LOS rate: -0.105633 deg/s, cmd update: -0.422531 deg/s, cmd heading: 95.604564 deg, new cmd heading: 95.421033 deg. 2021-02-18T00:34:56.656Z,1613608496.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:34:57.428Z,1613608497.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:34:57.845Z,1613608497.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:34:58.652Z,1613608498.652 [Micromodem](INFO): Nmea in: $SNTTA,0.060219,,,,003457.48*45 2021-02-18T00:34:58.696Z,1613608498.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.119995 m, bearing: 90.070121 deg, deltaT: 4.440396 s, approachRate: -0.743178 m/s, LOS rate: -0.146996 deg/s, posRepo size: 4 2021-02-18T00:34:58.698Z,1613608498.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.119995 m, bearing: 90.070121 deg, approachRate: -0.743178 m/s, LOS rate: -0.146996 deg/s, cmd update: -0.587984 deg/s, cmd heading: 93.728356 deg, new cmd heading: 93.549794 deg. 2021-02-18T00:35:01.101Z,1613608501.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:01.869Z,1613608501.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:35:02.270Z,1613608502.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:35:03.101Z,1613608503.101 [Micromodem](INFO): Nmea in: $SNTTA,0.057894,,0.068893,,003501.92*59 2021-02-18T00:35:03.156Z,1613608503.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.700005 m, bearing: 90.168319 deg, deltaT: 4.455060 s, approachRate: -0.767664 m/s, LOS rate: 0.022042 deg/s, posRepo size: 4 2021-02-18T00:35:03.158Z,1613608503.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.700005 m, bearing: 90.168319 deg, approachRate: -0.767664 m/s, LOS rate: 0.022042 deg/s, cmd update: 0.088167 deg/s, cmd heading: 91.108857 deg, new cmd heading: 90.874332 deg. 2021-02-18T00:35:05.517Z,1613608505.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:06.308Z,1613608506.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:35:06.719Z,1613608506.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:35:07.536Z,1613608507.536 [Micromodem](INFO): Nmea in: $SNTTA,0.055849,,,,003506.36*40 2021-02-18T00:35:07.612Z,1613608507.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.519997 m, bearing: 89.649395 deg, deltaT: 4.424619 s, approachRate: -0.718708 m/s, LOS rate: -0.117281 deg/s, posRepo size: 4 2021-02-18T00:35:07.614Z,1613608507.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.519997 m, bearing: 89.649395 deg, approachRate: -0.718708 m/s, LOS rate: -0.117281 deg/s, cmd update: -0.469124 deg/s, cmd heading: 91.499317 deg, new cmd heading: 91.538996 deg. 2021-02-18T00:35:10.036Z,1613608510.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:10.771Z,1613608510.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:35:11.158Z,1613608511.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:35:11.992Z,1613608511.992 [Micromodem](INFO): Nmea in: $SNTTA,0.053561,,,,003510.83*48 2021-02-18T00:35:12.017Z,1613608512.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.100006 m, bearing: 90.665379 deg, deltaT: 4.480055 s, approachRate: -0.763381 m/s, LOS rate: 0.226779 deg/s, posRepo size: 4 2021-02-18T00:35:12.018Z,1613608512.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.100006 m, bearing: 90.665379 deg, approachRate: -0.763381 m/s, LOS rate: 0.226779 deg/s, cmd update: 0.907117 deg/s, cmd heading: 89.397688 deg, new cmd heading: 89.219824 deg. 2021-02-18T00:35:14.409Z,1613608514.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:15.232Z,1613608515.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:35:15.628Z,1613608515.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:35:16.444Z,1613608516.444 [Micromodem](INFO): Nmea in: $SNTTA,0.051249,,,,003515.29*42 2021-02-18T00:35:16.481Z,1613608516.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.680000 m, bearing: 90.844296 deg, deltaT: 4.410900 s, approachRate: -0.775353 m/s, LOS rate: 0.040562 deg/s, posRepo size: 4 2021-02-18T00:35:16.483Z,1613608516.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.680000 m, bearing: 90.844296 deg, approachRate: -0.775353 m/s, LOS rate: 0.040562 deg/s, cmd update: 0.162250 deg/s, cmd heading: 93.384568 deg, new cmd heading: 93.791815 deg. 2021-02-18T00:35:18.865Z,1613608518.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:19.641Z,1613608519.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:35:20.056Z,1613608520.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:35:20.868Z,1613608520.868 [Micromodem](INFO): Nmea in: $SNTTA,0.049366,,,,003519.70*47 2021-02-18T00:35:20.910Z,1613608520.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.799995 m, bearing: 90.268053 deg, deltaT: 4.430053 s, approachRate: -0.650106 m/s, LOS rate: -0.130076 deg/s, posRepo size: 4 2021-02-18T00:35:20.912Z,1613608520.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.799995 m, bearing: 90.268053 deg, approachRate: -0.650106 m/s, LOS rate: -0.130076 deg/s, cmd update: -0.520303 deg/s, cmd heading: 94.105273 deg, new cmd heading: 94.175985 deg. 2021-02-18T00:35:23.309Z,1613608523.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:24.084Z,1613608524.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:35:24.490Z,1613608524.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:35:25.313Z,1613608525.313 [Micromodem](INFO): Nmea in: $SNTTA,0.046963,,,,003524.14*4B 2021-02-18T00:35:25.379Z,1613608525.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.440002 m, bearing: 91.995183 deg, deltaT: 4.480108 s, approachRate: -0.749980 m/s, LOS rate: 0.385511 deg/s, posRepo size: 4 2021-02-18T00:35:25.381Z,1613608525.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.440002 m, bearing: 91.995183 deg, approachRate: -0.749980 m/s, LOS rate: 0.385511 deg/s, cmd update: 1.542043 deg/s, cmd heading: 91.778738 deg, new cmd heading: 91.555568 deg. 2021-02-18T00:35:27.762Z,1613608527.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:28.540Z,1613608528.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:35:28.965Z,1613608528.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:35:29.764Z,1613608529.764 [Micromodem](INFO): Nmea in: $SNTTA,0.044835,,,,003528.60*44 2021-02-18T00:35:29.819Z,1613608529.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.960007 m, bearing: 90.653180 deg, deltaT: 4.391397 s, approachRate: -0.792458 m/s, LOS rate: -0.305598 deg/s, posRepo size: 4 2021-02-18T00:35:29.821Z,1613608529.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.960007 m, bearing: 90.653180 deg, approachRate: -0.792458 m/s, LOS rate: -0.305598 deg/s, cmd update: -1.222392 deg/s, cmd heading: 98.569926 deg, new cmd heading: 99.286884 deg. 2021-02-18T00:35:32.204Z,1613608532.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:32.976Z,1613608532.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:35:33.377Z,1613608533.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:35:34.204Z,1613608534.204 [Micromodem](INFO): Nmea in: $SNTTA,0.042765,,,,003533.03*47 2021-02-18T00:35:34.255Z,1613608534.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.139999 m, bearing: 92.840391 deg, deltaT: 4.493589 s, approachRate: -0.627562 m/s, LOS rate: 0.486740 deg/s, posRepo size: 4 2021-02-18T00:35:34.257Z,1613608534.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.139999 m, bearing: 92.840391 deg, approachRate: -0.627562 m/s, LOS rate: 0.486740 deg/s, cmd update: 1.946961 deg/s, cmd heading: 93.080034 deg, new cmd heading: 92.578764 deg. 2021-02-18T00:35:36.640Z,1613608536.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:37.416Z,1613608537.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:35:37.840Z,1613608537.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:35:38.644Z,1613608538.644 [Micromodem](INFO): Nmea in: $SNTTA,0.040608,,,,003537.47*4B 2021-02-18T00:35:38.703Z,1613608538.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.720005 m, bearing: 92.990095 deg, deltaT: 4.404249 s, approachRate: -0.776522 m/s, LOS rate: 0.033991 deg/s, posRepo size: 4 2021-02-18T00:35:38.705Z,1613608538.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.720005 m, bearing: 92.990095 deg, approachRate: -0.776522 m/s, LOS rate: 0.033991 deg/s, cmd update: 0.135963 deg/s, cmd heading: 101.659555 deg, new cmd heading: 102.545434 deg. 2021-02-18T00:35:41.082Z,1613608541.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:41.879Z,1613608541.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:35:42.275Z,1613608542.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:35:43.100Z,1613608543.100 [Micromodem](INFO): Nmea in: $SNTTA,0.038517,,,,003541.93*41 2021-02-18T00:35:43.124Z,1613608543.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.660007 m, bearing: 92.347491 deg, deltaT: 4.491893 s, approachRate: -0.681227 m/s, LOS rate: -0.143059 deg/s, posRepo size: 4 2021-02-18T00:35:43.126Z,1613608543.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.660007 m, bearing: 92.347491 deg, approachRate: -0.681227 m/s, LOS rate: -0.143059 deg/s, cmd update: -0.572235 deg/s, cmd heading: 102.270302 deg, new cmd heading: 102.322557 deg. 2021-02-18T00:35:45.542Z,1613608545.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:46.316Z,1613608546.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:35:46.720Z,1613608546.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:35:47.540Z,1613608547.540 [Micromodem](INFO): Nmea in: $SNTTA,0.036270,,,,003546.37*40 2021-02-18T00:35:47.610Z,1613608547.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.179996 m, bearing: 90.711920 deg, deltaT: 4.417295 s, approachRate: -0.787815 m/s, LOS rate: -0.370265 deg/s, posRepo size: 4 2021-02-18T00:35:47.617Z,1613608547.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.179996 m, bearing: 90.711920 deg, approachRate: -0.787815 m/s, LOS rate: -0.370265 deg/s, cmd update: -1.481061 deg/s, cmd heading: 99.752336 deg, new cmd heading: 99.483407 deg. 2021-02-18T00:35:50.004Z,1613608550.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:50.768Z,1613608550.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:35:51.164Z,1613608551.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:35:51.996Z,1613608551.996 [Micromodem](INFO): Nmea in: $SNTTA,0.034259,,,,003550.82*40 2021-02-18T00:35:52.041Z,1613608552.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.180000 m, bearing: 89.985413 deg, deltaT: 4.471591 s, approachRate: -0.670901 m/s, LOS rate: -0.162472 deg/s, posRepo size: 4 2021-02-18T00:35:52.043Z,1613608552.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.180000 m, bearing: 89.985413 deg, approachRate: -0.670901 m/s, LOS rate: -0.162472 deg/s, cmd update: -0.649887 deg/s, cmd heading: 93.104269 deg, new cmd heading: 92.493257 deg. 2021-02-18T00:35:54.409Z,1613608554.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:55.196Z,1613608555.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:35:55.606Z,1613608555.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:35:56.436Z,1613608556.436 [Micromodem](INFO): Nmea in: $SNTTA,0.032035,,,,003555.25*46 2021-02-18T00:35:56.458Z,1613608556.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.880001 m, bearing: 91.518661 deg, deltaT: 4.400727 s, approachRate: -0.749876 m/s, LOS rate: 0.348408 deg/s, posRepo size: 4 2021-02-18T00:35:56.460Z,1613608556.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.880001 m, bearing: 91.518661 deg, approachRate: -0.749876 m/s, LOS rate: 0.348408 deg/s, cmd update: 1.393631 deg/s, cmd heading: 90.244323 deg, new cmd heading: 89.965553 deg. 2021-02-18T00:35:58.861Z,1613608558.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:35:59.659Z,1613608559.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:00.046Z,1613608560.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:00.880Z,1613608560.880 [Micromodem](INFO): Nmea in: $SNTTA,0.030057,,,,003559.71*4D 2021-02-18T00:36:00.937Z,1613608560.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.879997 m, bearing: 90.599386 deg, deltaT: 4.438954 s, approachRate: -0.675836 m/s, LOS rate: -0.207093 deg/s, posRepo size: 4 2021-02-18T00:36:00.952Z,1613608560.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.879997 m, bearing: 90.599386 deg, approachRate: -0.675836 m/s, LOS rate: -0.207093 deg/s, cmd update: -0.828371 deg/s, cmd heading: 96.430094 deg, new cmd heading: 97.037904 deg. 2021-02-18T00:36:03.301Z,1613608563.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:36:04.084Z,1613608564.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:04.492Z,1613608564.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:05.312Z,1613608565.312 [Micromodem](INFO): Nmea in: $SNTTA,0.027742,,,,003604.14*40 2021-02-18T00:36:05.352Z,1613608565.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.399998 m, bearing: 92.047290 deg, deltaT: 4.512544 s, approachRate: -0.771183 m/s, LOS rate: 0.320862 deg/s, posRepo size: 4 2021-02-18T00:36:05.354Z,1613608565.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.399998 m, bearing: 92.047290 deg, approachRate: -0.771183 m/s, LOS rate: 0.320862 deg/s, cmd update: 1.283449 deg/s, cmd heading: 92.695046 deg, new cmd heading: 92.384388 deg. 2021-02-18T00:36:07.813Z,1613608567.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:36:08.535Z,1613608568.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:08.972Z,1613608568.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:09.764Z,1613608569.764 [Micromodem](INFO): Nmea in: $SNTTA,0.025727,,,,003608.59*44 2021-02-18T00:36:09.789Z,1613608569.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.340000 m, bearing: 91.299466 deg, deltaT: 4.370621 s, approachRate: -0.700129 m/s, LOS rate: -0.171102 deg/s, posRepo size: 4 2021-02-18T00:36:09.790Z,1613608569.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.34 m. 2021-02-18T00:36:09.812Z,1613608569.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.340000 m, bearing: 91.299466 deg, approachRate: -0.700129 m/s, LOS rate: -0.171102 deg/s, cmd update: -0.684410 deg/s, cmd heading: 98.309655 deg, new cmd heading: 98.871429 deg. 2021-02-18T00:36:10.161Z,1613608570.161 [PowerOnly](INFO): Powering up loadControl 2021-02-18T00:36:12.189Z,1613608572.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:36:12.999Z,1613608572.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:13.378Z,1613608573.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:14.216Z,1613608574.216 [Micromodem](INFO): Nmea in: $SNTTA,0.023915,,,,003613.05*4E 2021-02-18T00:36:14.266Z,1613608574.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.340000 m, bearing: 89.410270 deg, deltaT: 4.455728 s, approachRate: -0.673291 m/s, LOS rate: -0.423993 deg/s, posRepo size: 4 2021-02-18T00:36:14.266Z,1613608574.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.34 m. 2021-02-18T00:36:14.271Z,1613608574.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.34 m. 2021-02-18T00:36:14.271Z,1613608574.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T00:36:14.277Z,1613608574.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.340000 m, bearing: 89.410270 deg, approachRate: -0.673291 m/s, LOS rate: -0.423993 deg/s, cmd update: -1.695971 deg/s, cmd heading: 95.260131 deg, new cmd heading: 94.946088 deg. 2021-02-18T00:36:16.638Z,1613608576.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:36:17.422Z,1613608577.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:17.822Z,1613608577.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:18.648Z,1613608578.648 [Micromodem](INFO): Nmea in: $SNTTA,0.021411,,,,003617.48*48 2021-02-18T00:36:18.673Z,1613608578.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.920000 m, bearing: 90.930705 deg, deltaT: 4.502025 s, approachRate: -0.759658 m/s, LOS rate: 0.337722 deg/s, posRepo size: 4 2021-02-18T00:36:18.675Z,1613608578.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.920000 m, bearing: 90.930705 deg, approachRate: -0.759658 m/s, LOS rate: 0.337722 deg/s, cmd update: 1.350889 deg/s, cmd heading: 87.644875 deg, new cmd heading: 87.007976 deg. 2021-02-18T00:36:21.088Z,1613608581.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:36:21.861Z,1613608581.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:22.266Z,1613608582.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:23.092Z,1613608583.092 [Micromodem](INFO): Nmea in: $SNTTA,0.019357,,,,003621.92*44 2021-02-18T00:36:23.121Z,1613608583.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.860003 m, bearing: 91.685686 deg, deltaT: 4.386569 s, approachRate: -0.697583 m/s, LOS rate: 0.172112 deg/s, posRepo size: 4 2021-02-18T00:36:23.143Z,1613608583.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.860003 m, bearing: 91.685686 deg, approachRate: -0.697583 m/s, LOS rate: 0.172112 deg/s, cmd update: 0.688449 deg/s, cmd heading: 93.580843 deg, new cmd heading: 94.161374 deg. 2021-02-18T00:36:25.517Z,1613608585.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:36:26.310Z,1613608586.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:26.715Z,1613608586.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:27.537Z,1613608587.537 [Micromodem](INFO): Nmea in: $SNTTA,0.017539,,,,003626.36*4D 2021-02-18T00:36:27.604Z,1613608587.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.039999 m, bearing: 91.695495 deg, deltaT: 4.462307 s, approachRate: -0.631961 m/s, LOS rate: 0.002198 deg/s, posRepo size: 4 2021-02-18T00:36:27.606Z,1613608587.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.039999 m, bearing: 91.695495 deg, approachRate: -0.631961 m/s, LOS rate: 0.002198 deg/s, cmd update: 0.008792 deg/s, cmd heading: 96.644749 deg, new cmd heading: 96.962881 deg. 2021-02-18T00:36:30.051Z,1613608590.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:36:30.749Z,1613608590.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:31.153Z,1613608591.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:31.996Z,1613608591.996 [Micromodem](INFO): Nmea in: $SNTTA,0.015109,,,,003630.81*43 2021-02-18T00:36:32.026Z,1613608592.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.440001 m, bearing: 90.004087 deg, deltaT: 4.454630 s, approachRate: -0.808148 m/s, LOS rate: -0.379697 deg/s, posRepo size: 4 2021-02-18T00:36:32.028Z,1613608592.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.440001 m, bearing: 90.004087 deg, approachRate: -0.808148 m/s, LOS rate: -0.379697 deg/s, cmd update: -1.518786 deg/s, cmd heading: 96.684056 deg, new cmd heading: 96.687691 deg. 2021-02-18T00:36:34.405Z,1613608594.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:36:35.200Z,1613608595.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:35.604Z,1613608595.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:36.433Z,1613608596.433 [Micromodem](INFO): Nmea in: $SNTTA,0.013049,,0.051402,0.021376,003635.25*48 2021-02-18T00:36:36.474Z,1613608596.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.320000 m, bearing: 89.802036 deg, deltaT: 4.437041 s, approachRate: -0.703171 m/s, LOS rate: -0.045537 deg/s, posRepo size: 4 2021-02-18T00:36:36.476Z,1613608596.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.320000 m, bearing: 89.802036 deg, approachRate: -0.703171 m/s, LOS rate: -0.045537 deg/s, cmd update: -0.182149 deg/s, cmd heading: 89.951236 deg, new cmd heading: 89.300320 deg. 2021-02-18T00:36:38.869Z,1613608598.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:36:39.641Z,1613608599.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:40.055Z,1613608600.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:40.868Z,1613608600.868 [Micromodem](INFO): Nmea in: $SNTTA,0.011442,,,,003639.70*4A 2021-02-18T00:36:40.918Z,1613608600.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.919998 m, bearing: 93.070801 deg, deltaT: 4.408693 s, approachRate: -0.544379 m/s, LOS rate: 0.741436 deg/s, posRepo size: 4 2021-02-18T00:36:40.921Z,1613608600.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.919998 m, bearing: 93.070801 deg, approachRate: -0.544379 m/s, LOS rate: 0.741436 deg/s, cmd update: 2.965745 deg/s, cmd heading: 89.147477 deg, new cmd heading: 89.063717 deg. 2021-02-18T00:36:43.308Z,1613608603.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:36:44.082Z,1613608604.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:44.486Z,1613608604.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:45.316Z,1613608605.316 [Micromodem](INFO): Nmea in: $SNTTA,0.008914,,,,003644.14*44 2021-02-18T00:36:45.358Z,1613608605.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.080002 m, bearing: 91.858640 deg, deltaT: 4.517941 s, approachRate: -0.849944 m/s, LOS rate: -0.268299 deg/s, posRepo size: 4 2021-02-18T00:36:45.360Z,1613608605.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.080002 m, bearing: 91.858640 deg, approachRate: -0.849944 m/s, LOS rate: -0.268299 deg/s, cmd update: -1.073197 deg/s, cmd heading: 102.546585 deg, new cmd heading: 103.679594 deg. 2021-02-18T00:36:47.800Z,1613608607.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:36:48.525Z,1613608608.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:48.962Z,1613608608.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:49.752Z,1613608609.752 [Micromodem](INFO): Nmea in: $SNTTA,0.007003,,,,003648.58*40 2021-02-18T00:36:49.800Z,1613608609.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.200003 m, bearing: 83.658356 deg, deltaT: 4.387968 s, approachRate: -0.656340 m/s, LOS rate: -1.868811 deg/s, posRepo size: 4 2021-02-18T00:36:49.802Z,1613608609.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.200003 m, bearing: 83.658356 deg, approachRate: -0.656340 m/s, LOS rate: -1.868811 deg/s, cmd update: -7.475245 deg/s, cmd heading: 97.850654 deg, new cmd heading: 97.369888 deg. 2021-02-18T00:36:52.201Z,1613608612.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:36:52.976Z,1613608612.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:53.375Z,1613608613.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:54.200Z,1613608614.200 [Micromodem](INFO): Nmea in: $SNTTA,0.005189,,,,003653.03*45 2021-02-18T00:36:54.245Z,1613608614.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.499999 m, bearing: 87.999249 deg, deltaT: 4.464981 s, approachRate: -0.604707 m/s, LOS rate: 0.972208 deg/s, posRepo size: 4 2021-02-18T00:36:54.246Z,1613608614.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.499999 m, bearing: 87.999249 deg, approachRate: -0.604707 m/s, LOS rate: 0.972208 deg/s, cmd update: 3.888834 deg/s, cmd heading: 64.411371 deg, new cmd heading: 61.276836 deg. 2021-02-18T00:36:56.661Z,1613608616.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:36:57.414Z,1613608617.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:36:57.819Z,1613608617.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:36:58.653Z,1613608618.653 [Micromodem](INFO): Nmea in: $SNTTA,0.003745,,,,003657.47*41 2021-02-18T00:36:58.697Z,1613608618.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.399999 m, bearing: 92.597865 deg, deltaT: 4.440548 s, approachRate: -0.472914 m/s, LOS rate: 1.035596 deg/s, posRepo size: 4 2021-02-18T00:36:58.698Z,1613608618.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.399999 m, bearing: 92.597865 deg, approachRate: -0.472914 m/s, LOS rate: 1.035596 deg/s, cmd update: 4.142386 deg/s, cmd heading: 81.695426 deg, new cmd heading: 83.355332 deg. 2021-02-18T00:37:01.089Z,1613608621.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:01.856Z,1613608621.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:37:02.267Z,1613608622.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:37:03.096Z,1613608623.096 [Micromodem](INFO): Nmea in: $SNTTA,0.004594,,,0.028931,003701.91*5E 2021-02-18T00:37:03.118Z,1613608623.118 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T00:37:03.118Z,1613608623.118 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T00:37:03.118Z,1613608623.118 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T00:37:03.118Z,1613608623.118 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T00:37:03.118Z,1613608623.118 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T00:37:03.119Z,1613608623.119 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.559999 m 2021-02-18T00:37:03.119Z,1613608623.119 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T00:37:03.119Z,1613608623.119 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T00:37:03.119Z,1613608623.119 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T00:37:03.122Z,1613608623.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 62.905004 deg, deltaT: 4.432665 s, approachRate: -0.189502 m/s, LOS rate: -6.698648 deg/s, posRepo size: 4 2021-02-18T00:37:03.124Z,1613608623.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.559999 m, bearing: 62.905004 deg, approachRate: -0.189502 m/s, LOS rate: -6.698648 deg/s, cmd update: -12.000000 deg/s, cmd heading: 100.057098 deg, new cmd heading: 101.793131 deg. 2021-02-18T00:37:03.524Z,1613608623.524 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T003703: (41.552319, -70.708603) 2021-02-18T00:37:03.524Z,1613608623.524 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T00:37:03.525Z,1613608623.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T00:37:03.525Z,1613608623.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T00:37:03.525Z,1613608623.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T00:37:03.525Z,1613608623.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T00:37:03.525Z,1613608623.525 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T00:37:03.525Z,1613608623.525 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T00:37:03.525Z,1613608623.525 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T00:37:05.508Z,1613608625.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:06.302Z,1613608626.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:37:06.707Z,1613608626.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:37:07.528Z,1613608627.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003706.36*59 2021-02-18T00:37:07.603Z,1613608627.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 86.070383 deg, deltaT: 4.470652 s, approachRate: -0.026841 m/s, LOS rate: 5.181656 deg/s, posRepo size: 4 2021-02-18T00:37:07.605Z,1613608627.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.440000 m, bearing: 86.070383 deg, approachRate: -0.026841 m/s, LOS rate: 5.181656 deg/s, cmd update: 12.000000 deg/s, cmd heading: 46.513901 deg, new cmd heading: 41.252165 deg. 2021-02-18T00:37:10.013Z,1613608630.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:10.750Z,1613608630.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:37:11.155Z,1613608631.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:37:11.988Z,1613608631.988 [Micromodem](INFO): Nmea in: $SNTTA,0.003044,,,,003710.80*4E 2021-02-18T00:37:12.018Z,1613608632.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 87.013209 deg, deltaT: 4.454144 s, approachRate: 0.013471 m/s, LOS rate: 0.211674 deg/s, posRepo size: 4 2021-02-18T00:37:12.044Z,1613608632.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 87.013209 deg, approachRate: 0.013471 m/s, LOS rate: 0.211674 deg/s, cmd update: 0.846695 deg/s, cmd heading: 100.020330 deg, new cmd heading: 104.754822 deg. 2021-02-18T00:37:14.402Z,1613608634.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:15.193Z,1613608635.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:37:15.614Z,1613608635.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:37:16.423Z,1613608636.423 [Micromodem](INFO): Nmea in: $SNTTA,0.003089,,,,003715.25*45 2021-02-18T00:37:16.442Z,1613608636.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 106.281985 deg, deltaT: 4.407480 s, approachRate: 0.000000 m/s, LOS rate: 4.371835 deg/s, posRepo size: 4 2021-02-18T00:37:16.442Z,1613608636.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.50 m. 2021-02-18T00:37:16.444Z,1613608636.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 106.281985 deg, approachRate: 0.000000 m/s, LOS rate: 4.371835 deg/s, cmd update: 12.000000 deg/s, cmd heading: 103.755530 deg, new cmd heading: 104.100137 deg. 2021-02-18T00:37:18.857Z,1613608638.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:19.632Z,1613608639.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:37:20.045Z,1613608640.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:37:20.883Z,1613608640.883 [Micromodem](INFO): Nmea in: $SNTTA,0.003098,,0.018153,,003719.69*51 2021-02-18T00:37:20.959Z,1613608640.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 118.552659 deg, deltaT: 4.432365 s, approachRate: 0.000000 m/s, LOS rate: 2.768426 deg/s, posRepo size: 4 2021-02-18T00:37:20.961Z,1613608640.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 118.552659 deg, approachRate: 0.000000 m/s, LOS rate: 2.768426 deg/s, cmd update: 11.073704 deg/s, cmd heading: 156.901479 deg, new cmd heading: 162.418623 deg. 2021-02-18T00:37:23.309Z,1613608643.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:24.085Z,1613608644.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:37:24.482Z,1613608644.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:37:25.312Z,1613608645.312 [Micromodem](INFO): Nmea in: $SNTTA,0.003164,,,,003724.14*47 2021-02-18T00:37:25.361Z,1613608645.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 136.805192 deg, deltaT: 4.502537 s, approachRate: 0.000000 m/s, LOS rate: 4.053833 deg/s, posRepo size: 4 2021-02-18T00:37:25.362Z,1613608645.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 136.805192 deg, approachRate: 0.000000 m/s, LOS rate: 4.053833 deg/s, cmd update: 12.000000 deg/s, cmd heading: 206.753510 deg, new cmd heading: 211.129671 deg. 2021-02-18T00:37:27.793Z,1613608647.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:28.541Z,1613608648.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:37:28.963Z,1613608648.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:37:29.760Z,1613608649.760 [Micromodem](INFO): Nmea in: $SNTTA,0.003122,,,,003728.60*4A 2021-02-18T00:37:29.811Z,1613608649.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 139.069427 deg, deltaT: 4.378117 s, approachRate: 0.000000 m/s, LOS rate: 0.517171 deg/s, posRepo size: 4 2021-02-18T00:37:29.813Z,1613608649.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 139.069427 deg, approachRate: 0.000000 m/s, LOS rate: 0.517171 deg/s, cmd update: 2.068684 deg/s, cmd heading: 259.320531 deg, new cmd heading: 264.902116 deg. 2021-02-18T00:37:32.210Z,1613608652.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:32.979Z,1613608652.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:37:33.388Z,1613608653.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:37:34.204Z,1613608654.204 [Micromodem](INFO): Nmea in: $SNTTA,0.003164,,,,003733.03*47 2021-02-18T00:37:34.254Z,1613608654.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 138.374100 deg, deltaT: 4.479068 s, approachRate: 0.000000 m/s, LOS rate: -0.155239 deg/s, posRepo size: 4 2021-02-18T00:37:34.260Z,1613608654.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 138.374100 deg, approachRate: 0.000000 m/s, LOS rate: -0.155239 deg/s, cmd update: -0.620957 deg/s, cmd heading: 268.589909 deg, new cmd heading: 269.473614 deg. 2021-02-18T00:37:36.656Z,1613608656.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:37.410Z,1613608657.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:37:37.815Z,1613608657.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:37:38.660Z,1613608658.660 [Micromodem](INFO): Nmea in: $SNTTA,0.003158,,,,003737.47*4C 2021-02-18T00:37:38.685Z,1613608658.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 150.601259 deg, deltaT: 4.432560 s, approachRate: 0.013536 m/s, LOS rate: 2.758487 deg/s, posRepo size: 4 2021-02-18T00:37:38.686Z,1613608658.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.559999 m, bearing: 150.601259 deg, approachRate: 0.013536 m/s, LOS rate: 2.758487 deg/s, cmd update: 11.033948 deg/s, cmd heading: 265.839956 deg, new cmd heading: 265.573512 deg. 2021-02-18T00:37:41.104Z,1613608661.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:41.853Z,1613608661.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:37:42.258Z,1613608662.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:37:43.085Z,1613608663.085 [Micromodem](INFO): Nmea in: $SNTTA,0.003170,,,0.053664,003741.91*50 2021-02-18T00:37:43.109Z,1613608663.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 151.769590 deg, deltaT: 4.426320 s, approachRate: -0.013555 m/s, LOS rate: 0.263951 deg/s, posRepo size: 4 2021-02-18T00:37:43.111Z,1613608663.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 151.769590 deg, approachRate: -0.013555 m/s, LOS rate: 0.263951 deg/s, cmd update: 1.055804 deg/s, cmd heading: 314.724107 deg, new cmd heading: 319.395351 deg. 2021-02-18T00:37:44.705Z,1613608664.705 [PowerOnly](INFO): Powering down loadControl 2021-02-18T00:37:45.508Z,1613608665.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:46.296Z,1613608666.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:37:46.708Z,1613608666.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:37:47.531Z,1613608667.531 [Micromodem](INFO): Nmea in: $SNTTA,0.003105,,,,003746.35*47 2021-02-18T00:37:47.553Z,1613608667.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 153.539702 deg, deltaT: 4.457003 s, approachRate: 0.000000 m/s, LOS rate: 0.397153 deg/s, posRepo size: 4 2021-02-18T00:37:47.560Z,1613608667.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 153.539702 deg, approachRate: 0.000000 m/s, LOS rate: 0.397153 deg/s, cmd update: 1.588612 deg/s, cmd heading: 319.429781 deg, new cmd heading: 319.861549 deg. 2021-02-18T00:37:49.997Z,1613608669.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:50.742Z,1613608670.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:37:51.146Z,1613608671.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:37:51.988Z,1613608671.988 [Micromodem](INFO): Nmea in: $SNTTA,0.003169,,,0.007681,003750.80*52 2021-02-18T00:37:52.022Z,1613608672.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 148.580343 deg, deltaT: 4.481033 s, approachRate: 0.013389 m/s, LOS rate: -1.106745 deg/s, posRepo size: 4 2021-02-18T00:37:52.024Z,1613608672.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.559999 m, bearing: 148.580343 deg, approachRate: 0.013389 m/s, LOS rate: -1.106745 deg/s, cmd update: -4.426979 deg/s, cmd heading: 326.538211 deg, new cmd heading: 327.180817 deg. 2021-02-18T00:37:54.391Z,1613608674.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:55.192Z,1613608675.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:37:55.610Z,1613608675.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:37:56.416Z,1613608676.416 [Micromodem](INFO): Nmea in: $SNTTA,0.003159,,,,003755.25*4D 2021-02-18T00:37:56.458Z,1613608676.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 145.942769 deg, deltaT: 4.407551 s, approachRate: 0.013613 m/s, LOS rate: -0.598421 deg/s, posRepo size: 4 2021-02-18T00:37:56.460Z,1613608676.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.619999 m, bearing: 145.942769 deg, approachRate: 0.013613 m/s, LOS rate: -0.598421 deg/s, cmd update: -2.393686 deg/s, cmd heading: 307.068395 deg, new cmd heading: 305.108890 deg. 2021-02-18T00:37:58.860Z,1613608678.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:37:59.628Z,1613608679.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:00.035Z,1613608680.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:00.863Z,1613608680.863 [Micromodem](INFO): Nmea in: $SNTTA,0.003070,,,,003759.68*42 2021-02-18T00:38:00.887Z,1613608680.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 133.194959 deg, deltaT: 4.439003 s, approachRate: -0.027033 m/s, LOS rate: -2.871773 deg/s, posRepo size: 4 2021-02-18T00:38:00.889Z,1613608680.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 133.194959 deg, approachRate: -0.027033 m/s, LOS rate: -2.871773 deg/s, cmd update: -11.487093 deg/s, cmd heading: 296.414369 deg, new cmd heading: 295.407247 deg. 2021-02-18T00:38:03.333Z,1613608683.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:38:04.072Z,1613608684.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:04.479Z,1613608684.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:05.300Z,1613608685.300 [Micromodem](INFO): Nmea in: $SNTTA,0.003150,,,,003804.13*4A 2021-02-18T00:38:05.346Z,1613608685.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 133.759911 deg, deltaT: 4.500546 s, approachRate: -0.013332 m/s, LOS rate: 0.125530 deg/s, posRepo size: 4 2021-02-18T00:38:05.348Z,1613608685.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.440000 m, bearing: 133.759911 deg, approachRate: -0.013332 m/s, LOS rate: 0.125530 deg/s, cmd update: 0.502119 deg/s, cmd heading: 244.715144 deg, new cmd heading: 240.364602 deg. 2021-02-18T00:38:07.748Z,1613608687.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:38:08.522Z,1613608688.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:08.963Z,1613608688.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:09.748Z,1613608689.748 [Micromodem](INFO): Nmea in: $SNTTA,0.003104,,,,003808.58*48 2021-02-18T00:38:09.792Z,1613608689.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 134.536039 deg, deltaT: 4.367238 s, approachRate: 0.041216 m/s, LOS rate: 0.177716 deg/s, posRepo size: 4 2021-02-18T00:38:09.794Z,1613608689.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.619999 m, bearing: 134.536039 deg, approachRate: 0.041216 m/s, LOS rate: 0.177716 deg/s, cmd update: 0.710864 deg/s, cmd heading: 246.910036 deg, new cmd heading: 247.127800 deg. 2021-02-18T00:38:12.194Z,1613608692.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:38:12.981Z,1613608692.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:13.366Z,1613608693.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:14.200Z,1613608694.200 [Micromodem](INFO): Nmea in: $SNTTA,0.003127,,,,003813.04*4A 2021-02-18T00:38:14.244Z,1613608694.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 140.681434 deg, deltaT: 4.453435 s, approachRate: -0.013473 m/s, LOS rate: 1.379922 deg/s, posRepo size: 4 2021-02-18T00:38:14.246Z,1613608694.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.559999 m, bearing: 140.681434 deg, approachRate: -0.013473 m/s, LOS rate: 1.379922 deg/s, cmd update: 5.519689 deg/s, cmd heading: 250.075745 deg, new cmd heading: 250.397499 deg. 2021-02-18T00:38:16.638Z,1613608696.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:38:17.407Z,1613608697.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:17.844Z,1613608697.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:18.655Z,1613608698.655 [Micromodem](INFO): Nmea in: $SNTTA,0.003152,,,,003817.46*4A 2021-02-18T00:38:18.679Z,1613608698.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 140.962742 deg, deltaT: 4.464241 s, approachRate: 0.000000 m/s, LOS rate: 0.063014 deg/s, posRepo size: 4 2021-02-18T00:38:18.680Z,1613608698.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.56 m. Reached intercept timeout. 2021-02-18T00:38:18.680Z,1613608698.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped 2021-02-18T00:38:18.680Z,1613608698.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-02-18T00:38:18.680Z,1613608698.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1 2021-02-18T00:38:19.061Z,1613608699.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete. 2021-02-18T00:38:19.062Z,1613608699.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped 2021-02-18T00:38:19.062Z,1613608699.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1 2021-02-18T00:38:19.461Z,1613608699.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped 2021-02-18T00:38:19.461Z,1613608699.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T00:38:19.462Z,1613608699.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-02-18T00:38:19.462Z,1613608699.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T00:38:19.462Z,1613608699.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-02-18T00:38:19.462Z,1613608699.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-02-18T00:38:19.462Z,1613608699.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-02-18T00:38:19.462Z,1613608699.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T00:38:19.878Z,1613608699.878 [lineCaptureDepth:LineCapture:HomingSequence] Stopped 2021-02-18T00:38:19.878Z,1613608699.878 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence 2021-02-18T00:38:19.878Z,1613608699.878 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped 2021-02-18T00:38:19.878Z,1613608699.878 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-02-18T00:38:19.878Z,1613608699.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-02-18T00:38:19.878Z,1613608699.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T00:38:19.878Z,1613608699.878 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1 2021-02-18T00:38:19.878Z,1613608699.878 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component. 2021-02-18T00:38:21.079Z,1613608701.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:38:21.848Z,1613608701.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:22.254Z,1613608702.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:23.080Z,1613608703.080 [Micromodem](INFO): Nmea in: $SNTTA,0.003529,,,,003821.90*4C 2021-02-18T00:38:23.499Z,1613608703.499 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting. 2021-02-18T00:38:23.499Z,1613608703.499 [lineCaptureDepth:LineCapture:K.Wait] Stopped 2021-02-18T00:38:23.499Z,1613608703.499 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component. 2021-02-18T00:38:23.500Z,1613608703.500 [lineCaptureDepth:LineCapture:L] Running Loop=1 2021-02-18T00:38:23.911Z,1613608703.911 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 2021-02-18T00:38:23.912Z,1613608703.912 [lineCaptureDepth:LineCapture:L] Stopped 2021-02-18T00:38:23.913Z,1613608703.913 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture 2021-02-18T00:38:23.914Z,1613608703.914 [lineCaptureDepth:LineCapture] Stopped 2021-02-18T00:38:23.914Z,1613608703.914 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture 2021-02-18T00:38:23.914Z,1613608703.914 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped 2021-02-18T00:38:23.914Z,1613608703.914 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-02-18T00:38:23.914Z,1613608703.914 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2021-02-18T00:38:23.914Z,1613608703.914 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2021-02-18T00:38:23.914Z,1613608703.914 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2021-02-18T00:38:23.914Z,1613608703.914 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2021-02-18T00:38:23.914Z,1613608703.914 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2021-02-18T00:38:23.914Z,1613608703.914 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2021-02-18T00:38:23.914Z,1613608703.914 [lineCaptureDepth:LineCapture:G] Stopped 2021-02-18T00:38:23.914Z,1613608703.914 [lineCaptureDepth:LineCapture:H] Stopped 2021-02-18T00:38:23.914Z,1613608703.914 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-18T00:38:23.915Z,1613608703.915 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T00:38:23.915Z,1613608703.915 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-18T00:38:23.915Z,1613608703.915 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-18T00:38:23.915Z,1613608703.915 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-18T00:38:23.915Z,1613608703.915 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-18T00:38:23.915Z,1613608703.915 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-18T00:38:24.325Z,1613608704.325 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B 2021-02-18T00:38:24.325Z,1613608704.325 [lineCaptureDepth:Lap:B] Stopped 2021-02-18T00:38:24.325Z,1613608704.325 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B 2021-02-18T00:38:24.325Z,1613608704.325 [lineCaptureDepth:Lap:C] Running Loop=1 2021-02-18T00:38:24.716Z,1613608704.716 [lineCaptureDepth:Lap:C] Stopped 2021-02-18T00:38:24.716Z,1613608704.716 [lineCaptureDepth:Lap:D] Running Loop=1 2021-02-18T00:38:25.124Z,1613608705.124 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 2021-02-18T00:38:25.124Z,1613608705.124 [lineCaptureDepth:Lap:D] Stopped 2021-02-18T00:38:25.124Z,1613608705.124 [lineCaptureDepth:Lap:Docked] Running Loop=1 2021-02-18T00:38:25.125Z,1613608705.125 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked 2021-02-18T00:38:25.125Z,1613608705.125 [lineCaptureDepth:Lap:Docked:A] Running Loop=1 2021-02-18T00:38:25.503Z,1613608705.503 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 0.010000 min 2021-02-18T00:38:25.503Z,1613608705.503 [lineCaptureDepth:Lap:Docked:A] Stopped 2021-02-18T00:38:25.503Z,1613608705.503 [lineCaptureDepth:Lap:Docked:B.Docked] Running Loop=1 2021-02-18T00:38:25.503Z,1613608705.503 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initialize. 2021-02-18T00:38:25.503Z,1613608705.503 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values. 2021-02-18T00:38:25.504Z,1613608705.504 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Maintaining depth of 6.000000 m. 2021-02-18T00:38:25.504Z,1613608705.504 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Maintaining pitch angle of 20.000000 degree. 2021-02-18T00:38:25.505Z,1613608705.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:38:26.292Z,1613608706.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:26.397Z,1613608706.397 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Timed out from 2021-02-18T00:38:25.5Z 2021-02-18T00:38:26.397Z,1613608706.397 [lineCaptureDepth:Lap:Docked:B.Docked] Stopped 2021-02-18T00:38:26.397Z,1613608706.397 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1 2021-02-18T00:38:26.398Z,1613608706.398 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach 2021-02-18T00:38:26.398Z,1613608706.398 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1 2021-02-18T00:38:26.704Z,1613608706.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:26.773Z,1613608706.773 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 4.679999 m . 2021-02-18T00:38:26.774Z,1613608706.774 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped 2021-02-18T00:38:26.774Z,1613608706.774 [lineCaptureDepth:Lap:Docked:Detach:B.Undock] Running Loop=1 2021-02-18T00:38:26.774Z,1613608706.774 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initialize. 2021-02-18T00:38:26.774Z,1613608706.774 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2021-02-18T00:38:27.140Z,1613608707.140 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T00:38:27.527Z,1613608707.527 [Micromodem](INFO): Nmea in: $SNTTA,0.004911,,,,003826.35*44 2021-02-18T00:38:27.529Z,1613608707.529 [PowerOnly](INFO): Powering up loadControl 2021-02-18T00:38:27.607Z,1613608707.607 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T00:38:27.986Z,1613608707.986 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T00:38:28.340Z,1613608708.340 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T00:38:28.340Z,1613608708.340 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detaching from dock. 2021-02-18T00:38:28.784Z,1613608708.784 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage. 2021-02-18T00:38:29.998Z,1613608709.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:38:30.736Z,1613608710.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:31.144Z,1613608711.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:31.980Z,1613608711.980 [Micromodem](INFO): Nmea in: $SNTTA,0.003694,,,,003830.79*4E 2021-02-18T00:38:34.387Z,1613608714.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:38:35.182Z,1613608715.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:35.608Z,1613608715.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:36.412Z,1613608716.412 [Micromodem](INFO): Nmea in: $SNTTA,0.004040,,,,003835.24*4B 2021-02-18T00:38:38.842Z,1613608718.842 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Thruster off. 2021-02-18T00:38:38.843Z,1613608718.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:38:39.624Z,1613608719.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:40.032Z,1613608720.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:40.859Z,1613608720.859 [Micromodem](INFO): Nmea in: $SNTTA,0.004695,,0.016775,,003839.68*5D 2021-02-18T00:38:42.966Z,1613608722.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:38:43.664Z,1613608723.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:44.079Z,1613608724.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:44.992Z,1613608724.992 [Micromodem](INFO): Nmea in: $SNTTA,0.006249,,,,003843.72*40 2021-02-18T00:38:47.336Z,1613608727.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:38:48.140Z,1613608728.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:48.541Z,1613608728.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:49.364Z,1613608729.364 [Micromodem](INFO): Nmea in: $SNTTA,0.005830,,,,003848.19*41 2021-02-18T00:38:51.799Z,1613608731.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:38:52.600Z,1613608732.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:52.991Z,1613608732.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:54.209Z,1613608734.209 [Micromodem](INFO): Nmea in: $SNTTA,0.006312,,,,003852.70*4D 2021-02-18T00:38:56.236Z,1613608736.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:38:57.026Z,1613608737.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:38:57.429Z,1613608737.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:38:58.256Z,1613608738.256 [Micromodem](INFO): Nmea in: $SNTTA,0.007701,,,,003857.08*40 2021-02-18T00:38:58.279Z,1613608738.279 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detected possible detachment. Starting timer. 2021-02-18T00:39:00.677Z,1613608740.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:01.464Z,1613608741.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:01.871Z,1613608741.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:39:02.697Z,1613608742.697 [Micromodem](INFO): Nmea in: $SNTTA,0.007403,,,,003901.52*4C 2021-02-18T00:39:05.137Z,1613608745.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:05.914Z,1613608745.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:06.322Z,1613608746.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:39:07.140Z,1613608747.140 [Micromodem](INFO): Nmea in: $SNTTA,0.007928,,,,003905.97*45 2021-02-18T00:39:09.574Z,1613608749.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:10.352Z,1613608750.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:10.773Z,1613608750.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:39:11.607Z,1613608751.607 [Micromodem](INFO): Nmea in: $SNTTA,0.008371,,,,003910.41*43 2021-02-18T00:39:14.026Z,1613608754.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:14.802Z,1613608754.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:15.213Z,1613608755.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:39:16.028Z,1613608756.028 [Micromodem](INFO): Nmea in: $SNTTA,0.008732,,,,003914.86*4F 2021-02-18T00:39:18.443Z,1613608758.443 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detached at range: 12.84 m. Transitioning DDM to standby. 2021-02-18T00:39:18.444Z,1613608758.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:18.881Z,1613608758.881 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T00:39:18.881Z,1613608758.881 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM at standby. 2021-02-18T00:39:19.243Z,1613608759.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:19.334Z,1613608759.334 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](IMPORTANT): Undocking sequence complete. 2021-02-18T00:39:19.334Z,1613608759.334 [lineCaptureDepth:Lap:Docked:Detach:B.Undock] Stopped 2021-02-18T00:39:19.343Z,1613608759.343 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach 2021-02-18T00:39:19.344Z,1613608759.344 [lineCaptureDepth:Lap:Docked:Detach] Stopped 2021-02-18T00:39:19.344Z,1613608759.344 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach 2021-02-18T00:39:19.344Z,1613608759.344 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked 2021-02-18T00:39:19.344Z,1613608759.344 [lineCaptureDepth:Lap:Docked] Stopped 2021-02-18T00:39:19.344Z,1613608759.344 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked 2021-02-18T00:39:19.345Z,1613608759.345 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap 2021-02-18T00:39:19.345Z,1613608759.345 [lineCaptureDepth:Lap] Stopped 2021-02-18T00:39:19.345Z,1613608759.345 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap 2021-02-18T00:39:19.345Z,1613608759.345 [lineCaptureDepth:Lap](INFO): Running loop #2 2021-02-18T00:39:19.345Z,1613608759.345 [lineCaptureDepth:Lap] Running Loop=2 2021-02-18T00:39:19.345Z,1613608759.345 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap 2021-02-18T00:39:19.346Z,1613608759.346 [lineCaptureDepth:Lap:A] Running Loop=1 2021-02-18T00:39:19.665Z,1613608759.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:39:19.720Z,1613608759.720 [lineCaptureDepth:Lap:A] Stopped 2021-02-18T00:39:19.720Z,1613608759.720 [lineCaptureDepth:Lap:B] Running Loop=1 2021-02-18T00:39:19.720Z,1613608759.720 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B 2021-02-18T00:39:20.098Z,1613608760.098 [lineCaptureDepth:LineCapture] Running Loop=1 2021-02-18T00:39:20.099Z,1613608760.099 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture 2021-02-18T00:39:20.099Z,1613608760.099 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1 2021-02-18T00:39:20.099Z,1613608760.099 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-02-18T00:39:20.099Z,1613608760.099 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-02-18T00:39:20.099Z,1613608760.099 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2021-02-18T00:39:20.099Z,1613608760.099 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-02-18T00:39:20.099Z,1613608760.099 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2021-02-18T00:39:20.100Z,1613608760.100 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-02-18T00:39:20.100Z,1613608760.100 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2021-02-18T00:39:20.100Z,1613608760.100 [lineCaptureDepth:LineCapture:G] Running Loop=1 2021-02-18T00:39:20.100Z,1613608760.100 [lineCaptureDepth:LineCapture:H] Running Loop=1 2021-02-18T00:39:20.100Z,1613608760.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-18T00:39:20.100Z,1613608760.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T00:39:20.100Z,1613608760.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-18T00:39:20.100Z,1613608760.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-18T00:39:20.100Z,1613608760.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-18T00:39:20.100Z,1613608760.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-18T00:39:20.100Z,1613608760.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-18T00:39:20.100Z,1613608760.100 [lineCaptureDepth:LineCapture:A] Running Loop=1 2021-02-18T00:39:20.101Z,1613608760.101 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-18T00:39:20.101Z,1613608760.101 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T00:39:20.101Z,1613608760.101 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-18T00:39:20.101Z,1613608760.101 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-18T00:39:20.101Z,1613608760.101 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-18T00:39:20.101Z,1613608760.101 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-18T00:39:20.101Z,1613608760.101 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-18T00:39:20.107Z,1613608760.107 [lineCaptureDepth:LineCapture:A] Stopped 2021-02-18T00:39:20.107Z,1613608760.107 [lineCaptureDepth:LineCapture:B] Running Loop=1 2021-02-18T00:39:20.472Z,1613608760.472 [Micromodem](INFO): Nmea in: $SNTTA,0.009084,0.011097,,,003919.30*54 2021-02-18T00:39:20.510Z,1613608760.510 [lineCaptureDepth:LineCapture:B] Stopped 2021-02-18T00:39:20.510Z,1613608760.510 [lineCaptureDepth:LineCapture:D] Running Loop=1 2021-02-18T00:39:20.893Z,1613608760.893 [lineCaptureDepth:LineCapture:D] Stopped 2021-02-18T00:39:20.893Z,1613608760.893 [lineCaptureDepth:LineCapture:E] Running Loop=1 2021-02-18T00:39:21.301Z,1613608761.301 [lineCaptureDepth:LineCapture:E] Stopped 2021-02-18T00:39:21.301Z,1613608761.301 [lineCaptureDepth:LineCapture:F] Running Loop=1 2021-02-18T00:39:21.718Z,1613608761.718 [lineCaptureDepth:LineCapture:F] Stopped 2021-02-18T00:39:21.718Z,1613608761.718 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1 2021-02-18T00:39:21.718Z,1613608761.718 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence 2021-02-18T00:39:21.718Z,1613608761.718 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2021-02-18T00:39:21.719Z,1613608761.719 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-02-18T00:39:21.719Z,1613608761.719 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2021-02-18T00:39:21.719Z,1613608761.719 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-02-18T00:39:21.720Z,1613608761.720 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2021-02-18T00:39:21.720Z,1613608761.720 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2021-02-18T00:39:21.720Z,1613608761.720 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2021-02-18T00:39:21.720Z,1613608761.720 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-02-18T00:39:21.721Z,1613608761.721 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-18T00:39:21.721Z,1613608761.721 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-02-18T00:39:21.721Z,1613608761.721 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-18T00:39:21.721Z,1613608761.721 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-02-18T00:39:21.721Z,1613608761.721 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-02-18T00:39:21.722Z,1613608761.722 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-02-18T00:39:21.722Z,1613608761.722 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-02-18T00:39:21.722Z,1613608761.722 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-02-18T00:39:21.722Z,1613608761.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-02-18T00:39:21.722Z,1613608761.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T00:39:21.722Z,1613608761.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-02-18T00:39:21.723Z,1613608761.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T00:39:21.723Z,1613608761.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-02-18T00:39:21.723Z,1613608761.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-02-18T00:39:21.723Z,1613608761.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-02-18T00:39:21.723Z,1613608761.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-02-18T00:39:21.724Z,1613608761.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-02-18T00:39:22.116Z,1613608762.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-02-18T00:39:22.116Z,1613608762.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T00:39:22.116Z,1613608762.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-02-18T00:39:22.117Z,1613608762.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T00:39:22.117Z,1613608762.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-02-18T00:39:22.117Z,1613608762.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-02-18T00:39:22.117Z,1613608762.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-02-18T00:39:22.117Z,1613608762.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-02-18T00:39:22.117Z,1613608762.117 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-02-18T00:39:22.117Z,1613608762.117 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-18T00:39:22.117Z,1613608762.117 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-02-18T00:39:22.117Z,1613608762.117 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-18T00:39:22.117Z,1613608762.117 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-02-18T00:39:22.117Z,1613608762.117 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-02-18T00:39:22.117Z,1613608762.117 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-02-18T00:39:22.117Z,1613608762.117 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-02-18T00:39:22.118Z,1613608762.118 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T00:39:22.118Z,1613608762.118 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock. 2021-02-18T00:39:22.509Z,1613608762.509 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage. 2021-02-18T00:39:22.974Z,1613608762.974 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off. 2021-02-18T00:39:22.976Z,1613608762.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:23.316Z,1613608763.316 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2021-02-18T00:39:23.696Z,1613608763.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:24.096Z,1613608764.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:39:24.928Z,1613608764.928 [Micromodem](INFO): Nmea in: $SNTTA,0.009404,,,,003923.75*40 2021-02-18T00:39:27.351Z,1613608767.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:28.134Z,1613608768.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:28.534Z,1613608768.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:39:29.360Z,1613608769.360 [Micromodem](INFO): Nmea in: $SNTTA,0.009721,,,,003928.19*45 2021-02-18T00:39:31.792Z,1613608771.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:32.609Z,1613608772.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:32.995Z,1613608772.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:39:33.818Z,1613608773.818 [Micromodem](INFO): Nmea in: $SNTTA,0.010031,,,0.013313,003932.66*55 2021-02-18T00:39:36.241Z,1613608776.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:37.022Z,1613608777.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:37.425Z,1613608777.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:39:38.248Z,1613608778.248 [Micromodem](INFO): Nmea in: $SNTTA,0.010265,,,0.033503,003937.08*5E 2021-02-18T00:39:38.273Z,1613608778.273 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T00:39:40.688Z,1613608780.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:41.460Z,1613608781.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:41.888Z,1613608781.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:39:42.688Z,1613608782.688 [Micromodem](INFO): Nmea in: $SNTTA,0.010491,,,,003941.51*46 2021-02-18T00:39:43.508Z,1613608783.508 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 15.54 m. Transitioning DDM to standby. 2021-02-18T00:39:43.966Z,1613608783.966 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T00:39:43.966Z,1613608783.966 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby. 2021-02-18T00:39:44.328Z,1613608784.328 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2021-02-18T00:39:44.328Z,1613608784.328 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2021-02-18T00:39:44.329Z,1613608784.329 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2021-02-18T00:39:44.737Z,1613608784.737 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2021-02-18T00:39:44.737Z,1613608784.737 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2021-02-18T00:39:44.737Z,1613608784.737 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2021-02-18T00:39:45.146Z,1613608785.146 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2021-02-18T00:39:45.147Z,1613608785.147 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-02-18T00:39:45.147Z,1613608785.147 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2021-02-18T00:39:45.151Z,1613608785.151 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-02-18T00:39:45.151Z,1613608785.151 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-02-18T00:39:45.153Z,1613608785.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:45.532Z,1613608785.532 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-02-18T00:39:45.532Z,1613608785.532 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-18T00:39:45.532Z,1613608785.532 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-02-18T00:39:45.532Z,1613608785.532 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-18T00:39:45.532Z,1613608785.532 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-02-18T00:39:45.532Z,1613608785.532 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-02-18T00:39:45.532Z,1613608785.532 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-02-18T00:39:45.533Z,1613608785.533 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-02-18T00:39:45.533Z,1613608785.533 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-02-18T00:39:45.534Z,1613608785.534 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2021-02-18T00:39:45.534Z,1613608785.534 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-02-18T00:39:45.534Z,1613608785.534 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2021-02-18T00:39:45.534Z,1613608785.534 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 15.540001 m 2021-02-18T00:39:45.534Z,1613608785.534 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2021-02-18T00:39:45.535Z,1613608785.535 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2021-02-18T00:39:45.536Z,1613608785.536 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg ) 2021-02-18T00:39:45.536Z,1613608785.536 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-02-18T00:39:45.536Z,1613608785.536 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2021-02-18T00:39:45.536Z,1613608785.536 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2021-02-18T00:39:45.908Z,1613608785.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:46.017Z,1613608786.017 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2021-02-18T00:39:46.017Z,1613608786.017 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-02-18T00:39:46.017Z,1613608786.017 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2021-02-18T00:39:46.017Z,1613608786.017 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-02-18T00:39:46.017Z,1613608786.017 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-18T00:39:46.017Z,1613608786.017 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T00:39:46.017Z,1613608786.017 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-18T00:39:46.018Z,1613608786.018 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-18T00:39:46.018Z,1613608786.018 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-18T00:39:46.018Z,1613608786.018 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-18T00:39:46.018Z,1613608786.018 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-18T00:39:46.331Z,1613608786.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:39:46.384Z,1613608786.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-02-18T00:39:46.384Z,1613608786.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T00:39:46.385Z,1613608786.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-02-18T00:39:46.385Z,1613608786.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T00:39:46.385Z,1613608786.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-02-18T00:39:46.385Z,1613608786.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-02-18T00:39:46.385Z,1613608786.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-02-18T00:39:46.385Z,1613608786.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-02-18T00:39:46.385Z,1613608786.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-02-18T00:39:46.386Z,1613608786.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2021-02-18T00:39:46.386Z,1613608786.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-02-18T00:39:46.386Z,1613608786.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1 2021-02-18T00:39:46.386Z,1613608786.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize. 2021-02-18T00:39:46.387Z,1613608786.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values. 2021-02-18T00:39:46.387Z,1613608786.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-02-18T00:39:46.388Z,1613608786.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec. 2021-02-18T00:39:46.388Z,1613608786.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T00:39:46.388Z,1613608786.388 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-02-18T00:39:46.388Z,1613608786.388 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-18T00:39:46.388Z,1613608786.388 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-02-18T00:39:46.388Z,1613608786.388 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-18T00:39:46.389Z,1613608786.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-02-18T00:39:46.389Z,1613608786.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-02-18T00:39:46.389Z,1613608786.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-02-18T00:39:46.389Z,1613608786.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2021-02-18T00:39:46.389Z,1613608786.389 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2021-02-18T00:39:46.764Z,1613608786.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.540001 m, bearing: 105.618617 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T00:39:46.764Z,1613608786.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 15.54 m. 2021-02-18T00:39:46.764Z,1613608786.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 15.54 m. 2021-02-18T00:39:46.764Z,1613608786.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T00:39:46.765Z,1613608786.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 105.618617deg and heading rate command to 0 deg/s. 2021-02-18T00:39:47.140Z,1613608787.140 [Micromodem](INFO): Nmea in: $SNTTA,0.010689,,,,003945.96*42 2021-02-18T00:39:47.211Z,1613608787.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.779997 m, bearing: 106.090767 deg, deltaT: 4.464528 s, approachRate: 0.053756 m/s, LOS rate: 0.105756 deg/s, posRepo size: 2 2021-02-18T00:39:47.214Z,1613608787.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.779997 m, bearing: 106.090767 deg, approachRate: 0.053756 m/s, LOS rate: 0.105756 deg/s, cmd update: 0.423024 deg/s, cmd heading: 105.618617 deg, new cmd heading: 105.618617 deg. 2021-02-18T00:39:48.016Z,1613608788.016 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T00:39:49.601Z,1613608789.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:50.365Z,1613608790.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:50.754Z,1613608790.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:39:51.616Z,1613608791.616 [Micromodem](INFO): Nmea in: $SNTTA,0.010848,,,,003950.42*4C 2021-02-18T00:39:51.641Z,1613608791.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.019999 m, bearing: 108.800638 deg, deltaT: 4.426236 s, approachRate: 0.054223 m/s, LOS rate: 0.612229 deg/s, posRepo size: 3 2021-02-18T00:39:51.643Z,1613608791.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.019999 m, bearing: 108.800638 deg, approachRate: 0.054223 m/s, LOS rate: 0.612229 deg/s, cmd update: 2.448917 deg/s, cmd heading: 107.488833 deg, new cmd heading: 107.683641 deg. 2021-02-18T00:39:54.015Z,1613608794.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:54.792Z,1613608794.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:55.198Z,1613608795.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:39:56.020Z,1613608796.020 [Micromodem](INFO): Nmea in: $SNTTA,0.010321,,,,003954.85*47 2021-02-18T00:39:56.067Z,1613608796.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.240002 m, bearing: 111.138072 deg, deltaT: 4.464176 s, approachRate: -0.174724 m/s, LOS rate: 0.523598 deg/s, posRepo size: 4 2021-02-18T00:39:56.069Z,1613608796.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.240002 m, bearing: 111.138072 deg, approachRate: -0.174724 m/s, LOS rate: 0.523598 deg/s, cmd update: 2.094393 deg/s, cmd heading: 118.453860 deg, new cmd heading: 119.455381 deg. 2021-02-18T00:39:58.063Z,1613608798.063 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2021-02-18T00:39:58.063Z,1613608798.063 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-02-18T00:39:58.063Z,1613608798.063 [RDI_Pathfinder](ERROR): Communications Fault 2021-02-18T00:39:58.215Z,1613608798.215 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-02-18T00:39:58.511Z,1613608798.511 [RDI_Pathfinder](INFO): Powering down 2021-02-18T00:39:58.533Z,1613608798.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:39:58.847Z,1613608798.847 [PowerOnly](INFO): Powering down loadControl 2021-02-18T00:39:59.236Z,1613608799.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:39:59.536Z,1613608799.536 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-02-18T00:39:59.536Z,1613608799.536 [RDI_Pathfinder] No Fault, FailCount= 1 2021-02-18T00:39:59.648Z,1613608799.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:00.464Z,1613608800.464 [Micromodem](INFO): Nmea in: $SNTTA,0.009273,,,,003959.29*42 2021-02-18T00:40:00.496Z,1613608800.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.739999 m, bearing: 113.817384 deg, deltaT: 4.414688 s, approachRate: -0.339776 m/s, LOS rate: 0.606909 deg/s, posRepo size: 4 2021-02-18T00:40:00.497Z,1613608800.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.739999 m, bearing: 113.817384 deg, approachRate: -0.339776 m/s, LOS rate: 0.606909 deg/s, cmd update: 2.427635 deg/s, cmd heading: 127.705566 deg, new cmd heading: 128.585555 deg. 2021-02-18T00:40:02.922Z,1613608802.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:03.682Z,1613608803.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:40:04.086Z,1613608804.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:04.912Z,1613608804.912 [Micromodem](INFO): Nmea in: $SNTTA,0.007893,,,,004003.73*46 2021-02-18T00:40:04.955Z,1613608804.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.579999 m, bearing: 125.308276 deg, deltaT: 4.425597 s, approachRate: -0.488070 m/s, LOS rate: 2.596461 deg/s, posRepo size: 4 2021-02-18T00:40:04.957Z,1613608804.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.579999 m, bearing: 125.308276 deg, approachRate: -0.488070 m/s, LOS rate: 2.596461 deg/s, cmd update: 10.385846 deg/s, cmd heading: 138.450484 deg, new cmd heading: 139.503412 deg. 2021-02-18T00:40:07.361Z,1613608807.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:08.125Z,1613608808.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:40:08.532Z,1613608808.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:09.352Z,1613608809.352 [Micromodem](INFO): Nmea in: $SNTTA,0.006556,,,,004008.18*45 2021-02-18T00:40:09.384Z,1613608809.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.599998 m, bearing: 131.020609 deg, deltaT: 4.472606 s, approachRate: -0.442695 m/s, LOS rate: 1.277182 deg/s, posRepo size: 4 2021-02-18T00:40:09.386Z,1613608809.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.599998 m, bearing: 131.020609 deg, approachRate: -0.442695 m/s, LOS rate: 1.277182 deg/s, cmd update: 5.108729 deg/s, cmd heading: 184.900960 deg, new cmd heading: 189.159229 deg. 2021-02-18T00:40:11.792Z,1613608811.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:12.593Z,1613608812.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:40:12.987Z,1613608812.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:13.808Z,1613608813.808 [Micromodem](INFO): Nmea in: $SNTTA,0.006451,,,,004012.65*42 2021-02-18T00:40:13.843Z,1613608813.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.740000 m, bearing: 140.315131 deg, deltaT: 4.430766 s, approachRate: -0.419791 m/s, LOS rate: 2.097723 deg/s, posRepo size: 4 2021-02-18T00:40:13.845Z,1613608813.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.740000 m, bearing: 140.315131 deg, approachRate: -0.419791 m/s, LOS rate: 2.097723 deg/s, cmd update: 8.390893 deg/s, cmd heading: 207.537126 deg, new cmd heading: 209.776757 deg. 2021-02-18T00:40:16.222Z,1613608816.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:17.018Z,1613608817.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:40:17.423Z,1613608817.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:18.252Z,1613608818.252 [Micromodem](INFO): Nmea in: $SNTTA,0.004508,,,,004017.07*4C 2021-02-18T00:40:18.279Z,1613608818.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.539999 m, bearing: 163.813167 deg, deltaT: 4.454141 s, approachRate: -0.269412 m/s, LOS rate: 5.275548 deg/s, posRepo size: 4 2021-02-18T00:40:18.305Z,1613608818.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.539999 m, bearing: 163.813167 deg, approachRate: -0.269412 m/s, LOS rate: 5.275548 deg/s, cmd update: 12.000000 deg/s, cmd heading: 244.911004 deg, new cmd heading: 248.433073 deg. 2021-02-18T00:40:20.716Z,1613608820.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:21.473Z,1613608821.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:40:21.867Z,1613608821.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:22.712Z,1613608822.712 [Micromodem](INFO): Nmea in: $SNTTA,0.003923,,,,004021.53*4A 2021-02-18T00:40:22.752Z,1613608822.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.940001 m, bearing: 157.099801 deg, deltaT: 4.425356 s, approachRate: -0.135582 m/s, LOS rate: -1.517023 deg/s, posRepo size: 4 2021-02-18T00:40:22.753Z,1613608822.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.940001 m, bearing: 157.099801 deg, approachRate: -0.135582 m/s, LOS rate: -1.517023 deg/s, cmd update: -6.068091 deg/s, cmd heading: 298.011221 deg, new cmd heading: 303.620489 deg. 2021-02-18T00:40:25.112Z,1613608825.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:25.900Z,1613608825.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:40:26.311Z,1613608826.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:27.131Z,1613608827.131 [Micromodem](INFO): Nmea in: $SNTTA,0.004471,,,,004025.95*49 2021-02-18T00:40:27.150Z,1613608827.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.660000 m, bearing: 175.630132 deg, deltaT: 4.459067 s, approachRate: 0.161469 m/s, LOS rate: 4.155652 deg/s, posRepo size: 4 2021-02-18T00:40:27.152Z,1613608827.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.660000 m, bearing: 175.630132 deg, approachRate: 0.161469 m/s, LOS rate: 4.155652 deg/s, cmd update: 12.000000 deg/s, cmd heading: 270.951044 deg, new cmd heading: 268.483861 deg. 2021-02-18T00:40:29.618Z,1613608829.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:30.356Z,1613608830.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:40:30.755Z,1613608830.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:31.607Z,1613608831.607 [Micromodem](INFO): Nmea in: $SNTTA,0.005657,,0.021701,,004030.41*58 2021-02-18T00:40:31.640Z,1613608831.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.520000 m, bearing: 181.644523 deg, deltaT: 4.428215 s, approachRate: 0.420034 m/s, LOS rate: 1.358198 deg/s, posRepo size: 4 2021-02-18T00:40:31.642Z,1613608831.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.520000 m, bearing: 181.644523 deg, approachRate: 0.420034 m/s, LOS rate: 1.358198 deg/s, cmd update: 5.432791 deg/s, cmd heading: 324.085594 deg, new cmd heading: 329.712358 deg. 2021-02-18T00:40:34.001Z,1613608834.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:34.793Z,1613608834.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:40:35.201Z,1613608835.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:36.031Z,1613608836.031 [Micromodem](INFO): Nmea in: $SNTTA,0.006973,,,,004034.85*45 2021-02-18T00:40:36.050Z,1613608836.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.439999 m, bearing: 212.268141 deg, deltaT: 4.478349 s, approachRate: 0.428729 m/s, LOS rate: 6.838149 deg/s, posRepo size: 4 2021-02-18T00:40:36.052Z,1613608836.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.439999 m, bearing: 212.268141 deg, approachRate: 0.428729 m/s, LOS rate: 6.838149 deg/s, cmd update: 12.000000 deg/s, cmd heading: 348.416424 deg, new cmd heading: 350.590442 deg. 2021-02-18T00:40:38.446Z,1613608838.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:39.237Z,1613608839.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:40:39.650Z,1613608839.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:40.465Z,1613608840.465 [Micromodem](INFO): Nmea in: $SNTTA,0.008403,,,,004039.29*4A 2021-02-18T00:40:40.532Z,1613608840.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.599998 m, bearing: 230.202975 deg, deltaT: 4.434400 s, approachRate: 0.487101 m/s, LOS rate: 4.044478 deg/s, posRepo size: 4 2021-02-18T00:40:40.534Z,1613608840.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.599998 m, bearing: 230.202975 deg, approachRate: 0.487101 m/s, LOS rate: 4.044478 deg/s, cmd update: 12.000000 deg/s, cmd heading: 41.532781 deg, new cmd heading: 47.008189 deg. 2021-02-18T00:40:42.917Z,1613608842.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:43.682Z,1613608843.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:40:44.083Z,1613608844.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:44.908Z,1613608844.908 [Micromodem](INFO): Nmea in: $SNTTA,0.009764,,,,004043.74*4C 2021-02-18T00:40:44.938Z,1613608844.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.639997 m, bearing: 236.033989 deg, deltaT: 4.466747 s, approachRate: 0.456708 m/s, LOS rate: 1.305427 deg/s, posRepo size: 4 2021-02-18T00:40:44.939Z,1613608844.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.64 m. Rolling out. 2021-02-18T00:40:44.959Z,1613608844.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T00:40:47.327Z,1613608847.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:48.125Z,1613608848.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:40:48.546Z,1613608848.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:49.352Z,1613608849.352 [Micromodem](INFO): Nmea in: $SNTTA,0.011561,,,,004048.18*43 2021-02-18T00:40:49.388Z,1613608849.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.339998 m, bearing: 232.012046 deg, deltaT: 4.391002 s, approachRate: 0.614894 m/s, LOS rate: -0.915951 deg/s, posRepo size: 4 2021-02-18T00:40:51.798Z,1613608851.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:52.582Z,1613608852.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:40:52.997Z,1613608852.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:53.790Z,1613608853.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004052.64*5F 2021-02-18T00:40:54.679Z,1613608854.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:56.205Z,1613608856.205 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:40:57.437Z,1613608857.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:40:58.226Z,1613608858.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:40:58.637Z,1613608858.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:40:59.452Z,1613608859.452 [Micromodem](INFO): Nmea in: $SNTTA,0.016044,,,,004058.28*44 2021-02-18T00:40:59.533Z,1613608859.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.180000 m, bearing: 145.605112 deg, deltaT: 10.115514 s, approachRate: 0.676189 m/s, LOS rate: -8.542021 deg/s, posRepo size: 4 2021-02-18T00:41:01.897Z,1613608861.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:41:02.670Z,1613608862.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:41:03.087Z,1613608863.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:41:03.903Z,1613608863.903 [Micromodem](INFO): Nmea in: $SNTTA,0.017949,,,,004102.72*40 2021-02-18T00:41:03.926Z,1613608863.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.720001 m, bearing: 167.487262 deg, deltaT: 4.508786 s, approachRate: 0.785134 m/s, LOS rate: 4.853224 deg/s, posRepo size: 4 2021-02-18T00:41:06.320Z,1613608866.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:41:07.108Z,1613608867.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:41:07.530Z,1613608867.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:41:08.344Z,1613608868.344 [Micromodem](INFO): Nmea in: $SNTTA,0.019447,,,0.021941,004107.16*5B 2021-02-18T00:41:08.369Z,1613608868.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.280003 m, bearing: 147.509437 deg, deltaT: 4.365723 s, approachRate: 0.357329 m/s, LOS rate: -4.576063 deg/s, posRepo size: 4 2021-02-18T00:41:10.838Z,1613608870.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:41:11.561Z,1613608871.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:41:11.958Z,1613608871.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:41:12.784Z,1613608872.784 [Micromodem](INFO): Nmea in: $SNTTA,0.020585,,,,004111.61*48 2021-02-18T00:41:12.840Z,1613608872.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.900002 m, bearing: 91.801082 deg, deltaT: 4.441547 s, approachRate: 0.364738 m/s, LOS rate: -12.542556 deg/s, posRepo size: 4 2021-02-18T00:41:15.226Z,1613608875.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:41:15.996Z,1613608875.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:41:16.409Z,1613608876.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:41:17.228Z,1613608877.228 [Micromodem](INFO): Nmea in: $SNTTA,0.021452,,,,004116.05*47 2021-02-18T00:41:17.262Z,1613608877.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.760002 m, bearing: 68.088038 deg, deltaT: 4.478014 s, approachRate: 0.415363 m/s, LOS rate: -5.295438 deg/s, posRepo size: 4 2021-02-18T00:41:19.671Z,1613608879.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:41:20.446Z,1613608880.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:41:20.847Z,1613608880.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:41:21.679Z,1613608881.679 [Micromodem](INFO): Nmea in: $SNTTA,0.022118,,0.038493,,004120.50*51 2021-02-18T00:41:21.713Z,1613608881.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.239998 m, bearing: 56.684945 deg, deltaT: 4.428185 s, approachRate: 0.108396 m/s, LOS rate: -2.575117 deg/s, posRepo size: 4 2021-02-18T00:41:24.094Z,1613608884.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:41:24.890Z,1613608884.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:41:25.293Z,1613608885.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:41:26.124Z,1613608886.124 [Micromodem](INFO): Nmea in: $SNTTA,0.023243,,,,004124.94*4A 2021-02-18T00:41:26.151Z,1613608886.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.920002 m, bearing: 66.125459 deg, deltaT: 4.488336 s, approachRate: 0.374304 m/s, LOS rate: 2.103344 deg/s, posRepo size: 4 2021-02-18T00:41:28.608Z,1613608888.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:41:29.333Z,1613608889.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:41:29.742Z,1613608889.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:41:30.582Z,1613608890.582 [Micromodem](INFO): Nmea in: $SNTTA,0.023870,,0.038469,,004129.39*54 2021-02-18T00:41:30.639Z,1613608890.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.999996 m, bearing: 69.492032 deg, deltaT: 4.411174 s, approachRate: 0.244831 m/s, LOS rate: 0.763192 deg/s, posRepo size: 4 2021-02-18T00:41:32.980Z,1613608892.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:41:33.772Z,1613608893.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:41:34.178Z,1613608894.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:41:35.019Z,1613608895.019 [Micromodem](INFO): Nmea in: $SNTTA,0.025002,,,,004133.82*4A 2021-02-18T00:41:35.038Z,1613608895.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.980000 m, bearing: 67.605076 deg, deltaT: 4.462178 s, approachRate: 0.443730 m/s, LOS rate: -0.422878 deg/s, posRepo size: 4 2021-02-18T00:41:37.469Z,1613608897.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:41:38.222Z,1613608898.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:41:38.625Z,1613608898.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:41:39.451Z,1613608899.451 [Micromodem](INFO): Nmea in: $SNTTA,0.026212,,,,004138.28*41 2021-02-18T00:41:39.473Z,1613608899.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.900002 m, bearing: 99.387578 deg, deltaT: 4.413607 s, approachRate: 0.435019 m/s, LOS rate: 7.201027 deg/s, posRepo size: 4 2021-02-18T00:41:41.888Z,1613608901.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:41:42.660Z,1613608902.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:41:43.076Z,1613608903.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:41:43.888Z,1613608903.888 [Micromodem](INFO): Nmea in: $SNTTA,0.027784,,0.070878,,004142.71*55 2021-02-18T00:41:43.936Z,1613608903.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.759998 m, bearing: 79.012769 deg, deltaT: 4.492197 s, approachRate: 0.414051 m/s, LOS rate: -4.535600 deg/s, posRepo size: 4 2021-02-18T00:41:46.319Z,1613608906.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:41:47.104Z,1613608907.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:41:47.530Z,1613608907.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:41:48.344Z,1613608908.344 [Micromodem](INFO): Nmea in: $SNTTA,0.029325,0.079675,,,004147.16*5A 2021-02-18T00:41:48.366Z,1613608908.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.100002 m, bearing: 82.056752 deg, deltaT: 4.422069 s, approachRate: 0.529165 m/s, LOS rate: 0.688362 deg/s, posRepo size: 4 2021-02-18T00:41:50.802Z,1613608910.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:41:51.564Z,1613608911.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:41:51.954Z,1613608911.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:41:52.784Z,1613608912.784 [Micromodem](INFO): Nmea in: $SNTTA,0.030947,,,,004151.62*4C 2021-02-18T00:41:52.838Z,1613608912.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.860001 m, bearing: 98.821171 deg, deltaT: 4.400318 s, approachRate: 0.627227 m/s, LOS rate: 3.809820 deg/s, posRepo size: 4 2021-02-18T00:41:55.251Z,1613608915.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:41:55.993Z,1613608915.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:41:56.404Z,1613608916.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:41:57.220Z,1613608917.220 [Micromodem](INFO): Nmea in: $SNTTA,0.032812,,,,004156.05*49 2021-02-18T00:41:57.257Z,1613608917.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.320000 m, bearing: 93.475845 deg, deltaT: 4.479522 s, approachRate: 0.549166 m/s, LOS rate: -1.193281 deg/s, posRepo size: 4 2021-02-18T00:41:59.667Z,1613608919.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:00.436Z,1613608920.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:00.859Z,1613608920.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:01.672Z,1613608921.672 [Micromodem](INFO): Nmea in: $SNTTA,0.034133,,,,004200.49*4D 2021-02-18T00:42:01.730Z,1613608921.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.360001 m, bearing: 94.557774 deg, deltaT: 4.414582 s, approachRate: 0.462105 m/s, LOS rate: 0.245081 deg/s, posRepo size: 4 2021-02-18T00:42:04.092Z,1613608924.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:04.948Z,1613608924.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:05.319Z,1613608925.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:06.154Z,1613608926.154 [Micromodem](INFO): Nmea in: $SNTTA,0.036127,,0.127707,,004205.00*58 2021-02-18T00:42:06.187Z,1613608926.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.419998 m, bearing: 106.916441 deg, deltaT: 4.503062 s, approachRate: 0.679537 m/s, LOS rate: 2.744503 deg/s, posRepo size: 4 2021-02-18T00:42:08.623Z,1613608928.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:09.352Z,1613608929.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:09.765Z,1613608929.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:10.608Z,1613608930.608 [Micromodem](INFO): Nmea in: $SNTTA,0.037930,,,,004209.40*45 2021-02-18T00:42:10.669Z,1613608930.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.180004 m, bearing: 110.265795 deg, deltaT: 4.423697 s, approachRate: 0.623914 m/s, LOS rate: 0.757139 deg/s, posRepo size: 4 2021-02-18T00:42:13.011Z,1613608933.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:13.798Z,1613608933.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:14.210Z,1613608934.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:15.024Z,1613608935.024 [Micromodem](INFO): Nmea in: $SNTTA,0.039990,,,,004213.85*43 2021-02-18T00:42:15.060Z,1613608935.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.179996 m, bearing: 45.711707 deg, deltaT: 4.463745 s, approachRate: 0.672080 m/s, LOS rate: -14.461867 deg/s, posRepo size: 4 2021-02-18T00:42:17.450Z,1613608937.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:18.258Z,1613608938.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:18.649Z,1613608938.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:19.478Z,1613608939.478 [Micromodem](INFO): Nmea in: $SNTTA,0.041926,,,,004218.31*45 2021-02-18T00:42:19.555Z,1613608939.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.119999 m, bearing: 50.005632 deg, deltaT: 4.419131 s, approachRate: 0.665290 m/s, LOS rate: 0.971667 deg/s, posRepo size: 4 2021-02-18T00:42:21.916Z,1613608941.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:22.689Z,1613608942.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:23.103Z,1613608943.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:23.919Z,1613608943.919 [Micromodem](INFO): Nmea in: $SNTTA,0.043670,,,,004222.74*43 2021-02-18T00:42:23.943Z,1613608943.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.820000 m, bearing: 53.936552 deg, deltaT: 4.524135 s, approachRate: 0.596799 m/s, LOS rate: 0.868878 deg/s, posRepo size: 4 2021-02-18T00:42:26.335Z,1613608946.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:27.145Z,1613608947.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:27.545Z,1613608947.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:28.368Z,1613608948.368 [Micromodem](INFO): Nmea in: $SNTTA,0.045558,,,,004227.20*48 2021-02-18T00:42:28.390Z,1613608948.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.639999 m, bearing: 52.610468 deg, deltaT: 4.353119 s, approachRate: 0.647811 m/s, LOS rate: -0.304629 deg/s, posRepo size: 4 2021-02-18T00:42:30.818Z,1613608950.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:31.614Z,1613608951.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:31.978Z,1613608951.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:32.814Z,1613608952.814 [Micromodem](INFO): Nmea in: $SNTTA,0.047666,,0.069947,,004231.67*5B 2021-02-18T00:42:32.882Z,1613608952.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.640007 m, bearing: 60.883480 deg, deltaT: 4.465165 s, approachRate: 0.671869 m/s, LOS rate: 1.852790 deg/s, posRepo size: 4 2021-02-18T00:42:35.244Z,1613608955.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:36.020Z,1613608956.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:36.434Z,1613608956.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:37.252Z,1613608957.252 [Micromodem](INFO): Nmea in: $SNTTA,0.049828,,,0.056802,004236.07*5C 2021-02-18T00:42:37.274Z,1613608957.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.879997 m, bearing: 70.174866 deg, deltaT: 4.472262 s, approachRate: 0.724463 m/s, LOS rate: 2.077559 deg/s, posRepo size: 4 2021-02-18T00:42:39.710Z,1613608959.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:40.464Z,1613608960.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:40.866Z,1613608960.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:41.692Z,1613608961.692 [Micromodem](INFO): Nmea in: $SNTTA,0.051773,,,,004240.52*42 2021-02-18T00:42:41.758Z,1613608961.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.820000 m, bearing: 71.467876 deg, deltaT: 4.394456 s, approachRate: 0.669025 m/s, LOS rate: 0.294237 deg/s, posRepo size: 4 2021-02-18T00:42:44.117Z,1613608964.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:44.916Z,1613608964.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:45.317Z,1613608965.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:46.140Z,1613608966.140 [Micromodem](INFO): Nmea in: $SNTTA,0.053655,,,,004244.97*48 2021-02-18T00:42:46.182Z,1613608966.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.820000 m, bearing: 66.798246 deg, deltaT: 4.488074 s, approachRate: 0.668438 m/s, LOS rate: -1.040453 deg/s, posRepo size: 4 2021-02-18T00:42:48.633Z,1613608968.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:49.349Z,1613608969.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:49.754Z,1613608969.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:50.609Z,1613608970.609 [Micromodem](INFO): Nmea in: $SNTTA,0.055793,,,,004249.40*42 2021-02-18T00:42:50.645Z,1613608970.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.820007 m, bearing: 63.995225 deg, deltaT: 4.399365 s, approachRate: 0.681918 m/s, LOS rate: -0.637142 deg/s, posRepo size: 4 2021-02-18T00:42:53.019Z,1613608973.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:53.799Z,1613608973.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:54.208Z,1613608974.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:55.024Z,1613608975.024 [Micromodem](INFO): Nmea in: $SNTTA,0.057859,,,,004253.85*4B 2021-02-18T00:42:55.061Z,1613608975.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.940002 m, bearing: 120.194650 deg, deltaT: 4.482438 s, approachRate: 0.696049 m/s, LOS rate: 12.537692 deg/s, posRepo size: 4 2021-02-18T00:42:57.454Z,1613608977.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:42:58.238Z,1613608978.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:42:58.644Z,1613608978.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:42:59.471Z,1613608979.471 [Micromodem](INFO): Nmea in: $SNTTA,0.059913,,,,004258.29*47 2021-02-18T00:42:59.542Z,1613608979.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.000000 m, bearing: 75.156506 deg, deltaT: 4.421616 s, approachRate: 0.692054 m/s, LOS rate: -10.185901 deg/s, posRepo size: 4 2021-02-18T00:43:01.923Z,1613608981.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:43:02.685Z,1613608982.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:43:03.105Z,1613608983.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:43:03.912Z,1613608983.912 [Micromodem](INFO): Nmea in: $SNTTA,0.061927,,,,004302.74*4D 2021-02-18T00:43:03.949Z,1613608983.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.060005 m, bearing: 73.071973 deg, deltaT: 4.534476 s, approachRate: 0.674831 m/s, LOS rate: -0.459708 deg/s, posRepo size: 4 2021-02-18T00:43:06.340Z,1613608986.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:43:07.124Z,1613608987.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:43:07.553Z,1613608987.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:43:08.361Z,1613608988.361 [Micromodem](INFO): Nmea in: $SNTTA,0.063944,,,,004307.18*45 2021-02-18T00:43:08.389Z,1613608988.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.120003 m, bearing: 106.181711 deg, deltaT: 4.354111 s, approachRate: 0.702784 m/s, LOS rate: 7.604248 deg/s, posRepo size: 4 2021-02-18T00:43:10.818Z,1613608990.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:43:11.599Z,1613608991.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:43:11.975Z,1613608991.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:43:12.808Z,1613608992.808 [Micromodem](INFO): Nmea in: $SNTTA,0.065952,,,,004311.65*49 2021-02-18T00:43:12.893Z,1613608992.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.060005 m, bearing: 89.684817 deg, deltaT: 4.428489 s, approachRate: 0.663884 m/s, LOS rate: -3.725175 deg/s, posRepo size: 4 2021-02-18T00:43:15.219Z,1613608995.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:43:16.021Z,1613608996.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:43:16.429Z,1613608996.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:43:17.248Z,1613608997.248 [Micromodem](INFO): Nmea in: $SNTTA,0.067995,,,,004316.08*4C 2021-02-18T00:43:17.290Z,1613608997.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.180008 m, bearing: 72.945874 deg, deltaT: 4.492180 s, approachRate: 0.694541 m/s, LOS rate: -3.726240 deg/s, posRepo size: 4 2021-02-18T00:43:19.696Z,1613608999.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:43:20.457Z,1613609000.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:43:20.862Z,1613609000.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:43:21.688Z,1613609001.688 [Micromodem](INFO): Nmea in: $SNTTA,0.070207,,,,004320.51*43 2021-02-18T00:43:21.736Z,1613609001.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.419998 m, bearing: 92.834415 deg, deltaT: 4.413620 s, approachRate: 0.734089 m/s, LOS rate: 4.506174 deg/s, posRepo size: 4 2021-02-18T00:43:24.110Z,1613609004.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:43:24.900Z,1613609004.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:43:25.309Z,1613609005.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:43:26.128Z,1613609006.128 [Micromodem](INFO): Nmea in: $SNTTA,0.072263,,,,004324.95*4F 2021-02-18T00:43:26.164Z,1613609006.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.600006 m, bearing: 103.459601 deg, deltaT: 4.462153 s, approachRate: 0.712662 m/s, LOS rate: 2.381179 deg/s, posRepo size: 4 2021-02-18T00:43:28.620Z,1613609008.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:43:29.344Z,1613609009.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:43:29.758Z,1613609009.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:43:30.608Z,1613609010.608 [Micromodem](INFO): Nmea in: $SNTTA,0.074382,,,,004329.40*42 2021-02-18T00:43:30.664Z,1613609010.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.720009 m, bearing: 90.615088 deg, deltaT: 4.418817 s, approachRate: 0.706072 m/s, LOS rate: -2.906776 deg/s, posRepo size: 4 2021-02-18T00:43:33.012Z,1613609013.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:43:33.807Z,1613609013.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:43:34.195Z,1613609014.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:43:35.032Z,1613609015.032 [Micromodem](INFO): Nmea in: $SNTTA,0.076598,,,,004333.86*4C 2021-02-18T00:43:35.054Z,1613609015.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.020004 m, bearing: 94.288788 deg, deltaT: 4.461003 s, approachRate: 0.739743 m/s, LOS rate: 0.823514 deg/s, posRepo size: 4 2021-02-18T00:43:37.438Z,1613609017.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:43:38.234Z,1613609018.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:43:38.645Z,1613609018.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:43:39.464Z,1613609019.464 [Micromodem](INFO): Nmea in: $SNTTA,0.078738,,,,004338.29*44 2021-02-18T00:43:39.530Z,1613609019.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.260002 m, bearing: 99.291683 deg, deltaT: 4.427022 s, approachRate: 0.731869 m/s, LOS rate: 1.130081 deg/s, posRepo size: 4 2021-02-18T00:43:41.904Z,1613609021.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:43:42.672Z,1613609022.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:43:43.079Z,1613609023.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:43:43.533Z,1613609023.533 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T00:43:43.900Z,1613609023.900 [Micromodem](INFO): Nmea in: $SNTTA,0.080793,,,,004342.73*40 2021-02-18T00:43:43.938Z,1613609023.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.380005 m, bearing: 61.651979 deg, deltaT: 4.535874 s, approachRate: 0.687850 m/s, LOS rate: -8.298226 deg/s, posRepo size: 4 2021-02-18T00:43:46.324Z,1613609026.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:43:47.116Z,1613609027.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:43:47.532Z,1613609027.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:43:48.352Z,1613609028.352 [Micromodem](INFO): Nmea in: $SNTTA,0.082996,,,,004347.17*4E 2021-02-18T00:43:48.374Z,1613609028.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.620003 m, bearing: 105.204584 deg, deltaT: 4.338498 s, approachRate: 0.746802 m/s, LOS rate: 10.038636 deg/s, posRepo size: 4 2021-02-18T00:43:50.801Z,1613609030.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:43:51.602Z,1613609031.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:43:51.966Z,1613609031.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:43:52.802Z,1613609032.802 [Micromodem](INFO): Nmea in: $SNTTA,0.085075,,0.117132,,004351.65*56 2021-02-18T00:43:52.856Z,1613609032.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.980003 m, bearing: 61.659881 deg, deltaT: 4.449264 s, approachRate: 0.755181 m/s, LOS rate: -9.786946 deg/s, posRepo size: 4 2021-02-18T00:43:55.228Z,1613609035.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:43:56.005Z,1613609036.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:43:56.418Z,1613609036.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:43:57.232Z,1613609037.232 [Micromodem](INFO): Nmea in: $SNTTA,0.087107,,,,004356.06*4B 2021-02-18T00:43:57.269Z,1613609037.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.979996 m, bearing: 114.102470 deg, deltaT: 4.474267 s, approachRate: 0.670499 m/s, LOS rate: 11.720934 deg/s, posRepo size: 4 2021-02-18T00:43:59.681Z,1613609039.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:00.448Z,1613609040.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:44:00.859Z,1613609040.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:44:01.676Z,1613609041.676 [Micromodem](INFO): Nmea in: $SNTTA,0.089248,,,,004400.50*4A 2021-02-18T00:44:01.725Z,1613609041.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.220001 m, bearing: 112.133873 deg, deltaT: 4.427526 s, approachRate: 0.731787 m/s, LOS rate: -0.444627 deg/s, posRepo size: 4 2021-02-18T00:44:04.102Z,1613609044.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:04.910Z,1613609044.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:44:05.304Z,1613609045.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:44:06.136Z,1613609046.136 [Micromodem](INFO): Nmea in: $SNTTA,0.091622,,,,004404.96*45 2021-02-18T00:44:06.158Z,1613609046.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.639999 m, bearing: 62.840800 deg, deltaT: 4.450763 s, approachRate: 0.768407 m/s, LOS rate: -11.075196 deg/s, posRepo size: 4 2021-02-18T00:44:08.606Z,1613609048.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:09.341Z,1613609049.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:44:09.747Z,1613609049.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:44:10.588Z,1613609050.588 [Micromodem](INFO): Nmea in: $SNTTA,0.093649,,,,004409.39*42 2021-02-18T00:44:10.646Z,1613609050.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.940002 m, bearing: 75.567020 deg, deltaT: 4.439431 s, approachRate: 0.743339 m/s, LOS rate: 2.866633 deg/s, posRepo size: 4 2021-02-18T00:44:12.992Z,1613609052.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:13.780Z,1613609053.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:44:14.186Z,1613609054.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:44:15.008Z,1613609055.008 [Micromodem](INFO): Nmea in: $SNTTA,0.095821,,,,004413.83*4E 2021-02-18T00:44:15.050Z,1613609055.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.880005 m, bearing: 105.189913 deg, deltaT: 4.486772 s, approachRate: 0.655260 m/s, LOS rate: 6.602273 deg/s, posRepo size: 4 2021-02-18T00:44:15.457Z,1613609055.457 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T00:44:15.457Z,1613609055.457 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T00:44:15.457Z,1613609055.457 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T00:44:15.458Z,1613609055.458 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T00:44:15.458Z,1613609055.458 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T00:44:15.955Z,1613609055.955 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60480000005D00000400610000000000000000151D80030C5669BF92F9E564DCAB2701757CD13F8FF78E34815BD3CEBBC249A4AC21D837A278CE031C75 2021-02-18T00:44:15.956Z,1613609055.956 [Micromodem](INFO): Outgoing frame #2, 39 bytes: 28E070F598D80E83244C0C3E830FCF52C6A341AB6FD6B1B3A9D0ABF00A50E18614924D72EE6000 2021-02-18T00:44:15.956Z,1613609055.956 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T00:44:16.260Z,1613609056.260 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T00:44:16.664Z,1613609056.664 [Micromodem](INFO): Nmea in: $CADRQ,004415,1,10,0,64,1*72 2021-02-18T00:44:16.665Z,1613609056.665 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60480000005D00000400610000000000000000151D80030C5669BF92F9E564DCAB2701757CD13F8FF78E34815BD3CEBBC249A4AC21D837A278CE031C75*35 2021-02-18T00:44:17.071Z,1613609057.071 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T00:44:17.457Z,1613609057.457 [Micromodem](INFO): Nmea in: $CADRQ,004416,1,10,0,64,2*72 2021-02-18T00:44:17.458Z,1613609057.458 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,28E070F598D80E83244C0C3E830FCF52C6A341AB6FD6B1B3A9D0ABF00A50E18614924D72EE6000*41 2021-02-18T00:44:17.697Z,1613609057.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:17.877Z,1613609057.877 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,39*41 2021-02-18T00:44:18.269Z,1613609058.269 [Micromodem](INFO): Nmea in: $CATXP,103*40 2021-02-18T00:44:18.270Z,1613609058.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:44:20.299Z,1613609060.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:20.696Z,1613609060.696 [Micromodem](INFO): Nmea in: $CATXF,103*56 2021-02-18T00:44:20.696Z,1613609060.696 [Micromodem](ERROR): Response from modem unexpected: $CATXF,103*56 2021-02-18T00:44:21.093Z,1613609061.093 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,004417.521534,3,0,200,4000,14500,1,1,10,1,2,2,3,103*79 2021-02-18T00:44:21.093Z,1613609061.093 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,004417.521534,3,0,200,4000,14500,1,1,10,1,2,2,3,103*79 2021-02-18T00:44:23.251Z,1613609063.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:23.530Z,1613609063.530 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T00:44:23.936Z,1613609063.936 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-18T00:44:23.937Z,1613609063.937 [Micromodem](INFO): Sent 95 bytes from file Logs/20210217T180521/Courier0072.lzma.parts 2021-02-18T00:44:23.937Z,1613609063.937 [Micromodem](INFO): Packets left to send: 0 2021-02-18T00:44:24.335Z,1613609064.335 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218004422.339662,06,2482,33,0299,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,10.8,5.00,14,-2.00,-01,-0.81,30,14500,4000*72 2021-02-18T00:44:24.335Z,1613609064.335 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218004422.339662,06,2482,33,0299,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,10.8,5.00,14,-2.00,-01,-0.81,30,14500,4000*72 2021-02-18T00:44:24.443Z,1613609064.443 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T00:44:24.444Z,1613609064.444 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T00:44:24.444Z,1613609064.444 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T00:44:24.444Z,1613609064.444 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T00:44:24.444Z,1613609064.444 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T00:44:25.973Z,1613609065.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:28.803Z,1613609068.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:29.602Z,1613609069.602 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:44:29.989Z,1613609069.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:44:31.204Z,1613609071.204 [Micromodem](INFO): Nmea in: $SNTTA,0.103547,,,,004429.69*40 2021-02-18T00:44:31.226Z,1613609071.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.520004 m, bearing: 59.683518 deg, deltaT: 16.210004 s, approachRate: 0.718075 m/s, LOS rate: -2.807303 deg/s, posRepo size: 4 2021-02-18T00:44:31.227Z,1613609071.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 155.52 m. Resuming terminal guidance. 2021-02-18T00:44:31.247Z,1613609071.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T00:44:33.664Z,1613609073.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:34.425Z,1613609074.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:44:34.835Z,1613609074.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:44:35.652Z,1613609075.652 [Micromodem](INFO): Nmea in: $SNTTA,0.105787,,,,004434.48*47 2021-02-18T00:44:35.701Z,1613609075.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.879990 m, bearing: 61.041995 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T00:44:35.701Z,1613609075.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 61.041995deg and heading rate command to 0 deg/s. 2021-02-18T00:44:38.084Z,1613609078.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:38.869Z,1613609078.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:44:39.275Z,1613609079.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:44:40.096Z,1613609080.096 [Micromodem](INFO): Nmea in: $SNTTA,0.108026,,,,004438.92*4D 2021-02-18T00:44:40.142Z,1613609080.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.180008 m, bearing: 105.148604 deg, deltaT: 4.463153 s, approachRate: 0.739392 m/s, LOS rate: 9.882388 deg/s, posRepo size: 2 2021-02-18T00:44:40.148Z,1613609080.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.180008 m, bearing: 105.148604 deg, approachRate: 0.739392 m/s, LOS rate: 9.882388 deg/s, cmd update: 12.000000 deg/s, cmd heading: 61.041995 deg, new cmd heading: 61.041995 deg. 2021-02-18T00:44:42.613Z,1613609082.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:43.317Z,1613609083.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:44:43.719Z,1613609083.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:44:44.553Z,1613609084.553 [Micromodem](INFO): Nmea in: $SNTTA,0.109982,,,,004443.37*48 2021-02-18T00:44:44.628Z,1613609084.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.180008 m, bearing: 28.657780 deg, deltaT: 4.426854 s, approachRate: 0.000000 m/s, LOS rate: -17.278823 deg/s, posRepo size: 3 2021-02-18T00:44:44.629Z,1613609084.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.278823 deg/s. Setting heading cmd to target bearing of 28.657780deg and heading rate command to 0 deg/s. 2021-02-18T00:44:46.965Z,1613609086.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:47.758Z,1613609087.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:44:48.206Z,1613609088.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:44:48.996Z,1613609088.996 [Micromodem](INFO): Nmea in: $SNTTA,0.111852,,,,004447.81*44 2021-02-18T00:44:49.018Z,1613609089.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 50.141409 deg, deltaT: 4.483023 s, approachRate: 1.284846 m/s, LOS rate: 4.792219 deg/s, posRepo size: 4 2021-02-18T00:44:49.020Z,1613609089.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.940002 m, bearing: 50.141409 deg, approachRate: 1.284846 m/s, LOS rate: 4.792219 deg/s, cmd update: 12.000000 deg/s, cmd heading: 28.657780 deg, new cmd heading: 28.657780 deg. 2021-02-18T00:44:51.415Z,1613609091.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:52.206Z,1613609092.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:44:52.610Z,1613609092.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:44:53.432Z,1613609093.432 [Micromodem](INFO): Nmea in: $SNTTA,0.113712,,,,004452.26*44 2021-02-18T00:44:53.475Z,1613609093.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 91.601716 deg, deltaT: 4.401886 s, approachRate: 0.000000 m/s, LOS rate: 9.418760 deg/s, posRepo size: 4 2021-02-18T00:44:53.479Z,1613609093.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.940002 m, bearing: 91.601716 deg, approachRate: 0.000000 m/s, LOS rate: 9.418760 deg/s, cmd update: 12.000000 deg/s, cmd heading: 81.467838 deg, new cmd heading: 86.621970 deg. 2021-02-18T00:44:55.447Z,1613609095.447 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T00:44:55.890Z,1613609095.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:44:56.649Z,1613609096.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:44:57.050Z,1613609097.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:44:57.880Z,1613609097.880 [Micromodem](INFO): Nmea in: $SNTTA,0.115806,,,,004456.70*4F 2021-02-18T00:44:57.928Z,1613609097.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 34.825089 deg, deltaT: 4.476579 s, approachRate: 0.000000 m/s, LOS rate: -12.683039 deg/s, posRepo size: 4 2021-02-18T00:44:57.929Z,1613609097.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.683039 deg/s. Setting heading cmd to target bearing of 34.825089deg and heading rate command to 0 deg/s. 2021-02-18T00:45:00.034Z,1613609100.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:00.684Z,1613609100.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:45:01.090Z,1613609101.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:45:01.912Z,1613609101.912 [Micromodem](INFO): Nmea in: $SNTTA,0.117612,,,0.120125,004500.74*5B 2021-02-18T00:45:01.958Z,1613609101.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.639999 m, bearing: 61.180743 deg, deltaT: 4.070349 s, approachRate: 2.137408 m/s, LOS rate: 6.475036 deg/s, posRepo size: 4 2021-02-18T00:45:01.960Z,1613609101.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.639999 m, bearing: 61.180743 deg, approachRate: 2.137408 m/s, LOS rate: 6.475036 deg/s, cmd update: 12.000000 deg/s, cmd heading: 34.825089 deg, new cmd heading: 34.825089 deg. 2021-02-18T00:45:04.335Z,1613609104.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:05.130Z,1613609105.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:45:05.551Z,1613609105.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:45:06.358Z,1613609106.358 [Micromodem](INFO): Nmea in: $SNTTA,0.119585,,,,004505.18*4C 2021-02-18T00:45:07.179Z,1613609107.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:08.764Z,1613609108.764 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:45:09.999Z,1613609109.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:10.786Z,1613609110.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:45:11.190Z,1613609111.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:45:12.002Z,1613609112.002 [Micromodem](INFO): Nmea in: $SNTTA,0.122137,,,,004510.84*48 2021-02-18T00:45:12.852Z,1613609112.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:14.419Z,1613609114.419 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:45:15.675Z,1613609115.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:16.446Z,1613609116.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:45:16.865Z,1613609116.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:45:17.667Z,1613609117.667 [Micromodem](INFO): Nmea in: $SNTTA,0.124749,,,,004516.50*4E 2021-02-18T00:45:18.509Z,1613609118.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:20.080Z,1613609120.080 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:45:21.302Z,1613609121.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:22.096Z,1613609122.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:45:22.533Z,1613609122.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:45:22.922Z,1613609122.922 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,B0,80,61,E4 1,185,80,80,94,FF 2021-02-18T00:45:23.316Z,1613609123.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004522.15*5B 2021-02-18T00:45:24.146Z,1613609124.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:26.974Z,1613609126.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:29.821Z,1613609129.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:30.603Z,1613609130.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:45:30.986Z,1613609130.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:45:31.809Z,1613609131.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004530.66*5C 2021-02-18T00:45:32.234Z,1613609132.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.319992 m, bearing: 162.830221 deg, deltaT: 30.274784 s, approachRate: 0.650046 m/s, LOS rate: 3.357562 deg/s, posRepo size: 4 2021-02-18T00:45:32.236Z,1613609132.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.319992 m, bearing: 162.830221 deg, approachRate: 0.650046 m/s, LOS rate: 3.357562 deg/s, cmd update: 12.000000 deg/s, cmd heading: 38.495802 deg, new cmd heading: 42.914370 deg. 2021-02-18T00:45:34.661Z,1613609134.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:35.433Z,1613609135.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:45:35.833Z,1613609135.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:45:36.651Z,1613609136.651 [Micromodem](INFO): Nmea in: $SNTTA,0.132898,,,,004535.49*43 2021-02-18T00:45:37.078Z,1613609137.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.500000 m, bearing: 119.163797 deg, deltaT: 4.840303 s, approachRate: 0.656985 m/s, LOS rate: -9.021424 deg/s, posRepo size: 4 2021-02-18T00:45:37.080Z,1613609137.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.500000 m, bearing: 119.163797 deg, approachRate: 0.656985 m/s, LOS rate: -9.021424 deg/s, cmd update: -12.000000 deg/s, cmd heading: 96.320396 deg, new cmd heading: 101.038856 deg. 2021-02-18T00:45:39.524Z,1613609139.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:40.284Z,1613609140.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:45:40.682Z,1613609140.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:45:41.541Z,1613609141.541 [Micromodem](INFO): Nmea in: $SNTTA,0.135019,,,,004540.34*4D 2021-02-18T00:45:41.927Z,1613609141.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.619995 m, bearing: 92.828917 deg, deltaT: 4.906163 s, approachRate: 0.635934 m/s, LOS rate: -5.367714 deg/s, posRepo size: 4 2021-02-18T00:45:41.929Z,1613609141.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.619995 m, bearing: 92.828917 deg, approachRate: 0.635934 m/s, LOS rate: -5.367714 deg/s, cmd update: -12.000000 deg/s, cmd heading: 37.209631 deg, new cmd heading: 33.412471 deg. 2021-02-18T00:45:44.330Z,1613609144.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:45.124Z,1613609145.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:45:45.544Z,1613609145.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:45:46.344Z,1613609146.344 [Micromodem](INFO): Nmea in: $SNTTA,0.137208,,,,004545.18*46 2021-02-18T00:45:46.785Z,1613609146.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.979996 m, bearing: 36.940074 deg, deltaT: 4.743447 s, approachRate: 0.708346 m/s, LOS rate: -11.782326 deg/s, posRepo size: 4 2021-02-18T00:45:46.786Z,1613609146.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.782326 deg/s. Setting heading cmd to target bearing of 36.940074deg and heading rate command to 0 deg/s. 2021-02-18T00:45:49.179Z,1613609149.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:49.973Z,1613609149.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:45:50.390Z,1613609150.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:45:51.190Z,1613609151.190 [Micromodem](INFO): Nmea in: $SNTTA,0.139077,,,,004550.03*4C 2021-02-18T00:45:51.666Z,1613609151.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.799988 m, bearing: 59.818565 deg, deltaT: 4.847274 s, approachRate: 0.581769 m/s, LOS rate: 4.719867 deg/s, posRepo size: 4 2021-02-18T00:45:51.668Z,1613609151.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.799988 m, bearing: 59.818565 deg, approachRate: 0.581769 m/s, LOS rate: 4.719867 deg/s, cmd update: 12.000000 deg/s, cmd heading: 36.940074 deg, new cmd heading: 36.940074 deg. 2021-02-18T00:45:54.048Z,1613609154.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:54.821Z,1613609154.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:45:55.227Z,1613609155.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:45:56.038Z,1613609156.038 [Micromodem](INFO): Nmea in: $SNTTA,0.140486,,,,004554.87*40 2021-02-18T00:45:56.507Z,1613609156.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.779984 m, bearing: 24.419383 deg, deltaT: 4.852329 s, approachRate: 0.408051 m/s, LOS rate: -7.295298 deg/s, posRepo size: 4 2021-02-18T00:45:56.518Z,1613609156.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.779984 m, bearing: 24.419383 deg, approachRate: 0.408051 m/s, LOS rate: -7.295298 deg/s, cmd update: -12.000000 deg/s, cmd heading: 95.170400 deg, new cmd heading: 100.261652 deg. 2021-02-18T00:45:58.890Z,1613609158.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:45:59.673Z,1613609159.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:46:00.079Z,1613609160.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:46:00.889Z,1613609160.889 [Micromodem](INFO): Nmea in: $SNTTA,0.141876,,,,004559.73*44 2021-02-18T00:46:01.330Z,1613609161.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.939987 m, bearing: 26.998582 deg, deltaT: 4.877710 s, approachRate: 0.442832 m/s, LOS rate: 0.528772 deg/s, posRepo size: 4 2021-02-18T00:46:01.336Z,1613609161.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.939987 m, bearing: 26.998582 deg, approachRate: 0.442832 m/s, LOS rate: 0.528772 deg/s, cmd update: 2.115090 deg/s, cmd heading: 36.639594 deg, new cmd heading: 31.901334 deg. 2021-02-18T00:46:03.756Z,1613609163.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:04.529Z,1613609164.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:46:04.927Z,1613609164.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:46:05.757Z,1613609165.757 [Micromodem](INFO): Nmea in: $SNTTA,0.143496,,,,004604.58*46 2021-02-18T00:46:06.619Z,1613609166.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:08.156Z,1613609168.156 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:46:09.391Z,1613609169.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:10.177Z,1613609170.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:46:10.604Z,1613609170.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:46:11.393Z,1613609171.393 [Micromodem](INFO): Nmea in: $SNTTA,0.145861,,,,004610.23*4D 2021-02-18T00:46:12.223Z,1613609172.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:13.812Z,1613609173.812 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:46:15.050Z,1613609175.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:15.829Z,1613609175.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:46:16.245Z,1613609176.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:46:17.046Z,1613609177.046 [Micromodem](INFO): Nmea in: $SNTTA,0.147196,,,,004615.88*4A 2021-02-18T00:46:17.475Z,1613609177.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.099991 m, bearing: 60.254146 deg, deltaT: 16.125342 s, approachRate: 0.506036 m/s, LOS rate: 2.062317 deg/s, posRepo size: 4 2021-02-18T00:46:17.481Z,1613609177.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.099991 m, bearing: 60.254146 deg, approachRate: 0.506036 m/s, LOS rate: 2.062317 deg/s, cmd update: 8.249267 deg/s, cmd heading: 70.745853 deg, new cmd heading: 71.622752 deg. 2021-02-18T00:46:19.910Z,1613609179.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:20.678Z,1613609180.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:46:21.084Z,1613609181.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:46:21.894Z,1613609181.894 [Micromodem](INFO): Nmea in: $SNTTA,0.148966,,,,004620.73*40 2021-02-18T00:46:22.336Z,1613609182.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.559998 m, bearing: 82.975679 deg, deltaT: 4.893626 s, approachRate: 0.502696 m/s, LOS rate: 4.643087 deg/s, posRepo size: 4 2021-02-18T00:46:22.338Z,1613609182.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.559998 m, bearing: 82.975679 deg, approachRate: 0.502696 m/s, LOS rate: 4.643087 deg/s, cmd update: 12.000000 deg/s, cmd heading: 111.082631 deg, new cmd heading: 114.264951 deg. 2021-02-18T00:46:24.789Z,1613609184.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:25.539Z,1613609185.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:46:25.930Z,1613609185.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:46:26.757Z,1613609186.757 [Micromodem](INFO): Nmea in: $SNTTA,0.151166,,,,004625.59*4D 2021-02-18T00:46:27.198Z,1613609187.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.919998 m, bearing: 52.645428 deg, deltaT: 4.840400 s, approachRate: 0.694158 m/s, LOS rate: -6.266063 deg/s, posRepo size: 4 2021-02-18T00:46:27.201Z,1613609187.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 226.919998 m, bearing: 52.645428 deg, approachRate: 0.694158 m/s, LOS rate: -6.266063 deg/s, cmd update: -12.000000 deg/s, cmd heading: 169.160604 deg, new cmd heading: 174.060504 deg. 2021-02-18T00:46:29.643Z,1613609189.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:30.396Z,1613609190.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:46:30.783Z,1613609190.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:46:31.609Z,1613609191.609 [Micromodem](INFO): Nmea in: $SNTTA,0.154105,,,,004630.45*44 2021-02-18T00:46:31.629Z,1613609191.629 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T00:46:32.413Z,1613609192.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:34.012Z,1613609194.012 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:46:35.256Z,1613609195.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:36.033Z,1613609196.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:46:36.434Z,1613609196.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:46:37.255Z,1613609197.255 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004636.09*50 2021-02-18T00:46:37.709Z,1613609197.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.819977 m, bearing: 100.573436 deg, deltaT: 10.474683 s, approachRate: 0.658729 m/s, LOS rate: 4.575605 deg/s, posRepo size: 4 2021-02-18T00:46:37.715Z,1613609197.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 233.819977 m, bearing: 100.573436 deg, approachRate: 0.658729 m/s, LOS rate: 4.575605 deg/s, cmd update: 12.000000 deg/s, cmd heading: 43.408713 deg, new cmd heading: 38.136021 deg. 2021-02-18T00:46:40.083Z,1613609200.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:40.884Z,1613609200.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:46:41.287Z,1613609201.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:46:42.096Z,1613609202.096 [Micromodem](INFO): Nmea in: $SNTTA,0.158350,,,,004640.94*41 2021-02-18T00:46:42.604Z,1613609202.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:44.533Z,1613609204.533 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:46:45.335Z,1613609205.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:46.140Z,1613609206.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:46:46.545Z,1613609206.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:46:47.353Z,1613609207.353 [Micromodem](INFO): Nmea in: $SNTTA,0.160526,,,,004646.19*4E 2021-02-18T00:46:47.794Z,1613609207.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.960007 m, bearing: 72.070291 deg, deltaT: 10.098035 s, approachRate: 0.707071 m/s, LOS rate: -2.822643 deg/s, posRepo size: 4 2021-02-18T00:46:47.796Z,1613609207.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 240.960007 m, bearing: 72.070291 deg, approachRate: 0.707071 m/s, LOS rate: -2.822643 deg/s, cmd update: -11.290571 deg/s, cmd heading: 164.586193 deg, new cmd heading: 169.696921 deg. 2021-02-18T00:46:50.211Z,1613609210.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:50.978Z,1613609210.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:46:51.382Z,1613609211.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:46:52.192Z,1613609212.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004651.03*5B 2021-02-18T00:46:52.665Z,1613609212.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 244.739990 m, bearing: 114.606954 deg, deltaT: 4.839547 s, approachRate: 0.781061 m/s, LOS rate: 8.789390 deg/s, posRepo size: 4 2021-02-18T00:46:52.667Z,1613609212.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 244.739990 m, bearing: 114.606954 deg, approachRate: 0.781061 m/s, LOS rate: 8.789390 deg/s, cmd update: 12.000000 deg/s, cmd heading: 109.948468 deg, new cmd heading: 104.776088 deg. 2021-02-18T00:46:55.054Z,1613609215.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:46:55.830Z,1613609215.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:46:56.230Z,1613609216.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:46:57.044Z,1613609217.044 [Micromodem](INFO): Nmea in: $SNTTA,0.165451,,,,004655.88*40 2021-02-18T00:46:57.479Z,1613609217.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.979996 m, bearing: 164.475859 deg, deltaT: 4.851651 s, approachRate: 0.667815 m/s, LOS rate: 10.278749 deg/s, posRepo size: 4 2021-02-18T00:46:57.484Z,1613609217.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 247.979996 m, bearing: 164.475859 deg, approachRate: 0.667815 m/s, LOS rate: 10.278749 deg/s, cmd update: 12.000000 deg/s, cmd heading: 168.171845 deg, new cmd heading: 173.215805 deg. 2021-02-18T00:46:59.925Z,1613609219.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:47:00.674Z,1613609220.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:47:01.079Z,1613609221.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:47:01.895Z,1613609221.895 [Micromodem](INFO): Nmea in: $SNTTA,0.167334,,,,004700.73*43 2021-02-18T00:47:02.337Z,1613609222.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.979996 m, bearing: 139.674377 deg, deltaT: 4.903891 s, approachRate: 0.611759 m/s, LOS rate: -5.057511 deg/s, posRepo size: 4 2021-02-18T00:47:02.338Z,1613609222.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 250.979996 m, bearing: 139.674377 deg, approachRate: 0.611759 m/s, LOS rate: -5.057511 deg/s, cmd update: -12.000000 deg/s, cmd heading: 226.922250 deg, new cmd heading: 231.506838 deg. 2021-02-18T00:47:04.759Z,1613609224.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:47:05.544Z,1613609225.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:47:05.943Z,1613609225.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:47:06.756Z,1613609226.756 [Micromodem](INFO): Nmea in: $SNTTA,0.168988,,,,004705.60*46 2021-02-18T00:47:07.186Z,1613609227.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.559998 m, bearing: 149.483662 deg, deltaT: 4.826524 s, approachRate: 0.534547 m/s, LOS rate: 2.032371 deg/s, posRepo size: 4 2021-02-18T00:47:07.188Z,1613609227.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 253.559998 m, bearing: 149.483662 deg, approachRate: 0.534547 m/s, LOS rate: 2.032371 deg/s, cmd update: 8.129482 deg/s, cmd heading: 168.907432 deg, new cmd heading: 164.141476 deg. 2021-02-18T00:47:09.637Z,1613609229.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:47:10.374Z,1613609230.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:47:10.774Z,1613609230.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:47:11.604Z,1613609231.604 [Micromodem](INFO): Nmea in: $SNTTA,0.169873,,,,004710.43*47 2021-02-18T00:47:12.021Z,1613609232.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.759995 m, bearing: 216.318689 deg, deltaT: 4.872811 s, approachRate: 0.246264 m/s, LOS rate: 13.715908 deg/s, posRepo size: 4 2021-02-18T00:47:12.022Z,1613609232.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.715908 deg/s. Setting heading cmd to target bearing of 216.318689deg and heading rate command to 0 deg/s. 2021-02-18T00:47:14.424Z,1613609234.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:47:15.217Z,1613609235.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:47:15.633Z,1613609235.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:47:16.434Z,1613609236.434 [Micromodem](INFO): Nmea in: $SNTTA,0.171022,,,,004715.27*45 2021-02-18T00:47:16.890Z,1613609236.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.559998 m, bearing: 151.615433 deg, deltaT: 4.815945 s, approachRate: 0.373759 m/s, LOS rate: -13.435215 deg/s, posRepo size: 4 2021-02-18T00:47:16.891Z,1613609236.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.435215 deg/s. Setting heading cmd to target bearing of 151.615433deg and heading rate command to 0 deg/s. 2021-02-18T00:47:19.291Z,1613609239.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:47:20.070Z,1613609240.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:47:20.474Z,1613609240.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:47:21.284Z,1613609241.284 [Micromodem](INFO): Nmea in: $SNTTA,0.170269,,,,004720.12*49 2021-02-18T00:47:21.745Z,1613609241.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.299988 m, bearing: 245.249335 deg, deltaT: 4.820696 s, approachRate: -0.261375 m/s, LOS rate: 19.423316 deg/s, posRepo size: 4 2021-02-18T00:47:21.746Z,1613609241.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.423316 deg/s. Setting heading cmd to target bearing of 245.249335deg and heading rate command to 0 deg/s. 2021-02-18T00:47:24.134Z,1613609244.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:47:24.912Z,1613609244.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:47:25.319Z,1613609245.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:47:26.135Z,1613609246.135 [Micromodem](INFO): Nmea in: $SNTTA,0.169488,,,,004724.96*40 2021-02-18T00:47:26.630Z,1613609246.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.220001 m, bearing: 165.346271 deg, deltaT: 4.871618 s, approachRate: -0.221690 m/s, LOS rate: -16.401750 deg/s, posRepo size: 4 2021-02-18T00:47:26.631Z,1613609246.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.401750 deg/s. Setting heading cmd to target bearing of 165.346271deg and heading rate command to 0 deg/s. 2021-02-18T00:47:28.980Z,1613609248.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:47:29.766Z,1613609249.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:47:30.171Z,1613609250.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:47:31.001Z,1613609251.001 [Micromodem](INFO): Nmea in: $SNTTA,0.169571,,0.170777,,004729.82*50 2021-02-18T00:47:31.406Z,1613609251.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.339996 m, bearing: 247.246701 deg, deltaT: 4.845348 s, approachRate: 0.024765 m/s, LOS rate: 16.902900 deg/s, posRepo size: 4 2021-02-18T00:47:31.407Z,1613609251.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.902900 deg/s. Setting heading cmd to target bearing of 247.246701deg and heading rate command to 0 deg/s. 2021-02-18T00:47:33.848Z,1613609253.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:47:34.614Z,1613609254.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:47:35.014Z,1613609255.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:47:35.830Z,1613609255.830 [Micromodem](INFO): Nmea in: $SNTTA,0.169866,,,,004734.67*43 2021-02-18T00:47:36.262Z,1613609256.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.879990 m, bearing: 232.408880 deg, deltaT: 4.848777 s, approachRate: 0.111367 m/s, LOS rate: -3.060116 deg/s, posRepo size: 4 2021-02-18T00:47:36.264Z,1613609256.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 254.879990 m, bearing: 232.408880 deg, approachRate: 0.111367 m/s, LOS rate: -3.060116 deg/s, cmd update: -12.000000 deg/s, cmd heading: 247.246701 deg, new cmd heading: 247.246701 deg. 2021-02-18T00:47:38.689Z,1613609258.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:47:39.470Z,1613609259.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:47:39.868Z,1613609259.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:47:40.690Z,1613609260.690 [Micromodem](INFO): Nmea in: $SNTTA,0.170321,,,,004739.52*48 2021-02-18T00:47:41.118Z,1613609261.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.479980 m, bearing: 230.542353 deg, deltaT: 4.859147 s, approachRate: 0.123477 m/s, LOS rate: -0.384126 deg/s, posRepo size: 4 2021-02-18T00:47:41.120Z,1613609261.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 255.479980 m, bearing: 230.542353 deg, approachRate: 0.123477 m/s, LOS rate: -0.384126 deg/s, cmd update: -1.536506 deg/s, cmd heading: 188.920399 deg, new cmd heading: 184.182439 deg. 2021-02-18T00:47:43.613Z,1613609263.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:47:44.314Z,1613609264.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:47:44.718Z,1613609264.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:47:45.544Z,1613609265.544 [Micromodem](INFO): Nmea in: $SNTTA,0.170566,,,,004744.37*44 2021-02-18T00:47:45.967Z,1613609265.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.779984 m, bearing: 164.653485 deg, deltaT: 4.898262 s, approachRate: 0.061247 m/s, LOS rate: -13.451479 deg/s, posRepo size: 4 2021-02-18T00:47:45.968Z,1613609265.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.451479 deg/s. Setting heading cmd to target bearing of 164.653485deg and heading rate command to 0 deg/s. 2021-02-18T00:47:48.380Z,1613609268.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:47:49.160Z,1613609269.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:47:49.600Z,1613609269.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:47:50.381Z,1613609270.381 [Micromodem](INFO): Nmea in: $SNTTA,0.170435,,,,004749.21*49 2021-02-18T00:47:50.849Z,1613609270.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.659988 m, bearing: 245.233407 deg, deltaT: 4.773489 s, approachRate: -0.025138 m/s, LOS rate: 16.880719 deg/s, posRepo size: 4 2021-02-18T00:47:50.849Z,1613609270.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.880719 deg/s. Setting heading cmd to target bearing of 245.233407deg and heading rate command to 0 deg/s. 2021-02-18T00:47:53.220Z,1613609273.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:47:54.008Z,1613609274.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:47:54.414Z,1613609274.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:47:55.228Z,1613609275.228 [Micromodem](INFO): Nmea in: $SNTTA,0.171070,,,,004754.06*44 2021-02-18T00:47:55.676Z,1613609275.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.619995 m, bearing: 216.599710 deg, deltaT: 4.846687 s, approachRate: 0.198075 m/s, LOS rate: -5.907891 deg/s, posRepo size: 4 2021-02-18T00:47:55.678Z,1613609275.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 256.619995 m, bearing: 216.599710 deg, approachRate: 0.198075 m/s, LOS rate: -5.907891 deg/s, cmd update: -12.000000 deg/s, cmd heading: 245.233407 deg, new cmd heading: 245.233407 deg. 2021-02-18T00:47:58.076Z,1613609278.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:47:58.856Z,1613609278.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:47:59.262Z,1613609279.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:48:00.075Z,1613609280.075 [Micromodem](INFO): Nmea in: $SNTTA,0.171896,,,,004758.91*46 2021-02-18T00:48:00.536Z,1613609280.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 257.819977 m, bearing: 236.449346 deg, deltaT: 4.847798 s, approachRate: 0.247531 m/s, LOS rate: 4.094567 deg/s, posRepo size: 4 2021-02-18T00:48:00.541Z,1613609280.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 257.819977 m, bearing: 236.449346 deg, approachRate: 0.247531 m/s, LOS rate: 4.094567 deg/s, cmd update: 12.000000 deg/s, cmd heading: 187.059529 deg, new cmd heading: 181.707553 deg. 2021-02-18T00:48:02.610Z,1613609282.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:48:03.309Z,1613609283.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:48:03.711Z,1613609283.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:48:04.532Z,1613609284.532 [Micromodem](INFO): Nmea in: $SNTTA,0.172080,,,,004803.37*47 2021-02-18T00:48:04.964Z,1613609284.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.119995 m, bearing: 158.655787 deg, deltaT: 4.511807 s, approachRate: 0.066496 m/s, LOS rate: -17.242218 deg/s, posRepo size: 4 2021-02-18T00:48:04.965Z,1613609284.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.242218 deg/s. Setting heading cmd to target bearing of 158.655787deg and heading rate command to 0 deg/s. 2021-02-18T00:48:07.357Z,1613609287.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:48:08.153Z,1613609288.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:48:08.571Z,1613609288.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:48:09.379Z,1613609289.379 [Micromodem](INFO): Nmea in: $SNTTA,0.171706,,,,004808.21*41 2021-02-18T00:48:09.826Z,1613609289.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 257.459991 m, bearing: 254.009216 deg, deltaT: 4.791777 s, approachRate: -0.137737 m/s, LOS rate: 19.899387 deg/s, posRepo size: 4 2021-02-18T00:48:09.827Z,1613609289.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.899387 deg/s. Setting heading cmd to target bearing of 254.009216deg and heading rate command to 0 deg/s. 2021-02-18T00:48:12.214Z,1613609292.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:48:13.013Z,1613609293.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:48:13.412Z,1613609293.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:48:14.236Z,1613609294.236 [Micromodem](INFO): Nmea in: $SNTTA,0.171115,,,,004813.07*4B 2021-02-18T00:48:14.673Z,1613609294.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.559998 m, bearing: 247.944336 deg, deltaT: 4.864722 s, approachRate: -0.185004 m/s, LOS rate: -1.246706 deg/s, posRepo size: 4 2021-02-18T00:48:14.675Z,1613609294.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 256.559998 m, bearing: 247.944336 deg, approachRate: -0.185004 m/s, LOS rate: -1.246706 deg/s, cmd update: -4.986826 deg/s, cmd heading: 254.009216 deg, new cmd heading: 254.009216 deg. 2021-02-18T00:48:17.056Z,1613609297.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:48:17.851Z,1613609297.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:48:18.249Z,1613609298.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:48:19.067Z,1613609299.067 [Micromodem](INFO): Nmea in: $SNTTA,0.170893,,,,004817.90*47 2021-02-18T00:48:19.536Z,1613609299.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.319977 m, bearing: 169.807792 deg, deltaT: 4.822993 s, approachRate: -0.049766 m/s, LOS rate: -16.200842 deg/s, posRepo size: 4 2021-02-18T00:48:19.537Z,1613609299.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.200842 deg/s. Setting heading cmd to target bearing of 169.807792deg and heading rate command to 0 deg/s. 2021-02-18T00:48:21.913Z,1613609301.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:48:22.694Z,1613609302.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:48:23.103Z,1613609303.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:48:23.915Z,1613609303.915 [Micromodem](INFO): Nmea in: $SNTTA,0.170412,,,,004822.75*4F 2021-02-18T00:48:24.357Z,1613609304.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.479980 m, bearing: 279.871427 deg, deltaT: 4.880330 s, approachRate: -0.172119 m/s, LOS rate: 22.552499 deg/s, posRepo size: 4 2021-02-18T00:48:24.358Z,1613609304.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.552499 deg/s. Setting heading cmd to target bearing of 279.871427deg and heading rate command to 0 deg/s. 2021-02-18T00:48:26.778Z,1613609306.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:48:27.545Z,1613609307.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:48:27.946Z,1613609307.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:48:28.765Z,1613609308.765 [Micromodem](INFO): Nmea in: $SNTTA,0.169546,,,,004827.60*46 2021-02-18T00:48:29.187Z,1613609309.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.279984 m, bearing: 237.844754 deg, deltaT: 4.890880 s, approachRate: -0.245354 m/s, LOS rate: -8.592865 deg/s, posRepo size: 4 2021-02-18T00:48:29.189Z,1613609309.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 254.279984 m, bearing: 237.844754 deg, approachRate: -0.245354 m/s, LOS rate: -8.592865 deg/s, cmd update: -12.000000 deg/s, cmd heading: 279.871427 deg, new cmd heading: 279.871427 deg. 2021-02-18T00:48:31.642Z,1613609311.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:48:32.393Z,1613609312.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:48:32.814Z,1613609312.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:48:33.631Z,1613609313.631 [Micromodem](INFO): Nmea in: $SNTTA,0.169796,,,,004832.45*4A 2021-02-18T00:48:34.076Z,1613609314.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.699997 m, bearing: 155.136204 deg, deltaT: 4.831431 s, approachRate: 0.086934 m/s, LOS rate: -17.118851 deg/s, posRepo size: 4 2021-02-18T00:48:34.077Z,1613609314.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.118851 deg/s. Setting heading cmd to target bearing of 155.136204deg and heading rate command to 0 deg/s. 2021-02-18T00:48:36.448Z,1613609316.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:48:37.245Z,1613609317.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:48:37.654Z,1613609317.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:48:38.459Z,1613609318.459 [Micromodem](INFO): Nmea in: $SNTTA,0.169291,,,,004837.30*4F 2021-02-18T00:48:38.897Z,1613609318.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.860001 m, bearing: 268.115797 deg, deltaT: 4.821099 s, approachRate: -0.174233 m/s, LOS rate: 23.434406 deg/s, posRepo size: 4 2021-02-18T00:48:38.898Z,1613609318.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.434406 deg/s. Setting heading cmd to target bearing of 268.115797deg and heading rate command to 0 deg/s. 2021-02-18T00:48:41.297Z,1613609321.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:48:41.706Z,1613609321.706 [RDI_Pathfinder](ERROR): only read 0 of 4 data items 2021-02-18T00:48:42.084Z,1613609322.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:48:42.519Z,1613609322.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:48:43.307Z,1613609323.307 [Micromodem](INFO): Nmea in: $SNTTA,0.168391,,,,004842.14*4B 2021-02-18T00:48:43.765Z,1613609323.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.599991 m, bearing: 187.789918 deg, deltaT: 4.867637 s, approachRate: -0.258855 m/s, LOS rate: -16.502027 deg/s, posRepo size: 4 2021-02-18T00:48:43.766Z,1613609323.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.502027 deg/s. Setting heading cmd to target bearing of 187.789918deg and heading rate command to 0 deg/s. 2021-02-18T00:48:46.155Z,1613609326.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:48:46.942Z,1613609326.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:48:47.342Z,1613609327.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:48:48.157Z,1613609328.157 [Micromodem](INFO): Nmea in: $SNTTA,0.168400,,,,004847.00*44 2021-02-18T00:48:48.630Z,1613609328.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.599991 m, bearing: 160.647607 deg, deltaT: 4.799173 s, approachRate: 0.000000 m/s, LOS rate: -5.655622 deg/s, posRepo size: 4 2021-02-18T00:48:48.632Z,1613609328.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 252.599991 m, bearing: 160.647607 deg, approachRate: 0.000000 m/s, LOS rate: -5.655622 deg/s, cmd update: -12.000000 deg/s, cmd heading: 187.789918 deg, new cmd heading: 187.789918 deg. 2021-02-18T00:48:51.019Z,1613609331.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:48:51.791Z,1613609331.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:48:52.217Z,1613609332.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:48:53.005Z,1613609333.005 [Micromodem](INFO): Nmea in: $SNTTA,0.168311,,,,004851.84*48 2021-02-18T00:48:53.445Z,1613609333.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.539993 m, bearing: 252.352786 deg, deltaT: 4.847882 s, approachRate: -0.012376 m/s, LOS rate: 18.916545 deg/s, posRepo size: 4 2021-02-18T00:48:53.446Z,1613609333.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.916545 deg/s. Setting heading cmd to target bearing of 252.352786deg and heading rate command to 0 deg/s. 2021-02-18T00:48:55.860Z,1613609335.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:48:56.645Z,1613609336.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:48:57.036Z,1613609337.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:48:57.856Z,1613609337.856 [Micromodem](INFO): Nmea in: $SNTTA,0.169055,,,,004856.70*46 2021-02-18T00:48:58.297Z,1613609338.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.559998 m, bearing: 215.806083 deg, deltaT: 4.901115 s, approachRate: 0.208117 m/s, LOS rate: -7.456814 deg/s, posRepo size: 4 2021-02-18T00:48:58.300Z,1613609338.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 253.559998 m, bearing: 215.806083 deg, approachRate: 0.208117 m/s, LOS rate: -7.456814 deg/s, cmd update: -12.000000 deg/s, cmd heading: 252.352786 deg, new cmd heading: 252.352786 deg. 2021-02-18T00:49:00.716Z,1613609340.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:49:01.481Z,1613609341.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:49:01.881Z,1613609341.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:49:02.701Z,1613609342.701 [Micromodem](INFO): Nmea in: $SNTTA,0.170939,,,,004901.53*4F 2021-02-18T00:49:03.133Z,1613609343.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.440002 m, bearing: 171.957170 deg, deltaT: 4.841985 s, approachRate: 0.594798 m/s, LOS rate: -9.055979 deg/s, posRepo size: 4 2021-02-18T00:49:03.135Z,1613609343.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 256.440002 m, bearing: 171.957170 deg, approachRate: 0.594798 m/s, LOS rate: -9.055979 deg/s, cmd update: -12.000000 deg/s, cmd heading: 194.106453 deg, new cmd heading: 189.657705 deg. 2021-02-18T00:49:05.612Z,1613609345.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:49:06.324Z,1613609346.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:49:06.747Z,1613609346.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:49:07.546Z,1613609347.546 [Micromodem](INFO): Nmea in: $SNTTA,0.171734,,,,004906.38*47 2021-02-18T00:49:08.003Z,1613609348.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 257.639984 m, bearing: 206.949035 deg, deltaT: 4.884860 s, approachRate: 0.245653 m/s, LOS rate: 7.163330 deg/s, posRepo size: 4 2021-02-18T00:49:08.006Z,1613609348.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 257.639984 m, bearing: 206.949035 deg, approachRate: 0.245653 m/s, LOS rate: 7.163330 deg/s, cmd update: 12.000000 deg/s, cmd heading: 135.539755 deg, new cmd heading: 131.280067 deg. 2021-02-18T00:49:10.399Z,1613609350.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:49:11.182Z,1613609351.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:49:11.604Z,1613609351.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:49:12.395Z,1613609352.395 [Micromodem](INFO): Nmea in: $SNTTA,0.172849,,,,004911.24*4A 2021-02-18T00:49:12.853Z,1613609352.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 259.319977 m, bearing: 219.622998 deg, deltaT: 4.785646 s, approachRate: 0.351048 m/s, LOS rate: 2.648328 deg/s, posRepo size: 4 2021-02-18T00:49:12.859Z,1613609352.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 259.319977 m, bearing: 219.622998 deg, approachRate: 0.351048 m/s, LOS rate: 2.648328 deg/s, cmd update: 10.593313 deg/s, cmd heading: 192.731445 deg, new cmd heading: 198.061005 deg. 2021-02-18T00:49:15.243Z,1613609355.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:49:16.025Z,1613609356.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:49:16.430Z,1613609356.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:49:17.242Z,1613609357.242 [Micromodem](INFO): Nmea in: $SNTTA,0.174312,,,,004916.08*40 2021-02-18T00:49:17.690Z,1613609357.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.480011 m, bearing: 166.443978 deg, deltaT: 4.823669 s, approachRate: 0.447799 m/s, LOS rate: -11.024600 deg/s, posRepo size: 4 2021-02-18T00:49:17.692Z,1613609357.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 261.480011 m, bearing: 166.443978 deg, approachRate: 0.447799 m/s, LOS rate: -11.024600 deg/s, cmd update: -12.000000 deg/s, cmd heading: 244.084809 deg, new cmd heading: 248.669034 deg. 2021-02-18T00:49:20.085Z,1613609360.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:49:20.868Z,1613609360.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:49:21.274Z,1613609361.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:49:22.091Z,1613609362.091 [Micromodem](INFO): Nmea in: $SNTTA,0.175260,,,,004920.92*43 2021-02-18T00:49:22.596Z,1613609362.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.859985 m, bearing: 228.118251 deg, deltaT: 4.869604 s, approachRate: 0.283385 m/s, LOS rate: 12.665151 deg/s, posRepo size: 4 2021-02-18T00:49:22.596Z,1613609362.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.665151 deg/s. Setting heading cmd to target bearing of 228.118251deg and heading rate command to 0 deg/s. 2021-02-18T00:49:24.973Z,1613609364.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:49:25.721Z,1613609365.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:49:26.131Z,1613609366.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:49:26.936Z,1613609366.936 [Micromodem](INFO): Nmea in: $SNTTA,0.176013,,,,004925.77*48 2021-02-18T00:49:27.370Z,1613609367.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.059998 m, bearing: 264.283488 deg, deltaT: 4.861785 s, approachRate: 0.246825 m/s, LOS rate: 7.438675 deg/s, posRepo size: 4 2021-02-18T00:49:27.372Z,1613609367.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 264.059998 m, bearing: 264.283488 deg, approachRate: 0.246825 m/s, LOS rate: 7.438675 deg/s, cmd update: 12.000000 deg/s, cmd heading: 228.118251 deg, new cmd heading: 228.118251 deg. 2021-02-18T00:49:29.813Z,1613609369.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:49:30.596Z,1613609370.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:49:30.975Z,1613609370.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:49:31.798Z,1613609371.798 [Micromodem](INFO): Nmea in: $SNTTA,0.175861,,,,004930.65*41 2021-02-18T00:49:32.217Z,1613609372.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 263.820007 m, bearing: 188.291499 deg, deltaT: 4.880230 s, approachRate: -0.049176 m/s, LOS rate: -15.571395 deg/s, posRepo size: 4 2021-02-18T00:49:32.218Z,1613609372.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.571395 deg/s. Setting heading cmd to target bearing of 188.291499deg and heading rate command to 0 deg/s. 2021-02-18T00:49:34.673Z,1613609374.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:49:35.413Z,1613609375.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:49:35.817Z,1613609375.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:49:36.636Z,1613609376.636 [Micromodem](INFO): Nmea in: $SNTTA,0.175363,,,,004935.46*4C 2021-02-18T00:49:37.062Z,1613609377.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.859985 m, bearing: 296.771938 deg, deltaT: 4.825670 s, approachRate: -0.198941 m/s, LOS rate: 22.479870 deg/s, posRepo size: 4 2021-02-18T00:49:37.063Z,1613609377.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.479870 deg/s. Setting heading cmd to target bearing of 296.771938deg and heading rate command to 0 deg/s. 2021-02-18T00:49:39.472Z,1613609379.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:49:40.271Z,1613609380.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:49:40.665Z,1613609380.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:49:41.510Z,1613609381.510 [Micromodem](INFO): Nmea in: $SNTTA,0.174225,,,,004940.32*4F 2021-02-18T00:49:41.932Z,1613609381.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.119995 m, bearing: 303.673571 deg, deltaT: 4.911268 s, approachRate: -0.354285 m/s, LOS rate: 1.405265 deg/s, posRepo size: 4 2021-02-18T00:49:41.934Z,1613609381.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 261.119995 m, bearing: 303.673571 deg, approachRate: -0.354285 m/s, LOS rate: 1.405265 deg/s, cmd update: 5.621060 deg/s, cmd heading: 296.771938 deg, new cmd heading: 296.771938 deg. 2021-02-18T00:49:44.335Z,1613609384.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:49:45.114Z,1613609385.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:49:45.548Z,1613609385.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:49:46.330Z,1613609386.330 [Micromodem](INFO): Nmea in: $SNTTA,0.172593,,,,004945.17*41 2021-02-18T00:49:46.797Z,1613609386.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.660004 m, bearing: 295.924776 deg, deltaT: 4.739101 s, approachRate: -0.519084 m/s, LOS rate: -1.635077 deg/s, posRepo size: 4 2021-02-18T00:49:46.803Z,1613609386.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 258.660004 m, bearing: 295.924776 deg, approachRate: -0.519084 m/s, LOS rate: -1.635077 deg/s, cmd update: -6.540308 deg/s, cmd heading: 323.430664 deg, new cmd heading: 325.977926 deg. 2021-02-18T00:49:49.165Z,1613609389.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:49:49.956Z,1613609389.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:49:50.379Z,1613609390.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:49:51.179Z,1613609391.179 [Micromodem](INFO): Nmea in: $SNTTA,0.170753,,,,004950.01*4E 2021-02-18T00:49:51.662Z,1613609391.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.899994 m, bearing: 296.763305 deg, deltaT: 4.849276 s, approachRate: -0.569159 m/s, LOS rate: 0.172918 deg/s, posRepo size: 4 2021-02-18T00:49:51.664Z,1613609391.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 255.899994 m, bearing: 296.763305 deg, approachRate: -0.569159 m/s, LOS rate: 0.172918 deg/s, cmd update: 0.691673 deg/s, cmd heading: 291.713526 deg, new cmd heading: 288.649150 deg. 2021-02-18T00:49:54.013Z,1613609394.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:49:54.820Z,1613609394.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:49:55.209Z,1613609395.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:49:56.035Z,1613609396.035 [Micromodem](INFO): Nmea in: $SNTTA,0.168491,,,,004954.87*40 2021-02-18T00:49:56.473Z,1613609396.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.539993 m, bearing: 297.434139 deg, deltaT: 4.855492 s, approachRate: -0.692000 m/s, LOS rate: 0.138160 deg/s, posRepo size: 4 2021-02-18T00:49:56.474Z,1613609396.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 252.539993 m, bearing: 297.434139 deg, approachRate: -0.692000 m/s, LOS rate: 0.138160 deg/s, cmd update: 0.552639 deg/s, cmd heading: 295.072078 deg, new cmd heading: 295.364958 deg. 2021-02-18T00:49:58.924Z,1613609398.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:49:59.669Z,1613609399.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:50:00.075Z,1613609400.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:50:00.878Z,1613609400.878 [Micromodem](INFO): Nmea in: $SNTTA,0.166627,,,,004959.72*46 2021-02-18T00:50:01.298Z,1613609401.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.719986 m, bearing: 296.774697 deg, deltaT: 4.888683 s, approachRate: -0.576844 m/s, LOS rate: -0.134891 deg/s, posRepo size: 4 2021-02-18T00:50:01.300Z,1613609401.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 249.719986 m, bearing: 296.774697 deg, approachRate: -0.576844 m/s, LOS rate: -0.134891 deg/s, cmd update: -0.539565 deg/s, cmd heading: 297.773766 deg, new cmd heading: 297.972792 deg. 2021-02-18T00:50:03.742Z,1613609403.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:50:04.526Z,1613609404.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:50:04.905Z,1613609404.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:50:05.732Z,1613609405.732 [Micromodem](INFO): Nmea in: $SNTTA,0.164336,,,,005004.58*49 2021-02-18T00:50:06.158Z,1613609406.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.299988 m, bearing: 297.801493 deg, deltaT: 4.847461 s, approachRate: -0.705524 m/s, LOS rate: 0.211821 deg/s, posRepo size: 4 2021-02-18T00:50:06.160Z,1613609406.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 246.299988 m, bearing: 297.801493 deg, approachRate: -0.705524 m/s, LOS rate: 0.211821 deg/s, cmd update: 0.847286 deg/s, cmd heading: 295.169085 deg, new cmd heading: 294.957163 deg. 2021-02-18T00:50:08.614Z,1613609408.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:50:09.348Z,1613609409.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:50:09.759Z,1613609409.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:50:10.598Z,1613609410.598 [Micromodem](INFO): Nmea in: $SNTTA,0.161620,,,,005009.40*4A 2021-02-18T00:50:11.014Z,1613609411.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.219986 m, bearing: 297.543558 deg, deltaT: 4.869935 s, approachRate: -0.837794 m/s, LOS rate: -0.052965 deg/s, posRepo size: 4 2021-02-18T00:50:11.020Z,1613609411.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 242.219986 m, bearing: 297.543558 deg, approachRate: -0.837794 m/s, LOS rate: -0.052965 deg/s, cmd update: -0.211859 deg/s, cmd heading: 299.308909 deg, new cmd heading: 299.616221 deg. 2021-02-18T00:50:13.425Z,1613609413.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:50:14.197Z,1613609414.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:50:14.618Z,1613609414.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:50:15.414Z,1613609415.414 [Micromodem](INFO): Nmea in: $SNTTA,0.159139,,,,005014.25*41 2021-02-18T00:50:15.885Z,1613609415.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.499985 m, bearing: 298.936015 deg, deltaT: 4.773557 s, approachRate: -0.779293 m/s, LOS rate: 0.291702 deg/s, posRepo size: 4 2021-02-18T00:50:15.887Z,1613609415.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 238.499985 m, bearing: 298.936015 deg, approachRate: -0.779293 m/s, LOS rate: 0.291702 deg/s, cmd update: 1.166809 deg/s, cmd heading: 298.296754 deg, new cmd heading: 298.200017 deg. 2021-02-18T00:50:18.257Z,1613609418.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:50:19.046Z,1613609419.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:50:19.452Z,1613609419.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:50:20.262Z,1613609420.262 [Micromodem](INFO): Nmea in: $SNTTA,0.156729,,,,005019.10*42 2021-02-18T00:50:20.720Z,1613609420.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.899994 m, bearing: 299.061991 deg, deltaT: 4.859995 s, approachRate: -0.740740 m/s, LOS rate: 0.025921 deg/s, posRepo size: 4 2021-02-18T00:50:20.722Z,1613609420.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 234.899994 m, bearing: 299.061991 deg, approachRate: -0.740740 m/s, LOS rate: 0.025921 deg/s, cmd update: 0.103684 deg/s, cmd heading: 303.962692 deg, new cmd heading: 304.469980 deg. 2021-02-18T00:50:23.115Z,1613609423.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:50:23.893Z,1613609423.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:50:24.313Z,1613609424.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:50:25.106Z,1613609425.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005023.94*57 2021-02-18T00:50:25.944Z,1613609425.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:50:27.541Z,1613609427.541 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:50:28.780Z,1613609428.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:50:29.563Z,1613609429.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:50:29.958Z,1613609429.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:50:30.778Z,1613609430.778 [Micromodem](INFO): Nmea in: $SNTTA,0.151558,,,,005029.62*47 2021-02-18T00:50:31.205Z,1613609431.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.100006 m, bearing: 298.287256 deg, deltaT: 10.522755 s, approachRate: -0.741250 m/s, LOS rate: -0.073625 deg/s, posRepo size: 4 2021-02-18T00:50:31.207Z,1613609431.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 227.100006 m, bearing: 298.287256 deg, approachRate: -0.741250 m/s, LOS rate: -0.073625 deg/s, cmd update: -0.294499 deg/s, cmd heading: 305.054168 deg, new cmd heading: 305.094978 deg. 2021-02-18T00:50:33.658Z,1613609433.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:50:34.397Z,1613609434.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:50:34.802Z,1613609434.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:50:35.616Z,1613609435.616 [Micromodem](INFO): Nmea in: $SNTTA,0.149228,,,,005034.45*47 2021-02-18T00:50:36.057Z,1613609436.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.619995 m, bearing: 298.712559 deg, deltaT: 4.870664 s, approachRate: -0.714484 m/s, LOS rate: 0.087319 deg/s, posRepo size: 4 2021-02-18T00:50:36.059Z,1613609436.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.619995 m, bearing: 298.712559 deg, approachRate: -0.714484 m/s, LOS rate: 0.087319 deg/s, cmd update: 0.349277 deg/s, cmd heading: 303.623387 deg, new cmd heading: 303.509325 deg. 2021-02-18T00:50:38.479Z,1613609438.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:50:39.244Z,1613609439.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:50:39.661Z,1613609439.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:50:40.469Z,1613609440.469 [Micromodem](INFO): Nmea in: $SNTTA,0.146879,,,0.149373,005039.30*5C 2021-02-18T00:50:40.929Z,1613609440.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.139984 m, bearing: 298.872467 deg, deltaT: 4.840333 s, approachRate: -0.718961 m/s, LOS rate: 0.033037 deg/s, posRepo size: 4 2021-02-18T00:50:40.935Z,1613609440.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 220.139984 m, bearing: 298.872467 deg, approachRate: -0.718961 m/s, LOS rate: 0.033037 deg/s, cmd update: 0.132147 deg/s, cmd heading: 305.311767 deg, new cmd heading: 305.460260 deg. 2021-02-18T00:50:43.325Z,1613609443.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:50:44.094Z,1613609444.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:50:44.529Z,1613609444.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:50:45.311Z,1613609445.311 [Micromodem](INFO): Nmea in: $SNTTA,0.144464,,,,005044.15*46 2021-02-18T00:50:45.777Z,1613609445.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.539993 m, bearing: 298.335587 deg, deltaT: 4.823178 s, approachRate: -0.746394 m/s, LOS rate: -0.111313 deg/s, posRepo size: 4 2021-02-18T00:50:45.781Z,1613609445.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 216.539993 m, bearing: 298.335587 deg, approachRate: -0.746394 m/s, LOS rate: -0.111313 deg/s, cmd update: -0.445250 deg/s, cmd heading: 305.948955 deg, new cmd heading: 306.008565 deg. 2021-02-18T00:50:48.162Z,1613609448.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:50:48.940Z,1613609448.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:50:49.361Z,1613609449.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:50:50.161Z,1613609450.161 [Micromodem](INFO): Nmea in: $SNTTA,0.141935,,,,005048.99*42 2021-02-18T00:50:50.634Z,1613609450.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.759995 m, bearing: 298.074318 deg, deltaT: 4.835127 s, approachRate: -0.781779 m/s, LOS rate: -0.054035 deg/s, posRepo size: 4 2021-02-18T00:50:50.636Z,1613609450.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.759995 m, bearing: 298.074318 deg, approachRate: -0.781779 m/s, LOS rate: -0.054035 deg/s, cmd update: -0.216142 deg/s, cmd heading: 303.787468 deg, new cmd heading: 303.585363 deg. 2021-02-18T00:50:53.011Z,1613609453.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:50:53.810Z,1613609453.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:50:54.205Z,1613609454.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:50:55.014Z,1613609455.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005053.86*53 2021-02-18T00:50:55.434Z,1613609455.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.160004 m, bearing: 297.690353 deg, deltaT: 4.892642 s, approachRate: -0.735797 m/s, LOS rate: -0.078478 deg/s, posRepo size: 4 2021-02-18T00:50:55.436Z,1613609455.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 209.160004 m, bearing: 297.690353 deg, approachRate: -0.735797 m/s, LOS rate: -0.078478 deg/s, cmd update: -0.313913 deg/s, cmd heading: 302.733988 deg, new cmd heading: 302.651899 deg. 2021-02-18T00:50:57.880Z,1613609457.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:50:58.638Z,1613609458.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:50:59.045Z,1613609459.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:50:59.873Z,1613609459.873 [Micromodem](INFO): Nmea in: $SNTTA,0.137774,,,,005058.69*46 2021-02-18T00:51:00.282Z,1613609460.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.459991 m, bearing: 298.136227 deg, deltaT: 4.840554 s, approachRate: -0.557790 m/s, LOS rate: 0.092112 deg/s, posRepo size: 4 2021-02-18T00:51:00.300Z,1613609460.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 206.459991 m, bearing: 298.136227 deg, approachRate: -0.557790 m/s, LOS rate: 0.092112 deg/s, cmd update: 0.368449 deg/s, cmd heading: 301.208433 deg, new cmd heading: 301.092974 deg. 2021-02-18T00:51:02.738Z,1613609462.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:51:03.571Z,1613609463.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:51:03.616Z,1613609463.616 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T00:51:03.907Z,1613609463.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:51:05.124Z,1613609465.124 [Micromodem](INFO): Nmea in: $SNTTA,0.134733,,,,005103.62*42 2021-02-18T00:51:05.146Z,1613609465.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.899994 m, bearing: 299.788040 deg, deltaT: 4.875526 s, approachRate: -0.935283 m/s, LOS rate: 0.338797 deg/s, posRepo size: 4 2021-02-18T00:51:05.148Z,1613609465.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.899994 m, bearing: 299.788040 deg, approachRate: -0.935283 m/s, LOS rate: 0.338797 deg/s, cmd update: 1.355187 deg/s, cmd heading: 303.003249 deg, new cmd heading: 303.136154 deg. 2021-02-18T00:51:07.605Z,1613609467.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:51:08.341Z,1613609468.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:51:08.741Z,1613609468.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:51:08.760Z,1613609468.760 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T00:51:09.577Z,1613609469.577 [Micromodem](INFO): Nmea in: $SNTTA,0.132252,,,,005108.39*43 2021-02-18T00:51:09.990Z,1613609469.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.179993 m, bearing: 300.331341 deg, deltaT: 4.856321 s, approachRate: -0.766012 m/s, LOS rate: 0.111875 deg/s, posRepo size: 4 2021-02-18T00:51:09.992Z,1613609469.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.179993 m, bearing: 300.331341 deg, approachRate: -0.766012 m/s, LOS rate: 0.111875 deg/s, cmd update: 0.447500 deg/s, cmd heading: 309.590231 deg, new cmd heading: 310.056409 deg. 2021-02-18T00:51:12.396Z,1613609472.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:51:13.184Z,1613609473.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:51:13.610Z,1613609473.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:51:14.412Z,1613609474.412 [Micromodem](INFO): Nmea in: $SNTTA,0.129954,,,,005113.24*42 2021-02-18T00:51:14.856Z,1613609474.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.699982 m, bearing: 298.796980 deg, deltaT: 4.800787 s, approachRate: -0.724883 m/s, LOS rate: -0.319606 deg/s, posRepo size: 4 2021-02-18T00:51:14.858Z,1613609474.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.699982 m, bearing: 298.796980 deg, approachRate: -0.724883 m/s, LOS rate: -0.319606 deg/s, cmd update: -1.278425 deg/s, cmd heading: 311.736735 deg, new cmd heading: 311.921633 deg. 2021-02-18T00:51:17.265Z,1613609477.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:51:18.041Z,1613609478.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:51:18.456Z,1613609478.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:51:19.258Z,1613609479.258 [Micromodem](INFO): Nmea in: $SNTTA,0.127543,,,,005118.09*42 2021-02-18T00:51:19.717Z,1613609479.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.099991 m, bearing: 297.783626 deg, deltaT: 4.825320 s, approachRate: -0.746063 m/s, LOS rate: -0.210008 deg/s, posRepo size: 4 2021-02-18T00:51:19.718Z,1613609479.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.099991 m, bearing: 297.783626 deg, approachRate: -0.746063 m/s, LOS rate: -0.210008 deg/s, cmd update: -0.840031 deg/s, cmd heading: 305.562875 deg, new cmd heading: 304.994370 deg. 2021-02-18T00:51:22.090Z,1613609482.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:51:22.887Z,1613609482.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:51:23.301Z,1613609483.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:51:23.710Z,1613609483.710 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T00:51:24.112Z,1613609484.112 [Micromodem](INFO): Nmea in: $SNTTA,0.125252,,,,005122.94*4A 2021-02-18T00:51:24.154Z,1613609484.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.099991 m, bearing: 293.762584 deg, deltaT: 4.504228 s, approachRate: 0.000000 m/s, LOS rate: -0.892726 deg/s, posRepo size: 4 2021-02-18T00:51:24.160Z,1613609484.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.099991 m, bearing: 293.762584 deg, approachRate: 0.000000 m/s, LOS rate: -0.892726 deg/s, cmd update: -3.570904 deg/s, cmd heading: 301.779193 deg, new cmd heading: 301.461840 deg. 2021-02-18T00:51:26.598Z,1613609486.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:51:27.328Z,1613609487.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:51:27.737Z,1613609487.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:51:28.583Z,1613609488.583 [Micromodem](INFO): Nmea in: $SNTTA,0.123115,,,,005127.38*4F 2021-02-18T00:51:28.596Z,1613609488.596 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T00:51:28.999Z,1613609488.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.500000 m, bearing: 298.404408 deg, deltaT: 4.871507 s, approachRate: -1.354815 m/s, LOS rate: 0.952852 deg/s, posRepo size: 4 2021-02-18T00:51:29.002Z,1613609489.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.500000 m, bearing: 298.404408 deg, approachRate: -1.354815 m/s, LOS rate: 0.952852 deg/s, cmd update: 3.811407 deg/s, cmd heading: 284.402727 deg, new cmd heading: 283.131874 deg. 2021-02-18T00:51:31.386Z,1613609491.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:51:32.182Z,1613609492.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:51:32.607Z,1613609492.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:51:33.415Z,1613609493.415 [Micromodem](INFO): Nmea in: $SNTTA,0.120854,,,,005132.23*4E 2021-02-18T00:51:33.825Z,1613609493.825 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T00:51:33.876Z,1613609493.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.019989 m, bearing: 298.820448 deg, deltaT: 4.817146 s, approachRate: -0.722422 m/s, LOS rate: 0.086367 deg/s, posRepo size: 4 2021-02-18T00:51:33.878Z,1613609493.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.019989 m, bearing: 298.820448 deg, approachRate: -0.722422 m/s, LOS rate: 0.086367 deg/s, cmd update: 0.345466 deg/s, cmd heading: 302.741498 deg, new cmd heading: 304.352264 deg. 2021-02-18T00:51:36.301Z,1613609496.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:51:37.024Z,1613609497.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:51:37.444Z,1613609497.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:51:38.263Z,1613609498.263 [Micromodem](INFO): Nmea in: $SNTTA,0.118481,,,,005137.08*4D 2021-02-18T00:51:38.282Z,1613609498.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.019989 m, bearing: 300.259842 deg, deltaT: 4.443891 s, approachRate: 0.000000 m/s, LOS rate: 0.323904 deg/s, posRepo size: 4 2021-02-18T00:51:38.284Z,1613609498.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.019989 m, bearing: 300.259842 deg, approachRate: 0.000000 m/s, LOS rate: 0.323904 deg/s, cmd update: 1.295616 deg/s, cmd heading: 304.279190 deg, new cmd heading: 304.409449 deg. 2021-02-18T00:51:40.706Z,1613609500.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:51:41.472Z,1613609501.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:51:41.874Z,1613609501.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:51:42.704Z,1613609502.704 [Micromodem](INFO): Nmea in: $SNTTA,0.116372,,,,005141.52*46 2021-02-18T00:51:42.788Z,1613609502.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.019989 m, bearing: 299.858500 deg, deltaT: 4.392147 s, approachRate: 0.000000 m/s, LOS rate: -0.091377 deg/s, posRepo size: 4 2021-02-18T00:51:42.790Z,1613609502.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.019989 m, bearing: 299.858500 deg, approachRate: 0.000000 m/s, LOS rate: -0.091377 deg/s, cmd update: -0.365509 deg/s, cmd heading: 309.972975 deg, new cmd heading: 310.600243 deg. 2021-02-18T00:51:43.562Z,1613609503.562 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T00:51:45.124Z,1613609505.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:51:45.919Z,1613609505.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:51:46.324Z,1613609506.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:51:47.144Z,1613609507.144 [Micromodem](INFO): Nmea in: $SNTTA,0.114132,,,,005145.97*4F 2021-02-18T00:51:47.166Z,1613609507.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.420013 m, bearing: 299.339953 deg, deltaT: 4.491446 s, approachRate: -2.137391 m/s, LOS rate: -0.115452 deg/s, posRepo size: 4 2021-02-18T00:51:47.168Z,1613609507.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.420013 m, bearing: 299.339953 deg, approachRate: -2.137391 m/s, LOS rate: -0.115452 deg/s, cmd update: -0.461809 deg/s, cmd heading: 308.332232 deg, new cmd heading: 308.194260 deg. 2021-02-18T00:51:49.632Z,1613609509.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:51:50.356Z,1613609510.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:51:50.762Z,1613609510.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:51:51.612Z,1613609511.612 [Micromodem](INFO): Nmea in: $SNTTA,0.112058,,,,005150.41*4B 2021-02-18T00:51:51.660Z,1613609511.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.880005 m, bearing: 299.300310 deg, deltaT: 4.396110 s, approachRate: -0.805259 m/s, LOS rate: -0.009018 deg/s, posRepo size: 4 2021-02-18T00:51:51.661Z,1613609511.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.880005 m, bearing: 299.300310 deg, approachRate: -0.805259 m/s, LOS rate: -0.009018 deg/s, cmd update: -0.036070 deg/s, cmd heading: 306.300998 deg, new cmd heading: 306.082764 deg. 2021-02-18T00:51:53.630Z,1613609513.630 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T00:51:54.008Z,1613609514.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:51:54.805Z,1613609514.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:51:55.213Z,1613609515.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:51:56.032Z,1613609516.032 [Micromodem](INFO): Nmea in: $SNTTA,0.109852,,,,005154.86*4C 2021-02-18T00:51:56.066Z,1613609516.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.640015 m, bearing: 299.069258 deg, deltaT: 4.478229 s, approachRate: -0.723498 m/s, LOS rate: -0.051594 deg/s, posRepo size: 4 2021-02-18T00:51:56.068Z,1613609516.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.640015 m, bearing: 299.069258 deg, approachRate: -0.723498 m/s, LOS rate: -0.051594 deg/s, cmd update: -0.206378 deg/s, cmd heading: 306.139406 deg, new cmd heading: 306.125006 deg. 2021-02-18T00:51:58.464Z,1613609518.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:51:59.244Z,1613609519.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:51:59.651Z,1613609519.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:00.504Z,1613609520.504 [Micromodem](INFO): Nmea in: $SNTTA,0.107721,,,,005159.30*49 2021-02-18T00:52:00.562Z,1613609520.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.399994 m, bearing: 299.211326 deg, deltaT: 4.429696 s, approachRate: -0.731432 m/s, LOS rate: 0.032072 deg/s, posRepo size: 4 2021-02-18T00:52:00.570Z,1613609520.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.399994 m, bearing: 299.211326 deg, approachRate: -0.731432 m/s, LOS rate: 0.032072 deg/s, cmd update: 0.128287 deg/s, cmd heading: 305.227007 deg, new cmd heading: 305.129900 deg. 2021-02-18T00:52:02.956Z,1613609522.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:03.702Z,1613609523.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:52:04.095Z,1613609524.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:04.924Z,1613609524.924 [Micromodem](INFO): Nmea in: $SNTTA,0.105468,,,,005203.75*48 2021-02-18T00:52:04.970Z,1613609524.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.979996 m, bearing: 299.547727 deg, deltaT: 4.500342 s, approachRate: -0.759942 m/s, LOS rate: 0.074750 deg/s, posRepo size: 4 2021-02-18T00:52:04.972Z,1613609524.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.979996 m, bearing: 299.547727 deg, approachRate: -0.759942 m/s, LOS rate: 0.074750 deg/s, cmd update: 0.299000 deg/s, cmd heading: 305.800987 deg, new cmd heading: 305.853375 deg. 2021-02-18T00:52:07.367Z,1613609527.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:08.149Z,1613609528.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:52:08.606Z,1613609528.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:09.373Z,1613609529.373 [Micromodem](INFO): Nmea in: $SNTTA,0.103305,,,,005208.20*49 2021-02-18T00:52:09.406Z,1613609529.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.799988 m, bearing: 298.971915 deg, deltaT: 4.432364 s, approachRate: -0.717452 m/s, LOS rate: -0.129911 deg/s, posRepo size: 4 2021-02-18T00:52:09.408Z,1613609529.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.799988 m, bearing: 298.971915 deg, approachRate: -0.717452 m/s, LOS rate: -0.129911 deg/s, cmd update: -0.519643 deg/s, cmd heading: 307.136682 deg, new cmd heading: 307.249428 deg. 2021-02-18T00:52:11.830Z,1613609531.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:12.605Z,1613609532.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:52:12.991Z,1613609532.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:13.820Z,1613609533.820 [Micromodem](INFO): Nmea in: $SNTTA,0.101105,,,,005212.66*40 2021-02-18T00:52:13.872Z,1613609533.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.799988 m, bearing: 299.575403 deg, deltaT: 4.377203 s, approachRate: 0.000000 m/s, LOS rate: 0.137871 deg/s, posRepo size: 4 2021-02-18T00:52:13.874Z,1613609533.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.799988 m, bearing: 299.575403 deg, approachRate: 0.000000 m/s, LOS rate: 0.137871 deg/s, cmd update: 0.551483 deg/s, cmd heading: 304.862591 deg, new cmd heading: 304.619887 deg. 2021-02-18T00:52:16.227Z,1613609536.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:17.026Z,1613609537.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:52:17.426Z,1613609537.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:18.252Z,1613609538.252 [Micromodem](INFO): Nmea in: $SNTTA,0.098951,,,,005217.08*45 2021-02-18T00:52:18.298Z,1613609538.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.259995 m, bearing: 299.199005 deg, deltaT: 4.488425 s, approachRate: -1.457080 m/s, LOS rate: -0.083860 deg/s, posRepo size: 4 2021-02-18T00:52:18.304Z,1613609538.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.259995 m, bearing: 299.199005 deg, approachRate: -1.457080 m/s, LOS rate: -0.083860 deg/s, cmd update: -0.335439 deg/s, cmd heading: 307.336193 deg, new cmd heading: 307.560836 deg. 2021-02-18T00:52:20.710Z,1613609540.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:21.469Z,1613609541.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:52:21.870Z,1613609541.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:22.696Z,1613609542.696 [Micromodem](INFO): Nmea in: $SNTTA,0.096675,,,,005221.52*48 2021-02-18T00:52:22.749Z,1613609542.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.839996 m, bearing: 298.548115 deg, deltaT: 4.395770 s, approachRate: -0.778020 m/s, LOS rate: -0.148072 deg/s, posRepo size: 4 2021-02-18T00:52:22.751Z,1613609542.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.839996 m, bearing: 298.548115 deg, approachRate: -0.778020 m/s, LOS rate: -0.148072 deg/s, cmd update: -0.592287 deg/s, cmd heading: 305.860408 deg, new cmd heading: 305.706425 deg. 2021-02-18T00:52:25.133Z,1613609545.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:25.908Z,1613609545.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:52:26.313Z,1613609546.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:27.136Z,1613609547.136 [Micromodem](INFO): Nmea in: $SNTTA,0.094540,,,,005225.96*43 2021-02-18T00:52:27.181Z,1613609547.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.600006 m, bearing: 298.164258 deg, deltaT: 4.488596 s, approachRate: -0.721827 m/s, LOS rate: -0.085518 deg/s, posRepo size: 4 2021-02-18T00:52:27.182Z,1613609547.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.600006 m, bearing: 298.164258 deg, approachRate: -0.721827 m/s, LOS rate: -0.085518 deg/s, cmd update: -0.342073 deg/s, cmd heading: 303.204110 deg, new cmd heading: 302.963922 deg. 2021-02-18T00:52:28.765Z,1613609548.765 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T00:52:29.638Z,1613609549.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:30.360Z,1613609550.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:52:30.758Z,1613609550.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:31.598Z,1613609551.598 [Micromodem](INFO): Nmea in: $SNTTA,0.092467,,,,005230.41*4F 2021-02-18T00:52:32.409Z,1613609552.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:33.986Z,1613609553.986 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T00:52:35.226Z,1613609555.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:36.008Z,1613609556.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:52:36.415Z,1613609556.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:37.236Z,1613609557.236 [Micromodem](INFO): Nmea in: $SNTTA,0.089469,,,,005236.06*4E 2021-02-18T00:52:37.273Z,1613609557.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.039993 m, bearing: 298.925524 deg, deltaT: 10.121704 s, approachRate: -0.746911 m/s, LOS rate: 0.075211 deg/s, posRepo size: 4 2021-02-18T00:52:37.275Z,1613609557.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.039993 m, bearing: 298.925524 deg, approachRate: -0.746911 m/s, LOS rate: 0.075211 deg/s, cmd update: 0.300845 deg/s, cmd heading: 299.743480 deg, new cmd heading: 299.613007 deg. 2021-02-18T00:52:38.879Z,1613609558.879 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T00:52:39.703Z,1613609559.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:40.457Z,1613609560.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:52:40.858Z,1613609560.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:41.684Z,1613609561.684 [Micromodem](INFO): Nmea in: $SNTTA,0.087489,,,,005240.51*4D 2021-02-18T00:52:41.743Z,1613609561.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.100006 m, bearing: 299.434592 deg, deltaT: 4.382868 s, approachRate: -0.670791 m/s, LOS rate: 0.116149 deg/s, posRepo size: 4 2021-02-18T00:52:41.745Z,1613609561.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.100006 m, bearing: 299.434592 deg, approachRate: -0.670791 m/s, LOS rate: 0.116149 deg/s, cmd update: 0.464598 deg/s, cmd heading: 301.064714 deg, new cmd heading: 301.196855 deg. 2021-02-18T00:52:44.103Z,1613609564.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:44.914Z,1613609564.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:52:45.324Z,1613609565.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:46.136Z,1613609566.136 [Micromodem](INFO): Nmea in: $SNTTA,0.085286,,,,005244.96*49 2021-02-18T00:52:46.170Z,1613609566.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.740005 m, bearing: 300.754375 deg, deltaT: 4.479589 s, approachRate: -0.750069 m/s, LOS rate: 0.294622 deg/s, posRepo size: 4 2021-02-18T00:52:46.172Z,1613609566.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.740005 m, bearing: 300.754375 deg, approachRate: -0.750069 m/s, LOS rate: 0.294622 deg/s, cmd update: 1.178486 deg/s, cmd heading: 303.145904 deg, new cmd heading: 303.334743 deg. 2021-02-18T00:52:48.628Z,1613609568.628 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T00:52:48.654Z,1613609568.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:49.345Z,1613609569.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:52:49.757Z,1613609569.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:50.597Z,1613609570.597 [Micromodem](INFO): Nmea in: $SNTTA,0.083127,,,,005249.40*41 2021-02-18T00:52:50.657Z,1613609570.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.559998 m, bearing: 299.677446 deg, deltaT: 4.418868 s, approachRate: -0.719643 m/s, LOS rate: -0.243712 deg/s, posRepo size: 4 2021-02-18T00:52:50.659Z,1613609570.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.559998 m, bearing: 299.677446 deg, approachRate: -0.719643 m/s, LOS rate: -0.243712 deg/s, cmd update: -0.974847 deg/s, cmd heading: 308.330183 deg, new cmd heading: 308.913195 deg. 2021-02-18T00:52:53.004Z,1613609573.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:53.795Z,1613609573.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:52:54.193Z,1613609574.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:55.020Z,1613609575.020 [Micromodem](INFO): Nmea in: $SNTTA,0.080851,,,,005253.85*48 2021-02-18T00:52:55.058Z,1613609575.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.080002 m, bearing: 300.388660 deg, deltaT: 4.471139 s, approachRate: -0.778324 m/s, LOS rate: 0.159068 deg/s, posRepo size: 4 2021-02-18T00:52:55.060Z,1613609575.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.080002 m, bearing: 300.388660 deg, approachRate: -0.778324 m/s, LOS rate: 0.159068 deg/s, cmd update: 0.636271 deg/s, cmd heading: 303.952156 deg, new cmd heading: 303.557090 deg. 2021-02-18T00:52:57.450Z,1613609577.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:52:58.234Z,1613609578.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:52:58.649Z,1613609578.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:52:59.460Z,1613609579.460 [Micromodem](INFO): Nmea in: $SNTTA,0.078535,,,,005258.28*4C 2021-02-18T00:52:59.544Z,1613609579.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.660004 m, bearing: 300.005240 deg, deltaT: 4.423488 s, approachRate: -0.773145 m/s, LOS rate: -0.086678 deg/s, posRepo size: 4 2021-02-18T00:52:59.546Z,1613609579.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.660004 m, bearing: 300.005240 deg, approachRate: -0.773145 m/s, LOS rate: -0.086678 deg/s, cmd update: -0.346712 deg/s, cmd heading: 306.752364 deg, new cmd heading: 307.061439 deg. 2021-02-18T00:53:01.906Z,1613609581.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:53:02.677Z,1613609582.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:53:03.088Z,1613609583.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:53:03.912Z,1613609583.912 [Micromodem](INFO): Nmea in: $SNTTA,0.076470,,0.120857,,005302.73*55 2021-02-18T00:53:03.935Z,1613609583.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.540001 m, bearing: 300.055347 deg, deltaT: 4.537319 s, approachRate: -0.687631 m/s, LOS rate: 0.011043 deg/s, posRepo size: 4 2021-02-18T00:53:03.937Z,1613609583.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.540001 m, bearing: 300.055347 deg, approachRate: -0.687631 m/s, LOS rate: 0.011043 deg/s, cmd update: 0.044173 deg/s, cmd heading: 305.188487 deg, new cmd heading: 305.060036 deg. 2021-02-18T00:53:06.332Z,1613609586.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:53:07.116Z,1613609587.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:53:07.549Z,1613609587.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:53:08.344Z,1613609588.344 [Micromodem](INFO): Nmea in: $SNTTA,0.074434,,,,005307.17*47 2021-02-18T00:53:08.382Z,1613609588.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.480003 m, bearing: 300.148483 deg, deltaT: 4.335890 s, approachRate: -0.705737 m/s, LOS rate: 0.021480 deg/s, posRepo size: 4 2021-02-18T00:53:08.384Z,1613609588.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.480003 m, bearing: 300.148483 deg, approachRate: -0.705737 m/s, LOS rate: 0.021480 deg/s, cmd update: 0.085921 deg/s, cmd heading: 305.381666 deg, new cmd heading: 305.401267 deg. 2021-02-18T00:53:10.799Z,1613609590.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:53:11.578Z,1613609591.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:53:11.969Z,1613609591.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:53:12.800Z,1613609592.800 [Micromodem](INFO): Nmea in: $SNTTA,0.072336,,0.099861,,005311.63*51 2021-02-18T00:53:12.839Z,1613609592.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.300003 m, bearing: 300.505401 deg, deltaT: 4.447953 s, approachRate: -0.714936 m/s, LOS rate: 0.080243 deg/s, posRepo size: 4 2021-02-18T00:53:12.842Z,1613609592.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.300003 m, bearing: 300.505401 deg, approachRate: -0.714936 m/s, LOS rate: 0.080243 deg/s, cmd update: 0.320973 deg/s, cmd heading: 305.764872 deg, new cmd heading: 305.802718 deg. 2021-02-18T00:53:15.219Z,1613609595.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:53:16.022Z,1613609596.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:53:16.410Z,1613609596.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:53:17.250Z,1613609597.250 [Micromodem](INFO): Nmea in: $SNTTA,0.070276,,,,005316.08*4D 2021-02-18T00:53:17.270Z,1613609597.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.120010 m, bearing: 299.544913 deg, deltaT: 4.459882 s, approachRate: -0.713022 m/s, LOS rate: -0.215362 deg/s, posRepo size: 4 2021-02-18T00:53:17.272Z,1613609597.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.120010 m, bearing: 299.544913 deg, approachRate: -0.713022 m/s, LOS rate: -0.215362 deg/s, cmd update: -0.861447 deg/s, cmd heading: 307.196368 deg, new cmd heading: 307.328711 deg. 2021-02-18T00:53:19.686Z,1613609599.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:53:20.457Z,1613609600.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:53:20.860Z,1613609600.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:53:21.688Z,1613609601.688 [Micromodem](INFO): Nmea in: $SNTTA,0.068044,,0.095003,,005320.51*5F 2021-02-18T00:53:21.722Z,1613609601.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.879997 m, bearing: 300.360110 deg, deltaT: 4.430331 s, approachRate: -0.731325 m/s, LOS rate: 0.184004 deg/s, posRepo size: 4 2021-02-18T00:53:21.724Z,1613609601.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.879997 m, bearing: 300.360110 deg, approachRate: -0.731325 m/s, LOS rate: 0.184004 deg/s, cmd update: 0.736014 deg/s, cmd heading: 303.380133 deg, new cmd heading: 303.006255 deg. 2021-02-18T00:53:24.105Z,1613609604.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:53:24.957Z,1613609604.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:53:25.299Z,1613609605.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:53:26.165Z,1613609606.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.639999 m, bearing: 300.374016 deg, deltaT: 4.461205 s, approachRate: -0.726261 m/s, LOS rate: 0.003117 deg/s, posRepo size: 4 2021-02-18T00:53:26.167Z,1613609606.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.639999 m, bearing: 300.374016 deg, approachRate: -0.726261 m/s, LOS rate: 0.003117 deg/s, cmd update: 0.012469 deg/s, cmd heading: 306.663891 deg, new cmd heading: 306.969661 deg. 2021-02-18T00:53:26.551Z,1613609606.551 [Micromodem](INFO): Nmea in: $SNTTA,0.065929,,,,005325.01*41 2021-02-18T00:53:28.632Z,1613609608.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:53:29.336Z,1613609609.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:53:29.747Z,1613609609.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:53:30.576Z,1613609610.576 [Micromodem](INFO): Nmea in: $SNTTA,0.063868,,,,005329.39*44 2021-02-18T00:53:30.641Z,1613609610.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.640007 m, bearing: 301.139079 deg, deltaT: 4.412010 s, approachRate: -0.679960 m/s, LOS rate: 0.173405 deg/s, posRepo size: 4 2021-02-18T00:53:30.643Z,1613609610.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.640007 m, bearing: 301.139079 deg, approachRate: -0.679960 m/s, LOS rate: 0.173405 deg/s, cmd update: 0.693619 deg/s, cmd heading: 306.718903 deg, new cmd heading: 306.724879 deg. 2021-02-18T00:53:33.009Z,1613609613.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:53:33.797Z,1613609613.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:53:34.187Z,1613609614.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:53:35.040Z,1613609615.040 [Micromodem](INFO): Nmea in: $SNTTA,0.061634,,,,005333.85*4D 2021-02-18T00:53:35.082Z,1613609615.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.280006 m, bearing: 300.209217 deg, deltaT: 4.499543 s, approachRate: -0.746743 m/s, LOS rate: -0.206657 deg/s, posRepo size: 4 2021-02-18T00:53:35.089Z,1613609615.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.280006 m, bearing: 300.209217 deg, approachRate: -0.746743 m/s, LOS rate: -0.206657 deg/s, cmd update: -0.826628 deg/s, cmd heading: 309.837074 deg, new cmd heading: 310.131870 deg. 2021-02-18T00:53:37.433Z,1613609617.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:53:38.224Z,1613609618.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:53:38.699Z,1613609618.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:53:39.456Z,1613609619.456 [Micromodem](INFO): Nmea in: $SNTTA,0.059419,,,,005338.27*48 2021-02-18T00:53:39.501Z,1613609619.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.680000 m, bearing: 298.534974 deg, deltaT: 4.386861 s, approachRate: -0.820634 m/s, LOS rate: -0.381649 deg/s, posRepo size: 4 2021-02-18T00:53:39.516Z,1613609619.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.680000 m, bearing: 298.534974 deg, approachRate: -0.820634 m/s, LOS rate: -0.381649 deg/s, cmd update: -1.526598 deg/s, cmd heading: 306.207568 deg, new cmd heading: 305.849605 deg. 2021-02-18T00:53:41.917Z,1613609621.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:53:42.673Z,1613609622.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:53:43.085Z,1613609623.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:53:43.904Z,1613609623.904 [Micromodem](INFO): Nmea in: $SNTTA,0.057084,,,,005342.73*4A 2021-02-18T00:53:43.926Z,1613609623.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.440002 m, bearing: 299.047866 deg, deltaT: 4.591968 s, approachRate: -0.705579 m/s, LOS rate: 0.111693 deg/s, posRepo size: 4 2021-02-18T00:53:43.928Z,1613609623.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.440002 m, bearing: 299.047866 deg, approachRate: -0.705579 m/s, LOS rate: 0.111693 deg/s, cmd update: 0.446774 deg/s, cmd heading: 299.203479 deg, new cmd heading: 298.760013 deg. 2021-02-18T00:53:46.350Z,1613609626.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:53:47.120Z,1613609627.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:53:47.537Z,1613609627.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:53:48.344Z,1613609628.344 [Micromodem](INFO): Nmea in: $SNTTA,0.054944,,,,005347.17*4B 2021-02-18T00:53:48.386Z,1613609628.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.320000 m, bearing: 301.009114 deg, deltaT: 4.323365 s, approachRate: -0.721661 m/s, LOS rate: 0.453639 deg/s, posRepo size: 4 2021-02-18T00:53:48.394Z,1613609628.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.320000 m, bearing: 301.009114 deg, approachRate: -0.721661 m/s, LOS rate: 0.453639 deg/s, cmd update: 1.814557 deg/s, cmd heading: 301.127907 deg, new cmd heading: 301.325871 deg. 2021-02-18T00:53:50.802Z,1613609630.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:53:51.578Z,1613609631.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:53:51.977Z,1613609631.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:53:52.800Z,1613609632.800 [Micromodem](INFO): Nmea in: $SNTTA,0.052705,,,,005351.63*42 2021-02-18T00:53:52.846Z,1613609632.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.900009 m, bearing: 300.851364 deg, deltaT: 4.421845 s, approachRate: -0.773431 m/s, LOS rate: -0.035675 deg/s, posRepo size: 4 2021-02-18T00:53:52.848Z,1613609632.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.900009 m, bearing: 300.851364 deg, approachRate: -0.773431 m/s, LOS rate: -0.035675 deg/s, cmd update: -0.142701 deg/s, cmd heading: 309.178446 deg, new cmd heading: 310.024568 deg. 2021-02-18T00:53:55.211Z,1613609635.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:53:55.000Z,1613609636.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:53:56.412Z,1613609636.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:53:57.240Z,1613609637.240 [Micromodem](INFO): Nmea in: $SNTTA,0.050622,,,,005356.05*43 2021-02-18T00:53:57.262Z,1613609637.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.840004 m, bearing: 300.141270 deg, deltaT: 4.476099 s, approachRate: -0.683632 m/s, LOS rate: -0.158641 deg/s, posRepo size: 4 2021-02-18T00:53:57.264Z,1613609637.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.840004 m, bearing: 300.141270 deg, approachRate: -0.683632 m/s, LOS rate: -0.158641 deg/s, cmd update: -0.634565 deg/s, cmd heading: 308.538959 deg, new cmd heading: 308.481768 deg. 2021-02-18T00:53:59.704Z,1613609639.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:00.444Z,1613609640.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:00.851Z,1613609640.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:01.681Z,1613609641.681 [Micromodem](INFO): Nmea in: $SNTTA,0.048482,,,,005400.50*46 2021-02-18T00:54:01.714Z,1613609641.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.599998 m, bearing: 300.174137 deg, deltaT: 4.416648 s, approachRate: -0.733589 m/s, LOS rate: 0.007442 deg/s, posRepo size: 4 2021-02-18T00:54:01.716Z,1613609641.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.599998 m, bearing: 300.174137 deg, approachRate: -0.733589 m/s, LOS rate: 0.007442 deg/s, cmd update: 0.029766 deg/s, cmd heading: 305.736365 deg, new cmd heading: 305.459296 deg. 2021-02-18T00:54:04.107Z,1613609644.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:04.889Z,1613609644.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:05.308Z,1613609645.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:06.124Z,1613609646.124 [Micromodem](INFO): Nmea in: $SNTTA,0.046531,,,,005404.94*4D 2021-02-18T00:54:06.162Z,1613609646.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.540001 m, bearing: 302.539295 deg, deltaT: 4.474644 s, approachRate: -0.683853 m/s, LOS rate: 0.528569 deg/s, posRepo size: 4 2021-02-18T00:54:06.164Z,1613609646.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.540001 m, bearing: 302.539295 deg, approachRate: -0.683853 m/s, LOS rate: 0.528569 deg/s, cmd update: 2.114276 deg/s, cmd heading: 305.869562 deg, new cmd heading: 305.881754 deg. 2021-02-18T00:54:08.576Z,1613609648.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:09.337Z,1613609649.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:09.739Z,1613609649.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:10.583Z,1613609650.583 [Micromodem](INFO): Nmea in: $SNTTA,0.044085,,,,005409.39*4F 2021-02-18T00:54:10.640Z,1613609650.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.120003 m, bearing: 300.808170 deg, deltaT: 4.420874 s, approachRate: -0.773602 m/s, LOS rate: -0.391580 deg/s, posRepo size: 4 2021-02-18T00:54:10.642Z,1613609650.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.120003 m, bearing: 300.808170 deg, approachRate: -0.773602 m/s, LOS rate: -0.391580 deg/s, cmd update: -1.566319 deg/s, cmd heading: 315.216281 deg, new cmd heading: 316.203510 deg. 2021-02-18T00:54:12.995Z,1613609652.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:13.785Z,1613609653.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:14.184Z,1613609654.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:15.008Z,1613609655.008 [Micromodem](INFO): Nmea in: $SNTTA,0.041852,,,,005413.84*45 2021-02-18T00:54:15.048Z,1613609655.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.520000 m, bearing: 298.353427 deg, deltaT: 4.472053 s, approachRate: -0.805000 m/s, LOS rate: -0.548907 deg/s, posRepo size: 4 2021-02-18T00:54:15.050Z,1613609655.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.520000 m, bearing: 298.353427 deg, approachRate: -0.805000 m/s, LOS rate: -0.548907 deg/s, cmd update: -2.195629 deg/s, cmd heading: 308.211492 deg, new cmd heading: 307.581318 deg. 2021-02-18T00:54:17.443Z,1613609657.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:18.220Z,1613609658.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:18.629Z,1613609658.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:19.448Z,1613609659.448 [Micromodem](INFO): Nmea in: $SNTTA,0.039848,,,,005418.27*43 2021-02-18T00:54:19.473Z,1613609659.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.759998 m, bearing: 299.838338 deg, deltaT: 4.398506 s, approachRate: -0.627486 m/s, LOS rate: 0.337594 deg/s, posRepo size: 4 2021-02-18T00:54:19.475Z,1613609659.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.759998 m, bearing: 299.838338 deg, approachRate: -0.627486 m/s, LOS rate: 0.337594 deg/s, cmd update: 1.350377 deg/s, cmd heading: 298.553889 deg, new cmd heading: 297.611052 deg. 2021-02-18T00:54:21.548Z,1613609661.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:22.266Z,1613609662.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:22.667Z,1613609662.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:23.512Z,1613609663.512 [Micromodem](INFO): Nmea in: $SNTTA,0.037889,,,,005422.32*4D 2021-02-18T00:54:23.593Z,1613609663.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.640007 m, bearing: 299.670124 deg, deltaT: 4.054061 s, approachRate: -0.769597 m/s, LOS rate: -0.041493 deg/s, posRepo size: 4 2021-02-18T00:54:23.598Z,1613609663.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.640007 m, bearing: 299.670124 deg, approachRate: -0.769597 m/s, LOS rate: -0.041493 deg/s, cmd update: -0.165971 deg/s, cmd heading: 304.022977 deg, new cmd heading: 304.690876 deg. 2021-02-18T00:54:25.617Z,1613609665.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:26.300Z,1613609666.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:26.705Z,1613609666.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:27.551Z,1613609667.551 [Micromodem](INFO): Nmea in: $SNTTA,0.035746,,,,005426.35*40 2021-02-18T00:54:27.626Z,1613609667.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.460003 m, bearing: 299.570676 deg, deltaT: 4.046333 s, approachRate: -0.785898 m/s, LOS rate: -0.024577 deg/s, posRepo size: 4 2021-02-18T00:54:27.628Z,1613609667.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.460003 m, bearing: 299.570676 deg, approachRate: -0.785898 m/s, LOS rate: -0.024577 deg/s, cmd update: -0.098309 deg/s, cmd heading: 303.353429 deg, new cmd heading: 303.270709 deg. 2021-02-18T00:54:29.950Z,1613609669.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:30.746Z,1613609670.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:31.150Z,1613609671.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:31.976Z,1613609671.976 [Micromodem](INFO): Nmea in: $SNTTA,0.033827,,,,005430.80*47 2021-02-18T00:54:31.998Z,1613609671.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.520000 m, bearing: 298.228599 deg, deltaT: 4.501386 s, approachRate: -0.653133 m/s, LOS rate: -0.298148 deg/s, posRepo size: 4 2021-02-18T00:54:32.020Z,1613609672.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.520000 m, bearing: 298.228599 deg, approachRate: -0.653133 m/s, LOS rate: -0.298148 deg/s, cmd update: -1.192591 deg/s, cmd heading: 302.909705 deg, new cmd heading: 302.874659 deg. 2021-02-18T00:54:34.397Z,1613609674.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:35.195Z,1613609675.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:35.610Z,1613609675.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:36.424Z,1613609676.424 [Micromodem](INFO): Nmea in: $SNTTA,0.031414,,,,005435.25*43 2021-02-18T00:54:36.446Z,1613609676.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.860001 m, bearing: 298.842524 deg, deltaT: 4.365593 s, approachRate: -0.838374 m/s, LOS rate: 0.140628 deg/s, posRepo size: 4 2021-02-18T00:54:36.448Z,1613609676.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.860001 m, bearing: 298.842524 deg, approachRate: -0.838374 m/s, LOS rate: 0.140628 deg/s, cmd update: 0.562512 deg/s, cmd heading: 297.698590 deg, new cmd heading: 297.179901 deg. 2021-02-18T00:54:38.864Z,1613609678.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:39.632Z,1613609679.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:40.043Z,1613609680.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:40.871Z,1613609680.871 [Micromodem](INFO): Nmea in: $SNTTA,0.029311,,0.050893,,005439.68*54 2021-02-18T00:54:40.906Z,1613609680.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.799999 m, bearing: 300.253094 deg, deltaT: 4.462443 s, approachRate: -0.685723 m/s, LOS rate: 0.316098 deg/s, posRepo size: 4 2021-02-18T00:54:40.908Z,1613609680.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.799999 m, bearing: 300.253094 deg, approachRate: -0.685723 m/s, LOS rate: 0.316098 deg/s, cmd update: 1.264393 deg/s, cmd heading: 300.208765 deg, new cmd heading: 300.452173 deg. 2021-02-18T00:54:43.303Z,1613609683.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:44.076Z,1613609684.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:44.503Z,1613609684.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:45.316Z,1613609685.316 [Micromodem](INFO): Nmea in: $SNTTA,0.027133,,,0.029876,005444.13*5B 2021-02-18T00:54:45.334Z,1613609685.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.559998 m, bearing: 300.474146 deg, deltaT: 4.454479 s, approachRate: -0.727358 m/s, LOS rate: 0.049625 deg/s, posRepo size: 4 2021-02-18T00:54:45.336Z,1613609685.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.559998 m, bearing: 300.474146 deg, approachRate: -0.727358 m/s, LOS rate: 0.049625 deg/s, cmd update: 0.198499 deg/s, cmd heading: 305.840766 deg, new cmd heading: 306.354097 deg. 2021-02-18T00:54:47.758Z,1613609687.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:48.534Z,1613609688.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:48.943Z,1613609688.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:49.756Z,1613609689.756 [Micromodem](INFO): Nmea in: $SNTTA,0.024832,,,,005448.58*4F 2021-02-18T00:54:49.790Z,1613609689.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.019997 m, bearing: 301.106595 deg, deltaT: 4.435685 s, approachRate: -0.798073 m/s, LOS rate: 0.142582 deg/s, posRepo size: 4 2021-02-18T00:54:49.790Z,1613609689.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.02 m. 2021-02-18T00:54:49.792Z,1613609689.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.019997 m, bearing: 301.106595 deg, approachRate: -0.798073 m/s, LOS rate: 0.142582 deg/s, cmd update: 0.570327 deg/s, cmd heading: 306.721282 deg, new cmd heading: 306.805845 deg. 2021-02-18T00:54:50.161Z,1613609690.161 [PowerOnly](INFO): Powering up loadControl 2021-02-18T00:54:52.180Z,1613609692.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:52.960Z,1613609692.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:53.380Z,1613609693.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:54.188Z,1613609694.188 [Micromodem](INFO): Nmea in: $SNTTA,0.022723,,,,005453.01*40 2021-02-18T00:54:54.232Z,1613609694.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.900002 m, bearing: 300.379562 deg, deltaT: 4.477569 s, approachRate: -0.696806 m/s, LOS rate: -0.162372 deg/s, posRepo size: 4 2021-02-18T00:54:54.232Z,1613609694.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.90 m. 2021-02-18T00:54:54.233Z,1613609694.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.90 m. 2021-02-18T00:54:54.233Z,1613609694.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T00:54:54.235Z,1613609694.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.900002 m, bearing: 300.379562 deg, approachRate: -0.696806 m/s, LOS rate: -0.162372 deg/s, cmd update: -0.649489 deg/s, cmd heading: 309.272624 deg, new cmd heading: 309.497614 deg. 2021-02-18T00:54:56.643Z,1613609696.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:54:57.409Z,1613609697.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:54:57.817Z,1613609697.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:54:58.636Z,1613609698.636 [Micromodem](INFO): Nmea in: $SNTTA,0.020486,,,,005457.46*49 2021-02-18T00:54:58.719Z,1613609698.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.539997 m, bearing: 300.519116 deg, deltaT: 4.390685 s, approachRate: -0.765257 m/s, LOS rate: 0.031784 deg/s, posRepo size: 4 2021-02-18T00:54:58.721Z,1613609698.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.539997 m, bearing: 300.519116 deg, approachRate: -0.765257 m/s, LOS rate: 0.031784 deg/s, cmd update: 0.127137 deg/s, cmd heading: 306.418444 deg, new cmd heading: 306.104740 deg. 2021-02-18T00:55:01.063Z,1613609701.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:01.866Z,1613609701.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:02.259Z,1613609702.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:55:03.093Z,1613609703.093 [Micromodem](INFO): Nmea in: $SNTTA,0.018436,,,,005501.92*42 2021-02-18T00:55:03.119Z,1613609703.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.480000 m, bearing: 301.081869 deg, deltaT: 4.460783 s, approachRate: -0.685978 m/s, LOS rate: 0.126156 deg/s, posRepo size: 4 2021-02-18T00:55:03.145Z,1613609703.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.480000 m, bearing: 301.081869 deg, approachRate: -0.685978 m/s, LOS rate: 0.126156 deg/s, cmd update: 0.504623 deg/s, cmd heading: 306.985614 deg, new cmd heading: 307.039736 deg. 2021-02-18T00:55:05.554Z,1613609705.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:06.298Z,1613609706.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:06.703Z,1613609706.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:55:07.545Z,1613609707.545 [Micromodem](INFO): Nmea in: $SNTTA,0.016137,,,,005506.35*42 2021-02-18T00:55:07.621Z,1613609707.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.000002 m, bearing: 300.757954 deg, deltaT: 4.424964 s, approachRate: -0.786447 m/s, LOS rate: -0.073202 deg/s, posRepo size: 4 2021-02-18T00:55:07.623Z,1613609707.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.000002 m, bearing: 300.757954 deg, approachRate: -0.786447 m/s, LOS rate: -0.073202 deg/s, cmd update: -0.292807 deg/s, cmd heading: 309.218544 deg, new cmd heading: 309.472337 deg. 2021-02-18T00:55:09.630Z,1613609709.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:10.332Z,1613609710.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:10.743Z,1613609710.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:55:11.585Z,1613609711.585 [Micromodem](INFO): Nmea in: $SNTTA,0.014238,,,,005510.38*46 2021-02-18T00:55:11.654Z,1613609711.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.120001 m, bearing: 299.035162 deg, deltaT: 4.056285 s, approachRate: -0.710010 m/s, LOS rate: -0.424722 deg/s, posRepo size: 4 2021-02-18T00:55:11.656Z,1613609711.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.120001 m, bearing: 299.035162 deg, approachRate: -0.710010 m/s, LOS rate: -0.424722 deg/s, cmd update: -1.698887 deg/s, cmd heading: 308.030845 deg, new cmd heading: 307.890295 deg. 2021-02-18T00:55:13.994Z,1613609713.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:14.783Z,1613609714.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:15.190Z,1613609715.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:55:16.008Z,1613609716.008 [Micromodem](INFO): Nmea in: $SNTTA,0.012155,,,,005514.83*4C 2021-02-18T00:55:16.041Z,1613609716.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.000000 m, bearing: 300.414942 deg, deltaT: 4.466606 s, approachRate: -0.698517 m/s, LOS rate: 0.308910 deg/s, posRepo size: 4 2021-02-18T00:55:16.043Z,1613609716.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.000000 m, bearing: 300.414942 deg, approachRate: -0.698517 m/s, LOS rate: 0.308910 deg/s, cmd update: 1.235641 deg/s, cmd heading: 300.442538 deg, new cmd heading: 299.761950 deg. 2021-02-18T00:55:18.433Z,1613609718.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:19.220Z,1613609719.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:19.633Z,1613609719.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:55:20.448Z,1613609720.448 [Micromodem](INFO): Nmea in: $SNTTA,0.010062,,,,005519.27*48 2021-02-18T00:55:20.528Z,1613609720.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.820001 m, bearing: 302.245378 deg, deltaT: 4.435855 s, approachRate: -0.716885 m/s, LOS rate: 0.412646 deg/s, posRepo size: 4 2021-02-18T00:55:20.529Z,1613609720.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.820001 m, bearing: 302.245378 deg, approachRate: -0.716885 m/s, LOS rate: 0.412646 deg/s, cmd update: 1.650582 deg/s, cmd heading: 305.911530 deg, new cmd heading: 306.475670 deg. 2021-02-18T00:55:22.903Z,1613609722.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:23.670Z,1613609723.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:24.073Z,1613609724.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:55:24.903Z,1613609724.903 [Micromodem](INFO): Nmea in: $SNTTA,0.008101,,,,005523.73*4D 2021-02-18T00:55:24.938Z,1613609724.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.759997 m, bearing: 299.228347 deg, deltaT: 4.458446 s, approachRate: -0.686339 m/s, LOS rate: -0.676700 deg/s, posRepo size: 4 2021-02-18T00:55:24.940Z,1613609724.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.759997 m, bearing: 299.228347 deg, approachRate: -0.686339 m/s, LOS rate: -0.676700 deg/s, cmd update: -2.706801 deg/s, cmd heading: 313.280040 deg, new cmd heading: 313.951403 deg. 2021-02-18T00:55:27.337Z,1613609727.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:28.113Z,1613609728.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:28.538Z,1613609728.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:55:29.356Z,1613609729.356 [Micromodem](INFO): Nmea in: $SNTTA,0.006964,,,,005528.16*40 2021-02-18T00:55:29.371Z,1613609729.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.939999 m, bearing: 296.342702 deg, deltaT: 4.425143 s, approachRate: -0.637267 m/s, LOS rate: -0.652102 deg/s, posRepo size: 4 2021-02-18T00:55:29.373Z,1613609729.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.939999 m, bearing: 296.342702 deg, approachRate: -0.637267 m/s, LOS rate: -0.652102 deg/s, cmd update: -2.608409 deg/s, cmd heading: 301.356588 deg, new cmd heading: 300.179038 deg. 2021-02-18T00:55:31.808Z,1613609731.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:32.577Z,1613609732.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:32.963Z,1613609732.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:55:33.800Z,1613609733.800 [Micromodem](INFO): Nmea in: $SNTTA,0.004337,,,,005532.63*47 2021-02-18T00:55:33.889Z,1613609733.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.300001 m, bearing: 298.700947 deg, deltaT: 4.420032 s, approachRate: -0.597280 m/s, LOS rate: 0.533536 deg/s, posRepo size: 4 2021-02-18T00:55:33.895Z,1613609733.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.300001 m, bearing: 298.700947 deg, approachRate: -0.597280 m/s, LOS rate: 0.533536 deg/s, cmd update: 2.134144 deg/s, cmd heading: 289.764816 deg, new cmd heading: 288.436223 deg. 2021-02-18T00:55:36.220Z,1613609736.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:37.006Z,1613609737.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:37.407Z,1613609737.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:55:38.232Z,1613609738.232 [Micromodem](INFO): Nmea in: $SNTTA,0.003211,,,,005537.06*43 2021-02-18T00:55:38.276Z,1613609738.276 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T00:55:38.276Z,1613609738.276 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T00:55:38.276Z,1613609738.276 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T00:55:38.277Z,1613609738.277 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T00:55:38.277Z,1613609738.277 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T00:55:38.277Z,1613609738.277 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.500001 m 2021-02-18T00:55:38.277Z,1613609738.277 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T00:55:38.277Z,1613609738.277 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T00:55:38.277Z,1613609738.277 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T00:55:38.284Z,1613609738.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 306.602520 deg, deltaT: 4.489600 s, approachRate: -0.400927 m/s, LOS rate: 1.759973 deg/s, posRepo size: 4 2021-02-18T00:55:38.286Z,1613609738.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 306.602520 deg, approachRate: -0.400927 m/s, LOS rate: 1.759973 deg/s, cmd update: 7.039890 deg/s, cmd heading: 299.338211 deg, new cmd heading: 300.221497 deg. 2021-02-18T00:55:38.668Z,1613609738.668 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T005538: (41.552319, -70.708603) 2021-02-18T00:55:38.668Z,1613609738.668 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T00:55:38.668Z,1613609738.668 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T00:55:38.669Z,1613609738.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T00:55:38.669Z,1613609738.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T00:55:38.669Z,1613609738.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T00:55:38.669Z,1613609738.669 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T00:55:38.669Z,1613609738.669 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T00:55:38.669Z,1613609738.669 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T00:55:39.060Z,1613609739.060 [UniversalFixResidualReporter](INFO): Fix residual: 3.4 %DT, over the last 660.6 m. Residual distance 22.7 m at bearing -178.8 degrees. Fix at (41.5523, -70.7107) with 0.0 m made good. 2021-02-18T00:55:40.701Z,1613609740.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:41.445Z,1613609741.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:41.845Z,1613609741.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:55:42.676Z,1613609742.676 [Micromodem](INFO): Nmea in: $SNTTA,0.003151,,,0.005620,005541.50*59 2021-02-18T00:55:42.738Z,1613609742.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.740000 m, bearing: 298.836759 deg, deltaT: 4.393937 s, approachRate: 0.054620 m/s, LOS rate: -1.767381 deg/s, posRepo size: 4 2021-02-18T00:55:42.744Z,1613609742.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.740000 m, bearing: 298.836759 deg, approachRate: 0.054620 m/s, LOS rate: -1.767381 deg/s, cmd update: -7.069525 deg/s, cmd heading: 330.299366 deg, new cmd heading: 333.639766 deg. 2021-02-18T00:55:45.091Z,1613609745.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:45.884Z,1613609745.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:46.290Z,1613609746.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:55:47.116Z,1613609747.116 [Micromodem](INFO): Nmea in: $SNTTA,0.004572,,,,005545.94*48 2021-02-18T00:55:47.138Z,1613609747.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.960000 m, bearing: 265.275668 deg, deltaT: 4.491363 s, approachRate: 0.494282 m/s, LOS rate: -7.472362 deg/s, posRepo size: 4 2021-02-18T00:55:47.160Z,1613609747.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.960000 m, bearing: 265.275668 deg, approachRate: 0.494282 m/s, LOS rate: -7.472362 deg/s, cmd update: -12.000000 deg/s, cmd heading: 298.576161 deg, new cmd heading: 295.841952 deg. 2021-02-18T00:55:49.601Z,1613609749.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:50.334Z,1613609750.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:50.746Z,1613609750.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:55:51.588Z,1613609751.588 [Micromodem](INFO): Nmea in: $SNTTA,0.007776,,,,005550.38*4F 2021-02-18T00:55:51.646Z,1613609751.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.640002 m, bearing: 322.187646 deg, deltaT: 4.410885 s, approachRate: 1.061012 m/s, LOS rate: 12.902621 deg/s, posRepo size: 4 2021-02-18T00:55:51.646Z,1613609751.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.902621 deg/s. Setting heading cmd to target bearing of 322.187646deg and heading rate command to 0 deg/s. 2021-02-18T00:55:54.027Z,1613609754.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:54.772Z,1613609754.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:55.183Z,1613609755.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:55:56.000Z,1613609756.000 [Micromodem](INFO): Nmea in: $SNTTA,0.009366,,,,005554.82*41 2021-02-18T00:55:56.042Z,1613609756.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.039998 m, bearing: 305.339427 deg, deltaT: 4.479969 s, approachRate: 0.535717 m/s, LOS rate: -3.760789 deg/s, posRepo size: 4 2021-02-18T00:55:56.048Z,1613609756.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.039998 m, bearing: 305.339427 deg, approachRate: 0.535717 m/s, LOS rate: -3.760789 deg/s, cmd update: -12.000000 deg/s, cmd heading: 322.187646 deg, new cmd heading: 322.187646 deg. 2021-02-18T00:55:58.429Z,1613609758.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:55:59.221Z,1613609759.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:55:59.623Z,1613609759.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:00.456Z,1613609760.456 [Micromodem](INFO): Nmea in: $SNTTA,0.009790,,,,005559.27*4E 2021-02-18T00:56:00.528Z,1613609760.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.759997 m, bearing: 287.419770 deg, deltaT: 4.392577 s, approachRate: 0.163913 m/s, LOS rate: -4.079532 deg/s, posRepo size: 4 2021-02-18T00:56:00.530Z,1613609760.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.759997 m, bearing: 287.419770 deg, approachRate: 0.163913 m/s, LOS rate: -4.079532 deg/s, cmd update: -12.000000 deg/s, cmd heading: 269.477056 deg, new cmd heading: 263.653984 deg. 2021-02-18T00:56:02.548Z,1613609762.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:56:03.273Z,1613609763.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:56:03.674Z,1613609763.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:04.518Z,1613609764.518 [Micromodem](INFO): Nmea in: $SNTTA,0.012092,,,,005603.32*49 2021-02-18T00:56:04.612Z,1613609764.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.120001 m, bearing: 289.175866 deg, deltaT: 4.067132 s, approachRate: 0.826136 m/s, LOS rate: 0.431778 deg/s, posRepo size: 4 2021-02-18T00:56:04.614Z,1613609764.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.120001 m, bearing: 289.175866 deg, approachRate: 0.826136 m/s, LOS rate: 0.431778 deg/s, cmd update: 1.727110 deg/s, cmd heading: 220.670775 deg, new cmd heading: 214.660563 deg. 2021-02-18T00:56:06.619Z,1613609766.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:56:07.296Z,1613609767.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:56:07.705Z,1613609767.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:08.546Z,1613609768.546 [Micromodem](INFO): Nmea in: $SNTTA,0.013344,,,,005607.35*43 2021-02-18T00:56:08.624Z,1613609768.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.160000 m, bearing: 298.099672 deg, deltaT: 4.034858 s, approachRate: 0.505594 m/s, LOS rate: 2.211678 deg/s, posRepo size: 4 2021-02-18T00:56:08.626Z,1613609768.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.160000 m, bearing: 298.099672 deg, approachRate: 0.505594 m/s, LOS rate: 2.211678 deg/s, cmd update: 8.846711 deg/s, cmd heading: 227.621129 deg, new cmd heading: 228.475132 deg. 2021-02-18T00:56:10.648Z,1613609770.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:56:11.341Z,1613609771.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:56:11.746Z,1613609771.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:12.572Z,1613609772.572 [Micromodem](INFO): Nmea in: $SNTTA,0.015298,,,,005611.39*4E 2021-02-18T00:56:12.650Z,1613609772.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.099997 m, bearing: 241.352002 deg, deltaT: 4.036442 s, approachRate: 0.728363 m/s, LOS rate: -14.058835 deg/s, posRepo size: 4 2021-02-18T00:56:12.650Z,1613609772.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.058835 deg/s. Setting heading cmd to target bearing of 241.352002deg and heading rate command to 0 deg/s. 2021-02-18T00:56:15.009Z,1613609775.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:56:15.786Z,1613609775.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:56:16.186Z,1613609776.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:17.020Z,1613609777.020 [Micromodem](INFO): Nmea in: $SNTTA,0.017240,,0.058503,,005615.84*5E 2021-02-18T00:56:17.061Z,1613609777.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.460001 m, bearing: 270.887734 deg, deltaT: 4.481751 s, approachRate: 0.749708 m/s, LOS rate: 6.590222 deg/s, posRepo size: 4 2021-02-18T00:56:17.062Z,1613609777.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 26.46 m. Rolling out. 2021-02-18T00:56:17.062Z,1613609777.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T00:56:19.469Z,1613609779.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:56:20.229Z,1613609780.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:56:20.638Z,1613609780.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:21.456Z,1613609781.456 [Micromodem](INFO): Nmea in: $SNTTA,0.018881,,,,005620.28*43 2021-02-18T00:56:21.535Z,1613609781.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.500000 m, bearing: 260.376510 deg, deltaT: 4.407502 s, approachRate: 0.462847 m/s, LOS rate: -2.384848 deg/s, posRepo size: 4 2021-02-18T00:56:23.901Z,1613609783.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:56:24.668Z,1613609784.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:56:24.673Z,1613609784.673 [PowerOnly](INFO): Powering down loadControl 2021-02-18T00:56:25.075Z,1613609785.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:25.896Z,1613609785.896 [Micromodem](INFO): Nmea in: $SNTTA,0.020486,,,,005624.72*48 2021-02-18T00:56:25.945Z,1613609785.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.259998 m, bearing: 263.165659 deg, deltaT: 4.510703 s, approachRate: 0.611878 m/s, LOS rate: 0.618340 deg/s, posRepo size: 4 2021-02-18T00:56:28.319Z,1613609788.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:56:29.113Z,1613609789.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:56:29.533Z,1613609789.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:30.340Z,1613609790.340 [Micromodem](INFO): Nmea in: $SNTTA,0.022403,,,,005629.17*49 2021-02-18T00:56:30.377Z,1613609790.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.779999 m, bearing: 244.402036 deg, deltaT: 4.390179 s, approachRate: 0.574009 m/s, LOS rate: -4.273999 deg/s, posRepo size: 4 2021-02-18T00:56:32.790Z,1613609792.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:56:33.569Z,1613609793.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:56:33.967Z,1613609793.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:34.792Z,1613609794.792 [Micromodem](INFO): Nmea in: $SNTTA,0.023961,,,,005633.62*48 2021-02-18T00:56:34.840Z,1613609794.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.480000 m, bearing: 209.232409 deg, deltaT: 4.410915 s, approachRate: 0.612118 m/s, LOS rate: -7.973318 deg/s, posRepo size: 4 2021-02-18T00:56:37.215Z,1613609797.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:56:37.000Z,1613609798.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:56:38.414Z,1613609798.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:39.232Z,1613609799.232 [Micromodem](INFO): Nmea in: $SNTTA,0.025631,,,,005638.05*4E 2021-02-18T00:56:39.266Z,1613609799.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.639999 m, bearing: 192.859284 deg, deltaT: 4.483472 s, approachRate: 0.481769 m/s, LOS rate: -3.651885 deg/s, posRepo size: 4 2021-02-18T00:56:41.708Z,1613609801.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:56:42.466Z,1613609802.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:56:42.850Z,1613609802.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:43.696Z,1613609803.696 [Micromodem](INFO): Nmea in: $SNTTA,0.027666,,,,005642.52*41 2021-02-18T00:56:43.744Z,1613609803.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.060001 m, bearing: 201.846338 deg, deltaT: 4.411012 s, approachRate: 0.775333 m/s, LOS rate: 2.037413 deg/s, posRepo size: 4 2021-02-18T00:56:46.099Z,1613609806.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:56:46.896Z,1613609806.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:56:47.300Z,1613609807.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:48.120Z,1613609808.120 [Micromodem](INFO): Nmea in: $SNTTA,0.029655,,,,005646.95*40 2021-02-18T00:56:48.162Z,1613609808.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.940002 m, bearing: 198.931964 deg, deltaT: 4.496872 s, approachRate: 0.640445 m/s, LOS rate: -0.648089 deg/s, posRepo size: 4 2021-02-18T00:56:50.598Z,1613609810.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:56:51.332Z,1613609811.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:56:51.743Z,1613609811.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:52.585Z,1613609812.585 [Micromodem](INFO): Nmea in: $SNTTA,0.053775,,,0.059469,005651.38*56 2021-02-18T00:56:52.646Z,1613609812.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.999996 m, bearing: 250.665812 deg, deltaT: 4.403948 s, approachRate: 0.694830 m/s, LOS rate: 11.747152 deg/s, posRepo size: 4 2021-02-18T00:56:55.128Z,1613609815.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:56:55.778Z,1613609815.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:56:56.187Z,1613609816.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:56:57.011Z,1613609817.011 [Micromodem](INFO): Nmea in: $SNTTA,0.033864,,,,005655.83*42 2021-02-18T00:56:57.033Z,1613609817.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.240005 m, bearing: 259.897987 deg, deltaT: 4.486869 s, approachRate: 0.722109 m/s, LOS rate: 2.057599 deg/s, posRepo size: 4 2021-02-18T00:56:59.432Z,1613609819.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:00.220Z,1613609820.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:00.628Z,1613609820.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:01.448Z,1613609821.448 [Micromodem](INFO): Nmea in: $SNTTA,0.036234,,,,005700.27*47 2021-02-18T00:57:01.498Z,1613609821.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.540005 m, bearing: 204.219992 deg, deltaT: 4.401209 s, approachRate: 0.749794 m/s, LOS rate: -12.650613 deg/s, posRepo size: 4 2021-02-18T00:57:03.891Z,1613609823.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:04.664Z,1613609824.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:05.072Z,1613609825.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:05.892Z,1613609825.892 [Micromodem](INFO): Nmea in: $SNTTA,0.038055,,,,005704.72*48 2021-02-18T00:57:05.940Z,1613609825.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.299999 m, bearing: 206.639833 deg, deltaT: 4.482865 s, approachRate: 0.615676 m/s, LOS rate: 0.539798 deg/s, posRepo size: 4 2021-02-18T00:57:08.316Z,1613609828.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:09.108Z,1613609829.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:09.535Z,1613609829.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:10.351Z,1613609830.351 [Micromodem](INFO): Nmea in: $SNTTA,0.040225,,,,005709.16*4D 2021-02-18T00:57:10.370Z,1613609830.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.660000 m, bearing: 203.974488 deg, deltaT: 4.401481 s, approachRate: 0.763380 m/s, LOS rate: -0.605556 deg/s, posRepo size: 4 2021-02-18T00:57:12.821Z,1613609832.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:13.559Z,1613609833.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:13.972Z,1613609833.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:14.784Z,1613609834.784 [Micromodem](INFO): Nmea in: $SNTTA,0.042376,,,,005713.61*43 2021-02-18T00:57:14.836Z,1613609834.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.020004 m, bearing: 208.206050 deg, deltaT: 4.428395 s, approachRate: 0.758741 m/s, LOS rate: 0.955552 deg/s, posRepo size: 4 2021-02-18T00:57:17.219Z,1613609837.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:17.997Z,1613609837.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:18.402Z,1613609838.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:19.232Z,1613609839.232 [Micromodem](INFO): Nmea in: $SNTTA,0.044594,,0.047350,,005718.05*5D 2021-02-18T00:57:19.268Z,1613609839.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.080002 m, bearing: 213.607760 deg, deltaT: 4.498513 s, approachRate: 0.680224 m/s, LOS rate: 1.200777 deg/s, posRepo size: 4 2021-02-18T00:57:21.675Z,1613609841.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:22.440Z,1613609842.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:22.854Z,1613609842.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:23.668Z,1613609843.668 [Micromodem](INFO): Nmea in: $SNTTA,0.046749,,,,005722.49*47 2021-02-18T00:57:23.717Z,1613609843.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.320000 m, bearing: 262.506491 deg, deltaT: 4.405100 s, approachRate: 0.735511 m/s, LOS rate: 11.100481 deg/s, posRepo size: 4 2021-02-18T00:57:26.099Z,1613609846.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:26.884Z,1613609846.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:27.299Z,1613609847.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:28.120Z,1613609848.120 [Micromodem](INFO): Nmea in: $SNTTA,0.048837,,,0.051312,005726.93*56 2021-02-18T00:57:28.138Z,1613609848.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.560005 m, bearing: 206.623809 deg, deltaT: 4.459113 s, approachRate: 0.726603 m/s, LOS rate: -12.532242 deg/s, posRepo size: 4 2021-02-18T00:57:30.604Z,1613609850.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:31.328Z,1613609851.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:31.739Z,1613609851.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:32.584Z,1613609852.584 [Micromodem](INFO): Nmea in: $SNTTA,0.050996,,,,005731.38*48 2021-02-18T00:57:32.638Z,1613609852.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.860008 m, bearing: 220.870423 deg, deltaT: 4.414157 s, approachRate: 0.747595 m/s, LOS rate: 3.227482 deg/s, posRepo size: 4 2021-02-18T00:57:34.979Z,1613609854.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:35.779Z,1613609855.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:36.184Z,1613609856.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:37.004Z,1613609857.004 [Micromodem](INFO): Nmea in: $SNTTA,0.053288,,,,005735.83*4B 2021-02-18T00:57:37.047Z,1613609857.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.100006 m, bearing: 217.238388 deg, deltaT: 4.493396 s, approachRate: 0.721058 m/s, LOS rate: -0.808305 deg/s, posRepo size: 4 2021-02-18T00:57:39.439Z,1613609859.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:40.216Z,1613609860.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:40.628Z,1613609860.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:41.444Z,1613609861.444 [Micromodem](INFO): Nmea in: $SNTTA,0.055439,,,,005740.27*4D 2021-02-18T00:57:41.493Z,1613609861.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.400002 m, bearing: 218.319852 deg, deltaT: 4.429509 s, approachRate: 0.745003 m/s, LOS rate: 0.244150 deg/s, posRepo size: 4 2021-02-18T00:57:43.888Z,1613609863.888 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T00:57:43.925Z,1613609863.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:44.660Z,1613609864.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:45.067Z,1613609865.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:45.888Z,1613609865.888 [Micromodem](INFO): Nmea in: $SNTTA,0.057652,,,,005744.71*47 2021-02-18T00:57:45.935Z,1613609865.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.760010 m, bearing: 219.634199 deg, deltaT: 4.463092 s, approachRate: 0.752843 m/s, LOS rate: 0.294492 deg/s, posRepo size: 4 2021-02-18T00:57:48.328Z,1613609868.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:49.110Z,1613609869.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:49.548Z,1613609869.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:50.336Z,1613609870.336 [Micromodem](INFO): Nmea in: $SNTTA,0.059935,,,,005749.16*4B 2021-02-18T00:57:50.382Z,1613609870.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.119995 m, bearing: 221.460729 deg, deltaT: 4.389109 s, approachRate: 0.765528 m/s, LOS rate: 0.416150 deg/s, posRepo size: 4 2021-02-18T00:57:52.795Z,1613609872.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:53.555Z,1613609873.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:53.958Z,1613609873.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:54.780Z,1613609874.780 [Micromodem](INFO): Nmea in: $SNTTA,0.062081,,,,005753.61*4E 2021-02-18T00:57:54.838Z,1613609874.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.419998 m, bearing: 221.886591 deg, deltaT: 4.463732 s, approachRate: 0.739292 m/s, LOS rate: 0.095405 deg/s, posRepo size: 4 2021-02-18T00:57:57.211Z,1613609877.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:57:57.996Z,1613609877.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:57:58.398Z,1613609878.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:57:59.224Z,1613609879.224 [Micromodem](INFO): Nmea in: $SNTTA,0.064383,,,,005758.05*40 2021-02-18T00:57:59.262Z,1613609879.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.959999 m, bearing: 225.794921 deg, deltaT: 4.504576 s, approachRate: 0.785868 m/s, LOS rate: 0.867635 deg/s, posRepo size: 4 2021-02-18T00:58:01.676Z,1613609881.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:58:02.442Z,1613609882.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:58:02.845Z,1613609882.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:58:03.668Z,1613609883.668 [Micromodem](INFO): Nmea in: $SNTTA,0.066678,,,,005802.49*4B 2021-02-18T00:58:03.713Z,1613609883.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.199997 m, bearing: 218.567105 deg, deltaT: 4.375887 s, approachRate: 0.740421 m/s, LOS rate: -1.651737 deg/s, posRepo size: 4 2021-02-18T00:58:06.095Z,1613609886.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:58:06.888Z,1613609886.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:58:07.299Z,1613609887.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:58:08.116Z,1613609888.116 [Micromodem](INFO): Nmea in: $SNTTA,0.068753,,,,005806.94*49 2021-02-18T00:58:08.138Z,1613609888.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.260010 m, bearing: 220.094814 deg, deltaT: 4.492393 s, approachRate: 0.681154 m/s, LOS rate: 0.340066 deg/s, posRepo size: 4 2021-02-18T00:58:10.610Z,1613609890.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:58:11.333Z,1613609891.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:58:11.738Z,1613609891.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:58:12.568Z,1613609892.568 [Micromodem](INFO): Nmea in: $SNTTA,0.071013,,,,005811.38*42 2021-02-18T00:58:12.646Z,1613609892.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.680000 m, bearing: 224.428214 deg, deltaT: 4.390930 s, approachRate: 0.778876 m/s, LOS rate: 0.986898 deg/s, posRepo size: 4 2021-02-18T00:58:14.000Z,1613609895.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:58:15.790Z,1613609895.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:58:16.183Z,1613609896.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:58:17.012Z,1613609897.012 [Micromodem](INFO): Nmea in: $SNTTA,0.073321,,,,005815.84*41 2021-02-18T00:58:17.034Z,1613609897.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.160004 m, bearing: 226.734673 deg, deltaT: 4.511932 s, approachRate: 0.771289 m/s, LOS rate: 0.511191 deg/s, posRepo size: 4 2021-02-18T00:58:19.427Z,1613609899.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:58:20.225Z,1613609900.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:58:20.640Z,1613609900.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:58:21.452Z,1613609901.452 [Micromodem](INFO): Nmea in: $SNTTA,0.075391,,,,005820.28*4C 2021-02-18T00:58:21.533Z,1613609901.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.279999 m, bearing: 227.522904 deg, deltaT: 4.398285 s, approachRate: 0.709366 m/s, LOS rate: 0.179213 deg/s, posRepo size: 4 2021-02-18T00:58:23.938Z,1613609903.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:58:24.664Z,1613609904.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:58:25.091Z,1613609905.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:58:25.892Z,1613609905.892 [Micromodem](INFO): Nmea in: $SNTTA,0.077794,,,,005824.71*47 2021-02-18T00:58:25.948Z,1613609905.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.880005 m, bearing: 228.199257 deg, deltaT: 4.476430 s, approachRate: 0.804214 m/s, LOS rate: 0.151092 deg/s, posRepo size: 4 2021-02-18T00:58:28.326Z,1613609908.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:58:29.108Z,1613609909.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:58:29.532Z,1613609909.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:58:30.355Z,1613609910.355 [Micromodem](INFO): Nmea in: $SNTTA,0.079919,,,,005829.16*4E 2021-02-18T00:58:30.374Z,1613609910.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.059998 m, bearing: 228.624450 deg, deltaT: 4.418784 s, approachRate: 0.719653 m/s, LOS rate: 0.096224 deg/s, posRepo size: 4 2021-02-18T00:58:32.787Z,1613609912.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:58:33.568Z,1613609913.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:58:33.976Z,1613609913.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:58:34.788Z,1613609914.788 [Micromodem](INFO): Nmea in: $SNTTA,0.082079,,,,005833.62*4D 2021-02-18T00:58:34.836Z,1613609914.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.360001 m, bearing: 240.049567 deg, deltaT: 4.435605 s, approachRate: 0.743980 m/s, LOS rate: 2.575774 deg/s, posRepo size: 4 2021-02-18T00:58:37.213Z,1613609917.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:58:38.013Z,1613609918.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:58:38.408Z,1613609918.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:58:39.240Z,1613609919.240 [Micromodem](INFO): Nmea in: $SNTTA,0.084291,,,,005838.06*46 2021-02-18T00:58:39.262Z,1613609919.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.720001 m, bearing: 231.811839 deg, deltaT: 4.453914 s, approachRate: 0.754393 m/s, LOS rate: -1.849548 deg/s, posRepo size: 4 2021-02-18T00:58:41.688Z,1613609921.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:58:42.452Z,1613609922.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:58:42.867Z,1613609922.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:58:43.676Z,1613609923.676 [Micromodem](INFO): Nmea in: $SNTTA,0.086586,,,,005842.50*4B 2021-02-18T00:58:43.727Z,1613609923.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.199997 m, bearing: 239.511675 deg, deltaT: 4.414796 s, approachRate: 0.788257 m/s, LOS rate: 1.744098 deg/s, posRepo size: 4 2021-02-18T00:58:46.091Z,1613609926.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:58:46.885Z,1613609926.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:58:47.290Z,1613609927.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:58:48.112Z,1613609928.112 [Micromodem](INFO): Nmea in: $SNTTA,0.088828,,,,005846.93*47 2021-02-18T00:58:48.154Z,1613609928.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.619995 m, bearing: 234.541401 deg, deltaT: 4.492960 s, approachRate: 0.761190 m/s, LOS rate: -1.106236 deg/s, posRepo size: 4 2021-02-18T00:58:50.600Z,1613609930.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:58:51.328Z,1613609931.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:58:51.736Z,1613609931.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:58:52.580Z,1613609932.580 [Micromodem](INFO): Nmea in: $SNTTA,0.091049,,,,005851.38*47 2021-02-18T00:58:52.645Z,1613609932.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.860001 m, bearing: 234.938563 deg, deltaT: 4.422863 s, approachRate: 0.732558 m/s, LOS rate: 0.089797 deg/s, posRepo size: 4 2021-02-18T00:58:54.985Z,1613609934.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:58:55.772Z,1613609935.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:58:56.183Z,1613609936.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:58:57.000Z,1613609937.000 [Micromodem](INFO): Nmea in: $SNTTA,0.093496,,,,005855.82*46 2021-02-18T00:58:57.039Z,1613609937.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.400009 m, bearing: 231.508251 deg, deltaT: 4.487991 s, approachRate: 0.788774 m/s, LOS rate: -0.764331 deg/s, posRepo size: 4 2021-02-18T00:58:59.429Z,1613609939.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:00.216Z,1613609940.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:00.628Z,1613609940.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:01.455Z,1613609941.455 [Micromodem](INFO): Nmea in: $SNTTA,0.095777,,,,005900.27*42 2021-02-18T00:59:01.476Z,1613609941.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.820007 m, bearing: 233.580257 deg, deltaT: 4.386889 s, approachRate: 0.779595 m/s, LOS rate: 0.472318 deg/s, posRepo size: 4 2021-02-18T00:59:03.925Z,1613609943.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:04.660Z,1613609944.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:05.068Z,1613609945.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:05.895Z,1613609945.895 [Micromodem](INFO): Nmea in: $SNTTA,0.097920,,,,005904.71*4B 2021-02-18T00:59:05.930Z,1613609945.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.059998 m, bearing: 232.199794 deg, deltaT: 4.489699 s, approachRate: 0.721650 m/s, LOS rate: -0.307473 deg/s, posRepo size: 4 2021-02-18T00:59:08.311Z,1613609948.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:09.116Z,1613609949.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:09.534Z,1613609949.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:10.340Z,1613609950.340 [Micromodem](INFO): Nmea in: $SNTTA,0.100347,,,,005909.17*42 2021-02-18T00:59:10.362Z,1613609950.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.660004 m, bearing: 229.248961 deg, deltaT: 4.418428 s, approachRate: 0.814771 m/s, LOS rate: -0.667847 deg/s, posRepo size: 4 2021-02-18T00:59:10.362Z,1613609950.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.66 m. Resuming terminal guidance. 2021-02-18T00:59:10.363Z,1613609950.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T00:59:12.804Z,1613609952.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:13.553Z,1613609953.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:13.959Z,1613609953.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:14.799Z,1613609954.799 [Micromodem](INFO): Nmea in: $SNTTA,0.102518,,,,005913.60*47 2021-02-18T00:59:14.832Z,1613609954.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.959991 m, bearing: 231.452080 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T00:59:14.833Z,1613609954.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 231.452080deg and heading rate command to 0 deg/s. 2021-02-18T00:59:17.204Z,1613609957.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:18.003Z,1613609958.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:18.398Z,1613609958.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:19.228Z,1613609959.228 [Micromodem](INFO): Nmea in: $SNTTA,0.104944,,,,005918.05*4C 2021-02-18T00:59:19.250Z,1613609959.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.560013 m, bearing: 222.425274 deg, deltaT: 4.460631 s, approachRate: 0.807065 m/s, LOS rate: -2.023661 deg/s, posRepo size: 2 2021-02-18T00:59:19.252Z,1613609959.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.560013 m, bearing: 222.425274 deg, approachRate: 0.807065 m/s, LOS rate: -2.023661 deg/s, cmd update: -8.094644 deg/s, cmd heading: 231.452080 deg, new cmd heading: 231.452080 deg. 2021-02-18T00:59:21.665Z,1613609961.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:22.436Z,1613609962.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:22.864Z,1613609962.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:23.664Z,1613609963.664 [Micromodem](INFO): Nmea in: $SNTTA,0.107023,,,,005922.49*46 2021-02-18T00:59:23.698Z,1613609963.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.739990 m, bearing: 190.924565 deg, deltaT: 4.403307 s, approachRate: 0.722179 m/s, LOS rate: -7.153875 deg/s, posRepo size: 3 2021-02-18T00:59:23.700Z,1613609963.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.739990 m, bearing: 190.924565 deg, approachRate: 0.722179 m/s, LOS rate: -7.153875 deg/s, cmd update: -12.000000 deg/s, cmd heading: 195.794031 deg, new cmd heading: 192.305094 deg. 2021-02-18T00:59:26.102Z,1613609966.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:26.880Z,1613609966.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:27.291Z,1613609967.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:28.117Z,1613609968.117 [Micromodem](INFO): Nmea in: $SNTTA,0.109062,,,,005926.93*4E 2021-02-18T00:59:28.158Z,1613609968.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.800018 m, bearing: 220.959119 deg, deltaT: 4.487776 s, approachRate: 0.681858 m/s, LOS rate: 6.692525 deg/s, posRepo size: 4 2021-02-18T00:59:28.176Z,1613609968.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.800018 m, bearing: 220.959119 deg, approachRate: 0.681858 m/s, LOS rate: 6.692525 deg/s, cmd update: 12.000000 deg/s, cmd heading: 142.079198 deg, new cmd heading: 137.110538 deg. 2021-02-18T00:59:30.602Z,1613609970.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:31.331Z,1613609971.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:31.741Z,1613609971.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:32.565Z,1613609972.565 [Micromodem](INFO): Nmea in: $SNTTA,0.110632,,,,005931.38*42 2021-02-18T00:59:32.644Z,1613609972.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.800018 m, bearing: 186.398676 deg, deltaT: 4.418756 s, approachRate: 0.000000 m/s, LOS rate: -7.821306 deg/s, posRepo size: 4 2021-02-18T00:59:32.646Z,1613609972.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.800018 m, bearing: 186.398676 deg, approachRate: 0.000000 m/s, LOS rate: -7.821306 deg/s, cmd update: -12.000000 deg/s, cmd heading: 195.184143 deg, new cmd heading: 200.887443 deg. 2021-02-18T00:59:34.996Z,1613609974.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:35.774Z,1613609975.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:36.183Z,1613609976.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:37.000Z,1613609977.000 [Micromodem](INFO): Nmea in: $SNTTA,0.111955,,,,005935.83*49 2021-02-18T00:59:37.037Z,1613609977.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.000000 m, bearing: 162.376054 deg, deltaT: 4.505949 s, approachRate: 0.932097 m/s, LOS rate: -5.331313 deg/s, posRepo size: 4 2021-02-18T00:59:37.039Z,1613609977.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.000000 m, bearing: 162.376054 deg, approachRate: 0.932097 m/s, LOS rate: -5.331313 deg/s, cmd update: -12.000000 deg/s, cmd heading: 141.141938 deg, new cmd heading: 136.761338 deg. 2021-02-18T00:59:39.434Z,1613609979.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:40.217Z,1613609980.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:40.618Z,1613609980.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:41.444Z,1613609981.444 [Micromodem](INFO): Nmea in: $SNTTA,0.112705,,,,005940.27*4D 2021-02-18T00:59:41.525Z,1613609981.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.000000 m, bearing: 124.276535 deg, deltaT: 4.378176 s, approachRate: 0.000000 m/s, LOS rate: -8.702144 deg/s, posRepo size: 4 2021-02-18T00:59:41.531Z,1613609981.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.000000 m, bearing: 124.276535 deg, approachRate: 0.000000 m/s, LOS rate: -8.702144 deg/s, cmd update: -12.000000 deg/s, cmd heading: 88.711261 deg, new cmd heading: 82.979376 deg. 2021-02-18T00:59:43.887Z,1613609983.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:44.656Z,1613609984.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:45.067Z,1613609985.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:45.884Z,1613609985.884 [Micromodem](INFO): Nmea in: $SNTTA,0.113279,,,,005944.71*45 2021-02-18T00:59:45.932Z,1613609985.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.000000 m, bearing: 125.663938 deg, deltaT: 4.479961 s, approachRate: 0.000000 m/s, LOS rate: 0.309691 deg/s, posRepo size: 4 2021-02-18T00:59:45.934Z,1613609985.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.000000 m, bearing: 125.663938 deg, approachRate: 0.000000 m/s, LOS rate: 0.309691 deg/s, cmd update: 1.238763 deg/s, cmd heading: 34.794672 deg, new cmd heading: 30.018276 deg. 2021-02-18T00:59:48.325Z,1613609988.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:49.118Z,1613609989.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:49.533Z,1613609989.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:50.343Z,1613609990.343 [Micromodem](INFO): Nmea in: $SNTTA,0.112814,,,,005949.17*48 2021-02-18T00:59:50.366Z,1613609990.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.139999 m, bearing: 73.661739 deg, deltaT: 4.567186 s, approachRate: 0.249607 m/s, LOS rate: -11.386048 deg/s, posRepo size: 4 2021-02-18T00:59:50.368Z,1613609990.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.139999 m, bearing: 73.661739 deg, approachRate: 0.249607 m/s, LOS rate: -11.386048 deg/s, cmd update: -12.000000 deg/s, cmd heading: 40.454663 deg, new cmd heading: 40.778544 deg. 2021-02-18T00:59:52.788Z,1613609992.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:53.553Z,1613609993.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:53.972Z,1613609993.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:54.776Z,1613609994.776 [Micromodem](INFO): Nmea in: $SNTTA,0.112020,,,,005953.60*4C 2021-02-18T00:59:54.824Z,1613609994.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.139999 m, bearing: 59.360327 deg, deltaT: 4.294787 s, approachRate: 0.000000 m/s, LOS rate: -3.329947 deg/s, posRepo size: 4 2021-02-18T00:59:54.826Z,1613609994.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.139999 m, bearing: 59.360327 deg, approachRate: 0.000000 m/s, LOS rate: -3.329947 deg/s, cmd update: -12.000000 deg/s, cmd heading: 348.995218 deg, new cmd heading: 343.814530 deg. 2021-02-18T00:59:57.214Z,1613609997.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T00:59:57.989Z,1613609997.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T00:59:58.412Z,1613609998.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T00:59:59.216Z,1613609999.216 [Micromodem](INFO): Nmea in: $SNTTA,0.110670,,,,005958.04*44 2021-02-18T00:59:59.258Z,1613609999.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.299988 m, bearing: 68.433421 deg, deltaT: 4.475060 s, approachRate: -0.858092 m/s, LOS rate: 2.027480 deg/s, posRepo size: 4 2021-02-18T00:59:59.264Z,1613609999.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.299988 m, bearing: 68.433421 deg, approachRate: -0.858092 m/s, LOS rate: 2.027480 deg/s, cmd update: 8.109919 deg/s, cmd heading: 295.307756 deg, new cmd heading: 290.598356 deg. 2021-02-18T01:00:01.660Z,1613610001.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:02.432Z,1613610002.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:00:02.856Z,1613610002.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:00:03.660Z,1613610003.660 [Micromodem](INFO): Nmea in: $SNTTA,0.109125,,,,010002.48*41 2021-02-18T01:00:03.694Z,1613610003.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.439987 m, bearing: 62.266047 deg, deltaT: 4.388321 s, approachRate: -0.423852 m/s, LOS rate: -1.405406 deg/s, posRepo size: 4 2021-02-18T01:00:03.696Z,1613610003.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.439987 m, bearing: 62.266047 deg, approachRate: -0.423852 m/s, LOS rate: -1.405406 deg/s, cmd update: -5.621625 deg/s, cmd heading: 330.967841 deg, new cmd heading: 334.463257 deg. 2021-02-18T01:00:06.083Z,1613610006.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:06.893Z,1613610006.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:00:07.282Z,1613610007.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:00:08.120Z,1613610008.120 [Micromodem](INFO): Nmea in: $SNTTA,0.107082,,,,010006.94*46 2021-02-18T01:00:08.155Z,1613610008.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.080002 m, bearing: 64.843057 deg, deltaT: 4.486661 s, approachRate: -3.423478 m/s, LOS rate: 0.574371 deg/s, posRepo size: 4 2021-02-18T01:00:08.157Z,1613610008.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.080002 m, bearing: 64.843057 deg, approachRate: -3.423478 m/s, LOS rate: 0.574371 deg/s, cmd update: 2.297486 deg/s, cmd heading: 305.743496 deg, new cmd heading: 303.467716 deg. 2021-02-18T01:00:10.624Z,1613610010.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:11.320Z,1613610011.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:00:11.731Z,1613610011.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:00:12.556Z,1613610012.556 [Micromodem](INFO): Nmea in: $SNTTA,0.105206,,,,010011.37*45 2021-02-18T01:00:12.680Z,1613610012.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.619995 m, bearing: 62.508273 deg, deltaT: 4.398179 s, approachRate: 2.169078 m/s, LOS rate: -0.530852 deg/s, posRepo size: 4 2021-02-18T01:00:12.682Z,1613610012.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.619995 m, bearing: 62.508273 deg, approachRate: 2.169078 m/s, LOS rate: -0.530852 deg/s, cmd update: -2.123410 deg/s, cmd heading: 315.849715 deg, new cmd heading: 317.058698 deg. 2021-02-18T01:00:14.987Z,1613610014.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:15.765Z,1613610015.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:00:16.170Z,1613610016.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:00:16.996Z,1613610016.996 [Micromodem](INFO): Nmea in: $SNTTA,0.103222,,,,010015.82*4F 2021-02-18T01:00:17.038Z,1613610017.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.680008 m, bearing: 61.054153 deg, deltaT: 4.490439 s, approachRate: -0.654722 m/s, LOS rate: -0.323826 deg/s, posRepo size: 4 2021-02-18T01:00:17.044Z,1613610017.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.680008 m, bearing: 61.054153 deg, approachRate: -0.654722 m/s, LOS rate: -0.323826 deg/s, cmd update: -1.295303 deg/s, cmd heading: 306.314773 deg, new cmd heading: 305.467586 deg. 2021-02-18T01:00:19.415Z,1613610019.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:20.208Z,1613610020.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:00:20.621Z,1613610020.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:00:21.443Z,1613610021.443 [Micromodem](INFO): Nmea in: $SNTTA,0.101830,,,,010020.26*4C 2021-02-18T01:00:21.462Z,1613610021.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.520004 m, bearing: 65.185659 deg, deltaT: 4.406649 s, approachRate: -0.490169 m/s, LOS rate: 0.937562 deg/s, posRepo size: 4 2021-02-18T01:00:21.468Z,1613610021.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.520004 m, bearing: 65.185659 deg, approachRate: -0.490169 m/s, LOS rate: 0.937562 deg/s, cmd update: 3.750248 deg/s, cmd heading: 300.606753 deg, new cmd heading: 300.067572 deg. 2021-02-18T01:00:23.879Z,1613610023.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:24.657Z,1613610024.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:00:25.063Z,1613610025.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:00:25.871Z,1613610025.871 [Micromodem](INFO): Nmea in: $SNTTA,0.100453,,,,010024.71*42 2021-02-18T01:00:26.714Z,1613610026.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:28.289Z,1613610028.289 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:00:29.570Z,1613610029.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:30.314Z,1613610030.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:00:30.719Z,1613610030.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:00:31.552Z,1613610031.552 [Micromodem](INFO): Nmea in: $SNTTA,0.099738,,,,010030.36*4B 2021-02-18T01:00:31.627Z,1613610031.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.580002 m, bearing: 306.458184 deg, deltaT: 10.104872 s, approachRate: -0.290949 m/s, LOS rate: -11.749528 deg/s, posRepo size: 4 2021-02-18T01:00:31.628Z,1613610031.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.749528 deg/s. Setting heading cmd to target bearing of 306.458184deg and heading rate command to 0 deg/s. 2021-02-18T01:00:33.991Z,1613610033.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:34.752Z,1613610034.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:00:35.157Z,1613610035.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:00:35.985Z,1613610035.985 [Micromodem](INFO): Nmea in: $SNTTA,0.099715,,,,010034.80*4D 2021-02-18T01:00:36.024Z,1613610036.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.580002 m, bearing: 35.126430 deg, deltaT: 4.505304 s, approachRate: 0.000000 m/s, LOS rate: 19.680859 deg/s, posRepo size: 4 2021-02-18T01:00:36.025Z,1613610036.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.680859 deg/s. Setting heading cmd to target bearing of 35.126430deg and heading rate command to 0 deg/s. 2021-02-18T01:00:38.414Z,1613610038.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:39.199Z,1613610039.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:00:39.620Z,1613610039.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:00:40.428Z,1613610040.428 [Micromodem](INFO): Nmea in: $SNTTA,0.100219,,,,010039.25*47 2021-02-18T01:00:40.474Z,1613610040.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.360001 m, bearing: 2.215424 deg, deltaT: 4.367873 s, approachRate: 0.178576 m/s, LOS rate: -7.534791 deg/s, posRepo size: 4 2021-02-18T01:00:40.476Z,1613610040.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.360001 m, bearing: 2.215424 deg, approachRate: 0.178576 m/s, LOS rate: -7.534791 deg/s, cmd update: -12.000000 deg/s, cmd heading: 35.126430 deg, new cmd heading: 35.126430 deg. 2021-02-18T01:00:42.882Z,1613610042.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:43.646Z,1613610043.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:00:44.060Z,1613610044.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:00:44.872Z,1613610044.872 [Micromodem](INFO): Nmea in: $SNTTA,0.101070,,,,010043.70*46 2021-02-18T01:00:44.930Z,1613610044.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.559998 m, bearing: 24.828692 deg, deltaT: 4.512716 s, approachRate: 0.265915 m/s, LOS rate: 5.011011 deg/s, posRepo size: 4 2021-02-18T01:00:44.932Z,1613610044.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.559998 m, bearing: 24.828692 deg, approachRate: 0.265915 m/s, LOS rate: 5.011011 deg/s, cmd update: 12.000000 deg/s, cmd heading: 341.075201 deg, new cmd heading: 336.251873 deg. 2021-02-18T01:00:47.306Z,1613610047.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:48.084Z,1613610048.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:00:48.521Z,1613610048.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:00:49.312Z,1613610049.312 [Micromodem](INFO): Nmea in: $SNTTA,0.101589,,,,010048.13*4B 2021-02-18T01:00:49.346Z,1613610049.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.340012 m, bearing: 308.082868 deg, deltaT: 4.399754 s, approachRate: 0.177286 m/s, LOS rate: -17.443209 deg/s, posRepo size: 4 2021-02-18T01:00:49.347Z,1613610049.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.443209 deg/s. Setting heading cmd to target bearing of 308.082868deg and heading rate command to 0 deg/s. 2021-02-18T01:00:51.756Z,1613610051.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:52.533Z,1613610052.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:00:52.946Z,1613610052.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:00:53.760Z,1613610053.760 [Micromodem](INFO): Nmea in: $SNTTA,0.101442,,,,010052.58*49 2021-02-18T01:00:53.794Z,1613610053.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.040009 m, bearing: 44.495653 deg, deltaT: 4.426131 s, approachRate: -0.067780 m/s, LOS rate: 21.782631 deg/s, posRepo size: 4 2021-02-18T01:00:53.795Z,1613610053.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.782631 deg/s. Setting heading cmd to target bearing of 44.495653deg and heading rate command to 0 deg/s. 2021-02-18T01:00:56.183Z,1613610056.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:00:56.973Z,1613610056.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:00:57.378Z,1613610057.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:00:58.213Z,1613610058.213 [Micromodem](INFO): Nmea in: $SNTTA,0.100928,,,,010057.02*43 2021-02-18T01:00:58.238Z,1613610058.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.259995 m, bearing: 41.613754 deg, deltaT: 4.458535 s, approachRate: -0.174949 m/s, LOS rate: -0.646378 deg/s, posRepo size: 4 2021-02-18T01:00:58.242Z,1613610058.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.259995 m, bearing: 41.613754 deg, approachRate: -0.174949 m/s, LOS rate: -0.646378 deg/s, cmd update: -2.585512 deg/s, cmd heading: 44.495653 deg, new cmd heading: 44.495653 deg. 2021-02-18T01:01:00.658Z,1613610060.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:01.422Z,1613610061.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:01.828Z,1613610061.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:01:02.648Z,1613610062.648 [Micromodem](INFO): Nmea in: $SNTTA,0.100452,,,,010101.47*40 2021-02-18T01:01:02.710Z,1613610062.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.539993 m, bearing: 55.263802 deg, deltaT: 4.424702 s, approachRate: -0.162723 m/s, LOS rate: 3.084964 deg/s, posRepo size: 4 2021-02-18T01:01:02.716Z,1613610062.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.539993 m, bearing: 55.263802 deg, approachRate: -0.162723 m/s, LOS rate: 3.084964 deg/s, cmd update: 12.000000 deg/s, cmd heading: 33.055544 deg, new cmd heading: 31.855174 deg. 2021-02-18T01:01:05.066Z,1613610065.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:05.899Z,1613610065.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:06.266Z,1613610066.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:01:07.496Z,1613610067.496 [Micromodem](INFO): Nmea in: $SNTTA,0.100132,,,,010105.98*45 2021-02-18T01:01:07.556Z,1613610067.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.000000 m, bearing: 73.029100 deg, deltaT: 4.852455 s, approachRate: -0.111282 m/s, LOS rate: 3.661095 deg/s, posRepo size: 4 2021-02-18T01:01:07.565Z,1613610067.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.000000 m, bearing: 73.029100 deg, approachRate: -0.111282 m/s, LOS rate: 3.661095 deg/s, cmd update: 12.000000 deg/s, cmd heading: 91.230946 deg, new cmd heading: 96.725614 deg. 2021-02-18T01:01:09.619Z,1613610069.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:10.310Z,1613610070.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:10.710Z,1613610070.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:01:11.564Z,1613610071.564 [Micromodem](INFO): Nmea in: $SNTTA,0.099225,,,,010110.36*41 2021-02-18T01:01:11.638Z,1613610071.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.679993 m, bearing: 89.512949 deg, deltaT: 4.033455 s, approachRate: -0.327265 m/s, LOS rate: 4.086781 deg/s, posRepo size: 4 2021-02-18T01:01:11.641Z,1613610071.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.679993 m, bearing: 89.512949 deg, approachRate: -0.327265 m/s, LOS rate: 4.086781 deg/s, cmd update: 12.000000 deg/s, cmd heading: 139.688963 deg, new cmd heading: 145.772639 deg. 2021-02-18T01:01:13.964Z,1613610073.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:14.748Z,1613610074.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:15.155Z,1613610075.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:01:15.980Z,1613610075.980 [Micromodem](INFO): Nmea in: $SNTTA,0.098016,,,,010114.80*4B 2021-02-18T01:01:16.013Z,1613610076.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.819992 m, bearing: 77.431778 deg, deltaT: 4.512852 s, approachRate: -0.412156 m/s, LOS rate: -2.677059 deg/s, posRepo size: 4 2021-02-18T01:01:16.015Z,1613610076.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.819992 m, bearing: 77.431778 deg, approachRate: -0.412156 m/s, LOS rate: -2.677059 deg/s, cmd update: -10.708236 deg/s, cmd heading: 193.842361 deg, new cmd heading: 198.270505 deg. 2021-02-18T01:01:18.414Z,1613610078.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:19.203Z,1613610079.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:19.619Z,1613610079.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:01:20.428Z,1613610080.428 [Micromodem](INFO): Nmea in: $SNTTA,0.096172,,,,010119.26*47 2021-02-18T01:01:20.474Z,1613610080.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.059998 m, bearing: 78.961686 deg, deltaT: 4.375953 s, approachRate: -0.630718 m/s, LOS rate: 0.349617 deg/s, posRepo size: 4 2021-02-18T01:01:20.480Z,1613610080.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.059998 m, bearing: 78.961686 deg, approachRate: -0.630718 m/s, LOS rate: 0.349617 deg/s, cmd update: 1.398468 deg/s, cmd heading: 146.988240 deg, new cmd heading: 142.137998 deg. 2021-02-18T01:01:22.866Z,1613610082.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:23.636Z,1613610083.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:24.045Z,1613610084.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:01:24.868Z,1613610084.868 [Micromodem](INFO): Nmea in: $SNTTA,0.094351,,,,010123.69*44 2021-02-18T01:01:24.979Z,1613610084.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.300003 m, bearing: 78.715075 deg, deltaT: 4.446083 s, approachRate: -0.620770 m/s, LOS rate: -0.055467 deg/s, posRepo size: 4 2021-02-18T01:01:24.981Z,1613610084.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.300003 m, bearing: 78.715075 deg, approachRate: -0.620770 m/s, LOS rate: -0.055467 deg/s, cmd update: -0.221868 deg/s, cmd heading: 153.200651 deg, new cmd heading: 153.918023 deg. 2021-02-18T01:01:27.287Z,1613610087.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:28.080Z,1613610088.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:28.502Z,1613610088.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:01:29.308Z,1613610089.308 [Micromodem](INFO): Nmea in: $SNTTA,0.092266,,,,010128.13*41 2021-02-18T01:01:29.330Z,1613610089.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.240005 m, bearing: 77.571954 deg, deltaT: 4.448304 s, approachRate: -0.687902 m/s, LOS rate: -0.256979 deg/s, posRepo size: 4 2021-02-18T01:01:29.332Z,1613610089.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.240005 m, bearing: 77.571954 deg, approachRate: -0.687902 m/s, LOS rate: -0.256979 deg/s, cmd update: -1.027916 deg/s, cmd heading: 152.212804 deg, new cmd heading: 152.120608 deg. 2021-02-18T01:01:31.752Z,1613610091.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:32.535Z,1613610092.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:32.935Z,1613610092.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:01:33.764Z,1613610093.764 [Micromodem](INFO): Nmea in: $SNTTA,0.090419,,,,010132.59*48 2021-02-18T01:01:33.818Z,1613610093.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.360001 m, bearing: 76.129685 deg, deltaT: 4.436258 s, approachRate: -0.649197 m/s, LOS rate: -0.325109 deg/s, posRepo size: 4 2021-02-18T01:01:33.825Z,1613610093.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.360001 m, bearing: 76.129685 deg, approachRate: -0.649197 m/s, LOS rate: -0.325109 deg/s, cmd update: -1.300438 deg/s, cmd heading: 147.652737 deg, new cmd heading: 147.171923 deg. 2021-02-18T01:01:36.176Z,1613610096.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:36.968Z,1613610096.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:37.373Z,1613610097.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:01:38.192Z,1613610098.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010137.02*58 2021-02-18T01:01:38.207Z,1613610098.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.839996 m, bearing: 73.111055 deg, deltaT: 4.460519 s, approachRate: -0.564958 m/s, LOS rate: -0.676744 deg/s, posRepo size: 4 2021-02-18T01:01:38.209Z,1613610098.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.839996 m, bearing: 73.111055 deg, approachRate: -0.564958 m/s, LOS rate: -0.676744 deg/s, cmd update: -2.706976 deg/s, cmd heading: 141.851850 deg, new cmd heading: 141.337654 deg. 2021-02-18T01:01:40.689Z,1613610100.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:41.417Z,1613610101.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:41.823Z,1613610101.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:01:42.644Z,1613610102.644 [Micromodem](INFO): Nmea in: $SNTTA,0.087590,,,,010141.47*45 2021-02-18T01:01:42.692Z,1613610102.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.279999 m, bearing: 67.525333 deg, deltaT: 4.440247 s, approachRate: -0.351331 m/s, LOS rate: -1.257975 deg/s, posRepo size: 4 2021-02-18T01:01:42.693Z,1613610102.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.279999 m, bearing: 67.525333 deg, approachRate: -0.351331 m/s, LOS rate: -1.257975 deg/s, cmd update: -5.031902 deg/s, cmd heading: 129.843003 deg, new cmd heading: 128.641842 deg. 2021-02-18T01:01:45.072Z,1613610105.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:45.861Z,1613610105.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:46.269Z,1613610106.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:01:47.088Z,1613610107.088 [Micromodem](INFO): Nmea in: $SNTTA,0.086258,,,,010145.91*48 2021-02-18T01:01:47.127Z,1613610107.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.240005 m, bearing: 65.060810 deg, deltaT: 4.470016 s, approachRate: -0.456373 m/s, LOS rate: -0.551346 deg/s, posRepo size: 4 2021-02-18T01:01:47.129Z,1613610107.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.240005 m, bearing: 65.060810 deg, approachRate: -0.456373 m/s, LOS rate: -0.551346 deg/s, cmd update: -2.205382 deg/s, cmd heading: 107.330495 deg, new cmd heading: 105.291669 deg. 2021-02-18T01:01:49.604Z,1613610109.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:50.300Z,1613610110.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:50.716Z,1613610110.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:01:51.549Z,1613610111.549 [Micromodem](INFO): Nmea in: $SNTTA,0.084903,,,,010150.35*45 2021-02-18T01:01:51.623Z,1613610111.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.200005 m, bearing: 75.449849 deg, deltaT: 4.413450 s, approachRate: -0.462224 m/s, LOS rate: 2.353950 deg/s, posRepo size: 4 2021-02-18T01:01:51.625Z,1613610111.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.200005 m, bearing: 75.449849 deg, approachRate: -0.462224 m/s, LOS rate: 2.353950 deg/s, cmd update: 9.415798 deg/s, cmd heading: 97.597391 deg, new cmd heading: 96.529911 deg. 2021-02-18T01:01:53.962Z,1613610113.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:54.749Z,1613610114.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:55.161Z,1613610115.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:01:55.980Z,1613610115.980 [Micromodem](INFO): Nmea in: $SNTTA,0.083065,,,,010154.80*41 2021-02-18T01:01:56.010Z,1613610116.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.320000 m, bearing: 70.842736 deg, deltaT: 4.506188 s, approachRate: -0.639122 m/s, LOS rate: -1.022397 deg/s, posRepo size: 4 2021-02-18T01:01:56.012Z,1613610116.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.320000 m, bearing: 70.842736 deg, approachRate: -0.639122 m/s, LOS rate: -1.022397 deg/s, cmd update: -4.089588 deg/s, cmd heading: 140.028114 deg, new cmd heading: 143.500896 deg. 2021-02-18T01:01:58.412Z,1613610118.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:01:59.197Z,1613610119.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:01:59.613Z,1613610119.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:00.424Z,1613610120.424 [Micromodem](INFO): Nmea in: $SNTTA,0.081324,,0.099911,,010159.25*50 2021-02-18T01:02:00.459Z,1613610120.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.860001 m, bearing: 68.364279 deg, deltaT: 4.384791 s, approachRate: -0.561030 m/s, LOS rate: -0.565240 deg/s, posRepo size: 4 2021-02-18T01:02:00.465Z,1613610120.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.860001 m, bearing: 68.364279 deg, approachRate: -0.561030 m/s, LOS rate: -0.565240 deg/s, cmd update: -2.260958 deg/s, cmd heading: 122.162251 deg, new cmd heading: 120.329065 deg. 2021-02-18T01:02:02.874Z,1613610122.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:02:03.650Z,1613610123.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:02:04.067Z,1613610124.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:04.872Z,1613610124.872 [Micromodem](INFO): Nmea in: $SNTTA,0.079862,,,0.082362,010203.70*56 2021-02-18T01:02:04.921Z,1613610124.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.639999 m, bearing: 63.396880 deg, deltaT: 4.476056 s, approachRate: -0.495973 m/s, LOS rate: -1.109771 deg/s, posRepo size: 4 2021-02-18T01:02:04.923Z,1613610124.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.639999 m, bearing: 63.396880 deg, approachRate: -0.495973 m/s, LOS rate: -1.109771 deg/s, cmd update: -4.439085 deg/s, cmd heading: 112.066031 deg, new cmd heading: 111.058180 deg. 2021-02-18T01:02:07.288Z,1613610127.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:02:08.076Z,1613610128.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:02:08.506Z,1613610128.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:09.308Z,1613610129.308 [Micromodem](INFO): Nmea in: $SNTTA,0.078327,,,,010208.13*40 2021-02-18T01:02:09.342Z,1613610129.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.420006 m, bearing: 72.754082 deg, deltaT: 4.419215 s, approachRate: -0.502350 m/s, LOS rate: 2.117390 deg/s, posRepo size: 4 2021-02-18T01:02:09.344Z,1613610129.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.420006 m, bearing: 72.754082 deg, approachRate: -0.502350 m/s, LOS rate: 2.117390 deg/s, cmd update: 8.469560 deg/s, cmd heading: 92.329828 deg, new cmd heading: 90.462083 deg. 2021-02-18T01:02:11.756Z,1613610131.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:02:12.536Z,1613610132.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:02:12.926Z,1613610132.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:13.756Z,1613610133.756 [Micromodem](INFO): Nmea in: $SNTTA,0.076688,,,0.079176,010212.59*5B 2021-02-18T01:02:13.805Z,1613610133.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.720001 m, bearing: 67.576273 deg, deltaT: 4.445743 s, approachRate: -0.607324 m/s, LOS rate: -1.164667 deg/s, posRepo size: 4 2021-02-18T01:02:13.807Z,1613610133.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.720001 m, bearing: 67.576273 deg, approachRate: -0.607324 m/s, LOS rate: -1.164667 deg/s, cmd update: -4.658667 deg/s, cmd heading: 129.948997 deg, new cmd heading: 133.694380 deg. 2021-02-18T01:02:16.183Z,1613610136.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:02:16.970Z,1613610136.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:02:17.388Z,1613610137.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:18.196Z,1613610138.196 [Micromodem](INFO): Nmea in: $SNTTA,0.074930,,,,010217.02*4E 2021-02-18T01:02:18.241Z,1613610138.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.199997 m, bearing: 64.281717 deg, deltaT: 4.464408 s, approachRate: -0.564466 m/s, LOS rate: -0.737960 deg/s, posRepo size: 4 2021-02-18T01:02:18.242Z,1613610138.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.199997 m, bearing: 64.281717 deg, approachRate: -0.564466 m/s, LOS rate: -0.737960 deg/s, cmd update: -2.951841 deg/s, cmd heading: 109.133149 deg, new cmd heading: 107.226096 deg. 2021-02-18T01:02:20.661Z,1613610140.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:02:21.409Z,1613610141.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:02:21.814Z,1613610141.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:22.640Z,1613610142.640 [Micromodem](INFO): Nmea in: $SNTTA,0.073312,,,,010221.46*46 2021-02-18T01:02:22.697Z,1613610142.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.860008 m, bearing: 65.208185 deg, deltaT: 4.436849 s, approachRate: -0.527399 m/s, LOS rate: 0.208812 deg/s, posRepo size: 4 2021-02-18T01:02:22.699Z,1613610142.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.860008 m, bearing: 65.208185 deg, approachRate: -0.527399 m/s, LOS rate: 0.208812 deg/s, cmd update: 0.835248 deg/s, cmd heading: 96.095857 deg, new cmd heading: 94.770487 deg. 2021-02-18T01:02:25.065Z,1613610145.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:02:25.861Z,1613610145.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:02:26.266Z,1613610146.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:27.088Z,1613610147.088 [Micromodem](INFO): Nmea in: $SNTTA,0.071619,,,,010225.91*44 2021-02-18T01:02:27.110Z,1613610147.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.279999 m, bearing: 65.642496 deg, deltaT: 4.458589 s, approachRate: -0.578661 m/s, LOS rate: 0.097410 deg/s, posRepo size: 4 2021-02-18T01:02:27.132Z,1613610147.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.279999 m, bearing: 65.642496 deg, approachRate: -0.578661 m/s, LOS rate: 0.097410 deg/s, cmd update: 0.389640 deg/s, cmd heading: 99.833567 deg, new cmd heading: 100.156794 deg. 2021-02-18T01:02:29.601Z,1613610149.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:02:30.302Z,1613610150.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:02:30.713Z,1613610150.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:31.550Z,1613610151.550 [Micromodem](INFO): Nmea in: $SNTTA,0.069959,,,,010230.35*4C 2021-02-18T01:02:31.618Z,1613610151.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.640007 m, bearing: 61.515921 deg, deltaT: 4.406702 s, approachRate: -0.599086 m/s, LOS rate: -0.936432 deg/s, posRepo size: 4 2021-02-18T01:02:31.624Z,1613610151.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.640007 m, bearing: 61.515921 deg, approachRate: -0.599086 m/s, LOS rate: -0.936432 deg/s, cmd update: -3.745726 deg/s, cmd heading: 101.545951 deg, new cmd heading: 101.741007 deg. 2021-02-18T01:02:33.640Z,1613610153.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:02:34.336Z,1613610154.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:02:34.746Z,1613610154.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:35.576Z,1613610155.576 [Micromodem](INFO): Nmea in: $SNTTA,0.068359,,,,010234.39*4F 2021-02-18T01:02:35.638Z,1613610155.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.360001 m, bearing: 62.017974 deg, deltaT: 4.033245 s, approachRate: -0.565303 m/s, LOS rate: 0.124479 deg/s, posRepo size: 4 2021-02-18T01:02:35.640Z,1613610155.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.360001 m, bearing: 62.017974 deg, approachRate: -0.565303 m/s, LOS rate: 0.124479 deg/s, cmd update: 0.497915 deg/s, cmd heading: 86.378873 deg, new cmd heading: 84.612692 deg. 2021-02-18T01:02:38.002Z,1613610158.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:02:38.786Z,1613610158.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:02:39.191Z,1613610159.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:40.017Z,1613610160.017 [Micromodem](INFO): Nmea in: $SNTTA,0.066591,,,,010238.83*4E 2021-02-18T01:02:40.056Z,1613610160.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.540009 m, bearing: 62.306748 deg, deltaT: 4.486130 s, approachRate: -0.628602 m/s, LOS rate: 0.064370 deg/s, posRepo size: 4 2021-02-18T01:02:40.058Z,1613610160.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.540009 m, bearing: 62.306748 deg, approachRate: -0.628602 m/s, LOS rate: 0.064370 deg/s, cmd update: 0.257481 deg/s, cmd heading: 88.612603 deg, new cmd heading: 88.813078 deg. 2021-02-18T01:02:42.431Z,1613610162.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:02:43.229Z,1613610163.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:02:43.644Z,1613610163.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:44.456Z,1613610164.456 [Micromodem](INFO): Nmea in: $SNTTA,0.064679,,,0.080174,010243.28*50 2021-02-18T01:02:44.539Z,1613610164.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.720001 m, bearing: 60.556430 deg, deltaT: 4.393037 s, approachRate: -0.641927 m/s, LOS rate: -0.398430 deg/s, posRepo size: 4 2021-02-18T01:02:44.541Z,1613610164.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.720001 m, bearing: 60.556430 deg, approachRate: -0.641927 m/s, LOS rate: -0.398430 deg/s, cmd update: -1.593720 deg/s, cmd heading: 89.743725 deg, new cmd heading: 89.869616 deg. 2021-02-18T01:02:46.904Z,1613610166.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:02:47.670Z,1613610167.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:02:48.081Z,1613610168.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:48.896Z,1613610168.896 [Micromodem](INFO): Nmea in: $SNTTA,0.062690,,,,010247.72*4E 2021-02-18T01:02:48.937Z,1613610168.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.660004 m, bearing: 58.792841 deg, deltaT: 4.523518 s, approachRate: -0.676464 m/s, LOS rate: -0.389871 deg/s, posRepo size: 4 2021-02-18T01:02:48.938Z,1613610168.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.660004 m, bearing: 58.792841 deg, approachRate: -0.676464 m/s, LOS rate: -0.389871 deg/s, cmd update: -1.559484 deg/s, cmd heading: 82.554169 deg, new cmd heading: 81.949407 deg. 2021-02-18T01:02:51.319Z,1613610171.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:02:52.118Z,1613610172.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:02:52.536Z,1613610172.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:53.344Z,1613610173.344 [Micromodem](INFO): Nmea in: $SNTTA,0.060759,,,,010252.17*4F 2021-02-18T01:02:53.382Z,1613610173.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.900009 m, bearing: 57.174800 deg, deltaT: 4.391675 s, approachRate: -0.628461 m/s, LOS rate: -0.368434 deg/s, posRepo size: 4 2021-02-18T01:02:53.384Z,1613610173.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.900009 m, bearing: 57.174800 deg, approachRate: -0.628461 m/s, LOS rate: -0.368434 deg/s, cmd update: -1.473735 deg/s, cmd heading: 75.686197 deg, new cmd heading: 75.030837 deg. 2021-02-18T01:02:55.784Z,1613610175.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:02:56.564Z,1613610176.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:02:56.972Z,1613610176.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:02:57.798Z,1613610177.798 [Micromodem](INFO): Nmea in: $SNTTA,0.058920,,,,010256.62*42 2021-02-18T01:02:57.832Z,1613610177.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.019997 m, bearing: 58.137423 deg, deltaT: 4.437991 s, approachRate: -0.648945 m/s, LOS rate: 0.216905 deg/s, posRepo size: 4 2021-02-18T01:02:57.834Z,1613610177.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.019997 m, bearing: 58.137423 deg, approachRate: -0.648945 m/s, LOS rate: 0.216905 deg/s, cmd update: 0.867620 deg/s, cmd heading: 69.164586 deg, new cmd heading: 68.508513 deg. 2021-02-18T01:03:00.235Z,1613610180.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:01.003Z,1613610181.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:01.408Z,1613610181.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:03:02.228Z,1613610182.228 [Micromodem](INFO): Nmea in: $SNTTA,0.056738,,,,010301.05*49 2021-02-18T01:03:02.288Z,1613610182.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.900009 m, bearing: 59.579255 deg, deltaT: 4.465895 s, approachRate: -0.698625 m/s, LOS rate: 0.322854 deg/s, posRepo size: 4 2021-02-18T01:03:02.290Z,1613610182.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.900009 m, bearing: 59.579255 deg, approachRate: -0.698625 m/s, LOS rate: 0.322854 deg/s, cmd update: 1.291416 deg/s, cmd heading: 73.046820 deg, new cmd heading: 73.412856 deg. 2021-02-18T01:03:04.686Z,1613610184.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:05.450Z,1613610185.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:05.857Z,1613610185.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:03:06.676Z,1613610186.676 [Micromodem](INFO): Nmea in: $SNTTA,0.054524,,,,010305.50*40 2021-02-18T01:03:06.725Z,1613610186.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.659996 m, bearing: 57.185749 deg, deltaT: 4.420661 s, approachRate: -0.732925 m/s, LOS rate: -0.541436 deg/s, posRepo size: 4 2021-02-18T01:03:06.727Z,1613610186.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.659996 m, bearing: 57.185749 deg, approachRate: -0.732925 m/s, LOS rate: -0.541436 deg/s, cmd update: -2.165745 deg/s, cmd heading: 78.755866 deg, new cmd heading: 79.328659 deg. 2021-02-18T01:03:09.145Z,1613610189.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:09.888Z,1613610189.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:10.295Z,1613610190.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:03:11.116Z,1613610191.116 [Micromodem](INFO): Nmea in: $SNTTA,0.052782,,,,010309.94*4C 2021-02-18T01:03:11.152Z,1613610191.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.779999 m, bearing: 55.751597 deg, deltaT: 4.493449 s, approachRate: -0.640932 m/s, LOS rate: -0.319165 deg/s, posRepo size: 4 2021-02-18T01:03:11.154Z,1613610191.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.779999 m, bearing: 55.751597 deg, approachRate: -0.640932 m/s, LOS rate: -0.319165 deg/s, cmd update: -1.276660 deg/s, cmd heading: 69.018958 deg, new cmd heading: 68.208415 deg. 2021-02-18T01:03:13.605Z,1613610193.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:14.337Z,1613610194.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:14.743Z,1613610194.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:03:15.572Z,1613610195.572 [Micromodem](INFO): Nmea in: $SNTTA,0.050570,,,,010314.39*4A 2021-02-18T01:03:15.657Z,1613610195.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.420006 m, bearing: 57.182060 deg, deltaT: 4.374378 s, approachRate: -0.768108 m/s, LOS rate: 0.327010 deg/s, posRepo size: 4 2021-02-18T01:03:15.658Z,1613610195.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.420006 m, bearing: 57.182060 deg, approachRate: -0.768108 m/s, LOS rate: 0.327010 deg/s, cmd update: 1.308038 deg/s, cmd heading: 63.432345 deg, new cmd heading: 62.790299 deg. 2021-02-18T01:03:18.005Z,1613610198.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:18.782Z,1613610198.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:19.183Z,1613610199.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:03:20.009Z,1613610200.009 [Micromodem](INFO): Nmea in: $SNTTA,0.048446,,,,010318.83*4A 2021-02-18T01:03:20.045Z,1613610200.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.240005 m, bearing: 57.093930 deg, deltaT: 4.489145 s, approachRate: -0.708376 m/s, LOS rate: -0.019632 deg/s, posRepo size: 4 2021-02-18T01:03:20.047Z,1613610200.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.240005 m, bearing: 57.093930 deg, approachRate: -0.708376 m/s, LOS rate: -0.019632 deg/s, cmd update: -0.078527 deg/s, cmd heading: 69.304268 deg, new cmd heading: 69.830722 deg. 2021-02-18T01:03:22.449Z,1613610202.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:23.225Z,1613610203.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:23.637Z,1613610203.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:03:24.452Z,1613610204.452 [Micromodem](INFO): Nmea in: $SNTTA,0.046190,,,,010323.28*43 2021-02-18T01:03:24.531Z,1613610204.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.059998 m, bearing: 55.487456 deg, deltaT: 4.415165 s, approachRate: -0.720247 m/s, LOS rate: -0.363854 deg/s, posRepo size: 4 2021-02-18T01:03:24.543Z,1613610204.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.059998 m, bearing: 55.487456 deg, approachRate: -0.720247 m/s, LOS rate: -0.363854 deg/s, cmd update: -1.455415 deg/s, cmd heading: 68.958811 deg, new cmd heading: 68.920465 deg. 2021-02-18T01:03:26.909Z,1613610206.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:27.669Z,1613610207.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:28.070Z,1613610208.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:03:28.912Z,1613610208.912 [Micromodem](INFO): Nmea in: $SNTTA,0.043961,,,,010327.72*4B 2021-02-18T01:03:28.957Z,1613610208.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 56.474661 deg, deltaT: 4.483266 s, approachRate: -0.749452 m/s, LOS rate: 0.220198 deg/s, posRepo size: 4 2021-02-18T01:03:28.959Z,1613610208.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.700005 m, bearing: 56.474661 deg, approachRate: -0.749452 m/s, LOS rate: 0.220198 deg/s, cmd update: 0.880791 deg/s, cmd heading: 62.416375 deg, new cmd heading: 61.805220 deg. 2021-02-18T01:03:31.317Z,1613610211.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:32.108Z,1613610212.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:32.536Z,1613610212.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:03:33.344Z,1613610213.344 [Micromodem](INFO): Nmea in: $SNTTA,0.042125,,,,010332.16*44 2021-02-18T01:03:33.366Z,1613610213.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.700001 m, bearing: 56.606822 deg, deltaT: 4.406130 s, approachRate: -0.680870 m/s, LOS rate: 0.029995 deg/s, posRepo size: 4 2021-02-18T01:03:33.368Z,1613610213.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.700001 m, bearing: 56.606822 deg, approachRate: -0.680870 m/s, LOS rate: 0.029995 deg/s, cmd update: 0.119979 deg/s, cmd heading: 66.300806 deg, new cmd heading: 66.669442 deg. 2021-02-18T01:03:35.779Z,1613610215.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:36.556Z,1613610216.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:36.958Z,1613610216.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:03:37.784Z,1613610217.784 [Micromodem](INFO): Nmea in: $SNTTA,0.039905,,,,010336.61*46 2021-02-18T01:03:37.850Z,1613610217.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.640003 m, bearing: 55.336280 deg, deltaT: 4.426859 s, approachRate: -0.691234 m/s, LOS rate: -0.287007 deg/s, posRepo size: 4 2021-02-18T01:03:37.856Z,1613610217.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.640003 m, bearing: 55.336280 deg, approachRate: -0.691234 m/s, LOS rate: -0.287007 deg/s, cmd update: -1.148030 deg/s, cmd heading: 66.831928 deg, new cmd heading: 66.889003 deg. 2021-02-18T01:03:40.209Z,1613610220.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:40.996Z,1613610220.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:41.401Z,1613610221.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:03:42.228Z,1613610222.228 [Micromodem](INFO): Nmea in: $SNTTA,0.037731,,,,010341.04*42 2021-02-18T01:03:42.250Z,1613610222.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.400005 m, bearing: 54.553161 deg, deltaT: 4.476551 s, approachRate: -0.723771 m/s, LOS rate: -0.174938 deg/s, posRepo size: 4 2021-02-18T01:03:42.252Z,1613610222.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.400005 m, bearing: 54.553161 deg, approachRate: -0.723771 m/s, LOS rate: -0.174938 deg/s, cmd update: -0.699752 deg/s, cmd heading: 61.706477 deg, new cmd heading: 61.234289 deg. 2021-02-18T01:03:44.707Z,1613610224.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:45.441Z,1613610225.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:45.854Z,1613610225.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:03:46.668Z,1613610226.668 [Micromodem](INFO): Nmea in: $SNTTA,0.035528,,,,010345.49*47 2021-02-18T01:03:46.718Z,1613610226.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.159996 m, bearing: 55.090212 deg, deltaT: 4.427097 s, approachRate: -0.731859 m/s, LOS rate: 0.121310 deg/s, posRepo size: 4 2021-02-18T01:03:46.720Z,1613610226.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.159996 m, bearing: 55.090212 deg, approachRate: -0.731859 m/s, LOS rate: 0.121310 deg/s, cmd update: 0.485240 deg/s, cmd heading: 58.603000 deg, new cmd heading: 58.292247 deg. 2021-02-18T01:03:49.091Z,1613610229.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:49.901Z,1613610229.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:50.304Z,1613610230.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:03:51.120Z,1613610231.120 [Micromodem](INFO): Nmea in: $SNTTA,0.033718,,,,010349.95*4D 2021-02-18T01:03:51.157Z,1613610231.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.099998 m, bearing: 55.060368 deg, deltaT: 4.471700 s, approachRate: -0.684303 m/s, LOS rate: -0.006674 deg/s, posRepo size: 4 2021-02-18T01:03:51.159Z,1613610231.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.099998 m, bearing: 55.060368 deg, approachRate: -0.684303 m/s, LOS rate: -0.006674 deg/s, cmd update: -0.026696 deg/s, cmd heading: 60.774804 deg, new cmd heading: 60.972663 deg. 2021-02-18T01:03:53.603Z,1613610233.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:54.328Z,1613610234.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:54.746Z,1613610234.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:03:55.563Z,1613610235.563 [Micromodem](INFO): Nmea in: $SNTTA,0.031287,,,,010354.38*47 2021-02-18T01:03:55.646Z,1613610235.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.739998 m, bearing: 54.700410 deg, deltaT: 4.416140 s, approachRate: -0.760846 m/s, LOS rate: -0.081510 deg/s, posRepo size: 4 2021-02-18T01:03:55.648Z,1613610235.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.739998 m, bearing: 54.700410 deg, approachRate: -0.760846 m/s, LOS rate: -0.081510 deg/s, cmd update: -0.326038 deg/s, cmd heading: 60.657337 deg, new cmd heading: 60.644079 deg. 2021-02-18T01:03:57.978Z,1613610237.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:03:58.778Z,1613610238.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:03:59.195Z,1613610239.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:00.004Z,1613610240.004 [Micromodem](INFO): Nmea in: $SNTTA,0.029408,,,,010358.83*43 2021-02-18T01:04:00.043Z,1613610240.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.619995 m, bearing: 53.687804 deg, deltaT: 4.473797 s, approachRate: -0.697395 m/s, LOS rate: -0.226342 deg/s, posRepo size: 4 2021-02-18T01:04:00.045Z,1613610240.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.619995 m, bearing: 53.687804 deg, approachRate: -0.697395 m/s, LOS rate: -0.226342 deg/s, cmd update: -0.905366 deg/s, cmd heading: 59.193493 deg, new cmd heading: 59.062043 deg. 2021-02-18T01:04:02.443Z,1613610242.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:04:03.217Z,1613610243.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:04:03.630Z,1613610243.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:04.444Z,1613610244.444 [Micromodem](INFO): Nmea in: $SNTTA,0.027160,,,,010403.27*41 2021-02-18T01:04:04.526Z,1613610244.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.139999 m, bearing: 53.917162 deg, deltaT: 4.420238 s, approachRate: -0.787287 m/s, LOS rate: 0.051888 deg/s, posRepo size: 4 2021-02-18T01:04:04.532Z,1613610244.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.139999 m, bearing: 53.917162 deg, approachRate: -0.787287 m/s, LOS rate: 0.051888 deg/s, cmd update: 0.207552 deg/s, cmd heading: 55.191574 deg, new cmd heading: 54.769492 deg. 2021-02-18T01:04:06.937Z,1613610246.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:04:07.680Z,1613610247.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:04:08.072Z,1613610248.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:08.908Z,1613610248.908 [Micromodem](INFO): Nmea in: $SNTTA,0.025055,,0.058125,,010407.73*54 2021-02-18T01:04:08.963Z,1613610248.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.320004 m, bearing: 53.960656 deg, deltaT: 4.489185 s, approachRate: -0.628175 m/s, LOS rate: 0.009689 deg/s, posRepo size: 4 2021-02-18T01:04:08.963Z,1613610248.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.32 m. 2021-02-18T01:04:08.965Z,1613610248.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.320004 m, bearing: 53.960656 deg, approachRate: -0.628175 m/s, LOS rate: 0.009689 deg/s, cmd update: 0.038755 deg/s, cmd heading: 56.121113 deg, new cmd heading: 56.209156 deg. 2021-02-18T01:04:09.297Z,1613610249.297 [PowerOnly](INFO): Powering up loadControl 2021-02-18T01:04:11.338Z,1613610251.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:04:12.105Z,1613610252.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:04:12.530Z,1613610252.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:13.336Z,1613610253.336 [Micromodem](INFO): Nmea in: $SNTTA,0.022803,,,,010412.15*49 2021-02-18T01:04:13.374Z,1613610253.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.379997 m, bearing: 60.385334 deg, deltaT: 4.400492 s, approachRate: -0.668109 m/s, LOS rate: 1.459991 deg/s, posRepo size: 4 2021-02-18T01:04:13.374Z,1613610253.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.38 m. 2021-02-18T01:04:13.375Z,1613610253.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.38 m. 2021-02-18T01:04:13.375Z,1613610253.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T01:04:13.377Z,1613610253.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.379997 m, bearing: 60.385334 deg, approachRate: -0.668109 m/s, LOS rate: 1.459991 deg/s, cmd update: 5.839963 deg/s, cmd heading: 56.292062 deg, new cmd heading: 56.308519 deg. 2021-02-18T01:04:15.804Z,1613610255.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:04:16.553Z,1613610256.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:04:16.954Z,1613610256.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:17.780Z,1613610257.780 [Micromodem](INFO): Nmea in: $SNTTA,0.020807,,,,010416.60*49 2021-02-18T01:04:17.830Z,1613610257.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.080000 m, bearing: 52.128987 deg, deltaT: 4.421028 s, approachRate: -0.746432 m/s, LOS rate: -1.867517 deg/s, posRepo size: 4 2021-02-18T01:04:17.832Z,1613610257.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.080000 m, bearing: 52.128987 deg, approachRate: -0.746432 m/s, LOS rate: -1.867517 deg/s, cmd update: -7.470069 deg/s, cmd heading: 82.111233 deg, new cmd heading: 84.793586 deg. 2021-02-18T01:04:20.215Z,1613610260.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:04:20.997Z,1613610260.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:04:21.398Z,1613610261.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:22.224Z,1613610262.224 [Micromodem](INFO): Nmea in: $SNTTA,0.018778,,,,010421.05*42 2021-02-18T01:04:22.266Z,1613610262.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.839996 m, bearing: 48.291056 deg, deltaT: 4.487305 s, approachRate: -0.722038 m/s, LOS rate: -0.855286 deg/s, posRepo size: 4 2021-02-18T01:04:22.268Z,1613610262.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.839996 m, bearing: 48.291056 deg, approachRate: -0.722038 m/s, LOS rate: -0.855286 deg/s, cmd update: -3.421146 deg/s, cmd heading: 48.590618 deg, new cmd heading: 45.544630 deg. 2021-02-18T01:04:24.679Z,1613610264.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:04:25.438Z,1613610265.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:04:25.842Z,1613610265.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:26.668Z,1613610266.668 [Micromodem](INFO): Nmea in: $SNTTA,0.017051,,,,010425.49*4D 2021-02-18T01:04:26.732Z,1613610266.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.259996 m, bearing: 43.541421 deg, deltaT: 4.400489 s, approachRate: -0.586298 m/s, LOS rate: -1.079343 deg/s, posRepo size: 4 2021-02-18T01:04:26.734Z,1613610266.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.259996 m, bearing: 43.541421 deg, approachRate: -0.586298 m/s, LOS rate: -1.079343 deg/s, cmd update: -4.317370 deg/s, cmd heading: 33.535952 deg, new cmd heading: 31.915558 deg. 2021-02-18T01:04:29.103Z,1613610269.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:04:29.881Z,1613610269.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:04:30.294Z,1613610270.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:31.108Z,1613610271.108 [Micromodem](INFO): Nmea in: $SNTTA,0.015110,,,,010429.93*40 2021-02-18T01:04:31.141Z,1613610271.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.440001 m, bearing: 46.474779 deg, deltaT: 4.488584 s, approachRate: -0.628260 m/s, LOS rate: 0.653515 deg/s, posRepo size: 4 2021-02-18T01:04:31.143Z,1613610271.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.440001 m, bearing: 46.474779 deg, approachRate: -0.628260 m/s, LOS rate: 0.653515 deg/s, cmd update: 2.614061 deg/s, cmd heading: 14.174468 deg, new cmd heading: 12.453897 deg. 2021-02-18T01:04:33.601Z,1613610273.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:04:34.324Z,1613610274.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:04:34.736Z,1613610274.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:35.568Z,1613610275.568 [Micromodem](INFO): Nmea in: $SNTTA,0.013146,,,,010434.37*47 2021-02-18T01:04:35.672Z,1613610275.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.499998 m, bearing: 46.781769 deg, deltaT: 4.399539 s, approachRate: -0.668252 m/s, LOS rate: 0.069778 deg/s, posRepo size: 4 2021-02-18T01:04:35.674Z,1613610275.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.499998 m, bearing: 46.781769 deg, approachRate: -0.668252 m/s, LOS rate: 0.069778 deg/s, cmd update: 0.279111 deg/s, cmd heading: 25.685697 deg, new cmd heading: 27.048078 deg. 2021-02-18T01:04:37.989Z,1613610277.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:04:38.774Z,1613610278.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:04:39.209Z,1613610279.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:40.004Z,1613610280.004 [Micromodem](INFO): Nmea in: $SNTTA,0.011243,,,,010438.82*41 2021-02-18T01:04:40.050Z,1613610280.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.680002 m, bearing: 47.355146 deg, deltaT: 4.502604 s, approachRate: -0.626303 m/s, LOS rate: 0.127343 deg/s, posRepo size: 4 2021-02-18T01:04:40.056Z,1613610280.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.680002 m, bearing: 47.355146 deg, approachRate: -0.626303 m/s, LOS rate: 0.127343 deg/s, cmd update: 0.509374 deg/s, cmd heading: 26.942427 deg, new cmd heading: 27.054354 deg. 2021-02-18T01:04:42.427Z,1613610282.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:04:43.214Z,1613610283.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:04:43.621Z,1613610283.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:44.444Z,1613610284.444 [Micromodem](INFO): Nmea in: $SNTTA,0.009548,,,,010443.26*46 2021-02-18T01:04:44.460Z,1613610284.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.039998 m, bearing: 55.245592 deg, deltaT: 4.405168 s, approachRate: -0.599297 m/s, LOS rate: 1.791179 deg/s, posRepo size: 4 2021-02-18T01:04:44.461Z,1613610284.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.039998 m, bearing: 55.245592 deg, approachRate: -0.599297 m/s, LOS rate: 1.791179 deg/s, cmd update: 7.164717 deg/s, cmd heading: 29.185568 deg, new cmd heading: 29.392624 deg. 2021-02-18T01:04:46.898Z,1613610286.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:04:47.661Z,1613610287.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:04:48.070Z,1613610288.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:48.889Z,1613610288.889 [Micromodem](INFO): Nmea in: $SNTTA,0.007740,,,,010447.71*44 2021-02-18T01:04:48.940Z,1613610288.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.339997 m, bearing: 60.935929 deg, deltaT: 4.475117 s, approachRate: -0.603336 m/s, LOS rate: 1.271550 deg/s, posRepo size: 4 2021-02-18T01:04:48.941Z,1613610288.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.339997 m, bearing: 60.935929 deg, approachRate: -0.603336 m/s, LOS rate: 1.271550 deg/s, cmd update: 5.086201 deg/s, cmd heading: 61.229838 deg, new cmd heading: 64.195645 deg. 2021-02-18T01:04:51.316Z,1613610291.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:04:52.101Z,1613610292.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:04:52.538Z,1613610292.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:53.328Z,1613610293.328 [Micromodem](INFO): Nmea in: $SNTTA,0.006054,,,,010452.15*41 2021-02-18T01:04:53.366Z,1613610293.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.880000 m, bearing: 64.668217 deg, deltaT: 4.418562 s, approachRate: -0.556742 m/s, LOS rate: 0.844684 deg/s, posRepo size: 4 2021-02-18T01:04:53.368Z,1613610293.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.880000 m, bearing: 64.668217 deg, approachRate: -0.556742 m/s, LOS rate: 0.844684 deg/s, cmd update: 3.378736 deg/s, cmd heading: 83.703518 deg, new cmd heading: 85.848578 deg. 2021-02-18T01:04:55.790Z,1613610295.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:04:56.548Z,1613610296.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:04:56.951Z,1613610296.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:04:57.780Z,1613610297.780 [Micromodem](INFO): Nmea in: $SNTTA,0.004491,,,,010456.60*48 2021-02-18T01:04:57.860Z,1613610297.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.359998 m, bearing: 66.450057 deg, deltaT: 4.421722 s, approachRate: -0.569914 m/s, LOS rate: 0.402974 deg/s, posRepo size: 4 2021-02-18T01:04:57.862Z,1613610297.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.359998 m, bearing: 66.450057 deg, approachRate: -0.569914 m/s, LOS rate: 0.402974 deg/s, cmd update: 1.611896 deg/s, cmd heading: 98.657067 deg, new cmd heading: 100.299795 deg. 2021-02-18T01:05:00.205Z,1613610300.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:01.004Z,1613610301.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:01.394Z,1613610301.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:02.224Z,1613610302.224 [Micromodem](INFO): Nmea in: $SNTTA,0.002900,,,,010501.05*4B 2021-02-18T01:05:02.264Z,1613610302.264 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T01:05:02.264Z,1613610302.264 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T01:05:02.264Z,1613610302.264 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T01:05:02.264Z,1613610302.264 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:05:02.264Z,1613610302.264 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T01:05:02.265Z,1613610302.265 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.259999 m 2021-02-18T01:05:02.265Z,1613610302.265 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T01:05:02.265Z,1613610302.265 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T01:05:02.265Z,1613610302.265 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T01:05:02.272Z,1613610302.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.259999 m, bearing: 67.335946 deg, deltaT: 4.480067 s, approachRate: -0.468743 m/s, LOS rate: 0.197740 deg/s, posRepo size: 4 2021-02-18T01:05:02.273Z,1613610302.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.259999 m, bearing: 67.335946 deg, approachRate: -0.468743 m/s, LOS rate: 0.197740 deg/s, cmd update: 0.790961 deg/s, cmd heading: 105.871985 deg, new cmd heading: 106.551766 deg. 2021-02-18T01:05:02.684Z,1613610302.684 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T010502: (41.552319, -70.708603) 2021-02-18T01:05:02.684Z,1613610302.684 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T01:05:02.684Z,1613610302.684 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T01:05:02.684Z,1613610302.684 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:05:02.684Z,1613610302.684 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T01:05:02.685Z,1613610302.685 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:05:02.685Z,1613610302.685 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T01:05:02.685Z,1613610302.685 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T01:05:02.685Z,1613610302.685 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T01:05:04.688Z,1613610304.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:05.433Z,1613610305.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:05.837Z,1613610305.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:06.664Z,1613610306.664 [Micromodem](INFO): Nmea in: $SNTTA,0.002544,,,0.005033,010505.48*51 2021-02-18T01:05:06.728Z,1613610306.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 87.561242 deg, deltaT: 4.404274 s, approachRate: -0.108985 m/s, LOS rate: 4.592197 deg/s, posRepo size: 4 2021-02-18T01:05:06.729Z,1613610306.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.779998 m, bearing: 87.561242 deg, approachRate: -0.108985 m/s, LOS rate: 4.592197 deg/s, cmd update: 12.000000 deg/s, cmd heading: 109.358703 deg, new cmd heading: 109.733304 deg. 2021-02-18T01:05:09.083Z,1613610309.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:09.876Z,1613610309.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:10.288Z,1613610310.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:11.120Z,1613610311.120 [Micromodem](INFO): Nmea in: $SNTTA,0.004874,,,,010509.93*48 2021-02-18T01:05:11.144Z,1613610311.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.380000 m, bearing: 111.094441 deg, deltaT: 4.480960 s, approachRate: 0.803400 m/s, LOS rate: 5.251821 deg/s, posRepo size: 4 2021-02-18T01:05:11.149Z,1613610311.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.380000 m, bearing: 111.094441 deg, approachRate: 0.803400 m/s, LOS rate: 5.251821 deg/s, cmd update: 12.000000 deg/s, cmd heading: 163.130885 deg, new cmd heading: 168.013661 deg. 2021-02-18T01:05:13.613Z,1613610313.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:14.320Z,1613610314.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:14.731Z,1613610314.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:15.572Z,1613610315.572 [Micromodem](INFO): Nmea in: $SNTTA,0.005541,,,,010514.37*40 2021-02-18T01:05:15.637Z,1613610315.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.339999 m, bearing: 132.426740 deg, deltaT: 4.438503 s, approachRate: 0.216289 m/s, LOS rate: 4.806192 deg/s, posRepo size: 4 2021-02-18T01:05:15.640Z,1613610315.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.339999 m, bearing: 132.426740 deg, approachRate: 0.216289 m/s, LOS rate: 4.806192 deg/s, cmd update: 12.000000 deg/s, cmd heading: 216.343423 deg, new cmd heading: 221.962615 deg. 2021-02-18T01:05:17.989Z,1613610317.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:18.764Z,1613610318.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:19.173Z,1613610319.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:19.992Z,1613610319.992 [Micromodem](INFO): Nmea in: $SNTTA,0.009113,,,,010518.81*4E 2021-02-18T01:05:20.027Z,1613610320.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.660002 m, bearing: 153.049609 deg, deltaT: 4.487156 s, approachRate: 0.962748 m/s, LOS rate: 4.595978 deg/s, posRepo size: 4 2021-02-18T01:05:20.029Z,1613610320.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.660002 m, bearing: 153.049609 deg, approachRate: 0.962748 m/s, LOS rate: 4.595978 deg/s, cmd update: 12.000000 deg/s, cmd heading: 270.191408 deg, new cmd heading: 274.630820 deg. 2021-02-18T01:05:22.421Z,1613610322.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:23.209Z,1613610323.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:23.617Z,1613610323.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:24.440Z,1613610324.440 [Micromodem](INFO): Nmea in: $SNTTA,0.009313,,0.032220,,010523.26*56 2021-02-18T01:05:24.517Z,1613610324.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.039998 m, bearing: 144.905810 deg, deltaT: 4.370468 s, approachRate: 0.315755 m/s, LOS rate: -1.863370 deg/s, posRepo size: 4 2021-02-18T01:05:24.523Z,1613610324.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.04 m. Rolling out. 2021-02-18T01:05:24.527Z,1613610324.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T01:05:26.894Z,1613610326.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:27.652Z,1613610327.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:28.060Z,1613610328.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:28.884Z,1613610328.884 [Micromodem](INFO): Nmea in: $SNTTA,0.010844,,,,010527.70*4F 2021-02-18T01:05:28.938Z,1613610328.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.319998 m, bearing: 199.125641 deg, deltaT: 4.447644 s, approachRate: 0.512631 m/s, LOS rate: 12.190686 deg/s, posRepo size: 4 2021-02-18T01:05:31.303Z,1613610331.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:32.102Z,1613610332.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:32.532Z,1613610332.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:33.328Z,1613610333.328 [Micromodem](INFO): Nmea in: $SNTTA,0.012177,,,,010532.15*43 2021-02-18T01:05:33.365Z,1613610333.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.359997 m, bearing: 217.446340 deg, deltaT: 4.468832 s, approachRate: 0.456495 m/s, LOS rate: 4.099661 deg/s, posRepo size: 4 2021-02-18T01:05:35.785Z,1613610335.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:36.541Z,1613610336.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:36.946Z,1613610336.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:37.768Z,1613610337.768 [Micromodem](INFO): Nmea in: $SNTTA,0.013764,,,,010536.59*4A 2021-02-18T01:05:37.833Z,1613610337.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.980001 m, bearing: 230.853782 deg, deltaT: 4.415197 s, approachRate: 0.366916 m/s, LOS rate: 3.036658 deg/s, posRepo size: 4 2021-02-18T01:05:40.227Z,1613610340.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:40.984Z,1613610340.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:41.398Z,1613610341.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:42.212Z,1613610342.212 [Micromodem](INFO): Nmea in: $SNTTA,0.014226,,,,010541.03*41 2021-02-18T01:05:42.253Z,1613610342.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.239996 m, bearing: 285.677389 deg, deltaT: 4.482832 s, approachRate: 0.281071 m/s, LOS rate: 12.229681 deg/s, posRepo size: 4 2021-02-18T01:05:43.840Z,1613610343.840 [PowerOnly](INFO): Powering down loadControl 2021-02-18T01:05:44.664Z,1613610344.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:45.446Z,1613610345.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:45.834Z,1613610345.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:46.668Z,1613610346.668 [Micromodem](INFO): Nmea in: $SNTTA,0.014654,,,,010545.50*42 2021-02-18T01:05:46.738Z,1613610346.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.499998 m, bearing: 224.305475 deg, deltaT: 4.404996 s, approachRate: 0.286039 m/s, LOS rate: -13.932343 deg/s, posRepo size: 4 2021-02-18T01:05:49.099Z,1613610349.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:49.878Z,1613610349.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:50.290Z,1613610350.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:51.104Z,1613610351.104 [Micromodem](INFO): Nmea in: $SNTTA,0.014866,,,,010549.93*4E 2021-02-18T01:05:51.148Z,1613610351.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.260002 m, bearing: 249.199807 deg, deltaT: 4.495640 s, approachRate: -0.053384 m/s, LOS rate: 5.537439 deg/s, posRepo size: 4 2021-02-18T01:05:53.584Z,1613610353.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:54.321Z,1613610354.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:54.722Z,1613610354.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:55.553Z,1613610355.553 [Micromodem](INFO): Nmea in: $SNTTA,0.014560,0.043779,,,010554.37*57 2021-02-18T01:05:55.655Z,1613610355.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.720001 m, bearing: 345.995745 deg, deltaT: 4.391634 s, approachRate: -0.122961 m/s, LOS rate: 22.040985 deg/s, posRepo size: 4 2021-02-18T01:05:57.977Z,1613610357.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:05:58.760Z,1613610358.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:05:59.166Z,1613610359.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:05:59.988Z,1613610359.988 [Micromodem](INFO): Nmea in: $SNTTA,0.014035,,,,010558.81*43 2021-02-18T01:06:00.068Z,1613610360.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.879999 m, bearing: 12.064738 deg, deltaT: 4.522302 s, approachRate: -0.185747 m/s, LOS rate: 5.764540 deg/s, posRepo size: 4 2021-02-18T01:06:02.412Z,1613610362.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:06:03.204Z,1613610363.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:06:03.619Z,1613610363.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:06:04.448Z,1613610364.448 [Micromodem](INFO): Nmea in: $SNTTA,0.013293,,,,010603.25*49 2021-02-18T01:06:04.473Z,1613610364.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 26.813631 deg, deltaT: 4.386193 s, approachRate: -0.259906 m/s, LOS rate: 3.362573 deg/s, posRepo size: 4 2021-02-18T01:06:06.882Z,1613610366.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:06:07.648Z,1613610367.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:06:08.054Z,1613610368.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:06:08.880Z,1613610368.880 [Micromodem](INFO): Nmea in: $SNTTA,0.012251,,,,010607.70*42 2021-02-18T01:06:08.929Z,1613610368.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.240002 m, bearing: 34.144392 deg, deltaT: 4.452218 s, approachRate: -0.336910 m/s, LOS rate: 1.646542 deg/s, posRepo size: 4 2021-02-18T01:06:11.310Z,1613610371.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:06:12.092Z,1613610372.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:06:12.527Z,1613610372.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:06:13.324Z,1613610373.324 [Micromodem](INFO): Nmea in: $SNTTA,0.011424,,,0.068687,010612.14*5A 2021-02-18T01:06:13.366Z,1613610373.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.759998 m, bearing: 30.348740 deg, deltaT: 4.452885 s, approachRate: -0.107796 m/s, LOS rate: -0.852403 deg/s, posRepo size: 4 2021-02-18T01:06:15.772Z,1613610375.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:06:16.553Z,1613610376.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:06:16.944Z,1613610376.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:06:17.780Z,1613610377.780 [Micromodem](INFO): Nmea in: $SNTTA,0.010873,,,,010616.60*4B 2021-02-18T01:06:17.834Z,1613610377.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.260000 m, bearing: 15.285820 deg, deltaT: 4.418754 s, approachRate: -0.339462 m/s, LOS rate: -3.408861 deg/s, posRepo size: 4 2021-02-18T01:06:20.187Z,1613610380.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:06:20.980Z,1613610380.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:06:21.385Z,1613610381.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:06:22.208Z,1613610382.208 [Micromodem](INFO): Nmea in: $SNTTA,0.010745,,,,010621.03*40 2021-02-18T01:06:22.228Z,1613610382.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.079996 m, bearing: 301.363382 deg, deltaT: 4.461218 s, approachRate: -0.040349 m/s, LOS rate: -16.570013 deg/s, posRepo size: 4 2021-02-18T01:06:24.675Z,1613610384.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:06:25.428Z,1613610385.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:06:25.840Z,1613610385.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:06:26.656Z,1613610386.656 [Micromodem](INFO): Nmea in: $SNTTA,0.010953,,,,010625.48*42 2021-02-18T01:06:26.710Z,1613610386.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.100002 m, bearing: 311.615551 deg, deltaT: 4.419997 s, approachRate: 0.230771 m/s, LOS rate: 2.319497 deg/s, posRepo size: 4 2021-02-18T01:06:29.074Z,1613610389.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:06:29.869Z,1613610389.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:06:30.285Z,1613610390.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:06:31.101Z,1613610391.101 [Micromodem](INFO): Nmea in: $SNTTA,0.012186,,,,010629.92*4B 2021-02-18T01:06:31.144Z,1613610391.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.400002 m, bearing: 7.108825 deg, deltaT: 4.490539 s, approachRate: 0.066807 m/s, LOS rate: 12.357822 deg/s, posRepo size: 4 2021-02-18T01:06:33.597Z,1613610393.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:06:34.319Z,1613610394.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:06:34.724Z,1613610394.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:06:35.551Z,1613610395.551 [Micromodem](INFO): Nmea in: $SNTTA,0.012707,,,,010634.37*47 2021-02-18T01:06:35.627Z,1613610395.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.140001 m, bearing: 333.755309 deg, deltaT: 4.393416 s, approachRate: 0.396047 m/s, LOS rate: -7.591707 deg/s, posRepo size: 4 2021-02-18T01:06:37.989Z,1613610397.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:06:38.762Z,1613610398.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:06:39.170Z,1613610399.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:06:39.988Z,1613610399.988 [Micromodem](INFO): Nmea in: $SNTTA,0.013927,,,,010638.81*4B 2021-02-18T01:06:40.021Z,1613610400.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.000000 m, bearing: 345.973697 deg, deltaT: 4.522191 s, approachRate: 0.411305 m/s, LOS rate: 2.701874 deg/s, posRepo size: 4 2021-02-18T01:06:42.408Z,1613610402.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:06:43.200Z,1613610403.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:06:43.621Z,1613610403.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:06:44.428Z,1613610404.428 [Micromodem](INFO): Nmea in: $SNTTA,0.015475,,,,010643.25*45 2021-02-18T01:06:44.469Z,1613610404.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.339998 m, bearing: 8.303141 deg, deltaT: 4.376452 s, approachRate: 0.534679 m/s, LOS rate: 5.102178 deg/s, posRepo size: 4 2021-02-18T01:06:46.871Z,1613610406.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:06:47.644Z,1613610407.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:06:48.060Z,1613610408.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:06:48.879Z,1613610408.879 [Micromodem](INFO): Nmea in: $SNTTA,0.017820,,,,010647.69*47 2021-02-18T01:06:48.913Z,1613610408.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.760000 m, bearing: 355.034927 deg, deltaT: 4.491569 s, approachRate: 0.761427 m/s, LOS rate: -2.954025 deg/s, posRepo size: 4 2021-02-18T01:06:51.302Z,1613610411.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:06:52.088Z,1613610412.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:06:52.525Z,1613610412.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:06:53.316Z,1613610413.316 [Micromodem](INFO): Nmea in: $SNTTA,0.019792,,,,010652.14*41 2021-02-18T01:06:53.378Z,1613610413.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.519999 m, bearing: 300.436826 deg, deltaT: 4.384223 s, approachRate: 0.629530 m/s, LOS rate: -12.453313 deg/s, posRepo size: 4 2021-02-18T01:06:55.774Z,1613610415.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:06:56.541Z,1613610416.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:06:56.944Z,1613610416.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:06:57.772Z,1613610417.772 [Micromodem](INFO): Nmea in: $SNTTA,0.021116,,,,010656.59*4D 2021-02-18T01:06:57.806Z,1613610417.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.320002 m, bearing: 324.782844 deg, deltaT: 4.468635 s, approachRate: 0.402808 m/s, LOS rate: 5.448200 deg/s, posRepo size: 4 2021-02-18T01:07:00.185Z,1613610420.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:00.976Z,1613610420.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:07:01.383Z,1613610421.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:07:02.224Z,1613610422.224 [Micromodem](INFO): Nmea in: $SNTTA,0.022840,,,,010701.02*49 2021-02-18T01:07:02.246Z,1613610422.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.200001 m, bearing: 4.865715 deg, deltaT: 4.485311 s, approachRate: 0.642096 m/s, LOS rate: 8.936476 deg/s, posRepo size: 4 2021-02-18T01:07:04.660Z,1613610424.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:05.420Z,1613610425.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:07:05.826Z,1613610425.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:07:06.648Z,1613610426.648 [Micromodem](INFO): Nmea in: $SNTTA,0.046853,,,,010705.47*4C 2021-02-18T01:07:06.718Z,1613610426.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.380005 m, bearing: 11.020397 deg, deltaT: 4.378009 s, approachRate: 8.264031 m/s, LOS rate: 1.405817 deg/s, posRepo size: 4 2021-02-18T01:07:09.081Z,1613610429.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:09.864Z,1613610429.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:07:10.278Z,1613610430.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:07:11.096Z,1613610431.096 [Micromodem](INFO): Nmea in: $SNTTA,0.026716,,,,010709.91*43 2021-02-18T01:07:11.133Z,1613610431.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.200001 m, bearing: 5.005779 deg, deltaT: 4.478833 s, approachRate: -6.738363 m/s, LOS rate: -1.342898 deg/s, posRepo size: 4 2021-02-18T01:07:13.614Z,1613610433.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:14.330Z,1613610434.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:07:14.732Z,1613610434.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:07:15.536Z,1613610435.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010714.38*56 2021-02-18T01:07:16.354Z,1613610436.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:17.960Z,1613610437.960 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:07:19.172Z,1613610439.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:19.964Z,1613610439.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:07:20.370Z,1613610440.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:07:21.192Z,1613610441.192 [Micromodem](INFO): Nmea in: $SNTTA,0.031702,,,,010720.01*42 2021-02-18T01:07:21.214Z,1613610441.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.339996 m, bearing: 13.967414 deg, deltaT: 10.085693 s, approachRate: 0.707933 m/s, LOS rate: 0.888549 deg/s, posRepo size: 4 2021-02-18T01:07:23.656Z,1613610443.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:24.410Z,1613610444.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:07:24.814Z,1613610444.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:07:25.640Z,1613610445.640 [Micromodem](INFO): Nmea in: $SNTTA,0.033707,,,,010724.46*42 2021-02-18T01:07:25.693Z,1613610445.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.340000 m, bearing: 7.743381 deg, deltaT: 4.426798 s, approachRate: 0.677692 m/s, LOS rate: -1.405990 deg/s, posRepo size: 4 2021-02-18T01:07:28.058Z,1613610448.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:28.873Z,1613610448.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:07:29.275Z,1613610449.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:07:30.103Z,1613610450.103 [Micromodem](INFO): Nmea in: $SNTTA,0.035719,,,,010728.92*4E 2021-02-18T01:07:30.122Z,1613610450.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.639999 m, bearing: 315.703365 deg, deltaT: 4.507176 s, approachRate: 0.732166 m/s, LOS rate: -11.546037 deg/s, posRepo size: 4 2021-02-18T01:07:32.606Z,1613610452.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:33.306Z,1613610453.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:07:33.715Z,1613610453.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:07:34.569Z,1613610454.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010733.36*5D 2021-02-18T01:07:34.637Z,1613610454.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.640007 m, bearing: 14.662048 deg, deltaT: 4.389554 s, approachRate: 0.683442 m/s, LOS rate: 13.431587 deg/s, posRepo size: 4 2021-02-18T01:07:36.962Z,1613610456.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:37.740Z,1613610457.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:07:38.147Z,1613610458.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:07:38.976Z,1613610458.976 [Micromodem](INFO): Nmea in: $SNTTA,0.049173,,,,010737.79*44 2021-02-18T01:07:38.992Z,1613610458.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.759998 m, bearing: 17.930966 deg, deltaT: 4.507159 s, approachRate: 0.692230 m/s, LOS rate: 0.725272 deg/s, posRepo size: 4 2021-02-18T01:07:41.391Z,1613610461.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:42.184Z,1613610462.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:07:42.611Z,1613610462.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:07:43.412Z,1613610463.412 [Micromodem](INFO): Nmea in: $SNTTA,0.042219,,,,010742.23*4D 2021-02-18T01:07:43.434Z,1613610463.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.180004 m, bearing: 11.615391 deg, deltaT: 4.370758 s, approachRate: 0.782474 m/s, LOS rate: -1.444961 deg/s, posRepo size: 4 2021-02-18T01:07:45.870Z,1613610465.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:46.640Z,1613610466.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:07:47.040Z,1613610467.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:07:47.864Z,1613610467.864 [Micromodem](INFO): Nmea in: $SNTTA,0.059034,,,,010746.69*40 2021-02-18T01:07:47.918Z,1613610467.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.180000 m, bearing: 8.162546 deg, deltaT: 4.472066 s, approachRate: 0.670830 m/s, LOS rate: -0.772092 deg/s, posRepo size: 4 2021-02-18T01:07:50.295Z,1613610470.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:51.077Z,1613610471.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:07:51.482Z,1613610471.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:07:52.304Z,1613610472.304 [Micromodem](INFO): Nmea in: $SNTTA,0.046049,,,,010751.13*4F 2021-02-18T01:07:52.341Z,1613610472.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.240005 m, bearing: 13.487191 deg, deltaT: 4.443987 s, approachRate: 0.688572 m/s, LOS rate: 1.198169 deg/s, posRepo size: 4 2021-02-18T01:07:54.757Z,1613610474.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:55.535Z,1613610475.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:07:55.929Z,1613610475.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:07:56.756Z,1613610476.756 [Micromodem](INFO): Nmea in: $SNTTA,0.048122,,,,010755.58*46 2021-02-18T01:07:56.809Z,1613610476.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.419998 m, bearing: 9.239662 deg, deltaT: 4.414552 s, approachRate: 0.720343 m/s, LOS rate: -0.962165 deg/s, posRepo size: 4 2021-02-18T01:07:59.179Z,1613610479.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:07:59.962Z,1613610479.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:00.366Z,1613610480.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:08:01.177Z,1613610481.177 [Micromodem](INFO): Nmea in: $SNTTA,0.050289,,,,010800.01*4E 2021-02-18T01:08:02.003Z,1613610482.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:03.611Z,1613610483.611 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:08:04.868Z,1613610484.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:05.618Z,1613610485.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:06.038Z,1613610486.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:08:06.852Z,1613610486.852 [Micromodem](INFO): Nmea in: $SNTTA,0.052785,,,,010805.67*40 2021-02-18T01:08:06.905Z,1613610486.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.379997 m, bearing: 331.399112 deg, deltaT: 10.128455 s, approachRate: 0.687173 m/s, LOS rate: -3.736064 deg/s, posRepo size: 4 2021-02-18T01:08:09.280Z,1613610489.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:10.066Z,1613610490.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:10.472Z,1613610490.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:08:11.292Z,1613610491.292 [Micromodem](INFO): Nmea in: $SNTTA,0.054932,,,,010810.11*41 2021-02-18T01:08:11.314Z,1613610491.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.560005 m, bearing: 333.825578 deg, deltaT: 4.454617 s, approachRate: 0.713868 m/s, LOS rate: 0.544708 deg/s, posRepo size: 4 2021-02-18T01:08:13.747Z,1613610493.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:14.527Z,1613610494.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:14.910Z,1613610494.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:08:15.741Z,1613610495.741 [Micromodem](INFO): Nmea in: $SNTTA,0.057147,,,,010814.58*41 2021-02-18T01:08:15.789Z,1613610495.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.860001 m, bearing: 326.796712 deg, deltaT: 4.404354 s, approachRate: 0.749258 m/s, LOS rate: -1.595890 deg/s, posRepo size: 4 2021-02-18T01:08:18.184Z,1613610498.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:18.948Z,1613610498.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:19.383Z,1613610499.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:08:20.176Z,1613610500.176 [Micromodem](INFO): Nmea in: $SNTTA,0.059334,,,,010819.00*49 2021-02-18T01:08:20.218Z,1613610500.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.160004 m, bearing: 322.987433 deg, deltaT: 4.489891 s, approachRate: 0.734985 m/s, LOS rate: -0.848412 deg/s, posRepo size: 4 2021-02-18T01:08:22.668Z,1613610502.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:23.392Z,1613610503.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:23.798Z,1613610503.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:08:24.628Z,1613610504.628 [Micromodem](INFO): Nmea in: $SNTTA,0.061404,,,,010823.44*4F 2021-02-18T01:08:24.677Z,1613610504.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.340004 m, bearing: 9.997016 deg, deltaT: 4.523776 s, approachRate: 0.702953 m/s, LOS rate: 10.391670 deg/s, posRepo size: 4 2021-02-18T01:08:27.051Z,1613610507.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:27.836Z,1613610507.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:28.248Z,1613610508.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:08:29.071Z,1613610509.071 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.073838,010827.88*4B 2021-02-18T01:08:29.093Z,1613610509.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.699997 m, bearing: 4.455615 deg, deltaT: 4.346276 s, approachRate: 0.773074 m/s, LOS rate: -1.274977 deg/s, posRepo size: 4 2021-02-18T01:08:31.540Z,1613610511.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:32.280Z,1613610512.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:32.704Z,1613610512.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:08:33.536Z,1613610513.536 [Micromodem](INFO): Nmea in: $SNTTA,0.065696,,,,010832.33*42 2021-02-18T01:08:33.612Z,1613610513.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.700005 m, bearing: 10.497333 deg, deltaT: 4.429843 s, approachRate: 0.677227 m/s, LOS rate: 1.363867 deg/s, posRepo size: 4 2021-02-18T01:08:35.976Z,1613610515.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:36.724Z,1613610516.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:37.130Z,1613610517.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:08:37.952Z,1613610517.952 [Micromodem](INFO): Nmea in: $SNTTA,0.067664,,,,010836.77*49 2021-02-18T01:08:37.981Z,1613610517.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.820007 m, bearing: 323.733809 deg, deltaT: 4.489210 s, approachRate: 0.695000 m/s, LOS rate: -10.416874 deg/s, posRepo size: 4 2021-02-18T01:08:40.396Z,1613610520.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:41.182Z,1613610521.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:41.607Z,1613610521.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:08:42.404Z,1613610522.404 [Micromodem](INFO): Nmea in: $SNTTA,0.070077,,,,010841.23*4A 2021-02-18T01:08:42.446Z,1613610522.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.120010 m, bearing: 317.977490 deg, deltaT: 4.388227 s, approachRate: 0.752013 m/s, LOS rate: -1.311764 deg/s, posRepo size: 4 2021-02-18T01:08:44.854Z,1613610524.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:45.618Z,1613610525.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:46.024Z,1613610526.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:08:46.844Z,1613610526.844 [Micromodem](INFO): Nmea in: $SNTTA,0.071996,,,,010845.67*49 2021-02-18T01:08:46.892Z,1613610526.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.180008 m, bearing: 325.167329 deg, deltaT: 4.457033 s, approachRate: 0.686555 m/s, LOS rate: 1.613145 deg/s, posRepo size: 4 2021-02-18T01:08:49.264Z,1613610529.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:50.056Z,1613610530.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:50.470Z,1613610530.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:08:51.284Z,1613610531.284 [Micromodem](INFO): Nmea in: $SNTTA,0.074268,,,,010850.10*42 2021-02-18T01:08:51.306Z,1613610531.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.599998 m, bearing: 4.670325 deg, deltaT: 4.438466 s, approachRate: 0.770534 m/s, LOS rate: 8.900145 deg/s, posRepo size: 4 2021-02-18T01:08:51.690Z,1613610531.690 [RDI_Pathfinder](ERROR): only read 1 of 4 data items 2021-02-18T01:08:53.742Z,1613610533.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:54.526Z,1613610534.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:54.907Z,1613610534.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:08:55.740Z,1613610535.740 [Micromodem](INFO): Nmea in: $SNTTA,0.076270,,,,010854.57*4E 2021-02-18T01:08:55.792Z,1613610535.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.600006 m, bearing: 322.952490 deg, deltaT: 4.438919 s, approachRate: 0.675842 m/s, LOS rate: -9.398196 deg/s, posRepo size: 4 2021-02-18T01:08:58.151Z,1613610538.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:08:58.949Z,1613610538.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:08:59.350Z,1613610539.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:09:00.176Z,1613610540.176 [Micromodem](INFO): Nmea in: $SNTTA,0.078333,,,0.088545,010859.00*53 2021-02-18T01:09:00.256Z,1613610540.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.660004 m, bearing: 324.664600 deg, deltaT: 4.486001 s, approachRate: 0.682121 m/s, LOS rate: 0.381656 deg/s, posRepo size: 4 2021-02-18T01:09:02.661Z,1613610542.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:03.388Z,1613610543.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:09:03.806Z,1613610543.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:09:04.624Z,1613610544.624 [Micromodem](INFO): Nmea in: $SNTTA,0.080523,,,,010903.44*47 2021-02-18T01:09:04.673Z,1613610544.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.900002 m, bearing: 324.317900 deg, deltaT: 4.404846 s, approachRate: 0.735553 m/s, LOS rate: -0.078709 deg/s, posRepo size: 4 2021-02-18T01:09:07.054Z,1613610547.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:07.833Z,1613610547.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:09:08.238Z,1613610548.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:09:09.053Z,1613610549.053 [Micromodem](INFO): Nmea in: $SNTTA,0.082764,,,,010907.88*40 2021-02-18T01:09:09.893Z,1613610549.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:11.471Z,1613610551.471 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:09:12.724Z,1613610552.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:13.526Z,1613610553.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:09:13.911Z,1613610553.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:09:14.744Z,1613610554.744 [Micromodem](INFO): Nmea in: $SNTTA,0.085557,,,,010913.57*42 2021-02-18T01:09:14.796Z,1613610554.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.520004 m, bearing: 5.063630 deg, deltaT: 10.108579 s, approachRate: 0.753815 m/s, LOS rate: 4.030807 deg/s, posRepo size: 4 2021-02-18T01:09:17.140Z,1613610557.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:17.932Z,1613610557.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:09:18.340Z,1613610558.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:09:19.149Z,1613610559.149 [Micromodem](INFO): Nmea in: $SNTTA,0.087722,,,,010917.98*47 2021-02-18T01:09:19.977Z,1613610559.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:21.589Z,1613610561.589 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:09:22.856Z,1613610562.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:23.612Z,1613610563.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:09:23.994Z,1613610563.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:09:24.816Z,1613610564.816 [Micromodem](INFO): Nmea in: $SNTTA,0.090254,,,,010923.66*43 2021-02-18T01:09:25.658Z,1613610565.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:27.222Z,1613610567.222 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:09:28.452Z,1613610568.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:29.246Z,1613610569.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:09:29.655Z,1613610569.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:09:30.493Z,1613610570.493 [Micromodem](INFO): Nmea in: $SNTTA,0.093014,,0.109276,,010929.29*52 2021-02-18T01:09:30.541Z,1613610570.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.619995 m, bearing: 327.928037 deg, deltaT: 15.762098 s, approachRate: 0.704220 m/s, LOS rate: -2.356006 deg/s, posRepo size: 4 2021-02-18T01:09:32.928Z,1613610572.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:33.698Z,1613610573.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:09:34.093Z,1613610574.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:09:34.912Z,1613610574.912 [Micromodem](INFO): Nmea in: $SNTTA,0.095069,,,,010933.75*49 2021-02-18T01:09:35.753Z,1613610575.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:37.328Z,1613610577.328 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:09:38.613Z,1613610578.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:39.344Z,1613610579.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:09:39.755Z,1613610579.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:09:40.603Z,1613610580.603 [Micromodem](INFO): Nmea in: $SNTTA,0.097899,,,,010939.39*4E 2021-02-18T01:09:40.647Z,1613610580.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.000000 m, bearing: 326.193497 deg, deltaT: 10.082059 s, approachRate: 0.731994 m/s, LOS rate: -0.172042 deg/s, posRepo size: 4 2021-02-18T01:09:42.678Z,1613610582.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:43.387Z,1613610583.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:09:43.789Z,1613610583.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:09:44.636Z,1613610584.636 [Micromodem](INFO): Nmea in: $SNTTA,0.099794,,,,010943.44*45 2021-02-18T01:09:44.674Z,1613610584.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.000000 m, bearing: 350.165876 deg, deltaT: 4.052665 s, approachRate: 0.740254 m/s, LOS rate: 5.915214 deg/s, posRepo size: 4 2021-02-18T01:09:44.674Z,1613610584.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.00 m. Resuming terminal guidance. 2021-02-18T01:09:44.675Z,1613610584.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T01:09:47.059Z,1613610587.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:47.829Z,1613610587.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:09:48.234Z,1613610588.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:09:49.051Z,1613610589.051 [Micromodem](INFO): Nmea in: $SNTTA,0.101915,,,,010947.88*46 2021-02-18T01:09:49.884Z,1613610589.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:51.474Z,1613610591.474 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:09:52.715Z,1613610592.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:53.519Z,1613610593.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:09:53.890Z,1613610593.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:09:54.715Z,1613610594.715 [Micromodem](INFO): Nmea in: $SNTTA,0.104588,,,,010953.57*4C 2021-02-18T01:09:55.577Z,1613610595.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:57.118Z,1613610597.118 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:09:58.346Z,1613610598.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:09:59.149Z,1613610599.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:09:59.548Z,1613610599.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:10:00.362Z,1613610600.362 [Micromodem](INFO): Nmea in: $SNTTA,0.107317,,,,010959.20*45 2021-02-18T01:10:01.193Z,1613610601.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:02.775Z,1613610602.775 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:10:04.006Z,1613610604.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:04.796Z,1613610604.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:10:05.202Z,1613610605.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:10:06.013Z,1613610606.013 [Micromodem](INFO): Nmea in: $SNTTA,0.110051,,,,011004.85*4D 2021-02-18T01:10:06.861Z,1613610606.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:08.446Z,1613610608.446 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:10:09.686Z,1613610609.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:10.452Z,1613610610.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:10:10.857Z,1613610610.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:10:11.262Z,1613610611.262 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,E44,000,00D 5,187,80,80,A8,FF 2021-02-18T01:10:11.668Z,1613610611.668 [Micromodem](INFO): Nmea in: $SNTTA,0.112706,,,,011010.50*47 2021-02-18T01:10:12.539Z,1613610612.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:15.316Z,1613610615.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:18.142Z,1613610618.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:18.936Z,1613610618.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:10:19.341Z,1613610619.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:10:19.746Z,1613610619.746 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,EBA,000,00D 5,187,80,80,A8,FF 2021-02-18T01:10:20.155Z,1613610620.155 [Micromodem](INFO): Nmea in: $SNTTA,0.116835,,,,011018.98*40 2021-02-18T01:10:20.987Z,1613610620.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:23.829Z,1613610623.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:26.652Z,1613610626.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:27.420Z,1613610627.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:10:27.827Z,1613610627.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:10:28.635Z,1613610628.635 [Micromodem](INFO): Nmea in: $SNTTA,0.120961,,,,011027.47*4B 2021-02-18T01:10:29.521Z,1613610629.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:31.060Z,1613610631.060 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:10:32.282Z,1613610632.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:33.078Z,1613610633.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:10:33.520Z,1613610633.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:10:34.294Z,1613610634.294 [Micromodem](INFO): Nmea in: $SNTTA,0.123707,,,,011033.13*42 2021-02-18T01:10:35.131Z,1613610635.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:36.711Z,1613610636.711 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:10:37.950Z,1613610637.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:38.751Z,1613610638.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:10:39.141Z,1613610639.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:10:39.959Z,1613610639.959 [Micromodem](INFO): Nmea in: $SNTTA,0.126533,,,,011038.80*43 2021-02-18T01:10:40.805Z,1613610640.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:42.372Z,1613610642.372 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:10:43.664Z,1613610643.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:44.388Z,1613610644.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:10:44.795Z,1613610644.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:10:45.628Z,1613610645.628 [Micromodem](INFO): Nmea in: $SNTTA,0.129205,,,,011044.44*4D 2021-02-18T01:10:46.050Z,1613610646.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.819992 m, bearing: 336.259365 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T01:10:46.050Z,1613610646.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 336.259365deg and heading rate command to 0 deg/s. 2021-02-18T01:10:48.450Z,1613610648.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:49.236Z,1613610649.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:10:49.653Z,1613610649.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:10:50.453Z,1613610650.453 [Micromodem](INFO): Nmea in: $SNTTA,0.131472,,,,011049.28*45 2021-02-18T01:10:50.932Z,1613610650.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.339996 m, bearing: 16.443411 deg, deltaT: 4.809153 s, approachRate: 0.524002 m/s, LOS rate: 8.355742 deg/s, posRepo size: 2 2021-02-18T01:10:50.934Z,1613610650.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.339996 m, bearing: 16.443411 deg, approachRate: 0.524002 m/s, LOS rate: 8.355742 deg/s, cmd update: 12.000000 deg/s, cmd heading: 336.259365 deg, new cmd heading: 336.259365 deg. 2021-02-18T01:10:53.312Z,1613610653.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:54.093Z,1613610654.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:10:54.538Z,1613610654.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:10:54.557Z,1613610654.557 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T01:10:55.304Z,1613610655.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011054.14*5A 2021-02-18T01:10:55.777Z,1613610655.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.699997 m, bearing: 330.816196 deg, deltaT: 4.851770 s, approachRate: 0.692531 m/s, LOS rate: -9.404240 deg/s, posRepo size: 3 2021-02-18T01:10:55.779Z,1613610655.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.699997 m, bearing: 330.816196 deg, approachRate: 0.692531 m/s, LOS rate: -9.404240 deg/s, cmd update: -12.000000 deg/s, cmd heading: 34.479635 deg, new cmd heading: 39.922428 deg. 2021-02-18T01:10:58.163Z,1613610658.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:10:58.934Z,1613610658.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:10:59.375Z,1613610659.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:11:00.180Z,1613610660.180 [Micromodem](INFO): Nmea in: $SNTTA,0.135540,,,,011058.98*4A 2021-02-18T01:11:00.222Z,1613610660.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.699997 m, bearing: 349.713308 deg, deltaT: 4.505289 s, approachRate: 0.000000 m/s, LOS rate: 4.194428 deg/s, posRepo size: 4 2021-02-18T01:11:00.224Z,1613610660.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.699997 m, bearing: 349.713308 deg, approachRate: 0.000000 m/s, LOS rate: 4.194428 deg/s, cmd update: 12.000000 deg/s, cmd heading: 340.414738 deg, new cmd heading: 335.691466 deg. 2021-02-18T01:11:02.653Z,1613610662.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:11:03.377Z,1613610663.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:11:03.783Z,1613610663.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:11:04.625Z,1613610664.625 [Micromodem](INFO): Nmea in: $SNTTA,0.136934,,,,011103.42*4E 2021-02-18T01:11:04.633Z,1613610664.633 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T01:11:05.033Z,1613610665.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.440002 m, bearing: 13.373725 deg, deltaT: 4.852999 s, approachRate: 0.976717 m/s, LOS rate: 4.875423 deg/s, posRepo size: 4 2021-02-18T01:11:05.035Z,1613610665.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.440002 m, bearing: 13.373725 deg, approachRate: 0.976717 m/s, LOS rate: 4.875423 deg/s, cmd update: 12.000000 deg/s, cmd heading: 38.601263 deg, new cmd heading: 42.868499 deg. 2021-02-18T01:11:07.441Z,1613610667.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:11:08.229Z,1613610668.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:11:08.637Z,1613610668.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:11:09.445Z,1613610669.445 [Micromodem](INFO): Nmea in: $SNTTA,0.138582,,,,011108.28*46 2021-02-18T01:11:09.857Z,1613610669.857 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T01:11:09.884Z,1613610669.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.899994 m, bearing: 26.521046 deg, deltaT: 4.845504 s, approachRate: 0.507685 m/s, LOS rate: 2.713303 deg/s, posRepo size: 4 2021-02-18T01:11:09.886Z,1613610669.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.899994 m, bearing: 26.521046 deg, approachRate: 0.507685 m/s, LOS rate: 2.713303 deg/s, cmd update: 10.853212 deg/s, cmd heading: 96.007512 deg, new cmd heading: 101.065801 deg. 2021-02-18T01:11:12.291Z,1613610672.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:11:13.084Z,1613610673.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:11:13.516Z,1613610673.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:11:14.296Z,1613610674.296 [Micromodem](INFO): Nmea in: $SNTTA,0.139760,,,,011113.13*4B 2021-02-18T01:11:14.706Z,1613610674.706 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T01:11:14.729Z,1613610674.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.699997 m, bearing: 63.942763 deg, deltaT: 4.783781 s, approachRate: 0.376272 m/s, LOS rate: 7.822623 deg/s, posRepo size: 4 2021-02-18T01:11:14.730Z,1613610674.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 209.699997 m, bearing: 63.942763 deg, approachRate: 0.376272 m/s, LOS rate: 7.822623 deg/s, cmd update: 12.000000 deg/s, cmd heading: 148.638277 deg, new cmd heading: 153.173379 deg. 2021-02-18T01:11:17.133Z,1613610677.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:11:17.921Z,1613610677.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:11:18.333Z,1613610678.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:11:19.244Z,1613610679.244 [Micromodem](INFO): Nmea in: $SNTTA,0.140454,,,,011117.97*49 2021-02-18T01:11:19.286Z,1613610679.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.380005 m, bearing: 113.045853 deg, deltaT: 4.526338 s, approachRate: 0.371163 m/s, LOS rate: 10.848304 deg/s, posRepo size: 4 2021-02-18T01:11:19.288Z,1613610679.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 211.380005 m, bearing: 113.045853 deg, approachRate: 0.371163 m/s, LOS rate: 10.848304 deg/s, cmd update: 12.000000 deg/s, cmd heading: 202.956603 deg, new cmd heading: 208.336839 deg. 2021-02-18T01:11:21.641Z,1613610681.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:11:22.365Z,1613610682.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:11:22.770Z,1613610682.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:11:23.617Z,1613610683.617 [Micromodem](INFO): Nmea in: $SNTTA,0.140511,,,,011122.41*44 2021-02-18T01:11:24.014Z,1613610684.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.839996 m, bearing: 39.469840 deg, deltaT: 4.814016 s, approachRate: -0.112174 m/s, LOS rate: -15.283708 deg/s, posRepo size: 4 2021-02-18T01:11:24.015Z,1613610684.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.283708 deg/s. Setting heading cmd to target bearing of 39.469840deg and heading rate command to 0 deg/s. 2021-02-18T01:11:26.422Z,1613610686.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:11:27.212Z,1613610687.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:11:27.632Z,1613610687.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:11:28.431Z,1613610688.431 [Micromodem](INFO): Nmea in: $SNTTA,0.140191,,,,011127.26*4C 2021-02-18T01:11:28.881Z,1613610688.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.179993 m, bearing: 112.682009 deg, deltaT: 4.794385 s, approachRate: -0.137662 m/s, LOS rate: 15.270399 deg/s, posRepo size: 4 2021-02-18T01:11:28.882Z,1613610688.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.270399 deg/s. Setting heading cmd to target bearing of 112.682009deg and heading rate command to 0 deg/s. 2021-02-18T01:11:30.949Z,1613610690.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:11:31.664Z,1613610691.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:11:32.132Z,1613610692.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:11:32.932Z,1613610692.932 [Micromodem](INFO): Nmea in: $SNTTA,0.139696,,,,011131.71*47 2021-02-18T01:11:32.963Z,1613610692.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.579987 m, bearing: 18.942300 deg, deltaT: 4.224041 s, approachRate: -0.142046 m/s, LOS rate: -22.191951 deg/s, posRepo size: 4 2021-02-18T01:11:32.964Z,1613610692.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.191951 deg/s. Setting heading cmd to target bearing of 18.942300deg and heading rate command to 0 deg/s. 2021-02-18T01:11:34.544Z,1613610694.544 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T01:11:35.314Z,1613610695.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:11:36.101Z,1613610696.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:11:36.533Z,1613610696.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:11:37.318Z,1613610697.318 [Micromodem](INFO): Nmea in: $SNTTA,0.140033,,,,011136.15*45 2021-02-18T01:11:37.773Z,1613610697.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.059998 m, bearing: 89.446347 deg, deltaT: 4.683825 s, approachRate: 0.102483 m/s, LOS rate: 15.052665 deg/s, posRepo size: 4 2021-02-18T01:11:37.774Z,1613610697.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.052665 deg/s. Setting heading cmd to target bearing of 89.446347deg and heading rate command to 0 deg/s. 2021-02-18T01:11:40.182Z,1613610700.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:11:40.954Z,1613610700.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:11:41.354Z,1613610701.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:11:42.170Z,1613610702.170 [Micromodem](INFO): Nmea in: $SNTTA,0.140928,,,,011141.00*42 2021-02-18T01:11:42.644Z,1613610702.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.499985 m, bearing: 62.243152 deg, deltaT: 4.831001 s, approachRate: 0.298072 m/s, LOS rate: -5.630965 deg/s, posRepo size: 4 2021-02-18T01:11:42.646Z,1613610702.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 211.499985 m, bearing: 62.243152 deg, approachRate: 0.298072 m/s, LOS rate: -5.630965 deg/s, cmd update: -12.000000 deg/s, cmd heading: 89.446347 deg, new cmd heading: 89.446347 deg. 2021-02-18T01:11:45.068Z,1613610705.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:11:45.870Z,1613610705.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:11:46.251Z,1613610706.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:11:47.440Z,1613610707.440 [Micromodem](INFO): Nmea in: $SNTTA,0.142248,,,,011145.92*42 2021-02-18T01:11:47.466Z,1613610707.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.359985 m, bearing: 90.140056 deg, deltaT: 4.890108 s, approachRate: 0.380360 m/s, LOS rate: 5.704762 deg/s, posRepo size: 4 2021-02-18T01:11:47.497Z,1613610707.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.359985 m, bearing: 90.140056 deg, approachRate: 0.380360 m/s, LOS rate: 5.704762 deg/s, cmd update: 12.000000 deg/s, cmd heading: 30.833318 deg, new cmd heading: 26.060330 deg. 2021-02-18T01:11:49.924Z,1613610709.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:11:50.646Z,1613610710.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:11:51.050Z,1613610711.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:11:51.862Z,1613610711.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011150.69*55 2021-02-18T01:11:52.311Z,1613610712.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.080002 m, bearing: 104.925926 deg, deltaT: 4.845574 s, approachRate: 0.148593 m/s, LOS rate: 3.051418 deg/s, posRepo size: 4 2021-02-18T01:11:52.314Z,1613610712.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.080002 m, bearing: 104.925926 deg, approachRate: 0.148593 m/s, LOS rate: 3.051418 deg/s, cmd update: 12.000000 deg/s, cmd heading: 88.762804 deg, new cmd heading: 93.737236 deg. 2021-02-18T01:11:54.730Z,1613610714.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:11:55.530Z,1613610715.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:11:55.906Z,1613610715.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:11:56.725Z,1613610716.725 [Micromodem](INFO): Nmea in: $SNTTA,0.143094,,,,011155.58*47 2021-02-18T01:11:57.142Z,1613610717.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.619995 m, bearing: 27.769316 deg, deltaT: 4.888528 s, approachRate: 0.110461 m/s, LOS rate: -15.783199 deg/s, posRepo size: 4 2021-02-18T01:11:57.143Z,1613610717.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.783199 deg/s. Setting heading cmd to target bearing of 27.769316deg and heading rate command to 0 deg/s. 2021-02-18T01:11:59.726Z,1613610719.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:12:00.362Z,1613610720.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:12:00.777Z,1613610720.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:12:01.592Z,1613610721.592 [Micromodem](INFO): Nmea in: $SNTTA,0.142767,,,,011200.41*46 2021-02-18T01:12:01.982Z,1613610721.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.959991 m, bearing: 139.199433 deg, deltaT: 4.862558 s, approachRate: -0.135732 m/s, LOS rate: 22.915945 deg/s, posRepo size: 4 2021-02-18T01:12:01.983Z,1613610721.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.915945 deg/s. Setting heading cmd to target bearing of 139.199433deg and heading rate command to 0 deg/s. 2021-02-18T01:12:04.401Z,1613610724.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:12:05.194Z,1613610725.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:12:05.616Z,1613610725.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:12:06.414Z,1613610726.414 [Micromodem](INFO): Nmea in: $SNTTA,0.141915,,,,011205.24*48 2021-02-18T01:12:06.865Z,1613610726.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.699997 m, bearing: 105.778648 deg, deltaT: 4.757057 s, approachRate: -0.264868 m/s, LOS rate: -7.025517 deg/s, posRepo size: 4 2021-02-18T01:12:06.867Z,1613610726.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.699997 m, bearing: 105.778648 deg, approachRate: -0.264868 m/s, LOS rate: -7.025517 deg/s, cmd update: -12.000000 deg/s, cmd heading: 139.199433 deg, new cmd heading: 139.199433 deg. 2021-02-18T01:12:09.262Z,1613610729.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:12:10.037Z,1613610730.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:12:10.454Z,1613610730.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:12:11.255Z,1613610731.255 [Micromodem](INFO): Nmea in: $SNTTA,0.140701,,,,011210.08*48 2021-02-18T01:12:11.773Z,1613610731.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.839996 m, bearing: 152.958904 deg, deltaT: 4.841341 s, approachRate: -0.384191 m/s, LOS rate: 9.745287 deg/s, posRepo size: 4 2021-02-18T01:12:11.775Z,1613610731.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.839996 m, bearing: 152.958904 deg, approachRate: -0.384191 m/s, LOS rate: 9.745287 deg/s, cmd update: 12.000000 deg/s, cmd heading: 81.100711 deg, new cmd heading: 75.058423 deg. 2021-02-18T01:12:14.125Z,1613610734.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:12:14.890Z,1613610734.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:12:15.291Z,1613610735.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:12:16.109Z,1613610736.109 [Micromodem](INFO): Nmea in: $SNTTA,0.139312,,,,011214.94*41 2021-02-18T01:12:16.612Z,1613610736.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.899994 m, bearing: 153.353880 deg, deltaT: 4.853464 s, approachRate: -0.605753 m/s, LOS rate: 0.081380 deg/s, posRepo size: 4 2021-02-18T01:12:16.614Z,1613610736.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.899994 m, bearing: 153.353880 deg, approachRate: -0.605753 m/s, LOS rate: 0.081380 deg/s, cmd update: 0.325521 deg/s, cmd heading: 139.342124 deg, new cmd heading: 145.161992 deg. 2021-02-18T01:12:18.640Z,1613610738.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:12:19.333Z,1613610739.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:12:19.743Z,1613610739.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:12:20.554Z,1613610740.554 [Micromodem](INFO): Nmea in: $SNTTA,0.137401,,,,011219.38*41 2021-02-18T01:12:20.986Z,1613610740.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.979996 m, bearing: 169.748492 deg, deltaT: 4.535394 s, approachRate: -0.423337 m/s, LOS rate: 3.614815 deg/s, posRepo size: 4 2021-02-18T01:12:21.004Z,1613610741.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.979996 m, bearing: 169.748492 deg, approachRate: -0.423337 m/s, LOS rate: 3.614815 deg/s, cmd update: 12.000000 deg/s, cmd heading: 140.817148 deg, new cmd heading: 140.925111 deg. 2021-02-18T01:12:23.388Z,1613610743.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:12:24.177Z,1613610744.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:12:24.619Z,1613610744.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:12:25.416Z,1613610745.416 [Micromodem](INFO): Nmea in: $SNTTA,0.135583,,,,011224.23*4C 2021-02-18T01:12:25.443Z,1613610745.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.159988 m, bearing: 154.388749 deg, deltaT: 4.415600 s, approachRate: -0.638646 m/s, LOS rate: -3.478518 deg/s, posRepo size: 4 2021-02-18T01:12:25.445Z,1613610745.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.159988 m, bearing: 154.388749 deg, approachRate: -0.638646 m/s, LOS rate: -3.478518 deg/s, cmd update: -12.000000 deg/s, cmd heading: 193.851270 deg, new cmd heading: 198.231042 deg. 2021-02-18T01:12:27.856Z,1613610747.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:12:28.626Z,1613610748.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:12:29.026Z,1613610749.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:12:29.859Z,1613610749.859 [Micromodem](INFO): Nmea in: $SNTTA,0.133915,,,,011228.67*45 2021-02-18T01:12:30.278Z,1613610750.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.639984 m, bearing: 155.230187 deg, deltaT: 4.838482 s, approachRate: -0.520825 m/s, LOS rate: 0.173905 deg/s, posRepo size: 4 2021-02-18T01:12:30.280Z,1613610750.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.639984 m, bearing: 155.230187 deg, approachRate: -0.520825 m/s, LOS rate: 0.173905 deg/s, cmd update: 0.695622 deg/s, cmd heading: 136.026904 deg, new cmd heading: 131.403376 deg. 2021-02-18T01:12:32.727Z,1613610752.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:12:33.478Z,1613610753.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:12:33.880Z,1613610753.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:12:34.700Z,1613610754.700 [Micromodem](INFO): Nmea in: $SNTTA,0.131734,,0.138840,,011233.53*5F 2021-02-18T01:12:35.121Z,1613610755.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.399994 m, bearing: 155.805084 deg, deltaT: 4.874388 s, approachRate: -0.664697 m/s, LOS rate: 0.117942 deg/s, posRepo size: 4 2021-02-18T01:12:35.123Z,1613610755.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.399994 m, bearing: 155.805084 deg, approachRate: -0.664697 m/s, LOS rate: 0.117942 deg/s, cmd update: 0.471770 deg/s, cmd heading: 139.428299 deg, new cmd heading: 139.664212 deg. 2021-02-18T01:12:37.619Z,1613610757.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:12:38.386Z,1613610758.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:12:38.734Z,1613610758.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:12:39.677Z,1613610759.677 [Micromodem](INFO): Nmea in: $SNTTA,0.129334,,,,011238.43*40 2021-02-18T01:12:39.712Z,1613610759.712 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T01:12:40.010Z,1613610760.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.799988 m, bearing: 155.010938 deg, deltaT: 4.957916 s, approachRate: -0.726113 m/s, LOS rate: -0.160177 deg/s, posRepo size: 4 2021-02-18T01:12:40.017Z,1613610760.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 193.799988 m, bearing: 155.010938 deg, approachRate: -0.726113 m/s, LOS rate: -0.160177 deg/s, cmd update: -0.640710 deg/s, cmd heading: 141.767615 deg, new cmd heading: 141.894521 deg. 2021-02-18T01:12:42.392Z,1613610762.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:12:43.173Z,1613610763.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:12:43.610Z,1613610763.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:12:44.389Z,1613610764.389 [Micromodem](INFO): Nmea in: $SNTTA,0.126834,,,,011243.22*4F 2021-02-18T01:12:44.824Z,1613610764.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.019974 m, bearing: 155.267822 deg, deltaT: 4.658385 s, approachRate: -0.811443 m/s, LOS rate: 0.055144 deg/s, posRepo size: 4 2021-02-18T01:12:44.826Z,1613610764.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.019974 m, bearing: 155.267822 deg, approachRate: -0.811443 m/s, LOS rate: 0.055144 deg/s, cmd update: 0.220577 deg/s, cmd heading: 138.780379 deg, new cmd heading: 138.510540 deg. 2021-02-18T01:12:47.221Z,1613610767.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:12:48.013Z,1613610768.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:12:48.418Z,1613610768.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:12:49.232Z,1613610769.232 [Micromodem](INFO): Nmea in: $SNTTA,0.124371,,,,011248.06*4A 2021-02-18T01:12:49.666Z,1613610769.666 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T01:12:49.699Z,1613610769.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.300018 m, bearing: 156.229813 deg, deltaT: 4.843496 s, approachRate: -0.768031 m/s, LOS rate: 0.198615 deg/s, posRepo size: 4 2021-02-18T01:12:49.701Z,1613610769.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.300018 m, bearing: 156.229813 deg, approachRate: -0.768031 m/s, LOS rate: 0.198615 deg/s, cmd update: 0.794460 deg/s, cmd heading: 139.848699 deg, new cmd heading: 139.947551 deg. 2021-02-18T01:12:51.781Z,1613610771.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:12:52.473Z,1613610772.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:12:52.940Z,1613610772.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:12:53.716Z,1613610773.716 [Micromodem](INFO): Nmea in: $SNTTA,0.122294,,,,011252.52*4C 2021-02-18T01:12:53.762Z,1613610773.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.300018 m, bearing: 156.794765 deg, deltaT: 4.076961 s, approachRate: 0.000000 m/s, LOS rate: 0.138572 deg/s, posRepo size: 4 2021-02-18T01:12:53.764Z,1613610773.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.300018 m, bearing: 156.794765 deg, approachRate: 0.000000 m/s, LOS rate: 0.138572 deg/s, cmd update: 0.554288 deg/s, cmd heading: 143.083617 deg, new cmd heading: 143.436246 deg. 2021-02-18T01:12:56.112Z,1613610776.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:12:56.902Z,1613610776.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:12:57.306Z,1613610777.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:12:58.132Z,1613610778.132 [Micromodem](INFO): Nmea in: $SNTTA,0.119935,,,0.122422,011256.95*50 2021-02-18T01:12:58.174Z,1613610778.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.300018 m, bearing: 147.368093 deg, deltaT: 4.461850 s, approachRate: 0.000000 m/s, LOS rate: -2.112727 deg/s, posRepo size: 4 2021-02-18T01:12:58.180Z,1613610778.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.300018 m, bearing: 147.368093 deg, approachRate: 0.000000 m/s, LOS rate: -2.112727 deg/s, cmd update: -8.450909 deg/s, cmd heading: 145.557301 deg, new cmd heading: 145.775042 deg. 2021-02-18T01:12:59.767Z,1613610779.767 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T01:13:00.613Z,1613610780.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:13:01.350Z,1613610781.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:13:01.759Z,1613610781.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:13:02.606Z,1613610782.606 [Micromodem](INFO): Nmea in: $SNTTA,0.117670,,,,011301.40*40 2021-02-18T01:13:02.998Z,1613610782.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.279999 m, bearing: 155.460693 deg, deltaT: 4.887384 s, approachRate: -2.050180 m/s, LOS rate: 1.655814 deg/s, posRepo size: 4 2021-02-18T01:13:03.000Z,1613610783.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.279999 m, bearing: 155.460693 deg, approachRate: -2.050180 m/s, LOS rate: 1.655814 deg/s, cmd update: 6.623257 deg/s, cmd heading: 104.251686 deg, new cmd heading: 101.469115 deg. 2021-02-18T01:13:04.658Z,1613610784.658 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T01:13:05.406Z,1613610785.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:13:06.268Z,1613610786.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:13:06.639Z,1613610786.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:13:07.823Z,1613610787.823 [Micromodem](INFO): Nmea in: $SNTTA,0.115280,,,,011306.32*4B 2021-02-18T01:13:07.857Z,1613610787.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.680008 m, bearing: 153.541450 deg, deltaT: 4.839926 s, approachRate: -0.743811 m/s, LOS rate: -0.396544 deg/s, posRepo size: 4 2021-02-18T01:13:07.858Z,1613610787.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.680008 m, bearing: 153.541450 deg, approachRate: -0.743811 m/s, LOS rate: -0.396544 deg/s, cmd update: -1.586175 deg/s, cmd heading: 136.116829 deg, new cmd heading: 138.611684 deg. 2021-02-18T01:13:10.261Z,1613610790.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:13:11.041Z,1613610791.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:13:11.446Z,1613610791.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:13:12.272Z,1613610792.272 [Micromodem](INFO): Nmea in: $SNTTA,0.113200,,,,011311.09*4B 2021-02-18T01:13:12.310Z,1613610792.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.680008 m, bearing: 156.288129 deg, deltaT: 4.412280 s, approachRate: 0.000000 m/s, LOS rate: 0.622508 deg/s, posRepo size: 4 2021-02-18T01:13:12.312Z,1613610792.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.680008 m, bearing: 156.288129 deg, approachRate: 0.000000 m/s, LOS rate: 0.622508 deg/s, cmd update: 2.490031 deg/s, cmd heading: 129.078769 deg, new cmd heading: 128.454975 deg. 2021-02-18T01:13:14.725Z,1613610794.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:13:15.509Z,1613610795.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:13:15.891Z,1613610795.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:13:16.718Z,1613610796.718 [Micromodem](INFO): Nmea in: $SNTTA,0.111324,,,,011315.56*40 2021-02-18T01:13:17.155Z,1613610797.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.800003 m, bearing: 158.409121 deg, deltaT: 4.825903 s, approachRate: -1.218426 m/s, LOS rate: 0.439502 deg/s, posRepo size: 4 2021-02-18T01:13:17.157Z,1613610797.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.800003 m, bearing: 158.409121 deg, approachRate: -1.218426 m/s, LOS rate: 0.439502 deg/s, cmd update: 1.758007 deg/s, cmd heading: 141.115248 deg, new cmd heading: 142.121315 deg. 2021-02-18T01:13:19.688Z,1613610799.688 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T01:13:19.702Z,1613610799.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:13:20.360Z,1613610800.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:13:20.743Z,1613610800.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:13:21.584Z,1613610801.584 [Micromodem](INFO): Nmea in: $SNTTA,0.109153,,,,011320.41*4B 2021-02-18T01:13:21.645Z,1613610801.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.800003 m, bearing: 157.721212 deg, deltaT: 4.429914 s, approachRate: 0.000000 m/s, LOS rate: -0.155287 deg/s, posRepo size: 4 2021-02-18T01:13:21.647Z,1613610801.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.800003 m, bearing: 157.721212 deg, approachRate: 0.000000 m/s, LOS rate: -0.155287 deg/s, cmd update: -0.621149 deg/s, cmd heading: 148.900979 deg, new cmd heading: 149.719530 deg. 2021-02-18T01:13:23.996Z,1613610803.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:13:24.781Z,1613610804.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:13:25.192Z,1613610805.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:13:26.008Z,1613610806.008 [Micromodem](INFO): Nmea in: $SNTTA,0.106905,,,,011324.83*45 2021-02-18T01:13:26.044Z,1613610806.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.199997 m, bearing: 157.827968 deg, deltaT: 4.500530 s, approachRate: -1.466495 m/s, LOS rate: 0.023721 deg/s, posRepo size: 4 2021-02-18T01:13:26.046Z,1613610806.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.199997 m, bearing: 157.827968 deg, approachRate: -1.466495 m/s, LOS rate: 0.023721 deg/s, cmd update: 0.094883 deg/s, cmd heading: 146.107191 deg, new cmd heading: 145.879318 deg. 2021-02-18T01:13:28.448Z,1613610808.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:13:29.226Z,1613610809.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:13:29.645Z,1613610809.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:13:29.678Z,1613610809.678 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T01:13:30.452Z,1613610810.452 [Micromodem](INFO): Nmea in: $SNTTA,0.104668,,,0.107168,011329.27*57 2021-02-18T01:13:30.531Z,1613610810.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.779999 m, bearing: 157.731758 deg, deltaT: 4.385009 s, approachRate: -0.779930 m/s, LOS rate: -0.021941 deg/s, posRepo size: 4 2021-02-18T01:13:30.533Z,1613610810.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.779999 m, bearing: 157.731758 deg, approachRate: -0.779930 m/s, LOS rate: -0.021941 deg/s, cmd update: -0.087763 deg/s, cmd heading: 146.522077 deg, new cmd heading: 146.567306 deg. 2021-02-18T01:13:32.908Z,1613610812.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:13:33.689Z,1613610813.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:13:34.101Z,1613610814.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:13:34.924Z,1613610814.924 [Micromodem](INFO): Nmea in: $SNTTA,0.102346,,,,011333.74*42 2021-02-18T01:13:34.946Z,1613610814.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.300018 m, bearing: 156.746667 deg, deltaT: 4.482971 s, approachRate: -0.776267 m/s, LOS rate: -0.219741 deg/s, posRepo size: 4 2021-02-18T01:13:34.968Z,1613610814.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.300018 m, bearing: 156.746667 deg, approachRate: -0.776267 m/s, LOS rate: -0.219741 deg/s, cmd update: -0.878963 deg/s, cmd heading: 146.127370 deg, new cmd heading: 146.092408 deg. 2021-02-18T01:13:37.325Z,1613610817.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:13:38.125Z,1613610818.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:13:38.532Z,1613610818.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:13:39.348Z,1613610819.348 [Micromodem](INFO): Nmea in: $SNTTA,0.100047,,,,011338.17*4C 2021-02-18T01:13:39.375Z,1613610819.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.820007 m, bearing: 158.548129 deg, deltaT: 4.409147 s, approachRate: -0.789271 m/s, LOS rate: 0.408574 deg/s, posRepo size: 4 2021-02-18T01:13:39.378Z,1613610819.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.820007 m, bearing: 158.548129 deg, approachRate: -0.789271 m/s, LOS rate: 0.408574 deg/s, cmd update: 1.634296 deg/s, cmd heading: 142.253756 deg, new cmd heading: 141.884294 deg. 2021-02-18T01:13:41.792Z,1613610821.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:13:42.566Z,1613610822.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:13:42.959Z,1613610822.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:13:43.792Z,1613610823.792 [Micromodem](INFO): Nmea in: $SNTTA,0.097747,,,,011342.62*4B 2021-02-18T01:13:43.863Z,1613610823.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.399994 m, bearing: 159.062975 deg, deltaT: 4.423432 s, approachRate: -0.773158 m/s, LOS rate: 0.116391 deg/s, posRepo size: 4 2021-02-18T01:13:43.865Z,1613610823.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.399994 m, bearing: 159.062975 deg, approachRate: -0.773158 m/s, LOS rate: 0.116391 deg/s, cmd update: 0.465563 deg/s, cmd heading: 149.489522 deg, new cmd heading: 150.268506 deg. 2021-02-18T01:13:46.236Z,1613610826.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:13:47.021Z,1613610827.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:13:47.419Z,1613610827.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:13:48.240Z,1613610828.240 [Micromodem](INFO): Nmea in: $SNTTA,0.095555,,,,011347.07*4E 2021-02-18T01:13:48.274Z,1613610828.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.160004 m, bearing: 159.435494 deg, deltaT: 4.524918 s, approachRate: -0.716033 m/s, LOS rate: 0.082326 deg/s, posRepo size: 4 2021-02-18T01:13:48.276Z,1613610828.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.160004 m, bearing: 159.435494 deg, approachRate: -0.716033 m/s, LOS rate: 0.082326 deg/s, cmd update: 0.329304 deg/s, cmd heading: 151.594297 deg, new cmd heading: 151.767106 deg. 2021-02-18T01:13:50.681Z,1613610830.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:13:51.442Z,1613610831.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:13:51.846Z,1613610831.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:13:52.672Z,1613610832.672 [Micromodem](INFO): Nmea in: $SNTTA,0.093199,,,,011351.49*41 2021-02-18T01:13:52.733Z,1613610832.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.740005 m, bearing: 158.726397 deg, deltaT: 4.358460 s, approachRate: -0.784680 m/s, LOS rate: -0.162694 deg/s, posRepo size: 4 2021-02-18T01:13:52.735Z,1613610832.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.740005 m, bearing: 158.726397 deg, approachRate: -0.784680 m/s, LOS rate: -0.162694 deg/s, cmd update: -0.650777 deg/s, cmd heading: 153.030805 deg, new cmd heading: 153.184962 deg. 2021-02-18T01:13:55.108Z,1613610835.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:13:55.894Z,1613610835.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:13:56.290Z,1613610836.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:13:57.117Z,1613610837.117 [Micromodem](INFO): Nmea in: $SNTTA,0.090764,,,,011355.94*42 2021-02-18T01:13:57.158Z,1613610837.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.960007 m, bearing: 158.945523 deg, deltaT: 4.487336 s, approachRate: -0.842370 m/s, LOS rate: 0.048832 deg/s, posRepo size: 4 2021-02-18T01:13:57.164Z,1613610837.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.960007 m, bearing: 158.945523 deg, approachRate: -0.842370 m/s, LOS rate: 0.048832 deg/s, cmd update: 0.195328 deg/s, cmd heading: 150.110410 deg, new cmd heading: 149.846677 deg. 2021-02-18T01:13:59.649Z,1613610839.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:00.357Z,1613610840.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:14:00.755Z,1613610840.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:14:01.569Z,1613610841.569 [Micromodem](INFO): Nmea in: $SNTTA,0.088498,,,,011400.41*44 2021-02-18T01:14:01.680Z,1613610841.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.599991 m, bearing: 158.954703 deg, deltaT: 4.412489 s, approachRate: -0.761479 m/s, LOS rate: 0.002080 deg/s, posRepo size: 4 2021-02-18T01:14:01.682Z,1613610841.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.599991 m, bearing: 158.954703 deg, approachRate: -0.761479 m/s, LOS rate: 0.002080 deg/s, cmd update: 0.008322 deg/s, cmd heading: 150.972297 deg, new cmd heading: 151.071844 deg. 2021-02-18T01:14:03.991Z,1613610843.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:04.773Z,1613610844.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:14:05.187Z,1613610845.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:14:06.004Z,1613610846.004 [Micromodem](INFO): Nmea in: $SNTTA,0.086086,,,,011404.82*4A 2021-02-18T01:14:06.041Z,1613610846.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.000000 m, bearing: 158.963979 deg, deltaT: 4.496268 s, approachRate: -0.800662 m/s, LOS rate: 0.002063 deg/s, posRepo size: 4 2021-02-18T01:14:06.043Z,1613610846.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.000000 m, bearing: 158.963979 deg, approachRate: -0.800662 m/s, LOS rate: 0.002063 deg/s, cmd update: 0.008252 deg/s, cmd heading: 151.009578 deg, new cmd heading: 151.012873 deg. 2021-02-18T01:14:08.425Z,1613610848.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:09.217Z,1613610849.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:14:09.654Z,1613610849.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:14:10.444Z,1613610850.444 [Micromodem](INFO): Nmea in: $SNTTA,0.083943,,,,011409.26*4C 2021-02-18T01:14:10.526Z,1613610850.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.700005 m, bearing: 159.077469 deg, deltaT: 4.393409 s, approachRate: -0.751124 m/s, LOS rate: 0.025832 deg/s, posRepo size: 4 2021-02-18T01:14:10.532Z,1613610850.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.700005 m, bearing: 159.077469 deg, approachRate: -0.751124 m/s, LOS rate: 0.025832 deg/s, cmd update: 0.103328 deg/s, cmd heading: 151.045831 deg, new cmd heading: 151.049848 deg. 2021-02-18T01:14:12.044Z,1613610852.044 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file). 2021-02-18T01:14:12.932Z,1613610852.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:13.667Z,1613610853.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:14:14.083Z,1613610854.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:14:14.908Z,1613610854.908 [Micromodem](INFO): Nmea in: $SNTTA,0.081618,,,,011413.71*46 2021-02-18T01:14:14.969Z,1613610854.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.220009 m, bearing: 159.206218 deg, deltaT: 4.484761 s, approachRate: -0.775960 m/s, LOS rate: 0.028708 deg/s, posRepo size: 4 2021-02-18T01:14:14.970Z,1613610854.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.220009 m, bearing: 159.206218 deg, approachRate: -0.775960 m/s, LOS rate: 0.028708 deg/s, cmd update: 0.114832 deg/s, cmd heading: 151.510897 deg, new cmd heading: 151.555222 deg. 2021-02-18T01:14:17.312Z,1613610857.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:18.119Z,1613610858.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:14:18.529Z,1613610858.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:14:19.340Z,1613610859.340 [Micromodem](INFO): Nmea in: $SNTTA,0.079329,,,,011418.17*4D 2021-02-18T01:14:19.366Z,1613610859.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.800003 m, bearing: 158.816952 deg, deltaT: 4.396902 s, approachRate: -0.777822 m/s, LOS rate: -0.088532 deg/s, posRepo size: 4 2021-02-18T01:14:19.388Z,1613610859.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.800003 m, bearing: 158.816952 deg, approachRate: -0.777822 m/s, LOS rate: -0.088532 deg/s, cmd update: -0.354128 deg/s, cmd heading: 152.015795 deg, new cmd heading: 152.065139 deg. 2021-02-18T01:14:21.818Z,1613610861.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:22.557Z,1613610862.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:14:22.966Z,1613610862.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:14:23.784Z,1613610863.784 [Micromodem](INFO): Nmea in: $SNTTA,0.077274,,,,011422.61*42 2021-02-18T01:14:23.834Z,1613610863.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.620003 m, bearing: 159.300721 deg, deltaT: 4.455707 s, approachRate: -0.713692 m/s, LOS rate: 0.108573 deg/s, posRepo size: 4 2021-02-18T01:14:23.836Z,1613610863.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.620003 m, bearing: 159.300721 deg, approachRate: -0.713692 m/s, LOS rate: 0.108573 deg/s, cmd update: 0.434291 deg/s, cmd heading: 150.445000 deg, new cmd heading: 150.281472 deg. 2021-02-18T01:14:24.682Z,1613610864.682 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T01:14:24.682Z,1613610864.682 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T01:14:24.682Z,1613610864.682 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T01:14:24.683Z,1613610864.683 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T01:14:24.687Z,1613610864.687 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T01:14:25.188Z,1613610865.188 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D604B0000005D000004003E0000000000000000151D80030C5669BF92F9E569200ED01576A1DBBB65E6C2856548F3C95CD5ABF94816AA3BB5899C6D4B0A 2021-02-18T01:14:25.189Z,1613610865.189 [Micromodem](INFO): Outgoing frame #2, 17 bytes: EB48F330A3837DEC9E3624B76AEE802040 2021-02-18T01:14:25.189Z,1613610865.189 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T01:14:25.484Z,1613610865.484 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T01:14:25.868Z,1613610865.868 [Micromodem](INFO): Nmea in: $CADRQ,011425,1,10,0,64,1*75 2021-02-18T01:14:25.869Z,1613610865.869 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D604B0000005D000004003E0000000000000000151D80030C5669BF92F9E569200ED01576A1DBBB65E6C2856548F3C95CD5ABF94816AA3BB5899C6D4B0A*42 2021-02-18T01:14:26.014Z,1613610866.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:26.270Z,1613610866.270 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T01:14:26.713Z,1613610866.713 [Micromodem](INFO): Nmea in: $CADRQ,011425,1,10,0,64,2*76 2021-02-18T01:14:26.714Z,1613610866.714 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,EB48F330A3837DEC9E3624B76AEE802040*4B 2021-02-18T01:14:27.286Z,1613610867.286 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D 2021-02-18T01:14:27.286Z,1613610867.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:14:27.697Z,1613610867.697 [Micromodem](INFO): Nmea in: $CATXP,81*7B 2021-02-18T01:14:27.697Z,1613610867.697 [Micromodem](ERROR): Response from modem unexpected: $CATXP,81*7B 2021-02-18T01:14:28.605Z,1613610868.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:30.106Z,1613610870.106 [Micromodem](INFO): Nmea in: $CATXF,81*6D 2021-02-18T01:14:30.106Z,1613610870.106 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D 2021-02-18T01:14:30.550Z,1613610870.550 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,011426.745093,3,0,200,4000,14500,1,1,10,1,2,2,3,81*4C 2021-02-18T01:14:30.551Z,1613610870.551 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,011426.745093,3,0,200,4000,14500,1,1,10,1,2,2,3,81*4C 2021-02-18T01:14:31.384Z,1613610871.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:32.577Z,1613610872.577 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T01:14:32.939Z,1613610872.939 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-18T01:14:32.940Z,1613610872.940 [Micromodem](INFO): Sent 73 bytes from file Logs/20210217T180521/Courier0075.lzma.parts 2021-02-18T01:14:32.940Z,1613610872.940 [Micromodem](INFO): Packets left to send: 0 2021-02-18T01:14:33.342Z,1613610873.342 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218011431.490338,06,5009,36,0224,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,20.0,8.00,17,-5.00,-01,1.62,27,14500,4000*50 2021-02-18T01:14:33.343Z,1613610873.343 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218011431.490338,06,5009,36,0224,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,20.0,8.00,17,-5.00,-01,1.62,27,14500,4000*50 2021-02-18T01:14:33.478Z,1613610873.478 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T01:14:33.478Z,1613610873.478 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T01:14:33.479Z,1613610873.479 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T01:14:33.479Z,1613610873.479 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T01:14:33.480Z,1613610873.480 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T01:14:34.160Z,1613610874.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:36.666Z,1613610876.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:38.622Z,1613610878.622 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:14:39.011Z,1613610879.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:14:39.837Z,1613610879.837 [Micromodem](INFO): Nmea in: $SNTTA,,,0.077378,,011438.67*42 2021-02-18T01:14:39.897Z,1613610879.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.260010 m, bearing: 158.394436 deg, deltaT: 16.039447 s, approachRate: -0.770600 m/s, LOS rate: -0.056503 deg/s, posRepo size: 4 2021-02-18T01:14:39.899Z,1613610879.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.260010 m, bearing: 158.394436 deg, approachRate: -0.770600 m/s, LOS rate: -0.056503 deg/s, cmd update: -0.226014 deg/s, cmd heading: 157.419583 deg, new cmd heading: 157.621550 deg. 2021-02-18T01:14:42.242Z,1613610882.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:43.034Z,1613610883.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:14:43.438Z,1613610883.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:14:44.276Z,1613610884.276 [Micromodem](INFO): Nmea in: $SNTTA,0.066749,,,,011443.08*41 2021-02-18T01:14:44.298Z,1613610884.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.960007 m, bearing: 158.610557 deg, deltaT: 4.443909 s, approachRate: -0.742590 m/s, LOS rate: 0.048633 deg/s, posRepo size: 4 2021-02-18T01:14:44.300Z,1613610884.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.960007 m, bearing: 158.610557 deg, approachRate: -0.742590 m/s, LOS rate: 0.048633 deg/s, cmd update: 0.194532 deg/s, cmd heading: 156.415210 deg, new cmd heading: 156.319761 deg. 2021-02-18T01:14:46.704Z,1613610886.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:47.509Z,1613610887.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:14:47.890Z,1613610887.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:14:48.720Z,1613610888.720 [Micromodem](INFO): Nmea in: $SNTTA,0.064301,,,,011447.56*44 2021-02-18T01:14:48.754Z,1613610888.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.360001 m, bearing: 159.030587 deg, deltaT: 4.459375 s, approachRate: -0.807289 m/s, LOS rate: 0.094190 deg/s, posRepo size: 4 2021-02-18T01:14:48.756Z,1613610888.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.360001 m, bearing: 159.030587 deg, approachRate: -0.807289 m/s, LOS rate: 0.094190 deg/s, cmd update: 0.376761 deg/s, cmd heading: 157.282707 deg, new cmd heading: 157.364281 deg. 2021-02-18T01:14:51.194Z,1613610891.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:51.944Z,1613610891.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:14:52.344Z,1613610892.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:14:53.164Z,1613610893.164 [Micromodem](INFO): Nmea in: $SNTTA,0.062056,,,,011451.99*47 2021-02-18T01:14:53.207Z,1613610893.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.940010 m, bearing: 158.687274 deg, deltaT: 4.447676 s, approachRate: -0.768939 m/s, LOS rate: -0.077189 deg/s, posRepo size: 4 2021-02-18T01:14:53.213Z,1613610893.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.940010 m, bearing: 158.687274 deg, approachRate: -0.768939 m/s, LOS rate: -0.077189 deg/s, cmd update: -0.308757 deg/s, cmd heading: 158.952373 deg, new cmd heading: 159.118082 deg. 2021-02-18T01:14:55.639Z,1613610895.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:14:56.370Z,1613610896.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:14:56.780Z,1613610896.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:14:57.624Z,1613610897.624 [Micromodem](INFO): Nmea in: $SNTTA,0.059622,,,,011456.42*4B 2021-02-18T01:14:57.682Z,1613610897.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.279999 m, bearing: 156.680196 deg, deltaT: 4.418500 s, approachRate: -0.828338 m/s, LOS rate: -0.454244 deg/s, posRepo size: 4 2021-02-18T01:14:57.684Z,1613610897.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.279999 m, bearing: 156.680196 deg, approachRate: -0.828338 m/s, LOS rate: -0.454244 deg/s, cmd update: -1.816977 deg/s, cmd heading: 157.583174 deg, new cmd heading: 157.434626 deg. 2021-02-18T01:14:59.717Z,1613610899.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:00.404Z,1613610900.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:00.810Z,1613610900.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:01.636Z,1613610901.636 [Micromodem](INFO): Nmea in: $SNTTA,0.057562,,,,011500.45*47 2021-02-18T01:15:01.690Z,1613610901.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.159996 m, bearing: 157.261813 deg, deltaT: 4.041398 s, approachRate: -0.772011 m/s, LOS rate: 0.143915 deg/s, posRepo size: 4 2021-02-18T01:15:01.692Z,1613610901.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.159996 m, bearing: 157.261813 deg, approachRate: -0.772011 m/s, LOS rate: 0.143915 deg/s, cmd update: 0.575660 deg/s, cmd heading: 150.269153 deg, new cmd heading: 149.427689 deg. 2021-02-18T01:15:04.084Z,1613610904.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:04.448Z,1613610904.448 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T01:15:04.921Z,1613610904.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:05.298Z,1613610905.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:06.110Z,1613610906.110 [Micromodem](INFO): Nmea in: $SNTTA,0.055349,,,,011504.97*41 2021-02-18T01:15:06.135Z,1613610906.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.859993 m, bearing: 159.039807 deg, deltaT: 4.474704 s, approachRate: -0.737480 m/s, LOS rate: 0.397343 deg/s, posRepo size: 4 2021-02-18T01:15:06.137Z,1613610906.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.859993 m, bearing: 159.039807 deg, approachRate: -0.737480 m/s, LOS rate: 0.397343 deg/s, cmd update: 1.589373 deg/s, cmd heading: 152.854294 deg, new cmd heading: 153.094792 deg. 2021-02-18T01:15:08.618Z,1613610908.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:09.293Z,1613610909.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:09.722Z,1613610909.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:10.554Z,1613610910.554 [Micromodem](INFO): Nmea in: $SNTTA,0.053019,,,,011509.34*45 2021-02-18T01:15:10.651Z,1613610910.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.320007 m, bearing: 159.444373 deg, deltaT: 4.416921 s, approachRate: -0.801460 m/s, LOS rate: 0.091595 deg/s, posRepo size: 4 2021-02-18T01:15:10.653Z,1613610910.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.320007 m, bearing: 159.444373 deg, approachRate: -0.801460 m/s, LOS rate: 0.091595 deg/s, cmd update: 0.366378 deg/s, cmd heading: 159.868028 deg, new cmd heading: 160.689325 deg. 2021-02-18T01:15:12.984Z,1613610912.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:13.746Z,1613610913.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:14.156Z,1613610914.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:14.968Z,1613610914.968 [Micromodem](INFO): Nmea in: $SNTTA,0.050643,,,,011513.79*4D 2021-02-18T01:15:15.016Z,1613610915.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.840004 m, bearing: 158.506124 deg, deltaT: 4.484964 s, approachRate: -0.775927 m/s, LOS rate: -0.209199 deg/s, posRepo size: 4 2021-02-18T01:15:15.017Z,1613610915.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.840004 m, bearing: 158.506124 deg, approachRate: -0.775927 m/s, LOS rate: -0.209199 deg/s, cmd update: -0.836796 deg/s, cmd heading: 161.511198 deg, new cmd heading: 161.657859 deg. 2021-02-18T01:15:17.398Z,1613610917.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:18.253Z,1613610918.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:18.622Z,1613610918.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:19.435Z,1613610919.435 [Micromodem](INFO): Nmea in: $SNTTA,0.048305,,,,011518.30*45 2021-02-18T01:15:19.510Z,1613610919.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.300003 m, bearing: 156.882834 deg, deltaT: 4.419781 s, approachRate: -0.800945 m/s, LOS rate: -0.367278 deg/s, posRepo size: 4 2021-02-18T01:15:19.518Z,1613610919.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.300003 m, bearing: 156.882834 deg, approachRate: -0.800945 m/s, LOS rate: -0.367278 deg/s, cmd update: -1.469114 deg/s, cmd heading: 157.810556 deg, new cmd heading: 157.421866 deg. 2021-02-18T01:15:21.888Z,1613610921.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:22.629Z,1613610922.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:23.033Z,1613610923.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:23.863Z,1613610923.863 [Micromodem](INFO): Nmea in: $SNTTA,0.046048,,,,011522.68*45 2021-02-18T01:15:23.897Z,1613610923.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.940002 m, bearing: 156.776296 deg, deltaT: 4.462121 s, approachRate: -0.753005 m/s, LOS rate: -0.023876 deg/s, posRepo size: 4 2021-02-18T01:15:23.899Z,1613610923.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.940002 m, bearing: 156.776296 deg, approachRate: -0.753005 m/s, LOS rate: -0.023876 deg/s, cmd update: -0.095504 deg/s, cmd heading: 151.302129 deg, new cmd heading: 150.670958 deg. 2021-02-18T01:15:26.299Z,1613610926.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:27.073Z,1613610927.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:27.485Z,1613610927.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:28.308Z,1613610928.308 [Micromodem](INFO): Nmea in: $SNTTA,0.043847,,,,011527.12*4F 2021-02-18T01:15:28.326Z,1613610928.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.520004 m, bearing: 157.777520 deg, deltaT: 4.423635 s, approachRate: -0.773119 m/s, LOS rate: 0.226335 deg/s, posRepo size: 4 2021-02-18T01:15:28.328Z,1613610928.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.520004 m, bearing: 157.777520 deg, approachRate: -0.773119 m/s, LOS rate: 0.226335 deg/s, cmd update: 0.905340 deg/s, cmd heading: 150.876464 deg, new cmd heading: 150.838150 deg. 2021-02-18T01:15:30.755Z,1613610930.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:31.632Z,1613610931.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:31.941Z,1613610931.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:32.835Z,1613610932.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.920002 m, bearing: 159.231572 deg, deltaT: 4.437524 s, approachRate: -0.811264 m/s, LOS rate: 0.327672 deg/s, posRepo size: 4 2021-02-18T01:15:32.838Z,1613610932.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.920002 m, bearing: 159.231572 deg, approachRate: -0.811264 m/s, LOS rate: 0.327672 deg/s, cmd update: 1.310687 deg/s, cmd heading: 154.893908 deg, new cmd heading: 155.316582 deg. 2021-02-18T01:15:33.140Z,1613610933.140 [Micromodem](INFO): Nmea in: $SNTTA,0.041348,,,,011531.68*43 2021-02-18T01:15:35.192Z,1613610935.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:35.956Z,1613610935.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:36.362Z,1613610936.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:37.192Z,1613610937.192 [Micromodem](INFO): Nmea in: $SNTTA,0.039180,,,,011536.00*43 2021-02-18T01:15:37.216Z,1613610937.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.559998 m, bearing: 158.113019 deg, deltaT: 4.461293 s, approachRate: -0.753146 m/s, LOS rate: -0.250724 deg/s, posRepo size: 4 2021-02-18T01:15:37.218Z,1613610937.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.559998 m, bearing: 158.113019 deg, approachRate: -0.753146 m/s, LOS rate: -0.250724 deg/s, cmd update: -1.002896 deg/s, cmd heading: 160.718460 deg, new cmd heading: 161.255678 deg. 2021-02-18T01:15:39.670Z,1613610939.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:40.406Z,1613610940.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:40.810Z,1613610940.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:41.651Z,1613610941.651 [Micromodem](INFO): Nmea in: $SNTTA,0.036731,,,0.059249,011540.45*5D 2021-02-18T01:15:41.685Z,1613610941.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.900002 m, bearing: 156.094275 deg, deltaT: 4.419638 s, approachRate: -0.828121 m/s, LOS rate: -0.456767 deg/s, posRepo size: 4 2021-02-18T01:15:41.687Z,1613610941.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.900002 m, bearing: 156.094275 deg, approachRate: -0.828121 m/s, LOS rate: -0.456767 deg/s, cmd update: -1.827068 deg/s, cmd heading: 156.284721 deg, new cmd heading: 155.825682 deg. 2021-02-18T01:15:44.053Z,1613610944.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:44.909Z,1613610944.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:45.258Z,1613610945.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:46.093Z,1613610946.093 [Micromodem](INFO): Nmea in: $SNTTA,0.034510,,,,011544.96*49 2021-02-18T01:15:46.138Z,1613610946.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.539997 m, bearing: 157.123953 deg, deltaT: 4.475918 s, approachRate: -0.750685 m/s, LOS rate: 0.230049 deg/s, posRepo size: 4 2021-02-18T01:15:46.140Z,1613610946.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.539997 m, bearing: 157.123953 deg, approachRate: -0.750685 m/s, LOS rate: 0.230049 deg/s, cmd update: 0.920194 deg/s, cmd heading: 148.077458 deg, new cmd heading: 147.313006 deg. 2021-02-18T01:15:48.577Z,1613610948.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:49.293Z,1613610949.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:49.694Z,1613610949.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:50.540Z,1613610950.540 [Micromodem](INFO): Nmea in: $SNTTA,0.032069,,,,011549.34*41 2021-02-18T01:15:50.626Z,1613610950.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.880001 m, bearing: 159.090802 deg, deltaT: 4.390933 s, approachRate: -0.833535 m/s, LOS rate: 0.447934 deg/s, posRepo size: 4 2021-02-18T01:15:50.628Z,1613610950.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.880001 m, bearing: 159.090802 deg, approachRate: -0.833535 m/s, LOS rate: 0.447934 deg/s, cmd update: 1.791736 deg/s, cmd heading: 152.117867 deg, new cmd heading: 152.592637 deg. 2021-02-18T01:15:52.618Z,1613610952.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:53.338Z,1613610953.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:53.739Z,1613610953.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:54.571Z,1613610954.571 [Micromodem](INFO): Nmea in: $SNTTA,0.030006,,,,011553.39*4C 2021-02-18T01:15:54.653Z,1613610954.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.820000 m, bearing: 159.588285 deg, deltaT: 4.040185 s, approachRate: -0.757391 m/s, LOS rate: 0.123134 deg/s, posRepo size: 4 2021-02-18T01:15:54.655Z,1613610954.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.820000 m, bearing: 159.588285 deg, approachRate: -0.757391 m/s, LOS rate: 0.123134 deg/s, cmd update: 0.492536 deg/s, cmd heading: 159.356937 deg, new cmd heading: 160.258422 deg. 2021-02-18T01:15:56.660Z,1613610956.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:15:57.370Z,1613610957.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:15:57.793Z,1613610957.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:15:58.636Z,1613610958.636 [Micromodem](INFO): Nmea in: $SNTTA,0.028071,,,,011557.42*4D 2021-02-18T01:15:58.704Z,1613610958.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.879997 m, bearing: 158.944335 deg, deltaT: 4.137075 s, approachRate: -0.710648 m/s, LOS rate: -0.155654 deg/s, posRepo size: 4 2021-02-18T01:15:58.705Z,1613610958.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.879997 m, bearing: 158.944335 deg, approachRate: -0.710648 m/s, LOS rate: -0.155654 deg/s, cmd update: -0.622614 deg/s, cmd heading: 161.394293 deg, new cmd heading: 161.597559 deg. 2021-02-18T01:16:01.084Z,1613610961.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:01.834Z,1613610961.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:02.241Z,1613610962.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:16:03.056Z,1613610963.056 [Micromodem](INFO): Nmea in: $SNTTA,0.025796,,0.034908,,011601.88*50 2021-02-18T01:16:03.093Z,1613610963.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.459995 m, bearing: 156.909663 deg, deltaT: 4.392381 s, approachRate: -0.778621 m/s, LOS rate: -0.463228 deg/s, posRepo size: 4 2021-02-18T01:16:03.094Z,1613610963.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.46 m. 2021-02-18T01:16:03.096Z,1613610963.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.459995 m, bearing: 156.909663 deg, approachRate: -0.778621 m/s, LOS rate: -0.463228 deg/s, cmd update: -1.852911 deg/s, cmd heading: 158.661636 deg, new cmd heading: 158.401642 deg. 2021-02-18T01:16:03.445Z,1613610963.445 [PowerOnly](INFO): Powering up loadControl 2021-02-18T01:16:05.470Z,1613610965.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:06.256Z,1613610966.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:06.671Z,1613610966.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:16:07.504Z,1613610967.504 [Micromodem](INFO): Nmea in: $SNTTA,0.023504,,,,011606.31*42 2021-02-18T01:16:07.564Z,1613610967.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.040001 m, bearing: 157.443196 deg, deltaT: 4.412719 s, approachRate: -0.775031 m/s, LOS rate: 0.120908 deg/s, posRepo size: 4 2021-02-18T01:16:07.565Z,1613610967.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.04 m. 2021-02-18T01:16:07.565Z,1613610967.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.04 m. 2021-02-18T01:16:07.565Z,1613610967.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T01:16:07.567Z,1613610967.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.040001 m, bearing: 157.443196 deg, approachRate: -0.775031 m/s, LOS rate: 0.120908 deg/s, cmd update: 0.483632 deg/s, cmd heading: 150.477713 deg, new cmd heading: 149.604068 deg. 2021-02-18T01:16:09.950Z,1613610969.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:10.705Z,1613610970.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:11.116Z,1613610971.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:16:11.956Z,1613610971.956 [Micromodem](INFO): Nmea in: $SNTTA,0.021276,,,,011610.76*46 2021-02-18T01:16:11.994Z,1613610971.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.740002 m, bearing: 160.152896 deg, deltaT: 4.617380 s, approachRate: -0.714691 m/s, LOS rate: 0.586848 deg/s, posRepo size: 4 2021-02-18T01:16:12.000Z,1613610972.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.740002 m, bearing: 160.152896 deg, approachRate: -0.714691 m/s, LOS rate: 0.586848 deg/s, cmd update: 2.347392 deg/s, cmd heading: 152.710804 deg, new cmd heading: 152.848363 deg. 2021-02-18T01:16:14.424Z,1613610974.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:15.174Z,1613610975.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:15.590Z,1613610975.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:16:16.384Z,1613610976.384 [Micromodem](INFO): Nmea in: $SNTTA,0.018975,,,,011615.22*40 2021-02-18T01:16:16.400Z,1613610976.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.259996 m, bearing: 159.983671 deg, deltaT: 4.269690 s, approachRate: -0.815049 m/s, LOS rate: -0.039634 deg/s, posRepo size: 4 2021-02-18T01:16:16.402Z,1613610976.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.259996 m, bearing: 159.983671 deg, approachRate: -0.815049 m/s, LOS rate: -0.039634 deg/s, cmd update: -0.158536 deg/s, cmd heading: 162.733469 deg, new cmd heading: 163.720022 deg. 2021-02-18T01:16:18.816Z,1613610978.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:19.615Z,1613610979.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:19.994Z,1613610979.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:16:20.832Z,1613610980.832 [Micromodem](INFO): Nmea in: $SNTTA,0.017063,,,,011619.66*4D 2021-02-18T01:16:20.882Z,1613610980.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.720001 m, bearing: 154.685931 deg, deltaT: 4.432975 s, approachRate: -0.798560 m/s, LOS rate: -1.195076 deg/s, posRepo size: 4 2021-02-18T01:16:20.884Z,1613610980.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.720001 m, bearing: 154.685931 deg, approachRate: -0.798560 m/s, LOS rate: -1.195076 deg/s, cmd update: -4.780303 deg/s, cmd heading: 162.030688 deg, new cmd heading: 161.956257 deg. 2021-02-18T01:16:23.240Z,1613610983.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:24.037Z,1613610984.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:24.444Z,1613610984.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:16:25.328Z,1613610985.328 [Micromodem](INFO): Nmea in: $SNTTA,0.014493,,,,011624.08*43 2021-02-18T01:16:25.360Z,1613610985.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.540003 m, bearing: 156.325258 deg, deltaT: 4.486915 s, approachRate: -0.708727 m/s, LOS rate: 0.365357 deg/s, posRepo size: 4 2021-02-18T01:16:25.362Z,1613610985.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.540003 m, bearing: 156.325258 deg, approachRate: -0.708727 m/s, LOS rate: 0.365357 deg/s, cmd update: 1.461429 deg/s, cmd heading: 140.601026 deg, new cmd heading: 138.378200 deg. 2021-02-18T01:16:27.772Z,1613610987.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:28.509Z,1613610988.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:28.903Z,1613610988.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:16:29.720Z,1613610989.720 [Micromodem](INFO): Nmea in: $SNTTA,0.012750,,,,011628.56*4E 2021-02-18T01:16:29.797Z,1613610989.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.619999 m, bearing: 162.523272 deg, deltaT: 4.416061 s, approachRate: -0.434777 m/s, LOS rate: 1.403516 deg/s, posRepo size: 4 2021-02-18T01:16:29.803Z,1613610989.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.619999 m, bearing: 162.523272 deg, approachRate: -0.434777 m/s, LOS rate: 1.403516 deg/s, cmd update: 5.614066 deg/s, cmd heading: 147.060666 deg, new cmd heading: 147.764703 deg. 2021-02-18T01:16:32.133Z,1613610992.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:32.920Z,1613610992.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:33.326Z,1613610993.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:16:34.160Z,1613610994.160 [Micromodem](INFO): Nmea in: $SNTTA,0.010222,,,,011632.97*4A 2021-02-18T01:16:34.182Z,1613610994.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.059998 m, bearing: 162.661064 deg, deltaT: 4.500992 s, approachRate: -1.013110 m/s, LOS rate: 0.030614 deg/s, posRepo size: 4 2021-02-18T01:16:34.184Z,1613610994.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.059998 m, bearing: 162.661064 deg, approachRate: -1.013110 m/s, LOS rate: 0.030614 deg/s, cmd update: 0.122455 deg/s, cmd heading: 172.306805 deg, new cmd heading: 174.381410 deg. 2021-02-18T01:16:36.630Z,1613610996.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:37.364Z,1613610997.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:37.788Z,1613610997.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:16:38.684Z,1613610998.684 [Micromodem](INFO): Nmea in: $SNTTA,0.008876,,,,011637.41*46 2021-02-18T01:16:38.742Z,1613610998.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.940001 m, bearing: 159.952252 deg, deltaT: 4.387104 s, approachRate: -0.711174 m/s, LOS rate: -0.617449 deg/s, posRepo size: 4 2021-02-18T01:16:38.744Z,1613610998.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.940001 m, bearing: 159.952252 deg, approachRate: -0.711174 m/s, LOS rate: -0.617449 deg/s, cmd update: -2.469795 deg/s, cmd heading: 172.844032 deg, new cmd heading: 172.910407 deg. 2021-02-18T01:16:39.833Z,1613610999.833 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T01:16:40.717Z,1613611000.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:41.411Z,1613611001.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:41.843Z,1613611001.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:16:42.640Z,1613611002.640 [Micromodem](INFO): Nmea in: $SNTTA,0.007227,,,,011641.46*41 2021-02-18T01:16:42.674Z,1613611002.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.299998 m, bearing: 154.838039 deg, deltaT: 4.040828 s, approachRate: -0.653332 m/s, LOS rate: -1.265635 deg/s, posRepo size: 4 2021-02-18T01:16:42.676Z,1613611002.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.299998 m, bearing: 154.838039 deg, approachRate: -0.653332 m/s, LOS rate: -1.265635 deg/s, cmd update: -5.062540 deg/s, cmd heading: 162.854153 deg, new cmd heading: 161.792828 deg. 2021-02-18T01:16:45.074Z,1613611005.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:45.850Z,1613611005.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:46.254Z,1613611006.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:16:47.080Z,1613611007.080 [Micromodem](INFO): Nmea in: $SNTTA,0.004587,,,,011645.90*40 2021-02-18T01:16:47.117Z,1613611007.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.719998 m, bearing: 159.626275 deg, deltaT: 4.469326 s, approachRate: -0.577268 m/s, LOS rate: 1.071355 deg/s, posRepo size: 4 2021-02-18T01:16:47.119Z,1613611007.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.719998 m, bearing: 159.626275 deg, approachRate: -0.577268 m/s, LOS rate: 1.071355 deg/s, cmd update: 4.285421 deg/s, cmd heading: 140.227940 deg, new cmd heading: 138.184886 deg. 2021-02-18T01:16:49.581Z,1613611009.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:50.298Z,1613611010.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:50.706Z,1613611010.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:16:51.549Z,1613611011.549 [Micromodem](INFO): Nmea in: $SNTTA,0.003423,,,,011650.34*42 2021-02-18T01:16:51.618Z,1613611011.618 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T01:16:51.618Z,1613611011.618 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T01:16:51.619Z,1613611011.619 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T01:16:51.619Z,1613611011.619 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:16:51.621Z,1613611011.621 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T01:16:51.621Z,1613611011.621 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 2021-02-18T01:16:51.622Z,1613611011.622 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T01:16:51.622Z,1613611011.622 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T01:16:51.622Z,1613611011.622 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T01:16:51.632Z,1613611011.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 153.220158 deg, deltaT: 4.416951 s, approachRate: -0.421104 m/s, LOS rate: -1.450348 deg/s, posRepo size: 4 2021-02-18T01:16:51.634Z,1613611011.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.860001 m, bearing: 153.220158 deg, approachRate: -0.421104 m/s, LOS rate: -1.450348 deg/s, cmd update: -5.801392 deg/s, cmd heading: 159.156391 deg, new cmd heading: 161.270715 deg. 2021-02-18T01:16:52.012Z,1613611012.012 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T011652: (41.552319, -70.708603) 2021-02-18T01:16:52.012Z,1613611012.012 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T01:16:52.012Z,1613611012.012 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T01:16:52.012Z,1613611012.012 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:16:52.012Z,1613611012.012 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T01:16:52.012Z,1613611012.012 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:16:52.012Z,1613611012.012 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T01:16:52.012Z,1613611012.012 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T01:16:52.012Z,1613611012.012 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T01:16:53.964Z,1613611013.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:54.743Z,1613611014.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:55.164Z,1613611015.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:16:55.984Z,1613611015.984 [Micromodem](INFO): Nmea in: $SNTTA,0.003332,,,,011654.80*4E 2021-02-18T01:16:56.006Z,1613611016.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.919998 m, bearing: 142.736050 deg, deltaT: 4.515349 s, approachRate: 0.013287 m/s, LOS rate: -2.321882 deg/s, posRepo size: 4 2021-02-18T01:16:56.008Z,1613611016.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.919998 m, bearing: 142.736050 deg, approachRate: 0.013287 m/s, LOS rate: -2.321882 deg/s, cmd update: -9.287528 deg/s, cmd heading: 132.961080 deg, new cmd heading: 130.873716 deg. 2021-02-18T01:16:58.402Z,1613611018.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:16:59.181Z,1613611019.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:16:59.617Z,1613611019.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:00.408Z,1613611020.408 [Micromodem](INFO): Nmea in: $SNTTA,0.004578,,,,011659.23*45 2021-02-18T01:17:00.446Z,1613611020.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.020000 m, bearing: 105.008189 deg, deltaT: 4.381848 s, approachRate: 0.479250 m/s, LOS rate: -8.610034 deg/s, posRepo size: 4 2021-02-18T01:17:00.448Z,1613611020.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.020000 m, bearing: 105.008189 deg, approachRate: 0.479250 m/s, LOS rate: -8.610034 deg/s, cmd update: -12.000000 deg/s, cmd heading: 92.264654 deg, new cmd heading: 88.380870 deg. 2021-02-18T01:17:02.876Z,1613611022.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:03.626Z,1613611023.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:17:04.031Z,1613611024.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:04.860Z,1613611024.860 [Micromodem](INFO): Nmea in: $SNTTA,0.006403,,,,011703.67*44 2021-02-18T01:17:04.928Z,1613611024.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.719998 m, bearing: 128.190725 deg, deltaT: 4.418356 s, approachRate: 0.611087 m/s, LOS rate: 5.246869 deg/s, posRepo size: 4 2021-02-18T01:17:04.930Z,1613611024.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.719998 m, bearing: 128.190725 deg, approachRate: 0.611087 m/s, LOS rate: 5.246869 deg/s, cmd update: 12.000000 deg/s, cmd heading: 39.244105 deg, new cmd heading: 33.458473 deg. 2021-02-18T01:17:07.276Z,1613611027.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:07.724Z,1613611027.724 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2021-02-18T01:17:08.089Z,1613611028.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:17:08.518Z,1613611028.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:09.309Z,1613611029.309 [Micromodem](INFO): Nmea in: $SNTTA,0.008244,,,,011708.14*40 2021-02-18T01:17:09.350Z,1613611029.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.419999 m, bearing: 137.816866 deg, deltaT: 4.454647 s, approachRate: 0.606109 m/s, LOS rate: 2.160921 deg/s, posRepo size: 4 2021-02-18T01:17:09.352Z,1613611029.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.419999 m, bearing: 137.816866 deg, approachRate: 0.606109 m/s, LOS rate: 2.160921 deg/s, cmd update: 8.643685 deg/s, cmd heading: 92.687522 deg, new cmd heading: 98.090894 deg. 2021-02-18T01:17:11.755Z,1613611031.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:12.533Z,1613611032.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:17:12.929Z,1613611032.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:13.756Z,1613611033.756 [Micromodem](INFO): Nmea in: $SNTTA,0.009800,,,,011712.58*48 2021-02-18T01:17:13.815Z,1613611033.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.879999 m, bearing: 104.757002 deg, deltaT: 4.443270 s, approachRate: 0.553646 m/s, LOS rate: -7.440436 deg/s, posRepo size: 4 2021-02-18T01:17:13.815Z,1613611033.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.88 m. Rolling out. 2021-02-18T01:17:13.816Z,1613611033.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T01:17:16.165Z,1613611036.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:16.958Z,1613611036.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:17:17.367Z,1613611037.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:18.256Z,1613611038.256 [Micromodem](INFO): Nmea in: $SNTTA,0.011297,,,,011717.00*4D 2021-02-18T01:17:18.278Z,1613611038.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.100002 m, bearing: 112.007036 deg, deltaT: 4.505364 s, approachRate: 0.492747 m/s, LOS rate: 1.609200 deg/s, posRepo size: 4 2021-02-18T01:17:20.675Z,1613611040.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:21.400Z,1613611041.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:17:21.824Z,1613611041.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:22.640Z,1613611042.640 [Micromodem](INFO): Nmea in: $SNTTA,0.013115,,,,011721.45*42 2021-02-18T01:17:22.698Z,1613611042.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.860001 m, bearing: 73.433713 deg, deltaT: 4.381428 s, approachRate: 0.629931 m/s, LOS rate: -8.803824 deg/s, posRepo size: 4 2021-02-18T01:17:25.040Z,1613611045.040 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-02-18T01:17:25.042Z,1613611045.042 [BPC1](INFO): Received data from all battery sticks. 2021-02-18T01:17:25.083Z,1613611045.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:25.845Z,1613611045.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:17:26.269Z,1613611046.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:27.072Z,1613611047.072 [Micromodem](INFO): Nmea in: $SNTTA,0.014960,,,,011725.89*4B 2021-02-18T01:17:27.118Z,1613611047.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 132.010877 deg, deltaT: 4.479700 s, approachRate: 0.602719 m/s, LOS rate: 13.076135 deg/s, posRepo size: 4 2021-02-18T01:17:29.561Z,1613611049.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:30.288Z,1613611050.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:17:30.703Z,1613611050.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:31.552Z,1613611051.552 [Micromodem](INFO): Nmea in: $SNTTA,0.017188,,,,011730.33*43 2021-02-18T01:17:31.644Z,1613611051.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.860001 m, bearing: 141.442276 deg, deltaT: 4.411251 s, approachRate: 0.748087 m/s, LOS rate: 2.138033 deg/s, posRepo size: 4 2021-02-18T01:17:33.951Z,1613611053.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:34.738Z,1613611054.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:17:35.138Z,1613611055.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:35.964Z,1613611055.964 [Micromodem](INFO): Nmea in: $SNTTA,0.064857,,,,011734.79*46 2021-02-18T01:17:36.015Z,1613611056.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.779999 m, bearing: 145.796644 deg, deltaT: 4.488532 s, approachRate: 15.800265 m/s, LOS rate: 0.970110 deg/s, posRepo size: 4 2021-02-18T01:17:37.976Z,1613611057.976 [PowerOnly](INFO): Powering down loadControl 2021-02-18T01:17:38.390Z,1613611058.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:39.176Z,1613611059.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:17:39.613Z,1613611059.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:40.404Z,1613611060.404 [Micromodem](INFO): Nmea in: $SNTTA,0.024227,,,,011739.22*4C 2021-02-18T01:17:40.437Z,1613611060.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.939999 m, bearing: 151.039443 deg, deltaT: 4.442855 s, approachRate: -13.693897 m/s, LOS rate: 1.180052 deg/s, posRepo size: 4 2021-02-18T01:17:42.888Z,1613611062.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:43.622Z,1613611063.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:17:44.026Z,1613611064.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:44.862Z,1613611064.862 [Micromodem](INFO): Nmea in: $SNTTA,0.067142,,,,011743.67*47 2021-02-18T01:17:45.018Z,1613611065.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.939999 m, bearing: 147.165920 deg, deltaT: 4.389880 s, approachRate: 0.000000 m/s, LOS rate: -0.882376 deg/s, posRepo size: 4 2021-02-18T01:17:47.287Z,1613611067.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:48.082Z,1613611068.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:17:48.522Z,1613611068.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:49.308Z,1613611069.308 [Micromodem](INFO): Nmea in: $SNTTA,0.026203,,,,011748.13*4C 2021-02-18T01:17:49.350Z,1613611069.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.419998 m, bearing: 143.162104 deg, deltaT: 4.489114 s, approachRate: 0.775209 m/s, LOS rate: -0.891894 deg/s, posRepo size: 4 2021-02-18T01:17:51.768Z,1613611071.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:52.535Z,1613611072.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:17:52.931Z,1613611072.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:53.744Z,1613611073.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011752.58*53 2021-02-18T01:17:54.620Z,1613611074.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:56.165Z,1613611076.165 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:17:57.386Z,1613611077.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:17:58.189Z,1613611078.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:17:58.613Z,1613611078.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:17:59.412Z,1613611079.412 [Micromodem](INFO): Nmea in: $SNTTA,0.031371,,,,011758.24*4B 2021-02-18T01:17:59.455Z,1613611079.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.159996 m, bearing: 149.053401 deg, deltaT: 10.069452 s, approachRate: 0.768661 m/s, LOS rate: 0.585066 deg/s, posRepo size: 4 2021-02-18T01:18:01.870Z,1613611081.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:02.630Z,1613611082.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:18:03.029Z,1613611083.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:18:03.856Z,1613611083.856 [Micromodem](INFO): Nmea in: $SNTTA,0.033628,,0.045497,,011802.68*5D 2021-02-18T01:18:03.904Z,1613611083.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.699997 m, bearing: 134.180173 deg, deltaT: 4.444249 s, approachRate: 0.796535 m/s, LOS rate: -3.346624 deg/s, posRepo size: 4 2021-02-18T01:18:06.282Z,1613611086.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:07.068Z,1613611087.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:18:07.479Z,1613611087.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:18:08.296Z,1613611088.296 [Micromodem](INFO): Nmea in: $SNTTA,0.035879,,,,011807.11*4F 2021-02-18T01:18:08.333Z,1613611088.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.120003 m, bearing: 143.091111 deg, deltaT: 4.479336 s, approachRate: 0.763507 m/s, LOS rate: 1.989344 deg/s, posRepo size: 4 2021-02-18T01:18:10.771Z,1613611090.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:11.534Z,1613611091.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:18:11.918Z,1613611091.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:18:12.739Z,1613611092.739 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011811.58*5B 2021-02-18T01:18:13.604Z,1613611093.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:15.155Z,1613611095.155 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:18:15.609Z,1613611095.609 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T01:18:16.375Z,1613611096.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:17.170Z,1613611097.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:18:17.612Z,1613611097.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:18:18.400Z,1613611098.400 [Micromodem](INFO): Nmea in: $SNTTA,0.040988,,,,011817.22*43 2021-02-18T01:18:18.422Z,1613611098.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.740002 m, bearing: 144.112770 deg, deltaT: 10.070219 s, approachRate: 0.756687 m/s, LOS rate: 0.101454 deg/s, posRepo size: 4 2021-02-18T01:18:20.855Z,1613611100.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:21.621Z,1613611101.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:18:22.017Z,1613611102.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:18:22.848Z,1613611102.848 [Micromodem](INFO): Nmea in: $SNTTA,0.043201,,,,011821.67*4E 2021-02-18T01:18:22.907Z,1613611102.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.100006 m, bearing: 138.227934 deg, deltaT: 4.474572 s, approachRate: 0.750911 m/s, LOS rate: -1.315173 deg/s, posRepo size: 4 2021-02-18T01:18:25.262Z,1613611105.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:26.058Z,1613611106.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:18:26.461Z,1613611106.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:18:27.284Z,1613611107.284 [Micromodem](INFO): Nmea in: $SNTTA,0.045541,,,,011826.11*4D 2021-02-18T01:18:27.326Z,1613611107.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.340004 m, bearing: 143.145192 deg, deltaT: 4.461744 s, approachRate: 0.726173 m/s, LOS rate: 1.102093 deg/s, posRepo size: 4 2021-02-18T01:18:29.739Z,1613611109.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:30.535Z,1613611110.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:18:30.918Z,1613611110.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:18:31.740Z,1613611111.740 [Micromodem](INFO): Nmea in: $SNTTA,0.047729,,,,011830.58*49 2021-02-18T01:18:31.795Z,1613611111.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.760002 m, bearing: 144.814436 deg, deltaT: 4.407965 s, approachRate: 0.775868 m/s, LOS rate: 0.378688 deg/s, posRepo size: 4 2021-02-18T01:18:34.160Z,1613611114.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:34.944Z,1613611114.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:18:35.355Z,1613611115.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:18:36.182Z,1613611116.182 [Micromodem](INFO): Nmea in: $SNTTA,0.049840,,,,011834.99*4E 2021-02-18T01:18:36.219Z,1613611116.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.000008 m, bearing: 141.302872 deg, deltaT: 4.456571 s, approachRate: 0.727018 m/s, LOS rate: -0.787952 deg/s, posRepo size: 4 2021-02-18T01:18:38.653Z,1613611118.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:39.394Z,1613611119.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:18:39.794Z,1613611119.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:18:40.628Z,1613611120.628 [Micromodem](INFO): Nmea in: $SNTTA,0.052213,,,,011839.44*45 2021-02-18T01:18:40.690Z,1613611120.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.540001 m, bearing: 142.052294 deg, deltaT: 4.414780 s, approachRate: 0.801850 m/s, LOS rate: 0.169753 deg/s, posRepo size: 4 2021-02-18T01:18:43.039Z,1613611123.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:43.837Z,1613611123.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:18:44.250Z,1613611124.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:18:45.080Z,1613611125.080 [Micromodem](INFO): Nmea in: $SNTTA,0.054566,,,,011843.88*4B 2021-02-18T01:18:45.102Z,1613611125.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.020004 m, bearing: 142.951106 deg, deltaT: 4.514673 s, approachRate: 0.770821 m/s, LOS rate: 0.199087 deg/s, posRepo size: 4 2021-02-18T01:18:47.509Z,1613611127.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:48.276Z,1613611128.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:18:48.683Z,1613611128.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:18:49.536Z,1613611129.536 [Micromodem](INFO): Nmea in: $SNTTA,0.056889,,,,011848.32*4F 2021-02-18T01:18:49.614Z,1613611129.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.559998 m, bearing: 142.559531 deg, deltaT: 4.392007 s, approachRate: 0.806008 m/s, LOS rate: -0.089156 deg/s, posRepo size: 4 2021-02-18T01:18:51.937Z,1613611131.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:52.726Z,1613611132.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:18:53.134Z,1613611133.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:18:53.952Z,1613611133.952 [Micromodem](INFO): Nmea in: $SNTTA,0.059315,,,,011852.77*44 2021-02-18T01:18:53.992Z,1613611133.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.160004 m, bearing: 141.089251 deg, deltaT: 4.495187 s, approachRate: 0.800858 m/s, LOS rate: -0.327079 deg/s, posRepo size: 4 2021-02-18T01:18:56.385Z,1613611136.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:18:57.164Z,1613611137.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:18:57.612Z,1613611137.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:18:58.392Z,1613611138.392 [Micromodem](INFO): Nmea in: $SNTTA,0.061429,,,,011857.21*41 2021-02-18T01:18:58.441Z,1613611138.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.280006 m, bearing: 136.995877 deg, deltaT: 4.372566 s, approachRate: 0.713540 m/s, LOS rate: -0.936149 deg/s, posRepo size: 4 2021-02-18T01:19:00.852Z,1613611140.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:01.623Z,1613611141.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:19:02.013Z,1613611142.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:19:02.848Z,1613611142.848 [Micromodem](INFO): Nmea in: $SNTTA,0.063946,,,,011901.67*47 2021-02-18T01:19:02.902Z,1613611142.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.060005 m, bearing: 134.455047 deg, deltaT: 4.454899 s, approachRate: 0.848504 m/s, LOS rate: -0.570345 deg/s, posRepo size: 4 2021-02-18T01:19:05.259Z,1613611145.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:06.061Z,1613611146.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:19:06.458Z,1613611146.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:19:07.284Z,1613611147.284 [Micromodem](INFO): Nmea in: $SNTTA,0.066173,,,,011906.11*4A 2021-02-18T01:19:07.327Z,1613611147.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.360008 m, bearing: 143.371422 deg, deltaT: 4.482358 s, approachRate: 0.736220 m/s, LOS rate: 1.989215 deg/s, posRepo size: 4 2021-02-18T01:19:09.731Z,1613611149.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:10.531Z,1613611150.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:19:10.903Z,1613611150.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:19:11.745Z,1613611151.745 [Micromodem](INFO): Nmea in: $SNTTA,0.068378,,0.093784,,011910.58*58 2021-02-18T01:19:11.792Z,1613611151.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.780006 m, bearing: 137.675413 deg, deltaT: 4.402956 s, approachRate: 0.776751 m/s, LOS rate: -1.293678 deg/s, posRepo size: 4 2021-02-18T01:19:14.148Z,1613611154.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:14.940Z,1613611154.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:19:15.345Z,1613611155.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:19:16.176Z,1613611156.176 [Micromodem](INFO): Nmea in: $SNTTA,0.070685,,,,011914.99*40 2021-02-18T01:19:16.198Z,1613611156.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.199997 m, bearing: 134.903380 deg, deltaT: 4.457029 s, approachRate: 0.767325 m/s, LOS rate: -0.621946 deg/s, posRepo size: 4 2021-02-18T01:19:18.677Z,1613611158.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:19.390Z,1613611159.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:19:19.807Z,1613611159.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:19:20.628Z,1613611160.628 [Micromodem](INFO): Nmea in: $SNTTA,0.072945,,,,011919.44*4C 2021-02-18T01:19:20.680Z,1613611160.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.620003 m, bearing: 143.715363 deg, deltaT: 4.422931 s, approachRate: 0.773244 m/s, LOS rate: 1.992340 deg/s, posRepo size: 4 2021-02-18T01:19:23.051Z,1613611163.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:23.828Z,1613611163.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:19:24.236Z,1613611164.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:19:25.056Z,1613611165.056 [Micromodem](INFO): Nmea in: $SNTTA,0.075240,,0.086728,,011923.87*5E 2021-02-18T01:19:25.090Z,1613611165.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.100006 m, bearing: 140.970965 deg, deltaT: 4.481626 s, approachRate: 0.776505 m/s, LOS rate: -0.612366 deg/s, posRepo size: 4 2021-02-18T01:19:27.525Z,1613611167.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:28.272Z,1613611168.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:19:28.679Z,1613611168.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:19:29.532Z,1613611169.532 [Micromodem](INFO): Nmea in: $SNTTA,0.077405,,,,011928.32*43 2021-02-18T01:19:29.610Z,1613611169.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.279999 m, bearing: 140.063793 deg, deltaT: 4.430297 s, approachRate: 0.717783 m/s, LOS rate: -0.204766 deg/s, posRepo size: 4 2021-02-18T01:19:31.938Z,1613611171.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:32.722Z,1613611172.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:19:33.127Z,1613611173.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:19:33.952Z,1613611173.952 [Micromodem](INFO): Nmea in: $SNTTA,0.079767,,,,011932.77*40 2021-02-18T01:19:33.984Z,1613611173.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.820000 m, bearing: 143.998652 deg, deltaT: 4.444520 s, approachRate: 0.796487 m/s, LOS rate: 0.885328 deg/s, posRepo size: 4 2021-02-18T01:19:36.373Z,1613611176.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:37.160Z,1613611177.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:19:37.601Z,1613611177.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:19:38.392Z,1613611178.392 [Micromodem](INFO): Nmea in: $SNTTA,0.082036,,,,011937.21*41 2021-02-18T01:19:38.417Z,1613611178.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.180000 m, bearing: 140.853623 deg, deltaT: 4.426023 s, approachRate: 0.759147 m/s, LOS rate: -0.710577 deg/s, posRepo size: 4 2021-02-18T01:19:40.857Z,1613611180.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:41.637Z,1613611181.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:19:42.010Z,1613611182.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:19:42.844Z,1613611182.844 [Micromodem](INFO): Nmea in: $SNTTA,0.084237,,,,011941.68*48 2021-02-18T01:19:42.913Z,1613611182.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.540009 m, bearing: 140.104488 deg, deltaT: 4.444097 s, approachRate: 0.756061 m/s, LOS rate: -0.168569 deg/s, posRepo size: 4 2021-02-18T01:19:45.254Z,1613611185.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:46.051Z,1613611186.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:19:46.453Z,1613611186.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:19:47.280Z,1613611187.280 [Micromodem](INFO): Nmea in: $SNTTA,0.086510,,,,011946.10*40 2021-02-18T01:19:47.318Z,1613611187.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.960007 m, bearing: 142.231723 deg, deltaT: 4.489184 s, approachRate: 0.761831 m/s, LOS rate: 0.473858 deg/s, posRepo size: 4 2021-02-18T01:19:49.730Z,1613611189.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:50.528Z,1613611190.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:19:50.901Z,1613611190.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:19:51.719Z,1613611191.719 [Micromodem](INFO): Nmea in: $SNTTA,0.088744,,,,011950.57*49 2021-02-18T01:19:52.610Z,1613611192.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:54.128Z,1613611194.128 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:19:55.354Z,1613611195.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:56.148Z,1613611196.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:19:56.559Z,1613611196.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:19:57.365Z,1613611197.365 [Micromodem](INFO): Nmea in: $SNTTA,0.091530,,,,011956.20*46 2021-02-18T01:19:58.183Z,1613611198.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:19:59.788Z,1613611199.788 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:20:01.083Z,1613611201.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:01.807Z,1613611201.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:20:02.210Z,1613611202.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:20:03.022Z,1613611203.022 [Micromodem](INFO): Nmea in: $SNTTA,0.094641,,,,012001.85*41 2021-02-18T01:20:03.869Z,1613611203.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:05.439Z,1613611205.439 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:20:06.687Z,1613611206.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:07.464Z,1613611207.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:20:07.883Z,1613611207.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:20:08.696Z,1613611208.696 [Micromodem](INFO): Nmea in: $SNTTA,0.097362,,,,012007.51*49 2021-02-18T01:20:08.758Z,1613611208.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.220001 m, bearing: 140.140387 deg, deltaT: 21.367399 s, approachRate: 0.760972 m/s, LOS rate: -0.097875 deg/s, posRepo size: 4 2021-02-18T01:20:11.137Z,1613611211.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:11.921Z,1613611211.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:20:12.316Z,1613611212.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:20:13.144Z,1613611213.144 [Micromodem](INFO): Nmea in: $SNTTA,0.100318,,,,012011.97*46 2021-02-18T01:20:13.182Z,1613611213.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.699997 m, bearing: 134.994386 deg, deltaT: 4.485580 s, approachRate: 0.775818 m/s, LOS rate: -1.147232 deg/s, posRepo size: 4 2021-02-18T01:20:15.620Z,1613611215.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:16.348Z,1613611216.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:20:16.754Z,1613611216.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:20:17.604Z,1613611217.604 [Micromodem](INFO): Nmea in: $SNTTA,0.101915,,,,012016.39*43 2021-02-18T01:20:17.639Z,1613611217.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.000015 m, bearing: 135.473783 deg, deltaT: 4.416125 s, approachRate: 0.747266 m/s, LOS rate: 0.108556 deg/s, posRepo size: 4 2021-02-18T01:20:17.651Z,1613611217.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.00 m. Resuming terminal guidance. 2021-02-18T01:20:17.651Z,1613611217.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T01:20:20.015Z,1613611220.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:20.797Z,1613611220.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:20:21.213Z,1613611221.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:20:22.024Z,1613611222.024 [Micromodem](INFO): Nmea in: $SNTTA,0.104268,,,,012020.84*44 2021-02-18T01:20:22.060Z,1613611222.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.540009 m, bearing: 140.247184 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T01:20:22.061Z,1613611222.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 140.247184deg and heading rate command to 0 deg/s. 2021-02-18T01:20:24.458Z,1613611224.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:25.236Z,1613611225.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:20:25.650Z,1613611225.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:20:26.469Z,1613611226.469 [Micromodem](INFO): Nmea in: $SNTTA,0.106588,,,,012025.28*4C 2021-02-18T01:20:26.536Z,1613611226.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.020004 m, bearing: 148.021906 deg, deltaT: 4.412288 s, approachRate: 0.788705 m/s, LOS rate: 1.762061 deg/s, posRepo size: 2 2021-02-18T01:20:26.538Z,1613611226.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.020004 m, bearing: 148.021906 deg, approachRate: 0.788705 m/s, LOS rate: 1.762061 deg/s, cmd update: 7.048246 deg/s, cmd heading: 140.247184 deg, new cmd heading: 140.247184 deg. 2021-02-18T01:20:28.907Z,1613611228.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:29.690Z,1613611229.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:20:30.087Z,1613611230.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:20:30.928Z,1613611230.928 [Micromodem](INFO): Nmea in: $SNTTA,0.108788,,,,012029.74*45 2021-02-18T01:20:30.952Z,1613611230.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.320007 m, bearing: 190.189759 deg, deltaT: 4.522211 s, approachRate: 0.729732 m/s, LOS rate: 9.324610 deg/s, posRepo size: 3 2021-02-18T01:20:30.954Z,1613611230.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.320007 m, bearing: 190.189759 deg, approachRate: 0.729732 m/s, LOS rate: 9.324610 deg/s, cmd update: 12.000000 deg/s, cmd heading: 171.928138 deg, new cmd heading: 174.592586 deg. 2021-02-18T01:20:33.336Z,1613611233.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:34.131Z,1613611234.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:20:34.538Z,1613611234.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:20:35.356Z,1613611235.356 [Micromodem](INFO): Nmea in: $SNTTA,0.111022,,,,012034.18*4C 2021-02-18T01:20:35.398Z,1613611235.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.560013 m, bearing: 149.561704 deg, deltaT: 4.428150 s, approachRate: 0.731684 m/s, LOS rate: -9.174950 deg/s, posRepo size: 4 2021-02-18T01:20:35.400Z,1613611235.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.560013 m, bearing: 149.561704 deg, approachRate: 0.731684 m/s, LOS rate: -9.174950 deg/s, cmd update: -12.000000 deg/s, cmd heading: 225.347579 deg, new cmd heading: 229.819104 deg. 2021-02-18T01:20:37.804Z,1613611237.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:38.585Z,1613611238.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:20:38.973Z,1613611238.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:20:39.813Z,1613611239.813 [Micromodem](INFO): Nmea in: $SNTTA,0.112772,,0.119016,0.115272,012038.63*41 2021-02-18T01:20:39.864Z,1613611239.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.560013 m, bearing: 182.463968 deg, deltaT: 4.401853 s, approachRate: 0.000000 m/s, LOS rate: 7.474640 deg/s, posRepo size: 4 2021-02-18T01:20:39.866Z,1613611239.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.560013 m, bearing: 182.463968 deg, approachRate: 0.000000 m/s, LOS rate: 7.474640 deg/s, cmd update: 12.000000 deg/s, cmd heading: 172.524670 deg, new cmd heading: 167.279926 deg. 2021-02-18T01:20:42.224Z,1613611242.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:43.030Z,1613611243.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:20:43.425Z,1613611243.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:20:44.249Z,1613611244.249 [Micromodem](INFO): Nmea in: $SNTTA,0.114273,,,0.116784,012043.08*5D 2021-02-18T01:20:44.686Z,1613611244.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.360001 m, bearing: 194.452849 deg, deltaT: 4.832233 s, approachRate: 0.993327 m/s, LOS rate: 2.481023 deg/s, posRepo size: 4 2021-02-18T01:20:44.688Z,1613611244.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.360001 m, bearing: 194.452849 deg, approachRate: 0.993327 m/s, LOS rate: 2.481023 deg/s, cmd update: 9.924092 deg/s, cmd heading: 230.560440 deg, new cmd heading: 235.624752 deg. 2021-02-18T01:20:47.083Z,1613611247.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:47.862Z,1613611247.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:20:48.277Z,1613611248.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:20:49.088Z,1613611249.088 [Micromodem](INFO): Nmea in: $SNTTA,0.115520,,,,012047.91*4A 2021-02-18T01:20:49.125Z,1613611249.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.360001 m, bearing: 243.134736 deg, deltaT: 4.492373 s, approachRate: 0.000000 m/s, LOS rate: 10.836564 deg/s, posRepo size: 4 2021-02-18T01:20:49.128Z,1613611249.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.360001 m, bearing: 243.134736 deg, approachRate: 0.000000 m/s, LOS rate: 10.836564 deg/s, cmd update: 12.000000 deg/s, cmd heading: 275.095942 deg, new cmd heading: 278.808823 deg. 2021-02-18T01:20:51.557Z,1613611251.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:52.306Z,1613611252.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:20:52.709Z,1613611252.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:20:53.544Z,1613611253.544 [Micromodem](INFO): Nmea in: $SNTTA,0.116072,,,,012052.35*41 2021-02-18T01:20:53.622Z,1613611253.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.360001 m, bearing: 275.201299 deg, deltaT: 4.401095 s, approachRate: 0.000000 m/s, LOS rate: 7.286042 deg/s, posRepo size: 4 2021-02-18T01:20:53.624Z,1613611253.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.360001 m, bearing: 275.201299 deg, approachRate: 0.000000 m/s, LOS rate: 7.286042 deg/s, cmd update: 12.000000 deg/s, cmd heading: 327.910236 deg, new cmd heading: 333.547008 deg. 2021-02-18T01:20:55.972Z,1613611255.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:20:56.748Z,1613611256.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:20:57.159Z,1613611257.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:20:57.983Z,1613611257.983 [Micromodem](INFO): Nmea in: $SNTTA,0.116367,,,,012056.80*4C 2021-02-18T01:20:58.002Z,1613611258.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.540009 m, bearing: 205.541211 deg, deltaT: 4.484994 s, approachRate: 0.709033 m/s, LOS rate: -15.531813 deg/s, posRepo size: 4 2021-02-18T01:20:58.003Z,1613611258.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.531813 deg/s. Setting heading cmd to target bearing of 205.541211deg and heading rate command to 0 deg/s. 2021-02-18T01:21:00.414Z,1613611260.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:01.192Z,1613611261.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:01.619Z,1613611261.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:21:02.420Z,1613611262.420 [Micromodem](INFO): Nmea in: $SNTTA,0.116168,,,,012101.24*4C 2021-02-18T01:21:02.457Z,1613611262.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.540009 m, bearing: 310.259048 deg, deltaT: 4.412968 s, approachRate: 0.000000 m/s, LOS rate: 23.729571 deg/s, posRepo size: 4 2021-02-18T01:21:02.457Z,1613611262.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.729571 deg/s. Setting heading cmd to target bearing of 310.259048deg and heading rate command to 0 deg/s. 2021-02-18T01:21:04.872Z,1613611264.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:05.636Z,1613611265.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:06.043Z,1613611266.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:21:06.864Z,1613611266.864 [Micromodem](INFO): Nmea in: $SNTTA,0.115314,,,,012105.68*4A 2021-02-18T01:21:06.912Z,1613611266.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.540009 m, bearing: 327.082651 deg, deltaT: 4.469464 s, approachRate: 0.000000 m/s, LOS rate: 3.764121 deg/s, posRepo size: 4 2021-02-18T01:21:06.913Z,1613611266.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.540009 m, bearing: 327.082651 deg, approachRate: 0.000000 m/s, LOS rate: 3.764121 deg/s, cmd update: 12.000000 deg/s, cmd heading: 310.259048 deg, new cmd heading: 310.259048 deg. 2021-02-18T01:21:09.294Z,1613611269.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:10.097Z,1613611270.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:10.508Z,1613611270.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:21:11.314Z,1613611271.314 [Micromodem](INFO): Nmea in: $SNTTA,0.114116,,,,012110.15*45 2021-02-18T01:21:11.752Z,1613611271.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.000000 m, bearing: 317.004242 deg, deltaT: 4.804010 s, approachRate: -0.736886 m/s, LOS rate: -2.097916 deg/s, posRepo size: 4 2021-02-18T01:21:11.754Z,1613611271.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.000000 m, bearing: 317.004242 deg, approachRate: -0.736886 m/s, LOS rate: -2.097916 deg/s, cmd update: -8.391663 deg/s, cmd heading: 8.222878 deg, new cmd heading: 13.297210 deg. 2021-02-18T01:21:14.159Z,1613611274.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:14.928Z,1613611274.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:15.352Z,1613611275.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:21:16.156Z,1613611276.156 [Micromodem](INFO): Nmea in: $SNTTA,0.112321,,,,012114.98*44 2021-02-18T01:21:16.206Z,1613611276.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.000000 m, bearing: 318.404540 deg, deltaT: 4.483100 s, approachRate: 0.000000 m/s, LOS rate: 0.312350 deg/s, posRepo size: 4 2021-02-18T01:21:16.212Z,1613611276.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.000000 m, bearing: 318.404540 deg, approachRate: 0.000000 m/s, LOS rate: 0.312350 deg/s, cmd update: 1.249402 deg/s, cmd heading: 330.639294 deg, new cmd heading: 327.294562 deg. 2021-02-18T01:21:18.642Z,1613611278.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:19.384Z,1613611279.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:19.784Z,1613611279.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:21:20.628Z,1613611280.628 [Micromodem](INFO): Nmea in: $SNTTA,0.110409,,,,012119.43*40 2021-02-18T01:21:20.682Z,1613611280.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.419998 m, bearing: 321.254860 deg, deltaT: 4.405433 s, approachRate: -1.266618 m/s, LOS rate: 0.647001 deg/s, posRepo size: 4 2021-02-18T01:21:20.688Z,1613611280.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.419998 m, bearing: 321.254860 deg, approachRate: -1.266618 m/s, LOS rate: 0.647001 deg/s, cmd update: 2.588004 deg/s, cmd heading: 336.147095 deg, new cmd heading: 336.729291 deg. 2021-02-18T01:21:23.034Z,1613611283.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:23.815Z,1613611283.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:24.230Z,1613611284.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:21:25.048Z,1613611285.048 [Micromodem](INFO): Nmea in: $SNTTA,0.108448,,,,012123.86*4C 2021-02-18T01:21:25.087Z,1613611285.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.539993 m, bearing: 319.536986 deg, deltaT: 4.462258 s, approachRate: -0.645414 m/s, LOS rate: -0.384979 deg/s, posRepo size: 4 2021-02-18T01:21:25.089Z,1613611285.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.539993 m, bearing: 319.536986 deg, approachRate: -0.645414 m/s, LOS rate: -0.384979 deg/s, cmd update: -1.539915 deg/s, cmd heading: 347.699216 deg, new cmd heading: 348.754242 deg. 2021-02-18T01:21:27.476Z,1613611287.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:28.260Z,1613611288.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:28.671Z,1613611288.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:21:29.504Z,1613611289.504 [Micromodem](INFO): Nmea in: $SNTTA,0.106524,,,,012128.31*4E 2021-02-18T01:21:29.588Z,1613611289.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.479996 m, bearing: 319.530128 deg, deltaT: 4.427107 s, approachRate: -0.691196 m/s, LOS rate: -0.001549 deg/s, posRepo size: 4 2021-02-18T01:21:29.604Z,1613611289.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.479996 m, bearing: 319.530128 deg, approachRate: -0.691196 m/s, LOS rate: -0.001549 deg/s, cmd update: -0.006196 deg/s, cmd heading: 340.882388 deg, new cmd heading: 340.159725 deg. 2021-02-18T01:21:31.929Z,1613611291.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:32.710Z,1613611292.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:33.109Z,1613611293.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:21:33.936Z,1613611293.936 [Micromodem](INFO): Nmea in: $SNTTA,0.104747,,,,012132.76*43 2021-02-18T01:21:33.985Z,1613611293.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.839996 m, bearing: 318.373586 deg, deltaT: 4.499365 s, approachRate: -0.586749 m/s, LOS rate: -0.257046 deg/s, posRepo size: 4 2021-02-18T01:21:33.986Z,1613611293.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.839996 m, bearing: 318.373586 deg, approachRate: -0.586749 m/s, LOS rate: -0.257046 deg/s, cmd update: -1.028183 deg/s, cmd heading: 340.854709 deg, new cmd heading: 340.852167 deg. 2021-02-18T01:21:36.371Z,1613611296.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:37.153Z,1613611297.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:37.580Z,1613611297.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:21:38.380Z,1613611298.380 [Micromodem](INFO): Nmea in: $SNTTA,0.102842,,,,012137.20*49 2021-02-18T01:21:38.413Z,1613611298.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.959991 m, bearing: 318.553247 deg, deltaT: 4.389183 s, approachRate: -0.656160 m/s, LOS rate: 0.040933 deg/s, posRepo size: 4 2021-02-18T01:21:38.415Z,1613611298.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.959991 m, bearing: 318.553247 deg, approachRate: -0.656160 m/s, LOS rate: 0.040933 deg/s, cmd update: 0.163731 deg/s, cmd heading: 336.312900 deg, new cmd heading: 335.879010 deg. 2021-02-18T01:21:40.825Z,1613611300.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:41.613Z,1613611301.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:42.015Z,1613611302.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:21:42.844Z,1613611302.844 [Micromodem](INFO): Nmea in: $SNTTA,0.100922,,,,012141.66*4F 2021-02-18T01:21:42.878Z,1613611302.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.960007 m, bearing: 319.151599 deg, deltaT: 4.441559 s, approachRate: -0.675435 m/s, LOS rate: 0.134717 deg/s, posRepo size: 4 2021-02-18T01:21:42.880Z,1613611302.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.960007 m, bearing: 319.151599 deg, approachRate: -0.675435 m/s, LOS rate: 0.134717 deg/s, cmd update: 0.538867 deg/s, cmd heading: 337.040815 deg, new cmd heading: 337.113090 deg. 2021-02-18T01:21:45.255Z,1613611305.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:46.042Z,1613611306.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:46.441Z,1613611306.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:21:47.284Z,1613611307.284 [Micromodem](INFO): Nmea in: $SNTTA,0.098942,,,,012146.09*47 2021-02-18T01:21:47.317Z,1613611307.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.960007 m, bearing: 318.471586 deg, deltaT: 4.473233 s, approachRate: -0.670656 m/s, LOS rate: -0.152018 deg/s, posRepo size: 4 2021-02-18T01:21:47.319Z,1613611307.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.960007 m, bearing: 318.471586 deg, approachRate: -0.670656 m/s, LOS rate: -0.152018 deg/s, cmd update: -0.608074 deg/s, cmd heading: 339.449050 deg, new cmd heading: 339.670665 deg. 2021-02-18T01:21:49.727Z,1613611309.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:50.493Z,1613611310.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:50.886Z,1613611310.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:21:51.723Z,1613611311.723 [Micromodem](INFO): Nmea in: $SNTTA,0.096808,,,,012150.54*49 2021-02-18T01:21:51.776Z,1613611311.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.839996 m, bearing: 317.724418 deg, deltaT: 4.402173 s, approachRate: -0.708743 m/s, LOS rate: -0.169727 deg/s, posRepo size: 4 2021-02-18T01:21:51.778Z,1613611311.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.839996 m, bearing: 317.724418 deg, approachRate: -0.708743 m/s, LOS rate: -0.169727 deg/s, cmd update: -0.678908 deg/s, cmd heading: 336.769796 deg, new cmd heading: 336.487629 deg. 2021-02-18T01:21:54.135Z,1613611314.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:54.930Z,1613611314.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:55.334Z,1613611315.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:21:56.156Z,1613611316.156 [Micromodem](INFO): Nmea in: $SNTTA,0.094892,,,,012154.98*4C 2021-02-18T01:21:56.178Z,1613611316.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.960007 m, bearing: 317.238108 deg, deltaT: 4.482740 s, approachRate: -0.642462 m/s, LOS rate: -0.108485 deg/s, posRepo size: 4 2021-02-18T01:21:56.180Z,1613611316.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.960007 m, bearing: 317.238108 deg, approachRate: -0.642462 m/s, LOS rate: -0.108485 deg/s, cmd update: -0.433939 deg/s, cmd heading: 333.737312 deg, new cmd heading: 333.465930 deg. 2021-02-18T01:21:58.637Z,1613611318.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:21:59.377Z,1613611319.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:21:59.780Z,1613611319.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:00.624Z,1613611320.624 [Micromodem](INFO): Nmea in: $SNTTA,0.092930,,,,012159.42*49 2021-02-18T01:22:00.658Z,1613611320.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.960007 m, bearing: 316.778928 deg, deltaT: 4.420090 s, approachRate: -0.678719 m/s, LOS rate: -0.103885 deg/s, posRepo size: 4 2021-02-18T01:22:00.660Z,1613611320.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.960007 m, bearing: 316.778928 deg, approachRate: -0.678719 m/s, LOS rate: -0.103885 deg/s, cmd update: -0.415539 deg/s, cmd heading: 331.819156 deg, new cmd heading: 331.620045 deg. 2021-02-18T01:22:03.019Z,1613611323.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:22:03.812Z,1613611323.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:22:04.218Z,1613611324.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:05.080Z,1613611325.080 [Micromodem](INFO): Nmea in: $SNTTA,0.090647,,,,012203.86*40 2021-02-18T01:22:05.119Z,1613611325.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.720001 m, bearing: 317.025197 deg, deltaT: 4.444255 s, approachRate: -0.729032 m/s, LOS rate: 0.055413 deg/s, posRepo size: 4 2021-02-18T01:22:05.121Z,1613611325.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.720001 m, bearing: 317.025197 deg, approachRate: -0.729032 m/s, LOS rate: 0.055413 deg/s, cmd update: 0.221652 deg/s, cmd heading: 329.965843 deg, new cmd heading: 329.774743 deg. 2021-02-18T01:22:07.473Z,1613611327.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:22:08.267Z,1613611328.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:22:08.667Z,1613611328.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:09.497Z,1613611329.497 [Micromodem](INFO): Nmea in: $SNTTA,0.088472,,,,012208.31*4A 2021-02-18T01:22:09.545Z,1613611329.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.479996 m, bearing: 315.937121 deg, deltaT: 4.421035 s, approachRate: -0.732861 m/s, LOS rate: -0.246114 deg/s, posRepo size: 4 2021-02-18T01:22:09.547Z,1613611329.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.479996 m, bearing: 315.937121 deg, approachRate: -0.732861 m/s, LOS rate: -0.246114 deg/s, cmd update: -0.984454 deg/s, cmd heading: 330.945776 deg, new cmd heading: 331.048907 deg. 2021-02-18T01:22:11.916Z,1613611331.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:22:12.702Z,1613611332.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:22:13.106Z,1613611333.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:13.928Z,1613611333.928 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012212.75*5E 2021-02-18T01:22:13.952Z,1613611333.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.479996 m, bearing: 315.884255 deg, deltaT: 4.542783 s, approachRate: -0.660388 m/s, LOS rate: -0.011637 deg/s, posRepo size: 4 2021-02-18T01:22:13.953Z,1613611333.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.479996 m, bearing: 315.884255 deg, approachRate: -0.660388 m/s, LOS rate: -0.011637 deg/s, cmd update: -0.046549 deg/s, cmd heading: 326.477355 deg, new cmd heading: 326.150139 deg. 2021-02-18T01:22:16.351Z,1613611336.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:22:17.149Z,1613611337.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:22:17.554Z,1613611337.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:18.376Z,1613611338.376 [Micromodem](INFO): Nmea in: $SNTTA,0.084411,,,,012217.20*4D 2021-02-18T01:22:18.412Z,1613611338.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.360008 m, bearing: 315.867672 deg, deltaT: 4.371072 s, approachRate: -0.713781 m/s, LOS rate: -0.003794 deg/s, posRepo size: 4 2021-02-18T01:22:18.414Z,1613611338.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.360008 m, bearing: 315.867672 deg, approachRate: -0.713781 m/s, LOS rate: -0.003794 deg/s, cmd update: -0.015176 deg/s, cmd heading: 326.273885 deg, new cmd heading: 326.254254 deg. 2021-02-18T01:22:20.820Z,1613611340.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:22:21.613Z,1613611341.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:22:22.002Z,1613611342.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:22.832Z,1613611342.832 [Micromodem](INFO): Nmea in: $SNTTA,0.082329,,,,012221.66*40 2021-02-18T01:22:22.889Z,1613611342.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.299995 m, bearing: 314.996986 deg, deltaT: 4.421077 s, approachRate: -0.692142 m/s, LOS rate: -0.196940 deg/s, posRepo size: 4 2021-02-18T01:22:22.895Z,1613611342.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.299995 m, bearing: 314.996986 deg, approachRate: -0.692142 m/s, LOS rate: -0.196940 deg/s, cmd update: -0.787758 deg/s, cmd heading: 326.206731 deg, new cmd heading: 326.199540 deg. 2021-02-18T01:22:25.243Z,1613611345.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:22:26.032Z,1613611346.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:22:26.443Z,1613611346.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:27.264Z,1613611347.264 [Micromodem](INFO): Nmea in: $SNTTA,0.080378,,,,012226.08*49 2021-02-18T01:22:27.322Z,1613611347.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.239998 m, bearing: 315.143754 deg, deltaT: 4.482265 s, approachRate: -0.682690 m/s, LOS rate: 0.032744 deg/s, posRepo size: 4 2021-02-18T01:22:27.329Z,1613611347.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.239998 m, bearing: 315.143754 deg, approachRate: -0.682690 m/s, LOS rate: 0.032744 deg/s, cmd update: 0.130976 deg/s, cmd heading: 322.678958 deg, new cmd heading: 322.342479 deg. 2021-02-18T01:22:29.715Z,1613611349.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:22:30.496Z,1613611350.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:22:30.882Z,1613611350.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:31.716Z,1613611351.716 [Micromodem](INFO): Nmea in: $SNTTA,0.078188,,,,012230.54*4D 2021-02-18T01:22:31.778Z,1613611351.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.060005 m, bearing: 315.481520 deg, deltaT: 4.400492 s, approachRate: -0.722645 m/s, LOS rate: 0.076757 deg/s, posRepo size: 4 2021-02-18T01:22:31.780Z,1613611351.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.060005 m, bearing: 315.481520 deg, approachRate: -0.722645 m/s, LOS rate: 0.076757 deg/s, cmd update: 0.307026 deg/s, cmd heading: 323.255847 deg, new cmd heading: 323.318690 deg. 2021-02-18T01:22:34.152Z,1613611354.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:22:34.925Z,1613611354.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:22:35.325Z,1613611355.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:36.152Z,1613611356.152 [Micromodem](INFO): Nmea in: $SNTTA,0.076171,,,,012234.97*4E 2021-02-18T01:22:36.174Z,1613611356.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.120003 m, bearing: 314.917920 deg, deltaT: 4.508114 s, approachRate: -0.652158 m/s, LOS rate: -0.125019 deg/s, posRepo size: 4 2021-02-18T01:22:36.176Z,1613611356.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.120003 m, bearing: 314.917920 deg, approachRate: -0.652158 m/s, LOS rate: -0.125019 deg/s, cmd update: -0.500076 deg/s, cmd heading: 324.636801 deg, new cmd heading: 324.752919 deg. 2021-02-18T01:22:38.628Z,1613611358.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:22:39.364Z,1613611359.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:22:39.787Z,1613611359.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:40.624Z,1613611360.624 [Micromodem](INFO): Nmea in: $SNTTA,0.073981,,,,012239.41*4A 2021-02-18T01:22:40.671Z,1613611360.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.820000 m, bearing: 315.088074 deg, deltaT: 4.397346 s, approachRate: -0.750453 m/s, LOS rate: 0.038695 deg/s, posRepo size: 4 2021-02-18T01:22:40.673Z,1613611360.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.820000 m, bearing: 315.088074 deg, approachRate: -0.750453 m/s, LOS rate: 0.038695 deg/s, cmd update: 0.154779 deg/s, cmd heading: 322.432665 deg, new cmd heading: 322.198957 deg. 2021-02-18T01:22:43.016Z,1613611363.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:22:43.807Z,1613611363.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:22:44.214Z,1613611364.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:45.036Z,1613611365.036 [Micromodem](INFO): Nmea in: $SNTTA,0.071876,,,,012243.85*44 2021-02-18T01:22:45.102Z,1613611365.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.700005 m, bearing: 313.591142 deg, deltaT: 4.473886 s, approachRate: -0.697379 m/s, LOS rate: -0.334593 deg/s, posRepo size: 4 2021-02-18T01:22:45.104Z,1613611365.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.700005 m, bearing: 313.591142 deg, approachRate: -0.697379 m/s, LOS rate: -0.334593 deg/s, cmd update: -1.338373 deg/s, cmd heading: 323.122028 deg, new cmd heading: 323.190821 deg. 2021-02-18T01:22:47.523Z,1613611367.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:22:48.260Z,1613611368.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:22:48.673Z,1613611368.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:49.492Z,1613611369.492 [Micromodem](INFO): Nmea in: $SNTTA,0.069744,,,,012248.31*47 2021-02-18T01:22:49.599Z,1613611369.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.400002 m, bearing: 314.462483 deg, deltaT: 4.396681 s, approachRate: -0.750567 m/s, LOS rate: 0.198182 deg/s, posRepo size: 4 2021-02-18T01:22:49.608Z,1613611369.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.400002 m, bearing: 314.462483 deg, approachRate: -0.750567 m/s, LOS rate: 0.198182 deg/s, cmd update: 0.792726 deg/s, cmd heading: 317.210955 deg, new cmd heading: 316.519746 deg. 2021-02-18T01:22:51.928Z,1613611371.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:22:52.705Z,1613611372.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:22:53.101Z,1613611373.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:53.928Z,1613611373.928 [Micromodem](INFO): Nmea in: $SNTTA,0.067727,,,,012252.75*47 2021-02-18T01:22:53.980Z,1613611373.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.279999 m, bearing: 318.387656 deg, deltaT: 4.496824 s, approachRate: -0.693824 m/s, LOS rate: 0.872877 deg/s, posRepo size: 4 2021-02-18T01:22:53.982Z,1613611373.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.279999 m, bearing: 318.387656 deg, approachRate: -0.693824 m/s, LOS rate: 0.872877 deg/s, cmd update: 3.491507 deg/s, cmd heading: 320.771386 deg, new cmd heading: 321.096840 deg. 2021-02-18T01:22:56.364Z,1613611376.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:22:57.141Z,1613611377.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:22:57.558Z,1613611377.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:22:58.372Z,1613611378.372 [Micromodem](INFO): Nmea in: $SNTTA,0.065506,,0.145377,,012257.19*56 2021-02-18T01:22:58.411Z,1613611378.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.159996 m, bearing: 314.114635 deg, deltaT: 4.417105 s, approachRate: -0.706346 m/s, LOS rate: -0.967380 deg/s, posRepo size: 4 2021-02-18T01:22:58.413Z,1613611378.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.159996 m, bearing: 314.114635 deg, approachRate: -0.706346 m/s, LOS rate: -0.967380 deg/s, cmd update: -3.869522 deg/s, cmd heading: 336.199108 deg, new cmd heading: 337.690247 deg. 2021-02-18T01:23:00.822Z,1613611380.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:01.624Z,1613611381.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:02.007Z,1613611382.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:23:02.834Z,1613611382.834 [Micromodem](INFO): Nmea in: $SNTTA,0.063535,,,,012301.67*46 2021-02-18T01:23:02.868Z,1613611382.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.919998 m, bearing: 312.746357 deg, deltaT: 4.431011 s, approachRate: -0.731210 m/s, LOS rate: -0.308796 deg/s, posRepo size: 4 2021-02-18T01:23:02.870Z,1613611382.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.919998 m, bearing: 312.746357 deg, approachRate: -0.731210 m/s, LOS rate: -0.308796 deg/s, cmd update: -1.235184 deg/s, cmd heading: 319.037881 deg, new cmd heading: 317.298036 deg. 2021-02-18T01:23:05.236Z,1613611385.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:06.046Z,1613611386.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:06.434Z,1613611386.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:23:07.272Z,1613611387.272 [Micromodem](INFO): Nmea in: $SNTTA,0.061605,,0.072117,,012306.09*57 2021-02-18T01:23:07.294Z,1613611387.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.979996 m, bearing: 313.632916 deg, deltaT: 4.458925 s, approachRate: -0.659352 m/s, LOS rate: 0.198828 deg/s, posRepo size: 4 2021-02-18T01:23:07.296Z,1613611387.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.979996 m, bearing: 313.632916 deg, approachRate: -0.659352 m/s, LOS rate: 0.198828 deg/s, cmd update: 0.795311 deg/s, cmd heading: 313.530377 deg, new cmd heading: 313.016222 deg. 2021-02-18T01:23:09.739Z,1613611389.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:10.477Z,1613611390.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:10.884Z,1613611390.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:23:10.900Z,1613611390.900 [RDI_Pathfinder](ERROR): only read 1 of 4 data items 2021-02-18T01:23:11.707Z,1613611391.707 [Micromodem](INFO): Nmea in: $SNTTA,0.059127,,,,012310.53*4F 2021-02-18T01:23:11.741Z,1613611391.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.500000 m, bearing: 312.875256 deg, deltaT: 4.435687 s, approachRate: -0.784545 m/s, LOS rate: -0.170810 deg/s, posRepo size: 4 2021-02-18T01:23:11.743Z,1613611391.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.500000 m, bearing: 312.875256 deg, approachRate: -0.784545 m/s, LOS rate: -0.170810 deg/s, cmd update: -0.683240 deg/s, cmd heading: 317.058217 deg, new cmd heading: 317.398374 deg. 2021-02-18T01:23:14.122Z,1613611394.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:14.916Z,1613611394.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:15.333Z,1613611395.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:23:16.144Z,1613611396.144 [Micromodem](INFO): Nmea in: $SNTTA,0.057248,,,,012314.96*46 2021-02-18T01:23:16.182Z,1613611396.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.680008 m, bearing: 314.250747 deg, deltaT: 4.464099 s, approachRate: -0.631705 m/s, LOS rate: 0.308123 deg/s, posRepo size: 4 2021-02-18T01:23:16.184Z,1613611396.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.680008 m, bearing: 314.250747 deg, approachRate: -0.631705 m/s, LOS rate: 0.308123 deg/s, cmd update: 1.232491 deg/s, cmd heading: 314.008225 deg, new cmd heading: 313.731597 deg. 2021-02-18T01:23:18.636Z,1613611398.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:19.360Z,1613611399.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:19.765Z,1613611399.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:23:20.619Z,1613611400.619 [Micromodem](INFO): Nmea in: $SNTTA,0.054928,,,,012319.41*4F 2021-02-18T01:23:20.653Z,1613611400.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.200005 m, bearing: 312.932411 deg, deltaT: 4.433364 s, approachRate: -0.784958 m/s, LOS rate: -0.297367 deg/s, posRepo size: 4 2021-02-18T01:23:20.654Z,1613611400.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.200005 m, bearing: 312.932411 deg, approachRate: -0.784958 m/s, LOS rate: -0.297367 deg/s, cmd update: -1.189468 deg/s, cmd heading: 319.472243 deg, new cmd heading: 320.016732 deg. 2021-02-18T01:23:23.011Z,1613611403.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:23.805Z,1613611403.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:24.212Z,1613611404.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:23:25.039Z,1613611405.039 [Micromodem](INFO): Nmea in: $SNTTA,0.052818,,,,012323.85*4A 2021-02-18T01:23:25.058Z,1613611405.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.140007 m, bearing: 314.201379 deg, deltaT: 4.446235 s, approachRate: -0.688222 m/s, LOS rate: 0.285403 deg/s, posRepo size: 4 2021-02-18T01:23:25.060Z,1613611405.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.140007 m, bearing: 314.201379 deg, approachRate: -0.688222 m/s, LOS rate: 0.285403 deg/s, cmd update: 1.141611 deg/s, cmd heading: 314.183435 deg, new cmd heading: 313.706550 deg. 2021-02-18T01:23:27.457Z,1613611407.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:28.248Z,1613611408.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:28.653Z,1613611408.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:23:29.489Z,1613611409.489 [Micromodem](INFO): Nmea in: $SNTTA,0.050662,,,,012328.29*46 2021-02-18T01:23:29.547Z,1613611409.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.900002 m, bearing: 314.155999 deg, deltaT: 4.414000 s, approachRate: -0.734029 m/s, LOS rate: -0.010281 deg/s, posRepo size: 4 2021-02-18T01:23:29.550Z,1613611409.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.900002 m, bearing: 314.155999 deg, approachRate: -0.734029 m/s, LOS rate: -0.010281 deg/s, cmd update: -0.041123 deg/s, cmd heading: 319.222503 deg, new cmd heading: 319.765721 deg. 2021-02-18T01:23:31.932Z,1613611411.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:32.694Z,1613611412.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:33.097Z,1613611413.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:23:33.924Z,1613611413.924 [Micromodem](INFO): Nmea in: $SNTTA,0.048558,,,,012332.74*46 2021-02-18T01:23:33.969Z,1613611413.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.720009 m, bearing: 314.731647 deg, deltaT: 4.493488 s, approachRate: -0.707689 m/s, LOS rate: 0.128107 deg/s, posRepo size: 4 2021-02-18T01:23:33.971Z,1613611413.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.720009 m, bearing: 314.731647 deg, approachRate: -0.707689 m/s, LOS rate: 0.128107 deg/s, cmd update: 0.512429 deg/s, cmd heading: 319.037747 deg, new cmd heading: 319.021077 deg. 2021-02-18T01:23:36.357Z,1613611416.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:37.140Z,1613611417.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:37.549Z,1613611417.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:23:38.375Z,1613611418.375 [Micromodem](INFO): Nmea in: $SNTTA,0.046447,,,,012337.19*49 2021-02-18T01:23:38.397Z,1613611418.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.420006 m, bearing: 310.504853 deg, deltaT: 4.415519 s, approachRate: -0.747365 m/s, LOS rate: -0.957259 deg/s, posRepo size: 4 2021-02-18T01:23:38.399Z,1613611418.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.420006 m, bearing: 310.504853 deg, approachRate: -0.747365 m/s, LOS rate: -0.957259 deg/s, cmd update: -3.829035 deg/s, cmd heading: 321.300272 deg, new cmd heading: 321.514469 deg. 2021-02-18T01:23:40.825Z,1613611420.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:41.612Z,1613611421.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:41.985Z,1613611421.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:23:42.820Z,1613611422.820 [Micromodem](INFO): Nmea in: $SNTTA,0.044365,,,,012341.66*45 2021-02-18T01:23:42.886Z,1613611422.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.419998 m, bearing: 312.942466 deg, deltaT: 4.421799 s, approachRate: -0.678459 m/s, LOS rate: 0.551272 deg/s, posRepo size: 4 2021-02-18T01:23:42.888Z,1613611422.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.419998 m, bearing: 312.942466 deg, approachRate: -0.678459 m/s, LOS rate: 0.551272 deg/s, cmd update: 2.205087 deg/s, cmd heading: 304.365165 deg, new cmd heading: 302.513206 deg. 2021-02-18T01:23:45.237Z,1613611425.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:46.024Z,1613611426.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:46.430Z,1613611426.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:23:47.252Z,1613611427.252 [Micromodem](INFO): Nmea in: $SNTTA,0.042075,,,,012346.07*41 2021-02-18T01:23:47.274Z,1613611427.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.879997 m, bearing: 313.184363 deg, deltaT: 4.495907 s, approachRate: -0.787383 m/s, LOS rate: 0.053804 deg/s, posRepo size: 4 2021-02-18T01:23:47.276Z,1613611427.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.879997 m, bearing: 313.184363 deg, approachRate: -0.787383 m/s, LOS rate: 0.053804 deg/s, cmd update: 0.215216 deg/s, cmd heading: 314.270207 deg, new cmd heading: 315.108561 deg. 2021-02-18T01:23:49.697Z,1613611429.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:50.472Z,1613611430.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:50.874Z,1613611430.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:23:51.696Z,1613611431.696 [Micromodem](INFO): Nmea in: $SNTTA,0.039962,,,,012350.52*45 2021-02-18T01:23:51.749Z,1613611431.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.880005 m, bearing: 313.926122 deg, deltaT: 4.392016 s, approachRate: -0.683056 m/s, LOS rate: 0.168888 deg/s, posRepo size: 4 2021-02-18T01:23:51.751Z,1613611431.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.880005 m, bearing: 313.926122 deg, approachRate: -0.683056 m/s, LOS rate: 0.168888 deg/s, cmd update: 0.675552 deg/s, cmd heading: 315.216304 deg, new cmd heading: 315.315191 deg. 2021-02-18T01:23:54.118Z,1613611434.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:54.942Z,1613611434.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:55.341Z,1613611435.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:23:56.152Z,1613611436.152 [Micromodem](INFO): Nmea in: $SNTTA,0.037909,,,,012354.99*45 2021-02-18T01:23:56.194Z,1613611436.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.640007 m, bearing: 313.337797 deg, deltaT: 4.492977 s, approachRate: -0.721125 m/s, LOS rate: -0.130943 deg/s, posRepo size: 4 2021-02-18T01:23:56.196Z,1613611436.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.640007 m, bearing: 313.337797 deg, approachRate: -0.721125 m/s, LOS rate: -0.130943 deg/s, cmd update: -0.523773 deg/s, cmd heading: 318.248807 deg, new cmd heading: 318.529398 deg. 2021-02-18T01:23:58.624Z,1613611438.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:23:59.359Z,1613611439.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:23:59.774Z,1613611439.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:00.620Z,1613611440.620 [Micromodem](INFO): Nmea in: $SNTTA,0.035770,,,,012359.41*4F 2021-02-18T01:24:00.673Z,1613611440.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.460003 m, bearing: 313.194663 deg, deltaT: 4.428112 s, approachRate: -0.718140 m/s, LOS rate: -0.032324 deg/s, posRepo size: 4 2021-02-18T01:24:00.679Z,1613611440.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.460003 m, bearing: 313.194663 deg, approachRate: -0.718140 m/s, LOS rate: -0.032324 deg/s, cmd update: -0.129295 deg/s, cmd heading: 315.927389 deg, new cmd heading: 315.685384 deg. 2021-02-18T01:24:03.022Z,1613611443.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:24:03.806Z,1613611443.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:24:04.206Z,1613611444.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:05.036Z,1613611445.036 [Micromodem](INFO): Nmea in: $SNTTA,0.033620,,,,012403.85*4D 2021-02-18T01:24:05.082Z,1613611445.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.279999 m, bearing: 312.889791 deg, deltaT: 4.469210 s, approachRate: -0.711536 m/s, LOS rate: -0.068216 deg/s, posRepo size: 4 2021-02-18T01:24:05.084Z,1613611445.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.279999 m, bearing: 312.889791 deg, approachRate: -0.711536 m/s, LOS rate: -0.068216 deg/s, cmd update: -0.272865 deg/s, cmd heading: 315.350189 deg, new cmd heading: 315.297607 deg. 2021-02-18T01:24:07.450Z,1613611447.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:24:08.249Z,1613611448.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:24:08.650Z,1613611448.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:09.504Z,1613611449.504 [Micromodem](INFO): Nmea in: $SNTTA,0.031504,,0.047066,,012408.30*52 2021-02-18T01:24:09.550Z,1613611449.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.040001 m, bearing: 312.871322 deg, deltaT: 4.428336 s, approachRate: -0.731651 m/s, LOS rate: -0.004171 deg/s, posRepo size: 4 2021-02-18T01:24:09.553Z,1613611449.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.040001 m, bearing: 312.871322 deg, approachRate: -0.731651 m/s, LOS rate: -0.004171 deg/s, cmd update: -0.016682 deg/s, cmd heading: 314.143222 deg, new cmd heading: 314.020004 deg. 2021-02-18T01:24:11.925Z,1613611451.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:24:12.688Z,1613611452.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:24:13.106Z,1613611453.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:13.920Z,1613611453.920 [Micromodem](INFO): Nmea in: $SNTTA,0.029642,,,,012412.73*4B 2021-02-18T01:24:13.960Z,1613611453.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.920002 m, bearing: 312.777913 deg, deltaT: 4.446417 s, approachRate: -0.701688 m/s, LOS rate: -0.021008 deg/s, posRepo size: 4 2021-02-18T01:24:13.962Z,1613611453.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.920002 m, bearing: 312.777913 deg, approachRate: -0.701688 m/s, LOS rate: -0.021008 deg/s, cmd update: -0.084031 deg/s, cmd heading: 314.068941 deg, new cmd heading: 314.062115 deg. 2021-02-18T01:24:16.359Z,1613611456.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:24:17.132Z,1613611457.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:24:17.554Z,1613611457.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:18.360Z,1613611458.360 [Micromodem](INFO): Nmea in: $SNTTA,0.027125,,,,012417.18*4B 2021-02-18T01:24:18.394Z,1613611458.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.500000 m, bearing: 313.470466 deg, deltaT: 4.419404 s, approachRate: -0.773860 m/s, LOS rate: 0.156708 deg/s, posRepo size: 4 2021-02-18T01:24:18.396Z,1613611458.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.500000 m, bearing: 313.470466 deg, approachRate: -0.773860 m/s, LOS rate: 0.156708 deg/s, cmd update: 0.626830 deg/s, cmd heading: 313.697588 deg, new cmd heading: 313.661974 deg. 2021-02-18T01:24:20.809Z,1613611460.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:24:21.612Z,1613611461.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:24:21.988Z,1613611461.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:22.818Z,1613611462.818 [Micromodem](INFO): Nmea in: $SNTTA,0.024993,,,,012421.66*41 2021-02-18T01:24:22.906Z,1613611462.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.320004 m, bearing: 313.533632 deg, deltaT: 4.426378 s, approachRate: -0.718420 m/s, LOS rate: 0.014270 deg/s, posRepo size: 4 2021-02-18T01:24:22.911Z,1613611462.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.32 m. 2021-02-18T01:24:22.913Z,1613611462.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.320004 m, bearing: 313.533632 deg, approachRate: -0.718420 m/s, LOS rate: 0.014270 deg/s, cmd update: 0.057081 deg/s, cmd heading: 316.474711 deg, new cmd heading: 316.791558 deg. 2021-02-18T01:24:23.205Z,1613611463.205 [PowerOnly](INFO): Powering up loadControl 2021-02-18T01:24:25.238Z,1613611465.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:24:26.028Z,1613611466.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:24:26.427Z,1613611466.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:27.260Z,1613611467.260 [Micromodem](INFO): Nmea in: $SNTTA,0.022862,,,,012426.07*48 2021-02-18T01:24:27.282Z,1613611467.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.079998 m, bearing: 313.343725 deg, deltaT: 4.474043 s, approachRate: -0.724178 m/s, LOS rate: -0.042446 deg/s, posRepo size: 4 2021-02-18T01:24:27.283Z,1613611467.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.08 m. 2021-02-18T01:24:27.283Z,1613611467.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.08 m. 2021-02-18T01:24:27.283Z,1613611467.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T01:24:27.285Z,1613611467.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.079998 m, bearing: 313.343725 deg, approachRate: -0.724178 m/s, LOS rate: -0.042446 deg/s, cmd update: -0.169785 deg/s, cmd heading: 316.730080 deg, new cmd heading: 316.753350 deg. 2021-02-18T01:24:29.693Z,1613611469.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:24:30.469Z,1613611470.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:24:30.871Z,1613611470.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:31.696Z,1613611471.696 [Micromodem](INFO): Nmea in: $SNTTA,0.020819,,,,012430.52*41 2021-02-18T01:24:31.731Z,1613611471.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.020002 m, bearing: 313.740177 deg, deltaT: 4.419582 s, approachRate: -0.692372 m/s, LOS rate: 0.089703 deg/s, posRepo size: 4 2021-02-18T01:24:31.733Z,1613611471.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.020002 m, bearing: 313.740177 deg, approachRate: -0.692372 m/s, LOS rate: 0.089703 deg/s, cmd update: 0.358814 deg/s, cmd heading: 315.979670 deg, new cmd heading: 315.905609 deg. 2021-02-18T01:24:34.131Z,1613611474.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:24:34.908Z,1613611474.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:24:35.315Z,1613611475.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:36.143Z,1613611476.143 [Micromodem](INFO): Nmea in: $SNTTA,0.018698,,0.048393,,012434.95*59 2021-02-18T01:24:36.166Z,1613611476.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.839996 m, bearing: 314.092697 deg, deltaT: 4.487297 s, approachRate: -0.708668 m/s, LOS rate: 0.078559 deg/s, posRepo size: 4 2021-02-18T01:24:36.168Z,1613611476.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.839996 m, bearing: 314.092697 deg, approachRate: -0.708668 m/s, LOS rate: 0.078559 deg/s, cmd update: 0.314238 deg/s, cmd heading: 317.588357 deg, new cmd heading: 317.727704 deg. 2021-02-18T01:24:38.633Z,1613611478.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:24:39.352Z,1613611479.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:24:39.758Z,1613611479.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:40.619Z,1613611480.619 [Micromodem](INFO): Nmea in: $SNTTA,0.016476,,0.039389,,012439.40*5D 2021-02-18T01:24:40.669Z,1613611480.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.480000 m, bearing: 312.270266 deg, deltaT: 4.448386 s, approachRate: -0.755329 m/s, LOS rate: -0.409684 deg/s, posRepo size: 4 2021-02-18T01:24:40.671Z,1613611480.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.480000 m, bearing: 312.270266 deg, approachRate: -0.755329 m/s, LOS rate: -0.409684 deg/s, cmd update: -1.638735 deg/s, cmd heading: 318.986109 deg, new cmd heading: 319.125527 deg. 2021-02-18T01:24:43.034Z,1613611483.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:24:43.796Z,1613611483.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:24:44.216Z,1613611484.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:45.028Z,1613611485.028 [Micromodem](INFO): Nmea in: $SNTTA,0.014358,,,,012443.84*47 2021-02-18T01:24:45.061Z,1613611485.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.299999 m, bearing: 313.013855 deg, deltaT: 4.461171 s, approachRate: -0.712817 m/s, LOS rate: 0.166680 deg/s, posRepo size: 4 2021-02-18T01:24:45.063Z,1613611485.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.299999 m, bearing: 313.013855 deg, approachRate: -0.712817 m/s, LOS rate: 0.166680 deg/s, cmd update: 0.666721 deg/s, cmd heading: 311.701170 deg, new cmd heading: 311.062164 deg. 2021-02-18T01:24:47.472Z,1613611487.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:24:48.240Z,1613611488.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:24:48.663Z,1613611488.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:49.470Z,1613611489.470 [Micromodem](INFO): Nmea in: $SNTTA,0.012756,,,,012448.29*47 2021-02-18T01:24:49.547Z,1613611489.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.899998 m, bearing: 315.215607 deg, deltaT: 4.396609 s, approachRate: -0.545876 m/s, LOS rate: 0.500784 deg/s, posRepo size: 4 2021-02-18T01:24:49.560Z,1613611489.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.899998 m, bearing: 315.215607 deg, approachRate: -0.545876 m/s, LOS rate: 0.500784 deg/s, cmd update: 2.003137 deg/s, cmd heading: 314.643127 deg, new cmd heading: 314.951680 deg. 2021-02-18T01:24:51.906Z,1613611491.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:24:52.704Z,1613611492.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:24:53.089Z,1613611493.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:53.924Z,1613611493.924 [Micromodem](INFO): Nmea in: $SNTTA,0.010222,,,,012452.75*41 2021-02-18T01:24:53.974Z,1613611493.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.120001 m, bearing: 313.834242 deg, deltaT: 4.482414 s, approachRate: -0.843295 m/s, LOS rate: -0.308174 deg/s, posRepo size: 4 2021-02-18T01:24:53.976Z,1613611493.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.120001 m, bearing: 313.834242 deg, approachRate: -0.843295 m/s, LOS rate: -0.308174 deg/s, cmd update: -1.232697 deg/s, cmd heading: 323.619075 deg, new cmd heading: 324.439243 deg. 2021-02-18T01:24:56.341Z,1613611496.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:24:57.128Z,1613611497.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:24:57.542Z,1613611497.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:24:58.356Z,1613611498.356 [Micromodem](INFO): Nmea in: $SNTTA,0.008357,,,,012457.17*4A 2021-02-18T01:24:58.393Z,1613611498.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.120000 m, bearing: 310.602798 deg, deltaT: 4.404333 s, approachRate: -0.681148 m/s, LOS rate: -0.733697 deg/s, posRepo size: 4 2021-02-18T01:24:58.395Z,1613611498.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.120000 m, bearing: 310.602798 deg, approachRate: -0.681148 m/s, LOS rate: -0.733697 deg/s, cmd update: -2.934787 deg/s, cmd heading: 318.183149 deg, new cmd heading: 317.667015 deg. 2021-02-18T01:25:00.807Z,1613611500.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:01.599Z,1613611501.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:01.983Z,1613611501.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:25:02.812Z,1613611502.812 [Micromodem](INFO): Nmea in: $SNTTA,0.006396,,,,012501.64*4F 2021-02-18T01:25:02.846Z,1613611502.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.299998 m, bearing: 316.500912 deg, deltaT: 4.442097 s, approachRate: -0.634836 m/s, LOS rate: 1.327777 deg/s, posRepo size: 4 2021-02-18T01:25:02.849Z,1613611502.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.299998 m, bearing: 316.500912 deg, approachRate: -0.634836 m/s, LOS rate: 1.327777 deg/s, cmd update: 5.311108 deg/s, cmd heading: 305.146422 deg, new cmd heading: 303.885943 deg. 2021-02-18T01:25:05.262Z,1613611505.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:06.016Z,1613611506.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:06.439Z,1613611506.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:25:07.244Z,1613611507.244 [Micromodem](INFO): Nmea in: $SNTTA,0.004522,,,,012506.06*47 2021-02-18T01:25:07.286Z,1613611507.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.600000 m, bearing: 316.612845 deg, deltaT: 4.476459 s, approachRate: -0.603155 m/s, LOS rate: 0.025005 deg/s, posRepo size: 4 2021-02-18T01:25:07.292Z,1613611507.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.600000 m, bearing: 316.612845 deg, approachRate: -0.603155 m/s, LOS rate: 0.025005 deg/s, cmd update: 0.100019 deg/s, cmd heading: 328.900029 deg, new cmd heading: 331.010164 deg. 2021-02-18T01:25:09.690Z,1613611509.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:10.469Z,1613611510.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:10.866Z,1613611510.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:25:11.700Z,1613611511.700 [Micromodem](INFO): Nmea in: $SNTTA,0.003380,,,,012510.51*4B 2021-02-18T01:25:11.753Z,1613611511.753 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T01:25:11.754Z,1613611511.754 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T01:25:11.754Z,1613611511.754 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T01:25:11.759Z,1613611511.759 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:25:11.759Z,1613611511.759 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T01:25:11.760Z,1613611511.760 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.500001 m 2021-02-18T01:25:11.760Z,1613611511.760 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T01:25:11.760Z,1613611511.760 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T01:25:11.760Z,1613611511.760 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T01:25:11.762Z,1613611511.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 318.428036 deg, deltaT: 4.407489 s, approachRate: -0.476462 m/s, LOS rate: 0.411842 deg/s, posRepo size: 4 2021-02-18T01:25:11.768Z,1613611511.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 318.428036 deg, approachRate: -0.476462 m/s, LOS rate: 0.411842 deg/s, cmd update: 1.647370 deg/s, cmd heading: 329.341268 deg, new cmd heading: 329.387420 deg. 2021-02-18T01:25:12.124Z,1613611512.124 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T012512: (41.552319, -70.708603) 2021-02-18T01:25:12.125Z,1613611512.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T01:25:12.125Z,1613611512.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T01:25:12.125Z,1613611512.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:25:12.125Z,1613611512.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T01:25:12.125Z,1613611512.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:25:12.125Z,1613611512.125 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T01:25:12.125Z,1613611512.125 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T01:25:12.125Z,1613611512.125 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T01:25:12.553Z,1613611512.553 [UniversalFixResidualReporter](INFO): Fix residual: 1.3 %DT, over the last 833.5 m. Residual distance 10.7 m at bearing -176.4 degrees. Fix at (41.5523, -70.7107) with 0.0 m made good. 2021-02-18T01:25:14.112Z,1613611514.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:15.041Z,1613611515.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:15.331Z,1613611515.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:25:16.158Z,1613611516.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 339.381472 deg, deltaT: 4.458408 s, approachRate: -0.121120 m/s, LOS rate: 4.699758 deg/s, posRepo size: 4 2021-02-18T01:25:16.160Z,1613611516.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.959999 m, bearing: 339.381472 deg, approachRate: -0.121120 m/s, LOS rate: 4.699758 deg/s, cmd update: 12.000000 deg/s, cmd heading: 336.685653 deg, new cmd heading: 337.343462 deg. 2021-02-18T01:25:16.548Z,1613611516.548 [Micromodem](INFO): Nmea in: $SNTTA,0.002720,,,,012515.09*4C 2021-02-18T01:25:18.612Z,1613611518.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:19.358Z,1613611519.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:19.758Z,1613611519.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:25:20.609Z,1613611520.609 [Micromodem](INFO): Nmea in: $SNTTA,0.006276,,,0.008796,012519.40*51 2021-02-18T01:25:20.673Z,1613611520.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.359999 m, bearing: 351.473448 deg, deltaT: 4.429569 s, approachRate: 1.219080 m/s, LOS rate: 2.729831 deg/s, posRepo size: 4 2021-02-18T01:25:20.674Z,1613611520.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.359999 m, bearing: 351.473448 deg, approachRate: 1.219080 m/s, LOS rate: 2.729831 deg/s, cmd update: 10.919324 deg/s, cmd heading: 29.649910 deg, new cmd heading: 35.651842 deg. 2021-02-18T01:25:23.010Z,1613611523.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:23.797Z,1613611523.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:24.198Z,1613611524.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:25:25.024Z,1613611525.024 [Micromodem](INFO): Nmea in: $SNTTA,0.007110,,,,012523.84*4C 2021-02-18T01:25:25.057Z,1613611525.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.739998 m, bearing: 3.019762 deg, deltaT: 4.468105 s, approachRate: 0.308856 m/s, LOS rate: 2.584164 deg/s, posRepo size: 4 2021-02-18T01:25:25.059Z,1613611525.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.739998 m, bearing: 3.019762 deg, approachRate: 0.308856 m/s, LOS rate: 2.584164 deg/s, cmd update: 10.336655 deg/s, cmd heading: 78.613689 deg, new cmd heading: 82.984302 deg. 2021-02-18T01:25:27.453Z,1613611527.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:28.236Z,1613611528.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:28.648Z,1613611528.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:25:29.465Z,1613611529.465 [Micromodem](INFO): Nmea in: $SNTTA,0.008575,,,,012528.28*49 2021-02-18T01:25:29.531Z,1613611529.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.840000 m, bearing: 27.618435 deg, deltaT: 4.421159 s, approachRate: 0.474989 m/s, LOS rate: 5.563852 deg/s, posRepo size: 4 2021-02-18T01:25:29.533Z,1613611529.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.840000 m, bearing: 27.618435 deg, approachRate: 0.474989 m/s, LOS rate: 5.563852 deg/s, cmd update: 12.000000 deg/s, cmd heading: 124.313428 deg, new cmd heading: 128.993214 deg. 2021-02-18T01:25:31.908Z,1613611531.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:32.680Z,1613611532.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:33.087Z,1613611533.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:25:33.913Z,1613611533.913 [Micromodem](INFO): Nmea in: $SNTTA,0.009255,,,,012532.72*49 2021-02-18T01:25:33.952Z,1613611533.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.919997 m, bearing: 8.973361 deg, deltaT: 4.465416 s, approachRate: 0.241858 m/s, LOS rate: -4.175439 deg/s, posRepo size: 4 2021-02-18T01:25:33.953Z,1613611533.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.92 m. Rolling out. 2021-02-18T01:25:33.953Z,1613611533.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T01:25:36.353Z,1613611536.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:37.124Z,1613611537.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:37.536Z,1613611537.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:25:38.361Z,1613611538.361 [Micromodem](INFO): Nmea in: $SNTTA,0.009983,,0.052134,,012537.17*50 2021-02-18T01:25:38.375Z,1613611538.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.000000 m, bearing: 73.733702 deg, deltaT: 4.427084 s, approachRate: 0.243954 m/s, LOS rate: 14.628216 deg/s, posRepo size: 4 2021-02-18T01:25:40.820Z,1613611540.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:41.594Z,1613611541.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:41.973Z,1613611541.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:25:42.812Z,1613611542.812 [Micromodem](INFO): Nmea in: $SNTTA,0.011309,,,,012541.64*4B 2021-02-18T01:25:42.862Z,1613611542.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.759998 m, bearing: 75.778155 deg, deltaT: 4.432105 s, approachRate: 0.622729 m/s, LOS rate: 0.461283 deg/s, posRepo size: 4 2021-02-18T01:25:45.220Z,1613611545.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:46.012Z,1613611546.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:46.429Z,1613611546.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:25:47.244Z,1613611547.244 [Micromodem](INFO): Nmea in: $SNTTA,0.012778,,,0.112587,012546.06*5F 2021-02-18T01:25:47.278Z,1613611547.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.260002 m, bearing: 101.630360 deg, deltaT: 4.470096 s, approachRate: 0.335564 m/s, LOS rate: 5.783367 deg/s, posRepo size: 4 2021-02-18T01:25:49.696Z,1613611549.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:50.455Z,1613611550.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:50.888Z,1613611550.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:25:51.689Z,1613611551.689 [Micromodem](INFO): Nmea in: $SNTTA,0.013885,,,0.017109,012550.50*51 2021-02-18T01:25:51.754Z,1613611551.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.820002 m, bearing: 103.927393 deg, deltaT: 4.432476 s, approachRate: 0.351948 m/s, LOS rate: 0.518228 deg/s, posRepo size: 4 2021-02-18T01:25:54.126Z,1613611554.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:54.930Z,1613611554.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:55.315Z,1613611555.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:25:56.144Z,1613611556.144 [Micromodem](INFO): Nmea in: $SNTTA,0.014576,,,,012554.97*48 2021-02-18T01:25:56.165Z,1613611556.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.840002 m, bearing: 152.870699 deg, deltaT: 4.472727 s, approachRate: 0.228049 m/s, LOS rate: 10.942609 deg/s, posRepo size: 4 2021-02-18T01:25:57.740Z,1613611557.740 [PowerOnly](INFO): Powering down loadControl 2021-02-18T01:25:58.594Z,1613611558.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:25:59.350Z,1613611559.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:25:59.755Z,1613611559.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:26:00.566Z,1613611560.566 [Micromodem](INFO): Nmea in: $SNTTA,0.014664,,,,012559.40*4F 2021-02-18T01:26:01.385Z,1613611561.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:04.206Z,1613611564.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:07.041Z,1613611567.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:07.837Z,1613611567.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:26:08.235Z,1613611568.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:26:09.064Z,1613611569.064 [Micromodem](INFO): Nmea in: $SNTTA,0.014763,,0.027319,,012607.88*55 2021-02-18T01:26:09.103Z,1613611569.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.020000 m, bearing: 127.755984 deg, deltaT: 12.923555 s, approachRate: 0.013928 m/s, LOS rate: -1.943329 deg/s, posRepo size: 4 2021-02-18T01:26:11.537Z,1613611571.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:12.277Z,1613611572.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:26:12.690Z,1613611572.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:26:13.536Z,1613611573.536 [Micromodem](INFO): Nmea in: $SNTTA,0.015000,,,,012612.32*43 2021-02-18T01:26:13.590Z,1613611573.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.779999 m, bearing: 213.436827 deg, deltaT: 4.428395 s, approachRate: -0.054196 m/s, LOS rate: 19.348058 deg/s, posRepo size: 4 2021-02-18T01:26:15.940Z,1613611575.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:16.721Z,1613611576.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:26:17.122Z,1613611577.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:26:17.944Z,1613611577.944 [Micromodem](INFO): Nmea in: $SNTTA,0.014475,,,,012616.77*41 2021-02-18T01:26:17.983Z,1613611577.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 240.209666 deg, deltaT: 4.488313 s, approachRate: -0.187153 m/s, LOS rate: 5.965012 deg/s, posRepo size: 4 2021-02-18T01:26:20.378Z,1613611580.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:21.165Z,1613611581.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:26:21.610Z,1613611581.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:26:22.392Z,1613611582.392 [Micromodem](INFO): Nmea in: $SNTTA,0.013558,,,,012621.21*4F 2021-02-18T01:26:22.414Z,1613611582.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.219997 m, bearing: 226.467271 deg, deltaT: 4.369207 s, approachRate: -0.164789 m/s, LOS rate: -3.145284 deg/s, posRepo size: 4 2021-02-18T01:26:24.857Z,1613611584.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:25.626Z,1613611585.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:26:26.010Z,1613611586.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:26:26.848Z,1613611586.848 [Micromodem](INFO): Nmea in: $SNTTA,0.013342,,,,012625.67*44 2021-02-18T01:26:26.926Z,1613611586.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.919998 m, bearing: 155.103282 deg, deltaT: 4.443520 s, approachRate: -0.067514 m/s, LOS rate: -16.060239 deg/s, posRepo size: 4 2021-02-18T01:26:29.280Z,1613611589.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:30.057Z,1613611590.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:26:30.454Z,1613611590.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:26:31.284Z,1613611591.284 [Micromodem](INFO): Nmea in: $SNTTA,0.013312,,,,012630.10*45 2021-02-18T01:26:31.326Z,1613611591.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.919998 m, bearing: 248.860155 deg, deltaT: 4.478199 s, approachRate: 0.000000 m/s, LOS rate: 20.936290 deg/s, posRepo size: 4 2021-02-18T01:26:33.733Z,1613611593.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:34.530Z,1613611594.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:26:35.017Z,1613611595.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:26:35.738Z,1613611595.738 [Micromodem](INFO): Nmea in: $SNTTA,0.014369,,0.034944,,012634.57*59 2021-02-18T01:26:35.784Z,1613611595.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.480000 m, bearing: 236.712172 deg, deltaT: 4.414121 s, approachRate: 0.353412 m/s, LOS rate: -2.752073 deg/s, posRepo size: 4 2021-02-18T01:26:38.148Z,1613611598.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:38.936Z,1613611598.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:26:39.342Z,1613611599.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:26:40.164Z,1613611600.164 [Micromodem](INFO): Nmea in: $SNTTA,0.014863,,,,012638.98*47 2021-02-18T01:26:40.206Z,1613611600.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.320000 m, bearing: 217.898607 deg, deltaT: 4.485595 s, approachRate: 0.187266 m/s, LOS rate: -4.194219 deg/s, posRepo size: 4 2021-02-18T01:26:42.662Z,1613611602.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:43.385Z,1613611603.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:26:43.786Z,1613611603.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:26:44.628Z,1613611604.628 [Micromodem](INFO): Nmea in: $SNTTA,0.016109,,,,012643.43*4A 2021-02-18T01:26:44.676Z,1613611604.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.239998 m, bearing: 187.515289 deg, deltaT: 4.397905 s, approachRate: 0.436571 m/s, LOS rate: -6.908589 deg/s, posRepo size: 4 2021-02-18T01:26:47.069Z,1613611607.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:47.825Z,1613611607.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:26:48.242Z,1613611608.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:26:49.052Z,1613611609.052 [Micromodem](INFO): Nmea in: $SNTTA,0.017537,,,,012647.87*4E 2021-02-18T01:26:49.098Z,1613611609.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.460001 m, bearing: 195.893992 deg, deltaT: 4.490540 s, approachRate: 0.494373 m/s, LOS rate: 1.865856 deg/s, posRepo size: 4 2021-02-18T01:26:51.531Z,1613611611.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:52.268Z,1613611612.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:26:52.681Z,1613611612.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:26:53.524Z,1613611613.524 [Micromodem](INFO): Nmea in: $SNTTA,0.019176,,,,012652.31*48 2021-02-18T01:26:53.601Z,1613611613.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.860003 m, bearing: 195.021162 deg, deltaT: 4.408159 s, approachRate: 0.544445 m/s, LOS rate: -0.198003 deg/s, posRepo size: 4 2021-02-18T01:26:55.629Z,1613611615.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:26:56.308Z,1613611616.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:26:56.721Z,1613611616.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:26:57.555Z,1613611617.555 [Micromodem](INFO): Nmea in: $SNTTA,0.021283,,,,012656.35*4A 2021-02-18T01:26:57.646Z,1613611617.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.799999 m, bearing: 201.400354 deg, deltaT: 4.040421 s, approachRate: 0.727646 m/s, LOS rate: 1.578843 deg/s, posRepo size: 4 2021-02-18T01:26:59.966Z,1613611619.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:00.752Z,1613611620.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:27:01.167Z,1613611621.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:27:01.988Z,1613611621.988 [Micromodem](INFO): Nmea in: $SNTTA,0.025299,,,,012700.80*49 2021-02-18T01:27:02.006Z,1613611622.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.740002 m, bearing: 199.807321 deg, deltaT: 4.503593 s, approachRate: 0.652813 m/s, LOS rate: -0.353725 deg/s, posRepo size: 4 2021-02-18T01:27:04.408Z,1613611624.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:05.196Z,1613611625.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:27:05.622Z,1613611625.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:27:06.412Z,1613611626.412 [Micromodem](INFO): Nmea in: $SNTTA,0.024850,,,,012705.24*4C 2021-02-18T01:27:07.234Z,1613611627.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:08.831Z,1613611628.831 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:27:10.058Z,1613611630.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:10.855Z,1613611630.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:27:11.257Z,1613611631.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:27:12.084Z,1613611632.084 [Micromodem](INFO): Nmea in: $SNTTA,0.027307,,,,012710.90*4D 2021-02-18T01:27:12.122Z,1613611632.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.680000 m, bearing: 174.418224 deg, deltaT: 10.056843 s, approachRate: 0.590642 m/s, LOS rate: -2.524559 deg/s, posRepo size: 4 2021-02-18T01:27:14.595Z,1613611634.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:15.316Z,1613611635.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:27:15.705Z,1613611635.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:27:16.544Z,1613611636.544 [Micromodem](INFO): Nmea in: $SNTTA,0.029228,,,,012715.36*46 2021-02-18T01:27:16.611Z,1613611636.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.980000 m, bearing: 169.577765 deg, deltaT: 4.427801 s, approachRate: 0.745291 m/s, LOS rate: -1.093197 deg/s, posRepo size: 4 2021-02-18T01:27:18.957Z,1613611638.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:19.740Z,1613611639.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:27:20.147Z,1613611640.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:27:20.961Z,1613611640.961 [Micromodem](INFO): Nmea in: $SNTTA,0.031605,,,,012719.78*42 2021-02-18T01:27:21.797Z,1613611641.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:23.380Z,1613611643.380 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:27:24.656Z,1613611644.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:25.404Z,1613611645.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:27:25.802Z,1613611645.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:27:26.636Z,1613611646.636 [Micromodem](INFO): Nmea in: $SNTTA,0.034050,,,,012725.45*40 2021-02-18T01:27:26.694Z,1613611646.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.180000 m, bearing: 172.253013 deg, deltaT: 10.088492 s, approachRate: 0.713685 m/s, LOS rate: 0.265178 deg/s, posRepo size: 4 2021-02-18T01:27:29.047Z,1613611649.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:29.858Z,1613611649.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:27:30.246Z,1613611650.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:27:31.076Z,1613611651.076 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012729.90*58 2021-02-18T01:27:31.129Z,1613611651.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.419998 m, bearing: 168.275562 deg, deltaT: 4.490312 s, approachRate: 0.721553 m/s, LOS rate: -0.885785 deg/s, posRepo size: 4 2021-02-18T01:27:33.541Z,1613611653.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:34.285Z,1613611654.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:27:34.690Z,1613611654.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:27:35.544Z,1613611655.544 [Micromodem](INFO): Nmea in: $SNTTA,0.050414,,,,012734.33*47 2021-02-18T01:27:35.574Z,1613611655.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.959999 m, bearing: 230.866022 deg, deltaT: 4.410739 s, approachRate: 0.802587 m/s, LOS rate: 14.190470 deg/s, posRepo size: 4 2021-02-18T01:27:37.634Z,1613611657.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:38.324Z,1613611658.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:27:38.733Z,1613611658.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:27:39.564Z,1613611659.564 [Micromodem](INFO): Nmea in: $SNTTA,0.040445,,,,012738.37*4A 2021-02-18T01:27:39.661Z,1613611659.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.900002 m, bearing: 224.385211 deg, deltaT: 4.042389 s, approachRate: 0.727293 m/s, LOS rate: -1.603213 deg/s, posRepo size: 4 2021-02-18T01:27:41.983Z,1613611661.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:42.768Z,1613611662.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:27:43.181Z,1613611663.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:27:43.992Z,1613611663.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012742.81*55 2021-02-18T01:27:44.028Z,1613611664.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.320000 m, bearing: 220.406175 deg, deltaT: 4.495304 s, approachRate: 0.760794 m/s, LOS rate: -0.885154 deg/s, posRepo size: 4 2021-02-18T01:27:46.433Z,1613611666.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:47.213Z,1613611667.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:27:47.627Z,1613611667.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:27:48.440Z,1613611668.440 [Micromodem](INFO): Nmea in: $SNTTA,0.049773,,,,012747.26*4D 2021-02-18T01:27:48.517Z,1613611668.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.619995 m, bearing: 186.179345 deg, deltaT: 4.384563 s, approachRate: 0.752640 m/s, LOS rate: -7.806212 deg/s, posRepo size: 4 2021-02-18T01:27:50.884Z,1613611670.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:51.656Z,1613611671.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:27:52.074Z,1613611672.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:27:52.884Z,1613611672.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012751.70*59 2021-02-18T01:27:52.933Z,1613611672.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.919998 m, bearing: 179.788761 deg, deltaT: 4.479933 s, approachRate: 0.736619 m/s, LOS rate: -1.426491 deg/s, posRepo size: 4 2021-02-18T01:27:55.312Z,1613611675.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:27:56.100Z,1613611676.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:27:56.544Z,1613611676.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:27:57.332Z,1613611677.332 [Micromodem](INFO): Nmea in: $SNTTA,0.049387,,,,012756.14*43 2021-02-18T01:27:57.362Z,1613611677.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.340004 m, bearing: 229.376248 deg, deltaT: 4.419989 s, approachRate: 0.773759 m/s, LOS rate: 11.218916 deg/s, posRepo size: 4 2021-02-18T01:27:59.771Z,1613611679.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:00.550Z,1613611680.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:00.950Z,1613611680.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:01.780Z,1613611681.780 [Micromodem](INFO): Nmea in: $SNTTA,0.051744,,,,012800.60*4E 2021-02-18T01:28:01.853Z,1613611681.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.880005 m, bearing: 230.889791 deg, deltaT: 4.420351 s, approachRate: 0.800842 m/s, LOS rate: 0.342403 deg/s, posRepo size: 4 2021-02-18T01:28:04.194Z,1613611684.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:04.989Z,1613611684.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:05.394Z,1613611685.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:06.220Z,1613611686.220 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012805.04*54 2021-02-18T01:28:06.262Z,1613611686.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.239998 m, bearing: 181.028631 deg, deltaT: 4.489108 s, approachRate: 0.748477 m/s, LOS rate: -11.107142 deg/s, posRepo size: 4 2021-02-18T01:28:08.707Z,1613611688.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:09.449Z,1613611689.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:09.850Z,1613611689.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:10.692Z,1613611690.692 [Micromodem](INFO): Nmea in: $SNTTA,0.056374,,,,012809.49*4C 2021-02-18T01:28:10.726Z,1613611690.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.540001 m, bearing: 183.671874 deg, deltaT: 4.432290 s, approachRate: 0.744537 m/s, LOS rate: 0.596360 deg/s, posRepo size: 4 2021-02-18T01:28:13.140Z,1613611693.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:13.877Z,1613611693.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:14.282Z,1613611694.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:15.104Z,1613611695.104 [Micromodem](INFO): Nmea in: $SNTTA,0.058653,,,,012813.92*4F 2021-02-18T01:28:15.126Z,1613611695.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.260002 m, bearing: 213.891171 deg, deltaT: 4.453406 s, approachRate: 0.835316 m/s, LOS rate: 6.785660 deg/s, posRepo size: 4 2021-02-18T01:28:17.565Z,1613611697.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:18.321Z,1613611698.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:18.731Z,1613611698.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:19.548Z,1613611699.548 [Micromodem](INFO): Nmea in: $SNTTA,0.060959,,,,012818.37*45 2021-02-18T01:28:19.641Z,1613611699.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.500008 m, bearing: 176.124638 deg, deltaT: 4.416949 s, approachRate: 0.733539 m/s, LOS rate: -8.550366 deg/s, posRepo size: 4 2021-02-18T01:28:21.976Z,1613611701.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:22.769Z,1613611702.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:23.176Z,1613611703.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:23.000Z,1613611704.000 [Micromodem](INFO): Nmea in: $SNTTA,0.063194,,,0.078112,012822.81*58 2021-02-18T01:28:24.018Z,1613611704.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.919998 m, bearing: 229.351469 deg, deltaT: 4.509252 s, approachRate: 0.758439 m/s, LOS rate: 11.803916 deg/s, posRepo size: 4 2021-02-18T01:28:26.421Z,1613611706.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:27.208Z,1613611707.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:27.626Z,1613611707.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:28.436Z,1613611708.436 [Micromodem](INFO): Nmea in: $SNTTA,0.065638,,,,012827.25*47 2021-02-18T01:28:28.474Z,1613611708.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.339996 m, bearing: 181.927963 deg, deltaT: 4.378938 s, approachRate: 0.781011 m/s, LOS rate: -10.829910 deg/s, posRepo size: 4 2021-02-18T01:28:30.881Z,1613611710.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:31.652Z,1613611711.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:32.059Z,1613611712.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:32.884Z,1613611712.884 [Micromodem](INFO): Nmea in: $SNTTA,0.067771,,,,012831.70*4E 2021-02-18T01:28:32.931Z,1613611712.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.820007 m, bearing: 181.212036 deg, deltaT: 4.484992 s, approachRate: 0.775924 m/s, LOS rate: -0.159627 deg/s, posRepo size: 4 2021-02-18T01:28:35.308Z,1613611715.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:36.096Z,1613611716.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:36.528Z,1613611716.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:37.328Z,1613611717.328 [Micromodem](INFO): Nmea in: $SNTTA,0.070035,,,,012836.14*4A 2021-02-18T01:28:37.366Z,1613611717.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.419998 m, bearing: 213.349606 deg, deltaT: 4.410906 s, approachRate: 0.816157 m/s, LOS rate: 7.285934 deg/s, posRepo size: 4 2021-02-18T01:28:39.797Z,1613611719.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:40.540Z,1613611720.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:40.946Z,1613611720.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:41.768Z,1613611721.768 [Micromodem](INFO): Nmea in: $SNTTA,0.072346,,,,012840.59*47 2021-02-18T01:28:41.807Z,1613611721.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.959999 m, bearing: 220.615438 deg, deltaT: 4.421474 s, approachRate: 0.800638 m/s, LOS rate: 1.643305 deg/s, posRepo size: 4 2021-02-18T01:28:44.195Z,1613611724.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:44.985Z,1613611724.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:45.422Z,1613611725.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:46.216Z,1613611726.216 [Micromodem](INFO): Nmea in: $SNTTA,0.074714,,,,012845.03*48 2021-02-18T01:28:46.238Z,1613611726.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.199997 m, bearing: 181.073397 deg, deltaT: 4.488732 s, approachRate: 0.721807 m/s, LOS rate: -8.809178 deg/s, posRepo size: 4 2021-02-18T01:28:48.673Z,1613611728.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:49.437Z,1613611729.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:49.834Z,1613611729.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:50.664Z,1613611730.664 [Micromodem](INFO): Nmea in: $SNTTA,0.077018,,,,012849.48*43 2021-02-18T01:28:50.733Z,1613611730.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.680000 m, bearing: 222.550144 deg, deltaT: 4.398418 s, approachRate: 0.791194 m/s, LOS rate: 9.429924 deg/s, posRepo size: 4 2021-02-18T01:28:53.079Z,1613611733.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:53.875Z,1613611733.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:54.289Z,1613611734.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:55.100Z,1613611735.100 [Micromodem](INFO): Nmea in: $SNTTA,0.079233,,,,012853.92*4A 2021-02-18T01:28:55.137Z,1613611735.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.979996 m, bearing: 180.303429 deg, deltaT: 4.491078 s, approachRate: 0.734789 m/s, LOS rate: -9.406810 deg/s, posRepo size: 4 2021-02-18T01:28:57.558Z,1613611737.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:28:58.316Z,1613611738.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:28:58.725Z,1613611738.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:28:59.562Z,1613611739.562 [Micromodem](INFO): Nmea in: $SNTTA,0.081606,,,,012858.36*4A 2021-02-18T01:28:59.634Z,1613611739.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.580002 m, bearing: 211.831501 deg, deltaT: 4.412581 s, approachRate: 0.815850 m/s, LOS rate: 7.145041 deg/s, posRepo size: 4 2021-02-18T01:29:01.722Z,1613611741.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:02.365Z,1613611742.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:29:02.765Z,1613611742.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:29:03.620Z,1613611743.620 [Micromodem](INFO): Nmea in: $SNTTA,0.083665,,,,012902.41*43 2021-02-18T01:29:03.653Z,1613611743.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.639999 m, bearing: 218.706455 deg, deltaT: 4.025112 s, approachRate: 0.760227 m/s, LOS rate: 1.708016 deg/s, posRepo size: 4 2021-02-18T01:29:06.023Z,1613611746.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:06.806Z,1613611746.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:29:07.206Z,1613611747.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:29:08.037Z,1613611748.037 [Micromodem](INFO): Nmea in: $SNTTA,0.085953,,,,012906.85*43 2021-02-18T01:29:08.077Z,1613611748.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.119995 m, bearing: 219.973168 deg, deltaT: 4.489681 s, approachRate: 0.775110 m/s, LOS rate: 0.282139 deg/s, posRepo size: 4 2021-02-18T01:29:10.473Z,1613611750.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:11.246Z,1613611751.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:29:11.662Z,1613611751.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:29:12.472Z,1613611752.472 [Micromodem](INFO): Nmea in: $SNTTA,0.088245,,,,012911.29*42 2021-02-18T01:29:12.545Z,1613611752.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.839996 m, bearing: 176.764353 deg, deltaT: 4.414213 s, approachRate: 0.842733 m/s, LOS rate: -9.788566 deg/s, posRepo size: 4 2021-02-18T01:29:14.924Z,1613611754.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:15.694Z,1613611755.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:29:16.093Z,1613611756.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:29:16.925Z,1613611756.925 [Micromodem](INFO): Nmea in: $SNTTA,0.090667,,,,012915.74*43 2021-02-18T01:29:17.753Z,1613611757.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:19.331Z,1613611759.331 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:29:20.574Z,1613611760.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:21.344Z,1613611761.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:29:21.752Z,1613611761.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:29:22.592Z,1613611762.592 [Micromodem](INFO): Nmea in: $SNTTA,0.094324,,,,012921.39*4B 2021-02-18T01:29:22.654Z,1613611762.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.660004 m, bearing: 193.709889 deg, deltaT: 10.142961 s, approachRate: 0.869569 m/s, LOS rate: 1.670670 deg/s, posRepo size: 4 2021-02-18T01:29:25.010Z,1613611765.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:25.788Z,1613611765.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:29:26.201Z,1613611766.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:29:27.004Z,1613611767.004 [Micromodem](INFO): Nmea in: $SNTTA,0.095794,,,,012925.83*40 2021-02-18T01:29:27.852Z,1613611767.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:29.422Z,1613611769.422 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:29:30.695Z,1613611770.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:31.444Z,1613611771.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:29:31.855Z,1613611771.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:29:32.669Z,1613611772.669 [Micromodem](INFO): Nmea in: $SNTTA,0.098790,,,,012931.49*4A 2021-02-18T01:29:33.535Z,1613611773.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:35.078Z,1613611775.078 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:29:36.322Z,1613611776.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:37.105Z,1613611777.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:29:37.529Z,1613611777.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:29:38.339Z,1613611778.339 [Micromodem](INFO): Nmea in: $SNTTA,0.101693,,,,012937.15*46 2021-02-18T01:29:38.358Z,1613611778.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.880005 m, bearing: 219.359585 deg, deltaT: 15.726450 s, approachRate: 0.713448 m/s, LOS rate: 1.630991 deg/s, posRepo size: 4 2021-02-18T01:29:38.358Z,1613611778.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.88 m. Resuming terminal guidance. 2021-02-18T01:29:38.358Z,1613611778.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T01:29:40.772Z,1613611780.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:41.549Z,1613611781.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:29:41.957Z,1613611781.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:29:42.780Z,1613611782.780 [Micromodem](INFO): Nmea in: $SNTTA,0.104059,,,,012941.59*4A 2021-02-18T01:29:42.834Z,1613611782.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.180008 m, bearing: 197.043431 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T01:29:42.834Z,1613611782.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 197.043431deg and heading rate command to 0 deg/s. 2021-02-18T01:29:45.232Z,1613611785.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:45.988Z,1613611785.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:29:46.401Z,1613611786.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:29:47.205Z,1613611787.205 [Micromodem](INFO): Nmea in: $SNTTA,0.106212,,,,012946.03*4D 2021-02-18T01:29:48.032Z,1613611788.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:49.632Z,1613611789.632 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:29:50.536Z,1613611790.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:51.242Z,1613611791.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:29:51.652Z,1613611791.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:29:52.472Z,1613611792.472 [Micromodem](INFO): Nmea in: $SNTTA,0.108822,,,,012951.29*44 2021-02-18T01:29:52.546Z,1613611792.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.380005 m, bearing: 179.872745 deg, deltaT: 9.719037 s, approachRate: 0.740814 m/s, LOS rate: -1.766706 deg/s, posRepo size: 2 2021-02-18T01:29:52.549Z,1613611792.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.380005 m, bearing: 179.872745 deg, approachRate: 0.740814 m/s, LOS rate: -1.766706 deg/s, cmd update: -7.066826 deg/s, cmd heading: 197.043431 deg, new cmd heading: 197.043431 deg. 2021-02-18T01:29:54.976Z,1613611794.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:29:55.686Z,1613611795.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:29:56.103Z,1613611796.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:29:56.912Z,1613611796.912 [Micromodem](INFO): Nmea in: $SNTTA,0.110916,,,,012955.73*40 2021-02-18T01:29:56.964Z,1613611796.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.500015 m, bearing: 186.668988 deg, deltaT: 4.460431 s, approachRate: 0.699486 m/s, LOS rate: 1.523674 deg/s, posRepo size: 3 2021-02-18T01:29:56.966Z,1613611796.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.500015 m, bearing: 186.668988 deg, approachRate: 0.699486 m/s, LOS rate: 1.523674 deg/s, cmd update: 6.094696 deg/s, cmd heading: 165.523975 deg, new cmd heading: 162.634865 deg. 2021-02-18T01:29:59.350Z,1613611799.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:30:00.128Z,1613611800.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:30:00.545Z,1613611800.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:30:01.360Z,1613611801.360 [Micromodem](INFO): Nmea in: $SNTTA,0.113093,,,,013000.17*4D 2021-02-18T01:30:01.396Z,1613611801.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.500015 m, bearing: 203.242838 deg, deltaT: 4.427180 s, approachRate: 0.000000 m/s, LOS rate: 3.743659 deg/s, posRepo size: 4 2021-02-18T01:30:01.398Z,1613611801.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.500015 m, bearing: 203.242838 deg, approachRate: 0.000000 m/s, LOS rate: 3.743659 deg/s, cmd update: 12.000000 deg/s, cmd heading: 192.532195 deg, new cmd heading: 195.051487 deg. 2021-02-18T01:30:03.809Z,1613611803.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:30:04.591Z,1613611804.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:30:04.992Z,1613611804.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:30:05.800Z,1613611805.800 [Micromodem](INFO): Nmea in: $SNTTA,0.115334,,,,013004.64*45 2021-02-18T01:30:06.226Z,1613611806.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 198.296866 deg, deltaT: 4.875472 s, approachRate: 1.353713 m/s, LOS rate: -1.014460 deg/s, posRepo size: 4 2021-02-18T01:30:06.228Z,1613611806.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.100006 m, bearing: 198.296866 deg, approachRate: 1.353713 m/s, LOS rate: -1.014460 deg/s, cmd update: -4.057841 deg/s, cmd heading: 251.037477 deg, new cmd heading: 255.456981 deg. 2021-02-18T01:30:08.682Z,1613611808.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:30:09.420Z,1613611809.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:30:09.826Z,1613611809.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:30:10.652Z,1613611810.652 [Micromodem](INFO): Nmea in: $SNTTA,0.117790,,,,013009.46*40 2021-02-18T01:30:10.707Z,1613611810.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 242.368006 deg, deltaT: 4.406946 s, approachRate: 0.000000 m/s, LOS rate: 10.000381 deg/s, posRepo size: 4 2021-02-18T01:30:10.709Z,1613611810.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.100006 m, bearing: 242.368006 deg, approachRate: 0.000000 m/s, LOS rate: 10.000381 deg/s, cmd update: 12.000000 deg/s, cmd heading: 233.223261 deg, new cmd heading: 231.361779 deg. 2021-02-18T01:30:13.087Z,1613611813.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:30:13.864Z,1613611813.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:30:14.272Z,1613611814.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:30:15.092Z,1613611815.092 [Micromodem](INFO): Nmea in: $SNTTA,0.119560,,,,013013.91*42 2021-02-18T01:30:15.126Z,1613611815.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 223.659968 deg, deltaT: 4.479697 s, approachRate: 0.000000 m/s, LOS rate: -4.176184 deg/s, posRepo size: 4 2021-02-18T01:30:15.128Z,1613611815.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.100006 m, bearing: 223.659968 deg, approachRate: 0.000000 m/s, LOS rate: -4.176184 deg/s, cmd update: -12.000000 deg/s, cmd heading: 286.988914 deg, new cmd heading: 291.763534 deg. 2021-02-18T01:30:17.614Z,1613611817.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:30:18.313Z,1613611818.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:30:18.715Z,1613611818.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:30:19.544Z,1613611819.544 [Micromodem](INFO): Nmea in: $SNTTA,0.120948,,,,013018.36*48 2021-02-18T01:30:19.575Z,1613611819.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 239.427446 deg, deltaT: 4.399153 s, approachRate: 0.000000 m/s, LOS rate: 3.584208 deg/s, posRepo size: 4 2021-02-18T01:30:19.582Z,1613611819.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.100006 m, bearing: 239.427446 deg, approachRate: 0.000000 m/s, LOS rate: 3.584208 deg/s, cmd update: 12.000000 deg/s, cmd heading: 234.018777 deg, new cmd heading: 228.860889 deg. 2021-02-18T01:30:21.968Z,1613611821.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:30:22.754Z,1613611822.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:30:23.159Z,1613611823.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:30:23.975Z,1613611823.975 [Micromodem](INFO): Nmea in: $SNTTA,0.121744,,,,013022.80*4F 2021-02-18T01:30:24.422Z,1613611824.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.580017 m, bearing: 307.648741 deg, deltaT: 4.870624 s, approachRate: 1.946365 m/s, LOS rate: 14.006685 deg/s, posRepo size: 4 2021-02-18T01:30:24.422Z,1613611824.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.006685 deg/s. Setting heading cmd to target bearing of 307.648741deg and heading rate command to 0 deg/s. 2021-02-18T01:30:26.838Z,1613611826.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:30:27.620Z,1613611827.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:30:28.006Z,1613611828.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:30:28.829Z,1613611828.829 [Micromodem](INFO): Nmea in: $SNTTA,0.122404,,,,013027.66*46 2021-02-18T01:30:29.250Z,1613611829.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.660004 m, bearing: 237.660885 deg, deltaT: 4.872278 s, approachRate: 0.221659 m/s, LOS rate: -14.364504 deg/s, posRepo size: 4 2021-02-18T01:30:29.251Z,1613611829.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.364504 deg/s. Setting heading cmd to target bearing of 237.660885deg and heading rate command to 0 deg/s. 2021-02-18T01:30:31.708Z,1613611831.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:30:32.464Z,1613611832.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:30:32.862Z,1613611832.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:30:33.677Z,1613611833.677 [Micromodem](INFO): Nmea in: $SNTTA,0.122373,,,,013032.51*41 2021-02-18T01:30:34.102Z,1613611834.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.539993 m, bearing: 331.182322 deg, deltaT: 4.851447 s, approachRate: -0.024737 m/s, LOS rate: 19.277019 deg/s, posRepo size: 4 2021-02-18T01:30:34.103Z,1613611834.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.277019 deg/s. Setting heading cmd to target bearing of 331.182322deg and heading rate command to 0 deg/s. 2021-02-18T01:30:36.551Z,1613611836.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:30:37.296Z,1613611837.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:30:37.703Z,1613611837.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:30:38.544Z,1613611838.544 [Micromodem](INFO): Nmea in: $SNTTA,0.121913,,,,013037.34*48 2021-02-18T01:30:38.601Z,1613611838.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.539993 m, bearing: 324.651923 deg, deltaT: 4.407911 s, approachRate: 0.000000 m/s, LOS rate: -1.481518 deg/s, posRepo size: 4 2021-02-18T01:30:38.620Z,1613611838.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.539993 m, bearing: 324.651923 deg, approachRate: 0.000000 m/s, LOS rate: -1.481518 deg/s, cmd update: -5.926071 deg/s, cmd heading: 331.182322 deg, new cmd heading: 331.182322 deg. 2021-02-18T01:30:40.969Z,1613611840.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:30:41.745Z,1613611841.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:30:42.146Z,1613611842.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:30:42.961Z,1613611842.961 [Micromodem](INFO): Nmea in: $SNTTA,0.121964,,,,013041.79*40 2021-02-18T01:30:43.390Z,1613611843.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.940002 m, bearing: 230.336218 deg, deltaT: 4.867514 s, approachRate: -0.123264 m/s, LOS rate: -19.376565 deg/s, posRepo size: 4 2021-02-18T01:30:43.391Z,1613611843.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.376565 deg/s. Setting heading cmd to target bearing of 230.336218deg and heading rate command to 0 deg/s. 2021-02-18T01:30:45.816Z,1613611845.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:30:46.622Z,1613611846.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:30:46.995Z,1613611846.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:30:47.835Z,1613611847.835 [Micromodem](INFO): Nmea in: $SNTTA,0.121951,,,,013046.67*4E 2021-02-18T01:30:48.258Z,1613611848.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.820007 m, bearing: 341.738352 deg, deltaT: 4.875735 s, approachRate: -0.024611 m/s, LOS rate: 22.848275 deg/s, posRepo size: 4 2021-02-18T01:30:48.259Z,1613611848.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.848275 deg/s. Setting heading cmd to target bearing of 341.738352deg and heading rate command to 0 deg/s. 2021-02-18T01:30:50.647Z,1613611850.647 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T01:30:50.671Z,1613611850.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:30:51.437Z,1613611851.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:30:51.859Z,1613611851.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:30:52.668Z,1613611852.668 [Micromodem](INFO): Nmea in: $SNTTA,0.121480,,0.122630,,013051.48*5E 2021-02-18T01:30:52.719Z,1613611852.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.820007 m, bearing: 264.729717 deg, deltaT: 4.399724 s, approachRate: 0.000000 m/s, LOS rate: -17.503060 deg/s, posRepo size: 4 2021-02-18T01:30:52.720Z,1613611852.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.503060 deg/s. Setting heading cmd to target bearing of 264.729717deg and heading rate command to 0 deg/s. 2021-02-18T01:30:55.104Z,1613611855.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:30:55.897Z,1613611855.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:30:56.288Z,1613611856.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:30:57.117Z,1613611857.117 [Micromodem](INFO): Nmea in: $SNTTA,0.121310,,,,013055.94*4F 2021-02-18T01:30:57.614Z,1613611857.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:00.349Z,1613611860.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:03.166Z,1613611863.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:03.966Z,1613611863.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:31:04.378Z,1613611864.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:31:05.181Z,1613611865.181 [Micromodem](INFO): Nmea in: $SNTTA,0.121633,,,,013104.01*42 2021-02-18T01:31:05.658Z,1613611865.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.460007 m, bearing: 333.532808 deg, deltaT: 12.906749 s, approachRate: -0.027892 m/s, LOS rate: 5.330784 deg/s, posRepo size: 4 2021-02-18T01:31:05.662Z,1613611865.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.460007 m, bearing: 333.532808 deg, approachRate: -0.027892 m/s, LOS rate: 5.330784 deg/s, cmd update: 12.000000 deg/s, cmd heading: 264.729717 deg, new cmd heading: 264.729717 deg. 2021-02-18T01:31:08.020Z,1613611868.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:08.813Z,1613611868.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:31:09.219Z,1613611869.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:31:10.047Z,1613611870.047 [Micromodem](INFO): Nmea in: $SNTTA,0.121950,,,,013108.86*4B 2021-02-18T01:31:10.066Z,1613611870.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.460007 m, bearing: 235.967135 deg, deltaT: 4.496067 s, approachRate: 0.000000 m/s, LOS rate: -21.700226 deg/s, posRepo size: 4 2021-02-18T01:31:10.067Z,1613611870.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.700226 deg/s. Setting heading cmd to target bearing of 235.967135deg and heading rate command to 0 deg/s. 2021-02-18T01:31:12.479Z,1613611872.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:13.252Z,1613611873.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:31:13.675Z,1613611873.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:31:14.475Z,1613611874.475 [Micromodem](INFO): Nmea in: $SNTTA,0.122074,,,,013113.30*40 2021-02-18T01:31:14.937Z,1613611874.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.059998 m, bearing: 327.300507 deg, deltaT: 4.842054 s, approachRate: 0.123912 m/s, LOS rate: 18.862527 deg/s, posRepo size: 4 2021-02-18T01:31:14.938Z,1613611874.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.862527 deg/s. Setting heading cmd to target bearing of 327.300507deg and heading rate command to 0 deg/s. 2021-02-18T01:31:17.312Z,1613611877.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:18.100Z,1613611878.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:31:18.532Z,1613611878.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:31:19.323Z,1613611879.323 [Micromodem](INFO): Nmea in: $SNTTA,0.121580,,,,013118.15*41 2021-02-18T01:31:19.777Z,1613611879.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.339996 m, bearing: 339.740822 deg, deltaT: 4.835807 s, approachRate: -0.148890 m/s, LOS rate: 2.572542 deg/s, posRepo size: 4 2021-02-18T01:31:19.779Z,1613611879.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.339996 m, bearing: 339.740822 deg, approachRate: -0.148890 m/s, LOS rate: 2.572542 deg/s, cmd update: 10.290167 deg/s, cmd heading: 327.300507 deg, new cmd heading: 327.300507 deg. 2021-02-18T01:31:22.167Z,1613611882.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:22.953Z,1613611882.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:31:23.353Z,1613611883.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:31:24.184Z,1613611884.184 [Micromodem](INFO): Nmea in: $SNTTA,0.121228,,,0.123721,013123.00*52 2021-02-18T01:31:24.226Z,1613611884.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.339996 m, bearing: 270.488359 deg, deltaT: 4.456062 s, approachRate: 0.000000 m/s, LOS rate: -15.541180 deg/s, posRepo size: 4 2021-02-18T01:31:24.231Z,1613611884.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.541180 deg/s. Setting heading cmd to target bearing of 270.488359deg and heading rate command to 0 deg/s. 2021-02-18T01:31:26.649Z,1613611886.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:27.397Z,1613611887.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:31:27.814Z,1613611887.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:31:28.622Z,1613611888.622 [Micromodem](INFO): Nmea in: $SNTTA,0.120659,,,,013127.44*4F 2021-02-18T01:31:29.072Z,1613611889.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.839996 m, bearing: 320.238064 deg, deltaT: 4.860469 s, approachRate: -0.308612 m/s, LOS rate: 10.235577 deg/s, posRepo size: 4 2021-02-18T01:31:29.073Z,1613611889.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.839996 m, bearing: 320.238064 deg, approachRate: -0.308612 m/s, LOS rate: 10.235577 deg/s, cmd update: 12.000000 deg/s, cmd heading: 270.488359 deg, new cmd heading: 270.488359 deg. 2021-02-18T01:31:31.447Z,1613611891.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:32.245Z,1613611892.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:31:32.648Z,1613611892.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:31:33.479Z,1613611893.479 [Micromodem](INFO): Nmea in: $SNTTA,0.119375,,0.137649,,013132.29*51 2021-02-18T01:31:33.920Z,1613611893.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.919998 m, bearing: 17.784884 deg, deltaT: 4.870038 s, approachRate: -0.394247 m/s, LOS rate: 11.816503 deg/s, posRepo size: 4 2021-02-18T01:31:33.921Z,1613611893.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.816503 deg/s. Setting heading cmd to target bearing of 17.784884deg and heading rate command to 0 deg/s. 2021-02-18T01:31:36.310Z,1613611896.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:37.089Z,1613611897.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:31:37.530Z,1613611897.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:31:38.316Z,1613611898.316 [Micromodem](INFO): Nmea in: $SNTTA,0.118082,,,,013137.13*47 2021-02-18T01:31:38.352Z,1613611898.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.919998 m, bearing: 22.661161 deg, deltaT: 4.394515 s, approachRate: 0.000000 m/s, LOS rate: 1.109628 deg/s, posRepo size: 4 2021-02-18T01:31:38.354Z,1613611898.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.919998 m, bearing: 22.661161 deg, approachRate: 0.000000 m/s, LOS rate: 1.109628 deg/s, cmd update: 4.438512 deg/s, cmd heading: 17.784884 deg, new cmd heading: 17.784884 deg. 2021-02-18T01:31:40.778Z,1613611900.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:41.538Z,1613611901.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:31:41.944Z,1613611901.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:31:42.766Z,1613611902.766 [Micromodem](INFO): Nmea in: $SNTTA,0.116948,,,,013141.58*48 2021-02-18T01:31:42.836Z,1613611902.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.919998 m, bearing: 30.381388 deg, deltaT: 4.416919 s, approachRate: 0.000000 m/s, LOS rate: 1.747876 deg/s, posRepo size: 4 2021-02-18T01:31:42.837Z,1613611902.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.919998 m, bearing: 30.381388 deg, approachRate: 0.000000 m/s, LOS rate: 1.747876 deg/s, cmd update: 6.991505 deg/s, cmd heading: 37.385154 deg, new cmd heading: 39.448121 deg. 2021-02-18T01:31:45.301Z,1613611905.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:45.992Z,1613611905.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:31:46.381Z,1613611906.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:31:47.204Z,1613611907.204 [Micromodem](INFO): Nmea in: $SNTTA,0.115599,,,,013146.04*45 2021-02-18T01:31:47.689Z,1613611907.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.220001 m, bearing: 20.087762 deg, deltaT: 4.851232 s, approachRate: -1.174959 m/s, LOS rate: -2.121858 deg/s, posRepo size: 4 2021-02-18T01:31:47.690Z,1613611907.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.220001 m, bearing: 20.087762 deg, approachRate: -1.174959 m/s, LOS rate: -2.121858 deg/s, cmd update: -8.487433 deg/s, cmd heading: 71.309285 deg, new cmd heading: 74.594656 deg. 2021-02-18T01:31:50.031Z,1613611910.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:50.832Z,1613611910.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:31:50.913Z,1613611910.913 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T01:31:51.230Z,1613611911.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:31:52.056Z,1613611912.056 [Micromodem](INFO): Nmea in: $SNTTA,0.113618,,,,013150.88*4A 2021-02-18T01:31:52.098Z,1613611912.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.220001 m, bearing: 21.019620 deg, deltaT: 4.480536 s, approachRate: 0.000000 m/s, LOS rate: 0.207979 deg/s, posRepo size: 4 2021-02-18T01:31:52.104Z,1613611912.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.220001 m, bearing: 21.019620 deg, approachRate: 0.000000 m/s, LOS rate: 0.207979 deg/s, cmd update: 0.831917 deg/s, cmd heading: 33.280883 deg, new cmd heading: 29.898684 deg. 2021-02-18T01:31:54.530Z,1613611914.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:55.268Z,1613611915.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:31:55.675Z,1613611915.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:31:56.516Z,1613611916.516 [Micromodem](INFO): Nmea in: $SNTTA,0.111656,,,,013155.31*45 2021-02-18T01:31:56.598Z,1613611916.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.279999 m, bearing: 21.763155 deg, deltaT: 4.410278 s, approachRate: -1.346854 m/s, LOS rate: 0.168591 deg/s, posRepo size: 4 2021-02-18T01:31:56.623Z,1613611916.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.279999 m, bearing: 21.763155 deg, approachRate: -1.346854 m/s, LOS rate: 0.168591 deg/s, cmd update: 0.674365 deg/s, cmd heading: 36.949877 deg, new cmd heading: 37.343864 deg. 2021-02-18T01:31:58.620Z,1613611918.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:31:59.313Z,1613611919.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:31:59.715Z,1613611919.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:00.568Z,1613611920.568 [Micromodem](INFO): Nmea in: $SNTTA,0.109854,,,,013159.36*4B 2021-02-18T01:32:00.660Z,1613611920.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.399994 m, bearing: 20.055512 deg, deltaT: 4.054730 s, approachRate: -0.710283 m/s, LOS rate: -0.421148 deg/s, posRepo size: 4 2021-02-18T01:32:00.662Z,1613611920.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.399994 m, bearing: 20.055512 deg, approachRate: -0.710283 m/s, LOS rate: -0.421148 deg/s, cmd update: -1.684593 deg/s, cmd heading: 39.678018 deg, new cmd heading: 40.018452 deg. 2021-02-18T01:32:02.982Z,1613611922.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:32:03.758Z,1613611923.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:32:04.170Z,1613611924.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:04.984Z,1613611924.984 [Micromodem](INFO): Nmea in: $SNTTA,0.108010,,,,013203.80*43 2021-02-18T01:32:05.026Z,1613611925.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.640015 m, bearing: 19.029220 deg, deltaT: 4.498746 s, approachRate: -0.613500 m/s, LOS rate: -0.228129 deg/s, posRepo size: 4 2021-02-18T01:32:05.029Z,1613611925.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.640015 m, bearing: 19.029220 deg, approachRate: -0.613500 m/s, LOS rate: -0.228129 deg/s, cmd update: -0.912514 deg/s, cmd heading: 32.090705 deg, new cmd heading: 31.475138 deg. 2021-02-18T01:32:07.419Z,1613611927.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:32:08.204Z,1613611928.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:32:08.625Z,1613611928.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:09.428Z,1613611929.428 [Micromodem](INFO): Nmea in: $SNTTA,0.106090,,,,013208.25*41 2021-02-18T01:32:09.469Z,1613611929.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.699997 m, bearing: 20.237512 deg, deltaT: 4.385362 s, approachRate: -0.670416 m/s, LOS rate: 0.275529 deg/s, posRepo size: 4 2021-02-18T01:32:09.471Z,1613611929.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.699997 m, bearing: 20.237512 deg, approachRate: -0.670416 m/s, LOS rate: 0.275529 deg/s, cmd update: 1.102115 deg/s, cmd heading: 28.088937 deg, new cmd heading: 27.701425 deg. 2021-02-18T01:32:11.882Z,1613611931.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:32:12.652Z,1613611932.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:32:13.047Z,1613611933.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:13.876Z,1613611933.876 [Micromodem](INFO): Nmea in: $SNTTA,0.103887,,,,013212.70*41 2021-02-18T01:32:13.938Z,1613611933.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.639999 m, bearing: 19.561231 deg, deltaT: 4.443190 s, approachRate: -0.688694 m/s, LOS rate: -0.152206 deg/s, posRepo size: 4 2021-02-18T01:32:13.944Z,1613611933.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.639999 m, bearing: 19.561231 deg, approachRate: -0.688694 m/s, LOS rate: -0.152206 deg/s, cmd update: -0.608825 deg/s, cmd heading: 32.968877 deg, new cmd heading: 33.482239 deg. 2021-02-18T01:32:16.290Z,1613611936.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:32:17.089Z,1613611937.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:32:17.521Z,1613611937.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:18.320Z,1613611938.320 [Micromodem](INFO): Nmea in: $SNTTA,0.101744,,,,013217.13*43 2021-02-18T01:32:18.357Z,1613611938.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.399994 m, bearing: 19.701168 deg, deltaT: 4.443444 s, approachRate: -0.729165 m/s, LOS rate: 0.031493 deg/s, posRepo size: 4 2021-02-18T01:32:18.359Z,1613611938.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.399994 m, bearing: 19.701168 deg, approachRate: -0.729165 m/s, LOS rate: 0.031493 deg/s, cmd update: 0.125972 deg/s, cmd heading: 30.251809 deg, new cmd heading: 29.994873 deg. 2021-02-18T01:32:20.751Z,1613611940.751 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T01:32:20.765Z,1613611940.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:32:21.533Z,1613611941.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:32:21.935Z,1613611941.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:22.760Z,1613611942.760 [Micromodem](INFO): Nmea in: $SNTTA,0.099709,,,,013221.58*40 2021-02-18T01:32:22.794Z,1613611942.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.339996 m, bearing: 19.054537 deg, deltaT: 4.429547 s, approachRate: -0.690815 m/s, LOS rate: -0.145981 deg/s, posRepo size: 4 2021-02-18T01:32:22.796Z,1613611942.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.339996 m, bearing: 19.054537 deg, approachRate: -0.690815 m/s, LOS rate: -0.145981 deg/s, cmd update: -0.583925 deg/s, cmd heading: 30.809807 deg, new cmd heading: 30.863920 deg. 2021-02-18T01:32:25.222Z,1613611945.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:32:25.719Z,1613611945.719 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout 2021-02-18T01:32:25.719Z,1613611945.719 [RDI_PathfinderUp] Communications Fault, FailCount= 1 2021-02-18T01:32:25.719Z,1613611945.719 [RDI_PathfinderUp](ERROR): Communications Fault 2021-02-18T01:32:25.875Z,1613611945.875 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp 2021-02-18T01:32:25.990Z,1613611945.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:32:26.068Z,1613611946.068 [RDI_PathfinderUp](INFO): Powering down 2021-02-18T01:32:26.379Z,1613611946.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:26.887Z,1613611946.887 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp 2021-02-18T01:32:26.887Z,1613611946.887 [RDI_PathfinderUp] No Fault, FailCount= 1 2021-02-18T01:32:27.216Z,1613611947.216 [Micromodem](INFO): Nmea in: $SNTTA,0.097640,,,,013226.03*4B 2021-02-18T01:32:27.234Z,1613611947.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.279999 m, bearing: 17.760872 deg, deltaT: 4.450609 s, approachRate: -0.687546 m/s, LOS rate: -0.290671 deg/s, posRepo size: 4 2021-02-18T01:32:27.236Z,1613611947.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.279999 m, bearing: 17.760872 deg, approachRate: -0.687546 m/s, LOS rate: -0.290671 deg/s, cmd update: -1.162686 deg/s, cmd heading: 28.210998 deg, new cmd heading: 27.966483 deg. 2021-02-18T01:32:29.638Z,1613611949.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:32:30.416Z,1613611950.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:32:30.824Z,1613611950.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:31.647Z,1613611951.647 [Micromodem](INFO): Nmea in: $SNTTA,0.095613,,,,013230.46*49 2021-02-18T01:32:31.671Z,1613611951.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.220001 m, bearing: 18.141809 deg, deltaT: 4.430572 s, approachRate: -0.690655 m/s, LOS rate: 0.085979 deg/s, posRepo size: 4 2021-02-18T01:32:31.673Z,1613611951.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.220001 m, bearing: 18.141809 deg, approachRate: -0.690655 m/s, LOS rate: 0.085979 deg/s, cmd update: 0.343917 deg/s, cmd heading: 23.059603 deg, new cmd heading: 22.565201 deg. 2021-02-18T01:32:34.083Z,1613611954.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:32:34.860Z,1613611954.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:32:35.265Z,1613611955.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:36.096Z,1613611956.096 [Micromodem](INFO): Nmea in: $SNTTA,0.093605,,,,013234.90*47 2021-02-18T01:32:36.148Z,1613611956.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.160004 m, bearing: 18.413116 deg, deltaT: 4.471243 s, approachRate: -0.684373 m/s, LOS rate: 0.060678 deg/s, posRepo size: 4 2021-02-18T01:32:36.150Z,1613611956.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.160004 m, bearing: 18.413116 deg, approachRate: -0.684373 m/s, LOS rate: 0.060678 deg/s, cmd update: 0.242713 deg/s, cmd heading: 24.597316 deg, new cmd heading: 24.743468 deg. 2021-02-18T01:32:38.554Z,1613611958.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:32:39.305Z,1613611959.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:32:39.718Z,1613611959.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:40.548Z,1613611960.548 [Micromodem](INFO): Nmea in: $SNTTA,0.091423,,,,013239.35*41 2021-02-18T01:32:40.582Z,1613611960.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.919998 m, bearing: 17.927423 deg, deltaT: 4.439190 s, approachRate: -0.729864 m/s, LOS rate: -0.109410 deg/s, posRepo size: 4 2021-02-18T01:32:40.624Z,1613611960.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.919998 m, bearing: 17.927423 deg, approachRate: -0.729864 m/s, LOS rate: -0.109410 deg/s, cmd update: -0.437641 deg/s, cmd heading: 25.674670 deg, new cmd heading: 25.775877 deg. 2021-02-18T01:32:42.963Z,1613611962.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:32:43.753Z,1613611963.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:32:44.163Z,1613611964.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:44.980Z,1613611964.980 [Micromodem](INFO): Nmea in: $SNTTA,0.089301,,,,013243.80*4C 2021-02-18T01:32:45.014Z,1613611965.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.919998 m, bearing: 18.551043 deg, deltaT: 4.453274 s, approachRate: -0.673662 m/s, LOS rate: 0.140036 deg/s, posRepo size: 4 2021-02-18T01:32:45.016Z,1613611965.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.919998 m, bearing: 18.551043 deg, approachRate: -0.673662 m/s, LOS rate: 0.140036 deg/s, cmd update: 0.560145 deg/s, cmd heading: 23.727443 deg, new cmd heading: 23.548468 deg. 2021-02-18T01:32:47.434Z,1613611967.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:32:48.197Z,1613611968.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:32:48.605Z,1613611968.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:49.424Z,1613611969.424 [Micromodem](INFO): Nmea in: $SNTTA,0.087395,,,,013248.24*4A 2021-02-18T01:32:49.469Z,1613611969.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.860001 m, bearing: 17.828834 deg, deltaT: 4.417657 s, approachRate: -0.692674 m/s, LOS rate: -0.163482 deg/s, posRepo size: 4 2021-02-18T01:32:49.470Z,1613611969.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.860001 m, bearing: 17.828834 deg, approachRate: -0.692674 m/s, LOS rate: -0.163482 deg/s, cmd update: -0.653929 deg/s, cmd heading: 26.202020 deg, new cmd heading: 26.451685 deg. 2021-02-18T01:32:51.858Z,1613611971.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:32:52.637Z,1613611972.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:32:53.046Z,1613611973.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:53.872Z,1613611973.872 [Micromodem](INFO): Nmea in: $SNTTA,0.085298,,,,013252.68*47 2021-02-18T01:32:53.897Z,1613611973.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.680000 m, bearing: 17.691551 deg, deltaT: 4.490287 s, approachRate: -0.708195 m/s, LOS rate: -0.030573 deg/s, posRepo size: 4 2021-02-18T01:32:53.898Z,1613611973.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.680000 m, bearing: 17.691551 deg, approachRate: -0.708195 m/s, LOS rate: -0.030573 deg/s, cmd update: -0.122294 deg/s, cmd heading: 23.287755 deg, new cmd heading: 23.015048 deg. 2021-02-18T01:32:56.318Z,1613611976.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:32:57.101Z,1613611977.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:32:57.525Z,1613611977.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:32:58.320Z,1613611978.320 [Micromodem](INFO): Nmea in: $SNTTA,0.083223,,,,013257.15*4E 2021-02-18T01:32:58.364Z,1613611978.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.620003 m, bearing: 17.391207 deg, deltaT: 4.388478 s, approachRate: -0.697280 m/s, LOS rate: -0.068439 deg/s, posRepo size: 4 2021-02-18T01:32:58.366Z,1613611978.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.620003 m, bearing: 17.391207 deg, approachRate: -0.697280 m/s, LOS rate: -0.068439 deg/s, cmd update: -0.273757 deg/s, cmd heading: 22.746438 deg, new cmd heading: 22.692918 deg. 2021-02-18T01:33:00.762Z,1613611980.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:01.533Z,1613611981.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:01.930Z,1613611981.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:33:02.756Z,1613611982.756 [Micromodem](INFO): Nmea in: $SNTTA,0.080924,,,,013301.58*4A 2021-02-18T01:33:02.795Z,1613611982.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.200005 m, bearing: 17.606127 deg, deltaT: 4.470232 s, approachRate: -0.765061 m/s, LOS rate: 0.048078 deg/s, posRepo size: 4 2021-02-18T01:33:02.797Z,1613611982.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.200005 m, bearing: 17.606127 deg, approachRate: -0.765061 m/s, LOS rate: 0.048078 deg/s, cmd update: 0.192313 deg/s, cmd heading: 21.522772 deg, new cmd heading: 21.408038 deg. 2021-02-18T01:33:05.194Z,1613611985.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:05.968Z,1613611985.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:06.379Z,1613611986.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:33:07.207Z,1613611987.207 [Micromodem](INFO): Nmea in: $SNTTA,0.078894,,0.087382,,013306.01*54 2021-02-18T01:33:07.232Z,1613611987.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.199997 m, bearing: 16.917673 deg, deltaT: 4.438727 s, approachRate: -0.675871 m/s, LOS rate: -0.155102 deg/s, posRepo size: 4 2021-02-18T01:33:07.233Z,1613611987.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.199997 m, bearing: 16.917673 deg, approachRate: -0.675871 m/s, LOS rate: -0.155102 deg/s, cmd update: -0.620407 deg/s, cmd heading: 22.376476 deg, new cmd heading: 22.456564 deg. 2021-02-18T01:33:09.640Z,1613611989.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:10.429Z,1613611990.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:10.845Z,1613611990.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:33:11.652Z,1613611991.652 [Micromodem](INFO): Nmea in: $SNTTA,0.076620,,,,013310.47*46 2021-02-18T01:33:11.678Z,1613611991.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.780006 m, bearing: 17.248325 deg, deltaT: 4.434041 s, approachRate: -0.771303 m/s, LOS rate: 0.074571 deg/s, posRepo size: 4 2021-02-18T01:33:11.704Z,1613611991.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.780006 m, bearing: 17.248325 deg, approachRate: -0.771303 m/s, LOS rate: 0.074571 deg/s, cmd update: 0.298284 deg/s, cmd heading: 19.625676 deg, new cmd heading: 19.360247 deg. 2021-02-18T01:33:14.124Z,1613611994.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:14.856Z,1613611994.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:15.280Z,1613611995.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:33:16.116Z,1613611996.116 [Micromodem](INFO): Nmea in: $SNTTA,0.074625,,,,013314.90*4F 2021-02-18T01:33:16.161Z,1613611996.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.779999 m, bearing: 16.918650 deg, deltaT: 4.464543 s, approachRate: -0.671963 m/s, LOS rate: -0.073843 deg/s, posRepo size: 4 2021-02-18T01:33:16.162Z,1613611996.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.779999 m, bearing: 16.918650 deg, approachRate: -0.671963 m/s, LOS rate: -0.073843 deg/s, cmd update: -0.295371 deg/s, cmd heading: 20.957346 deg, new cmd heading: 21.090775 deg. 2021-02-18T01:33:18.580Z,1613611998.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:19.305Z,1613611999.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:19.706Z,1613611999.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:33:20.544Z,1613612000.544 [Micromodem](INFO): Nmea in: $SNTTA,0.072471,,,,013319.35*48 2021-02-18T01:33:20.588Z,1613612000.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.540001 m, bearing: 16.422923 deg, deltaT: 4.421083 s, approachRate: -0.732852 m/s, LOS rate: -0.112128 deg/s, posRepo size: 4 2021-02-18T01:33:20.590Z,1613612000.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.540001 m, bearing: 16.422923 deg, approachRate: -0.732852 m/s, LOS rate: -0.112128 deg/s, cmd update: -0.448511 deg/s, cmd heading: 19.651465 deg, new cmd heading: 19.523381 deg. 2021-02-18T01:33:22.952Z,1613612002.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:23.749Z,1613612003.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:24.152Z,1613612004.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:33:24.976Z,1613612004.976 [Micromodem](INFO): Nmea in: $SNTTA,0.070335,,,,013323.79*4C 2021-02-18T01:33:24.998Z,1613612004.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.300003 m, bearing: 15.908088 deg, deltaT: 4.461597 s, approachRate: -0.726197 m/s, LOS rate: -0.115393 deg/s, posRepo size: 4 2021-02-18T01:33:25.000Z,1613612005.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.300003 m, bearing: 15.908088 deg, approachRate: -0.726197 m/s, LOS rate: -0.115393 deg/s, cmd update: -0.461571 deg/s, cmd heading: 17.650913 deg, new cmd heading: 17.470050 deg. 2021-02-18T01:33:27.412Z,1613612007.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:28.194Z,1613612008.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:28.602Z,1613612008.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:33:29.420Z,1613612009.420 [Micromodem](INFO): Nmea in: $SNTTA,0.068322,,,,013328.24*40 2021-02-18T01:33:29.458Z,1613612009.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.360001 m, bearing: 15.910717 deg, deltaT: 4.426560 s, approachRate: -0.664173 m/s, LOS rate: 0.000594 deg/s, posRepo size: 4 2021-02-18T01:33:29.460Z,1613612009.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.360001 m, bearing: 15.910717 deg, approachRate: -0.664173 m/s, LOS rate: 0.000594 deg/s, cmd update: 0.002376 deg/s, cmd heading: 15.607446 deg, new cmd heading: 15.406384 deg. 2021-02-18T01:33:31.854Z,1613612011.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:32.632Z,1613612012.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:33.053Z,1613612013.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:33:33.860Z,1613612013.860 [Micromodem](INFO): Nmea in: $SNTTA,0.066025,,,,013332.68*49 2021-02-18T01:33:33.907Z,1613612013.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.000000 m, bearing: 20.616631 deg, deltaT: 4.500686 s, approachRate: -0.746553 m/s, LOS rate: 1.045599 deg/s, posRepo size: 4 2021-02-18T01:33:33.909Z,1613612013.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.000000 m, bearing: 20.616631 deg, approachRate: -0.746553 m/s, LOS rate: 1.045599 deg/s, cmd update: 4.182396 deg/s, cmd heading: 15.618128 deg, new cmd heading: 15.619052 deg. 2021-02-18T01:33:36.302Z,1613612016.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:37.107Z,1613612017.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:37.501Z,1613612017.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:33:38.321Z,1613612018.321 [Micromodem](INFO): Nmea in: $SNTTA,0.063989,,,,013337.15*4C 2021-02-18T01:33:38.378Z,1613612018.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.820007 m, bearing: 17.234008 deg, deltaT: 4.376241 s, approachRate: -0.726649 m/s, LOS rate: -0.772952 deg/s, posRepo size: 4 2021-02-18T01:33:38.384Z,1613612018.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.820007 m, bearing: 17.234008 deg, approachRate: -0.726649 m/s, LOS rate: -0.772952 deg/s, cmd update: -3.091806 deg/s, cmd heading: 33.944745 deg, new cmd heading: 35.945846 deg. 2021-02-18T01:33:40.738Z,1613612020.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:41.538Z,1613612021.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:41.926Z,1613612021.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:33:42.778Z,1613612022.778 [Micromodem](INFO): Nmea in: $SNTTA,0.061967,,,,013341.58*46 2021-02-18T01:33:42.803Z,1613612022.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.759995 m, bearing: 14.482576 deg, deltaT: 4.451623 s, approachRate: -0.687393 m/s, LOS rate: -0.618074 deg/s, posRepo size: 4 2021-02-18T01:33:42.805Z,1613612022.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.759995 m, bearing: 14.482576 deg, approachRate: -0.687393 m/s, LOS rate: -0.618074 deg/s, cmd update: -2.472296 deg/s, cmd heading: 20.181150 deg, new cmd heading: 18.785570 deg. 2021-02-18T01:33:45.204Z,1613612025.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:45.972Z,1613612025.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:46.370Z,1613612026.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:33:47.200Z,1613612027.200 [Micromodem](INFO): Nmea in: $SNTTA,0.060144,,,,013346.02*46 2021-02-18T01:33:47.253Z,1613612027.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.760002 m, bearing: 15.281496 deg, deltaT: 4.471870 s, approachRate: -0.670859 m/s, LOS rate: 0.178655 deg/s, posRepo size: 4 2021-02-18T01:33:47.254Z,1613612027.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.760002 m, bearing: 15.281496 deg, approachRate: -0.670859 m/s, LOS rate: 0.178655 deg/s, cmd update: 0.714619 deg/s, cmd heading: 9.188543 deg, new cmd heading: 8.063277 deg. 2021-02-18T01:33:49.632Z,1613612029.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:50.412Z,1613612030.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:50.822Z,1613612030.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:33:51.652Z,1613612031.652 [Micromodem](INFO): Nmea in: $SNTTA,0.057959,,,,013350.46*41 2021-02-18T01:33:51.676Z,1613612031.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.760010 m, bearing: 15.650566 deg, deltaT: 4.434675 s, approachRate: -0.676485 m/s, LOS rate: 0.083224 deg/s, posRepo size: 4 2021-02-18T01:33:51.677Z,1613612031.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.760010 m, bearing: 15.650566 deg, approachRate: -0.676485 m/s, LOS rate: 0.083224 deg/s, cmd update: 0.332894 deg/s, cmd heading: 12.375976 deg, new cmd heading: 12.674351 deg. 2021-02-18T01:33:54.108Z,1613612034.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:54.861Z,1613612034.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:55.257Z,1613612035.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:33:56.109Z,1613612036.109 [Micromodem](INFO): Nmea in: $SNTTA,0.055833,,0.107902,,013354.90*52 2021-02-18T01:33:56.133Z,1613612036.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.580002 m, bearing: 16.030222 deg, deltaT: 4.471108 s, approachRate: -0.711235 m/s, LOS rate: 0.084913 deg/s, posRepo size: 4 2021-02-18T01:33:56.134Z,1613612036.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.580002 m, bearing: 16.030222 deg, approachRate: -0.711235 m/s, LOS rate: 0.084913 deg/s, cmd update: 0.339653 deg/s, cmd heading: 13.863044 deg, new cmd heading: 13.998728 deg. 2021-02-18T01:33:58.551Z,1613612038.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:33:59.305Z,1613612039.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:33:59.702Z,1613612039.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:00.540Z,1613612040.540 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013359.35*55 2021-02-18T01:34:00.585Z,1613612040.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.340004 m, bearing: 14.115385 deg, deltaT: 4.427682 s, approachRate: -0.731759 m/s, LOS rate: -0.432469 deg/s, posRepo size: 4 2021-02-18T01:34:00.588Z,1613612040.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.340004 m, bearing: 14.115385 deg, approachRate: -0.731759 m/s, LOS rate: -0.432469 deg/s, cmd update: -1.729877 deg/s, cmd heading: 15.366827 deg, new cmd heading: 15.513372 deg. 2021-02-18T01:34:02.955Z,1613612042.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:34:03.741Z,1613612043.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:34:04.154Z,1613612044.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:04.968Z,1613612044.968 [Micromodem](INFO): Nmea in: $SNTTA,0.051673,,,,013403.78*4C 2021-02-18T01:34:05.005Z,1613612045.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.400002 m, bearing: 15.906042 deg, deltaT: 4.430408 s, approachRate: -0.663596 m/s, LOS rate: 0.404174 deg/s, posRepo size: 4 2021-02-18T01:34:05.007Z,1613612045.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.400002 m, bearing: 15.906042 deg, approachRate: -0.663596 m/s, LOS rate: 0.404174 deg/s, cmd update: 1.616697 deg/s, cmd heading: 7.695395 deg, new cmd heading: 6.972104 deg. 2021-02-18T01:34:07.416Z,1613612047.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:34:08.223Z,1613612048.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:34:08.590Z,1613612048.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:09.476Z,1613612049.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.980011 m, bearing: 14.281536 deg, deltaT: 4.424068 s, approachRate: -0.773042 m/s, LOS rate: -0.367197 deg/s, posRepo size: 4 2021-02-18T01:34:09.478Z,1613612049.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.980011 m, bearing: 14.281536 deg, approachRate: -0.773042 m/s, LOS rate: -0.367197 deg/s, cmd update: -1.468789 deg/s, cmd heading: 14.847804 deg, new cmd heading: 15.592872 deg. 2021-02-18T01:34:09.812Z,1613612049.812 [Micromodem](INFO): Nmea in: $SNTTA,0.049618,,,,013408.30*4F 2021-02-18T01:34:11.852Z,1613612051.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:34:12.633Z,1613612052.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:34:13.045Z,1613612053.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:13.860Z,1613612053.860 [Micromodem](INFO): Nmea in: $SNTTA,0.047386,,,,013412.68*45 2021-02-18T01:34:13.902Z,1613612053.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.860008 m, bearing: 16.392915 deg, deltaT: 4.516225 s, approachRate: -0.690843 m/s, LOS rate: 0.467510 deg/s, posRepo size: 4 2021-02-18T01:34:13.904Z,1613612053.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.860008 m, bearing: 16.392915 deg, approachRate: -0.690843 m/s, LOS rate: 0.467510 deg/s, cmd update: 1.870039 deg/s, cmd heading: 8.225395 deg, new cmd heading: 7.664735 deg. 2021-02-18T01:34:16.318Z,1613612056.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:34:17.100Z,1613612057.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:34:17.512Z,1613612057.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:18.324Z,1613612058.324 [Micromodem](INFO): Nmea in: $SNTTA,0.045471,,,,013417.14*46 2021-02-18T01:34:18.361Z,1613612058.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.040001 m, bearing: 16.087503 deg, deltaT: 4.366832 s, approachRate: -0.645779 m/s, LOS rate: -0.069939 deg/s, posRepo size: 4 2021-02-18T01:34:18.363Z,1613612058.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.040001 m, bearing: 16.087503 deg, approachRate: -0.645779 m/s, LOS rate: -0.069939 deg/s, cmd update: -0.279756 deg/s, cmd heading: 16.405451 deg, new cmd heading: 17.271370 deg. 2021-02-18T01:34:20.762Z,1613612060.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:34:21.531Z,1613612061.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:34:21.922Z,1613612061.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:22.757Z,1613612062.757 [Micromodem](INFO): Nmea in: $SNTTA,0.043162,,0.080238,,013421.57*5A 2021-02-18T01:34:22.802Z,1613612062.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.680008 m, bearing: 16.872780 deg, deltaT: 4.471602 s, approachRate: -0.751407 m/s, LOS rate: 0.175614 deg/s, posRepo size: 4 2021-02-18T01:34:22.804Z,1613612062.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.680008 m, bearing: 16.872780 deg, approachRate: -0.751407 m/s, LOS rate: 0.175614 deg/s, cmd update: 0.702457 deg/s, cmd heading: 15.159724 deg, new cmd heading: 15.032453 deg. 2021-02-18T01:34:25.191Z,1613612065.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:34:25.970Z,1613612065.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:34:26.371Z,1613612066.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:27.196Z,1613612067.196 [Micromodem](INFO): Nmea in: $SNTTA,0.041149,,,,013426.01*4A 2021-02-18T01:34:27.221Z,1613612067.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.560005 m, bearing: 15.411659 deg, deltaT: 4.438516 s, approachRate: -0.702938 m/s, LOS rate: -0.329191 deg/s, posRepo size: 4 2021-02-18T01:34:27.222Z,1613612067.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.560005 m, bearing: 15.411659 deg, approachRate: -0.702938 m/s, LOS rate: -0.329191 deg/s, cmd update: -1.316765 deg/s, cmd heading: 18.290465 deg, new cmd heading: 18.583150 deg. 2021-02-18T01:34:29.641Z,1613612069.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:34:30.404Z,1613612070.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:34:30.823Z,1613612070.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:31.636Z,1613612071.636 [Micromodem](INFO): Nmea in: $SNTTA,0.039098,,,0.072977,013430.45*5D 2021-02-18T01:34:31.674Z,1613612071.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.620003 m, bearing: 16.892533 deg, deltaT: 4.455686 s, approachRate: -0.659832 m/s, LOS rate: 0.332356 deg/s, posRepo size: 4 2021-02-18T01:34:31.676Z,1613612071.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.620003 m, bearing: 16.892533 deg, approachRate: -0.659832 m/s, LOS rate: 0.332356 deg/s, cmd update: 1.329424 deg/s, cmd heading: 12.433570 deg, new cmd heading: 11.877215 deg. 2021-02-18T01:34:34.107Z,1613612074.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:34:34.853Z,1613612074.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:34:35.254Z,1613612075.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:36.104Z,1613612076.104 [Micromodem](INFO): Nmea in: $SNTTA,0.037004,,,,013434.90*48 2021-02-18T01:34:36.130Z,1613612076.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.259998 m, bearing: 14.436161 deg, deltaT: 4.474736 s, approachRate: -0.750883 m/s, LOS rate: -0.548942 deg/s, posRepo size: 4 2021-02-18T01:34:36.132Z,1613612076.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.259998 m, bearing: 14.436161 deg, approachRate: -0.750883 m/s, LOS rate: -0.548942 deg/s, cmd update: -2.195769 deg/s, cmd heading: 18.383124 deg, new cmd heading: 18.918892 deg. 2021-02-18T01:34:38.547Z,1613612078.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:34:39.295Z,1613612079.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:34:39.710Z,1613612079.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:40.541Z,1613612080.541 [Micromodem](INFO): Nmea in: $SNTTA,0.035024,,,,013439.34*4B 2021-02-18T01:34:40.565Z,1613612080.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.380001 m, bearing: 15.171879 deg, deltaT: 4.419866 s, approachRate: -0.651603 m/s, LOS rate: 0.166457 deg/s, posRepo size: 4 2021-02-18T01:34:40.567Z,1613612080.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.380001 m, bearing: 15.171879 deg, approachRate: -0.651603 m/s, LOS rate: 0.166457 deg/s, cmd update: 0.665828 deg/s, cmd heading: 8.670337 deg, new cmd heading: 7.760092 deg. 2021-02-18T01:34:42.945Z,1613612082.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:34:43.747Z,1613612083.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:34:44.147Z,1613612084.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:44.972Z,1613612084.972 [Micromodem](INFO): Nmea in: $SNTTA,0.033206,,,,013443.79*4B 2021-02-18T01:34:45.014Z,1613612085.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.320000 m, bearing: 15.381724 deg, deltaT: 4.438777 s, approachRate: -0.689379 m/s, LOS rate: 0.047276 deg/s, posRepo size: 4 2021-02-18T01:34:45.016Z,1613612085.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.320000 m, bearing: 15.381724 deg, approachRate: -0.689379 m/s, LOS rate: 0.047276 deg/s, cmd update: 0.189102 deg/s, cmd heading: 11.625851 deg, new cmd heading: 11.908565 deg. 2021-02-18T01:34:47.416Z,1613612087.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:34:48.181Z,1613612088.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:34:48.586Z,1613612088.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:49.412Z,1613612089.412 [Micromodem](INFO): Nmea in: $SNTTA,0.030997,,,,013448.22*4E 2021-02-18T01:34:49.464Z,1613612089.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.320000 m, bearing: 16.547860 deg, deltaT: 4.408266 s, approachRate: -0.680540 m/s, LOS rate: 0.264534 deg/s, posRepo size: 4 2021-02-18T01:34:49.465Z,1613612089.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.320000 m, bearing: 16.547860 deg, approachRate: -0.680540 m/s, LOS rate: 0.264534 deg/s, cmd update: 1.058135 deg/s, cmd heading: 12.460219 deg, new cmd heading: 12.547028 deg. 2021-02-18T01:34:51.841Z,1613612091.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:34:52.624Z,1613612092.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:34:53.031Z,1613612093.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:53.852Z,1613612093.852 [Micromodem](INFO): Nmea in: $SNTTA,0.028882,,,,013452.67*48 2021-02-18T01:34:53.898Z,1613612093.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.139999 m, bearing: 14.971186 deg, deltaT: 4.470538 s, approachRate: -0.711324 m/s, LOS rate: -0.352681 deg/s, posRepo size: 4 2021-02-18T01:34:53.900Z,1613612093.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.139999 m, bearing: 14.971186 deg, approachRate: -0.711324 m/s, LOS rate: -0.352681 deg/s, cmd update: -1.410724 deg/s, cmd heading: 17.190376 deg, new cmd heading: 17.641026 deg. 2021-02-18T01:34:56.301Z,1613612096.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:34:57.100Z,1613612097.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:34:57.506Z,1613612097.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:34:58.316Z,1613612098.316 [Micromodem](INFO): Nmea in: $SNTTA,0.026862,,,,013457.14*49 2021-02-18T01:34:58.340Z,1613612098.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.080002 m, bearing: 15.330812 deg, deltaT: 4.432011 s, approachRate: -0.690431 m/s, LOS rate: 0.081143 deg/s, posRepo size: 4 2021-02-18T01:34:58.342Z,1613612098.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.080002 m, bearing: 15.330812 deg, approachRate: -0.690431 m/s, LOS rate: 0.081143 deg/s, cmd update: 0.324572 deg/s, cmd heading: 10.938026 deg, new cmd heading: 10.323515 deg. 2021-02-18T01:35:00.755Z,1613612100.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:01.532Z,1613612101.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:01.918Z,1613612101.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:35:02.748Z,1613612102.748 [Micromodem](INFO): Nmea in: $SNTTA,0.024687,,,,013501.58*44 2021-02-18T01:35:02.788Z,1613612102.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.840000 m, bearing: 16.038222 deg, deltaT: 4.455162 s, approachRate: -0.727247 m/s, LOS rate: 0.158784 deg/s, posRepo size: 4 2021-02-18T01:35:02.789Z,1613612102.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.84 m. 2021-02-18T01:35:02.790Z,1613612102.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.840000 m, bearing: 16.038222 deg, approachRate: -0.727247 m/s, LOS rate: 0.158784 deg/s, cmd update: 0.635137 deg/s, cmd heading: 12.378930 deg, new cmd heading: 12.523250 deg. 2021-02-18T01:35:03.150Z,1613612103.150 [PowerOnly](INFO): Powering up loadControl 2021-02-18T01:35:05.193Z,1613612105.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:05.965Z,1613612105.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:06.368Z,1613612106.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:35:07.192Z,1613612107.192 [Micromodem](INFO): Nmea in: $SNTTA,0.023005,,,,013506.01*44 2021-02-18T01:35:07.236Z,1613612107.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.779999 m, bearing: 15.338505 deg, deltaT: 4.428271 s, approachRate: -0.691015 m/s, LOS rate: -0.158011 deg/s, posRepo size: 4 2021-02-18T01:35:07.237Z,1613612107.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.78 m. 2021-02-18T01:35:07.237Z,1613612107.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.78 m. 2021-02-18T01:35:07.237Z,1613612107.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T01:35:07.243Z,1613612107.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.779999 m, bearing: 15.338505 deg, approachRate: -0.691015 m/s, LOS rate: -0.158011 deg/s, cmd update: -0.632045 deg/s, cmd heading: 15.201645 deg, new cmd heading: 15.486668 deg. 2021-02-18T01:35:09.633Z,1613612109.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:10.409Z,1613612110.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:10.811Z,1613612110.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:35:11.641Z,1613612111.641 [Micromodem](INFO): Nmea in: $SNTTA,0.020570,,,,013510.45*47 2021-02-18T01:35:11.696Z,1613612111.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.659998 m, bearing: 14.897136 deg, deltaT: 4.450062 s, approachRate: -0.701114 m/s, LOS rate: -0.099183 deg/s, posRepo size: 4 2021-02-18T01:35:11.698Z,1613612111.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.659998 m, bearing: 14.897136 deg, approachRate: -0.701114 m/s, LOS rate: -0.099183 deg/s, cmd update: -0.396730 deg/s, cmd heading: 12.388990 deg, new cmd heading: 12.102036 deg. 2021-02-18T01:35:12.844Z,1613612112.844 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T01:35:14.084Z,1613612114.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:14.851Z,1613612114.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:15.264Z,1613612115.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:35:16.099Z,1613612116.099 [Micromodem](INFO): Nmea in: $SNTTA,0.018567,,,,013514.90*46 2021-02-18T01:35:16.124Z,1613612116.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.600000 m, bearing: 15.664776 deg, deltaT: 4.487892 s, approachRate: -0.681834 m/s, LOS rate: 0.171047 deg/s, posRepo size: 4 2021-02-18T01:35:16.126Z,1613612116.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.600000 m, bearing: 15.664776 deg, approachRate: -0.681834 m/s, LOS rate: 0.171047 deg/s, cmd update: 0.684187 deg/s, cmd heading: 10.621816 deg, new cmd heading: 10.450590 deg. 2021-02-18T01:35:18.546Z,1613612118.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:19.290Z,1613612119.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:19.693Z,1613612119.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:35:20.540Z,1613612120.540 [Micromodem](INFO): Nmea in: $SNTTA,0.016353,,,,013519.34*4A 2021-02-18T01:35:20.565Z,1613612120.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.359999 m, bearing: 15.726705 deg, deltaT: 4.435873 s, approachRate: -0.730409 m/s, LOS rate: 0.013961 deg/s, posRepo size: 4 2021-02-18T01:35:20.566Z,1613612120.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.359999 m, bearing: 15.726705 deg, approachRate: -0.730409 m/s, LOS rate: 0.013961 deg/s, cmd update: 0.055844 deg/s, cmd heading: 13.679731 deg, new cmd heading: 13.955630 deg. 2021-02-18T01:35:22.940Z,1613612122.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:23.733Z,1613612123.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:24.138Z,1613612124.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:35:24.960Z,1613612124.960 [Micromodem](INFO): Nmea in: $SNTTA,0.014324,,,,013523.78*49 2021-02-18T01:35:24.997Z,1613612124.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.239996 m, bearing: 15.882305 deg, deltaT: 4.423085 s, approachRate: -0.705391 m/s, LOS rate: 0.035179 deg/s, posRepo size: 4 2021-02-18T01:35:24.999Z,1613612124.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.239996 m, bearing: 15.882305 deg, approachRate: -0.705391 m/s, LOS rate: 0.035179 deg/s, cmd update: 0.140716 deg/s, cmd heading: 13.926735 deg, new cmd heading: 13.949775 deg. 2021-02-18T01:35:27.393Z,1613612127.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:28.176Z,1613612128.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:28.592Z,1613612128.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:35:29.424Z,1613612129.424 [Micromodem](INFO): Nmea in: $SNTTA,0.012208,,,,013528.22*44 2021-02-18T01:35:29.500Z,1613612129.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.059998 m, bearing: 15.898864 deg, deltaT: 4.426106 s, approachRate: -0.718464 m/s, LOS rate: 0.003741 deg/s, posRepo size: 4 2021-02-18T01:35:29.510Z,1613612129.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.059998 m, bearing: 15.898864 deg, approachRate: -0.718464 m/s, LOS rate: 0.003741 deg/s, cmd update: 0.014964 deg/s, cmd heading: 14.548994 deg, new cmd heading: 14.616570 deg. 2021-02-18T01:35:31.865Z,1613612131.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:32.634Z,1613612132.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:33.031Z,1613612133.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:35:33.861Z,1613612133.861 [Micromodem](INFO): Nmea in: $SNTTA,0.010118,,,,013532.68*41 2021-02-18T01:35:33.928Z,1613612133.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.940002 m, bearing: 16.753300 deg, deltaT: 4.461539 s, approachRate: -0.699309 m/s, LOS rate: 0.191512 deg/s, posRepo size: 4 2021-02-18T01:35:33.930Z,1613612133.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.940002 m, bearing: 16.753300 deg, approachRate: -0.699309 m/s, LOS rate: 0.191512 deg/s, cmd update: 0.766046 deg/s, cmd heading: 14.615574 deg, new cmd heading: 14.622643 deg. 2021-02-18T01:35:36.302Z,1613612136.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:37.099Z,1613612137.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:37.474Z,1613612137.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:35:38.308Z,1613612138.308 [Micromodem](INFO): Nmea in: $SNTTA,0.008864,,,,013537.14*44 2021-02-18T01:35:38.353Z,1613612138.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.999999 m, bearing: 16.235194 deg, deltaT: 4.424201 s, approachRate: -0.664528 m/s, LOS rate: -0.117107 deg/s, posRepo size: 4 2021-02-18T01:35:38.355Z,1613612138.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.999999 m, bearing: 16.235194 deg, approachRate: -0.664528 m/s, LOS rate: -0.117107 deg/s, cmd update: -0.468429 deg/s, cmd heading: 18.017129 deg, new cmd heading: 18.367159 deg. 2021-02-18T01:35:40.784Z,1613612140.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:41.529Z,1613612141.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:41.926Z,1613612141.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:35:42.755Z,1613612142.755 [Micromodem](INFO): Nmea in: $SNTTA,0.011080,,0.054781,,013541.57*59 2021-02-18T01:35:42.780Z,1613612142.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.939999 m, bearing: 15.028896 deg, deltaT: 4.466621 s, approachRate: -0.685082 m/s, LOS rate: -0.270070 deg/s, posRepo size: 4 2021-02-18T01:35:42.782Z,1613612142.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.939999 m, bearing: 15.028896 deg, approachRate: -0.685082 m/s, LOS rate: -0.270070 deg/s, cmd update: -1.080278 deg/s, cmd heading: 15.927692 deg, new cmd heading: 15.729509 deg. 2021-02-18T01:35:45.195Z,1613612145.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:45.953Z,1613612145.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:46.357Z,1613612146.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:35:47.184Z,1613612147.184 [Micromodem](INFO): Nmea in: $SNTTA,0.004518,,0.048443,,013546.00*5C 2021-02-18T01:35:47.237Z,1613612147.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.539999 m, bearing: 13.386953 deg, deltaT: 4.436787 s, approachRate: -0.540932 m/s, LOS rate: -0.370075 deg/s, posRepo size: 4 2021-02-18T01:35:47.239Z,1613612147.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.539999 m, bearing: 13.386953 deg, approachRate: -0.540932 m/s, LOS rate: -0.370075 deg/s, cmd update: -1.480299 deg/s, cmd heading: 11.145389 deg, new cmd heading: 10.655812 deg. 2021-02-18T01:35:49.630Z,1613612149.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:50.396Z,1613612150.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:50.816Z,1613612150.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:35:51.624Z,1613612151.624 [Micromodem](INFO): Nmea in: $SNTTA,0.003231,,,,013550.44*41 2021-02-18T01:35:51.662Z,1613612151.662 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T01:35:51.662Z,1613612151.662 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T01:35:51.662Z,1613612151.662 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T01:35:51.662Z,1613612151.662 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:35:51.662Z,1613612151.662 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T01:35:51.663Z,1613612151.663 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 2021-02-18T01:35:51.663Z,1613612151.663 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T01:35:51.663Z,1613612151.663 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T01:35:51.663Z,1613612151.663 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T01:35:51.666Z,1613612151.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.679999 m, bearing: 19.347935 deg, deltaT: 4.450085 s, approachRate: -0.417970 m/s, LOS rate: 1.339521 deg/s, posRepo size: 4 2021-02-18T01:35:51.668Z,1613612151.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.679999 m, bearing: 19.347935 deg, approachRate: -0.417970 m/s, LOS rate: 1.339521 deg/s, cmd update: 5.358084 deg/s, cmd heading: 4.534387 deg, new cmd heading: 3.918810 deg. 2021-02-18T01:35:52.052Z,1613612152.052 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T013552: (41.552319, -70.708603) 2021-02-18T01:35:52.053Z,1613612152.053 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T01:35:52.053Z,1613612152.053 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T01:35:52.054Z,1613612152.054 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:35:52.054Z,1613612152.054 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T01:35:52.054Z,1613612152.054 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:35:52.055Z,1613612152.055 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T01:35:52.056Z,1613612152.056 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T01:35:52.056Z,1613612152.056 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T01:35:54.112Z,1613612154.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:54.845Z,1613612154.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:55.246Z,1613612155.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:35:56.108Z,1613612156.108 [Micromodem](INFO): Nmea in: $SNTTA,0.002981,,,0.006819,013554.89*5D 2021-02-18T01:35:56.165Z,1613612156.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 9.836266 deg, deltaT: 4.441815 s, approachRate: -0.067540 m/s, LOS rate: -2.141392 deg/s, posRepo size: 4 2021-02-18T01:35:56.172Z,1613612156.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.380000 m, bearing: 9.836266 deg, approachRate: -0.067540 m/s, LOS rate: -2.141392 deg/s, cmd update: -8.565569 deg/s, cmd heading: 28.334400 deg, new cmd heading: 30.843301 deg. 2021-02-18T01:35:58.546Z,1613612158.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:35:59.290Z,1613612159.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:35:59.689Z,1613612159.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:00.536Z,1613612160.536 [Micromodem](INFO): Nmea in: $SNTTA,0.004943,,,,013559.33*41 2021-02-18T01:36:00.581Z,1613612160.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.160000 m, bearing: 10.079396 deg, deltaT: 4.464677 s, approachRate: 0.174705 m/s, LOS rate: 0.054456 deg/s, posRepo size: 4 2021-02-18T01:36:00.583Z,1613612160.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.160000 m, bearing: 10.079396 deg, approachRate: 0.174705 m/s, LOS rate: 0.054456 deg/s, cmd update: 0.217825 deg/s, cmd heading: 350.163549 deg, new cmd heading: 346.452165 deg. 2021-02-18T01:36:02.947Z,1613612162.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:36:03.733Z,1613612163.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:36:04.134Z,1613612164.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:04.960Z,1613612164.960 [Micromodem](INFO): Nmea in: $SNTTA,0.004704,,,,013603.78*4F 2021-02-18T01:36:04.997Z,1613612164.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.160000 m, bearing: 341.420256 deg, deltaT: 4.432753 s, approachRate: 0.000000 m/s, LOS rate: -6.465313 deg/s, posRepo size: 4 2021-02-18T01:36:04.999Z,1613612164.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.160000 m, bearing: 341.420256 deg, approachRate: 0.000000 m/s, LOS rate: -6.465313 deg/s, cmd update: -12.000000 deg/s, cmd heading: 351.130070 deg, new cmd heading: 351.219803 deg. 2021-02-18T01:36:07.426Z,1613612167.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:36:08.177Z,1613612168.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:36:08.578Z,1613612168.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:09.420Z,1613612169.420 [Micromodem](INFO): Nmea in: $SNTTA,0.005182,,,,013608.22*42 2021-02-18T01:36:09.475Z,1613612169.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.979999 m, bearing: 343.949339 deg, deltaT: 4.405293 s, approachRate: 0.640139 m/s, LOS rate: 0.574101 deg/s, posRepo size: 4 2021-02-18T01:36:09.486Z,1613612169.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.979999 m, bearing: 343.949339 deg, approachRate: 0.640139 m/s, LOS rate: 0.574101 deg/s, cmd update: 2.296403 deg/s, cmd heading: 298.218852 deg, new cmd heading: 292.498368 deg. 2021-02-18T01:36:11.838Z,1613612171.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:36:12.616Z,1613612172.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:36:13.022Z,1613612173.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:13.848Z,1613612173.848 [Micromodem](INFO): Nmea in: $SNTTA,0.005458,,0.017071,,013612.66*55 2021-02-18T01:36:13.873Z,1613612173.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.219998 m, bearing: 337.734495 deg, deltaT: 4.454657 s, approachRate: 0.053876 m/s, LOS rate: -1.395134 deg/s, posRepo size: 4 2021-02-18T01:36:13.874Z,1613612173.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.219998 m, bearing: 337.734495 deg, approachRate: 0.053876 m/s, LOS rate: -1.395134 deg/s, cmd update: -5.580536 deg/s, cmd heading: 308.448413 deg, new cmd heading: 309.421247 deg. 2021-02-18T01:36:16.297Z,1613612176.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:36:17.077Z,1613612177.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:36:17.470Z,1613612177.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:18.300Z,1613612178.300 [Micromodem](INFO): Nmea in: $SNTTA,0.007712,,,,013617.12*42 2021-02-18T01:36:18.348Z,1613612178.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 306.087660 deg, deltaT: 4.468832 s, approachRate: 0.778727 m/s, LOS rate: -7.081679 deg/s, posRepo size: 4 2021-02-18T01:36:18.350Z,1613612178.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.700000 m, bearing: 306.087660 deg, approachRate: 0.778727 m/s, LOS rate: -7.081679 deg/s, cmd update: -12.000000 deg/s, cmd heading: 283.531925 deg, new cmd heading: 281.131452 deg. 2021-02-18T01:36:20.726Z,1613612180.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:36:21.566Z,1613612181.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:36:21.910Z,1613612181.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:22.755Z,1613612182.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.159999 m, bearing: 323.166111 deg, deltaT: 4.443041 s, approachRate: 0.553675 m/s, LOS rate: 3.843865 deg/s, posRepo size: 4 2021-02-18T01:36:22.757Z,1613612182.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.159999 m, bearing: 323.166111 deg, approachRate: 0.553675 m/s, LOS rate: 3.843865 deg/s, cmd update: 12.000000 deg/s, cmd heading: 230.214892 deg, new cmd heading: 225.440356 deg. 2021-02-18T01:36:23.136Z,1613612183.136 [Micromodem](INFO): Nmea in: $SNTTA,0.009384,,,,013621.69*4E 2021-02-18T01:36:25.195Z,1613612185.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:36:25.950Z,1613612185.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:36:26.359Z,1613612186.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:27.180Z,1613612187.180 [Micromodem](INFO): Nmea in: $SNTTA,0.010728,,,,013626.00*4C 2021-02-18T01:36:27.229Z,1613612187.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.139999 m, bearing: 273.831655 deg, deltaT: 4.439137 s, approachRate: 0.446033 m/s, LOS rate: -11.113525 deg/s, posRepo size: 4 2021-02-18T01:36:27.230Z,1613612187.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.139999 m, bearing: 273.831655 deg, approachRate: 0.446033 m/s, LOS rate: -11.113525 deg/s, cmd update: -12.000000 deg/s, cmd heading: 283.287604 deg, new cmd heading: 288.672305 deg. 2021-02-18T01:36:29.625Z,1613612189.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:36:30.409Z,1613612190.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:36:30.812Z,1613612190.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:31.640Z,1613612191.640 [Micromodem](INFO): Nmea in: $SNTTA,0.011449,,0.020560,0.019410,013630.45*43 2021-02-18T01:36:31.664Z,1613612191.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.339998 m, bearing: 287.274669 deg, deltaT: 4.452178 s, approachRate: 0.269531 m/s, LOS rate: 3.019424 deg/s, posRepo size: 4 2021-02-18T01:36:31.665Z,1613612191.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.34 m. Rolling out. 2021-02-18T01:36:31.665Z,1613612191.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T01:36:34.085Z,1613612194.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:36:34.841Z,1613612194.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:36:35.242Z,1613612195.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:36.071Z,1613612196.071 [Micromodem](INFO): Nmea in: $SNTTA,0.018500,,,,013634.89*4E 2021-02-18T01:36:36.147Z,1613612196.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.900000 m, bearing: 280.379293 deg, deltaT: 4.458951 s, approachRate: 2.368270 m/s, LOS rate: -1.546412 deg/s, posRepo size: 4 2021-02-18T01:36:37.680Z,1613612197.680 [PowerOnly](INFO): Powering down loadControl 2021-02-18T01:36:38.544Z,1613612198.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:36:39.298Z,1613612199.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:36:39.693Z,1613612199.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:40.552Z,1613612200.552 [Micromodem](INFO): Nmea in: $SNTTA,0.013997,,,,013639.34*4C 2021-02-18T01:36:40.592Z,1613612200.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.779999 m, bearing: 203.619783 deg, deltaT: 4.425615 s, approachRate: -1.382859 m/s, LOS rate: -17.344371 deg/s, posRepo size: 4 2021-02-18T01:36:42.937Z,1613612202.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:36:43.724Z,1613612203.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:36:44.139Z,1613612204.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:44.960Z,1613612204.960 [Micromodem](INFO): Nmea in: $SNTTA,0.014627,,,,013643.77*45 2021-02-18T01:36:44.982Z,1613612204.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.959997 m, bearing: 207.205168 deg, deltaT: 4.430330 s, approachRate: 0.040629 m/s, LOS rate: 0.809282 deg/s, posRepo size: 4 2021-02-18T01:36:46.165Z,1613612206.165 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items 2021-02-18T01:36:47.386Z,1613612207.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:36:48.168Z,1613612208.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:36:48.574Z,1613612208.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:49.400Z,1613612209.400 [Micromodem](INFO): Nmea in: $SNTTA,0.015670,,,,013648.21*4E 2021-02-18T01:36:49.424Z,1613612209.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.180000 m, bearing: 231.357686 deg, deltaT: 4.425788 s, approachRate: 0.501606 m/s, LOS rate: 5.457225 deg/s, posRepo size: 4 2021-02-18T01:36:51.830Z,1613612211.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:36:52.614Z,1613612212.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:36:53.019Z,1613612213.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:53.845Z,1613612213.845 [Micromodem](INFO): Nmea in: $SNTTA,0.017150,,0.037150,,013652.66*5F 2021-02-18T01:36:53.869Z,1613612213.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.860001 m, bearing: 227.140919 deg, deltaT: 4.461051 s, approachRate: 0.376593 m/s, LOS rate: -0.945241 deg/s, posRepo size: 4 2021-02-18T01:36:56.272Z,1613612216.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:36:57.091Z,1613612217.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:36:57.466Z,1613612217.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:36:58.297Z,1613612218.297 [Micromodem](INFO): Nmea in: $SNTTA,0.018691,,,,013657.14*44 2021-02-18T01:36:58.346Z,1613612218.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.199999 m, bearing: 230.924488 deg, deltaT: 4.433685 s, approachRate: 0.527777 m/s, LOS rate: 0.853369 deg/s, posRepo size: 4 2021-02-18T01:37:00.736Z,1613612220.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:01.529Z,1613612221.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:01.912Z,1613612221.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:37:02.740Z,1613612222.740 [Micromodem](INFO): Nmea in: $SNTTA,0.020509,,,,013701.57*48 2021-02-18T01:37:02.785Z,1613612222.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.900002 m, bearing: 238.264620 deg, deltaT: 4.465422 s, approachRate: 0.604647 m/s, LOS rate: 1.643771 deg/s, posRepo size: 4 2021-02-18T01:37:05.174Z,1613612225.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:05.954Z,1613612225.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:06.369Z,1613612226.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:37:07.185Z,1613612227.185 [Micromodem](INFO): Nmea in: $SNTTA,0.022339,,,,013706.00*4A 2021-02-18T01:37:07.233Z,1613612227.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.020000 m, bearing: 197.012299 deg, deltaT: 4.422458 s, approachRate: 0.705490 m/s, LOS rate: -9.327917 deg/s, posRepo size: 4 2021-02-18T01:37:09.622Z,1613612229.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:10.413Z,1613612230.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:10.831Z,1613612230.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:37:11.624Z,1613612231.624 [Micromodem](INFO): Nmea in: $SNTTA,0.024107,,,,013710.46*46 2021-02-18T01:37:11.668Z,1613612231.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.239998 m, bearing: 189.181418 deg, deltaT: 4.455514 s, approachRate: 0.498258 m/s, LOS rate: -1.757571 deg/s, posRepo size: 4 2021-02-18T01:37:14.095Z,1613612234.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:14.832Z,1613612234.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:15.251Z,1613612235.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:37:16.083Z,1613612236.083 [Micromodem](INFO): Nmea in: $SNTTA,0.026215,,,,013714.88*42 2021-02-18T01:37:16.125Z,1613612236.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.900002 m, bearing: 199.406020 deg, deltaT: 4.464125 s, approachRate: 0.819870 m/s, LOS rate: 2.290393 deg/s, posRepo size: 4 2021-02-18T01:37:18.512Z,1613612238.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:19.276Z,1613612239.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:19.684Z,1613612239.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:37:20.536Z,1613612240.536 [Micromodem](INFO): Nmea in: $SNTTA,0.028163,,,,013719.32*42 2021-02-18T01:37:20.585Z,1613612240.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.660000 m, bearing: 247.637907 deg, deltaT: 4.431785 s, approachRate: 0.622774 m/s, LOS rate: 10.883174 deg/s, posRepo size: 4 2021-02-18T01:37:22.928Z,1613612242.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:23.720Z,1613612243.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:24.138Z,1613612244.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:37:24.956Z,1613612244.956 [Micromodem](INFO): Nmea in: $SNTTA,0.030212,,,,013723.76*47 2021-02-18T01:37:24.978Z,1613612244.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.780003 m, bearing: 198.066634 deg, deltaT: 4.435240 s, approachRate: 0.703457 m/s, LOS rate: -11.176683 deg/s, posRepo size: 4 2021-02-18T01:37:27.386Z,1613612247.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:28.169Z,1613612248.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:28.570Z,1613612248.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:37:29.400Z,1613612249.400 [Micromodem](INFO): Nmea in: $SNTTA,0.032268,,,,013728.21*41 2021-02-18T01:37:29.432Z,1613612249.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.839996 m, bearing: 197.606170 deg, deltaT: 4.427288 s, approachRate: 0.691167 m/s, LOS rate: -0.104006 deg/s, posRepo size: 4 2021-02-18T01:37:31.826Z,1613612251.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:32.616Z,1613612252.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:33.013Z,1613612253.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:37:33.852Z,1613612253.852 [Micromodem](INFO): Nmea in: $SNTTA,0.034490,,,,013732.66*4E 2021-02-18T01:37:33.876Z,1613612253.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.139999 m, bearing: 256.203647 deg, deltaT: 4.450811 s, approachRate: 0.741439 m/s, LOS rate: 13.165573 deg/s, posRepo size: 4 2021-02-18T01:37:36.273Z,1613612256.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:37.081Z,1613612257.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:37.458Z,1613612257.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:37:38.292Z,1613612258.292 [Micromodem](INFO): Nmea in: $SNTTA,0.036602,,,,013737.13*42 2021-02-18T01:37:38.336Z,1613612258.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.379993 m, bearing: 197.465536 deg, deltaT: 4.501140 s, approachRate: 0.719816 m/s, LOS rate: -13.049607 deg/s, posRepo size: 4 2021-02-18T01:37:40.732Z,1613612260.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:41.527Z,1613612261.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:41.902Z,1613612261.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:37:42.736Z,1613612262.736 [Micromodem](INFO): Nmea in: $SNTTA,0.038701,,,,013741.57*4F 2021-02-18T01:37:42.781Z,1613612262.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.139999 m, bearing: 251.769242 deg, deltaT: 4.391305 s, approachRate: 0.628516 m/s, LOS rate: 12.366189 deg/s, posRepo size: 4 2021-02-18T01:37:45.173Z,1613612265.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:45.942Z,1613612265.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:46.345Z,1613612266.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:37:47.181Z,1613612267.181 [Micromodem](INFO): Nmea in: $SNTTA,0.041068,,,,013745.99*4F 2021-02-18T01:37:47.221Z,1613612267.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.920002 m, bearing: 208.368868 deg, deltaT: 4.458636 s, approachRate: 0.847794 m/s, LOS rate: -9.734002 deg/s, posRepo size: 4 2021-02-18T01:37:49.625Z,1613612269.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:50.389Z,1613612270.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:50.795Z,1613612270.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:37:51.616Z,1613612271.616 [Micromodem](INFO): Nmea in: $SNTTA,0.043188,,,,013750.43*41 2021-02-18T01:37:51.655Z,1613612271.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.040001 m, bearing: 207.547551 deg, deltaT: 4.438892 s, approachRate: 0.702878 m/s, LOS rate: -0.185027 deg/s, posRepo size: 4 2021-02-18T01:37:54.040Z,1613612274.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:54.828Z,1613612274.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:55.245Z,1613612275.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:37:56.064Z,1613612276.064 [Micromodem](INFO): Nmea in: $SNTTA,0.045421,,,0.067345,013754.87*50 2021-02-18T01:37:56.137Z,1613612276.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.400009 m, bearing: 243.525996 deg, deltaT: 4.449535 s, approachRate: 0.755137 m/s, LOS rate: 8.085889 deg/s, posRepo size: 4 2021-02-18T01:37:58.532Z,1613612278.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:37:59.272Z,1613612279.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:37:59.677Z,1613612279.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:00.525Z,1613612280.525 [Micromodem](INFO): Nmea in: $SNTTA,0.047488,,,,013759.32*4F 2021-02-18T01:38:00.561Z,1613612280.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.400002 m, bearing: 203.525116 deg, deltaT: 4.447645 s, approachRate: 0.674513 m/s, LOS rate: -8.993722 deg/s, posRepo size: 4 2021-02-18T01:38:02.923Z,1613612282.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:38:03.721Z,1613612283.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:38:04.123Z,1613612284.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:04.948Z,1613612284.948 [Micromodem](INFO): Nmea in: $SNTTA,0.049718,,,,013803.77*4A 2021-02-18T01:38:04.984Z,1613612284.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.820000 m, bearing: 204.270386 deg, deltaT: 4.445924 s, approachRate: 0.769243 m/s, LOS rate: 0.167630 deg/s, posRepo size: 4 2021-02-18T01:38:07.384Z,1613612287.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:38:08.160Z,1613612288.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:38:08.571Z,1613612288.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:09.396Z,1613612289.396 [Micromodem](INFO): Nmea in: $SNTTA,0.051812,,0.065076,,013808.20*53 2021-02-18T01:38:09.420Z,1613612289.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.119995 m, bearing: 214.391455 deg, deltaT: 4.424725 s, approachRate: 0.745808 m/s, LOS rate: 2.287390 deg/s, posRepo size: 4 2021-02-18T01:38:11.828Z,1613612291.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:38:12.604Z,1613612292.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:38:13.017Z,1613612293.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:13.832Z,1613612293.832 [Micromodem](INFO): Nmea in: $SNTTA,0.054179,,,,013812.65*44 2021-02-18T01:38:13.873Z,1613612293.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.480003 m, bearing: 214.340161 deg, deltaT: 4.483071 s, approachRate: 0.749488 m/s, LOS rate: -0.011442 deg/s, posRepo size: 4 2021-02-18T01:38:16.275Z,1613612296.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:38:17.052Z,1613612297.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:38:17.472Z,1613612297.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:18.280Z,1613612298.280 [Micromodem](INFO): Nmea in: $SNTTA,0.056250,,,,013817.09*41 2021-02-18T01:38:18.304Z,1613612298.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.599998 m, bearing: 216.034717 deg, deltaT: 4.405693 s, approachRate: 0.708174 m/s, LOS rate: 0.384629 deg/s, posRepo size: 4 2021-02-18T01:38:20.735Z,1613612300.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:38:21.525Z,1613612301.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:38:21.923Z,1613612301.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:22.740Z,1613612302.740 [Micromodem](INFO): Nmea in: $SNTTA,0.058620,,0.076333,,013821.57*5E 2021-02-18T01:38:22.785Z,1613612302.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.140007 m, bearing: 222.110293 deg, deltaT: 4.462671 s, approachRate: 0.793249 m/s, LOS rate: 1.361421 deg/s, posRepo size: 4 2021-02-18T01:38:25.172Z,1613612305.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:38:25.939Z,1613612305.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:38:26.347Z,1613612306.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:27.168Z,1613612307.168 [Micromodem](INFO): Nmea in: $SNTTA,0.060996,,,,013825.98*4C 2021-02-18T01:38:27.213Z,1613612307.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.620003 m, bearing: 218.578307 deg, deltaT: 4.417567 s, approachRate: 0.787763 m/s, LOS rate: -0.799532 deg/s, posRepo size: 4 2021-02-18T01:38:29.613Z,1613612309.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:38:30.385Z,1613612310.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:38:30.786Z,1613612310.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:31.628Z,1613612311.628 [Micromodem](INFO): Nmea in: $SNTTA,0.063154,,,,013830.43*4B 2021-02-18T01:38:31.652Z,1613612311.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.980003 m, bearing: 222.295897 deg, deltaT: 4.519334 s, approachRate: 0.743473 m/s, LOS rate: 0.822597 deg/s, posRepo size: 4 2021-02-18T01:38:34.052Z,1613612314.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:38:34.826Z,1613612314.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:38:35.248Z,1613612315.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:36.060Z,1613612316.060 [Micromodem](INFO): Nmea in: $SNTTA,0.065462,,,,013834.87*41 2021-02-18T01:38:36.134Z,1613612316.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.520004 m, bearing: 257.303826 deg, deltaT: 4.398196 s, approachRate: 0.804876 m/s, LOS rate: 7.959611 deg/s, posRepo size: 4 2021-02-18T01:38:38.533Z,1613612318.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:38:39.274Z,1613612319.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:38:39.691Z,1613612319.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:40.536Z,1613612320.536 [Micromodem](INFO): Nmea in: $SNTTA,0.067611,,,,013839.32*46 2021-02-18T01:38:40.576Z,1613612320.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.639999 m, bearing: 210.493385 deg, deltaT: 4.442790 s, approachRate: 0.702260 m/s, LOS rate: -10.536271 deg/s, posRepo size: 4 2021-02-18T01:38:42.931Z,1613612322.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:38:43.712Z,1613612323.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:38:44.121Z,1613612324.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:44.940Z,1613612324.940 [Micromodem](INFO): Nmea in: $SNTTA,0.069953,,,,013843.76*4C 2021-02-18T01:38:44.972Z,1613612324.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.060005 m, bearing: 211.997556 deg, deltaT: 4.433130 s, approachRate: 0.771465 m/s, LOS rate: 0.339302 deg/s, posRepo size: 4 2021-02-18T01:38:47.373Z,1613612327.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:38:48.156Z,1613612328.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:38:48.563Z,1613612328.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:49.393Z,1613612329.393 [Micromodem](INFO): Nmea in: $SNTTA,0.072225,,0.081149,,013848.20*5F 2021-02-18T01:38:49.430Z,1613612329.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.479996 m, bearing: 220.047440 deg, deltaT: 4.443640 s, approachRate: 0.769637 m/s, LOS rate: 1.811552 deg/s, posRepo size: 4 2021-02-18T01:38:51.818Z,1613612331.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:38:52.600Z,1613612332.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:38:53.006Z,1613612333.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:53.836Z,1613612333.836 [Micromodem](INFO): Nmea in: $SNTTA,0.074432,,,,013852.64*49 2021-02-18T01:38:53.866Z,1613612333.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.840004 m, bearing: 217.293002 deg, deltaT: 4.428281 s, approachRate: 0.758761 m/s, LOS rate: -0.622011 deg/s, posRepo size: 4 2021-02-18T01:38:56.267Z,1613612336.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:38:57.052Z,1613612337.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:38:57.471Z,1613612337.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:38:58.276Z,1613612338.276 [Micromodem](INFO): Nmea in: $SNTTA,0.076744,,,,013857.10*4F 2021-02-18T01:38:58.314Z,1613612338.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.320000 m, bearing: 222.074162 deg, deltaT: 4.472275 s, approachRate: 0.778126 m/s, LOS rate: 1.069067 deg/s, posRepo size: 4 2021-02-18T01:39:00.712Z,1613612340.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:01.525Z,1613612341.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:39:01.894Z,1613612341.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:39:02.733Z,1613612342.733 [Micromodem](INFO): Nmea in: $SNTTA,0.078991,,,,013901.57*46 2021-02-18T01:39:02.789Z,1613612342.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.620003 m, bearing: 219.930261 deg, deltaT: 4.420923 s, approachRate: 0.746451 m/s, LOS rate: -0.484944 deg/s, posRepo size: 4 2021-02-18T01:39:05.150Z,1613612345.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:05.939Z,1613612345.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:39:06.338Z,1613612346.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:39:07.176Z,1613612347.176 [Micromodem](INFO): Nmea in: $SNTTA,0.081184,,,,013906.00*49 2021-02-18T01:39:07.226Z,1613612347.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.040009 m, bearing: 223.873507 deg, deltaT: 4.441325 s, approachRate: 0.770042 m/s, LOS rate: 0.887853 deg/s, posRepo size: 4 2021-02-18T01:39:09.618Z,1613612349.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:10.384Z,1613612350.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:39:10.782Z,1613612350.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:39:11.612Z,1613612351.612 [Micromodem](INFO): Nmea in: $SNTTA,0.083519,,,0.085993,013910.43*5B 2021-02-18T01:39:11.656Z,1613612351.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.459999 m, bearing: 222.458483 deg, deltaT: 4.478719 s, approachRate: 0.763609 m/s, LOS rate: -0.315944 deg/s, posRepo size: 4 2021-02-18T01:39:14.044Z,1613612354.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:14.821Z,1613612354.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:39:15.226Z,1613612355.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:39:16.060Z,1613612356.060 [Micromodem](INFO): Nmea in: $SNTTA,0.085659,,,,013914.87*46 2021-02-18T01:39:16.130Z,1613612356.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.820007 m, bearing: 239.507058 deg, deltaT: 4.426615 s, approachRate: 0.759047 m/s, LOS rate: 3.851380 deg/s, posRepo size: 4 2021-02-18T01:39:18.541Z,1613612358.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:19.264Z,1613612359.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:39:19.674Z,1613612359.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:39:20.502Z,1613612360.502 [Micromodem](INFO): Nmea in: $SNTTA,0.087885,,,,013919.31*4B 2021-02-18T01:39:21.322Z,1613612361.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:22.905Z,1613612362.905 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:39:24.146Z,1613612364.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:24.920Z,1613612364.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:39:25.326Z,1613612365.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:39:26.152Z,1613612366.152 [Micromodem](INFO): Nmea in: $SNTTA,0.090928,,,,013924.96*48 2021-02-18T01:39:26.203Z,1613612366.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.559998 m, bearing: 217.082263 deg, deltaT: 10.101444 s, approachRate: 0.766226 m/s, LOS rate: -2.219959 deg/s, posRepo size: 4 2021-02-18T01:39:28.604Z,1613612368.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:29.370Z,1613612369.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:39:29.777Z,1613612369.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:39:30.596Z,1613612370.596 [Micromodem](INFO): Nmea in: $SNTTA,0.093285,,,,013929.41*40 2021-02-18T01:39:30.636Z,1613612370.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.220001 m, bearing: 229.606071 deg, deltaT: 4.452859 s, approachRate: 0.821945 m/s, LOS rate: 2.812532 deg/s, posRepo size: 4 2021-02-18T01:39:33.020Z,1613612373.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:33.808Z,1613612373.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:39:34.225Z,1613612374.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:39:35.036Z,1613612375.036 [Micromodem](INFO): Nmea in: $SNTTA,0.095707,,,,013933.85*4A 2021-02-18T01:39:35.113Z,1613612375.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.639999 m, bearing: 223.878028 deg, deltaT: 4.435743 s, approachRate: 0.771009 m/s, LOS rate: -1.291338 deg/s, posRepo size: 4 2021-02-18T01:39:37.519Z,1613612377.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:38.252Z,1613612378.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:39:38.658Z,1613612378.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:39:39.489Z,1613612379.489 [Micromodem](INFO): Nmea in: $SNTTA,0.097822,,,,013938.30*45 2021-02-18T01:39:39.552Z,1613612379.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.940002 m, bearing: 225.356505 deg, deltaT: 4.474405 s, approachRate: 0.737529 m/s, LOS rate: 0.330430 deg/s, posRepo size: 4 2021-02-18T01:39:41.904Z,1613612381.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:42.696Z,1613612382.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:39:43.112Z,1613612383.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:39:43.931Z,1613612383.931 [Micromodem](INFO): Nmea in: $SNTTA,0.100279,,,,013942.74*43 2021-02-18T01:39:43.950Z,1613612383.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.539993 m, bearing: 226.991529 deg, deltaT: 4.415990 s, approachRate: 0.815217 m/s, LOS rate: 0.370251 deg/s, posRepo size: 4 2021-02-18T01:39:43.950Z,1613612383.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.54 m. Resuming terminal guidance. 2021-02-18T01:39:43.950Z,1613612383.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T01:39:46.357Z,1613612386.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:47.140Z,1613612387.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:39:47.546Z,1613612387.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:39:48.372Z,1613612388.372 [Micromodem](INFO): Nmea in: $SNTTA,0.102546,,,,013947.18*45 2021-02-18T01:39:48.396Z,1613612388.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.020004 m, bearing: 224.187094 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T01:39:48.396Z,1613612388.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 224.187094deg and heading rate command to 0 deg/s. 2021-02-18T01:39:50.801Z,1613612390.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:51.584Z,1613612391.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:39:51.990Z,1613612391.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:39:52.819Z,1613612392.819 [Micromodem](INFO): Nmea in: $SNTTA,0.104689,,,,013951.63*48 2021-02-18T01:39:52.843Z,1613612392.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.200012 m, bearing: 220.749993 deg, deltaT: 4.459196 s, approachRate: 0.713135 m/s, LOS rate: -0.770790 deg/s, posRepo size: 2 2021-02-18T01:39:52.845Z,1613612392.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.200012 m, bearing: 220.749993 deg, approachRate: 0.713135 m/s, LOS rate: -0.770790 deg/s, cmd update: -3.083158 deg/s, cmd heading: 224.187094 deg, new cmd heading: 224.187094 deg. 2021-02-18T01:39:55.260Z,1613612395.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:39:56.030Z,1613612396.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:39:56.434Z,1613612396.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:39:57.256Z,1613612397.256 [Micromodem](INFO): Nmea in: $SNTTA,0.106941,,,,013956.07*44 2021-02-18T01:39:57.302Z,1613612397.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.559998 m, bearing: 199.028625 deg, deltaT: 4.463214 s, approachRate: 0.752817 m/s, LOS rate: -4.866755 deg/s, posRepo size: 3 2021-02-18T01:39:57.304Z,1613612397.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.559998 m, bearing: 199.028625 deg, approachRate: 0.752817 m/s, LOS rate: -4.866755 deg/s, cmd update: -12.000000 deg/s, cmd heading: 210.437991 deg, new cmd heading: 209.159643 deg. 2021-02-18T01:39:59.697Z,1613612399.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:00.476Z,1613612400.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:00.878Z,1613612400.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:01.720Z,1613612401.720 [Micromodem](INFO): Nmea in: $SNTTA,0.109129,,,,014000.52*40 2021-02-18T01:40:01.749Z,1613612401.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.860001 m, bearing: 176.694016 deg, deltaT: 4.482220 s, approachRate: 0.736243 m/s, LOS rate: -4.982935 deg/s, posRepo size: 4 2021-02-18T01:40:01.750Z,1613612401.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.860001 m, bearing: 176.694016 deg, approachRate: 0.736243 m/s, LOS rate: -4.982935 deg/s, cmd update: -12.000000 deg/s, cmd heading: 156.602918 deg, new cmd heading: 152.104874 deg. 2021-02-18T01:40:04.151Z,1613612404.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:04.933Z,1613612404.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:05.334Z,1613612405.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:06.156Z,1613612406.156 [Micromodem](INFO): Nmea in: $SNTTA,0.111012,,,,014004.98*42 2021-02-18T01:40:06.180Z,1613612406.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.860001 m, bearing: 191.571916 deg, deltaT: 4.403097 s, approachRate: 0.000000 m/s, LOS rate: 3.378963 deg/s, posRepo size: 4 2021-02-18T01:40:06.182Z,1613612406.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.860001 m, bearing: 191.571916 deg, approachRate: 0.000000 m/s, LOS rate: 3.378963 deg/s, cmd update: 12.000000 deg/s, cmd heading: 103.766064 deg, new cmd heading: 98.928636 deg. 2021-02-18T01:40:08.584Z,1613612408.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:09.360Z,1613612409.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:09.773Z,1613612409.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:10.593Z,1613612410.593 [Micromodem](INFO): Nmea in: $SNTTA,0.112362,,,,014009.40*4D 2021-02-18T01:40:10.642Z,1613612410.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.660004 m, bearing: 157.902007 deg, deltaT: 4.438654 s, approachRate: 1.081410 m/s, LOS rate: -7.585612 deg/s, posRepo size: 4 2021-02-18T01:40:10.644Z,1613612410.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.660004 m, bearing: 157.902007 deg, approachRate: 1.081410 m/s, LOS rate: -7.585612 deg/s, cmd update: -12.000000 deg/s, cmd heading: 157.029722 deg, new cmd heading: 162.145814 deg. 2021-02-18T01:40:13.022Z,1613612413.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:13.806Z,1613612413.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:14.215Z,1613612414.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:15.036Z,1613612415.036 [Micromodem](INFO): Nmea in: $SNTTA,0.113044,,,,014013.85*49 2021-02-18T01:40:15.093Z,1613612415.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.660004 m, bearing: 98.508082 deg, deltaT: 4.447946 s, approachRate: 0.000000 m/s, LOS rate: -13.353113 deg/s, posRepo size: 4 2021-02-18T01:40:15.099Z,1613612415.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.353113 deg/s. Setting heading cmd to target bearing of 98.508082deg and heading rate command to 0 deg/s. 2021-02-18T01:40:17.498Z,1613612417.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:18.253Z,1613612418.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:18.667Z,1613612418.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:19.496Z,1613612419.496 [Micromodem](INFO): Nmea in: $SNTTA,0.113371,,,,014018.30*49 2021-02-18T01:40:19.545Z,1613612419.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.219986 m, bearing: 169.440970 deg, deltaT: 4.521050 s, approachRate: 0.345049 m/s, LOS rate: 15.689472 deg/s, posRepo size: 4 2021-02-18T01:40:19.546Z,1613612419.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.689472 deg/s. Setting heading cmd to target bearing of 169.440970deg and heading rate command to 0 deg/s. 2021-02-18T01:40:21.918Z,1613612421.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:22.696Z,1613612422.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:23.113Z,1613612423.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:23.924Z,1613612423.924 [Micromodem](INFO): Nmea in: $SNTTA,0.112742,,,,014022.74*45 2021-02-18T01:40:23.962Z,1613612423.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.019989 m, bearing: 61.438317 deg, deltaT: 4.374799 s, approachRate: -0.274298 m/s, LOS rate: -24.687454 deg/s, posRepo size: 4 2021-02-18T01:40:23.962Z,1613612423.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -24.687454 deg/s. Setting heading cmd to target bearing of 61.438317deg and heading rate command to 0 deg/s. 2021-02-18T01:40:26.371Z,1613612426.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:27.146Z,1613612427.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:27.563Z,1613612427.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:28.372Z,1613612428.372 [Micromodem](INFO): Nmea in: $SNTTA,0.111806,,,,014027.19*47 2021-02-18T01:40:28.413Z,1613612428.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.019989 m, bearing: 60.376284 deg, deltaT: 4.430385 s, approachRate: 0.000000 m/s, LOS rate: -0.239716 deg/s, posRepo size: 4 2021-02-18T01:40:28.414Z,1613612428.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.019989 m, bearing: 60.376284 deg, approachRate: 0.000000 m/s, LOS rate: -0.239716 deg/s, cmd update: -0.958863 deg/s, cmd heading: 61.438317 deg, new cmd heading: 61.438317 deg. 2021-02-18T01:40:30.810Z,1613612430.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:31.589Z,1613612431.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:31.998Z,1613612431.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:32.831Z,1613612432.831 [Micromodem](INFO): Nmea in: $SNTTA,0.111547,,,,014031.63*45 2021-02-18T01:40:32.865Z,1613612432.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.019989 m, bearing: 91.010276 deg, deltaT: 4.449248 s, approachRate: 0.000000 m/s, LOS rate: 6.885207 deg/s, posRepo size: 4 2021-02-18T01:40:32.868Z,1613612432.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.019989 m, bearing: 91.010276 deg, approachRate: 0.000000 m/s, LOS rate: 6.885207 deg/s, cmd update: 12.000000 deg/s, cmd heading: 57.167610 deg, new cmd heading: 56.759075 deg. 2021-02-18T01:40:35.249Z,1613612435.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:36.034Z,1613612436.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:36.451Z,1613612436.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:37.266Z,1613612437.266 [Micromodem](INFO): Nmea in: $SNTTA,0.110884,,,,014036.08*4C 2021-02-18T01:40:37.313Z,1613612437.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.259995 m, bearing: 61.658071 deg, deltaT: 4.458593 s, approachRate: -0.619028 m/s, LOS rate: -6.583289 deg/s, posRepo size: 4 2021-02-18T01:40:37.315Z,1613612437.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.259995 m, bearing: 61.658071 deg, approachRate: -0.619028 m/s, LOS rate: -6.583289 deg/s, cmd update: -12.000000 deg/s, cmd heading: 110.671124 deg, new cmd heading: 115.655336 deg. 2021-02-18T01:40:39.710Z,1613612439.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:40.485Z,1613612440.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:40.881Z,1613612440.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:41.708Z,1613612441.708 [Micromodem](INFO): Nmea in: $SNTTA,0.109977,,,,014040.53*46 2021-02-18T01:40:41.752Z,1613612441.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.259995 m, bearing: 53.620499 deg, deltaT: 4.451133 s, approachRate: 0.000000 m/s, LOS rate: -1.805736 deg/s, posRepo size: 4 2021-02-18T01:40:41.754Z,1613612441.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.259995 m, bearing: 53.620499 deg, approachRate: 0.000000 m/s, LOS rate: -1.805736 deg/s, cmd update: -7.222945 deg/s, cmd heading: 57.384019 deg, new cmd heading: 52.657230 deg. 2021-02-18T01:40:44.151Z,1613612444.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:44.918Z,1613612444.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:45.322Z,1613612445.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:46.148Z,1613612446.148 [Micromodem](INFO): Nmea in: $SNTTA,0.108579,,,,014044.96*48 2021-02-18T01:40:46.200Z,1613612446.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.720001 m, bearing: 56.124084 deg, deltaT: 4.426998 s, approachRate: -0.799637 m/s, LOS rate: 0.565527 deg/s, posRepo size: 4 2021-02-18T01:40:46.202Z,1613612446.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.720001 m, bearing: 56.124084 deg, approachRate: -0.799637 m/s, LOS rate: 0.565527 deg/s, cmd update: 2.262107 deg/s, cmd heading: 25.332281 deg, new cmd heading: 22.297409 deg. 2021-02-18T01:40:48.584Z,1613612448.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:49.360Z,1613612449.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:49.767Z,1613612449.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:50.588Z,1613612450.588 [Micromodem](INFO): Nmea in: $SNTTA,0.107104,,,,014049.40*4F 2021-02-18T01:40:50.626Z,1613612450.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.379990 m, bearing: 50.527902 deg, deltaT: 4.437067 s, approachRate: -0.527378 m/s, LOS rate: -1.261235 deg/s, posRepo size: 4 2021-02-18T01:40:50.628Z,1613612450.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.379990 m, bearing: 50.527902 deg, approachRate: -0.527378 m/s, LOS rate: -1.261235 deg/s, cmd update: -5.044938 deg/s, cmd heading: 35.369533 deg, new cmd heading: 36.305116 deg. 2021-02-18T01:40:53.023Z,1613612453.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:53.806Z,1613612453.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:54.217Z,1613612454.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:55.032Z,1613612455.032 [Micromodem](INFO): Nmea in: $SNTTA,0.105111,,,,014053.85*4B 2021-02-18T01:40:55.114Z,1613612455.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.560013 m, bearing: 52.414370 deg, deltaT: 4.442353 s, approachRate: -0.634794 m/s, LOS rate: 0.424655 deg/s, posRepo size: 4 2021-02-18T01:40:55.121Z,1613612455.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.560013 m, bearing: 52.414370 deg, approachRate: -0.634794 m/s, LOS rate: 0.424655 deg/s, cmd update: 1.698620 deg/s, cmd heading: 12.958338 deg, new cmd heading: 10.644518 deg. 2021-02-18T01:40:57.481Z,1613612457.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:40:58.249Z,1613612458.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:40:58.669Z,1613612458.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:40:59.492Z,1613612459.492 [Micromodem](INFO): Nmea in: $SNTTA,0.103091,,,,014058.29*49 2021-02-18T01:40:59.548Z,1613612459.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.440002 m, bearing: 50.313106 deg, deltaT: 4.480805 s, approachRate: -0.696306 m/s, LOS rate: -0.468948 deg/s, posRepo size: 4 2021-02-18T01:40:59.550Z,1613612459.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.440002 m, bearing: 50.313106 deg, approachRate: -0.696306 m/s, LOS rate: -0.468948 deg/s, cmd update: -1.875791 deg/s, cmd heading: 20.555675 deg, new cmd heading: 21.262090 deg. 2021-02-18T01:41:01.898Z,1613612461.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:41:02.697Z,1613612462.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:41:03.118Z,1613612463.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:41:03.943Z,1613612463.943 [Micromodem](INFO): Nmea in: $SNTTA,0.101250,,,,014102.74*42 2021-02-18T01:41:03.962Z,1613612463.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.620010 m, bearing: 48.427551 deg, deltaT: 4.426983 s, approachRate: -0.637001 m/s, LOS rate: -0.425923 deg/s, posRepo size: 4 2021-02-18T01:41:03.964Z,1613612463.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.620010 m, bearing: 48.427551 deg, approachRate: -0.637001 m/s, LOS rate: -0.425923 deg/s, cmd update: -1.703694 deg/s, cmd heading: 12.241613 deg, new cmd heading: 11.487430 deg. 2021-02-18T01:41:06.386Z,1613612466.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:41:07.156Z,1613612467.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:41:07.542Z,1613612467.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:41:08.376Z,1613612468.376 [Micromodem](INFO): Nmea in: $SNTTA,0.099445,,,,014107.20*44 2021-02-18T01:41:08.424Z,1613612468.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.979996 m, bearing: 50.955431 deg, deltaT: 4.438595 s, approachRate: -0.594786 m/s, LOS rate: 0.569523 deg/s, posRepo size: 4 2021-02-18T01:41:08.426Z,1613612468.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.979996 m, bearing: 50.955431 deg, approachRate: -0.594786 m/s, LOS rate: 0.569523 deg/s, cmd update: 2.278090 deg/s, cmd heading: 4.708791 deg, new cmd heading: 3.996265 deg. 2021-02-18T01:41:10.819Z,1613612470.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:41:11.585Z,1613612471.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:41:11.989Z,1613612471.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:41:12.827Z,1613612472.827 [Micromodem](INFO): Nmea in: $SNTTA,0.098049,,,,014111.63*4D 2021-02-18T01:41:12.852Z,1613612472.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.880005 m, bearing: 56.593810 deg, deltaT: 4.448436 s, approachRate: -0.472074 m/s, LOS rate: 1.267497 deg/s, posRepo size: 4 2021-02-18T01:41:12.853Z,1613612472.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.880005 m, bearing: 56.593810 deg, approachRate: -0.472074 m/s, LOS rate: 1.267497 deg/s, cmd update: 5.069988 deg/s, cmd heading: 14.878679 deg, new cmd heading: 15.802654 deg. 2021-02-18T01:41:15.269Z,1613612475.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:41:16.045Z,1613612476.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:41:16.444Z,1613612476.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:41:17.264Z,1613612477.264 [Micromodem](INFO): Nmea in: $SNTTA,0.096540,,,,014116.09*44 2021-02-18T01:41:17.302Z,1613612477.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.660004 m, bearing: 52.307112 deg, deltaT: 4.444196 s, approachRate: -0.499528 m/s, LOS rate: -0.964561 deg/s, posRepo size: 4 2021-02-18T01:41:17.304Z,1613612477.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.660004 m, bearing: 52.307112 deg, approachRate: -0.499528 m/s, LOS rate: -0.964561 deg/s, cmd update: -3.858244 deg/s, cmd heading: 37.408610 deg, new cmd heading: 39.501760 deg. 2021-02-18T01:41:19.693Z,1613612479.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:41:20.472Z,1613612480.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:41:20.879Z,1613612480.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:41:21.708Z,1613612481.708 [Micromodem](INFO): Nmea in: $SNTTA,0.094904,,,,014120.52*41 2021-02-18T01:41:21.738Z,1613612481.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.139999 m, bearing: 55.132426 deg, deltaT: 4.419869 s, approachRate: -0.570154 m/s, LOS rate: 0.639230 deg/s, posRepo size: 4 2021-02-18T01:41:21.740Z,1613612481.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.139999 m, bearing: 55.132426 deg, approachRate: -0.570154 m/s, LOS rate: 0.639230 deg/s, cmd update: 2.556922 deg/s, cmd heading: 20.338608 deg, new cmd heading: 18.701254 deg. 2021-02-18T01:41:24.142Z,1613612484.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:41:24.917Z,1613612484.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:41:25.321Z,1613612485.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:41:26.155Z,1613612486.155 [Micromodem](INFO): Nmea in: $SNTTA,0.092922,,,,014124.96*4F 2021-02-18T01:41:26.179Z,1613612486.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.199997 m, bearing: 53.263629 deg, deltaT: 4.445453 s, approachRate: -0.661350 m/s, LOS rate: -0.420384 deg/s, posRepo size: 4 2021-02-18T01:41:26.181Z,1613612486.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.199997 m, bearing: 53.263629 deg, approachRate: -0.661350 m/s, LOS rate: -0.420384 deg/s, cmd update: -1.681536 deg/s, cmd heading: 31.705288 deg, new cmd heading: 32.778367 deg. 2021-02-18T01:41:28.586Z,1613612488.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:41:29.357Z,1613612489.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:41:29.770Z,1613612489.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:41:30.584Z,1613612490.584 [Micromodem](INFO): Nmea in: $SNTTA,0.091093,,,,014129.40*49 2021-02-18T01:41:30.623Z,1613612490.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.380005 m, bearing: 55.729354 deg, deltaT: 4.503856 s, approachRate: -0.626128 m/s, LOS rate: 0.547470 deg/s, posRepo size: 4 2021-02-18T01:41:30.625Z,1613612490.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.380005 m, bearing: 55.729354 deg, approachRate: -0.626128 m/s, LOS rate: 0.547470 deg/s, cmd update: 2.189880 deg/s, cmd heading: 24.198913 deg, new cmd heading: 23.526260 deg. 2021-02-18T01:41:33.023Z,1613612493.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:41:33.800Z,1613612493.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:41:34.205Z,1613612494.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:41:35.032Z,1613612495.032 [Micromodem](INFO): Nmea in: $SNTTA,0.089196,,,,014133.84*47 2021-02-18T01:41:35.079Z,1613612495.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.560013 m, bearing: 55.898145 deg, deltaT: 4.394155 s, approachRate: -0.641760 m/s, LOS rate: 0.038413 deg/s, posRepo size: 4 2021-02-18T01:41:35.090Z,1613612495.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.560013 m, bearing: 55.898145 deg, approachRate: -0.641760 m/s, LOS rate: 0.038413 deg/s, cmd update: 0.153651 deg/s, cmd heading: 33.900108 deg, new cmd heading: 34.779369 deg. 2021-02-18T01:41:37.465Z,1613612497.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:41:38.249Z,1613612498.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:41:38.653Z,1613612498.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:41:39.500Z,1613612499.500 [Micromodem](INFO): Nmea in: $SNTTA,0.087395,0.107031,,,014138.29*5E 2021-02-18T01:41:39.547Z,1613612499.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.860001 m, bearing: 58.045557 deg, deltaT: 4.480159 s, approachRate: -0.602660 m/s, LOS rate: 0.479316 deg/s, posRepo size: 4 2021-02-18T01:41:39.549Z,1613612499.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.860001 m, bearing: 58.045557 deg, approachRate: -0.602660 m/s, LOS rate: 0.479316 deg/s, cmd update: 1.917264 deg/s, cmd heading: 34.588504 deg, new cmd heading: 34.652042 deg. 2021-02-18T01:41:41.895Z,1613612501.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:41:42.688Z,1613612502.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:41:43.109Z,1613612503.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:41:43.927Z,1613612503.927 [Micromodem](INFO): Nmea in: $SNTTA,0.085321,,,,014142.73*4B 2021-02-18T01:41:43.951Z,1613612503.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.800003 m, bearing: 57.971593 deg, deltaT: 4.443601 s, approachRate: -0.688630 m/s, LOS rate: -0.016645 deg/s, posRepo size: 4 2021-02-18T01:41:43.953Z,1613612503.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.800003 m, bearing: 57.971593 deg, approachRate: -0.688630 m/s, LOS rate: -0.016645 deg/s, cmd update: -0.066580 deg/s, cmd heading: 43.107870 deg, new cmd heading: 43.824171 deg. 2021-02-18T01:41:46.369Z,1613612506.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:41:47.134Z,1613612507.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:41:47.550Z,1613612507.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:41:48.380Z,1613612508.380 [Micromodem](INFO): Nmea in: $SNTTA,0.083292,,,,014147.18*4C 2021-02-18T01:41:48.404Z,1613612508.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.739998 m, bearing: 58.929950 deg, deltaT: 4.397669 s, approachRate: -0.695824 m/s, LOS rate: 0.217924 deg/s, posRepo size: 4 2021-02-18T01:41:48.405Z,1613612508.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.739998 m, bearing: 58.929950 deg, approachRate: -0.695824 m/s, LOS rate: 0.217924 deg/s, cmd update: 0.871696 deg/s, cmd heading: 42.814809 deg, new cmd heading: 42.786527 deg. 2021-02-18T01:41:50.796Z,1613612510.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:41:51.581Z,1613612511.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:41:51.985Z,1613612511.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:41:52.812Z,1613612512.812 [Micromodem](INFO): Nmea in: $SNTTA,0.081275,,,,014151.62*4D 2021-02-18T01:41:52.847Z,1613612512.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.740005 m, bearing: 59.852149 deg, deltaT: 4.447301 s, approachRate: -0.674565 m/s, LOS rate: 0.207361 deg/s, posRepo size: 4 2021-02-18T01:41:52.849Z,1613612512.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.740005 m, bearing: 59.852149 deg, approachRate: -0.674565 m/s, LOS rate: 0.207361 deg/s, cmd update: 0.829446 deg/s, cmd heading: 46.691704 deg, new cmd heading: 47.058225 deg. 2021-02-18T01:41:55.242Z,1613612515.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:41:56.025Z,1613612516.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:41:56.431Z,1613612516.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:41:57.252Z,1613612517.252 [Micromodem](INFO): Nmea in: $SNTTA,0.079301,,,,014156.07*4C 2021-02-18T01:41:57.276Z,1613612517.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.680000 m, bearing: 60.709795 deg, deltaT: 4.443070 s, approachRate: -0.688714 m/s, LOS rate: 0.193030 deg/s, posRepo size: 4 2021-02-18T01:41:57.278Z,1613612517.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.680000 m, bearing: 60.709795 deg, approachRate: -0.688714 m/s, LOS rate: 0.193030 deg/s, cmd update: 0.772120 deg/s, cmd heading: 50.376785 deg, new cmd heading: 50.714281 deg. 2021-02-18T01:41:59.681Z,1613612519.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:00.478Z,1613612520.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:00.873Z,1613612520.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:01.700Z,1613612521.700 [Micromodem](INFO): Nmea in: $SNTTA,0.077265,,,,014200.52*41 2021-02-18T01:42:01.744Z,1613612521.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.680000 m, bearing: 60.254822 deg, deltaT: 4.448063 s, approachRate: -0.674451 m/s, LOS rate: -0.102286 deg/s, posRepo size: 4 2021-02-18T01:42:01.746Z,1613612521.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.680000 m, bearing: 60.254822 deg, approachRate: -0.674451 m/s, LOS rate: -0.102286 deg/s, cmd update: -0.409142 deg/s, cmd heading: 53.798945 deg, new cmd heading: 54.141306 deg. 2021-02-18T01:42:04.143Z,1613612524.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:05.028Z,1613612525.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:05.314Z,1613612525.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:06.544Z,1613612526.544 [Micromodem](INFO): Nmea in: $SNTTA,0.075119,,,,014205.07*4E 2021-02-18T01:42:06.592Z,1613612526.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.440002 m, bearing: 60.581702 deg, deltaT: 4.863737 s, approachRate: -0.666154 m/s, LOS rate: 0.067207 deg/s, posRepo size: 4 2021-02-18T01:42:06.594Z,1613612526.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.440002 m, bearing: 60.581702 deg, approachRate: -0.666154 m/s, LOS rate: 0.067207 deg/s, cmd update: 0.268830 deg/s, cmd heading: 51.804175 deg, new cmd heading: 51.644062 deg. 2021-02-18T01:42:08.979Z,1613612528.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:09.757Z,1613612529.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:10.162Z,1613612530.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:10.988Z,1613612530.988 [Micromodem](INFO): Nmea in: $SNTTA,0.072845,,,,014209.80*4A 2021-02-18T01:42:11.030Z,1613612531.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.079994 m, bearing: 58.718364 deg, deltaT: 4.426590 s, approachRate: -0.759051 m/s, LOS rate: -0.420942 deg/s, posRepo size: 4 2021-02-18T01:42:11.065Z,1613612531.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.079994 m, bearing: 58.718364 deg, approachRate: -0.759051 m/s, LOS rate: -0.420942 deg/s, cmd update: -1.683767 deg/s, cmd heading: 52.995349 deg, new cmd heading: 53.108924 deg. 2021-02-18T01:42:13.436Z,1613612533.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:14.205Z,1613612534.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:14.623Z,1613612534.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:15.451Z,1613612535.451 [Micromodem](INFO): Nmea in: $SNTTA,0.070819,,,,014214.25*42 2021-02-18T01:42:15.495Z,1613612535.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.080002 m, bearing: 59.837491 deg, deltaT: 4.414444 s, approachRate: -0.679586 m/s, LOS rate: 0.253515 deg/s, posRepo size: 4 2021-02-18T01:42:15.528Z,1613612535.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.080002 m, bearing: 59.837491 deg, approachRate: -0.679586 m/s, LOS rate: 0.253515 deg/s, cmd update: 1.014059 deg/s, cmd heading: 45.562413 deg, new cmd heading: 44.773873 deg. 2021-02-18T01:42:17.876Z,1613612537.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:18.645Z,1613612538.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:19.058Z,1613612539.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:19.872Z,1613612539.872 [Micromodem](INFO): Nmea in: $SNTTA,0.068587,,,,014218.69*45 2021-02-18T01:42:19.931Z,1613612539.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.660011 m, bearing: 59.965291 deg, deltaT: 4.509066 s, approachRate: -0.758470 m/s, LOS rate: 0.028343 deg/s, posRepo size: 4 2021-02-18T01:42:19.934Z,1613612539.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.660011 m, bearing: 59.965291 deg, approachRate: -0.758470 m/s, LOS rate: 0.028343 deg/s, cmd update: 0.113371 deg/s, cmd heading: 50.130758 deg, new cmd heading: 50.539806 deg. 2021-02-18T01:42:22.331Z,1613612542.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:23.112Z,1613612543.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:23.527Z,1613612543.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:24.329Z,1613612544.329 [Micromodem](INFO): Nmea in: $SNTTA,0.066484,,0.088963,,014223.15*58 2021-02-18T01:42:24.373Z,1613612544.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.540009 m, bearing: 62.124559 deg, deltaT: 4.378762 s, approachRate: -0.712531 m/s, LOS rate: 0.493123 deg/s, posRepo size: 4 2021-02-18T01:42:24.374Z,1613612544.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.540009 m, bearing: 62.124559 deg, approachRate: -0.712531 m/s, LOS rate: 0.493123 deg/s, cmd update: 1.972492 deg/s, cmd heading: 50.627646 deg, new cmd heading: 50.680108 deg. 2021-02-18T01:42:26.764Z,1613612546.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:27.539Z,1613612547.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:27.938Z,1613612547.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:28.764Z,1613612548.764 [Micromodem](INFO): Nmea in: $SNTTA,0.064349,,,,014227.58*43 2021-02-18T01:42:28.803Z,1613612548.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.299995 m, bearing: 62.530703 deg, deltaT: 4.498732 s, approachRate: -0.720206 m/s, LOS rate: 0.090280 deg/s, posRepo size: 4 2021-02-18T01:42:28.805Z,1613612548.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.299995 m, bearing: 62.530703 deg, approachRate: -0.720206 m/s, LOS rate: 0.090280 deg/s, cmd update: 0.361118 deg/s, cmd heading: 59.480689 deg, new cmd heading: 60.279584 deg. 2021-02-18T01:42:31.179Z,1613612551.179 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 6 2021-02-18T01:42:31.214Z,1613612551.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:31.978Z,1613612551.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:32.381Z,1613612552.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:33.204Z,1613612553.204 [Micromodem](INFO): Nmea in: $SNTTA,0.062212,,,,014232.02*41 2021-02-18T01:42:33.244Z,1613612553.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.239998 m, bearing: 63.074461 deg, deltaT: 4.425244 s, approachRate: -0.691487 m/s, LOS rate: 0.122876 deg/s, posRepo size: 4 2021-02-18T01:42:33.246Z,1613612553.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.239998 m, bearing: 63.074461 deg, approachRate: -0.691487 m/s, LOS rate: 0.122876 deg/s, cmd update: 0.491506 deg/s, cmd heading: 61.081063 deg, new cmd heading: 61.230658 deg. 2021-02-18T01:42:35.647Z,1613612555.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:36.420Z,1613612556.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:36.828Z,1613612556.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:37.656Z,1613612557.656 [Micromodem](INFO): Nmea in: $SNTTA,0.060026,,,0.071521,014236.46*5C 2021-02-18T01:42:37.680Z,1613612557.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.940002 m, bearing: 63.218694 deg, deltaT: 4.422226 s, approachRate: -0.746229 m/s, LOS rate: 0.032615 deg/s, posRepo size: 4 2021-02-18T01:42:37.682Z,1613612557.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.940002 m, bearing: 63.218694 deg, approachRate: -0.746229 m/s, LOS rate: 0.032615 deg/s, cmd update: 0.130462 deg/s, cmd heading: 63.256494 deg, new cmd heading: 63.464897 deg. 2021-02-18T01:42:40.138Z,1613612560.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:40.864Z,1613612560.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:41.289Z,1613612561.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:41.311Z,1613612561.311 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T01:42:42.116Z,1613612562.116 [Micromodem](INFO): Nmea in: $SNTTA,0.057849,,,,014240.91*4C 2021-02-18T01:42:42.163Z,1613612562.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.639999 m, bearing: 62.281558 deg, deltaT: 4.439747 s, approachRate: -0.743286 m/s, LOS rate: -0.211079 deg/s, posRepo size: 4 2021-02-18T01:42:42.165Z,1613612562.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.639999 m, bearing: 62.281558 deg, approachRate: -0.743286 m/s, LOS rate: -0.211079 deg/s, cmd update: -0.844315 deg/s, cmd heading: 63.835734 deg, new cmd heading: 63.896593 deg. 2021-02-18T01:42:44.574Z,1613612564.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:45.314Z,1613612565.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:45.725Z,1613612565.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:46.544Z,1613612566.544 [Micromodem](INFO): Nmea in: $SNTTA,0.055663,,,,014245.36*40 2021-02-18T01:42:46.585Z,1613612566.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.279999 m, bearing: 61.166571 deg, deltaT: 4.466004 s, approachRate: -0.752351 m/s, LOS rate: -0.249661 deg/s, posRepo size: 4 2021-02-18T01:42:46.587Z,1613612566.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.279999 m, bearing: 61.166571 deg, approachRate: -0.752351 m/s, LOS rate: -0.249661 deg/s, cmd update: -0.998644 deg/s, cmd heading: 60.068394 deg, new cmd heading: 59.707883 deg. 2021-02-18T01:42:48.971Z,1613612568.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:49.754Z,1613612569.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:50.171Z,1613612570.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:50.984Z,1613612570.984 [Micromodem](INFO): Nmea in: $SNTTA,0.053755,,,,014249.80*43 2021-02-18T01:42:51.026Z,1613612571.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.220001 m, bearing: 60.440931 deg, deltaT: 4.437727 s, approachRate: -0.689542 m/s, LOS rate: -0.163516 deg/s, posRepo size: 4 2021-02-18T01:42:51.028Z,1613612571.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.220001 m, bearing: 60.440931 deg, approachRate: -0.689542 m/s, LOS rate: -0.163516 deg/s, cmd update: -0.654064 deg/s, cmd heading: 55.648668 deg, new cmd heading: 55.211343 deg. 2021-02-18T01:42:51.386Z,1613612571.386 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T01:42:53.428Z,1613612573.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:54.213Z,1613612574.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:54.607Z,1613612574.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:55.436Z,1613612575.436 [Micromodem](INFO): Nmea in: $SNTTA,0.051393,,,,014254.26*4F 2021-02-18T01:42:55.470Z,1613612575.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.860008 m, bearing: 61.663296 deg, deltaT: 4.443688 s, approachRate: -0.756127 m/s, LOS rate: 0.275079 deg/s, posRepo size: 4 2021-02-18T01:42:55.472Z,1613612575.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.860008 m, bearing: 61.663296 deg, approachRate: -0.756127 m/s, LOS rate: 0.275079 deg/s, cmd update: 1.100316 deg/s, cmd heading: 52.735195 deg, new cmd heading: 52.452382 deg. 2021-02-18T01:42:56.240Z,1613612576.240 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T01:42:57.866Z,1613612577.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:42:58.640Z,1613612578.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:42:59.052Z,1613612579.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:42:59.876Z,1613612579.876 [Micromodem](INFO): Nmea in: $SNTTA,0.049360,,,,014258.68*4C 2021-02-18T01:42:59.900Z,1613612579.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.799995 m, bearing: 62.578685 deg, deltaT: 4.479333 s, approachRate: -0.683140 m/s, LOS rate: 0.204358 deg/s, posRepo size: 4 2021-02-18T01:42:59.902Z,1613612579.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.799995 m, bearing: 62.578685 deg, approachRate: -0.683140 m/s, LOS rate: 0.204358 deg/s, cmd update: 0.817433 deg/s, cmd heading: 57.646525 deg, new cmd heading: 58.085495 deg. 2021-02-18T01:43:01.136Z,1613612581.136 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T01:43:02.338Z,1613612582.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:43:03.106Z,1613612583.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:43:03.519Z,1613612583.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:43:04.320Z,1613612584.320 [Micromodem](INFO): Nmea in: $SNTTA,0.047222,,,,014303.15*40 2021-02-18T01:43:04.359Z,1613612584.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.680008 m, bearing: 63.283205 deg, deltaT: 4.409460 s, approachRate: -0.707567 m/s, LOS rate: 0.159775 deg/s, posRepo size: 4 2021-02-18T01:43:04.361Z,1613612584.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.680008 m, bearing: 63.283205 deg, approachRate: -0.707567 m/s, LOS rate: 0.159775 deg/s, cmd update: 0.639099 deg/s, cmd heading: 61.264771 deg, new cmd heading: 61.617101 deg. 2021-02-18T01:43:06.753Z,1613612586.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:43:07.534Z,1613612587.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:43:07.934Z,1613612587.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:43:08.760Z,1613612588.760 [Micromodem](INFO): Nmea in: $SNTTA,0.045016,,,,014307.58*4A 2021-02-18T01:43:08.808Z,1613612588.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.320007 m, bearing: 62.098120 deg, deltaT: 4.444500 s, approachRate: -0.755991 m/s, LOS rate: -0.266641 deg/s, posRepo size: 4 2021-02-18T01:43:08.810Z,1613612588.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.320007 m, bearing: 62.098120 deg, approachRate: -0.755991 m/s, LOS rate: -0.266641 deg/s, cmd update: -1.066564 deg/s, cmd heading: 64.107915 deg, new cmd heading: 64.383961 deg. 2021-02-18T01:43:11.204Z,1613612591.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:43:11.973Z,1613612591.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:43:12.378Z,1613612592.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:43:13.204Z,1613612593.204 [Micromodem](INFO): Nmea in: $SNTTA,0.042945,,,,014312.02*49 2021-02-18T01:43:13.228Z,1613612593.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.139999 m, bearing: 61.572625 deg, deltaT: 4.432885 s, approachRate: -0.717368 m/s, LOS rate: -0.118545 deg/s, posRepo size: 4 2021-02-18T01:43:13.230Z,1613612593.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.139999 m, bearing: 61.572625 deg, approachRate: -0.717368 m/s, LOS rate: -0.118545 deg/s, cmd update: -0.474178 deg/s, cmd heading: 59.380003 deg, new cmd heading: 58.933983 deg. 2021-02-18T01:43:15.653Z,1613612595.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:43:16.416Z,1613612596.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:43:16.822Z,1613612596.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:43:17.644Z,1613612597.644 [Micromodem](INFO): Nmea in: $SNTTA,0.040747,,,,014316.46*43 2021-02-18T01:43:17.689Z,1613612597.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.900002 m, bearing: 62.349792 deg, deltaT: 4.453884 s, approachRate: -0.727454 m/s, LOS rate: 0.174492 deg/s, posRepo size: 4 2021-02-18T01:43:17.690Z,1613612597.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.900002 m, bearing: 62.349792 deg, approachRate: -0.727454 m/s, LOS rate: 0.174492 deg/s, cmd update: 0.697967 deg/s, cmd heading: 57.275657 deg, new cmd heading: 57.066375 deg. 2021-02-18T01:43:20.121Z,1613612600.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:43:20.860Z,1613612600.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:43:21.271Z,1613612601.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:43:22.116Z,1613612602.116 [Micromodem](INFO): Nmea in: $SNTTA,0.038731,,,,014320.90*43 2021-02-18T01:43:22.176Z,1613612602.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.959999 m, bearing: 61.939092 deg, deltaT: 4.442141 s, approachRate: -0.661844 m/s, LOS rate: -0.092455 deg/s, posRepo size: 4 2021-02-18T01:43:22.178Z,1613612602.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.959999 m, bearing: 61.939092 deg, approachRate: -0.661844 m/s, LOS rate: -0.092455 deg/s, cmd update: -0.369821 deg/s, cmd heading: 60.387305 deg, new cmd heading: 60.712768 deg. 2021-02-18T01:43:24.570Z,1613612604.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:43:25.304Z,1613612605.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:43:25.712Z,1613612605.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:43:26.544Z,1613612606.544 [Micromodem](INFO): Nmea in: $SNTTA,0.036462,,,,014325.35*42 2021-02-18T01:43:26.573Z,1613612606.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.540005 m, bearing: 62.317027 deg, deltaT: 4.459086 s, approachRate: -0.766972 m/s, LOS rate: 0.084756 deg/s, posRepo size: 4 2021-02-18T01:43:26.575Z,1613612606.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.540005 m, bearing: 62.317027 deg, approachRate: -0.766972 m/s, LOS rate: 0.084756 deg/s, cmd update: 0.339024 deg/s, cmd heading: 58.738239 deg, new cmd heading: 58.587084 deg. 2021-02-18T01:43:28.962Z,1613612608.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:43:29.767Z,1613612609.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:43:30.159Z,1613612610.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:43:30.988Z,1613612610.988 [Micromodem](INFO): Nmea in: $SNTTA,0.034310,,,,014329.81*41 2021-02-18T01:43:31.010Z,1613612611.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.299995 m, bearing: 62.522513 deg, deltaT: 4.450026 s, approachRate: -0.728088 m/s, LOS rate: 0.046176 deg/s, posRepo size: 4 2021-02-18T01:43:31.012Z,1613612611.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.299995 m, bearing: 62.522513 deg, approachRate: -0.728088 m/s, LOS rate: 0.046176 deg/s, cmd update: 0.184706 deg/s, cmd heading: 60.245378 deg, new cmd heading: 60.381007 deg. 2021-02-18T01:43:33.414Z,1613612613.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:43:34.192Z,1613612614.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:43:34.604Z,1613612614.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:43:35.428Z,1613612615.428 [Micromodem](INFO): Nmea in: $SNTTA,0.032103,,,,014334.23*43 2021-02-18T01:43:35.452Z,1613612615.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.940006 m, bearing: 62.298019 deg, deltaT: 4.414893 s, approachRate: -0.761058 m/s, LOS rate: -0.050849 deg/s, posRepo size: 4 2021-02-18T01:43:35.454Z,1613612615.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.940006 m, bearing: 62.298019 deg, approachRate: -0.761058 m/s, LOS rate: -0.050849 deg/s, cmd update: -0.203398 deg/s, cmd heading: 61.061668 deg, new cmd heading: 61.139793 deg. 2021-02-18T01:43:37.858Z,1613612617.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:43:38.642Z,1613612618.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:43:39.046Z,1613612619.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:43:39.872Z,1613612619.872 [Micromodem](INFO): Nmea in: $SNTTA,0.030068,,,,014338.68*4E 2021-02-18T01:43:39.896Z,1613612619.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.879997 m, bearing: 63.151991 deg, deltaT: 4.489474 s, approachRate: -0.681596 m/s, LOS rate: 0.190216 deg/s, posRepo size: 4 2021-02-18T01:43:39.898Z,1613612619.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.879997 m, bearing: 63.151991 deg, approachRate: -0.681596 m/s, LOS rate: 0.190216 deg/s, cmd update: 0.760866 deg/s, cmd heading: 60.151068 deg, new cmd heading: 60.071731 deg. 2021-02-18T01:43:42.299Z,1613612622.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:43:43.111Z,1613612623.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:43:43.515Z,1613612623.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:43:44.324Z,1613612624.324 [Micromodem](INFO): Nmea in: $SNTTA,0.027837,,,,014343.15*4C 2021-02-18T01:43:44.348Z,1613612624.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.579998 m, bearing: 61.485534 deg, deltaT: 4.384345 s, approachRate: -0.752678 m/s, LOS rate: -0.380093 deg/s, posRepo size: 4 2021-02-18T01:43:44.350Z,1613612624.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.579998 m, bearing: 61.485534 deg, approachRate: -0.752678 m/s, LOS rate: -0.380093 deg/s, cmd update: -1.520370 deg/s, cmd heading: 63.496464 deg, new cmd heading: 63.835208 deg. 2021-02-18T01:43:46.746Z,1613612626.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:43:47.535Z,1613612627.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:43:47.936Z,1613612627.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:43:48.760Z,1613612628.760 [Micromodem](INFO): Nmea in: $SNTTA,0.025646,,,,014347.58*4B 2021-02-18T01:43:48.808Z,1613612628.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.279999 m, bearing: 62.059147 deg, deltaT: 4.451956 s, approachRate: -0.741247 m/s, LOS rate: 0.128845 deg/s, posRepo size: 4 2021-02-18T01:43:48.809Z,1613612628.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.28 m. 2021-02-18T01:43:48.810Z,1613612628.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.279999 m, bearing: 62.059147 deg, approachRate: -0.741247 m/s, LOS rate: 0.128845 deg/s, cmd update: 0.515381 deg/s, cmd heading: 56.727797 deg, new cmd heading: 56.038762 deg. 2021-02-18T01:43:49.156Z,1613612629.156 [PowerOnly](INFO): Powering up loadControl 2021-02-18T01:43:51.205Z,1613612631.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:43:51.971Z,1613612631.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:43:52.374Z,1613612632.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:43:53.221Z,1613612633.221 [Micromodem](INFO): Nmea in: $SNTTA,0.023670,,,,014352.01*40 2021-02-18T01:43:53.262Z,1613612633.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.279999 m, bearing: 60.983658 deg, deltaT: 4.466257 s, approachRate: -0.671703 m/s, LOS rate: -0.240803 deg/s, posRepo size: 4 2021-02-18T01:43:53.262Z,1613612633.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.28 m. 2021-02-18T01:43:53.263Z,1613612633.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.28 m. 2021-02-18T01:43:53.263Z,1613612633.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T01:43:53.265Z,1613612633.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.279999 m, bearing: 60.983658 deg, approachRate: -0.671703 m/s, LOS rate: -0.240803 deg/s, cmd update: -0.963212 deg/s, cmd heading: 59.021316 deg, new cmd heading: 59.256671 deg. 2021-02-18T01:43:55.646Z,1613612635.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:43:56.418Z,1613612636.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:43:56.835Z,1613612636.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:43:57.652Z,1613612637.652 [Micromodem](INFO): Nmea in: $SNTTA,0.021375,,,,014356.46*45 2021-02-18T01:43:57.682Z,1613612637.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.859997 m, bearing: 61.135971 deg, deltaT: 4.427790 s, approachRate: -0.772395 m/s, LOS rate: 0.034399 deg/s, posRepo size: 4 2021-02-18T01:43:57.705Z,1613612637.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.859997 m, bearing: 61.135971 deg, approachRate: -0.772395 m/s, LOS rate: 0.034399 deg/s, cmd update: 0.137598 deg/s, cmd heading: 54.740898 deg, new cmd heading: 54.323910 deg. 2021-02-18T01:44:00.111Z,1613612640.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:00.856Z,1613612640.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:44:01.263Z,1613612641.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:44:02.116Z,1613612642.116 [Micromodem](INFO): Nmea in: $SNTTA,0.019225,,,,014400.90*45 2021-02-18T01:44:02.165Z,1613612642.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.620001 m, bearing: 62.191516 deg, deltaT: 4.483548 s, approachRate: -0.722641 m/s, LOS rate: 0.235426 deg/s, posRepo size: 4 2021-02-18T01:44:02.167Z,1613612642.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.620001 m, bearing: 62.191516 deg, approachRate: -0.722641 m/s, LOS rate: 0.235426 deg/s, cmd update: 0.941704 deg/s, cmd heading: 55.355627 deg, new cmd heading: 55.417295 deg. 2021-02-18T01:44:04.574Z,1613612644.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:05.305Z,1613612645.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:44:05.708Z,1613612645.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:44:06.540Z,1613612646.540 [Micromodem](INFO): Nmea in: $SNTTA,0.017174,,,0.057798,014405.35*5C 2021-02-18T01:44:06.588Z,1613612646.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.560001 m, bearing: 63.138139 deg, deltaT: 4.464498 s, approachRate: -0.685407 m/s, LOS rate: 0.212034 deg/s, posRepo size: 4 2021-02-18T01:44:06.590Z,1613612646.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.560001 m, bearing: 63.138139 deg, approachRate: -0.685407 m/s, LOS rate: 0.212034 deg/s, cmd update: 0.848134 deg/s, cmd heading: 59.565811 deg, new cmd heading: 59.942689 deg. 2021-02-18T01:44:08.952Z,1613612648.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:09.749Z,1613612649.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:44:10.168Z,1613612650.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:44:10.976Z,1613612650.976 [Micromodem](INFO): Nmea in: $SNTTA,0.014962,,,,014409.79*4E 2021-02-18T01:44:11.017Z,1613612651.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.260002 m, bearing: 63.909103 deg, deltaT: 4.403826 s, approachRate: -0.749348 m/s, LOS rate: 0.175067 deg/s, posRepo size: 4 2021-02-18T01:44:11.019Z,1613612651.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.260002 m, bearing: 63.909103 deg, approachRate: -0.749348 m/s, LOS rate: 0.175067 deg/s, cmd update: 0.700268 deg/s, cmd heading: 63.305570 deg, new cmd heading: 63.661925 deg. 2021-02-18T01:44:13.425Z,1613612653.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:14.189Z,1613612654.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:44:14.601Z,1613612654.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:44:15.416Z,1613612655.416 [Micromodem](INFO): Nmea in: $SNTTA,0.012827,,,,014414.23*4B 2021-02-18T01:44:15.514Z,1613612655.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.020000 m, bearing: 63.295233 deg, deltaT: 4.425491 s, approachRate: -0.732123 m/s, LOS rate: -0.138712 deg/s, posRepo size: 4 2021-02-18T01:44:15.521Z,1613612655.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.020000 m, bearing: 63.295233 deg, approachRate: -0.732123 m/s, LOS rate: -0.138712 deg/s, cmd update: -0.554849 deg/s, cmd heading: 66.407408 deg, new cmd heading: 66.745543 deg. 2021-02-18T01:44:17.856Z,1613612657.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:18.646Z,1613612658.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:44:19.047Z,1613612659.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:44:19.872Z,1613612659.872 [Micromodem](INFO): Nmea in: $SNTTA,0.010758,,,,014418.69*4C 2021-02-18T01:44:19.897Z,1613612659.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.899998 m, bearing: 61.740641 deg, deltaT: 4.443011 s, approachRate: -0.702227 m/s, LOS rate: -0.349896 deg/s, posRepo size: 4 2021-02-18T01:44:19.899Z,1613612659.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.899998 m, bearing: 61.740641 deg, approachRate: -0.702227 m/s, LOS rate: -0.349896 deg/s, cmd update: -1.399584 deg/s, cmd heading: 63.942438 deg, new cmd heading: 63.704959 deg. 2021-02-18T01:44:22.314Z,1613612662.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:23.103Z,1613612663.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:44:23.516Z,1613612663.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:44:24.316Z,1613612664.316 [Micromodem](INFO): Nmea in: $SNTTA,0.008756,,,,014423.15*48 2021-02-18T01:44:24.360Z,1613612664.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.899998 m, bearing: 61.961140 deg, deltaT: 4.435085 s, approachRate: -0.676424 m/s, LOS rate: 0.049717 deg/s, posRepo size: 4 2021-02-18T01:44:24.362Z,1613612664.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.899998 m, bearing: 61.961140 deg, approachRate: -0.676424 m/s, LOS rate: 0.049717 deg/s, cmd update: 0.198868 deg/s, cmd heading: 57.735579 deg, new cmd heading: 57.096660 deg. 2021-02-18T01:44:26.742Z,1613612666.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:27.536Z,1613612667.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:44:27.926Z,1613612667.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:44:28.760Z,1613612668.760 [Micromodem](INFO): Nmea in: $SNTTA,0.006786,,,,014427.58*46 2021-02-18T01:44:28.807Z,1613612668.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.960000 m, bearing: 60.752654 deg, deltaT: 4.447098 s, approachRate: -0.661105 m/s, LOS rate: -0.271747 deg/s, posRepo size: 4 2021-02-18T01:44:28.809Z,1613612668.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.960000 m, bearing: 60.752654 deg, approachRate: -0.661105 m/s, LOS rate: -0.271747 deg/s, cmd update: -1.086988 deg/s, cmd heading: 58.620097 deg, new cmd heading: 58.710634 deg. 2021-02-18T01:44:31.210Z,1613612671.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:31.981Z,1613612671.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:44:32.369Z,1613612672.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:44:33.204Z,1613612673.204 [Micromodem](INFO): Nmea in: $SNTTA,0.004902,,,,014432.02*4D 2021-02-18T01:44:33.257Z,1613612673.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.020000 m, bearing: 57.710912 deg, deltaT: 4.470088 s, approachRate: -0.657705 m/s, LOS rate: -0.680466 deg/s, posRepo size: 4 2021-02-18T01:44:33.263Z,1613612673.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.020000 m, bearing: 57.710912 deg, approachRate: -0.657705 m/s, LOS rate: -0.680466 deg/s, cmd update: -2.721864 deg/s, cmd heading: 53.761236 deg, new cmd heading: 53.287765 deg. 2021-02-18T01:44:33.622Z,1613612673.622 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T01:44:33.623Z,1613612673.623 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T01:44:33.623Z,1613612673.623 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T01:44:33.623Z,1613612673.623 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T01:44:33.623Z,1613612673.623 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T01:44:34.111Z,1613612674.111 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D604E0000005D000004004A0000000000000000151D80030C5669BF92F9E593F9EBAE7EBC1784E310C66668734CBFCAA9C498AA24D3009D5DEB7620944E 2021-02-18T01:44:34.112Z,1613612674.112 [Micromodem](INFO): Outgoing frame #2, 27 bytes: D4082E9B6714CB8863A12F61C14CBEBDCEC2EFE2FD59F77D170800 2021-02-18T01:44:34.112Z,1613612674.112 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T01:44:34.404Z,1613612674.404 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T01:44:34.804Z,1613612674.804 [Micromodem](INFO): Nmea in: $CADRQ,014434,1,10,0,64,1*70 2021-02-18T01:44:34.805Z,1613612674.805 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D604E0000005D000004004A0000000000000000151D80030C5669BF92F9E593F9EBAE7EBC1784E310C66668734CBFCAA9C498AA24D3009D5DEB7620944E*30 2021-02-18T01:44:35.256Z,1613612675.256 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T01:44:35.351Z,1613612675.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:35.629Z,1613612675.629 [Micromodem](INFO): Nmea in: $CADRQ,014434,1,10,0,64,2*73 2021-02-18T01:44:35.648Z,1613612675.648 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,D4082E9B6714CB8863A12F61C14CBEBDCEC2EFE2FD59F77D170800*3B 2021-02-18T01:44:36.021Z,1613612676.021 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,27*4E 2021-02-18T01:44:36.022Z,1613612676.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:44:36.407Z,1613612676.407 [Micromodem](INFO): Nmea in: $CATXP,91*7A 2021-02-18T01:44:36.407Z,1613612676.407 [Micromodem](ERROR): Response from modem unexpected: $CATXP,91*7A 2021-02-18T01:44:38.100Z,1613612678.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:38.839Z,1613612678.839 [Micromodem](INFO): Nmea in: $CATXF,91*6C 2021-02-18T01:44:38.839Z,1613612678.839 [Micromodem](ERROR): Response from modem unexpected: $CATXF,91*6C 2021-02-18T01:44:39.249Z,1613612679.249 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,014435.686610,3,0,200,4000,14500,1,1,10,1,2,2,3,91*49 2021-02-18T01:44:39.249Z,1613612679.249 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,014435.686610,3,0,200,4000,14500,1,1,10,1,2,2,3,91*49 2021-02-18T01:44:40.898Z,1613612680.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:41.270Z,1613612681.270 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T01:44:41.676Z,1613612681.676 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-18T01:44:41.677Z,1613612681.677 [Micromodem](INFO): Sent 83 bytes from file Logs/20210217T180521/Courier0078.lzma.parts 2021-02-18T01:44:41.677Z,1613612681.677 [Micromodem](INFO): Packets left to send: 0 2021-02-18T01:44:42.098Z,1613612682.098 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218014440.306337,06,12788,41,0341,0150,07,00,00,00,01,1,010,001,0,4,1,0,150,24.6,4.00,11,-1.00,-01,-0.24,38,14500,4000*40 2021-02-18T01:44:42.098Z,1613612682.098 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218014440.306337,06,12788,41,0341,0150,07,00,00,00,01,1,010,001,0,4,1,0,150,24.6,4.00,11,-1.00,-01,-0.24,38,14500,4000*40 2021-02-18T01:44:42.389Z,1613612682.389 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T01:44:42.389Z,1613612682.389 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T01:44:42.389Z,1613612682.389 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T01:44:42.389Z,1613612682.389 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T01:44:42.389Z,1613612682.389 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T01:44:43.759Z,1613612683.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:46.581Z,1613612686.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:47.381Z,1613612687.381 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:44:47.776Z,1613612687.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:44:48.600Z,1613612688.600 [Micromodem](INFO): Nmea in: $SNTTA,0.004800,,,,014447.42*48 2021-02-18T01:44:48.650Z,1613612688.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.960000 m, bearing: 27.943936 deg, deltaT: 15.399137 s, approachRate: -0.003896 m/s, LOS rate: -1.933029 deg/s, posRepo size: 4 2021-02-18T01:44:48.652Z,1613612688.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.960000 m, bearing: 27.943936 deg, approachRate: -0.003896 m/s, LOS rate: -1.933029 deg/s, cmd update: -7.732115 deg/s, cmd heading: 11.857276 deg, new cmd heading: 10.678031 deg. 2021-02-18T01:44:51.027Z,1613612691.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:51.808Z,1613612691.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:44:52.215Z,1613612692.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:44:53.039Z,1613612693.039 [Micromodem](INFO): Nmea in: $SNTTA,0.006227,,,,014451.85*49 2021-02-18T01:44:53.110Z,1613612693.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.419999 m, bearing: 15.296455 deg, deltaT: 4.428193 s, approachRate: 0.555531 m/s, LOS rate: -2.856127 deg/s, posRepo size: 4 2021-02-18T01:44:53.116Z,1613612693.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.419999 m, bearing: 15.296455 deg, approachRate: 0.555531 m/s, LOS rate: -2.856127 deg/s, cmd update: -11.424508 deg/s, cmd heading: 337.587987 deg, new cmd heading: 334.026219 deg. 2021-02-18T01:44:55.512Z,1613612695.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:44:56.260Z,1613612696.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:44:56.658Z,1613612696.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:44:57.492Z,1613612697.492 [Micromodem](INFO): Nmea in: $SNTTA,0.008118,,,,014456.30*41 2021-02-18T01:44:57.562Z,1613612697.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.299998 m, bearing: 325.565338 deg, deltaT: 4.496550 s, approachRate: 0.640491 m/s, LOS rate: -11.059838 deg/s, posRepo size: 4 2021-02-18T01:44:57.568Z,1613612697.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.299998 m, bearing: 325.565338 deg, approachRate: 0.640491 m/s, LOS rate: -11.059838 deg/s, cmd update: -12.000000 deg/s, cmd heading: 286.261567 deg, new cmd heading: 281.457219 deg. 2021-02-18T01:44:59.909Z,1613612699.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:00.702Z,1613612700.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:01.113Z,1613612701.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:01.932Z,1613612701.932 [Micromodem](INFO): Nmea in: $SNTTA,0.009700,0.055006,,,014500.74*55 2021-02-18T01:45:01.954Z,1613612701.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.540001 m, bearing: 347.066774 deg, deltaT: 4.417363 s, approachRate: 0.733470 m/s, LOS rate: 4.867482 deg/s, posRepo size: 4 2021-02-18T01:45:01.976Z,1613612701.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.540001 m, bearing: 347.066774 deg, approachRate: 0.733470 m/s, LOS rate: 4.867482 deg/s, cmd update: 12.000000 deg/s, cmd heading: 233.205342 deg, new cmd heading: 228.515910 deg. 2021-02-18T01:45:04.383Z,1613612704.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:05.145Z,1613612705.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:05.557Z,1613612705.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:06.387Z,1613612706.387 [Micromodem](INFO): Nmea in: $SNTTA,0.011141,,,,014505.19*49 2021-02-18T01:45:06.411Z,1613612706.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 325.131922 deg, deltaT: 4.415632 s, approachRate: 0.475582 m/s, LOS rate: -4.967545 deg/s, posRepo size: 4 2021-02-18T01:45:06.412Z,1613612706.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.64 m. Rolling out. 2021-02-18T01:45:06.412Z,1613612706.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T01:45:08.808Z,1613612708.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:09.589Z,1613612709.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:10.052Z,1613612710.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:10.816Z,1613612710.816 [Micromodem](INFO): Nmea in: $SNTTA,0.012575,,,,014509.63*48 2021-02-18T01:45:10.870Z,1613612710.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.899998 m, bearing: 285.677990 deg, deltaT: 4.427921 s, approachRate: 0.284558 m/s, LOS rate: -8.910261 deg/s, posRepo size: 4 2021-02-18T01:45:12.832Z,1613612712.832 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T01:45:13.256Z,1613612713.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:14.034Z,1613612714.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:14.439Z,1613612714.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:15.271Z,1613612715.271 [Micromodem](INFO): Nmea in: $SNTTA,0.013198,,,,014514.08*4F 2021-02-18T01:45:15.296Z,1613612715.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.860001 m, bearing: 263.318628 deg, deltaT: 4.527344 s, approachRate: 0.212045 m/s, LOS rate: -4.938737 deg/s, posRepo size: 4 2021-02-18T01:45:17.694Z,1613612717.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:18.478Z,1613612718.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:18.878Z,1613612718.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:19.704Z,1613612719.704 [Micromodem](INFO): Nmea in: $SNTTA,0.014381,,,,014518.52*41 2021-02-18T01:45:19.729Z,1613612719.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.320000 m, bearing: 303.182917 deg, deltaT: 4.375413 s, approachRate: 0.562232 m/s, LOS rate: 9.110978 deg/s, posRepo size: 4 2021-02-18T01:45:22.158Z,1613612722.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:22.925Z,1613612722.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:23.329Z,1613612723.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:23.727Z,1613612723.727 [PowerOnly](INFO): Powering down loadControl 2021-02-18T01:45:24.148Z,1613612724.148 [Micromodem](INFO): Nmea in: $SNTTA,0.015769,,,,014522.97*42 2021-02-18T01:45:24.196Z,1613612724.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.819998 m, bearing: 297.269066 deg, deltaT: 4.465313 s, approachRate: 0.335922 m/s, LOS rate: -1.324398 deg/s, posRepo size: 4 2021-02-18T01:45:26.588Z,1613612726.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:27.360Z,1613612727.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:27.775Z,1613612727.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:28.593Z,1613612728.593 [Micromodem](INFO): Nmea in: $SNTTA,0.017296,,,,014527.40*4A 2021-02-18T01:45:28.646Z,1613612728.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.099998 m, bearing: 297.352504 deg, deltaT: 4.431312 s, approachRate: 0.514520 m/s, LOS rate: 0.018829 deg/s, posRepo size: 4 2021-02-18T01:45:31.012Z,1613612731.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:31.827Z,1613612731.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:32.227Z,1613612732.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:33.046Z,1613612733.046 [Micromodem](INFO): Nmea in: $SNTTA,0.018948,,,,014531.87*41 2021-02-18T01:45:33.113Z,1613612733.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.620001 m, bearing: 301.439881 deg, deltaT: 4.431513 s, approachRate: 0.568655 m/s, LOS rate: 0.922343 deg/s, posRepo size: 4 2021-02-18T01:45:35.483Z,1613612735.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:36.260Z,1613612736.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:36.667Z,1613612736.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:37.488Z,1613612737.488 [Micromodem](INFO): Nmea in: $SNTTA,0.020858,,,,014536.30*41 2021-02-18T01:45:37.560Z,1613612737.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.920000 m, bearing: 258.792698 deg, deltaT: 4.521041 s, approachRate: 0.729920 m/s, LOS rate: -9.433044 deg/s, posRepo size: 4 2021-02-18T01:45:39.987Z,1613612739.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:40.710Z,1613612740.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:41.117Z,1613612741.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:41.940Z,1613612741.940 [Micromodem](INFO): Nmea in: $SNTTA,0.022837,,,,014540.75*4A 2021-02-18T01:45:41.962Z,1613612741.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.740002 m, bearing: 253.808218 deg, deltaT: 4.412888 s, approachRate: 0.639038 m/s, LOS rate: -1.129528 deg/s, posRepo size: 4 2021-02-18T01:45:44.358Z,1613612744.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:45.136Z,1613612745.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:45.551Z,1613612745.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:46.371Z,1613612746.371 [Micromodem](INFO): Nmea in: $SNTTA,0.024741,,,,014545.18*4C 2021-02-18T01:45:46.396Z,1613612746.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.559998 m, bearing: 305.376911 deg, deltaT: 4.404183 s, approachRate: 0.640299 m/s, LOS rate: 11.709026 deg/s, posRepo size: 4 2021-02-18T01:45:48.805Z,1613612748.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:49.598Z,1613612749.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:49.991Z,1613612749.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:50.816Z,1613612750.816 [Micromodem](INFO): Nmea in: $SNTTA,0.026887,,,,014549.64*4C 2021-02-18T01:45:50.845Z,1613612750.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.799999 m, bearing: 245.167946 deg, deltaT: 4.449658 s, approachRate: 0.728146 m/s, LOS rate: -13.531144 deg/s, posRepo size: 4 2021-02-18T01:45:53.242Z,1613612753.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:54.031Z,1613612754.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:54.432Z,1613612754.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:55.256Z,1613612755.256 [Micromodem](INFO): Nmea in: $SNTTA,0.028668,,,,014554.07*44 2021-02-18T01:45:55.280Z,1613612755.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.439999 m, bearing: 261.942782 deg, deltaT: 4.432364 s, approachRate: 0.595619 m/s, LOS rate: 3.784625 deg/s, posRepo size: 4 2021-02-18T01:45:57.690Z,1613612757.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:45:58.476Z,1613612758.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:45:58.874Z,1613612758.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:45:59.700Z,1613612759.700 [Micromodem](INFO): Nmea in: $SNTTA,0.030779,,,,014558.52*40 2021-02-18T01:45:59.744Z,1613612759.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.560001 m, bearing: 313.045547 deg, deltaT: 4.441887 s, approachRate: 0.702405 m/s, LOS rate: 11.504742 deg/s, posRepo size: 4 2021-02-18T01:46:02.144Z,1613612762.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:46:02.915Z,1613612762.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:46:03.335Z,1613612763.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:46:04.144Z,1613612764.144 [Micromodem](INFO): Nmea in: $SNTTA,0.032848,,,,014602.96*4B 2021-02-18T01:46:04.188Z,1613612764.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.619995 m, bearing: 306.226067 deg, deltaT: 4.464107 s, approachRate: 0.685466 m/s, LOS rate: -1.527625 deg/s, posRepo size: 4 2021-02-18T01:46:06.589Z,1613612766.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:46:07.357Z,1613612767.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:46:07.762Z,1613612767.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:46:08.584Z,1613612768.584 [Micromodem](INFO): Nmea in: $SNTTA,0.034948,,,,014607.40*42 2021-02-18T01:46:08.624Z,1613612768.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.799999 m, bearing: 313.121061 deg, deltaT: 4.439311 s, approachRate: 0.716328 m/s, LOS rate: 1.553168 deg/s, posRepo size: 4 2021-02-18T01:46:11.024Z,1613612771.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:46:11.800Z,1613612771.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:46:12.208Z,1613612772.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:46:13.028Z,1613612773.028 [Micromodem](INFO): Nmea in: $SNTTA,0.037099,,,,014611.84*4B 2021-02-18T01:46:13.108Z,1613612773.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.920002 m, bearing: 264.892358 deg, deltaT: 4.454068 s, approachRate: 0.700484 m/s, LOS rate: -10.828012 deg/s, posRepo size: 4 2021-02-18T01:46:15.476Z,1613612775.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:46:16.291Z,1613612776.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:46:16.667Z,1613612776.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:46:17.496Z,1613612777.496 [Micromodem](INFO): Nmea in: $SNTTA,0.039295,,,,014616.33*40 2021-02-18T01:46:17.551Z,1613612777.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.159996 m, bearing: 267.378492 deg, deltaT: 4.485078 s, approachRate: 0.722394 m/s, LOS rate: 0.554312 deg/s, posRepo size: 4 2021-02-18T01:46:19.907Z,1613612779.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:46:20.689Z,1613612780.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:46:21.111Z,1613612781.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:46:21.916Z,1613612781.916 [Micromodem](INFO): Nmea in: $SNTTA,0.041199,,,,014620.73*41 2021-02-18T01:46:21.953Z,1613612781.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.160004 m, bearing: 263.476460 deg, deltaT: 4.408777 s, approachRate: 0.680463 m/s, LOS rate: -0.885060 deg/s, posRepo size: 4 2021-02-18T01:46:24.354Z,1613612784.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:46:25.132Z,1613612785.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:46:25.542Z,1613612785.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:46:26.367Z,1613612786.367 [Micromodem](INFO): Nmea in: $SNTTA,0.043449,,,,014625.18*43 2021-02-18T01:46:26.391Z,1613612786.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.580002 m, bearing: 266.941415 deg, deltaT: 4.416700 s, approachRate: 0.774333 m/s, LOS rate: 0.784512 deg/s, posRepo size: 4 2021-02-18T01:46:28.794Z,1613612788.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:46:29.576Z,1613612789.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:46:29.982Z,1613612789.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:46:30.808Z,1613612790.808 [Micromodem](INFO): Nmea in: $SNTTA,0.045570,,,,014629.62*4F 2021-02-18T01:46:30.848Z,1613612790.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.639999 m, bearing: 272.010726 deg, deltaT: 4.457948 s, approachRate: 0.686414 m/s, LOS rate: 1.137140 deg/s, posRepo size: 4 2021-02-18T01:46:33.256Z,1613612793.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:46:34.037Z,1613612794.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:46:34.434Z,1613612794.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:46:35.264Z,1613612795.264 [Micromodem](INFO): Nmea in: $SNTTA,0.047681,,,,014634.08*40 2021-02-18T01:46:35.288Z,1613612795.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.760002 m, bearing: 278.711770 deg, deltaT: 4.458244 s, approachRate: 0.699828 m/s, LOS rate: 1.503068 deg/s, posRepo size: 4 2021-02-18T01:46:37.682Z,1613612797.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:46:38.468Z,1613612798.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:46:38.883Z,1613612798.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:46:39.696Z,1613612799.696 [Micromodem](INFO): Nmea in: $SNTTA,0.049724,,,,014638.51*40 2021-02-18T01:46:39.735Z,1613612799.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.760002 m, bearing: 256.360195 deg, deltaT: 4.447604 s, approachRate: 0.674520 m/s, LOS rate: -5.025532 deg/s, posRepo size: 4 2021-02-18T01:46:42.140Z,1613612802.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:46:42.908Z,1613612802.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:46:43.314Z,1613612803.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:46:44.136Z,1613612804.136 [Micromodem](INFO): Nmea in: $SNTTA,0.051936,,,,014642.95*41 2021-02-18T01:46:44.160Z,1613612804.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.119995 m, bearing: 274.525821 deg, deltaT: 4.426932 s, approachRate: 0.758989 m/s, LOS rate: 4.103435 deg/s, posRepo size: 4 2021-02-18T01:46:46.590Z,1613612806.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:46:47.360Z,1613612807.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:46:47.774Z,1613612807.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:46:48.593Z,1613612808.593 [Micromodem](INFO): Nmea in: $SNTTA,0.054041,,,0.109353,014647.40*53 2021-02-18T01:46:48.637Z,1613612808.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.180008 m, bearing: 266.614057 deg, deltaT: 4.453091 s, approachRate: 0.687166 m/s, LOS rate: -1.776690 deg/s, posRepo size: 4 2021-02-18T01:46:51.009Z,1613612811.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:46:51.801Z,1613612811.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:46:52.206Z,1613612812.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:46:53.047Z,1613612813.047 [Micromodem](INFO): Nmea in: $SNTTA,0.056284,,0.078065,,014651.84*54 2021-02-18T01:46:53.111Z,1613612813.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.599998 m, bearing: 271.664873 deg, deltaT: 4.432206 s, approachRate: 0.771623 m/s, LOS rate: 1.139571 deg/s, posRepo size: 4 2021-02-18T01:46:55.460Z,1613612815.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:46:56.240Z,1613612816.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:46:56.646Z,1613612816.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:46:57.472Z,1613612817.472 [Micromodem](INFO): Nmea in: $SNTTA,0.058388,,,,014656.29*45 2021-02-18T01:46:57.539Z,1613612817.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.839996 m, bearing: 271.277055 deg, deltaT: 4.471794 s, approachRate: 0.724541 m/s, LOS rate: -0.086725 deg/s, posRepo size: 4 2021-02-18T01:46:59.901Z,1613612819.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:00.692Z,1613612820.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:01.117Z,1613612821.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:01.921Z,1613612821.921 [Micromodem](INFO): Nmea in: $SNTTA,0.060752,,,,014700.73*40 2021-02-18T01:47:01.962Z,1613612821.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.379997 m, bearing: 279.319575 deg, deltaT: 4.435675 s, approachRate: 0.798075 m/s, LOS rate: 1.813145 deg/s, posRepo size: 4 2021-02-18T01:47:04.364Z,1613612824.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:05.129Z,1613612825.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:05.536Z,1613612825.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:06.360Z,1613612826.360 [Micromodem](INFO): Nmea in: $SNTTA,0.062831,,,,014705.17*4F 2021-02-18T01:47:06.412Z,1613612826.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.500000 m, bearing: 282.444059 deg, deltaT: 4.398731 s, approachRate: 0.709296 m/s, LOS rate: 0.710315 deg/s, posRepo size: 4 2021-02-18T01:47:08.801Z,1613612828.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:09.582Z,1613612829.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:09.981Z,1613612829.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:10.812Z,1613612830.812 [Micromodem](INFO): Nmea in: $SNTTA,0.065041,,0.100485,,014709.62*5F 2021-02-18T01:47:10.861Z,1613612830.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.800003 m, bearing: 278.423127 deg, deltaT: 4.488486 s, approachRate: 0.735215 m/s, LOS rate: -0.895833 deg/s, posRepo size: 4 2021-02-18T01:47:13.237Z,1613612833.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:14.028Z,1613612834.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:14.426Z,1613612834.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:15.252Z,1613612835.252 [Micromodem](INFO): Nmea in: $SNTTA,0.067174,,,,014714.07*43 2021-02-18T01:47:15.300Z,1613612835.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.099998 m, bearing: 281.305931 deg, deltaT: 4.433904 s, approachRate: 0.744264 m/s, LOS rate: 0.650173 deg/s, posRepo size: 4 2021-02-18T01:47:17.700Z,1613612837.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:18.468Z,1613612838.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:18.877Z,1613612838.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:19.696Z,1613612839.696 [Micromodem](INFO): Nmea in: $SNTTA,0.069378,,0.073022,,014718.51*56 2021-02-18T01:47:19.745Z,1613612839.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.220001 m, bearing: 276.394096 deg, deltaT: 4.448486 s, approachRate: 0.701363 m/s, LOS rate: -1.104159 deg/s, posRepo size: 4 2021-02-18T01:47:22.150Z,1613612842.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:22.911Z,1613612842.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:23.313Z,1613612843.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:24.157Z,1613612844.157 [Micromodem](INFO): Nmea in: $SNTTA,0.071567,,,0.096731,014722.95*58 2021-02-18T01:47:24.216Z,1613612844.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.520004 m, bearing: 278.841954 deg, deltaT: 4.437573 s, approachRate: 0.743650 m/s, LOS rate: 0.551621 deg/s, posRepo size: 4 2021-02-18T01:47:26.577Z,1613612846.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:27.358Z,1613612847.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:27.761Z,1613612847.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:28.587Z,1613612848.587 [Micromodem](INFO): Nmea in: $SNTTA,0.073832,,,,014727.40*4E 2021-02-18T01:47:28.612Z,1613612848.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.939995 m, bearing: 281.803988 deg, deltaT: 4.437940 s, approachRate: 0.770626 m/s, LOS rate: 0.667435 deg/s, posRepo size: 4 2021-02-18T01:47:31.008Z,1613612851.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:31.796Z,1613612851.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:32.210Z,1613612852.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:33.024Z,1613612853.024 [Micromodem](INFO): Nmea in: $SNTTA,0.075982,,,,014731.84*4D 2021-02-18T01:47:33.101Z,1613612853.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.120003 m, bearing: 281.123838 deg, deltaT: 4.481103 s, approachRate: 0.709648 m/s, LOS rate: -0.151782 deg/s, posRepo size: 4 2021-02-18T01:47:35.470Z,1613612855.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:36.240Z,1613612856.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:36.651Z,1613612856.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:37.481Z,1613612857.481 [Micromodem](INFO): Nmea in: $SNTTA,0.078242,,,,014736.28*46 2021-02-18T01:47:37.542Z,1613612857.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.480003 m, bearing: 279.061285 deg, deltaT: 4.443105 s, approachRate: 0.756228 m/s, LOS rate: -0.464214 deg/s, posRepo size: 4 2021-02-18T01:47:40.119Z,1613612860.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:40.689Z,1613612860.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:41.114Z,1613612861.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:41.916Z,1613612861.916 [Micromodem](INFO): Nmea in: $SNTTA,0.080339,,,,014740.73*43 2021-02-18T01:47:41.950Z,1613612861.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.780006 m, bearing: 280.829320 deg, deltaT: 4.426483 s, approachRate: 0.745514 m/s, LOS rate: 0.399422 deg/s, posRepo size: 4 2021-02-18T01:47:44.390Z,1613612864.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:45.128Z,1613612865.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:45.543Z,1613612865.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:46.364Z,1613612866.364 [Micromodem](INFO): Nmea in: $SNTTA,0.082505,,,,014745.17*4F 2021-02-18T01:47:46.428Z,1613612866.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.959999 m, bearing: 275.595647 deg, deltaT: 4.404687 s, approachRate: 0.721957 m/s, LOS rate: -1.188206 deg/s, posRepo size: 4 2021-02-18T01:47:48.812Z,1613612868.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:49.578Z,1613612869.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:49.978Z,1613612869.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:50.804Z,1613612870.804 [Micromodem](INFO): Nmea in: $SNTTA,0.084535,0.118336,,,014749.62*54 2021-02-18T01:47:50.845Z,1613612870.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.140007 m, bearing: 278.912523 deg, deltaT: 4.471871 s, approachRate: 0.711114 m/s, LOS rate: 0.741720 deg/s, posRepo size: 4 2021-02-18T01:47:53.249Z,1613612873.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:54.021Z,1613612874.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:54.439Z,1613612874.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:55.252Z,1613612875.252 [Micromodem](INFO): Nmea in: $SNTTA,0.086633,,,,014754.06*4D 2021-02-18T01:47:55.280Z,1613612875.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.080002 m, bearing: 273.083886 deg, deltaT: 4.439121 s, approachRate: 0.662292 m/s, LOS rate: -1.313016 deg/s, posRepo size: 4 2021-02-18T01:47:57.682Z,1613612877.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:47:58.489Z,1613612878.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:47:58.872Z,1613612878.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:47:59.708Z,1613612879.708 [Micromodem](INFO): Nmea in: $SNTTA,0.088916,,,,014758.53*47 2021-02-18T01:47:59.732Z,1613612879.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.560013 m, bearing: 272.906465 deg, deltaT: 4.441086 s, approachRate: 0.783595 m/s, LOS rate: -0.039950 deg/s, posRepo size: 4 2021-02-18T01:48:02.146Z,1613612882.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:48:02.904Z,1613612882.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:48:03.310Z,1613612883.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:48:04.132Z,1613612884.132 [Micromodem](INFO): Nmea in: $SNTTA,0.090857,,,,014802.95*40 2021-02-18T01:48:04.156Z,1613612884.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.440002 m, bearing: 279.332115 deg, deltaT: 4.435366 s, approachRate: 0.649324 m/s, LOS rate: 1.448731 deg/s, posRepo size: 4 2021-02-18T01:48:06.610Z,1613612886.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:48:07.356Z,1613612887.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:48:07.759Z,1613612887.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:48:08.584Z,1613612888.584 [Micromodem](INFO): Nmea in: $SNTTA,0.093114,,,,014807.40*40 2021-02-18T01:48:08.629Z,1613612888.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.039993 m, bearing: 290.865190 deg, deltaT: 4.474378 s, approachRate: 0.804579 m/s, LOS rate: 2.577582 deg/s, posRepo size: 4 2021-02-18T01:48:11.019Z,1613612891.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:48:11.793Z,1613612891.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:48:12.210Z,1613612892.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:48:13.020Z,1613612893.020 [Micromodem](INFO): Nmea in: $SNTTA,0.095322,,,,014811.83*49 2021-02-18T01:48:13.074Z,1613612893.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.160004 m, bearing: 278.206582 deg, deltaT: 4.435721 s, approachRate: 0.703383 m/s, LOS rate: -2.853788 deg/s, posRepo size: 4 2021-02-18T01:48:15.454Z,1613612895.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:48:16.238Z,1613612896.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:48:16.647Z,1613612896.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:48:17.465Z,1613612897.465 [Micromodem](INFO): Nmea in: $SNTTA,0.097600,,,,014816.28*48 2021-02-18T01:48:17.535Z,1613612897.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.580002 m, bearing: 283.321438 deg, deltaT: 4.465682 s, approachRate: 0.765840 m/s, LOS rate: 1.145369 deg/s, posRepo size: 4 2021-02-18T01:48:19.981Z,1613612899.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:48:20.685Z,1613612900.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:48:21.111Z,1613612901.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:48:21.912Z,1613612901.912 [Micromodem](INFO): Nmea in: $SNTTA,0.099810,,0.102623,,014820.73*58 2021-02-18T01:48:21.945Z,1613612901.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.880005 m, bearing: 280.409209 deg, deltaT: 4.429932 s, approachRate: 0.744933 m/s, LOS rate: -0.657398 deg/s, posRepo size: 4 2021-02-18T01:48:24.351Z,1613612904.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:48:25.124Z,1613612905.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:48:25.535Z,1613612905.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:48:26.382Z,1613612906.382 [Micromodem](INFO): Nmea in: $SNTTA,0.101948,,,,014825.17*49 2021-02-18T01:48:26.406Z,1613612906.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.119995 m, bearing: 279.759030 deg, deltaT: 4.406598 s, approachRate: 0.735259 m/s, LOS rate: -0.147547 deg/s, posRepo size: 4 2021-02-18T01:48:26.407Z,1613612906.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.12 m. Resuming terminal guidance. 2021-02-18T01:48:26.407Z,1613612906.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T01:48:28.797Z,1613612908.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:48:29.568Z,1613612909.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:48:29.974Z,1613612909.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:48:30.796Z,1613612910.796 [Micromodem](INFO): Nmea in: $SNTTA,0.104260,,,,014829.61*40 2021-02-18T01:48:30.840Z,1613612910.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.540009 m, bearing: 286.720987 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T01:48:30.841Z,1613612910.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 286.720987deg and heading rate command to 0 deg/s. 2021-02-18T01:48:33.236Z,1613612913.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:48:34.016Z,1613612914.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:48:34.420Z,1613612914.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:48:35.240Z,1613612915.240 [Micromodem](INFO): Nmea in: $SNTTA,0.106525,,,,014834.06*49 2021-02-18T01:48:35.292Z,1613612915.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.900009 m, bearing: 286.142661 deg, deltaT: 4.441630 s, approachRate: 0.756479 m/s, LOS rate: -0.130206 deg/s, posRepo size: 2 2021-02-18T01:48:35.294Z,1613612915.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.900009 m, bearing: 286.142661 deg, approachRate: 0.756479 m/s, LOS rate: -0.130206 deg/s, cmd update: -0.520823 deg/s, cmd heading: 286.720987 deg, new cmd heading: 286.720987 deg. 2021-02-18T01:48:37.679Z,1613612917.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:48:38.456Z,1613612918.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:48:38.862Z,1613612918.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:48:39.685Z,1613612919.685 [Micromodem](INFO): Nmea in: $SNTTA,0.108670,,,,014838.50*4B 2021-02-18T01:48:39.734Z,1613612919.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.140015 m, bearing: 284.720151 deg, deltaT: 4.448765 s, approachRate: 0.728293 m/s, LOS rate: -0.319754 deg/s, posRepo size: 3 2021-02-18T01:48:39.736Z,1613612919.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.140015 m, bearing: 284.720151 deg, approachRate: 0.728293 m/s, LOS rate: -0.319754 deg/s, cmd update: -1.279015 deg/s, cmd heading: 284.403978 deg, new cmd heading: 284.184798 deg. 2021-02-18T01:48:42.134Z,1613612922.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:48:42.900Z,1613612922.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:48:43.306Z,1613612923.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:48:44.128Z,1613612924.128 [Micromodem](INFO): Nmea in: $SNTTA,0.110949,,,,014842.94*42 2021-02-18T01:48:44.170Z,1613612924.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.619995 m, bearing: 276.120260 deg, deltaT: 4.453274 s, approachRate: 0.781443 m/s, LOS rate: -1.931139 deg/s, posRepo size: 4 2021-02-18T01:48:44.172Z,1613612924.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.619995 m, bearing: 276.120260 deg, approachRate: 0.781443 m/s, LOS rate: -1.931139 deg/s, cmd update: -7.724556 deg/s, cmd heading: 278.713322 deg, new cmd heading: 278.192452 deg. 2021-02-18T01:48:46.583Z,1613612926.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:48:47.345Z,1613612927.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:48:47.750Z,1613612927.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:48:48.572Z,1613612928.572 [Micromodem](INFO): Nmea in: $SNTTA,0.113118,,,,014847.39*4F 2021-02-18T01:48:48.621Z,1613612928.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.860001 m, bearing: 295.701320 deg, deltaT: 4.438018 s, approachRate: 0.730057 m/s, LOS rate: 4.412118 deg/s, posRepo size: 4 2021-02-18T01:48:48.622Z,1613612928.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.860001 m, bearing: 295.701320 deg, approachRate: 0.730057 m/s, LOS rate: 4.412118 deg/s, cmd update: 12.000000 deg/s, cmd heading: 244.401275 deg, new cmd heading: 241.188903 deg. 2021-02-18T01:48:51.009Z,1613612931.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:48:51.788Z,1613612931.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:48:52.200Z,1613612932.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:48:53.023Z,1613612933.023 [Micromodem](INFO): Nmea in: $SNTTA,0.115042,,,,014851.83*41 2021-02-18T01:48:53.042Z,1613612933.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.860001 m, bearing: 215.025434 deg, deltaT: 4.439933 s, approachRate: 0.000000 m/s, LOS rate: -18.170520 deg/s, posRepo size: 4 2021-02-18T01:48:53.043Z,1613612933.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.170520 deg/s. Setting heading cmd to target bearing of 215.025434deg and heading rate command to 0 deg/s. 2021-02-18T01:48:55.450Z,1613612935.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:48:56.232Z,1613612936.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:48:56.655Z,1613612936.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:48:57.466Z,1613612937.466 [Micromodem](INFO): Nmea in: $SNTTA,0.116877,,,,014856.27*45 2021-02-18T01:48:57.550Z,1613612937.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.860001 m, bearing: 262.577224 deg, deltaT: 4.475549 s, approachRate: 0.000000 m/s, LOS rate: 10.624795 deg/s, posRepo size: 4 2021-02-18T01:48:57.558Z,1613612937.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.860001 m, bearing: 262.577224 deg, approachRate: 0.000000 m/s, LOS rate: 10.624795 deg/s, cmd update: 12.000000 deg/s, cmd heading: 215.025434 deg, new cmd heading: 215.025434 deg. 2021-02-18T01:48:59.894Z,1613612939.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:00.676Z,1613612940.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:49:01.108Z,1613612941.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:49:01.904Z,1613612941.904 [Micromodem](INFO): Nmea in: $SNTTA,0.118906,,,,014900.72*4E 2021-02-18T01:49:01.937Z,1613612941.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.500000 m, bearing: 255.672832 deg, deltaT: 4.437618 s, approachRate: 1.946990 m/s, LOS rate: -1.555878 deg/s, posRepo size: 4 2021-02-18T01:49:01.939Z,1613612941.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.500000 m, bearing: 255.672832 deg, approachRate: 1.946990 m/s, LOS rate: -1.555878 deg/s, cmd update: -6.223512 deg/s, cmd heading: 268.183203 deg, new cmd heading: 272.927295 deg. 2021-02-18T01:49:04.349Z,1613612944.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:05.120Z,1613612945.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:49:05.543Z,1613612945.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:49:06.356Z,1613612946.356 [Micromodem](INFO): Nmea in: $SNTTA,0.120808,,,,014905.16*4D 2021-02-18T01:49:06.427Z,1613612946.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.500000 m, bearing: 268.267701 deg, deltaT: 4.410720 s, approachRate: 0.000000 m/s, LOS rate: 2.855513 deg/s, posRepo size: 4 2021-02-18T01:49:06.429Z,1613612946.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.500000 m, bearing: 268.267701 deg, approachRate: 0.000000 m/s, LOS rate: 2.855513 deg/s, cmd update: 11.422053 deg/s, cmd heading: 240.641778 deg, new cmd heading: 237.804945 deg. 2021-02-18T01:49:08.802Z,1613612948.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:09.574Z,1613612949.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:49:09.969Z,1613612949.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:49:10.788Z,1613612950.788 [Micromodem](INFO): Nmea in: $SNTTA,0.122543,,,,014909.61*41 2021-02-18T01:49:11.257Z,1613612951.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.960007 m, bearing: 251.563216 deg, deltaT: 4.871962 s, approachRate: 1.120700 m/s, LOS rate: -3.428698 deg/s, posRepo size: 4 2021-02-18T01:49:11.263Z,1613612951.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.960007 m, bearing: 251.563216 deg, approachRate: 1.120700 m/s, LOS rate: -3.428698 deg/s, cmd update: -12.000000 deg/s, cmd heading: 296.259088 deg, new cmd heading: 301.005374 deg. 2021-02-18T01:49:13.646Z,1613612953.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:14.422Z,1613612954.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:49:14.818Z,1613612954.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:49:15.638Z,1613612955.638 [Micromodem](INFO): Nmea in: $SNTTA,0.124478,,,,014914.46*47 2021-02-18T01:49:16.110Z,1613612956.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.959991 m, bearing: 229.018934 deg, deltaT: 4.821057 s, approachRate: 0.622267 m/s, LOS rate: -4.676212 deg/s, posRepo size: 4 2021-02-18T01:49:16.116Z,1613612956.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.959991 m, bearing: 229.018934 deg, approachRate: 0.622267 m/s, LOS rate: -4.676212 deg/s, cmd update: -12.000000 deg/s, cmd heading: 238.358150 deg, new cmd heading: 232.982918 deg. 2021-02-18T01:49:18.520Z,1613612958.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:19.266Z,1613612959.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:49:19.667Z,1613612959.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:49:20.518Z,1613612960.518 [Micromodem](INFO): Nmea in: $SNTTA,0.126696,,,,014919.31*4A 2021-02-18T01:49:20.552Z,1613612960.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.959991 m, bearing: 246.962073 deg, deltaT: 4.494676 s, approachRate: 0.000000 m/s, LOS rate: 3.992087 deg/s, posRepo size: 4 2021-02-18T01:49:20.554Z,1613612960.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.959991 m, bearing: 246.962073 deg, approachRate: 0.000000 m/s, LOS rate: 3.992087 deg/s, cmd update: 12.000000 deg/s, cmd heading: 184.522009 deg, new cmd heading: 179.670420 deg. 2021-02-18T01:49:22.936Z,1613612962.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:23.705Z,1613612963.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:49:24.124Z,1613612964.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:49:24.932Z,1613612964.932 [Micromodem](INFO): Nmea in: $SNTTA,0.128626,,,,014923.75*46 2021-02-18T01:49:24.980Z,1613612964.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.959991 m, bearing: 202.181522 deg, deltaT: 4.416058 s, approachRate: 0.000000 m/s, LOS rate: -10.140390 deg/s, posRepo size: 4 2021-02-18T01:49:24.982Z,1613612964.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.959991 m, bearing: 202.181522 deg, approachRate: 0.000000 m/s, LOS rate: -10.140390 deg/s, cmd update: -12.000000 deg/s, cmd heading: 237.597194 deg, new cmd heading: 242.481626 deg. 2021-02-18T01:49:27.366Z,1613612967.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:28.148Z,1613612968.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:49:28.555Z,1613612968.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:49:29.365Z,1613612969.365 [Micromodem](INFO): Nmea in: $SNTTA,0.130442,,,,014928.19*4E 2021-02-18T01:49:29.826Z,1613612969.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.960007 m, bearing: 234.955584 deg, deltaT: 4.847432 s, approachRate: 1.856656 m/s, LOS rate: 6.761118 deg/s, posRepo size: 4 2021-02-18T01:49:29.828Z,1613612969.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.960007 m, bearing: 234.955584 deg, approachRate: 1.856656 m/s, LOS rate: 6.761118 deg/s, cmd update: 12.000000 deg/s, cmd heading: 179.440223 deg, new cmd heading: 174.533903 deg. 2021-02-18T01:49:32.213Z,1613612972.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:32.996Z,1613612972.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:49:33.401Z,1613612973.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:49:34.215Z,1613612974.215 [Micromodem](INFO): Nmea in: $SNTTA,0.131635,,,,014933.04*4B 2021-02-18T01:49:34.660Z,1613612974.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.519989 m, bearing: 199.940210 deg, deltaT: 4.818928 s, approachRate: 0.323720 m/s, LOS rate: -7.266216 deg/s, posRepo size: 4 2021-02-18T01:49:34.661Z,1613612974.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.519989 m, bearing: 199.940210 deg, approachRate: 0.323720 m/s, LOS rate: -7.266216 deg/s, cmd update: -12.000000 deg/s, cmd heading: 237.296797 deg, new cmd heading: 242.344261 deg. 2021-02-18T01:49:37.071Z,1613612977.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:37.861Z,1613612977.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:49:38.255Z,1613612978.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:49:39.105Z,1613612979.105 [Micromodem](INFO): Nmea in: $SNTTA,0.132544,,,,014937.90*44 2021-02-18T01:49:39.532Z,1613612979.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.959991 m, bearing: 156.564902 deg, deltaT: 4.906523 s, approachRate: 0.293487 m/s, LOS rate: -8.840335 deg/s, posRepo size: 4 2021-02-18T01:49:39.533Z,1613612979.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.959991 m, bearing: 156.564902 deg, approachRate: 0.293487 m/s, LOS rate: -8.840335 deg/s, cmd update: -12.000000 deg/s, cmd heading: 178.611299 deg, new cmd heading: 173.787035 deg. 2021-02-18T01:49:41.914Z,1613612981.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:42.692Z,1613612982.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:49:43.113Z,1613612983.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:49:43.908Z,1613612983.908 [Micromodem](INFO): Nmea in: $SNTTA,0.133251,,,,014942.73*49 2021-02-18T01:49:44.739Z,1613612984.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:46.328Z,1613612986.328 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T01:49:47.566Z,1613612987.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:48.364Z,1613612988.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:49:48.753Z,1613612988.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:49:49.575Z,1613612989.575 [Micromodem](INFO): Nmea in: $SNTTA,0.133820,,,,014948.40*4F 2021-02-18T01:49:49.995Z,1613612989.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.759995 m, bearing: 160.225637 deg, deltaT: 10.454182 s, approachRate: 0.172180 m/s, LOS rate: 0.350169 deg/s, posRepo size: 4 2021-02-18T01:49:49.997Z,1613612989.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.759995 m, bearing: 160.225637 deg, approachRate: 0.172180 m/s, LOS rate: 0.350169 deg/s, cmd update: 1.400678 deg/s, cmd heading: 52.968368 deg, new cmd heading: 48.224132 deg. 2021-02-18T01:49:52.420Z,1613612992.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:53.196Z,1613612993.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:49:53.615Z,1613612993.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:49:54.414Z,1613612994.414 [Micromodem](INFO): Nmea in: $SNTTA,0.133208,,,,014953.24*47 2021-02-18T01:49:54.848Z,1613612994.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.739990 m, bearing: 103.887088 deg, deltaT: 4.872801 s, approachRate: -0.209326 m/s, LOS rate: -11.561841 deg/s, posRepo size: 4 2021-02-18T01:49:54.848Z,1613612994.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.561841 deg/s. Setting heading cmd to target bearing of 103.887088deg and heading rate command to 0 deg/s. 2021-02-18T01:49:57.276Z,1613612997.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:49:58.050Z,1613612998.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:49:58.450Z,1613612998.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:49:59.266Z,1613612999.266 [Micromodem](INFO): Nmea in: $SNTTA,0.132106,,,,014958.09*4F 2021-02-18T01:49:59.695Z,1613612999.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.000000 m, bearing: 101.240308 deg, deltaT: 4.841699 s, approachRate: -0.359376 m/s, LOS rate: -0.546664 deg/s, posRepo size: 4 2021-02-18T01:49:59.697Z,1613612999.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.000000 m, bearing: 101.240308 deg, approachRate: -0.359376 m/s, LOS rate: -0.546664 deg/s, cmd update: -2.186654 deg/s, cmd heading: 103.887088 deg, new cmd heading: 103.887088 deg. 2021-02-18T01:50:02.156Z,1613613002.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:50:02.892Z,1613613002.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:50:03.298Z,1613613003.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:50:04.121Z,1613613004.121 [Micromodem](INFO): Nmea in: $SNTTA,0.130465,,,,015002.93*49 2021-02-18T01:50:04.564Z,1613613004.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.479996 m, bearing: 97.661576 deg, deltaT: 4.831220 s, approachRate: -0.521608 m/s, LOS rate: -0.740751 deg/s, posRepo size: 4 2021-02-18T01:50:04.566Z,1613613004.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.479996 m, bearing: 97.661576 deg, approachRate: -0.521608 m/s, LOS rate: -0.740751 deg/s, cmd update: -2.963005 deg/s, cmd heading: 93.270620 deg, new cmd heading: 92.355318 deg. 2021-02-18T01:50:06.948Z,1613613006.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:50:07.740Z,1613613007.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:50:08.146Z,1613613008.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:50:08.958Z,1613613008.958 [Micromodem](INFO): Nmea in: $SNTTA,0.128619,,,,015007.78*49 2021-02-18T01:50:09.395Z,1613613009.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.479996 m, bearing: 99.393213 deg, deltaT: 4.827614 s, approachRate: -0.621425 m/s, LOS rate: 0.358694 deg/s, posRepo size: 4 2021-02-18T01:50:09.397Z,1613613009.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.479996 m, bearing: 99.393213 deg, approachRate: -0.621425 m/s, LOS rate: 0.358694 deg/s, cmd update: 1.434777 deg/s, cmd heading: 78.966047 deg, new cmd heading: 77.714530 deg. 2021-02-18T01:50:11.825Z,1613613011.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:50:12.593Z,1613613012.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:50:12.994Z,1613613012.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:50:13.818Z,1613613013.818 [Micromodem](INFO): Nmea in: $SNTTA,0.126340,,0.132302,,015012.64*58 2021-02-18T01:50:14.248Z,1613613014.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.299988 m, bearing: 101.544334 deg, deltaT: 4.870193 s, approachRate: -0.652953 m/s, LOS rate: 0.441691 deg/s, posRepo size: 4 2021-02-18T01:50:14.250Z,1613613014.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.299988 m, bearing: 101.544334 deg, approachRate: -0.652953 m/s, LOS rate: 0.441691 deg/s, cmd update: 1.766764 deg/s, cmd heading: 85.953507 deg, new cmd heading: 86.535362 deg. 2021-02-18T01:50:16.656Z,1613613016.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:50:17.436Z,1613613017.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:50:17.848Z,1613613017.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:50:18.671Z,1613613018.671 [Micromodem](INFO): Nmea in: $SNTTA,0.124107,,,,015017.48*4F 2021-02-18T01:50:18.696Z,1613613018.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.299988 m, bearing: 102.487453 deg, deltaT: 4.444313 s, approachRate: 0.000000 m/s, LOS rate: 0.212208 deg/s, posRepo size: 4 2021-02-18T01:50:18.698Z,1613613018.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.299988 m, bearing: 102.487453 deg, approachRate: 0.000000 m/s, LOS rate: 0.212208 deg/s, cmd update: 0.848833 deg/s, cmd heading: 93.804016 deg, new cmd heading: 94.527418 deg. 2021-02-18T01:50:21.145Z,1613613021.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:50:21.880Z,1613613021.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:50:22.307Z,1613613022.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:50:23.120Z,1613613023.120 [Micromodem](INFO): Nmea in: $SNTTA,0.122082,,,,015021.92*47 2021-02-18T01:50:23.159Z,1613613023.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.299988 m, bearing: 104.168444 deg, deltaT: 4.453209 s, approachRate: 0.000000 m/s, LOS rate: 0.377479 deg/s, posRepo size: 4 2021-02-18T01:50:23.161Z,1613613023.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.299988 m, bearing: 104.168444 deg, approachRate: 0.000000 m/s, LOS rate: 0.377479 deg/s, cmd update: 1.509915 deg/s, cmd heading: 97.584884 deg, new cmd heading: 97.940186 deg. 2021-02-18T01:50:25.561Z,1613613025.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:50:26.329Z,1613613026.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:50:26.730Z,1613613026.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:50:27.552Z,1613613027.552 [Micromodem](INFO): Nmea in: $SNTTA,0.119994,,,,015026.37*49 2021-02-18T01:50:27.982Z,1613613027.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.760010 m, bearing: 104.759809 deg, deltaT: 4.867315 s, approachRate: -1.960008 m/s, LOS rate: 0.121497 deg/s, posRepo size: 4 2021-02-18T01:50:27.984Z,1613613027.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.760010 m, bearing: 104.759809 deg, approachRate: -1.960008 m/s, LOS rate: 0.121497 deg/s, cmd update: 0.485988 deg/s, cmd heading: 104.928083 deg, new cmd heading: 105.499037 deg. 2021-02-18T01:50:30.388Z,1613613030.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:50:31.172Z,1613613031.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:50:31.583Z,1613613031.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:50:32.400Z,1613613032.400 [Micromodem](INFO): Nmea in: $SNTTA,0.117727,,,,015031.21*40 2021-02-18T01:50:32.424Z,1613613032.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.760010 m, bearing: 103.186072 deg, deltaT: 4.395027 s, approachRate: 0.000000 m/s, LOS rate: -0.358072 deg/s, posRepo size: 4 2021-02-18T01:50:32.426Z,1613613032.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.760010 m, bearing: 103.186072 deg, approachRate: 0.000000 m/s, LOS rate: -0.358072 deg/s, cmd update: -1.432289 deg/s, cmd heading: 107.065249 deg, new cmd heading: 107.270683 deg. 2021-02-18T01:50:34.834Z,1613613034.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:50:35.622Z,1613613035.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:50:36.029Z,1613613036.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:50:36.848Z,1613613036.848 [Micromodem](INFO): Nmea in: $SNTTA,0.115400,,,,015035.66*43 2021-02-18T01:50:36.873Z,1613613036.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.760010 m, bearing: 103.468384 deg, deltaT: 4.535710 s, approachRate: 0.000000 m/s, LOS rate: 0.062242 deg/s, posRepo size: 4 2021-02-18T01:50:36.874Z,1613613036.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.760010 m, bearing: 103.468384 deg, approachRate: 0.000000 m/s, LOS rate: 0.062242 deg/s, cmd update: 0.248968 deg/s, cmd heading: 100.572466 deg, new cmd heading: 100.088061 deg. 2021-02-18T01:50:39.284Z,1613613039.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:50:40.078Z,1613613040.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:50:40.470Z,1613613040.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:50:41.692Z,1613613041.692 [Micromodem](INFO): Nmea in: $SNTTA,0.113347,,,,015040.17*45 2021-02-18T01:50:41.731Z,1613613041.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.860001 m, bearing: 102.861693 deg, deltaT: 4.829954 s, approachRate: -2.049711 m/s, LOS rate: -0.125610 deg/s, posRepo size: 4 2021-02-18T01:50:41.733Z,1613613041.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.860001 m, bearing: 102.861693 deg, approachRate: -2.049711 m/s, LOS rate: -0.125610 deg/s, cmd update: -0.502441 deg/s, cmd heading: 101.771756 deg, new cmd heading: 101.866159 deg. 2021-02-18T01:50:44.137Z,1613613044.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:50:44.908Z,1613613044.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:50:45.313Z,1613613045.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:50:46.136Z,1613613046.136 [Micromodem](INFO): Nmea in: $SNTTA,0.110927,,,,015044.95*44 2021-02-18T01:50:46.194Z,1613613046.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.200012 m, bearing: 103.855239 deg, deltaT: 4.398550 s, approachRate: -0.832090 m/s, LOS rate: 0.225880 deg/s, posRepo size: 4 2021-02-18T01:50:46.200Z,1613613046.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.200012 m, bearing: 103.855239 deg, approachRate: -0.832090 m/s, LOS rate: 0.225880 deg/s, cmd update: 0.903522 deg/s, cmd heading: 99.553283 deg, new cmd heading: 99.338678 deg. 2021-02-18T01:50:48.582Z,1613613048.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:50:49.357Z,1613613049.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:50:49.770Z,1613613049.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:50:50.584Z,1613613050.584 [Micromodem](INFO): Nmea in: $SNTTA,0.108763,,,,015049.40*46 2021-02-18T01:50:50.623Z,1613613050.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 103.732146 deg, deltaT: 4.446952 s, approachRate: -0.742085 m/s, LOS rate: -0.027680 deg/s, posRepo size: 4 2021-02-18T01:50:50.625Z,1613613050.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.899994 m, bearing: 103.732146 deg, approachRate: -0.742085 m/s, LOS rate: -0.027680 deg/s, cmd update: -0.110722 deg/s, cmd heading: 103.571306 deg, new cmd heading: 103.940735 deg. 2021-02-18T01:50:51.796Z,1613613051.796 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T01:50:53.039Z,1613613053.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:50:53.802Z,1613613053.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:50:54.202Z,1613613054.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:50:55.028Z,1613613055.028 [Micromodem](INFO): Nmea in: $SNTTA,0.106520,,,,015053.84*4E 2021-02-18T01:50:55.115Z,1613613055.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.539993 m, bearing: 103.866612 deg, deltaT: 4.441099 s, approachRate: -0.756570 m/s, LOS rate: 0.030278 deg/s, posRepo size: 4 2021-02-18T01:50:55.121Z,1613613055.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.539993 m, bearing: 103.866612 deg, approachRate: -0.756570 m/s, LOS rate: 0.030278 deg/s, cmd update: 0.121110 deg/s, cmd heading: 103.079582 deg, new cmd heading: 103.028736 deg. 2021-02-18T01:50:57.478Z,1613613057.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:50:58.240Z,1613613058.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:50:58.652Z,1613613058.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:50:59.469Z,1613613059.469 [Micromodem](INFO): Nmea in: $SNTTA,0.104320,,,,015058.28*47 2021-02-18T01:50:59.537Z,1613613059.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.300003 m, bearing: 103.887300 deg, deltaT: 4.457494 s, approachRate: -0.726864 m/s, LOS rate: 0.004641 deg/s, posRepo size: 4 2021-02-18T01:50:59.538Z,1613613059.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.300003 m, bearing: 103.887300 deg, approachRate: -0.726864 m/s, LOS rate: 0.004641 deg/s, cmd update: 0.018565 deg/s, cmd heading: 103.618953 deg, new cmd heading: 103.670789 deg. 2021-02-18T01:51:01.552Z,1613613061.552 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T01:51:01.891Z,1613613061.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:51:02.689Z,1613613062.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:51:03.127Z,1613613063.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:51:03.916Z,1613613063.916 [Micromodem](INFO): Nmea in: $SNTTA,0.102053,,,,015102.73*46 2021-02-18T01:51:03.953Z,1613613063.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.880005 m, bearing: 103.459280 deg, deltaT: 4.436516 s, approachRate: -0.770875 m/s, LOS rate: -0.096477 deg/s, posRepo size: 4 2021-02-18T01:51:03.955Z,1613613063.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.880005 m, bearing: 103.459280 deg, approachRate: -0.770875 m/s, LOS rate: -0.096477 deg/s, cmd update: -0.385907 deg/s, cmd heading: 103.701390 deg, new cmd heading: 103.708899 deg. 2021-02-18T01:51:06.346Z,1613613066.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:51:07.128Z,1613613067.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:51:07.541Z,1613613067.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:51:08.356Z,1613613068.356 [Micromodem](INFO): Nmea in: $SNTTA,0.099856,,,,015107.17*4F 2021-02-18T01:51:08.395Z,1613613068.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.639999 m, bearing: 103.937031 deg, deltaT: 4.415548 s, approachRate: -0.733772 m/s, LOS rate: 0.108198 deg/s, posRepo size: 4 2021-02-18T01:51:08.397Z,1613613068.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.639999 m, bearing: 103.937031 deg, approachRate: -0.733772 m/s, LOS rate: 0.108198 deg/s, cmd update: 0.432790 deg/s, cmd heading: 101.997353 deg, new cmd heading: 101.831392 deg. 2021-02-18T01:51:10.798Z,1613613070.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:51:11.574Z,1613613071.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:51:11.986Z,1613613071.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:51:12.800Z,1613613072.800 [Micromodem](INFO): Nmea in: $SNTTA,0.097697,,,,015111.62*47 2021-02-18T01:51:12.840Z,1613613072.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.399994 m, bearing: 104.011931 deg, deltaT: 4.463031 s, approachRate: -0.725965 m/s, LOS rate: 0.016782 deg/s, posRepo size: 4 2021-02-18T01:51:12.842Z,1613613072.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.399994 m, bearing: 104.011931 deg, approachRate: -0.725965 m/s, LOS rate: 0.016782 deg/s, cmd update: 0.067129 deg/s, cmd heading: 103.928672 deg, new cmd heading: 104.107336 deg. 2021-02-18T01:51:15.271Z,1613613075.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:51:16.016Z,1613613076.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:51:16.422Z,1613613076.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:51:16.850Z,1613613076.850 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T01:51:17.244Z,1613613077.244 [Micromodem](INFO): Nmea in: $SNTTA,0.095574,,,,015116.06*4E 2021-02-18T01:51:17.294Z,1613613077.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.160004 m, bearing: 102.895864 deg, deltaT: 4.455821 s, approachRate: -0.727137 m/s, LOS rate: -0.250474 deg/s, posRepo size: 4 2021-02-18T01:51:17.307Z,1613613077.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.160004 m, bearing: 102.895864 deg, approachRate: -0.727137 m/s, LOS rate: -0.250474 deg/s, cmd update: -1.001895 deg/s, cmd heading: 104.227800 deg, new cmd heading: 104.255384 deg. 2021-02-18T01:51:19.692Z,1613613079.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:51:20.469Z,1613613080.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:51:20.866Z,1613613080.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:51:21.696Z,1613613081.696 [Micromodem](INFO): Nmea in: $SNTTA,0.093315,,,,015120.51*4E 2021-02-18T01:51:21.701Z,1613613081.701 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T01:51:21.746Z,1613613081.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.740005 m, bearing: 102.817911 deg, deltaT: 4.435505 s, approachRate: -0.771050 m/s, LOS rate: -0.017575 deg/s, posRepo size: 4 2021-02-18T01:51:21.748Z,1613613081.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.740005 m, bearing: 102.817911 deg, approachRate: -0.771050 m/s, LOS rate: -0.017575 deg/s, cmd update: -0.070299 deg/s, cmd heading: 99.787575 deg, new cmd heading: 99.355699 deg. 2021-02-18T01:51:24.144Z,1613613084.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:51:24.907Z,1613613084.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:51:25.310Z,1613613085.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:51:26.136Z,1613613086.136 [Micromodem](INFO): Nmea in: $SNTTA,0.091302,,,,015124.95*46 2021-02-18T01:51:26.174Z,1613613086.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.800003 m, bearing: 103.674130 deg, deltaT: 4.447274 s, approachRate: -0.661080 m/s, LOS rate: 0.192527 deg/s, posRepo size: 4 2021-02-18T01:51:26.176Z,1613613086.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.800003 m, bearing: 103.674130 deg, approachRate: -0.661080 m/s, LOS rate: 0.192527 deg/s, cmd update: 0.770107 deg/s, cmd heading: 99.474959 deg, new cmd heading: 99.445994 deg. 2021-02-18T01:51:26.562Z,1613613086.562 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T01:51:28.572Z,1613613088.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:51:29.349Z,1613613089.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:51:29.759Z,1613613089.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:51:30.584Z,1613613090.584 [Micromodem](INFO): Nmea in: $SNTTA,0.088864,,,,015129.39*4E 2021-02-18T01:51:30.608Z,1613613090.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.080002 m, bearing: 103.676978 deg, deltaT: 4.425975 s, approachRate: -0.840493 m/s, LOS rate: 0.000644 deg/s, posRepo size: 4 2021-02-18T01:51:30.610Z,1613613090.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.080002 m, bearing: 103.676978 deg, approachRate: -0.840493 m/s, LOS rate: 0.000644 deg/s, cmd update: 0.002574 deg/s, cmd heading: 102.886341 deg, new cmd heading: 103.206757 deg. 2021-02-18T01:51:31.811Z,1613613091.811 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2021-02-18T01:51:31.811Z,1613613091.811 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-02-18T01:51:31.811Z,1613613091.811 [RDI_Pathfinder](ERROR): Communications Fault 2021-02-18T01:51:31.959Z,1613613091.959 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-02-18T01:51:32.275Z,1613613092.275 [RDI_Pathfinder](INFO): Powering down 2021-02-18T01:51:33.001Z,1613613093.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:51:33.081Z,1613613093.081 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-02-18T01:51:33.082Z,1613613093.082 [RDI_Pathfinder] No Fault, FailCount= 1 2021-02-18T01:51:33.794Z,1613613093.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:51:34.198Z,1613613094.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:51:35.024Z,1613613095.024 [Micromodem](INFO): Nmea in: $SNTTA,0.086789,,,0.112389,015133.83*58 2021-02-18T01:51:35.084Z,1613613095.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.960007 m, bearing: 104.665928 deg, deltaT: 4.421269 s, approachRate: -0.705679 m/s, LOS rate: 0.223680 deg/s, posRepo size: 4 2021-02-18T01:51:35.099Z,1613613095.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.960007 m, bearing: 104.665928 deg, approachRate: -0.705679 m/s, LOS rate: 0.223680 deg/s, cmd update: 0.894720 deg/s, cmd heading: 102.897724 deg, new cmd heading: 102.898904 deg. 2021-02-18T01:51:37.464Z,1613613097.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:51:38.236Z,1613613098.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:51:38.651Z,1613613098.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:51:39.464Z,1613613099.464 [Micromodem](INFO): Nmea in: $SNTTA,0.084446,,,,015138.28*4E 2021-02-18T01:51:39.503Z,1613613099.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.480003 m, bearing: 103.815290 deg, deltaT: 4.495269 s, approachRate: -0.774148 m/s, LOS rate: -0.189230 deg/s, posRepo size: 4 2021-02-18T01:51:39.505Z,1613613099.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.480003 m, bearing: 103.815290 deg, approachRate: -0.774148 m/s, LOS rate: -0.189230 deg/s, cmd update: -0.756919 deg/s, cmd heading: 106.916171 deg, new cmd heading: 107.272270 deg. 2021-02-18T01:51:41.892Z,1613613101.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:51:42.685Z,1613613102.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:51:43.110Z,1613613103.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:51:43.923Z,1613613103.923 [Micromodem](INFO): Nmea in: $SNTTA,0.082339,,,,015142.73*44 2021-02-18T01:51:43.942Z,1613613103.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.360001 m, bearing: 103.442921 deg, deltaT: 4.409142 s, approachRate: -0.707621 m/s, LOS rate: -0.084454 deg/s, posRepo size: 4 2021-02-18T01:51:43.944Z,1613613103.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.360001 m, bearing: 103.442921 deg, approachRate: -0.707621 m/s, LOS rate: -0.084454 deg/s, cmd update: -0.337815 deg/s, cmd heading: 103.575828 deg, new cmd heading: 103.254901 deg. 2021-02-18T01:51:46.354Z,1613613106.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:51:47.124Z,1613613107.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:51:47.529Z,1613613107.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:51:48.356Z,1613613108.356 [Micromodem](INFO): Nmea in: $SNTTA,0.080101,,,,015147.17*48 2021-02-18T01:51:48.420Z,1613613108.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.000000 m, bearing: 103.756024 deg, deltaT: 4.428060 s, approachRate: -0.758797 m/s, LOS rate: 0.070709 deg/s, posRepo size: 4 2021-02-18T01:51:48.422Z,1613613108.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.000000 m, bearing: 103.756024 deg, approachRate: -0.758797 m/s, LOS rate: 0.070709 deg/s, cmd update: 0.282835 deg/s, cmd heading: 102.079967 deg, new cmd heading: 101.919859 deg. 2021-02-18T01:51:50.776Z,1613613110.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:51:51.590Z,1613613111.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:51:51.974Z,1613613111.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:51:52.809Z,1613613112.809 [Micromodem](INFO): Nmea in: $SNTTA,0.077819,,0.104538,,015151.63*51 2021-02-18T01:51:52.849Z,1613613112.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.580002 m, bearing: 104.130031 deg, deltaT: 4.498204 s, approachRate: -0.760303 m/s, LOS rate: 0.083146 deg/s, posRepo size: 4 2021-02-18T01:51:52.851Z,1613613112.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.580002 m, bearing: 104.130031 deg, approachRate: -0.760303 m/s, LOS rate: 0.083146 deg/s, cmd update: 0.332584 deg/s, cmd heading: 103.352100 deg, new cmd heading: 103.466818 deg. 2021-02-18T01:51:55.284Z,1613613115.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:51:56.012Z,1613613116.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:51:56.419Z,1613613116.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:51:57.276Z,1613613117.276 [Micromodem](INFO): Nmea in: $SNTTA,0.075639,,,,015156.06*4E 2021-02-18T01:51:57.330Z,1613613117.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.279999 m, bearing: 102.430776 deg, deltaT: 4.410888 s, approachRate: -0.748149 m/s, LOS rate: -0.385241 deg/s, posRepo size: 4 2021-02-18T01:51:57.332Z,1613613117.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.279999 m, bearing: 102.430776 deg, approachRate: -0.748149 m/s, LOS rate: -0.385241 deg/s, cmd update: -1.540965 deg/s, cmd heading: 104.813846 deg, new cmd heading: 104.977044 deg. 2021-02-18T01:51:59.676Z,1613613119.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:00.456Z,1613613120.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:00.877Z,1613613120.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:01.684Z,1613613121.684 [Micromodem](INFO): Nmea in: $SNTTA,0.073500,,,,015200.50*42 2021-02-18T01:52:01.722Z,1613613121.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.040009 m, bearing: 102.448514 deg, deltaT: 4.477833 s, approachRate: -0.723562 m/s, LOS rate: 0.003961 deg/s, posRepo size: 4 2021-02-18T01:52:01.724Z,1613613121.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.040009 m, bearing: 102.448514 deg, approachRate: -0.723562 m/s, LOS rate: 0.003961 deg/s, cmd update: 0.015845 deg/s, cmd heading: 97.894826 deg, new cmd heading: 97.288532 deg. 2021-02-18T01:52:04.138Z,1613613124.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:04.933Z,1613613124.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:05.308Z,1613613125.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:06.150Z,1613613126.150 [Micromodem](INFO): Nmea in: $SNTTA,0.071333,,0.085938,,015204.98*57 2021-02-18T01:52:06.205Z,1613613126.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.680000 m, bearing: 102.880469 deg, deltaT: 4.396700 s, approachRate: -0.764211 m/s, LOS rate: 0.098245 deg/s, posRepo size: 4 2021-02-18T01:52:06.211Z,1613613126.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.680000 m, bearing: 102.880469 deg, approachRate: -0.764211 m/s, LOS rate: 0.098245 deg/s, cmd update: 0.392981 deg/s, cmd heading: 97.964552 deg, new cmd heading: 97.972095 deg. 2021-02-18T01:52:08.573Z,1613613128.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:09.353Z,1613613129.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:09.751Z,1613613129.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:10.581Z,1613613130.581 [Micromodem](INFO): Nmea in: $SNTTA,0.069145,,,,015209.39*4A 2021-02-18T01:52:10.626Z,1613613130.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.559998 m, bearing: 104.421086 deg, deltaT: 4.471727 s, approachRate: -0.697718 m/s, LOS rate: 0.344524 deg/s, posRepo size: 4 2021-02-18T01:52:10.628Z,1613613130.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.559998 m, bearing: 104.421086 deg, approachRate: -0.697718 m/s, LOS rate: 0.344524 deg/s, cmd update: 1.378096 deg/s, cmd heading: 99.718013 deg, new cmd heading: 99.888965 deg. 2021-02-18T01:52:13.015Z,1613613133.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:13.794Z,1613613133.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:14.215Z,1613613134.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:15.020Z,1613613135.020 [Micromodem](INFO): Nmea in: $SNTTA,0.066925,,,,015213.83*41 2021-02-18T01:52:15.081Z,1613613135.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.260002 m, bearing: 104.986537 deg, deltaT: 4.467520 s, approachRate: -0.738664 m/s, LOS rate: 0.126569 deg/s, posRepo size: 4 2021-02-18T01:52:15.103Z,1613613135.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.260002 m, bearing: 104.986537 deg, approachRate: -0.738664 m/s, LOS rate: 0.126569 deg/s, cmd update: 0.506277 deg/s, cmd heading: 105.882954 deg, new cmd heading: 106.451591 deg. 2021-02-18T01:52:17.474Z,1613613137.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:18.263Z,1613613138.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:18.643Z,1613613138.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:19.472Z,1613613139.472 [Micromodem](INFO): Nmea in: $SNTTA,0.064723,,,,015218.30*48 2021-02-18T01:52:19.525Z,1613613139.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.959999 m, bearing: 103.418674 deg, deltaT: 4.442268 s, approachRate: -0.742864 m/s, LOS rate: -0.352942 deg/s, posRepo size: 4 2021-02-18T01:52:19.527Z,1613613139.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.959999 m, bearing: 103.418674 deg, approachRate: -0.742864 m/s, LOS rate: -0.352942 deg/s, cmd update: -1.411768 deg/s, cmd heading: 108.131943 deg, new cmd heading: 108.343731 deg. 2021-02-18T01:52:21.888Z,1613613141.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:22.676Z,1613613142.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:23.129Z,1613613143.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:23.908Z,1613613143.908 [Micromodem](INFO): Nmea in: $SNTTA,0.062423,,,0.069541,015222.72*53 2021-02-18T01:52:23.930Z,1613613143.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 103.042146 deg, deltaT: 4.398360 s, approachRate: -0.791203 m/s, LOS rate: -0.085606 deg/s, posRepo size: 4 2021-02-18T01:52:23.932Z,1613613143.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.480003 m, bearing: 103.042146 deg, approachRate: -0.791203 m/s, LOS rate: -0.085606 deg/s, cmd update: -0.342426 deg/s, cmd heading: 101.916839 deg, new cmd heading: 101.322911 deg. 2021-02-18T01:52:26.353Z,1613613146.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:27.120Z,1613613147.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:27.532Z,1613613147.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:28.356Z,1613613148.356 [Micromodem](INFO): Nmea in: $SNTTA,0.060334,,,,015227.16*46 2021-02-18T01:52:28.436Z,1613613148.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.299995 m, bearing: 103.546262 deg, deltaT: 4.437992 s, approachRate: -0.716542 m/s, LOS rate: 0.113591 deg/s, posRepo size: 4 2021-02-18T01:52:28.438Z,1613613148.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.299995 m, bearing: 103.546262 deg, approachRate: -0.716542 m/s, LOS rate: 0.113591 deg/s, cmd update: 0.454364 deg/s, cmd heading: 100.397171 deg, new cmd heading: 100.231392 deg. 2021-02-18T01:52:30.781Z,1613613150.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:31.590Z,1613613151.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:31.974Z,1613613151.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:32.820Z,1613613152.820 [Micromodem](INFO): Nmea in: $SNTTA,0.058026,,,,015231.63*48 2021-02-18T01:52:32.857Z,1613613152.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.880005 m, bearing: 103.052719 deg, deltaT: 4.463569 s, approachRate: -0.766201 m/s, LOS rate: -0.110571 deg/s, posRepo size: 4 2021-02-18T01:52:32.859Z,1613613152.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.880005 m, bearing: 103.052719 deg, approachRate: -0.766201 m/s, LOS rate: -0.110571 deg/s, cmd update: -0.442285 deg/s, cmd heading: 102.425307 deg, new cmd heading: 102.628112 deg. 2021-02-18T01:52:35.277Z,1613613155.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:36.008Z,1613613156.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:36.414Z,1613613156.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:37.260Z,1613613157.260 [Micromodem](INFO): Nmea in: $SNTTA,0.055849,,,,015236.05*43 2021-02-18T01:52:37.307Z,1613613157.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.699997 m, bearing: 104.241015 deg, deltaT: 4.419236 s, approachRate: -0.719583 m/s, LOS rate: 0.268892 deg/s, posRepo size: 4 2021-02-18T01:52:37.309Z,1613613157.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.699997 m, bearing: 104.241015 deg, approachRate: -0.719583 m/s, LOS rate: 0.268892 deg/s, cmd update: 1.075567 deg/s, cmd heading: 100.470747 deg, new cmd heading: 100.260113 deg. 2021-02-18T01:52:39.664Z,1613613159.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:40.458Z,1613613160.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:40.858Z,1613613160.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:41.684Z,1613613161.684 [Micromodem](INFO): Nmea in: $SNTTA,0.053754,,,,015240.50*47 2021-02-18T01:52:41.707Z,1613613161.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.399994 m, bearing: 102.562851 deg, deltaT: 4.500529 s, approachRate: -0.733248 m/s, LOS rate: -0.372881 deg/s, posRepo size: 4 2021-02-18T01:52:41.709Z,1613613161.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.399994 m, bearing: 102.562851 deg, approachRate: -0.733248 m/s, LOS rate: -0.372881 deg/s, cmd update: -1.491526 deg/s, cmd heading: 105.307072 deg, new cmd heading: 105.715481 deg. 2021-02-18T01:52:44.136Z,1613613164.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:44.898Z,1613613164.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:45.301Z,1613613165.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:46.128Z,1613613166.128 [Micromodem](INFO): Nmea in: $SNTTA,0.051421,,,,015244.94*48 2021-02-18T01:52:46.158Z,1613613166.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.980003 m, bearing: 104.121207 deg, deltaT: 4.387653 s, approachRate: -0.779458 m/s, LOS rate: 0.355168 deg/s, posRepo size: 4 2021-02-18T01:52:46.160Z,1613613166.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.980003 m, bearing: 104.121207 deg, approachRate: -0.779458 m/s, LOS rate: 0.355168 deg/s, cmd update: 1.420673 deg/s, cmd heading: 98.757677 deg, new cmd heading: 98.101117 deg. 2021-02-18T01:52:48.593Z,1613613168.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:49.345Z,1613613169.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:49.752Z,1613613169.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:50.584Z,1613613170.584 [Micromodem](INFO): Nmea in: $SNTTA,0.049421,,,,015249.39*4B 2021-02-18T01:52:50.609Z,1613613170.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.920006 m, bearing: 103.265343 deg, deltaT: 4.463020 s, approachRate: -0.685634 m/s, LOS rate: -0.191768 deg/s, posRepo size: 4 2021-02-18T01:52:50.610Z,1613613170.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.920006 m, bearing: 103.265343 deg, approachRate: -0.685634 m/s, LOS rate: -0.191768 deg/s, cmd update: -0.767071 deg/s, cmd heading: 105.094717 deg, new cmd heading: 105.705677 deg. 2021-02-18T01:52:52.996Z,1613613172.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:53.784Z,1613613173.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:54.199Z,1613613174.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:55.016Z,1613613175.016 [Micromodem](INFO): Nmea in: $SNTTA,0.047142,,,,015253.82*4E 2021-02-18T01:52:55.058Z,1613613175.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.440002 m, bearing: 102.972649 deg, deltaT: 4.449666 s, approachRate: -0.782082 m/s, LOS rate: -0.065779 deg/s, posRepo size: 4 2021-02-18T01:52:55.066Z,1613613175.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.440002 m, bearing: 102.972649 deg, approachRate: -0.782082 m/s, LOS rate: -0.065779 deg/s, cmd update: -0.263116 deg/s, cmd heading: 101.679191 deg, new cmd heading: 101.352296 deg. 2021-02-18T01:52:57.460Z,1613613177.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:52:58.266Z,1613613178.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:52:58.635Z,1613613178.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:52:59.473Z,1613613179.473 [Micromodem](INFO): Nmea in: $SNTTA,0.045133,,,,015258.31*49 2021-02-18T01:52:59.524Z,1613613179.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.500000 m, bearing: 104.814799 deg, deltaT: 4.450593 s, approachRate: -0.660587 m/s, LOS rate: 0.413911 deg/s, posRepo size: 4 2021-02-18T01:52:59.526Z,1613613179.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.500000 m, bearing: 104.814799 deg, approachRate: -0.660587 m/s, LOS rate: 0.413911 deg/s, cmd update: 1.655644 deg/s, cmd heading: 100.511101 deg, new cmd heading: 100.392903 deg. 2021-02-18T01:53:01.885Z,1613613181.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:02.672Z,1613613182.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:03.112Z,1613613183.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:53:03.908Z,1613613183.908 [Micromodem](INFO): Nmea in: $SNTTA,0.042804,,,,015302.71*49 2021-02-18T01:53:03.942Z,1613613183.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.020004 m, bearing: 104.980916 deg, deltaT: 4.446700 s, approachRate: -0.782602 m/s, LOS rate: 0.037357 deg/s, posRepo size: 4 2021-02-18T01:53:03.944Z,1613613183.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.020004 m, bearing: 104.980916 deg, approachRate: -0.782602 m/s, LOS rate: 0.037357 deg/s, cmd update: 0.149429 deg/s, cmd heading: 107.891715 deg, new cmd heading: 108.576402 deg. 2021-02-18T01:53:06.356Z,1613613186.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:07.122Z,1613613187.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:07.522Z,1613613187.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:53:08.348Z,1613613188.348 [Micromodem](INFO): Nmea in: $SNTTA,0.040598,,,,015307.16*47 2021-02-18T01:53:08.402Z,1613613188.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.419998 m, bearing: 102.402444 deg, deltaT: 4.410104 s, approachRate: -0.816309 m/s, LOS rate: -0.584674 deg/s, posRepo size: 4 2021-02-18T01:53:08.404Z,1613613188.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.419998 m, bearing: 102.402444 deg, approachRate: -0.816309 m/s, LOS rate: -0.584674 deg/s, cmd update: -2.338695 deg/s, cmd heading: 108.550707 deg, new cmd heading: 108.619934 deg. 2021-02-18T01:53:10.773Z,1613613190.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:11.561Z,1613613191.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:11.966Z,1613613191.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:53:12.792Z,1613613192.792 [Micromodem](INFO): Nmea in: $SNTTA,0.038509,,,,015311.61*47 2021-02-18T01:53:12.814Z,1613613192.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.299999 m, bearing: 101.489146 deg, deltaT: 4.487886 s, approachRate: -0.695205 m/s, LOS rate: -0.203503 deg/s, posRepo size: 4 2021-02-18T01:53:12.816Z,1613613192.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.299999 m, bearing: 101.489146 deg, approachRate: -0.695205 m/s, LOS rate: -0.203503 deg/s, cmd update: -0.814012 deg/s, cmd heading: 98.064518 deg, new cmd heading: 97.148290 deg. 2021-02-18T01:53:15.272Z,1613613195.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:16.009Z,1613613196.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:16.410Z,1613613196.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:53:17.260Z,1613613197.260 [Micromodem](INFO): Nmea in: $SNTTA,0.036457,,0.048593,,015316.05*5B 2021-02-18T01:53:17.308Z,1613613197.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.419998 m, bearing: 103.839339 deg, deltaT: 4.400004 s, approachRate: -0.654545 m/s, LOS rate: 0.534134 deg/s, posRepo size: 4 2021-02-18T01:53:17.310Z,1613613197.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.419998 m, bearing: 103.839339 deg, approachRate: -0.654545 m/s, LOS rate: 0.534134 deg/s, cmd update: 2.136537 deg/s, cmd heading: 94.479514 deg, new cmd heading: 94.087424 deg. 2021-02-18T01:53:19.349Z,1613613199.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:20.050Z,1613613200.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:20.449Z,1613613200.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:53:21.284Z,1613613201.284 [Micromodem](INFO): Nmea in: $SNTTA,0.034254,,,,015320.09*48 2021-02-18T01:53:21.342Z,1613613201.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.180000 m, bearing: 103.549506 deg, deltaT: 4.049857 s, approachRate: -0.800028 m/s, LOS rate: -0.071566 deg/s, posRepo size: 4 2021-02-18T01:53:21.348Z,1613613201.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.180000 m, bearing: 103.549506 deg, approachRate: -0.800028 m/s, LOS rate: -0.071566 deg/s, cmd update: -0.286264 deg/s, cmd heading: 103.131815 deg, new cmd heading: 104.126879 deg. 2021-02-18T01:53:23.695Z,1613613203.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:24.488Z,1613613204.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:24.943Z,1613613204.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:53:25.720Z,1613613205.720 [Micromodem](INFO): Nmea in: $SNTTA,0.032101,,,,015324.53*46 2021-02-18T01:53:25.757Z,1613613205.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.940006 m, bearing: 103.678378 deg, deltaT: 4.472315 s, approachRate: -0.724456 m/s, LOS rate: 0.028816 deg/s, posRepo size: 4 2021-02-18T01:53:25.758Z,1613613205.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.940006 m, bearing: 103.678378 deg, approachRate: -0.724456 m/s, LOS rate: 0.028816 deg/s, cmd update: 0.115262 deg/s, cmd heading: 101.851483 deg, new cmd heading: 101.734675 deg. 2021-02-18T01:53:28.164Z,1613613208.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:28.938Z,1613613208.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:29.352Z,1613613209.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:53:30.164Z,1613613210.164 [Micromodem](INFO): Nmea in: $SNTTA,0.029820,,0.038144,,015328.98*59 2021-02-18T01:53:30.208Z,1613613210.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.820000 m, bearing: 105.136419 deg, deltaT: 4.405384 s, approachRate: -0.708226 m/s, LOS rate: 0.330968 deg/s, posRepo size: 4 2021-02-18T01:53:30.210Z,1613613210.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.820000 m, bearing: 105.136419 deg, approachRate: -0.708226 m/s, LOS rate: 0.330968 deg/s, cmd update: 1.323871 deg/s, cmd heading: 102.359252 deg, new cmd heading: 102.411591 deg. 2021-02-18T01:53:32.261Z,1613613212.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:32.972Z,1613613212.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:33.383Z,1613613213.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:53:34.212Z,1613613214.212 [Micromodem](INFO): Nmea in: $SNTTA,0.027869,,,,015333.01*44 2021-02-18T01:53:34.289Z,1613613214.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.640003 m, bearing: 101.849821 deg, deltaT: 4.043485 s, approachRate: -0.786449 m/s, LOS rate: -0.812813 deg/s, posRepo size: 4 2021-02-18T01:53:34.290Z,1613613214.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.640003 m, bearing: 101.849821 deg, approachRate: -0.786449 m/s, LOS rate: -0.812813 deg/s, cmd update: -3.251253 deg/s, cmd heading: 107.712331 deg, new cmd heading: 108.362633 deg. 2021-02-18T01:53:36.306Z,1613613216.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:37.014Z,1613613217.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:37.418Z,1613613217.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:53:38.284Z,1613613218.284 [Micromodem](INFO): Nmea in: $SNTTA,0.025841,,,,015337.06*4F 2021-02-18T01:53:38.316Z,1613613218.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.579998 m, bearing: 104.218489 deg, deltaT: 4.047011 s, approachRate: -0.756115 m/s, LOS rate: 0.585288 deg/s, posRepo size: 4 2021-02-18T01:53:38.316Z,1613613218.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.58 m. 2021-02-18T01:53:38.318Z,1613613218.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.579998 m, bearing: 104.218489 deg, approachRate: -0.756115 m/s, LOS rate: 0.585288 deg/s, cmd update: 2.341154 deg/s, cmd heading: 94.571208 deg, new cmd heading: 93.024395 deg. 2021-02-18T01:53:38.661Z,1613613218.661 [PowerOnly](INFO): Powering up loadControl 2021-02-18T01:53:40.668Z,1613613220.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:41.457Z,1613613221.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:41.868Z,1613613221.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:53:42.684Z,1613613222.684 [Micromodem](INFO): Nmea in: $SNTTA,0.023670,,,,015341.50*47 2021-02-18T01:53:42.699Z,1613613222.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.340000 m, bearing: 103.912415 deg, deltaT: 4.485739 s, approachRate: -0.722289 m/s, LOS rate: -0.068233 deg/s, posRepo size: 4 2021-02-18T01:53:42.700Z,1613613222.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.34 m. 2021-02-18T01:53:42.700Z,1613613222.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.34 m. 2021-02-18T01:53:42.700Z,1613613222.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T01:53:42.702Z,1613613222.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.340000 m, bearing: 103.912415 deg, approachRate: -0.722289 m/s, LOS rate: -0.068233 deg/s, cmd update: -0.272931 deg/s, cmd heading: 105.038171 deg, new cmd heading: 105.948194 deg. 2021-02-18T01:53:45.162Z,1613613225.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:45.900Z,1613613225.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:46.312Z,1613613226.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:53:47.137Z,1613613227.137 [Micromodem](INFO): Nmea in: $SNTTA,0.021418,,,0.055586,015345.94*50 2021-02-18T01:53:47.161Z,1613613227.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.920000 m, bearing: 103.178067 deg, deltaT: 4.404398 s, approachRate: -0.776497 m/s, LOS rate: -0.166731 deg/s, posRepo size: 4 2021-02-18T01:53:47.163Z,1613613227.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.920000 m, bearing: 103.178067 deg, approachRate: -0.776497 m/s, LOS rate: -0.166731 deg/s, cmd update: -0.666922 deg/s, cmd heading: 103.830610 deg, new cmd heading: 103.714259 deg. 2021-02-18T01:53:49.562Z,1613613229.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:50.344Z,1613613230.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:50.752Z,1613613230.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:53:51.572Z,1613613231.572 [Micromodem](INFO): Nmea in: $SNTTA,0.019111,,,,015350.38*40 2021-02-18T01:53:51.597Z,1613613231.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.440001 m, bearing: 101.632368 deg, deltaT: 4.440906 s, approachRate: -0.783624 m/s, LOS rate: -0.348059 deg/s, posRepo size: 4 2021-02-18T01:53:51.601Z,1613613231.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.440001 m, bearing: 101.632368 deg, approachRate: -0.783624 m/s, LOS rate: -0.348059 deg/s, cmd update: -1.392238 deg/s, cmd heading: 100.868860 deg, new cmd heading: 100.587559 deg. 2021-02-18T01:53:53.996Z,1613613233.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:54.788Z,1613613234.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:55.194Z,1613613235.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:53:56.019Z,1613613236.019 [Micromodem](INFO): Nmea in: $SNTTA,0.016992,,,,015354.83*48 2021-02-18T01:53:56.038Z,1613613236.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.320000 m, bearing: 102.894252 deg, deltaT: 4.453376 s, approachRate: -0.700592 m/s, LOS rate: 0.283355 deg/s, posRepo size: 4 2021-02-18T01:53:56.040Z,1613613236.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.320000 m, bearing: 102.894252 deg, approachRate: -0.700592 m/s, LOS rate: 0.283355 deg/s, cmd update: 1.133418 deg/s, cmd heading: 94.668682 deg, new cmd heading: 94.099043 deg. 2021-02-18T01:53:58.484Z,1613613238.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:53:59.264Z,1613613239.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:53:59.656Z,1613613239.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:00.472Z,1613613240.472 [Micromodem](INFO): Nmea in: $SNTTA,0.014749,,,,015359.31*46 2021-02-18T01:54:00.523Z,1613613240.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.900000 m, bearing: 104.401975 deg, deltaT: 4.478058 s, approachRate: -0.763724 m/s, LOS rate: 0.336691 deg/s, posRepo size: 4 2021-02-18T01:54:00.525Z,1613613240.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.900000 m, bearing: 104.401975 deg, approachRate: -0.763724 m/s, LOS rate: 0.336691 deg/s, cmd update: 1.346765 deg/s, cmd heading: 99.739578 deg, new cmd heading: 100.215276 deg. 2021-02-18T01:54:02.900Z,1613613242.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:54:03.677Z,1613613243.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:54:04.110Z,1613613244.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:04.961Z,1613613244.961 [Micromodem](INFO): Nmea in: $SNTTA,0.012615,,0.026090,,015403.72*54 2021-02-18T01:54:04.998Z,1613613244.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.719999 m, bearing: 103.156142 deg, deltaT: 4.420092 s, approachRate: -0.719442 m/s, LOS rate: -0.281857 deg/s, posRepo size: 4 2021-02-18T01:54:05.000Z,1613613245.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.719999 m, bearing: 103.156142 deg, approachRate: -0.719442 m/s, LOS rate: -0.281857 deg/s, cmd update: -1.127428 deg/s, cmd heading: 105.697855 deg, new cmd heading: 106.332629 deg. 2021-02-18T01:54:07.358Z,1613613247.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:54:08.125Z,1613613248.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:54:08.533Z,1613613248.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:09.352Z,1613613249.352 [Micromodem](INFO): Nmea in: $SNTTA,0.010502,,,,015408.17*48 2021-02-18T01:54:09.406Z,1613613249.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.540001 m, bearing: 102.708717 deg, deltaT: 4.431663 s, approachRate: -0.717563 m/s, LOS rate: -0.100961 deg/s, posRepo size: 4 2021-02-18T01:54:09.424Z,1613613249.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.540001 m, bearing: 102.708717 deg, approachRate: -0.717563 m/s, LOS rate: -0.100961 deg/s, cmd update: -0.403844 deg/s, cmd heading: 100.701507 deg, new cmd heading: 100.197354 deg. 2021-02-18T01:54:11.797Z,1613613251.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:54:12.567Z,1613613252.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:54:12.970Z,1613613252.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:13.800Z,1613613253.800 [Micromodem](INFO): Nmea in: $SNTTA,0.009805,,,,015412.61*40 2021-02-18T01:54:13.842Z,1613613253.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.400001 m, bearing: 103.618560 deg, deltaT: 4.494679 s, approachRate: -0.253633 m/s, LOS rate: 0.202427 deg/s, posRepo size: 4 2021-02-18T01:54:13.848Z,1613613253.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.400001 m, bearing: 103.618560 deg, approachRate: -0.253633 m/s, LOS rate: 0.202427 deg/s, cmd update: 0.809706 deg/s, cmd heading: 98.887957 deg, new cmd heading: 98.729347 deg. 2021-02-18T01:54:16.279Z,1613613256.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:54:17.008Z,1613613257.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:54:17.420Z,1613613257.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:18.260Z,1613613258.260 [Micromodem](INFO): Nmea in: $SNTTA,0.006429,,,,015417.05*4A 2021-02-18T01:54:18.331Z,1613613258.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.419999 m, bearing: 103.005605 deg, deltaT: 4.382351 s, approachRate: -1.136377 m/s, LOS rate: -0.139869 deg/s, posRepo size: 4 2021-02-18T01:54:18.333Z,1613613258.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.419999 m, bearing: 103.005605 deg, approachRate: -1.136377 m/s, LOS rate: -0.139869 deg/s, cmd update: -0.559476 deg/s, cmd heading: 102.439518 deg, new cmd heading: 102.837340 deg. 2021-02-18T01:54:20.660Z,1613613260.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:54:21.452Z,1613613261.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:54:21.867Z,1613613261.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:22.696Z,1613613262.696 [Micromodem](INFO): Nmea in: $SNTTA,0.005594,,,,015421.49*43 2021-02-18T01:54:22.718Z,1613613262.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.600000 m, bearing: 99.490018 deg, deltaT: 4.481854 s, approachRate: -0.629204 m/s, LOS rate: -0.784405 deg/s, posRepo size: 4 2021-02-18T01:54:22.720Z,1613613262.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.600000 m, bearing: 99.490018 deg, approachRate: -0.629204 m/s, LOS rate: -0.784405 deg/s, cmd update: -3.137619 deg/s, cmd heading: 99.931954 deg, new cmd heading: 99.707940 deg. 2021-02-18T01:54:25.137Z,1613613265.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:54:25.902Z,1613613265.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:54:26.302Z,1613613266.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:27.141Z,1613613267.141 [Micromodem](INFO): Nmea in: $SNTTA,0.003306,,0.028312,,015425.94*58 2021-02-18T01:54:27.187Z,1613613267.187 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T01:54:27.187Z,1613613267.187 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T01:54:27.187Z,1613613267.187 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T01:54:27.187Z,1613613267.187 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:54:27.187Z,1613613267.187 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T01:54:27.188Z,1613613267.188 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 2021-02-18T01:54:27.188Z,1613613267.188 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T01:54:27.188Z,1613613267.188 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T01:54:27.188Z,1613613267.188 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T01:54:27.190Z,1613613267.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 116.274805 deg, deltaT: 4.401086 s, approachRate: -0.449889 m/s, LOS rate: 3.813783 deg/s, posRepo size: 4 2021-02-18T01:54:27.192Z,1613613267.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.619999 m, bearing: 116.274805 deg, approachRate: -0.449889 m/s, LOS rate: 3.813783 deg/s, cmd update: 12.000000 deg/s, cmd heading: 86.123210 deg, new cmd heading: 84.643509 deg. 2021-02-18T01:54:27.562Z,1613613267.562 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T015427: (41.552319, -70.708603) 2021-02-18T01:54:27.562Z,1613613267.562 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T01:54:27.562Z,1613613267.562 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T01:54:27.563Z,1613613267.563 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:54:27.567Z,1613613267.567 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T01:54:27.567Z,1613613267.567 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T01:54:27.567Z,1613613267.567 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T01:54:27.567Z,1613613267.567 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T01:54:27.567Z,1613613267.567 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T01:54:27.948Z,1613613267.948 [UniversalFixResidualReporter](INFO): Fix residual: 4.4 %DT, over the last 761.5 m. Residual distance 33.1 m at bearing 165.3 degrees. Fix at (41.5523, -70.7107) with 0.0 m made good. 2021-02-18T01:54:29.562Z,1613613269.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:54:30.350Z,1613613270.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:54:30.757Z,1613613270.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:31.576Z,1613613271.576 [Micromodem](INFO): Nmea in: $SNTTA,0.002867,,,,015430.39*42 2021-02-18T01:54:31.616Z,1613613271.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 85.874807 deg, deltaT: 4.482748 s, approachRate: -0.120461 m/s, LOS rate: -6.781554 deg/s, posRepo size: 4 2021-02-18T01:54:31.618Z,1613613271.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.080000 m, bearing: 85.874807 deg, approachRate: -0.120461 m/s, LOS rate: -6.781554 deg/s, cmd update: -12.000000 deg/s, cmd heading: 139.802247 deg, new cmd heading: 144.890571 deg. 2021-02-18T01:54:34.003Z,1613613274.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:54:34.785Z,1613613274.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:54:35.190Z,1613613275.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:36.012Z,1613613276.012 [Micromodem](INFO): Nmea in: $SNTTA,0.002702,,,,015434.83*4B 2021-02-18T01:54:36.060Z,1613613276.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 79.135958 deg, deltaT: 4.468291 s, approachRate: 0.013428 m/s, LOS rate: -1.508149 deg/s, posRepo size: 4 2021-02-18T01:54:36.062Z,1613613276.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 79.135958 deg, approachRate: 0.013428 m/s, LOS rate: -1.508149 deg/s, cmd update: -6.032596 deg/s, cmd heading: 86.116274 deg, new cmd heading: 81.387926 deg. 2021-02-18T01:54:38.478Z,1613613278.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:54:39.258Z,1613613279.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:54:39.634Z,1613613279.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:40.469Z,1613613280.469 [Micromodem](INFO): Nmea in: $SNTTA,0.066744,,0.069695,,015439.30*55 2021-02-18T01:54:40.536Z,1613613280.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 67.722241 deg, deltaT: 4.415860 s, approachRate: 0.000000 m/s, LOS rate: -2.584710 deg/s, posRepo size: 4 2021-02-18T01:54:40.538Z,1613613280.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 67.722241 deg, approachRate: 0.000000 m/s, LOS rate: -2.584710 deg/s, cmd update: -10.338840 deg/s, cmd heading: 59.607235 deg, new cmd heading: 56.739979 deg. 2021-02-18T01:54:42.901Z,1613613282.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:54:43.677Z,1613613283.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:54:44.113Z,1613613284.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:44.904Z,1613613284.904 [Micromodem](INFO): Nmea in: $SNTTA,0.008909,,,,015443.72*4A 2021-02-18T01:54:44.959Z,1613613284.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 66.039999 deg, deltaT: 4.434906 s, approachRate: -0.013529 m/s, LOS rate: -0.379318 deg/s, posRepo size: 4 2021-02-18T01:54:44.959Z,1613613284.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.08 m. 2021-02-18T01:54:44.961Z,1613613284.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.080000 m, bearing: 66.039999 deg, approachRate: -0.013529 m/s, LOS rate: -0.379318 deg/s, cmd update: -1.517274 deg/s, cmd heading: 13.664758 deg, new cmd heading: 8.960865 deg. 2021-02-18T01:54:47.364Z,1613613287.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:54:48.126Z,1613613288.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:54:48.526Z,1613613288.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:49.348Z,1613613289.348 [Micromodem](INFO): Nmea in: $SNTTA,0.002816,,,,015448.17*47 2021-02-18T01:54:49.430Z,1613613289.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 44.706699 deg, deltaT: 4.439100 s, approachRate: 0.013516 m/s, LOS rate: -4.805771 deg/s, posRepo size: 4 2021-02-18T01:54:49.432Z,1613613289.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 44.706699 deg, approachRate: 0.013516 m/s, LOS rate: -4.805771 deg/s, cmd update: -12.000000 deg/s, cmd heading: 6.928276 deg, new cmd heading: 6.190634 deg. 2021-02-18T01:54:51.779Z,1613613291.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:54:52.568Z,1613613292.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:54:52.966Z,1613613292.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:53.792Z,1613613293.792 [Micromodem](INFO): Nmea in: $SNTTA,0.002832,,,,015452.61*4B 2021-02-18T01:54:53.833Z,1613613293.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 50.064788 deg, deltaT: 4.473978 s, approachRate: -0.013411 m/s, LOS rate: 1.197612 deg/s, posRepo size: 4 2021-02-18T01:54:53.835Z,1613613293.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.080000 m, bearing: 50.064788 deg, approachRate: -0.013411 m/s, LOS rate: 1.197612 deg/s, cmd update: 4.790447 deg/s, cmd heading: 313.096515 deg, new cmd heading: 308.253003 deg. 2021-02-18T01:54:56.277Z,1613613296.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:54:57.010Z,1613613297.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:54:57.411Z,1613613297.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:54:58.272Z,1613613298.272 [Micromodem](INFO): Nmea in: $SNTTA,0.002842,,,,015457.05*4B 2021-02-18T01:54:58.318Z,1613613298.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 45.981394 deg, deltaT: 4.405733 s, approachRate: 0.000000 m/s, LOS rate: -0.926837 deg/s, posRepo size: 4 2021-02-18T01:54:58.320Z,1613613298.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.080000 m, bearing: 45.981394 deg, approachRate: 0.000000 m/s, LOS rate: -0.926837 deg/s, cmd update: -3.707346 deg/s, cmd heading: 334.220945 deg, new cmd heading: 336.513633 deg. 2021-02-18T01:55:00.656Z,1613613300.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:01.448Z,1613613301.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:01.871Z,1613613301.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:55:02.676Z,1613613302.676 [Micromodem](INFO): Nmea in: $SNTTA,0.002839,,,,015501.49*4D 2021-02-18T01:55:02.691Z,1613613302.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 35.092242 deg, deltaT: 4.498401 s, approachRate: 0.000000 m/s, LOS rate: -2.420672 deg/s, posRepo size: 4 2021-02-18T01:55:02.693Z,1613613302.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.080000 m, bearing: 35.092242 deg, approachRate: 0.000000 m/s, LOS rate: -2.420672 deg/s, cmd update: -9.682687 deg/s, cmd heading: 317.543558 deg, new cmd heading: 316.234334 deg. 2021-02-18T01:55:05.142Z,1613613305.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:05.892Z,1613613305.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:06.307Z,1613613306.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:55:07.128Z,1613613307.128 [Micromodem](INFO): Nmea in: $SNTTA,0.002869,,,,015505.93*4B 2021-02-18T01:55:07.158Z,1613613307.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 19.920607 deg, deltaT: 4.404791 s, approachRate: 0.013622 m/s, LOS rate: -3.444348 deg/s, posRepo size: 4 2021-02-18T01:55:07.160Z,1613613307.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 19.920607 deg, approachRate: 0.013622 m/s, LOS rate: -3.444348 deg/s, cmd update: -12.000000 deg/s, cmd heading: 274.894207 deg, new cmd heading: 270.872377 deg. 2021-02-18T01:55:09.599Z,1613613309.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:10.338Z,1613613310.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:10.748Z,1613613310.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:55:11.584Z,1613613311.584 [Micromodem](INFO): Nmea in: $SNTTA,0.002860,,,,015510.38*47 2021-02-18T01:55:11.620Z,1613613311.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 15.429056 deg, deltaT: 4.424894 s, approachRate: 0.000000 m/s, LOS rate: -1.015064 deg/s, posRepo size: 4 2021-02-18T01:55:11.622Z,1613613311.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 15.429056 deg, approachRate: 0.000000 m/s, LOS rate: -1.015064 deg/s, cmd update: -4.060256 deg/s, cmd heading: 221.794949 deg, new cmd heading: 216.370145 deg. 2021-02-18T01:55:13.181Z,1613613313.181 [PowerOnly](INFO): Powering down loadControl 2021-02-18T01:55:13.999Z,1613613313.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:14.780Z,1613613314.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:15.186Z,1613613315.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:55:16.012Z,1613613316.012 [Micromodem](INFO): Nmea in: $SNTTA,0.002863,,0.014763,,015514.82*58 2021-02-18T01:55:16.034Z,1613613316.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 16.799398 deg, deltaT: 4.471814 s, approachRate: 0.000000 m/s, LOS rate: 0.306440 deg/s, posRepo size: 4 2021-02-18T01:55:16.068Z,1613613316.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 16.799398 deg, approachRate: 0.000000 m/s, LOS rate: 0.306440 deg/s, cmd update: 1.225760 deg/s, cmd heading: 203.655052 deg, new cmd heading: 202.035955 deg. 2021-02-18T01:55:18.470Z,1613613318.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:19.250Z,1613613319.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:19.630Z,1613613319.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:55:20.464Z,1613613320.464 [Micromodem](INFO): Nmea in: $SNTTA,0.002867,,,,015519.29*49 2021-02-18T01:55:20.518Z,1613613320.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 26.979633 deg, deltaT: 4.454481 s, approachRate: 0.000000 m/s, LOS rate: 2.285392 deg/s, posRepo size: 4 2021-02-18T01:55:20.520Z,1613613320.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 26.979633 deg, approachRate: 0.000000 m/s, LOS rate: 2.285392 deg/s, cmd update: 9.141568 deg/s, cmd heading: 209.077785 deg, new cmd heading: 209.640827 deg. 2021-02-18T01:55:22.880Z,1613613322.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:23.670Z,1613613323.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:24.112Z,1613613324.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:55:24.904Z,1613613324.904 [Micromodem](INFO): Nmea in: $SNTTA,0.002844,,,,015523.71*4C 2021-02-18T01:55:24.926Z,1613613324.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 17.233544 deg, deltaT: 4.405690 s, approachRate: 0.000000 m/s, LOS rate: -2.212160 deg/s, posRepo size: 4 2021-02-18T01:55:24.948Z,1613613324.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 17.233544 deg, approachRate: 0.000000 m/s, LOS rate: -2.212160 deg/s, cmd update: -8.848638 deg/s, cmd heading: 249.669656 deg, new cmd heading: 253.569028 deg. 2021-02-18T01:55:27.339Z,1613613327.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:28.135Z,1613613328.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:28.521Z,1613613328.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:55:29.353Z,1613613329.353 [Micromodem](INFO): Nmea in: $SNTTA,0.002858,,0.005571,,015528.18*5D 2021-02-18T01:55:29.386Z,1613613329.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 15.691277 deg, deltaT: 4.452407 s, approachRate: 0.000000 m/s, LOS rate: -0.346389 deg/s, posRepo size: 4 2021-02-18T01:55:29.388Z,1613613329.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 15.691277 deg, approachRate: 0.000000 m/s, LOS rate: -0.346389 deg/s, cmd update: -1.385558 deg/s, cmd heading: 210.284615 deg, new cmd heading: 206.429883 deg. 2021-02-18T01:55:31.766Z,1613613331.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:32.562Z,1613613332.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:32.962Z,1613613332.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:55:33.788Z,1613613333.788 [Micromodem](INFO): Nmea in: $SNTTA,0.002859,,,,015532.60*40 2021-02-18T01:55:33.829Z,1613613333.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 14.440591 deg, deltaT: 4.465926 s, approachRate: 0.000000 m/s, LOS rate: -0.280051 deg/s, posRepo size: 4 2021-02-18T01:55:33.831Z,1613613333.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 14.440591 deg, approachRate: 0.000000 m/s, LOS rate: -0.280051 deg/s, cmd update: -1.120203 deg/s, cmd heading: 204.095800 deg, new cmd heading: 203.524698 deg. 2021-02-18T01:55:36.279Z,1613613336.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:37.006Z,1613613337.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:37.407Z,1613613337.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:55:38.256Z,1613613338.256 [Micromodem](INFO): Nmea in: $SNTTA,0.002808,,,,015537.05*42 2021-02-18T01:55:38.309Z,1613613338.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 10.853653 deg, deltaT: 4.428184 s, approachRate: 0.000000 m/s, LOS rate: -0.810025 deg/s, posRepo size: 4 2021-02-18T01:55:38.311Z,1613613338.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 10.853653 deg, approachRate: 0.000000 m/s, LOS rate: -0.810025 deg/s, cmd update: -3.240098 deg/s, cmd heading: 199.143576 deg, new cmd heading: 198.615592 deg. 2021-02-18T01:55:40.663Z,1613613340.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:41.449Z,1613613341.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:41.855Z,1613613341.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:55:42.685Z,1613613342.685 [Micromodem](INFO): Nmea in: $SNTTA,0.002843,0.060580,,,015541.49*51 2021-02-18T01:55:42.711Z,1613613342.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 10.911482 deg, deltaT: 4.456662 s, approachRate: -0.013463 m/s, LOS rate: 0.012976 deg/s, posRepo size: 4 2021-02-18T01:55:42.713Z,1613613342.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.080000 m, bearing: 10.911482 deg, approachRate: -0.013463 m/s, LOS rate: 0.012976 deg/s, cmd update: 0.051903 deg/s, cmd heading: 184.677450 deg, new cmd heading: 183.355066 deg. 2021-02-18T01:55:45.130Z,1613613345.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:45.888Z,1613613345.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:46.300Z,1613613346.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:55:47.124Z,1613613347.124 [Micromodem](INFO): Nmea in: $SNTTA,0.002849,,,,015545.93*4D 2021-02-18T01:55:47.148Z,1613613347.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 21.988191 deg, deltaT: 4.442938 s, approachRate: 0.000000 m/s, LOS rate: 2.493105 deg/s, posRepo size: 4 2021-02-18T01:55:47.149Z,1613613347.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.08 m. Reached intercept timeout. 2021-02-18T01:55:47.149Z,1613613347.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped 2021-02-18T01:55:47.149Z,1613613347.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-02-18T01:55:47.149Z,1613613347.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1 2021-02-18T01:55:47.550Z,1613613347.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete. 2021-02-18T01:55:47.550Z,1613613347.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped 2021-02-18T01:55:47.550Z,1613613347.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1 2021-02-18T01:55:47.948Z,1613613347.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped 2021-02-18T01:55:47.949Z,1613613347.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T01:55:47.949Z,1613613347.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-02-18T01:55:47.949Z,1613613347.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T01:55:47.949Z,1613613347.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-02-18T01:55:47.949Z,1613613347.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-02-18T01:55:47.949Z,1613613347.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-02-18T01:55:47.949Z,1613613347.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T01:55:48.371Z,1613613348.371 [lineCaptureDepth:LineCapture:HomingSequence] Stopped 2021-02-18T01:55:48.372Z,1613613348.372 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence 2021-02-18T01:55:48.372Z,1613613348.372 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped 2021-02-18T01:55:48.372Z,1613613348.372 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-02-18T01:55:48.372Z,1613613348.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-02-18T01:55:48.372Z,1613613348.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T01:55:48.372Z,1613613348.372 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1 2021-02-18T01:55:48.372Z,1613613348.372 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component. 2021-02-18T01:55:49.569Z,1613613349.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:50.338Z,1613613350.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:50.738Z,1613613350.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:55:51.564Z,1613613351.564 [Micromodem](INFO): Nmea in: $SNTTA,0.002934,,,,015550.38*43 2021-02-18T01:55:51.988Z,1613613351.988 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting. 2021-02-18T01:55:51.988Z,1613613351.988 [lineCaptureDepth:LineCapture:K.Wait] Stopped 2021-02-18T01:55:51.988Z,1613613351.988 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component. 2021-02-18T01:55:51.988Z,1613613351.988 [lineCaptureDepth:LineCapture:L] Running Loop=1 2021-02-18T01:55:52.403Z,1613613352.403 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 2021-02-18T01:55:52.403Z,1613613352.403 [lineCaptureDepth:LineCapture:L] Stopped 2021-02-18T01:55:52.405Z,1613613352.405 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture 2021-02-18T01:55:52.405Z,1613613352.405 [lineCaptureDepth:LineCapture] Stopped 2021-02-18T01:55:52.405Z,1613613352.405 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture 2021-02-18T01:55:52.405Z,1613613352.405 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:G] Stopped 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:H] Stopped 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-18T01:55:52.406Z,1613613352.406 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-18T01:55:52.407Z,1613613352.407 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-18T01:55:52.407Z,1613613352.407 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-18T01:55:52.804Z,1613613352.804 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B 2021-02-18T01:55:52.804Z,1613613352.804 [lineCaptureDepth:Lap:B] Stopped 2021-02-18T01:55:52.804Z,1613613352.804 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B 2021-02-18T01:55:52.804Z,1613613352.804 [lineCaptureDepth:Lap:C] Running Loop=1 2021-02-18T01:55:53.240Z,1613613353.240 [lineCaptureDepth:Lap:C] Stopped 2021-02-18T01:55:53.241Z,1613613353.241 [lineCaptureDepth:Lap:D] Running Loop=1 2021-02-18T01:55:53.605Z,1613613353.605 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 2021-02-18T01:55:53.605Z,1613613353.605 [lineCaptureDepth:Lap:D] Stopped 2021-02-18T01:55:53.605Z,1613613353.605 [lineCaptureDepth:Lap:Docked] Running Loop=1 2021-02-18T01:55:53.605Z,1613613353.605 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked 2021-02-18T01:55:53.606Z,1613613353.606 [lineCaptureDepth:Lap:Docked:A] Running Loop=1 2021-02-18T01:55:53.991Z,1613613353.991 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 0.010000 min 2021-02-18T01:55:53.991Z,1613613353.991 [lineCaptureDepth:Lap:Docked:A] Stopped 2021-02-18T01:55:53.991Z,1613613353.991 [lineCaptureDepth:Lap:Docked:B.Docked] Running Loop=1 2021-02-18T01:55:53.991Z,1613613353.991 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initialize. 2021-02-18T01:55:53.992Z,1613613353.992 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values. 2021-02-18T01:55:53.993Z,1613613353.993 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Maintaining depth of 6.000000 m. 2021-02-18T01:55:53.995Z,1613613353.995 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Maintaining pitch angle of 20.000000 degree. 2021-02-18T01:55:53.998Z,1613613353.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:54.781Z,1613613354.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:54.846Z,1613613354.846 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Timed out from 2021-02-18T01:55:53.0Z 2021-02-18T01:55:54.846Z,1613613354.846 [lineCaptureDepth:Lap:Docked:B.Docked] Stopped 2021-02-18T01:55:54.846Z,1613613354.846 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1 2021-02-18T01:55:54.846Z,1613613354.846 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach 2021-02-18T01:55:54.846Z,1613613354.846 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1 2021-02-18T01:55:55.200Z,1613613355.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:55:55.282Z,1613613355.282 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 4.140001 m . 2021-02-18T01:55:55.282Z,1613613355.282 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped 2021-02-18T01:55:55.282Z,1613613355.282 [lineCaptureDepth:Lap:Docked:Detach:B.Undock] Running Loop=1 2021-02-18T01:55:55.282Z,1613613355.282 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initialize. 2021-02-18T01:55:55.282Z,1613613355.282 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2021-02-18T01:55:55.630Z,1613613355.630 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T01:55:56.023Z,1613613356.023 [Micromodem](INFO): Nmea in: $SNTTA,0.002909,,,,015554.82*48 2021-02-18T01:55:56.025Z,1613613356.025 [PowerOnly](INFO): Powering up loadControl 2021-02-18T01:55:56.099Z,1613613356.099 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T01:55:56.460Z,1613613356.460 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T01:55:56.836Z,1613613356.836 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T01:55:56.836Z,1613613356.836 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detaching from dock. 2021-02-18T01:55:57.295Z,1613613357.295 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage. 2021-02-18T01:55:58.450Z,1613613358.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:55:59.237Z,1613613359.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:55:59.632Z,1613613359.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:00.460Z,1613613360.460 [Micromodem](INFO): Nmea in: $SNTTA,0.003099,,,,015559.28*44 2021-02-18T01:56:02.874Z,1613613362.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:56:03.670Z,1613613363.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:56:04.100Z,1613613364.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:04.896Z,1613613364.896 [Micromodem](INFO): Nmea in: $SNTTA,0.003530,,,,015603.71*42 2021-02-18T01:56:07.336Z,1613613367.336 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Thruster off. 2021-02-18T01:56:07.336Z,1613613367.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:56:08.118Z,1613613368.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:56:08.528Z,1613613368.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:09.345Z,1613613369.345 [Micromodem](INFO): Nmea in: $SNTTA,0.004299,,,0.007800,015608.16*5A 2021-02-18T01:56:11.794Z,1613613371.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:56:12.558Z,1613613372.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:56:12.965Z,1613613372.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:13.784Z,1613613373.784 [Micromodem](INFO): Nmea in: $SNTTA,0.004765,,,,015612.60*47 2021-02-18T01:56:16.215Z,1613613376.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:56:17.014Z,1613613377.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:56:17.417Z,1613613377.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:18.252Z,1613613378.252 [Micromodem](INFO): Nmea in: $SNTTA,0.005315,,,,015617.05*43 2021-02-18T01:56:20.645Z,1613613380.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:56:21.440Z,1613613381.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:56:21.848Z,1613613381.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:22.683Z,1613613382.683 [Micromodem](INFO): Nmea in: $SNTTA,0.005916,,,,015621.48*46 2021-02-18T01:56:25.147Z,1613613385.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:56:25.891Z,1613613385.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:56:26.296Z,1613613386.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:27.124Z,1613613387.124 [Micromodem](INFO): Nmea in: $SNTTA,0.006580,,,,015625.93*44 2021-02-18T01:56:29.566Z,1613613389.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:56:30.338Z,1613613390.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:56:30.751Z,1613613390.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:31.564Z,1613613391.564 [Micromodem](INFO): Nmea in: $SNTTA,0.007371,,,,015630.38*48 2021-02-18T01:56:31.603Z,1613613391.603 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detected possible detachment. Starting timer. 2021-02-18T01:56:33.991Z,1613613393.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:56:34.772Z,1613613394.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:56:35.180Z,1613613395.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:36.008Z,1613613396.008 [Micromodem](INFO): Nmea in: $SNTTA,0.007924,,,,015634.81*44 2021-02-18T01:56:38.454Z,1613613398.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:56:39.248Z,1613613399.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:56:39.625Z,1613613399.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:40.460Z,1613613400.460 [Micromodem](INFO): Nmea in: $SNTTA,0.008542,,,,015639.29*48 2021-02-18T01:56:42.870Z,1613613402.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:56:43.661Z,1613613403.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:56:44.097Z,1613613404.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:44.888Z,1613613404.888 [Micromodem](INFO): Nmea in: $SNTTA,0.008980,,,,015643.70*4B 2021-02-18T01:56:47.334Z,1613613407.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:56:48.151Z,1613613408.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:56:48.205Z,1613613408.205 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T01:56:48.522Z,1613613408.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:49.337Z,1613613409.337 [Micromodem](INFO): Nmea in: $SNTTA,0.009394,,,,015648.19*41 2021-02-18T01:56:51.762Z,1613613411.762 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detached at range: 13.92 m. Transitioning DDM to standby. 2021-02-18T01:56:51.763Z,1613613411.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:56:52.190Z,1613613412.190 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T01:56:52.190Z,1613613412.190 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM at standby. 2021-02-18T01:56:52.550Z,1613613412.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:56:52.649Z,1613613412.649 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](IMPORTANT): Undocking sequence complete. 2021-02-18T01:56:52.649Z,1613613412.649 [lineCaptureDepth:Lap:Docked:Detach:B.Undock] Stopped 2021-02-18T01:56:52.650Z,1613613412.650 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach 2021-02-18T01:56:52.650Z,1613613412.650 [lineCaptureDepth:Lap:Docked:Detach] Stopped 2021-02-18T01:56:52.650Z,1613613412.650 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach 2021-02-18T01:56:52.651Z,1613613412.651 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked 2021-02-18T01:56:52.655Z,1613613412.655 [lineCaptureDepth:Lap:Docked] Stopped 2021-02-18T01:56:52.655Z,1613613412.655 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked 2021-02-18T01:56:52.655Z,1613613412.655 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap 2021-02-18T01:56:52.655Z,1613613412.655 [lineCaptureDepth:Lap] Stopped 2021-02-18T01:56:52.655Z,1613613412.655 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap 2021-02-18T01:56:52.656Z,1613613412.656 [lineCaptureDepth:Lap](INFO): Running loop #3 2021-02-18T01:56:52.656Z,1613613412.656 [lineCaptureDepth:Lap] Running Loop=3 2021-02-18T01:56:52.656Z,1613613412.656 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap 2021-02-18T01:56:52.656Z,1613613412.656 [lineCaptureDepth:Lap:A] Running Loop=1 2021-02-18T01:56:52.965Z,1613613412.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:52.996Z,1613613412.996 [lineCaptureDepth:Lap:A] Stopped 2021-02-18T01:56:52.996Z,1613613412.996 [lineCaptureDepth:Lap:B] Running Loop=1 2021-02-18T01:56:52.996Z,1613613412.996 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B 2021-02-18T01:56:53.432Z,1613613413.432 [lineCaptureDepth:LineCapture] Running Loop=1 2021-02-18T01:56:53.432Z,1613613413.432 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture 2021-02-18T01:56:53.432Z,1613613413.432 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1 2021-02-18T01:56:53.432Z,1613613413.432 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-02-18T01:56:53.432Z,1613613413.432 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-02-18T01:56:53.433Z,1613613413.433 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2021-02-18T01:56:53.433Z,1613613413.433 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-02-18T01:56:53.433Z,1613613413.433 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2021-02-18T01:56:53.433Z,1613613413.433 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-02-18T01:56:53.434Z,1613613413.434 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2021-02-18T01:56:53.434Z,1613613413.434 [lineCaptureDepth:LineCapture:G] Running Loop=1 2021-02-18T01:56:53.434Z,1613613413.434 [lineCaptureDepth:LineCapture:H] Running Loop=1 2021-02-18T01:56:53.434Z,1613613413.434 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-18T01:56:53.434Z,1613613413.434 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T01:56:53.434Z,1613613413.434 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-18T01:56:53.434Z,1613613413.434 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-18T01:56:53.434Z,1613613413.434 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-18T01:56:53.434Z,1613613413.434 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-18T01:56:53.435Z,1613613413.435 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-18T01:56:53.439Z,1613613413.439 [lineCaptureDepth:LineCapture:A] Running Loop=1 2021-02-18T01:56:53.439Z,1613613413.439 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-18T01:56:53.440Z,1613613413.440 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T01:56:53.440Z,1613613413.440 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-18T01:56:53.440Z,1613613413.440 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-18T01:56:53.440Z,1613613413.440 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-18T01:56:53.440Z,1613613413.440 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-18T01:56:53.440Z,1613613413.440 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-18T01:56:53.441Z,1613613413.441 [lineCaptureDepth:LineCapture:A] Stopped 2021-02-18T01:56:53.442Z,1613613413.442 [lineCaptureDepth:LineCapture:B] Running Loop=1 2021-02-18T01:56:53.796Z,1613613413.796 [Micromodem](INFO): Nmea in: $SNTTA,0.009830,,,,015652.59*4B 2021-02-18T01:56:53.817Z,1613613413.817 [lineCaptureDepth:LineCapture:B] Stopped 2021-02-18T01:56:53.817Z,1613613413.817 [lineCaptureDepth:LineCapture:D] Running Loop=1 2021-02-18T01:56:54.206Z,1613613414.206 [lineCaptureDepth:LineCapture:D] Stopped 2021-02-18T01:56:54.206Z,1613613414.206 [lineCaptureDepth:LineCapture:E] Running Loop=1 2021-02-18T01:56:54.604Z,1613613414.604 [lineCaptureDepth:LineCapture:E] Stopped 2021-02-18T01:56:54.604Z,1613613414.604 [lineCaptureDepth:LineCapture:F] Running Loop=1 2021-02-18T01:56:55.024Z,1613613415.024 [lineCaptureDepth:LineCapture:F] Stopped 2021-02-18T01:56:55.024Z,1613613415.024 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1 2021-02-18T01:56:55.025Z,1613613415.025 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence 2021-02-18T01:56:55.025Z,1613613415.025 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2021-02-18T01:56:55.025Z,1613613415.025 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-02-18T01:56:55.025Z,1613613415.025 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2021-02-18T01:56:55.025Z,1613613415.025 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-02-18T01:56:55.025Z,1613613415.025 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2021-02-18T01:56:55.025Z,1613613415.025 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2021-02-18T01:56:55.025Z,1613613415.025 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2021-02-18T01:56:55.026Z,1613613415.026 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-02-18T01:56:55.026Z,1613613415.026 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-18T01:56:55.026Z,1613613415.026 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-02-18T01:56:55.026Z,1613613415.026 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-18T01:56:55.026Z,1613613415.026 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-02-18T01:56:55.026Z,1613613415.026 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-02-18T01:56:55.026Z,1613613415.026 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-02-18T01:56:55.026Z,1613613415.026 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-02-18T01:56:55.026Z,1613613415.026 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-02-18T01:56:55.027Z,1613613415.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-02-18T01:56:55.031Z,1613613415.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T01:56:55.031Z,1613613415.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-02-18T01:56:55.031Z,1613613415.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T01:56:55.031Z,1613613415.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-02-18T01:56:55.031Z,1613613415.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-02-18T01:56:55.031Z,1613613415.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-02-18T01:56:55.032Z,1613613415.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-02-18T01:56:55.032Z,1613613415.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-02-18T01:56:55.450Z,1613613415.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-02-18T01:56:55.450Z,1613613415.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T01:56:55.450Z,1613613415.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-02-18T01:56:55.450Z,1613613415.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T01:56:55.450Z,1613613415.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-02-18T01:56:55.450Z,1613613415.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-02-18T01:56:55.450Z,1613613415.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-02-18T01:56:55.450Z,1613613415.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-02-18T01:56:55.450Z,1613613415.450 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-02-18T01:56:55.450Z,1613613415.450 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-18T01:56:55.450Z,1613613415.450 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-02-18T01:56:55.450Z,1613613415.450 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-18T01:56:55.451Z,1613613415.451 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-02-18T01:56:55.451Z,1613613415.451 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-02-18T01:56:55.451Z,1613613415.451 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-02-18T01:56:55.451Z,1613613415.451 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-02-18T01:56:55.451Z,1613613415.451 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T01:56:55.451Z,1613613415.451 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock. 2021-02-18T01:56:55.824Z,1613613415.824 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage. 2021-02-18T01:56:56.306Z,1613613416.306 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off. 2021-02-18T01:56:56.308Z,1613613416.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:56:56.620Z,1613613416.620 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2021-02-18T01:56:57.004Z,1613613417.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:56:57.418Z,1613613417.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:56:58.240Z,1613613418.240 [Micromodem](INFO): Nmea in: $SNTTA,0.010265,,,,015657.04*44 2021-02-18T01:57:00.641Z,1613613420.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:01.437Z,1613613421.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:01.856Z,1613613421.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:57:02.673Z,1613613422.673 [Micromodem](INFO): Nmea in: $SNTTA,0.010677,,,,015701.48*49 2021-02-18T01:57:05.151Z,1613613425.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:05.885Z,1613613425.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:06.297Z,1613613426.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:57:07.129Z,1613613427.129 [Micromodem](INFO): Nmea in: $SNTTA,0.010956,,,0.013430,015705.92*5D 2021-02-18T01:57:09.555Z,1613613429.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:10.330Z,1613613430.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:10.729Z,1613613430.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:57:11.552Z,1613613431.552 [Micromodem](INFO): Nmea in: $SNTTA,0.011294,,,,015710.37*49 2021-02-18T01:57:13.989Z,1613613433.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:14.773Z,1613613434.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:15.176Z,1613613435.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:57:15.996Z,1613613435.996 [Micromodem](INFO): Nmea in: $SNTTA,0.011562,,,,015714.81*4E 2021-02-18T01:57:16.853Z,1613613436.853 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 17.10 m. Transitioning DDM to standby. 2021-02-18T01:57:17.267Z,1613613437.267 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T01:57:17.267Z,1613613437.267 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby. 2021-02-18T01:57:17.641Z,1613613437.641 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2021-02-18T01:57:17.641Z,1613613437.641 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2021-02-18T01:57:17.641Z,1613613437.641 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2021-02-18T01:57:18.048Z,1613613438.048 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2021-02-18T01:57:18.048Z,1613613438.048 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2021-02-18T01:57:18.049Z,1613613438.049 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2021-02-18T01:57:18.442Z,1613613438.442 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2021-02-18T01:57:18.442Z,1613613438.442 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-02-18T01:57:18.442Z,1613613438.442 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2021-02-18T01:57:18.442Z,1613613438.442 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-02-18T01:57:18.443Z,1613613438.443 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-02-18T01:57:18.444Z,1613613438.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:18.842Z,1613613438.842 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-02-18T01:57:18.842Z,1613613438.842 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-18T01:57:18.842Z,1613613438.842 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-02-18T01:57:18.843Z,1613613438.843 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-18T01:57:18.844Z,1613613438.844 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-02-18T01:57:18.844Z,1613613438.844 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-02-18T01:57:18.844Z,1613613438.844 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-02-18T01:57:18.844Z,1613613438.844 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-02-18T01:57:18.845Z,1613613438.845 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-02-18T01:57:18.846Z,1613613438.846 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2021-02-18T01:57:18.846Z,1613613438.846 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-02-18T01:57:18.846Z,1613613438.846 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2021-02-18T01:57:18.847Z,1613613438.847 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 17.100002 m 2021-02-18T01:57:18.847Z,1613613438.847 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2021-02-18T01:57:18.847Z,1613613438.847 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2021-02-18T01:57:18.848Z,1613613438.848 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg ) 2021-02-18T01:57:18.848Z,1613613438.848 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-02-18T01:57:18.848Z,1613613438.848 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2021-02-18T01:57:18.849Z,1613613438.849 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2021-02-18T01:57:19.225Z,1613613439.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:19.336Z,1613613439.336 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2021-02-18T01:57:19.336Z,1613613439.336 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-02-18T01:57:19.337Z,1613613439.337 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2021-02-18T01:57:19.337Z,1613613439.337 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-02-18T01:57:19.337Z,1613613439.337 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-18T01:57:19.337Z,1613613439.337 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T01:57:19.337Z,1613613439.337 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-18T01:57:19.337Z,1613613439.337 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-18T01:57:19.337Z,1613613439.337 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-18T01:57:19.337Z,1613613439.337 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-18T01:57:19.337Z,1613613439.337 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-18T01:57:19.620Z,1613613439.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:57:19.673Z,1613613439.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-02-18T01:57:19.673Z,1613613439.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T01:57:19.673Z,1613613439.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-02-18T01:57:19.673Z,1613613439.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T01:57:19.673Z,1613613439.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-02-18T01:57:19.673Z,1613613439.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-02-18T01:57:19.673Z,1613613439.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-02-18T01:57:19.673Z,1613613439.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-02-18T01:57:19.673Z,1613613439.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-02-18T01:57:19.674Z,1613613439.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2021-02-18T01:57:19.675Z,1613613439.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-02-18T01:57:19.678Z,1613613439.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1 2021-02-18T01:57:19.678Z,1613613439.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize. 2021-02-18T01:57:19.678Z,1613613439.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values. 2021-02-18T01:57:19.679Z,1613613439.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-02-18T01:57:19.687Z,1613613439.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec. 2021-02-18T01:57:19.688Z,1613613439.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T01:57:19.688Z,1613613439.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-02-18T01:57:19.688Z,1613613439.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-18T01:57:19.688Z,1613613439.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-02-18T01:57:19.688Z,1613613439.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-18T01:57:19.688Z,1613613439.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-02-18T01:57:19.688Z,1613613439.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-02-18T01:57:19.689Z,1613613439.689 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-02-18T01:57:19.689Z,1613613439.689 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2021-02-18T01:57:19.689Z,1613613439.689 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2021-02-18T01:57:20.046Z,1613613440.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.100002 m, bearing: 10.086978 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T01:57:20.046Z,1613613440.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 17.10 m. 2021-02-18T01:57:20.047Z,1613613440.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 17.10 m. 2021-02-18T01:57:20.047Z,1613613440.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T01:57:20.048Z,1613613440.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 10.086978deg and heading rate command to 0 deg/s. 2021-02-18T01:57:20.464Z,1613613440.464 [Micromodem](INFO): Nmea in: $SNTTA,0.011796,,,,015719.27*46 2021-02-18T01:57:20.526Z,1613613440.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.459999 m, bearing: 10.973458 deg, deltaT: 4.431265 s, approachRate: 0.081240 m/s, LOS rate: 0.200051 deg/s, posRepo size: 2 2021-02-18T01:57:20.528Z,1613613440.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.459999 m, bearing: 10.973458 deg, approachRate: 0.081240 m/s, LOS rate: 0.200051 deg/s, cmd update: 0.800205 deg/s, cmd heading: 10.086978 deg, new cmd heading: 10.086978 deg. 2021-02-18T01:57:22.479Z,1613613442.479 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T01:57:22.863Z,1613613442.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:23.668Z,1613613443.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:24.066Z,1613613444.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:57:24.908Z,1613613444.908 [Micromodem](INFO): Nmea in: $SNTTA,0.011999,,,,015723.71*4D 2021-02-18T01:57:24.942Z,1613613444.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.759998 m, bearing: 12.591613 deg, deltaT: 4.471732 s, approachRate: 0.067088 m/s, LOS rate: 0.361863 deg/s, posRepo size: 3 2021-02-18T01:57:24.944Z,1613613444.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.759998 m, bearing: 12.591613 deg, approachRate: 0.067088 m/s, LOS rate: 0.361863 deg/s, cmd update: 1.447452 deg/s, cmd heading: 13.664654 deg, new cmd heading: 14.004605 deg. 2021-02-18T01:57:27.310Z,1613613447.310 [PowerOnly](INFO): Powering down loadControl 2021-02-18T01:57:27.399Z,1613613447.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:28.122Z,1613613448.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:28.523Z,1613613448.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:57:29.344Z,1613613449.344 [Micromodem](INFO): Nmea in: $SNTTA,0.011392,,,,015728.16*46 2021-02-18T01:57:29.394Z,1613613449.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.860001 m, bearing: 14.672908 deg, deltaT: 4.408665 s, approachRate: -0.204143 m/s, LOS rate: 0.472092 deg/s, posRepo size: 4 2021-02-18T01:57:29.396Z,1613613449.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.860001 m, bearing: 14.672908 deg, approachRate: -0.204143 m/s, LOS rate: 0.472092 deg/s, cmd update: 1.888368 deg/s, cmd heading: 20.051673 deg, new cmd heading: 20.723246 deg. 2021-02-18T01:57:31.784Z,1613613451.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:32.544Z,1613613452.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:32.955Z,1613613452.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:57:33.772Z,1613613453.772 [Micromodem](INFO): Nmea in: $SNTTA,0.010431,,,,015732.58*48 2021-02-18T01:57:33.821Z,1613613453.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.420000 m, bearing: 13.888734 deg, deltaT: 4.485554 s, approachRate: -0.321031 m/s, LOS rate: -0.174822 deg/s, posRepo size: 4 2021-02-18T01:57:33.827Z,1613613453.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.420000 m, bearing: 13.888734 deg, approachRate: -0.321031 m/s, LOS rate: -0.174822 deg/s, cmd update: -0.699288 deg/s, cmd heading: 28.511600 deg, new cmd heading: 29.288590 deg. 2021-02-18T01:57:36.262Z,1613613456.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:36.988Z,1613613456.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:37.394Z,1613613457.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:57:38.240Z,1613613458.240 [Micromodem](INFO): Nmea in: $SNTTA,0.009083,,,,015737.03*46 2021-02-18T01:57:38.298Z,1613613458.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.439999 m, bearing: 17.164112 deg, deltaT: 4.399213 s, approachRate: -0.450081 m/s, LOS rate: 0.744537 deg/s, posRepo size: 4 2021-02-18T01:57:38.300Z,1613613458.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.439999 m, bearing: 17.164112 deg, approachRate: -0.450081 m/s, LOS rate: 0.744537 deg/s, cmd update: 2.978149 deg/s, cmd heading: 25.431381 deg, new cmd heading: 25.093513 deg. 2021-02-18T01:57:40.322Z,1613613460.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:41.030Z,1613613461.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:41.439Z,1613613461.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:57:42.295Z,1613613462.295 [Micromodem](INFO): Nmea in: $SNTTA,0.007631,,,,015741.07*42 2021-02-18T01:57:42.329Z,1613613462.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.220001 m, bearing: 25.468766 deg, deltaT: 4.057039 s, approachRate: -0.547196 m/s, LOS rate: 2.046974 deg/s, posRepo size: 4 2021-02-18T01:57:42.331Z,1613613462.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.220001 m, bearing: 25.468766 deg, approachRate: -0.547196 m/s, LOS rate: 2.046974 deg/s, cmd update: 8.187898 deg/s, cmd heading: 37.513401 deg, new cmd heading: 38.876283 deg. 2021-02-18T01:57:44.685Z,1613613464.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:45.474Z,1613613465.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:45.883Z,1613613465.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:57:46.704Z,1613613466.704 [Micromodem](INFO): Nmea in: $SNTTA,0.006047,,,,015745.51*43 2021-02-18T01:57:46.726Z,1613613466.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.759999 m, bearing: 30.981574 deg, deltaT: 4.466709 s, approachRate: -0.550741 m/s, LOS rate: 1.234199 deg/s, posRepo size: 4 2021-02-18T01:57:46.728Z,1613613466.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.759999 m, bearing: 30.981574 deg, approachRate: -0.550741 m/s, LOS rate: 1.234199 deg/s, cmd update: 4.936796 deg/s, cmd heading: 74.054957 deg, new cmd heading: 77.261804 deg. 2021-02-18T01:57:49.164Z,1613613469.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:49.916Z,1613613469.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:50.327Z,1613613470.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:57:51.149Z,1613613471.149 [Micromodem](INFO): Nmea in: $SNTTA,0.004402,,0.028233,,015749.96*55 2021-02-18T01:57:51.183Z,1613613471.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.419999 m, bearing: 36.414785 deg, deltaT: 4.415356 s, approachRate: -0.529969 m/s, LOS rate: 1.230526 deg/s, posRepo size: 4 2021-02-18T01:57:51.185Z,1613613471.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.419999 m, bearing: 36.414785 deg, approachRate: -0.529969 m/s, LOS rate: 1.230526 deg/s, cmd update: 4.922104 deg/s, cmd heading: 95.872476 deg, new cmd heading: 97.990130 deg. 2021-02-18T01:57:53.588Z,1613613473.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:54.362Z,1613613474.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:54.773Z,1613613474.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:57:55.588Z,1613613475.588 [Micromodem](INFO): Nmea in: $SNTTA,0.003637,,,,015754.40*47 2021-02-18T01:57:55.628Z,1613613475.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.279998 m, bearing: 68.148158 deg, deltaT: 4.473002 s, approachRate: -0.254862 m/s, LOS rate: 7.094424 deg/s, posRepo size: 4 2021-02-18T01:57:55.630Z,1613613475.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.279998 m, bearing: 68.148158 deg, approachRate: -0.254862 m/s, LOS rate: 7.094424 deg/s, cmd update: 12.000000 deg/s, cmd heading: 117.825508 deg, new cmd heading: 119.864037 deg. 2021-02-18T01:57:58.020Z,1613613478.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:57:58.810Z,1613613478.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:57:59.216Z,1613613479.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:00.036Z,1613613480.036 [Micromodem](INFO): Nmea in: $SNTTA,0.005157,,0.048639,,015758.85*5B 2021-02-18T01:58:00.112Z,1613613480.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.759999 m, bearing: 69.013126 deg, deltaT: 4.427370 s, approachRate: 0.108417 m/s, LOS rate: 0.195368 deg/s, posRepo size: 4 2021-02-18T01:58:00.114Z,1613613480.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.759999 m, bearing: 69.013126 deg, approachRate: 0.108417 m/s, LOS rate: 0.195368 deg/s, cmd update: 0.781474 deg/s, cmd heading: 171.108642 deg, new cmd heading: 176.555418 deg. 2021-02-18T01:58:02.504Z,1613613482.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:58:03.267Z,1613613483.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:58:03.659Z,1613613483.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:04.489Z,1613613484.489 [Micromodem](INFO): Nmea in: $SNTTA,0.006179,,,,015803.31*44 2021-02-18T01:58:04.540Z,1613613484.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.359999 m, bearing: 90.540270 deg, deltaT: 4.463449 s, approachRate: 0.806551 m/s, LOS rate: 4.822984 deg/s, posRepo size: 4 2021-02-18T01:58:04.542Z,1613613484.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.359999 m, bearing: 90.540270 deg, approachRate: 0.806551 m/s, LOS rate: 4.822984 deg/s, cmd update: 12.000000 deg/s, cmd heading: 174.593595 deg, new cmd heading: 174.926951 deg. 2021-02-18T01:58:06.920Z,1613613486.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:58:07.701Z,1613613487.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:58:08.119Z,1613613488.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:08.924Z,1613613488.924 [Micromodem](INFO): Nmea in: $SNTTA,0.006885,,,,015807.74*4B 2021-02-18T01:58:08.966Z,1613613488.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.439999 m, bearing: 62.265582 deg, deltaT: 4.443605 s, approachRate: 0.243046 m/s, LOS rate: -6.363007 deg/s, posRepo size: 4 2021-02-18T01:58:08.968Z,1613613488.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.439999 m, bearing: 62.265582 deg, approachRate: 0.243046 m/s, LOS rate: -6.363007 deg/s, cmd update: -12.000000 deg/s, cmd heading: 227.916724 deg, new cmd heading: 232.823788 deg. 2021-02-18T01:58:11.382Z,1613613491.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:58:12.146Z,1613613492.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:58:12.556Z,1613613492.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:13.372Z,1613613493.372 [Micromodem](INFO): Nmea in: $SNTTA,0.009344,,,,015812.19*4D 2021-02-18T01:58:13.423Z,1613613493.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.159999 m, bearing: 72.707507 deg, deltaT: 4.424314 s, approachRate: 0.840808 m/s, LOS rate: 2.360123 deg/s, posRepo size: 4 2021-02-18T01:58:13.425Z,1613613493.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.159999 m, bearing: 72.707507 deg, approachRate: 0.840808 m/s, LOS rate: 2.360123 deg/s, cmd update: 9.440492 deg/s, cmd heading: 174.776835 deg, new cmd heading: 169.528911 deg. 2021-02-18T01:58:15.793Z,1613613495.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:58:16.585Z,1613613496.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:58:16.987Z,1613613496.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:17.815Z,1613613497.815 [Micromodem](INFO): Nmea in: $SNTTA,0.010225,,,,015816.62*4B 2021-02-18T01:58:17.834Z,1613613497.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.420000 m, bearing: 172.403605 deg, deltaT: 4.452432 s, approachRate: 0.282992 m/s, LOS rate: 22.391380 deg/s, posRepo size: 4 2021-02-18T01:58:17.834Z,1613613497.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.42 m. Rolling out. 2021-02-18T01:58:17.835Z,1613613497.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T01:58:20.301Z,1613613500.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:58:21.030Z,1613613501.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:58:21.438Z,1613613501.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:22.276Z,1613613502.276 [Micromodem](INFO): Nmea in: $SNTTA,0.011701,,,,015821.07*4E 2021-02-18T01:58:22.330Z,1613613502.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.580000 m, bearing: 169.167489 deg, deltaT: 4.463775 s, approachRate: 0.483895 m/s, LOS rate: -0.724973 deg/s, posRepo size: 4 2021-02-18T01:58:24.681Z,1613613504.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:58:25.474Z,1613613505.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:58:25.886Z,1613613505.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:26.701Z,1613613506.701 [Micromodem](INFO): Nmea in: $SNTTA,0.013235,,,,015825.51*49 2021-02-18T01:58:26.752Z,1613613506.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.860001 m, bearing: 131.998761 deg, deltaT: 4.430802 s, approachRate: 0.514580 m/s, LOS rate: -8.388714 deg/s, posRepo size: 4 2021-02-18T01:58:29.143Z,1613613509.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:58:29.963Z,1613613509.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:58:30.335Z,1613613510.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:31.142Z,1613613511.142 [Micromodem](INFO): Nmea in: $SNTTA,0.014387,,,,015830.00*46 2021-02-18T01:58:31.197Z,1613613511.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.600000 m, bearing: 187.419230 deg, deltaT: 4.423417 s, approachRate: 0.393361 m/s, LOS rate: 12.528882 deg/s, posRepo size: 4 2021-02-18T01:58:33.586Z,1613613513.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:58:34.358Z,1613613514.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:58:34.773Z,1613613514.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:35.584Z,1613613515.584 [Micromodem](INFO): Nmea in: $SNTTA,0.015487,,,,015834.40*40 2021-02-18T01:58:35.633Z,1613613515.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.219997 m, bearing: 215.051866 deg, deltaT: 4.517407 s, approachRate: 0.358612 m/s, LOS rate: 6.116924 deg/s, posRepo size: 4 2021-02-18T01:58:38.023Z,1613613518.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:58:38.800Z,1613613518.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:58:39.212Z,1613613519.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:40.040Z,1613613520.040 [Micromodem](INFO): Nmea in: $SNTTA,0.016153,,0.086102,,015838.84*58 2021-02-18T01:58:40.067Z,1613613520.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.239998 m, bearing: 261.875327 deg, deltaT: 4.375955 s, approachRate: 0.233092 m/s, LOS rate: 10.700169 deg/s, posRepo size: 4 2021-02-18T01:58:42.472Z,1613613522.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:58:43.272Z,1613613523.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:58:43.657Z,1613613523.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:44.500Z,1613613524.500 [Micromodem](INFO): Nmea in: $SNTTA,0.016559,,0.058878,,015843.31*53 2021-02-18T01:58:44.543Z,1613613524.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.900000 m, bearing: 197.347647 deg, deltaT: 4.467288 s, approachRate: 0.147741 m/s, LOS rate: -14.444486 deg/s, posRepo size: 4 2021-02-18T01:58:46.933Z,1613613526.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:58:47.694Z,1613613527.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:58:48.115Z,1613613528.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:48.928Z,1613613528.928 [Micromodem](INFO): Nmea in: $SNTTA,0.016845,,0.049146,,015847.73*55 2021-02-18T01:58:48.973Z,1613613528.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.259996 m, bearing: 188.982578 deg, deltaT: 4.438699 s, approachRate: 0.081104 m/s, LOS rate: -1.884577 deg/s, posRepo size: 4 2021-02-18T01:58:51.373Z,1613613531.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:58:52.143Z,1613613532.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:58:52.543Z,1613613532.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:53.368Z,1613613533.368 [Micromodem](INFO): Nmea in: $SNTTA,0.017446,,,,015852.18*42 2021-02-18T01:58:53.430Z,1613613533.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.160002 m, bearing: 272.814913 deg, deltaT: 4.400094 s, approachRate: 0.204542 m/s, LOS rate: 19.052396 deg/s, posRepo size: 4 2021-02-18T01:58:55.785Z,1613613535.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:58:56.576Z,1613613536.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:58:56.983Z,1613613536.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:58:57.808Z,1613613537.808 [Micromodem](INFO): Nmea in: $SNTTA,0.018172,,0.041628,,015856.62*51 2021-02-18T01:58:57.844Z,1613613537.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.239998 m, bearing: 277.469195 deg, deltaT: 4.507484 s, approachRate: 0.239601 m/s, LOS rate: 1.032568 deg/s, posRepo size: 4 2021-02-18T01:59:00.289Z,1613613540.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:01.020Z,1613613541.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:01.431Z,1613613541.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:59:02.276Z,1613613542.276 [Micromodem](INFO): Nmea in: $SNTTA,0.019199,,,,015901.06*43 2021-02-18T01:59:02.310Z,1613613542.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.860003 m, bearing: 266.418195 deg, deltaT: 4.397399 s, approachRate: 0.368401 m/s, LOS rate: -2.513077 deg/s, posRepo size: 4 2021-02-18T01:59:04.692Z,1613613544.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:05.464Z,1613613545.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:05.884Z,1613613545.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:59:06.697Z,1613613546.697 [Micromodem](INFO): Nmea in: $SNTTA,0.020406,,0.021549,,015905.50*58 2021-02-18T01:59:06.730Z,1613613546.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.659998 m, bearing: 232.423824 deg, deltaT: 4.469327 s, approachRate: 0.402744 m/s, LOS rate: -7.606150 deg/s, posRepo size: 4 2021-02-18T01:59:09.180Z,1613613549.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:09.908Z,1613613549.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:10.316Z,1613613550.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:59:11.136Z,1613613551.136 [Micromodem](INFO): Nmea in: $SNTTA,0.021896,,,,015909.95*4C 2021-02-18T01:59:11.174Z,1613613551.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.300003 m, bearing: 242.709242 deg, deltaT: 4.420796 s, approachRate: 0.597179 m/s, LOS rate: 2.326599 deg/s, posRepo size: 4 2021-02-18T01:59:13.576Z,1613613553.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:14.352Z,1613613554.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:14.758Z,1613613554.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:59:15.584Z,1613613555.584 [Micromodem](INFO): Nmea in: $SNTTA,0.023386,,0.040456,,015914.39*53 2021-02-18T01:59:15.632Z,1613613555.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.159996 m, bearing: 240.616008 deg, deltaT: 4.449192 s, approachRate: 0.418052 m/s, LOS rate: -0.470475 deg/s, posRepo size: 4 2021-02-18T01:59:18.015Z,1613613558.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:18.797Z,1613613558.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:19.202Z,1613613559.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:59:20.028Z,1613613560.028 [Micromodem](INFO): Nmea in: $SNTTA,0.024975,,,,015918.84*45 2021-02-18T01:59:20.107Z,1613613560.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.500000 m, bearing: 235.176199 deg, deltaT: 4.450895 s, approachRate: 0.525738 m/s, LOS rate: -1.222183 deg/s, posRepo size: 4 2021-02-18T01:59:22.485Z,1613613562.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:23.268Z,1613613563.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:23.646Z,1613613563.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:59:24.480Z,1613613564.480 [Micromodem](INFO): Nmea in: $SNTTA,0.026994,,,,015923.31*4E 2021-02-18T01:59:24.532Z,1613613564.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.559998 m, bearing: 232.609769 deg, deltaT: 4.466264 s, approachRate: 0.685136 m/s, LOS rate: -0.574626 deg/s, posRepo size: 4 2021-02-18T01:59:26.890Z,1613613566.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:27.686Z,1613613567.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:28.113Z,1613613568.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:59:28.912Z,1613613568.912 [Micromodem](INFO): Nmea in: $SNTTA,0.028774,,,,015927.72*43 2021-02-18T01:59:28.954Z,1613613568.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.139999 m, bearing: 252.063815 deg, deltaT: 4.419654 s, approachRate: 0.583757 m/s, LOS rate: 4.401712 deg/s, posRepo size: 4 2021-02-18T01:59:31.396Z,1613613571.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:32.128Z,1613613572.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:32.542Z,1613613572.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:59:33.356Z,1613613573.356 [Micromodem](INFO): Nmea in: $SNTTA,0.030787,,,,015932.17*41 2021-02-18T01:59:33.405Z,1613613573.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.199997 m, bearing: 221.461193 deg, deltaT: 4.434573 s, approachRate: 0.690032 m/s, LOS rate: -6.900917 deg/s, posRepo size: 4 2021-02-18T01:59:35.789Z,1613613575.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:36.572Z,1613613576.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:36.987Z,1613613576.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:59:37.807Z,1613613577.807 [Micromodem](INFO): Nmea in: $SNTTA,0.079136,,,,015936.61*45 2021-02-18T01:59:37.826Z,1613613577.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.839996 m, bearing: 220.533790 deg, deltaT: 4.482962 s, approachRate: 0.588896 m/s, LOS rate: -0.206873 deg/s, posRepo size: 4 2021-02-18T01:59:40.285Z,1613613580.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:41.018Z,1613613581.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:41.430Z,1613613581.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:59:42.280Z,1613613582.280 [Micromodem](INFO): Nmea in: $SNTTA,0.034747,,,,015941.06*4D 2021-02-18T01:59:42.335Z,1613613582.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.899994 m, bearing: 223.613700 deg, deltaT: 4.400883 s, approachRate: 0.695314 m/s, LOS rate: 0.699839 deg/s, posRepo size: 4 2021-02-18T01:59:44.670Z,1613613584.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:45.461Z,1613613585.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:45.866Z,1613613585.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:59:46.688Z,1613613586.688 [Micromodem](INFO): Nmea in: $SNTTA,0.036588,,,,015945.50*49 2021-02-18T01:59:46.710Z,1613613586.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.019997 m, bearing: 207.283360 deg, deltaT: 4.481103 s, approachRate: 0.696258 m/s, LOS rate: -3.644268 deg/s, posRepo size: 4 2021-02-18T01:59:49.146Z,1613613589.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:49.909Z,1613613589.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:50.310Z,1613613590.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:59:51.132Z,1613613591.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,015949.95*52 2021-02-18T01:59:51.188Z,1613613591.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.080006 m, bearing: 208.453275 deg, deltaT: 4.390600 s, approachRate: 0.696946 m/s, LOS rate: 0.266459 deg/s, posRepo size: 4 2021-02-18T01:59:53.580Z,1613613593.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:54.366Z,1613613594.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:54.761Z,1613613594.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T01:59:55.588Z,1613613595.588 [Micromodem](INFO): Nmea in: $SNTTA,0.040816,,,,015954.40*43 2021-02-18T01:59:55.613Z,1613613595.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.380005 m, bearing: 195.000152 deg, deltaT: 4.465170 s, approachRate: 0.739053 m/s, LOS rate: -3.012903 deg/s, posRepo size: 4 2021-02-18T01:59:58.001Z,1613613598.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T01:59:58.792Z,1613613598.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T01:59:59.203Z,1613613599.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:00.035Z,1613613600.035 [Micromodem](INFO): Nmea in: $SNTTA,0.042943,,,,015958.83*43 2021-02-18T02:00:00.062Z,1613613600.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.559998 m, bearing: 208.529145 deg, deltaT: 4.445030 s, approachRate: 0.715404 m/s, LOS rate: 3.043622 deg/s, posRepo size: 4 2021-02-18T02:00:02.474Z,1613613602.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:00:03.262Z,1613613603.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:00:03.652Z,1613613603.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:04.479Z,1613613604.479 [Micromodem](INFO): Nmea in: $SNTTA,0.045082,,,,020003.30*49 2021-02-18T02:00:04.513Z,1613613604.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.860001 m, bearing: 196.752806 deg, deltaT: 4.465605 s, approachRate: 0.738982 m/s, LOS rate: -2.637121 deg/s, posRepo size: 4 2021-02-18T02:00:06.892Z,1613613606.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:00:07.686Z,1613613607.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:00:08.112Z,1613613608.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:08.912Z,1613613608.912 [Micromodem](INFO): Nmea in: $SNTTA,0.047169,,,,020007.73*4C 2021-02-18T02:00:08.934Z,1613613608.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.860008 m, bearing: 203.595030 deg, deltaT: 4.425376 s, approachRate: 0.677910 m/s, LOS rate: 1.546134 deg/s, posRepo size: 4 2021-02-18T02:00:11.366Z,1613613611.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:00:12.132Z,1613613612.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:00:12.530Z,1613613612.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:13.356Z,1613613613.356 [Micromodem](INFO): Nmea in: $SNTTA,0.049304,,,,020012.17*4D 2021-02-18T02:00:13.409Z,1613613613.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.160004 m, bearing: 203.969625 deg, deltaT: 4.424000 s, approachRate: 0.745930 m/s, LOS rate: 0.084673 deg/s, posRepo size: 4 2021-02-18T02:00:15.796Z,1613613615.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:00:16.568Z,1613613616.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:00:16.999Z,1613613616.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:17.800Z,1613613617.800 [Micromodem](INFO): Nmea in: $SNTTA,0.086867,,0.062549,,020016.61*57 2021-02-18T02:00:17.834Z,1613613617.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.460007 m, bearing: 208.788078 deg, deltaT: 4.476825 s, approachRate: 0.737130 m/s, LOS rate: 1.076310 deg/s, posRepo size: 4 2021-02-18T02:00:20.283Z,1613613620.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:00:21.012Z,1613613621.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:00:21.418Z,1613613621.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:22.268Z,1613613622.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020021.05*5A 2021-02-18T02:00:22.338Z,1613613622.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.639999 m, bearing: 204.197658 deg, deltaT: 4.407442 s, approachRate: 0.721505 m/s, LOS rate: -1.041516 deg/s, posRepo size: 4 2021-02-18T02:00:24.664Z,1613613624.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:00:25.462Z,1613613625.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:00:25.863Z,1613613625.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:26.692Z,1613613626.692 [Micromodem](INFO): Nmea in: $SNTTA,0.079769,,,,020025.50*46 2021-02-18T02:00:26.714Z,1613613626.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.119995 m, bearing: 267.517282 deg, deltaT: 4.476676 s, approachRate: 0.777362 m/s, LOS rate: 14.144339 deg/s, posRepo size: 4 2021-02-18T02:00:29.170Z,1613613629.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:00:29.905Z,1613613629.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:00:30.310Z,1613613630.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:31.132Z,1613613631.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020029.94*5A 2021-02-18T02:00:31.156Z,1613613631.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.239998 m, bearing: 214.922503 deg, deltaT: 4.421202 s, approachRate: 0.705691 m/s, LOS rate: -11.896036 deg/s, posRepo size: 4 2021-02-18T02:00:33.582Z,1613613633.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:00:34.346Z,1613613634.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:00:34.750Z,1613613634.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:35.572Z,1613613635.572 [Micromodem](INFO): Nmea in: $SNTTA,0.060438,,,,020034.38*47 2021-02-18T02:00:35.621Z,1613613635.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.420006 m, bearing: 211.888779 deg, deltaT: 4.487692 s, approachRate: 0.708607 m/s, LOS rate: -0.676010 deg/s, posRepo size: 4 2021-02-18T02:00:37.189Z,1613613637.189 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:00:38.012Z,1613613638.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:00:38.789Z,1613613638.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:00:39.199Z,1613613639.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:40.016Z,1613613640.016 [Micromodem](INFO): Nmea in: $SNTTA,0.062681,,,,020038.83*49 2021-02-18T02:00:40.055Z,1613613640.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.080002 m, bearing: 216.569753 deg, deltaT: 4.421654 s, approachRate: 0.827744 m/s, LOS rate: 1.058648 deg/s, posRepo size: 4 2021-02-18T02:00:42.486Z,1613613642.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:00:43.263Z,1613613643.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:00:43.643Z,1613613643.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:44.472Z,1613613644.472 [Micromodem](INFO): Nmea in: $SNTTA,0.064632,,,,020043.30*43 2021-02-18T02:00:44.539Z,1613613644.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.959999 m, bearing: 229.621070 deg, deltaT: 4.424677 s, approachRate: 0.650894 m/s, LOS rate: 2.949665 deg/s, posRepo size: 4 2021-02-18T02:00:46.882Z,1613613646.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:00:47.686Z,1613613647.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:00:48.112Z,1613613648.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:48.912Z,1613613648.912 [Micromodem](INFO): Nmea in: $SNTTA,0.067114,,,,020047.73*40 2021-02-18T02:00:48.954Z,1613613648.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.440002 m, bearing: 222.520706 deg, deltaT: 4.456473 s, approachRate: 0.780887 m/s, LOS rate: -1.593270 deg/s, posRepo size: 4 2021-02-18T02:00:51.362Z,1613613651.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:00:52.126Z,1613613652.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:00:52.526Z,1613613652.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:53.356Z,1613613653.356 [Micromodem](INFO): Nmea in: $SNTTA,0.069077,,,,020052.17*4C 2021-02-18T02:00:53.418Z,1613613653.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.800003 m, bearing: 275.330390 deg, deltaT: 4.419324 s, approachRate: 0.760297 m/s, LOS rate: 11.949720 deg/s, posRepo size: 4 2021-02-18T02:00:55.778Z,1613613655.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:00:56.581Z,1613613656.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:00:56.970Z,1613613656.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:00:57.805Z,1613613657.805 [Micromodem](INFO): Nmea in: $SNTTA,0.089337,,,0.072913,020056.62*53 2021-02-18T02:00:57.850Z,1613613657.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.799995 m, bearing: 226.297855 deg, deltaT: 4.488983 s, approachRate: 0.668301 m/s, LOS rate: -10.922861 deg/s, posRepo size: 4 2021-02-18T02:01:00.270Z,1613613660.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:01.011Z,1613613661.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:01.414Z,1613613661.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:01:02.268Z,1613613662.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020101.05*59 2021-02-18T02:01:02.302Z,1613613662.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.280006 m, bearing: 220.590330 deg, deltaT: 4.428552 s, approachRate: 0.785812 m/s, LOS rate: -1.288802 deg/s, posRepo size: 4 2021-02-18T02:01:04.681Z,1613613664.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:05.452Z,1613613665.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:05.857Z,1613613665.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:01:06.684Z,1613613666.684 [Micromodem](INFO): Nmea in: $SNTTA,0.075412,,,,020105.49*4E 2021-02-18T02:01:06.722Z,1613613666.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.340004 m, bearing: 221.794534 deg, deltaT: 4.454309 s, approachRate: 0.686975 m/s, LOS rate: 0.270346 deg/s, posRepo size: 4 2021-02-18T02:01:09.137Z,1613613669.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:09.896Z,1613613669.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:10.302Z,1613613670.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:01:11.128Z,1613613671.128 [Micromodem](INFO): Nmea in: $SNTTA,0.077710,,,,020109.93*46 2021-02-18T02:01:11.174Z,1613613671.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.760002 m, bearing: 219.777510 deg, deltaT: 4.402632 s, approachRate: 0.776808 m/s, LOS rate: -0.458140 deg/s, posRepo size: 4 2021-02-18T02:01:13.568Z,1613613673.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:14.340Z,1613613674.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:14.760Z,1613613674.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:01:15.568Z,1613613675.568 [Micromodem](INFO): Nmea in: $SNTTA,0.079937,,,,020114.38*4E 2021-02-18T02:01:15.613Z,1613613675.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.120003 m, bearing: 267.297459 deg, deltaT: 4.473714 s, approachRate: 0.751054 m/s, LOS rate: 10.622035 deg/s, posRepo size: 4 2021-02-18T02:01:18.007Z,1613613678.007 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:18.784Z,1613613678.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:19.192Z,1613613679.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:01:20.012Z,1613613680.012 [Micromodem](INFO): Nmea in: $SNTTA,0.082219,,,,020118.83*41 2021-02-18T02:01:20.051Z,1613613680.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.540001 m, bearing: 263.963944 deg, deltaT: 4.436433 s, approachRate: 0.770889 m/s, LOS rate: -0.751395 deg/s, posRepo size: 4 2021-02-18T02:01:22.460Z,1613613682.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:23.263Z,1613613683.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:23.639Z,1613613683.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:01:24.476Z,1613613684.476 [Micromodem](INFO): Nmea in: $SNTTA,0.084309,,,,020123.30*47 2021-02-18T02:01:24.528Z,1613613684.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.660004 m, bearing: 268.725952 deg, deltaT: 4.442262 s, approachRate: 0.702345 m/s, LOS rate: 1.071978 deg/s, posRepo size: 4 2021-02-18T02:01:26.878Z,1613613686.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:27.678Z,1613613687.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:28.109Z,1613613688.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:01:28.901Z,1613613688.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020127.72*5D 2021-02-18T02:01:28.942Z,1613613688.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.960007 m, bearing: 271.886472 deg, deltaT: 4.463613 s, approachRate: 0.739312 m/s, LOS rate: 0.708063 deg/s, posRepo size: 4 2021-02-18T02:01:31.353Z,1613613691.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:32.119Z,1613613692.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:32.522Z,1613613692.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:01:33.344Z,1613613693.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020132.16*5B 2021-02-18T02:01:33.398Z,1613613693.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.259995 m, bearing: 222.107848 deg, deltaT: 4.429455 s, approachRate: 0.745010 m/s, LOS rate: -11.238092 deg/s, posRepo size: 4 2021-02-18T02:01:35.780Z,1613613695.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:36.560Z,1613613696.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:36.970Z,1613613696.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:01:37.796Z,1613613697.796 [Micromodem](INFO): Nmea in: $SNTTA,0.091049,,,,020136.60*45 2021-02-18T02:01:37.829Z,1613613697.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.740005 m, bearing: 219.410921 deg, deltaT: 4.457357 s, approachRate: 0.780734 m/s, LOS rate: -0.605051 deg/s, posRepo size: 4 2021-02-18T02:01:40.276Z,1613613700.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:41.004Z,1613613701.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:41.415Z,1613613701.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:01:42.243Z,1613613702.243 [Micromodem](INFO): Nmea in: $SNTTA,,,,,020141.04*5C 2021-02-18T02:01:42.295Z,1613613702.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.220001 m, bearing: 223.985795 deg, deltaT: 4.409472 s, approachRate: 0.789209 m/s, LOS rate: 1.037511 deg/s, posRepo size: 4 2021-02-18T02:01:44.671Z,1613613704.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:45.448Z,1613613705.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:45.860Z,1613613705.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:01:46.687Z,1613613706.687 [Micromodem](INFO): Nmea in: $SNTTA,0.095716,,,,020145.49*43 2021-02-18T02:01:46.713Z,1613613706.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.759995 m, bearing: 216.671659 deg, deltaT: 4.476656 s, approachRate: 0.790767 m/s, LOS rate: -1.633839 deg/s, posRepo size: 4 2021-02-18T02:01:49.153Z,1613613709.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:49.892Z,1613613709.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:50.302Z,1613613710.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:01:51.128Z,1613613711.128 [Micromodem](INFO): Nmea in: $SNTTA,0.097957,,,,020149.93*41 2021-02-18T02:01:51.152Z,1613613711.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.119995 m, bearing: 217.805239 deg, deltaT: 4.415935 s, approachRate: 0.760881 m/s, LOS rate: 0.256702 deg/s, posRepo size: 4 2021-02-18T02:01:53.558Z,1613613713.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:54.336Z,1613613714.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:54.748Z,1613613714.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:01:55.573Z,1613613715.573 [Micromodem](INFO): Nmea in: $SNTTA,0.100108,,,0.116726,020154.38*5A 2021-02-18T02:01:55.613Z,1613613715.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.360001 m, bearing: 216.705537 deg, deltaT: 4.460386 s, approachRate: 0.726396 m/s, LOS rate: -0.246548 deg/s, posRepo size: 4 2021-02-18T02:01:55.613Z,1613613715.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.36 m. Resuming terminal guidance. 2021-02-18T02:01:55.613Z,1613613715.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T02:01:57.989Z,1613613717.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:01:58.782Z,1613613718.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:01:59.188Z,1613613719.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:00.016Z,1613613720.016 [Micromodem](INFO): Nmea in: $SNTTA,0.102392,,,,020158.82*4F 2021-02-18T02:02:00.041Z,1613613720.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.720001 m, bearing: 220.539322 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T02:02:00.042Z,1613613720.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 220.539322deg and heading rate command to 0 deg/s. 2021-02-18T02:02:02.476Z,1613613722.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:02:03.253Z,1613613723.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:02:03.629Z,1613613723.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:04.464Z,1613613724.464 [Micromodem](INFO): Nmea in: $SNTTA,0.104613,,,,020203.29*49 2021-02-18T02:02:04.498Z,1613613724.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.720001 m, bearing: 220.216022 deg, deltaT: 4.508354 s, approachRate: 0.000000 m/s, LOS rate: -0.071711 deg/s, posRepo size: 2 2021-02-18T02:02:04.500Z,1613613724.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.720001 m, bearing: 220.216022 deg, approachRate: 0.000000 m/s, LOS rate: -0.071711 deg/s, cmd update: -0.286845 deg/s, cmd heading: 220.539322 deg, new cmd heading: 220.539322 deg. 2021-02-18T02:02:06.876Z,1613613726.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:02:07.668Z,1613613727.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:02:08.117Z,1613613728.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:08.904Z,1613613728.904 [Micromodem](INFO): Nmea in: $SNTTA,0.106803,,,,020207.71*4D 2021-02-18T02:02:08.926Z,1613613728.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.379990 m, bearing: 227.946157 deg, deltaT: 4.385940 s, approachRate: 1.518486 m/s, LOS rate: 1.762481 deg/s, posRepo size: 3 2021-02-18T02:02:08.928Z,1613613728.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.379990 m, bearing: 227.946157 deg, approachRate: 1.518486 m/s, LOS rate: 1.762481 deg/s, cmd update: 7.049923 deg/s, cmd heading: 219.274916 deg, new cmd heading: 219.155000 deg. 2021-02-18T02:02:11.364Z,1613613731.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:02:12.132Z,1613613732.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:02:12.529Z,1613613732.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:13.352Z,1613613733.352 [Micromodem](INFO): Nmea in: $SNTTA,0.108949,,,,020212.17*48 2021-02-18T02:02:13.414Z,1613613733.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.379990 m, bearing: 226.594026 deg, deltaT: 4.431659 s, approachRate: 0.000000 m/s, LOS rate: -0.305107 deg/s, posRepo size: 4 2021-02-18T02:02:13.420Z,1613613733.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.379990 m, bearing: 226.594026 deg, approachRate: 0.000000 m/s, LOS rate: -0.305107 deg/s, cmd update: -1.220429 deg/s, cmd heading: 250.545929 deg, new cmd heading: 253.864172 deg. 2021-02-18T02:02:15.786Z,1613613735.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:02:16.562Z,1613613736.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:02:16.961Z,1613613736.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:17.790Z,1613613737.790 [Micromodem](INFO): Nmea in: $SNTTA,0.111140,,,,020216.60*45 2021-02-18T02:02:17.837Z,1613613737.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.800003 m, bearing: 232.558871 deg, deltaT: 4.482438 s, approachRate: 1.432259 m/s, LOS rate: 1.330714 deg/s, posRepo size: 4 2021-02-18T02:02:17.840Z,1613613737.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.800003 m, bearing: 232.558871 deg, approachRate: 1.432259 m/s, LOS rate: 1.330714 deg/s, cmd update: 5.322858 deg/s, cmd heading: 245.074001 deg, new cmd heading: 244.575701 deg. 2021-02-18T02:02:20.275Z,1613613740.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:02:21.011Z,1613613741.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:02:21.406Z,1613613741.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:22.268Z,1613613742.268 [Micromodem](INFO): Nmea in: $SNTTA,0.112779,,,,020221.05*4D 2021-02-18T02:02:22.302Z,1613613742.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.800003 m, bearing: 265.004127 deg, deltaT: 4.404048 s, approachRate: 0.000000 m/s, LOS rate: 7.367144 deg/s, posRepo size: 4 2021-02-18T02:02:22.304Z,1613613742.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.800003 m, bearing: 265.004127 deg, approachRate: 0.000000 m/s, LOS rate: 7.367144 deg/s, cmd update: 12.000000 deg/s, cmd heading: 268.512412 deg, new cmd heading: 271.020473 deg. 2021-02-18T02:02:24.661Z,1613613744.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:02:25.444Z,1613613745.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:02:25.850Z,1613613745.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:26.676Z,1613613746.676 [Micromodem](INFO): Nmea in: $SNTTA,0.114364,,,,020225.48*4E 2021-02-18T02:02:26.717Z,1613613746.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.600006 m, bearing: 269.693954 deg, deltaT: 4.519784 s, approachRate: 1.061998 m/s, LOS rate: 1.037622 deg/s, posRepo size: 4 2021-02-18T02:02:26.719Z,1613613746.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.600006 m, bearing: 269.693954 deg, approachRate: 1.061998 m/s, LOS rate: 1.037622 deg/s, cmd update: 4.150487 deg/s, cmd heading: 322.761677 deg, new cmd heading: 327.151433 deg. 2021-02-18T02:02:27.133Z,1613613747.133 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:02:29.155Z,1613613749.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:02:29.890Z,1613613749.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:02:30.309Z,1613613750.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:31.136Z,1613613751.136 [Micromodem](INFO): Nmea in: $SNTTA,0.115418,,,,020229.93*49 2021-02-18T02:02:31.161Z,1613613751.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.600006 m, bearing: 333.237252 deg, deltaT: 4.393906 s, approachRate: 0.000000 m/s, LOS rate: 14.461688 deg/s, posRepo size: 4 2021-02-18T02:02:31.161Z,1613613751.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.461688 deg/s. Setting heading cmd to target bearing of 333.237252deg and heading rate command to 0 deg/s. 2021-02-18T02:02:33.556Z,1613613753.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:02:34.338Z,1613613754.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:02:34.752Z,1613613754.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:35.569Z,1613613755.569 [Micromodem](INFO): Nmea in: $SNTTA,0.115966,,,0.118475,020234.38*50 2021-02-18T02:02:35.608Z,1613613755.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.600006 m, bearing: 318.965190 deg, deltaT: 4.449095 s, approachRate: 0.000000 m/s, LOS rate: -3.207857 deg/s, posRepo size: 4 2021-02-18T02:02:35.610Z,1613613755.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.600006 m, bearing: 318.965190 deg, approachRate: 0.000000 m/s, LOS rate: -3.207857 deg/s, cmd update: -12.000000 deg/s, cmd heading: 333.237252 deg, new cmd heading: 333.237252 deg. 2021-02-18T02:02:37.181Z,1613613757.181 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:02:38.007Z,1613613758.007 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:02:38.782Z,1613613758.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:02:39.188Z,1613613759.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:39.276Z,1613613759.276 [lineCaptureDepth:NeedComms] Running Loop=1 2021-02-18T02:02:39.276Z,1613613759.276 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms 2021-02-18T02:02:39.276Z,1613613759.276 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1 2021-02-18T02:02:39.276Z,1613613759.276 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-02-18T02:02:39.276Z,1613613759.276 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2021-02-18T02:02:39.277Z,1613613759.277 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2021-02-18T02:02:39.277Z,1613613759.277 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2021-02-18T02:02:39.277Z,1613613759.277 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-02-18T02:02:39.278Z,1613613759.278 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-02-18T02:02:39.278Z,1613613759.278 [lineCaptureDepth:NeedComms:A] Running Loop=1 2021-02-18T02:02:39.280Z,1613613759.280 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613608359.000000 second since 1970/01/01T00:00:00Z 2021-02-18T02:02:39.280Z,1613613759.280 [lineCaptureDepth:NeedComms:A] Stopped 2021-02-18T02:02:40.012Z,1613613760.012 [Micromodem](INFO): Nmea in: $SNTTA,0.116009,,,,020238.82*4E 2021-02-18T02:02:40.034Z,1613613760.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.600006 m, bearing: 291.678966 deg, deltaT: 4.443421 s, approachRate: 0.000000 m/s, LOS rate: -6.140814 deg/s, posRepo size: 4 2021-02-18T02:02:40.059Z,1613613760.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.600006 m, bearing: 291.678966 deg, approachRate: 0.000000 m/s, LOS rate: -6.140814 deg/s, cmd update: -12.000000 deg/s, cmd heading: 279.957107 deg, new cmd heading: 275.158487 deg. 2021-02-18T02:02:42.437Z,1613613762.437 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:02:42.469Z,1613613762.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:02:43.235Z,1613613763.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:02:43.625Z,1613613763.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:44.454Z,1613613764.454 [Micromodem](INFO): Nmea in: $SNTTA,0.115833,,,,020243.28*40 2021-02-18T02:02:44.882Z,1613613764.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.699997 m, bearing: 282.220903 deg, deltaT: 4.877048 s, approachRate: 0.430586 m/s, LOS rate: -1.939301 deg/s, posRepo size: 4 2021-02-18T02:02:44.884Z,1613613764.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.699997 m, bearing: 282.220903 deg, approachRate: 0.430586 m/s, LOS rate: -1.939301 deg/s, cmd update: -7.757204 deg/s, cmd heading: 221.432553 deg, new cmd heading: 216.982665 deg. 2021-02-18T02:02:47.304Z,1613613767.304 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:02:47.318Z,1613613767.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:02:48.105Z,1613613768.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:02:48.510Z,1613613768.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:49.332Z,1613613769.332 [Micromodem](INFO): Nmea in: $SNTTA,0.116000,,,,020248.14*4F 2021-02-18T02:02:49.365Z,1613613769.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.699997 m, bearing: 349.933513 deg, deltaT: 4.421557 s, approachRate: 0.000000 m/s, LOS rate: 15.314201 deg/s, posRepo size: 4 2021-02-18T02:02:49.366Z,1613613769.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.314201 deg/s. Setting heading cmd to target bearing of 349.933513deg and heading rate command to 0 deg/s. 2021-02-18T02:02:51.769Z,1613613771.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:02:52.544Z,1613613772.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:02:52.950Z,1613613772.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:53.772Z,1613613773.772 [Micromodem](INFO): Nmea in: $SNTTA,0.116893,,,,020252.58*4E 2021-02-18T02:02:53.809Z,1613613773.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.699997 m, bearing: 303.316024 deg, deltaT: 4.478397 s, approachRate: 0.000000 m/s, LOS rate: -10.409414 deg/s, posRepo size: 4 2021-02-18T02:02:53.810Z,1613613773.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.699997 m, bearing: 303.316024 deg, approachRate: 0.000000 m/s, LOS rate: -10.409414 deg/s, cmd update: -12.000000 deg/s, cmd heading: 349.933513 deg, new cmd heading: 349.933513 deg. 2021-02-18T02:02:56.260Z,1613613776.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:02:56.990Z,1613613776.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:02:57.394Z,1613613777.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:02:58.223Z,1613613778.223 [Micromodem](INFO): Nmea in: $SNTTA,0.118442,,,,020257.03*4B 2021-02-18T02:02:58.300Z,1613613778.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.699997 m, bearing: 258.155032 deg, deltaT: 4.404955 s, approachRate: 0.000000 m/s, LOS rate: -10.252316 deg/s, posRepo size: 4 2021-02-18T02:02:58.301Z,1613613778.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.699997 m, bearing: 258.155032 deg, approachRate: 0.000000 m/s, LOS rate: -10.252316 deg/s, cmd update: -12.000000 deg/s, cmd heading: 297.088116 deg, new cmd heading: 291.367980 deg. 2021-02-18T02:03:00.639Z,1613613780.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:01.437Z,1613613781.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:03:01.839Z,1613613781.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:03:02.664Z,1613613782.664 [Micromodem](INFO): Nmea in: $SNTTA,0.120382,,,,020301.48*46 2021-02-18T02:03:02.701Z,1613613782.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.600006 m, bearing: 231.224744 deg, deltaT: 4.529541 s, approachRate: 1.523335 m/s, LOS rate: -5.945479 deg/s, posRepo size: 4 2021-02-18T02:03:02.703Z,1613613782.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.600006 m, bearing: 231.224744 deg, approachRate: 1.523335 m/s, LOS rate: -5.945479 deg/s, cmd update: -12.000000 deg/s, cmd heading: 242.849543 deg, new cmd heading: 238.500359 deg. 2021-02-18T02:03:05.148Z,1613613785.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:05.876Z,1613613785.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:03:06.289Z,1613613786.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:03:07.162Z,1613613787.162 [Micromodem](INFO): Nmea in: $SNTTA,0.121930,,,,020305.91*44 2021-02-18T02:03:07.186Z,1613613787.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.600006 m, bearing: 279.496532 deg, deltaT: 4.374994 s, approachRate: 0.000000 m/s, LOS rate: 11.033567 deg/s, posRepo size: 4 2021-02-18T02:03:07.188Z,1613613787.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.600006 m, bearing: 279.496532 deg, approachRate: 0.000000 m/s, LOS rate: 11.033567 deg/s, cmd update: 12.000000 deg/s, cmd heading: 190.233873 deg, new cmd heading: 184.680537 deg. 2021-02-18T02:03:09.553Z,1613613789.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:10.326Z,1613613790.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:03:10.743Z,1613613790.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:03:11.541Z,1613613791.541 [Micromodem](INFO): Nmea in: $SNTTA,0.123791,,,,020310.37*4B 2021-02-18T02:03:11.986Z,1613613791.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.460007 m, bearing: 236.959452 deg, deltaT: 4.877069 s, approachRate: 0.996500 m/s, LOS rate: -8.721853 deg/s, posRepo size: 4 2021-02-18T02:03:11.988Z,1613613791.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.460007 m, bearing: 236.959452 deg, approachRate: 0.996500 m/s, LOS rate: -8.721853 deg/s, cmd update: -12.000000 deg/s, cmd heading: 248.767307 deg, new cmd heading: 253.393211 deg. 2021-02-18T02:03:12.373Z,1613613792.373 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T02:03:14.413Z,1613613794.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:15.168Z,1613613795.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:03:15.579Z,1613613795.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:03:16.395Z,1613613796.395 [Micromodem](INFO): Nmea in: $SNTTA,0.125998,,,,020315.21*48 2021-02-18T02:03:16.823Z,1613613796.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.819977 m, bearing: 254.499761 deg, deltaT: 4.861801 s, approachRate: 0.691096 m/s, LOS rate: 3.607780 deg/s, posRepo size: 4 2021-02-18T02:03:16.825Z,1613613796.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.819977 m, bearing: 254.499761 deg, approachRate: 0.691096 m/s, LOS rate: 3.607780 deg/s, cmd update: 12.000000 deg/s, cmd heading: 190.469938 deg, new cmd heading: 186.106390 deg. 2021-02-18T02:03:18.462Z,1613613798.462 [lineCaptureDepth:NeedComms:C] Running Loop=1 2021-02-18T02:03:18.853Z,1613613798.853 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-18T02:03:18.853Z,1613613798.853 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T02:03:18.853Z,1613613798.853 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-18T02:03:18.853Z,1613613798.853 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-18T02:03:18.853Z,1613613798.853 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-18T02:03:18.853Z,1613613798.853 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-18T02:03:18.853Z,1613613798.853 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-18T02:03:19.084Z,1613613799.084 [Radio_Surface](INFO): Powering up 2021-02-18T02:03:19.239Z,1613613799.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:20.016Z,1613613800.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:03:20.423Z,1613613800.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:03:21.251Z,1613613801.251 [Micromodem](INFO): Nmea in: $SNTTA,0.128122,,0.130886,,020320.06*55 2021-02-18T02:03:22.060Z,1613613802.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:23.668Z,1613613803.668 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:03:24.367Z,1613613804.367 [DataOverHttps](INFO): Radio surface powered ON. 2021-02-18T02:03:24.878Z,1613613804.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:25.682Z,1613613805.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:03:26.077Z,1613613806.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:03:26.895Z,1613613806.895 [Micromodem](INFO): Nmea in: $SNTTA,0.130180,,,,020325.72*48 2021-02-18T02:03:27.366Z,1613613807.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.739990 m, bearing: 238.895428 deg, deltaT: 10.445972 s, approachRate: 0.758188 m/s, LOS rate: -1.493813 deg/s, posRepo size: 4 2021-02-18T02:03:27.368Z,1613613807.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.739990 m, bearing: 238.895428 deg, approachRate: 0.758188 m/s, LOS rate: -1.493813 deg/s, cmd update: -5.975253 deg/s, cmd heading: 315.878954 deg, new cmd heading: 321.355070 deg. 2021-02-18T02:03:29.728Z,1613613809.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:30.520Z,1613613810.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:03:30.926Z,1613613810.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:03:31.737Z,1613613811.737 [Micromodem](INFO): Nmea in: $SNTTA,0.131452,,,,020330.56*41 2021-02-18T02:03:32.195Z,1613613812.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.399994 m, bearing: 180.121719 deg, deltaT: 4.860778 s, approachRate: 0.135781 m/s, LOS rate: -12.091420 deg/s, posRepo size: 4 2021-02-18T02:03:32.195Z,1613613812.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.091420 deg/s. Setting heading cmd to target bearing of 180.121719deg and heading rate command to 0 deg/s. 2021-02-18T02:03:34.567Z,1613613814.567 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T02:03:34.591Z,1613613814.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:35.370Z,1613613815.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:03:35.776Z,1613613815.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:03:36.239Z,1613613816.239 [BuoyancyServo](FAULT): Overload Error 2021-02-18T02:03:36.247Z,1613613816.247 [BuoyancyServo] Hardware Fault, FailCount= 1 2021-02-18T02:03:36.247Z,1613613816.247 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T02:03:36.319Z,1613613816.319 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T02:03:36.591Z,1613613816.591 [Micromodem](INFO): Nmea in: $SNTTA,0.132633,,,,020335.41*44 2021-02-18T02:03:37.031Z,1613613817.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.139984 m, bearing: 211.634805 deg, deltaT: 4.873567 s, approachRate: 0.357026 m/s, LOS rate: 6.466123 deg/s, posRepo size: 4 2021-02-18T02:03:37.033Z,1613613817.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.139984 m, bearing: 211.634805 deg, approachRate: 0.357026 m/s, LOS rate: 6.466123 deg/s, cmd update: 12.000000 deg/s, cmd heading: 180.121719 deg, new cmd heading: 180.121719 deg. 2021-02-18T02:03:38.300Z,1613613818.300 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T02:03:38.300Z,1613613818.300 [BuoyancyServo](INFO): Powering down 2021-02-18T02:03:38.686Z,1613613818.686 [BuoyancyServo](FAULT): LCB fault: Current Limiter Activated. 2021-02-18T02:03:39.091Z,1613613819.091 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T02:03:39.091Z,1613613819.091 [BuoyancyServo] No Fault, FailCount= 1 2021-02-18T02:03:39.497Z,1613613819.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:39.505Z,1613613819.505 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T02:03:39.506Z,1613613819.506 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T02:03:40.217Z,1613613820.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:03:40.643Z,1613613820.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:03:41.435Z,1613613821.435 [Micromodem](INFO): Nmea in: $SNTTA,0.133526,,,,020340.26*41 2021-02-18T02:03:42.316Z,1613613822.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:43.852Z,1613613823.852 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:03:45.117Z,1613613825.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:45.875Z,1613613825.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:03:46.297Z,1613613826.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:03:47.092Z,1613613827.092 [Micromodem](INFO): Nmea in: $SNTTA,0.134237,,,,020345.92*4B 2021-02-18T02:03:47.544Z,1613613827.544 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T02:03:47.556Z,1613613827.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.539993 m, bearing: 280.758068 deg, deltaT: 10.521912 s, approachRate: 0.228096 m/s, LOS rate: 6.569458 deg/s, posRepo size: 4 2021-02-18T02:03:47.558Z,1613613827.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.539993 m, bearing: 280.758068 deg, approachRate: 0.228096 m/s, LOS rate: 6.569458 deg/s, cmd update: 12.000000 deg/s, cmd heading: 305.767687 deg, new cmd heading: 311.060659 deg. 2021-02-18T02:03:47.908Z,1613613827.908 [NAL9602](INFO): SBD MO Status=2, MOMSN=13629, MT Status=2, MTMSN=0 2021-02-18T02:03:47.908Z,1613613827.908 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2021-02-18T02:03:49.937Z,1613613829.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:50.720Z,1613613830.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:03:51.153Z,1613613831.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:03:51.942Z,1613613831.942 [Micromodem](INFO): Nmea in: $SNTTA,0.136462,,,,020350.76*41 2021-02-18T02:03:52.389Z,1613613832.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.639984 m, bearing: 237.844290 deg, deltaT: 4.811915 s, approachRate: 0.436415 m/s, LOS rate: -8.918233 deg/s, posRepo size: 4 2021-02-18T02:03:52.391Z,1613613832.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.639984 m, bearing: 237.844290 deg, approachRate: 0.436415 m/s, LOS rate: -8.918233 deg/s, cmd update: -12.000000 deg/s, cmd heading: 4.127660 deg, new cmd heading: 9.060812 deg. 2021-02-18T02:03:54.495Z,1613613834.495 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T02:03:54.786Z,1613613834.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:55.568Z,1613613835.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:03:55.973Z,1613613835.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:03:56.785Z,1613613836.785 [Micromodem](INFO): Nmea in: $SNTTA,0.135417,,,,020355.61*43 2021-02-18T02:03:57.254Z,1613613837.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.159988 m, bearing: 253.888104 deg, deltaT: 4.821744 s, approachRate: -0.099548 m/s, LOS rate: 3.327388 deg/s, posRepo size: 4 2021-02-18T02:03:57.269Z,1613613837.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.159988 m, bearing: 253.888104 deg, approachRate: -0.099548 m/s, LOS rate: 3.327388 deg/s, cmd update: 12.000000 deg/s, cmd heading: 306.264354 deg, new cmd heading: 300.910806 deg. 2021-02-18T02:03:57.667Z,1613613837.667 [BuoyancyServo](FAULT): Overload Error 2021-02-18T02:03:57.667Z,1613613837.667 [BuoyancyServo] Hardware Fault, FailCount= 2 2021-02-18T02:03:57.667Z,1613613837.667 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T02:03:57.771Z,1613613837.771 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T02:03:58.414Z,1613613838.414 [NAL9602](INFO): SBD MO Status=0, MOMSN=13629, MT Status=0, MTMSN=0 2021-02-18T02:03:58.414Z,1613613838.414 [NAL9602](INFO): No messages in MT queue 2021-02-18T02:03:59.674Z,1613613839.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:03:59.683Z,1613613839.683 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T02:03:59.683Z,1613613839.683 [BuoyancyServo](INFO): Powering down 2021-02-18T02:04:00.441Z,1613613840.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:04:00.580Z,1613613840.580 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T02:04:00.580Z,1613613840.580 [BuoyancyServo] No Fault, FailCount= 2 2021-02-18T02:04:00.827Z,1613613840.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:04:00.886Z,1613613840.886 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T02:04:00.888Z,1613613840.888 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T02:04:01.644Z,1613613841.644 [Micromodem](INFO): Nmea in: $SNTTA,0.135922,,,,020400.48*44 2021-02-18T02:04:02.529Z,1613613842.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:04:02.847Z,1613613842.847 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,020403.00,A,4133.06156,N,07042.61625,W,0.816,0.00,180221,,,A*78 2021-02-18T02:04:02.849Z,1613613842.849 [NAL9602](INFO): GPS fix at 20210218T020403: (41.551026, -70.710271) 2021-02-18T02:04:02.864Z,1613613842.864 [lineCaptureDepth:NeedComms:C] Stopped 2021-02-18T02:04:02.865Z,1613613842.865 [lineCaptureDepth:NeedComms:D] Running Loop=1 2021-02-18T02:04:04.060Z,1613613844.060 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:04:05.326Z,1613613845.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:04:06.101Z,1613613846.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:04:06.487Z,1613613846.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:04:08.966Z,1613613848.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:04:09.066Z,1613613849.066 [Micromodem](INFO): Nmea in: $SNTTA,0.136287,,,0.138799,020406.14*5F 2021-02-18T02:04:09.484Z,1613613849.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.479996 m, bearing: 288.857006 deg, deltaT: 12.356149 s, approachRate: 0.106830 m/s, LOS rate: 2.830081 deg/s, posRepo size: 4 2021-02-18T02:04:09.485Z,1613613849.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.479996 m, bearing: 288.857006 deg, approachRate: 0.106830 m/s, LOS rate: 2.830081 deg/s, cmd update: 11.320324 deg/s, cmd heading: 94.462053 deg, new cmd heading: 98.468517 deg. 2021-02-18T02:04:11.894Z,1613613851.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:04:12.690Z,1613613852.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:04:13.075Z,1613613853.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:04:13.912Z,1613613853.912 [Micromodem](INFO): Nmea in: $SNTTA,0.136500,,,,020412.73*40 2021-02-18T02:04:14.346Z,1613613854.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.719986 m, bearing: 349.870484 deg, deltaT: 4.781715 s, approachRate: 0.050189 m/s, LOS rate: 12.759748 deg/s, posRepo size: 4 2021-02-18T02:04:14.346Z,1613613854.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.759748 deg/s. Setting heading cmd to target bearing of 349.870484deg and heading rate command to 0 deg/s. 2021-02-18T02:04:16.728Z,1613613856.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:04:17.521Z,1613613857.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:04:17.922Z,1613613857.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:04:18.741Z,1613613858.741 [Micromodem](INFO): Nmea in: $SNTTA,0.136692,,,0.139217,020417.56*5B 2021-02-18T02:04:19.176Z,1613613859.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.079987 m, bearing: 320.547116 deg, deltaT: 4.817934 s, approachRate: 0.074721 m/s, LOS rate: -6.086295 deg/s, posRepo size: 4 2021-02-18T02:04:19.178Z,1613613859.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.079987 m, bearing: 320.547116 deg, approachRate: 0.074721 m/s, LOS rate: -6.086295 deg/s, cmd update: -12.000000 deg/s, cmd heading: 349.870484 deg, new cmd heading: 349.870484 deg. 2021-02-18T02:04:19.615Z,1613613859.615 [BuoyancyServo](FAULT): Overload Error 2021-02-18T02:04:19.615Z,1613613859.615 [BuoyancyServo] Hardware Fault, FailCount= 3 2021-02-18T02:04:19.615Z,1613613859.615 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T02:04:19.683Z,1613613859.683 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T02:04:20.374Z,1613613860.374 [NAL9602](INFO): SBD MO Status=1, MOMSN=13630, MT Status=0, MTMSN=0 2021-02-18T02:04:20.424Z,1613613860.424 [NAL9602](INFO): Sent 98 bytes from file Logs/20210217T180521/Courier0081.lzma 2021-02-18T02:04:20.424Z,1613613860.424 [NAL9602](INFO): Packets left to send: 0 2021-02-18T02:04:23.632Z,1613613863.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:04:23.640Z,1613613863.640 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T02:04:23.640Z,1613613863.640 [BuoyancyServo](INFO): Powering down 2021-02-18T02:04:23.880Z,1613613863.880 [BuoyancyServo](FAULT): LCB fault: Current Limiter Activated. 2021-02-18T02:04:24.241Z,1613613864.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:04:24.429Z,1613613864.429 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T02:04:24.429Z,1613613864.429 [BuoyancyServo] No Fault, FailCount= 3 2021-02-18T02:04:24.636Z,1613613864.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:04:24.725Z,1613613864.725 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T02:04:24.731Z,1613613864.731 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T02:04:25.475Z,1613613865.475 [Micromodem](INFO): Nmea in: $SNTTA,0.136681,,,,020424.28*41 2021-02-18T02:04:25.897Z,1613613865.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.899979 m, bearing: 11.698786 deg, deltaT: 6.770213 s, approachRate: -0.026588 m/s, LOS rate: 7.555399 deg/s, posRepo size: 4 2021-02-18T02:04:25.903Z,1613613865.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.899979 m, bearing: 11.698786 deg, approachRate: -0.026588 m/s, LOS rate: 7.555399 deg/s, cmd update: 12.000000 deg/s, cmd heading: 268.625407 deg, new cmd heading: 264.170383 deg. 2021-02-18T02:04:28.318Z,1613613868.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:04:29.105Z,1613613869.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:04:29.483Z,1613613869.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:04:29.639Z,1613613869.639 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T02:04:30.329Z,1613613870.329 [Micromodem](INFO): Nmea in: $SNTTA,0.136861,,,,020429.15*42 2021-02-18T02:04:30.333Z,1613613870.333 [NAL9602](INFO): SBD MO Status=1, MOMSN=13631, MT Status=0, MTMSN=0 2021-02-18T02:04:30.395Z,1613613870.395 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0073.lzma 2021-02-18T02:04:30.395Z,1613613870.395 [NAL9602](INFO): Packets left to send: 8 2021-02-18T02:04:30.949Z,1613613870.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.139999 m, bearing: 53.299921 deg, deltaT: 4.903708 s, approachRate: 0.048947 m/s, LOS rate: 8.483608 deg/s, posRepo size: 4 2021-02-18T02:04:30.951Z,1613613870.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.139999 m, bearing: 53.299921 deg, approachRate: 0.048947 m/s, LOS rate: 8.483608 deg/s, cmd update: 12.000000 deg/s, cmd heading: 327.468273 deg, new cmd heading: 333.706401 deg. 2021-02-18T02:04:33.594Z,1613613873.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:04:34.130Z,1613613874.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:04:34.521Z,1613613874.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:04:35.345Z,1613613875.345 [Micromodem](INFO): Nmea in: $SNTTA,0.137098,,0.162142,0.139636,020434.17*49 2021-02-18T02:04:35.769Z,1613613875.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.499985 m, bearing: 61.198092 deg, deltaT: 4.974140 s, approachRate: 0.072371 m/s, LOS rate: 1.587847 deg/s, posRepo size: 4 2021-02-18T02:04:35.771Z,1613613875.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.499985 m, bearing: 61.198092 deg, approachRate: 0.072371 m/s, LOS rate: 1.587847 deg/s, cmd update: 6.351387 deg/s, cmd heading: 27.156993 deg, new cmd heading: 31.544637 deg. 2021-02-18T02:04:36.572Z,1613613876.572 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:04:38.184Z,1613613878.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:04:38.966Z,1613613878.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:04:39.370Z,1613613879.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:04:40.188Z,1613613880.188 [Micromodem](INFO): Nmea in: $SNTTA,0.137320,,0.140073,0.139810,020439.00*4B 2021-02-18T02:04:40.615Z,1613613880.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.800003 m, bearing: 59.560691 deg, deltaT: 4.834114 s, approachRate: 0.062063 m/s, LOS rate: -0.338718 deg/s, posRepo size: 4 2021-02-18T02:04:40.617Z,1613613880.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.800003 m, bearing: 59.560691 deg, approachRate: 0.062063 m/s, LOS rate: -0.338718 deg/s, cmd update: -1.354872 deg/s, cmd heading: 57.690858 deg, new cmd heading: 60.259613 deg. 2021-02-18T02:04:41.406Z,1613613881.406 [NAL9602](INFO): SBD MO Status=1, MOMSN=13632, MT Status=0, MTMSN=0 2021-02-18T02:04:41.463Z,1613613881.463 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0073.lzma 2021-02-18T02:04:41.463Z,1613613881.463 [NAL9602](INFO): Packets left to send: 7 2021-02-18T02:04:41.547Z,1613613881.547 [BuoyancyServo](FAULT): Overload Error 2021-02-18T02:04:41.547Z,1613613881.547 [BuoyancyServo] Hardware Fault, FailCount= 4 2021-02-18T02:04:41.547Z,1613613881.547 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T02:04:41.588Z,1613613881.588 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T02:04:44.688Z,1613613884.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:04:44.697Z,1613613884.697 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T02:04:44.697Z,1613613884.697 [BuoyancyServo](INFO): Powering down 2021-02-18T02:04:44.896Z,1613613884.896 [BuoyancyServo](FAULT): LCB fault: Current Limiter Activated. 2021-02-18T02:04:45.287Z,1613613885.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:04:45.436Z,1613613885.436 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T02:04:45.436Z,1613613885.436 [BuoyancyServo] No Fault, FailCount= 4 2021-02-18T02:04:45.663Z,1613613885.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:04:45.716Z,1613613885.716 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T02:04:45.724Z,1613613885.724 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T02:04:46.480Z,1613613886.480 [Micromodem](INFO): Nmea in: $SNTTA,0.137678,,,,020445.33*4B 2021-02-18T02:04:46.917Z,1613613886.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.339996 m, bearing: 57.625288 deg, deltaT: 6.327078 s, approachRate: 0.085346 m/s, LOS rate: -0.305892 deg/s, posRepo size: 4 2021-02-18T02:04:46.923Z,1613613886.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 206.339996 m, bearing: 57.625288 deg, approachRate: 0.085346 m/s, LOS rate: -0.305892 deg/s, cmd update: -1.223568 deg/s, cmd heading: 49.087727 deg, new cmd heading: 48.604517 deg. 2021-02-18T02:04:49.338Z,1613613889.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:04:50.102Z,1613613890.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:04:50.512Z,1613613890.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:04:51.318Z,1613613891.318 [Micromodem](INFO): Nmea in: $SNTTA,0.138012,,,,020450.14*4F 2021-02-18T02:04:51.320Z,1613613891.320 [NAL9602](INFO): SBD MO Status=1, MOMSN=13633, MT Status=0, MTMSN=0 2021-02-18T02:04:51.371Z,1613613891.371 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0073.lzma 2021-02-18T02:04:51.371Z,1613613891.371 [NAL9602](INFO): Packets left to send: 6 2021-02-18T02:04:51.991Z,1613613891.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.819992 m, bearing: 44.856332 deg, deltaT: 4.892156 s, approachRate: 0.098115 m/s, LOS rate: -2.610088 deg/s, posRepo size: 4 2021-02-18T02:04:51.993Z,1613613891.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 206.819992 m, bearing: 44.856332 deg, approachRate: 0.098115 m/s, LOS rate: -2.610088 deg/s, cmd update: -10.440351 deg/s, cmd heading: 43.101729 deg, new cmd heading: 42.443942 deg. 2021-02-18T02:04:54.646Z,1613613894.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:04:55.122Z,1613613895.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:04:55.531Z,1613613895.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:04:56.339Z,1613613896.339 [Micromodem](INFO): Nmea in: $SNTTA,0.138270,,,,020455.16*4E 2021-02-18T02:04:56.789Z,1613613896.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.179993 m, bearing: 51.844534 deg, deltaT: 4.955895 s, approachRate: 0.072641 m/s, LOS rate: 1.410079 deg/s, posRepo size: 4 2021-02-18T02:04:56.791Z,1613613896.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.179993 m, bearing: 51.844534 deg, approachRate: 0.072641 m/s, LOS rate: 1.410079 deg/s, cmd update: 5.640315 deg/s, cmd heading: 351.361163 deg, new cmd heading: 347.385540 deg. 2021-02-18T02:04:59.205Z,1613613899.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:04:59.977Z,1613613899.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:05:00.375Z,1613613900.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:05:01.192Z,1613613901.192 [Micromodem](INFO): Nmea in: $SNTTA,0.138787,,,,020500.02*47 2021-02-18T02:05:01.640Z,1613613901.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.019989 m, bearing: 53.996412 deg, deltaT: 4.793360 s, approachRate: 0.175242 m/s, LOS rate: 0.448929 deg/s, posRepo size: 4 2021-02-18T02:05:01.642Z,1613613901.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.019989 m, bearing: 53.996412 deg, approachRate: 0.175242 m/s, LOS rate: 0.448929 deg/s, cmd update: 1.795716 deg/s, cmd heading: 18.418623 deg, new cmd heading: 20.865042 deg. 2021-02-18T02:05:02.814Z,1613613902.814 [NAL9602](INFO): SBD MO Status=1, MOMSN=13634, MT Status=0, MTMSN=0 2021-02-18T02:05:02.863Z,1613613902.863 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0073.lzma 2021-02-18T02:05:02.863Z,1613613902.863 [NAL9602](INFO): Packets left to send: 5 2021-02-18T02:05:04.807Z,1613613904.807 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T02:05:06.241Z,1613613906.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:06.783Z,1613613906.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:05:07.186Z,1613613907.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:05:07.997Z,1613613907.997 [Micromodem](INFO): Nmea in: $SNTTA,0.139250,,,,020506.82*47 2021-02-18T02:05:08.828Z,1613613908.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:11.704Z,1613613911.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:13.649Z,1613613913.649 [NAL9602](INFO): SBD MO Status=1, MOMSN=13635, MT Status=0, MTMSN=0 2021-02-18T02:05:13.699Z,1613613913.699 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0073.lzma 2021-02-18T02:05:13.699Z,1613613913.699 [NAL9602](INFO): Packets left to send: 4 2021-02-18T02:05:14.316Z,1613613914.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:14.870Z,1613613914.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:05:16.961Z,1613613916.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:17.132Z,1613613917.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:05:17.554Z,1613613917.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.000000 m, bearing: 358.378523 deg, deltaT: 16.069546 s, approachRate: 0.123215 m/s, LOS rate: -3.461074 deg/s, posRepo size: 4 2021-02-18T02:05:17.556Z,1613613917.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.000000 m, bearing: 358.378523 deg, approachRate: 0.123215 m/s, LOS rate: -3.461074 deg/s, cmd update: -12.000000 deg/s, cmd heading: 47.235971 deg, new cmd heading: 47.775763 deg. 2021-02-18T02:05:19.963Z,1613613919.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:20.752Z,1613613920.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:05:21.157Z,1613613921.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:05:21.969Z,1613613921.969 [Micromodem](INFO): Nmea in: $SNTTA,0.140439,,,,020520.79*40 2021-02-18T02:05:22.803Z,1613613922.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:24.392Z,1613613924.392 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:05:24.805Z,1613613924.805 [NAL9602](INFO): SBD MO Status=1, MOMSN=13636, MT Status=0, MTMSN=0 2021-02-18T02:05:24.855Z,1613613924.855 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0073.lzma 2021-02-18T02:05:24.855Z,1613613924.855 [NAL9602](INFO): Packets left to send: 3 2021-02-18T02:05:25.551Z,1613613925.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:26.016Z,1613613926.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:05:28.096Z,1613613928.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:28.205Z,1613613928.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:05:28.680Z,1613613928.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.899994 m, bearing: 359.080912 deg, deltaT: 11.020139 s, approachRate: 0.081668 m/s, LOS rate: 0.063737 deg/s, posRepo size: 4 2021-02-18T02:05:28.681Z,1613613928.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.899994 m, bearing: 359.080912 deg, approachRate: 0.081668 m/s, LOS rate: 0.063737 deg/s, cmd update: 0.254948 deg/s, cmd heading: 274.777098 deg, new cmd heading: 270.175170 deg. 2021-02-18T02:05:31.032Z,1613613931.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:31.832Z,1613613931.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:05:32.290Z,1613613932.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:05:33.048Z,1613613933.048 [Micromodem](INFO): Nmea in: $SNTTA,0.141211,,,,020531.87*4C 2021-02-18T02:05:33.451Z,1613613933.451 [NAL9602](INFO): SBD MO Status=1, MOMSN=13637, MT Status=0, MTMSN=0 2021-02-18T02:05:33.500Z,1613613933.500 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0073.lzma 2021-02-18T02:05:33.500Z,1613613933.500 [NAL9602](INFO): Packets left to send: 2 2021-02-18T02:05:33.536Z,1613613933.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:36.713Z,1613613936.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:36.847Z,1613613936.847 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:05:39.370Z,1613613939.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:39.947Z,1613613939.947 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T02:05:40.074Z,1613613940.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:05:40.481Z,1613613940.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:05:41.312Z,1613613941.312 [Micromodem](INFO): Nmea in: $SNTTA,0.141760,,,,020540.11*46 2021-02-18T02:05:41.750Z,1613613941.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.519974 m, bearing: 45.925287 deg, deltaT: 13.098556 s, approachRate: 0.123676 m/s, LOS rate: 3.576301 deg/s, posRepo size: 4 2021-02-18T02:05:41.756Z,1613613941.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.519974 m, bearing: 45.925287 deg, approachRate: 0.123676 m/s, LOS rate: 3.576301 deg/s, cmd update: 12.000000 deg/s, cmd heading: 278.114882 deg, new cmd heading: 278.208246 deg. 2021-02-18T02:05:44.133Z,1613613944.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:44.926Z,1613613944.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:05:45.338Z,1613613945.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:05:46.141Z,1613613946.141 [Micromodem](INFO): Nmea in: $SNTTA,0.142074,,,,020544.96*4C 2021-02-18T02:05:46.573Z,1613613946.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.059998 m, bearing: 353.245062 deg, deltaT: 4.798950 s, approachRate: 0.112530 m/s, LOS rate: -10.977448 deg/s, posRepo size: 4 2021-02-18T02:05:46.575Z,1613613946.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.059998 m, bearing: 353.245062 deg, approachRate: 0.112530 m/s, LOS rate: -10.977448 deg/s, cmd update: -12.000000 deg/s, cmd heading: 335.780788 deg, new cmd heading: 340.367020 deg. 2021-02-18T02:05:48.999Z,1613613948.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:49.776Z,1613613949.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:05:50.193Z,1613613950.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:05:51.004Z,1613613951.004 [Micromodem](INFO): Nmea in: $SNTTA,0.142642,,,,020549.85*40 2021-02-18T02:05:51.430Z,1613613951.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.779999 m, bearing: 349.386798 deg, deltaT: 4.852592 s, approachRate: 0.148375 m/s, LOS rate: -0.795094 deg/s, posRepo size: 4 2021-02-18T02:05:51.448Z,1613613951.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.779999 m, bearing: 349.386798 deg, approachRate: 0.148375 m/s, LOS rate: -0.795094 deg/s, cmd update: -3.180374 deg/s, cmd heading: 277.552418 deg, new cmd heading: 272.894222 deg. 2021-02-18T02:05:51.802Z,1613613951.802 [NAL9602](INFO): SBD MO Status=1, MOMSN=13638, MT Status=0, MTMSN=0 2021-02-18T02:05:51.851Z,1613613951.851 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0073.lzma 2021-02-18T02:05:51.851Z,1613613951.851 [NAL9602](INFO): Packets left to send: 1 2021-02-18T02:05:52.522Z,1613613952.522 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:05:54.738Z,1613613954.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:05:55.264Z,1613613955.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:05:55.642Z,1613613955.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:05:56.463Z,1613613956.463 [Micromodem](INFO): Nmea in: $SNTTA,0.142971,,,,020555.30*4C 2021-02-18T02:05:56.886Z,1613613956.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.319992 m, bearing: 348.556820 deg, deltaT: 5.492239 s, approachRate: 0.098319 m/s, LOS rate: -0.151118 deg/s, posRepo size: 4 2021-02-18T02:05:56.888Z,1613613956.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.319992 m, bearing: 348.556820 deg, approachRate: 0.098319 m/s, LOS rate: -0.151118 deg/s, cmd update: -0.604473 deg/s, cmd heading: 260.097341 deg, new cmd heading: 258.965204 deg. 2021-02-18T02:05:57.330Z,1613613957.330 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:05:59.343Z,1613613959.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:00.116Z,1613613960.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:06:00.509Z,1613613960.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:06:01.321Z,1613613961.321 [Micromodem](INFO): Nmea in: $SNTTA,0.143385,,,,020600.15*48 2021-02-18T02:06:01.726Z,1613613961.726 [NAL9602](INFO): SBD MO Status=1, MOMSN=13639, MT Status=0, MTMSN=0 2021-02-18T02:06:01.775Z,1613613961.775 [NAL9602](INFO): Sent 95 bytes from file Logs/20210217T180521/Express0073.lzma 2021-02-18T02:06:01.775Z,1613613961.775 [NAL9602](INFO): Packets left to send: 0 2021-02-18T02:06:01.799Z,1613613961.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.119995 m, bearing: 47.458453 deg, deltaT: 4.847841 s, approachRate: 0.371300 m/s, LOS rate: 12.150074 deg/s, posRepo size: 4 2021-02-18T02:06:01.800Z,1613613961.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.150074 deg/s. Setting heading cmd to target bearing of 47.458453deg and heading rate command to 0 deg/s. 2021-02-18T02:06:05.059Z,1613613965.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:05.568Z,1613613965.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:06:05.966Z,1613613965.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:06:06.788Z,1613613966.788 [Micromodem](INFO): Nmea in: $SNTTA,0.143773,,,,020605.61*43 2021-02-18T02:06:07.292Z,1613613967.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.519989 m, bearing: 351.303349 deg, deltaT: 5.421500 s, approachRate: -0.110672 m/s, LOS rate: -10.357853 deg/s, posRepo size: 4 2021-02-18T02:06:07.293Z,1613613967.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.519989 m, bearing: 351.303349 deg, approachRate: -0.110672 m/s, LOS rate: -10.357853 deg/s, cmd update: -12.000000 deg/s, cmd heading: 47.458453 deg, new cmd heading: 47.458453 deg. 2021-02-18T02:06:09.629Z,1613613969.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:10.413Z,1613613970.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:06:10.816Z,1613613970.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:06:11.635Z,1613613971.635 [Micromodem](INFO): Nmea in: $SNTTA,0.144286,,,,020610.45*49 2021-02-18T02:06:12.042Z,1613613972.042 [NAL9602](INFO): SBD MO Status=1, MOMSN=13640, MT Status=0, MTMSN=0 2021-02-18T02:06:12.096Z,1613613972.096 [NAL9602](INFO): Sent 156 bytes from file Logs/20210217T180521/Express0076.lzma 2021-02-18T02:06:12.096Z,1613613972.096 [NAL9602](INFO): Packets left to send: 0 2021-02-18T02:06:12.122Z,1613613972.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.419983 m, bearing: 355.444028 deg, deltaT: 4.882283 s, approachRate: 0.184339 m/s, LOS rate: 0.848103 deg/s, posRepo size: 4 2021-02-18T02:06:12.125Z,1613613972.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 216.419983 m, bearing: 355.444028 deg, approachRate: 0.184339 m/s, LOS rate: 0.848103 deg/s, cmd update: 3.392412 deg/s, cmd heading: 348.997488 deg, new cmd heading: 343.668204 deg. 2021-02-18T02:06:12.693Z,1613613972.693 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T02:06:15.088Z,1613613975.088 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T02:06:15.364Z,1613613975.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:15.899Z,1613613975.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:06:16.303Z,1613613976.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:06:17.116Z,1613613977.116 [Micromodem](INFO): Nmea in: $SNTTA,0.144708,,,,020615.94*43 2021-02-18T02:06:17.556Z,1613613977.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.079987 m, bearing: 0.293457 deg, deltaT: 5.473784 s, approachRate: 0.120575 m/s, LOS rate: 0.885936 deg/s, posRepo size: 4 2021-02-18T02:06:17.558Z,1613613977.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.079987 m, bearing: 0.293457 deg, approachRate: 0.120575 m/s, LOS rate: 0.885936 deg/s, cmd update: 3.543745 deg/s, cmd heading: 7.525976 deg, new cmd heading: 8.937508 deg. 2021-02-18T02:06:20.024Z,1613613980.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:20.744Z,1613613980.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:06:21.172Z,1613613981.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:06:21.967Z,1613613981.967 [Micromodem](INFO): Nmea in: $SNTTA,0.145118,,,,020620.78*41 2021-02-18T02:06:22.378Z,1613613982.378 [NAL9602](INFO): SBD MO Status=1, MOMSN=13641, MT Status=0, MTMSN=0 2021-02-18T02:06:22.431Z,1613613982.431 [NAL9602](INFO): Sent 155 bytes from file Logs/20210217T180521/Express0079.lzma 2021-02-18T02:06:22.431Z,1613613982.431 [NAL9602](INFO): Packets left to send: 0 2021-02-18T02:06:22.484Z,1613613982.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.559982 m, bearing: 13.026636 deg, deltaT: 4.841186 s, approachRate: 0.099148 m/s, LOS rate: 2.630178 deg/s, posRepo size: 4 2021-02-18T02:06:22.486Z,1613613982.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.559982 m, bearing: 13.026636 deg, approachRate: 0.099148 m/s, LOS rate: 2.630178 deg/s, cmd update: 10.520710 deg/s, cmd heading: 24.752984 deg, new cmd heading: 26.463185 deg. 2021-02-18T02:06:25.674Z,1613613985.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:26.209Z,1613613986.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:06:26.606Z,1613613986.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:06:27.458Z,1613613987.458 [Micromodem](INFO): Nmea in: $SNTTA,0.145448,,,,020626.25*4F 2021-02-18T02:06:27.850Z,1613613987.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.939987 m, bearing: 0.410038 deg, deltaT: 5.486575 s, approachRate: 0.251524 m/s, LOS rate: -2.299540 deg/s, posRepo size: 4 2021-02-18T02:06:27.852Z,1613613987.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.939987 m, bearing: 0.410038 deg, approachRate: 0.251524 m/s, LOS rate: -2.299540 deg/s, cmd update: -9.198159 deg/s, cmd heading: 82.517185 deg, new cmd heading: 86.288681 deg. 2021-02-18T02:06:30.320Z,1613613990.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:31.068Z,1613613991.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:06:31.454Z,1613613991.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:06:32.313Z,1613613992.313 [Micromodem](INFO): Nmea in: $SNTTA,0.145880,,,0.148374,020631.11*55 2021-02-18T02:06:32.705Z,1613613992.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.699997 m, bearing: 11.980858 deg, deltaT: 4.883464 s, approachRate: -0.049143 m/s, LOS rate: 2.369388 deg/s, posRepo size: 4 2021-02-18T02:06:32.723Z,1613613992.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.699997 m, bearing: 11.980858 deg, approachRate: -0.049143 m/s, LOS rate: 2.369388 deg/s, cmd update: 9.477552 deg/s, cmd heading: 37.636201 deg, new cmd heading: 34.561192 deg. 2021-02-18T02:06:34.310Z,1613613994.310 [NAL9602](INFO): SBD MO Status=1, MOMSN=13642, MT Status=0, MTMSN=0 2021-02-18T02:06:34.359Z,1613613994.359 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0082.lzma 2021-02-18T02:06:34.360Z,1613613994.360 [NAL9602](INFO): Packets left to send: 4 2021-02-18T02:06:34.969Z,1613613994.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:35.501Z,1613613995.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:06:37.600Z,1613613997.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:37.688Z,1613613997.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:06:38.118Z,1613613998.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.059982 m, bearing: 297.294475 deg, deltaT: 5.354280 s, approachRate: 0.067233 m/s, LOS rate: -13.948913 deg/s, posRepo size: 4 2021-02-18T02:06:38.118Z,1613613998.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.948913 deg/s. Setting heading cmd to target bearing of 297.294475deg and heading rate command to 0 deg/s. 2021-02-18T02:06:40.564Z,1613614000.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:41.320Z,1613614001.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:06:41.719Z,1613614001.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:06:42.532Z,1613614002.532 [Micromodem](INFO): Nmea in: $SNTTA,0.146447,,,,020641.36*40 2021-02-18T02:06:42.966Z,1613614002.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.599991 m, bearing: 0.464479 deg, deltaT: 4.856721 s, approachRate: 0.111188 m/s, LOS rate: 13.006719 deg/s, posRepo size: 4 2021-02-18T02:06:42.966Z,1613614002.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.006719 deg/s. Setting heading cmd to target bearing of 0.464479deg and heading rate command to 0 deg/s. 2021-02-18T02:06:45.405Z,1613614005.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:46.158Z,1613614006.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:06:46.567Z,1613614006.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:06:46.967Z,1613614006.967 [NAL9602](INFO): SBD MO Status=1, MOMSN=13643, MT Status=0, MTMSN=0 2021-02-18T02:06:47.023Z,1613614007.023 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0082.lzma 2021-02-18T02:06:47.024Z,1613614007.024 [NAL9602](INFO): Packets left to send: 3 2021-02-18T02:06:47.383Z,1613614007.383 [Micromodem](INFO): Nmea in: $SNTTA,0.146798,,,,020646.20*41 2021-02-18T02:06:47.802Z,1613614007.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.139984 m, bearing: 2.693019 deg, deltaT: 5.067130 s, approachRate: 0.106568 m/s, LOS rate: 0.439803 deg/s, posRepo size: 4 2021-02-18T02:06:47.804Z,1613614007.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 220.139984 m, bearing: 2.693019 deg, approachRate: 0.106568 m/s, LOS rate: 0.439803 deg/s, cmd update: 1.759213 deg/s, cmd heading: 0.464479 deg, new cmd heading: 0.464479 deg. 2021-02-18T02:06:50.235Z,1613614010.235 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T02:06:50.329Z,1613614010.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:50.801Z,1613614010.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:06:51.204Z,1613614011.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:06:52.018Z,1613614012.018 [Micromodem](INFO): Nmea in: $SNTTA,0.147197,,,,020650.84*40 2021-02-18T02:06:52.503Z,1613614012.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.679993 m, bearing: 3.565883 deg, deltaT: 4.378938 s, approachRate: 0.123320 m/s, LOS rate: 0.199332 deg/s, posRepo size: 4 2021-02-18T02:06:52.505Z,1613614012.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 220.679993 m, bearing: 3.565883 deg, approachRate: 0.123320 m/s, LOS rate: 0.199332 deg/s, cmd update: 0.797330 deg/s, cmd heading: 8.167983 deg, new cmd heading: 8.996232 deg. 2021-02-18T02:06:54.534Z,1613614014.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:55.258Z,1613614015.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:06:55.658Z,1613614015.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:06:56.466Z,1613614016.466 [Micromodem](INFO): Nmea in: $SNTTA,0.147403,,,,020655.30*42 2021-02-18T02:06:56.894Z,1613614016.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.879990 m, bearing: 2.408008 deg, deltaT: 4.496182 s, approachRate: 0.266892 m/s, LOS rate: -0.257524 deg/s, posRepo size: 4 2021-02-18T02:06:56.896Z,1613614016.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.879990 m, bearing: 2.408008 deg, approachRate: 0.266892 m/s, LOS rate: -0.257524 deg/s, cmd update: -1.030096 deg/s, cmd heading: 11.752931 deg, new cmd heading: 12.044532 deg. 2021-02-18T02:06:59.282Z,1613614019.282 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.010730 2021-02-18T02:06:59.364Z,1613614019.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:06:59.365Z,1613614019.365 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T02:06:59.365Z,1613614019.365 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T02:06:59.365Z,1613614019.365 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T02:06:59.365Z,1613614019.365 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T02:06:59.365Z,1613614019.365 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T02:07:00.110Z,1613614020.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:07:00.496Z,1613614020.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:07:01.317Z,1613614021.317 [Micromodem](INFO): Nmea in: $SNTTA,0.147683,,,,020700.15*4E 2021-02-18T02:07:01.742Z,1613614021.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.339996 m, bearing: 45.154606 deg, deltaT: 4.864906 s, approachRate: -0.110998 m/s, LOS rate: 8.786727 deg/s, posRepo size: 4 2021-02-18T02:07:01.744Z,1613614021.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.339996 m, bearing: 45.154606 deg, approachRate: -0.110998 m/s, LOS rate: 8.786727 deg/s, cmd update: 12.000000 deg/s, cmd heading: 6.745903 deg, new cmd heading: 6.382325 deg. 2021-02-18T02:07:03.289Z,1613614023.289 [DataOverHttps](INFO): Sending 882 bytes from file Logs/20210217T180521/Express0082.lzma 2021-02-18T02:07:04.144Z,1613614024.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:07:04.289Z,1613614024.289 [DataOverHttps](INFO): Moved sent file to Logs/20210217T180521/Express0082.lzma.bak 2021-02-18T02:07:04.289Z,1613614024.289 [DataOverHttps](INFO): SBD MOMSN=82994 2021-02-18T02:07:04.962Z,1613614024.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:07:05.364Z,1613614025.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:07:05.782Z,1613614025.782 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T02:07:05.782Z,1613614025.782 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T02:07:05.782Z,1613614025.782 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T02:07:05.782Z,1613614025.782 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T02:07:05.782Z,1613614025.782 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T02:07:05.782Z,1613614025.782 [lineCaptureDepth:NeedComms:D] Stopped 2021-02-18T02:07:05.783Z,1613614025.783 [lineCaptureDepth:NeedComms:E] Running Loop=1 2021-02-18T02:07:06.159Z,1613614026.159 [Micromodem](INFO): Nmea in: $SNTTA,0.148052,,,,020705.00*4A 2021-02-18T02:07:06.617Z,1613614026.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.939987 m, bearing: 46.290084 deg, deltaT: 4.812767 s, approachRate: 0.124667 m/s, LOS rate: 0.235930 deg/s, posRepo size: 4 2021-02-18T02:07:06.624Z,1613614026.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.939987 m, bearing: 46.290084 deg, approachRate: 0.124667 m/s, LOS rate: 0.235930 deg/s, cmd update: 0.943722 deg/s, cmd heading: 64.443668 deg, new cmd heading: 69.482864 deg. 2021-02-18T02:07:07.378Z,1613614027.378 [NAL9602](INFO): SBD MO Status=2, MOMSN=13644, MT Status=2, MTMSN=0 2021-02-18T02:07:07.378Z,1613614027.378 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2021-02-18T02:07:08.590Z,1613614028.590 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,020709.00,A,4133.04657,N,07042.61408,W,0.272,182.93,180221,,,D*74 2021-02-18T02:07:08.592Z,1613614028.592 [NAL9602](INFO): GPS fix at 20210218T020709: (41.550776, -70.710235) 2021-02-18T02:07:08.617Z,1613614028.617 [lineCaptureDepth:NeedComms:E] Stopped 2021-02-18T02:07:08.617Z,1613614028.617 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms 2021-02-18T02:07:08.617Z,1613614028.617 [lineCaptureDepth:NeedComms] Stopped 2021-02-18T02:07:08.617Z,1613614028.617 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms 2021-02-18T02:07:08.617Z,1613614028.617 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped 2021-02-18T02:07:08.618Z,1613614028.618 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2021-02-18T02:07:09.020Z,1613614029.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:07:09.446Z,1613614029.446 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-18T02:07:09.446Z,1613614029.446 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T02:07:09.446Z,1613614029.446 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-18T02:07:09.446Z,1613614029.446 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-18T02:07:09.446Z,1613614029.446 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-18T02:07:09.447Z,1613614029.447 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-18T02:07:09.447Z,1613614029.447 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-18T02:07:09.786Z,1613614029.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:07:10.188Z,1613614030.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:07:11.002Z,1613614031.002 [Micromodem](INFO): Nmea in: $SNTTA,0.149016,,,,020709.82*4D 2021-02-18T02:07:11.462Z,1613614031.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.319992 m, bearing: 45.876881 deg, deltaT: 4.836862 s, approachRate: 0.285310 m/s, LOS rate: -0.085428 deg/s, posRepo size: 4 2021-02-18T02:07:11.465Z,1613614031.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.319992 m, bearing: 45.876881 deg, approachRate: 0.285310 m/s, LOS rate: -0.085428 deg/s, cmd update: -0.341711 deg/s, cmd heading: 69.016041 deg, new cmd heading: 69.411581 deg. 2021-02-18T02:07:13.868Z,1613614033.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:07:14.644Z,1613614034.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:07:15.036Z,1613614035.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:07:15.860Z,1613614035.860 [Micromodem](INFO): Nmea in: $SNTTA,0.148745,,,0.151246,020714.68*5E 2021-02-18T02:07:16.323Z,1613614036.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.019974 m, bearing: 44.216271 deg, deltaT: 4.832756 s, approachRate: -0.062080 m/s, LOS rate: -0.343616 deg/s, posRepo size: 4 2021-02-18T02:07:16.325Z,1613614036.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.019974 m, bearing: 44.216271 deg, approachRate: -0.062080 m/s, LOS rate: -0.343616 deg/s, cmd update: -1.374462 deg/s, cmd heading: 67.364652 deg, new cmd heading: 67.212805 deg. 2021-02-18T02:07:18.686Z,1613614038.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:07:19.476Z,1613614039.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:07:19.882Z,1613614039.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:07:20.695Z,1613614040.695 [Micromodem](INFO): Nmea in: $SNTTA,0.148538,,,,020719.51*4A 2021-02-18T02:07:21.162Z,1613614041.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.659988 m, bearing: 351.430226 deg, deltaT: 4.835315 s, approachRate: -0.074449 m/s, LOS rate: -10.916774 deg/s, posRepo size: 4 2021-02-18T02:07:21.168Z,1613614041.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 222.659988 m, bearing: 351.430226 deg, approachRate: -0.074449 m/s, LOS rate: -10.916774 deg/s, cmd update: -12.000000 deg/s, cmd heading: 60.718672 deg, new cmd heading: 60.097480 deg. 2021-02-18T02:07:23.568Z,1613614043.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:07:24.330Z,1613614044.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:07:24.732Z,1613614044.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:07:25.557Z,1613614045.557 [Micromodem](INFO): Nmea in: $SNTTA,0.148204,,,,020724.37*4C 2021-02-18T02:07:25.970Z,1613614045.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.180008 m, bearing: 51.319883 deg, deltaT: 4.904823 s, approachRate: -0.097859 m/s, LOS rate: 12.210361 deg/s, posRepo size: 4 2021-02-18T02:07:25.970Z,1613614045.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.210361 deg/s. Setting heading cmd to target bearing of 51.319883deg and heading rate command to 0 deg/s. 2021-02-18T02:07:28.389Z,1613614048.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:07:29.172Z,1613614049.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:07:29.578Z,1613614049.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:07:30.402Z,1613614050.402 [Micromodem](INFO): Nmea in: $SNTTA,0.147000,,,0.150318,020729.21*5F 2021-02-18T02:07:30.834Z,1613614050.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.320007 m, bearing: 37.291610 deg, deltaT: 4.872282 s, approachRate: -0.381751 m/s, LOS rate: -2.879200 deg/s, posRepo size: 4 2021-02-18T02:07:30.836Z,1613614050.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 220.320007 m, bearing: 37.291610 deg, approachRate: -0.381751 m/s, LOS rate: -2.879200 deg/s, cmd update: -11.516799 deg/s, cmd heading: 51.319883 deg, new cmd heading: 51.319883 deg. 2021-02-18T02:07:33.335Z,1613614053.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:07:34.021Z,1613614054.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:07:34.426Z,1613614054.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:07:35.287Z,1613614055.287 [Micromodem](INFO): Nmea in: $SNTTA,0.145347,,,,020734.06*44 2021-02-18T02:07:35.699Z,1613614055.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.800003 m, bearing: 43.691159 deg, deltaT: 4.912329 s, approachRate: -0.512996 m/s, LOS rate: 1.302753 deg/s, posRepo size: 4 2021-02-18T02:07:35.701Z,1613614055.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.800003 m, bearing: 43.691159 deg, approachRate: -0.512996 m/s, LOS rate: 1.302753 deg/s, cmd update: 5.211010 deg/s, cmd heading: 354.787558 deg, new cmd heading: 351.249529 deg. 2021-02-18T02:07:38.105Z,1613614058.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:07:38.884Z,1613614058.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:07:39.353Z,1613614059.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:07:40.180Z,1613614060.180 [Micromodem](INFO): Nmea in: $SNTTA,0.143556,,,,020738.92*45 2021-02-18T02:07:40.617Z,1613614060.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.099991 m, bearing: 42.118310 deg, deltaT: 4.934953 s, approachRate: -0.547120 m/s, LOS rate: -0.318716 deg/s, posRepo size: 4 2021-02-18T02:07:40.628Z,1613614060.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.099991 m, bearing: 42.118310 deg, approachRate: -0.547120 m/s, LOS rate: -0.318716 deg/s, cmd update: -1.274865 deg/s, cmd heading: 20.523101 deg, new cmd heading: 22.020953 deg. 2021-02-18T02:07:41.353Z,1613614061.353 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T02:07:42.984Z,1613614062.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:07:43.774Z,1613614063.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:07:44.170Z,1613614064.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:07:44.994Z,1613614064.994 [Micromodem](INFO): Nmea in: $SNTTA,0.141787,,,,020743.81*47 2021-02-18T02:07:45.483Z,1613614065.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.459991 m, bearing: 40.414946 deg, deltaT: 4.750669 s, approachRate: -0.555711 m/s, LOS rate: -0.358552 deg/s, posRepo size: 4 2021-02-18T02:07:45.485Z,1613614065.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.459991 m, bearing: 40.414946 deg, approachRate: -0.555711 m/s, LOS rate: -0.358552 deg/s, cmd update: -1.434210 deg/s, cmd heading: 14.491743 deg, new cmd heading: 13.953683 deg. 2021-02-18T02:07:47.852Z,1613614067.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:07:48.630Z,1613614068.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:07:49.043Z,1613614069.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:07:49.854Z,1613614069.854 [Micromodem](INFO): Nmea in: $SNTTA,0.140340,,,,020748.67*4A 2021-02-18T02:07:50.348Z,1613614070.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.360001 m, bearing: 37.467921 deg, deltaT: 4.812717 s, approachRate: -0.436342 m/s, LOS rate: -0.612341 deg/s, posRepo size: 4 2021-02-18T02:07:50.350Z,1613614070.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.360001 m, bearing: 37.467921 deg, approachRate: -0.436342 m/s, LOS rate: -0.612341 deg/s, cmd update: -2.449365 deg/s, cmd heading: 7.583873 deg, new cmd heading: 6.914808 deg. 2021-02-18T02:07:52.479Z,1613614072.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:07:53.100Z,1613614073.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:07:53.504Z,1613614073.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:07:54.335Z,1613614074.335 [Micromodem](INFO): Nmea in: $SNTTA,0.139230,,,0.142561,020753.14*57 2021-02-18T02:07:54.780Z,1613614074.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.679993 m, bearing: 48.975789 deg, deltaT: 4.512994 s, approachRate: -0.372260 m/s, LOS rate: 2.549941 deg/s, posRepo size: 4 2021-02-18T02:07:54.782Z,1613614074.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.679993 m, bearing: 48.975789 deg, approachRate: -0.372260 m/s, LOS rate: 2.549941 deg/s, cmd update: 10.199764 deg/s, cmd heading: 356.583772 deg, new cmd heading: 355.596093 deg. 2021-02-18T02:07:57.162Z,1613614077.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:07:57.944Z,1613614077.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:07:58.367Z,1613614078.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:07:59.170Z,1613614079.170 [Micromodem](INFO): Nmea in: $SNTTA,0.138126,,,,020757.98*49 2021-02-18T02:07:59.596Z,1613614079.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.000000 m, bearing: 54.656502 deg, deltaT: 4.826686 s, approachRate: -0.348063 m/s, LOS rate: 1.176938 deg/s, posRepo size: 4 2021-02-18T02:07:59.598Z,1613614079.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.000000 m, bearing: 54.656502 deg, approachRate: -0.348063 m/s, LOS rate: 1.176938 deg/s, cmd update: 4.707754 deg/s, cmd heading: 46.205900 deg, new cmd heading: 49.901254 deg. 2021-02-18T02:08:02.006Z,1613614082.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:08:02.792Z,1613614082.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:08:03.203Z,1613614083.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:08:04.011Z,1613614084.011 [Micromodem](INFO): Nmea in: $SNTTA,0.137090,,,,020802.83*4F 2021-02-18T02:08:04.512Z,1613614084.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.440002 m, bearing: 47.034295 deg, deltaT: 4.816060 s, approachRate: -0.323916 m/s, LOS rate: -1.582665 deg/s, posRepo size: 4 2021-02-18T02:08:04.513Z,1613614084.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.440002 m, bearing: 47.034295 deg, approachRate: -0.323916 m/s, LOS rate: -1.582665 deg/s, cmd update: -6.330659 deg/s, cmd heading: 68.876423 deg, new cmd heading: 71.033879 deg. 2021-02-18T02:08:06.847Z,1613614086.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:08:07.650Z,1613614087.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:08:08.051Z,1613614088.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:08:08.866Z,1613614088.866 [Micromodem](INFO): Nmea in: $SNTTA,0.135678,,,,020807.69*4C 2021-02-18T02:08:09.337Z,1613614089.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.279999 m, bearing: 45.189819 deg, deltaT: 4.826236 s, approachRate: -0.447554 m/s, LOS rate: -0.382177 deg/s, posRepo size: 4 2021-02-18T02:08:09.339Z,1613614089.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.279999 m, bearing: 45.189819 deg, approachRate: -0.447554 m/s, LOS rate: -0.382177 deg/s, cmd update: -1.528707 deg/s, cmd heading: 38.294664 deg, new cmd heading: 35.397989 deg. 2021-02-18T02:08:11.701Z,1613614091.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:08:12.495Z,1613614092.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:08:12.893Z,1613614092.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:08:13.712Z,1613614093.712 [Micromodem](INFO): Nmea in: $SNTTA,0.134010,,,,020812.53*48 2021-02-18T02:08:14.175Z,1613614094.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.819977 m, bearing: 46.756623 deg, deltaT: 4.846354 s, approachRate: -0.507603 m/s, LOS rate: 0.323296 deg/s, posRepo size: 4 2021-02-18T02:08:14.177Z,1613614094.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.819977 m, bearing: 46.756623 deg, approachRate: -0.507603 m/s, LOS rate: 0.323296 deg/s, cmd update: 1.293182 deg/s, cmd heading: 30.886137 deg, new cmd heading: 30.223953 deg. 2021-02-18T02:08:16.585Z,1613614096.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:08:17.363Z,1613614097.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:08:17.747Z,1613614097.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:08:18.578Z,1613614098.578 [Micromodem](INFO): Nmea in: $SNTTA,0.132303,,,,020817.40*48 2021-02-18T02:08:18.982Z,1613614098.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.179993 m, bearing: 45.378691 deg, deltaT: 4.885310 s, approachRate: -0.540392 m/s, LOS rate: -0.282056 deg/s, posRepo size: 4 2021-02-18T02:08:19.000Z,1613614099.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.179993 m, bearing: 45.378691 deg, approachRate: -0.540392 m/s, LOS rate: -0.282056 deg/s, cmd update: -1.128225 deg/s, cmd heading: 37.203485 deg, new cmd heading: 37.683370 deg. 2021-02-18T02:08:21.464Z,1613614101.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:08:22.201Z,1613614102.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:08:22.590Z,1613614102.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:08:23.413Z,1613614103.413 [Micromodem](INFO): Nmea in: $SNTTA,0.130429,,,,020822.24*41 2021-02-18T02:08:23.840Z,1613614103.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.419983 m, bearing: 45.302159 deg, deltaT: 4.874684 s, approachRate: -0.566193 m/s, LOS rate: -0.015700 deg/s, posRepo size: 4 2021-02-18T02:08:23.842Z,1613614103.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.419983 m, bearing: 45.302159 deg, approachRate: -0.566193 m/s, LOS rate: -0.015700 deg/s, cmd update: -0.062800 deg/s, cmd heading: 31.703775 deg, new cmd heading: 31.304609 deg. 2021-02-18T02:08:26.305Z,1613614106.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:08:27.041Z,1613614107.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:08:27.447Z,1613614107.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:08:28.285Z,1613614108.285 [Micromodem](INFO): Nmea in: $SNTTA,0.128770,,,,020827.08*4C 2021-02-18T02:08:28.683Z,1613614108.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.900009 m, bearing: 43.068694 deg, deltaT: 4.851830 s, approachRate: -0.519386 m/s, LOS rate: -0.460335 deg/s, posRepo size: 4 2021-02-18T02:08:28.685Z,1613614108.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.900009 m, bearing: 43.068694 deg, approachRate: -0.519386 m/s, LOS rate: -0.460335 deg/s, cmd update: -1.841338 deg/s, cmd heading: 31.399063 deg, new cmd heading: 31.377418 deg. 2021-02-18T02:08:31.101Z,1613614111.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:08:31.880Z,1613614111.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:08:32.299Z,1613614112.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:08:33.124Z,1613614113.124 [Micromodem](INFO): Nmea in: $SNTTA,0.127091,,,,020831.92*4F 2021-02-18T02:08:33.556Z,1613614113.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.499985 m, bearing: 42.948226 deg, deltaT: 4.811152 s, approachRate: -0.498846 m/s, LOS rate: -0.025039 deg/s, posRepo size: 4 2021-02-18T02:08:33.558Z,1613614113.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.499985 m, bearing: 42.948226 deg, approachRate: -0.498846 m/s, LOS rate: -0.025039 deg/s, cmd update: -0.100157 deg/s, cmd heading: 22.540434 deg, new cmd heading: 21.798697 deg. 2021-02-18T02:08:35.953Z,1613614115.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:08:36.733Z,1613614116.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:08:37.133Z,1613614117.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:08:37.949Z,1613614117.949 [Micromodem](INFO): Nmea in: $SNTTA,0.125520,,,,020836.77*4E 2021-02-18T02:08:38.437Z,1613614118.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.099991 m, bearing: 41.975091 deg, deltaT: 4.815118 s, approachRate: -0.498429 m/s, LOS rate: -0.202100 deg/s, posRepo size: 4 2021-02-18T02:08:38.443Z,1613614118.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.099991 m, bearing: 41.975091 deg, approachRate: -0.498429 m/s, LOS rate: -0.202100 deg/s, cmd update: -0.808399 deg/s, cmd heading: 22.058193 deg, new cmd heading: 22.010770 deg. 2021-02-18T02:08:40.792Z,1613614120.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:08:41.586Z,1613614121.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:08:41.982Z,1613614121.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:08:42.812Z,1613614122.812 [Micromodem](INFO): Nmea in: $SNTTA,0.124019,,,,020841.62*44 2021-02-18T02:08:42.834Z,1613614122.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.099991 m, bearing: 44.699613 deg, deltaT: 4.535182 s, approachRate: 0.000000 m/s, LOS rate: 0.600752 deg/s, posRepo size: 4 2021-02-18T02:08:42.836Z,1613614122.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.099991 m, bearing: 44.699613 deg, approachRate: 0.000000 m/s, LOS rate: 0.600752 deg/s, cmd update: 2.403010 deg/s, cmd heading: 18.391605 deg, new cmd heading: 18.121122 deg. 2021-02-18T02:08:45.237Z,1613614125.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:08:46.037Z,1613614126.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:08:46.457Z,1613614126.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:08:47.264Z,1613614127.264 [Micromodem](INFO): Nmea in: $SNTTA,0.122634,,,,020846.07*4F 2021-02-18T02:08:47.703Z,1613614127.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.720001 m, bearing: 42.622416 deg, deltaT: 4.836328 s, approachRate: -0.905644 m/s, LOS rate: -0.429499 deg/s, posRepo size: 4 2021-02-18T02:08:47.705Z,1613614127.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.720001 m, bearing: 42.622416 deg, approachRate: -0.905644 m/s, LOS rate: -0.429499 deg/s, cmd update: -1.717995 deg/s, cmd heading: 30.002921 deg, new cmd heading: 30.857229 deg. 2021-02-18T02:08:50.142Z,1613614130.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:08:50.885Z,1613614130.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:08:51.294Z,1613614131.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:08:52.117Z,1613614132.117 [Micromodem](INFO): Nmea in: $SNTTA,0.121340,,,,020850.92*41 2021-02-18T02:08:52.594Z,1613614132.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.860001 m, bearing: 43.775690 deg, deltaT: 4.823609 s, approachRate: -0.385604 m/s, LOS rate: 0.239089 deg/s, posRepo size: 4 2021-02-18T02:08:52.596Z,1613614132.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.860001 m, bearing: 43.775690 deg, approachRate: -0.385604 m/s, LOS rate: 0.239089 deg/s, cmd update: 0.956358 deg/s, cmd heading: 21.739283 deg, new cmd heading: 20.962277 deg. 2021-02-18T02:08:54.931Z,1613614134.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:08:55.716Z,1613614135.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:08:56.122Z,1613614136.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:08:56.944Z,1613614136.944 [Micromodem](INFO): Nmea in: $SNTTA,0.119862,,,,020855.75*4D 2021-02-18T02:08:56.959Z,1613614136.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.860001 m, bearing: 46.352983 deg, deltaT: 4.434249 s, approachRate: 0.000000 m/s, LOS rate: 0.581224 deg/s, posRepo size: 4 2021-02-18T02:08:56.961Z,1613614136.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.860001 m, bearing: 46.352983 deg, approachRate: 0.000000 m/s, LOS rate: 0.581224 deg/s, cmd update: 2.324897 deg/s, cmd heading: 25.993325 deg, new cmd heading: 26.346213 deg. 2021-02-18T02:08:57.769Z,1613614137.769 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T02:08:59.399Z,1613614139.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:00.166Z,1613614140.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:00.574Z,1613614140.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:01.396Z,1613614141.396 [Micromodem](INFO): Nmea in: $SNTTA,0.118309,,,,020900.20*4B 2021-02-18T02:09:01.445Z,1613614141.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.860001 m, bearing: 48.486704 deg, deltaT: 4.407131 s, approachRate: 0.000000 m/s, LOS rate: 0.484152 deg/s, posRepo size: 4 2021-02-18T02:09:01.447Z,1613614141.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.860001 m, bearing: 48.486704 deg, approachRate: 0.000000 m/s, LOS rate: 0.484152 deg/s, cmd update: 1.936607 deg/s, cmd heading: 36.245016 deg, new cmd heading: 37.282255 deg. 2021-02-18T02:09:03.841Z,1613614143.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:04.609Z,1613614144.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:05.010Z,1613614145.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:05.836Z,1613614145.836 [Micromodem](INFO): Nmea in: $SNTTA,0.116882,,,,020904.65*48 2021-02-18T02:09:05.874Z,1613614145.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.860001 m, bearing: 49.469756 deg, deltaT: 4.467813 s, approachRate: 0.000000 m/s, LOS rate: 0.220030 deg/s, posRepo size: 4 2021-02-18T02:09:05.876Z,1613614145.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.860001 m, bearing: 49.469756 deg, approachRate: 0.000000 m/s, LOS rate: 0.220030 deg/s, cmd update: 0.880119 deg/s, cmd heading: 44.900555 deg, new cmd heading: 45.684994 deg. 2021-02-18T02:09:08.328Z,1613614148.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:09.048Z,1613614149.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:09.465Z,1613614149.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:10.308Z,1613614150.308 [Micromodem](INFO): Nmea in: $SNTTA,0.115224,,,,020909.09*4A 2021-02-18T02:09:10.332Z,1613614150.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.860001 m, bearing: 50.948973 deg, deltaT: 4.433635 s, approachRate: 0.000000 m/s, LOS rate: 0.333635 deg/s, posRepo size: 4 2021-02-18T02:09:10.334Z,1613614150.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.860001 m, bearing: 50.948973 deg, approachRate: 0.000000 m/s, LOS rate: 0.333635 deg/s, cmd update: 1.334541 deg/s, cmd heading: 48.798938 deg, new cmd heading: 49.180954 deg. 2021-02-18T02:09:12.711Z,1613614152.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:13.493Z,1613614153.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:13.898Z,1613614153.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:14.720Z,1613614154.720 [Micromodem](INFO): Nmea in: $SNTTA,0.113267,,,,020913.53*4F 2021-02-18T02:09:14.758Z,1613614154.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.380020 m, bearing: 48.769992 deg, deltaT: 4.469895 s, approachRate: -2.792007 m/s, LOS rate: -0.487479 deg/s, posRepo size: 4 2021-02-18T02:09:14.760Z,1613614154.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.380020 m, bearing: 48.769992 deg, approachRate: -2.792007 m/s, LOS rate: -0.487479 deg/s, cmd update: -1.949917 deg/s, cmd heading: 54.758712 deg, new cmd heading: 55.284206 deg. 2021-02-18T02:09:17.205Z,1613614157.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:17.936Z,1613614157.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:18.341Z,1613614158.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:19.164Z,1613614159.164 [Micromodem](INFO): Nmea in: $SNTTA,0.111681,,,,020917.97*4D 2021-02-18T02:09:19.206Z,1613614159.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.459991 m, bearing: 50.153287 deg, deltaT: 4.408569 s, approachRate: -0.435522 m/s, LOS rate: 0.313774 deg/s, posRepo size: 4 2021-02-18T02:09:19.208Z,1613614159.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.459991 m, bearing: 50.153287 deg, approachRate: -0.435522 m/s, LOS rate: 0.313774 deg/s, cmd update: 1.255096 deg/s, cmd heading: 46.146326 deg, new cmd heading: 45.316352 deg. 2021-02-18T02:09:21.611Z,1613614161.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:22.380Z,1613614162.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:22.794Z,1613614162.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:23.608Z,1613614163.608 [Micromodem](INFO): Nmea in: $SNTTA,0.110020,,0.123687,,020922.42*58 2021-02-18T02:09:23.647Z,1613614163.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.759995 m, bearing: 50.410911 deg, deltaT: 4.505995 s, approachRate: -0.599201 m/s, LOS rate: 0.057174 deg/s, posRepo size: 4 2021-02-18T02:09:23.649Z,1613614163.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.759995 m, bearing: 50.410911 deg, approachRate: -0.599201 m/s, LOS rate: 0.057174 deg/s, cmd update: 0.228695 deg/s, cmd heading: 51.776160 deg, new cmd heading: 52.253695 deg. 2021-02-18T02:09:26.036Z,1613614166.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:26.834Z,1613614166.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:27.234Z,1613614167.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:28.061Z,1613614168.061 [Micromodem](INFO): Nmea in: $SNTTA,0.108424,,,,020926.87*4B 2021-02-18T02:09:28.106Z,1613614168.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.759995 m, bearing: 48.569875 deg, deltaT: 4.398195 s, approachRate: 0.000000 m/s, LOS rate: -0.418589 deg/s, posRepo size: 4 2021-02-18T02:09:28.114Z,1613614168.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.759995 m, bearing: 48.569875 deg, approachRate: 0.000000 m/s, LOS rate: -0.418589 deg/s, cmd update: -1.674356 deg/s, cmd heading: 52.785709 deg, new cmd heading: 52.883020 deg. 2021-02-18T02:09:30.666Z,1613614170.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:31.322Z,1613614171.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:31.724Z,1613614171.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:32.534Z,1613614172.534 [Micromodem](INFO): Nmea in: $SNTTA,0.106765,,,,020931.36*4F 2021-02-18T02:09:32.565Z,1613614172.565 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T02:09:32.938Z,1613614172.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.900009 m, bearing: 49.047575 deg, deltaT: 4.951740 s, approachRate: -0.981470 m/s, LOS rate: 0.096471 deg/s, posRepo size: 4 2021-02-18T02:09:32.944Z,1613614172.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.900009 m, bearing: 49.047575 deg, approachRate: -0.981470 m/s, LOS rate: 0.096471 deg/s, cmd update: 0.385885 deg/s, cmd heading: 44.518601 deg, new cmd heading: 43.982717 deg. 2021-02-18T02:09:35.410Z,1613614175.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:36.133Z,1613614176.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:36.527Z,1613614176.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:37.361Z,1613614177.361 [Micromodem](INFO): Nmea in: $SNTTA,0.105065,,,,020936.17*4F 2021-02-18T02:09:37.442Z,1613614177.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.380005 m, bearing: 50.951439 deg, deltaT: 4.328408 s, approachRate: -0.582201 m/s, LOS rate: 0.439853 deg/s, posRepo size: 4 2021-02-18T02:09:37.468Z,1613614177.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.380005 m, bearing: 50.951439 deg, approachRate: -0.582201 m/s, LOS rate: 0.439853 deg/s, cmd update: 1.759413 deg/s, cmd heading: 46.194060 deg, new cmd heading: 46.375836 deg. 2021-02-18T02:09:39.798Z,1613614179.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:40.569Z,1613614180.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:40.981Z,1613614180.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:41.809Z,1613614181.809 [Micromodem](INFO): Nmea in: $SNTTA,0.103279,,,,020940.61*46 2021-02-18T02:09:41.826Z,1613614181.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.740005 m, bearing: 51.230554 deg, deltaT: 4.527761 s, approachRate: -0.583070 m/s, LOS rate: 0.061645 deg/s, posRepo size: 4 2021-02-18T02:09:41.828Z,1613614181.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.740005 m, bearing: 51.230554 deg, approachRate: -0.583070 m/s, LOS rate: 0.061645 deg/s, cmd update: 0.246582 deg/s, cmd heading: 54.169217 deg, new cmd heading: 54.755974 deg. 2021-02-18T02:09:44.241Z,1613614184.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:45.010Z,1613614185.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:45.461Z,1613614185.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:46.280Z,1613614186.280 [Micromodem](INFO): Nmea in: $SNTTA,0.101604,,,,020945.05*4D 2021-02-18T02:09:46.352Z,1613614186.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.220001 m, bearing: 49.255277 deg, deltaT: 4.350487 s, approachRate: -0.579246 m/s, LOS rate: -0.454036 deg/s, posRepo size: 4 2021-02-18T02:09:46.353Z,1613614186.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.220001 m, bearing: 49.255277 deg, approachRate: -0.579246 m/s, LOS rate: -0.454036 deg/s, cmd update: -1.816143 deg/s, cmd heading: 55.241928 deg, new cmd heading: 55.359348 deg. 2021-02-18T02:09:48.687Z,1613614188.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:49.458Z,1613614189.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:49.859Z,1613614189.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:50.693Z,1613614190.693 [Micromodem](INFO): Nmea in: $SNTTA,0.099928,,,,020949.50*40 2021-02-18T02:09:50.714Z,1613614190.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.699997 m, bearing: 52.548750 deg, deltaT: 4.545422 s, approachRate: -0.554405 m/s, LOS rate: 0.724569 deg/s, posRepo size: 4 2021-02-18T02:09:50.740Z,1613614190.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.699997 m, bearing: 52.548750 deg, approachRate: -0.554405 m/s, LOS rate: 0.724569 deg/s, cmd update: 2.898277 deg/s, cmd heading: 47.017177 deg, new cmd heading: 46.394961 deg. 2021-02-18T02:09:53.226Z,1613614193.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:53.946Z,1613614193.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:54.347Z,1613614194.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:55.184Z,1613614195.184 [Micromodem](INFO): Nmea in: $SNTTA,0.098114,,,,020953.98*49 2021-02-18T02:09:55.221Z,1613614195.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.940002 m, bearing: 51.549364 deg, deltaT: 4.381285 s, approachRate: -0.629951 m/s, LOS rate: -0.228104 deg/s, posRepo size: 4 2021-02-18T02:09:55.223Z,1613614195.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.940002 m, bearing: 51.549364 deg, approachRate: -0.629951 m/s, LOS rate: -0.228104 deg/s, cmd update: -0.912414 deg/s, cmd heading: 59.764381 deg, new cmd heading: 61.072159 deg. 2021-02-18T02:09:57.632Z,1613614197.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:09:58.390Z,1613614198.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:09:58.790Z,1613614198.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:09:59.632Z,1613614199.632 [Micromodem](INFO): Nmea in: $SNTTA,0.096465,,,,020958.43*49 2021-02-18T02:09:59.687Z,1613614199.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.480011 m, bearing: 50.326265 deg, deltaT: 4.439937 s, approachRate: -0.554060 m/s, LOS rate: -0.275477 deg/s, posRepo size: 4 2021-02-18T02:09:59.689Z,1613614199.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.480011 m, bearing: 50.326265 deg, approachRate: -0.554060 m/s, LOS rate: -0.275477 deg/s, cmd update: -1.101907 deg/s, cmd heading: 55.713294 deg, new cmd heading: 55.278025 deg. 2021-02-18T02:10:02.037Z,1613614202.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:10:02.850Z,1613614202.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:10:03.248Z,1613614203.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:10:04.120Z,1613614204.120 [Micromodem](INFO): Nmea in: $SNTTA,0.094785,,,,021002.89*47 2021-02-18T02:10:04.157Z,1613614204.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.960007 m, bearing: 55.660209 deg, deltaT: 4.471611 s, approachRate: -0.563556 m/s, LOS rate: 1.192846 deg/s, posRepo size: 4 2021-02-18T02:10:04.185Z,1613614204.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.960007 m, bearing: 55.660209 deg, approachRate: -0.563556 m/s, LOS rate: 1.192846 deg/s, cmd update: 4.771384 deg/s, cmd heading: 50.786220 deg, new cmd heading: 50.261647 deg. 2021-02-18T02:10:06.500Z,1613614206.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:10:07.293Z,1613614207.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:10:07.684Z,1613614207.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:10:08.513Z,1613614208.513 [Micromodem](INFO): Nmea in: $SNTTA,0.092992,,,,021007.33*4D 2021-02-18T02:10:08.563Z,1613614208.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.320007 m, bearing: 52.885950 deg, deltaT: 4.469238 s, approachRate: -0.590705 m/s, LOS rate: -0.620745 deg/s, posRepo size: 4 2021-02-18T02:10:08.565Z,1613614208.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.320007 m, bearing: 52.885950 deg, approachRate: -0.590705 m/s, LOS rate: -0.620745 deg/s, cmd update: -2.482982 deg/s, cmd heading: 72.110291 deg, new cmd heading: 73.983675 deg. 2021-02-18T02:10:10.928Z,1613614210.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:10:11.729Z,1613614211.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:10:12.122Z,1613614212.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:10:12.952Z,1613614212.952 [Micromodem](INFO): Nmea in: $SNTTA,0.091396,,,,021011.77*47 2021-02-18T02:10:12.998Z,1613614212.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.860001 m, bearing: 51.261396 deg, deltaT: 4.434137 s, approachRate: -0.554788 m/s, LOS rate: -0.366374 deg/s, posRepo size: 4 2021-02-18T02:10:12.000Z,1613614213.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.860001 m, bearing: 51.261396 deg, approachRate: -0.554788 m/s, LOS rate: -0.366374 deg/s, cmd update: -1.465497 deg/s, cmd heading: 61.110074 deg, new cmd heading: 60.074678 deg. 2021-02-18T02:10:15.418Z,1613614215.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:10:16.161Z,1613614216.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:10:16.566Z,1613614216.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:10:17.392Z,1613614217.392 [Micromodem](INFO): Nmea in: $SNTTA,0.089627,,,,021016.20*44 2021-02-18T02:10:17.454Z,1613614217.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.279999 m, bearing: 50.198731 deg, deltaT: 4.428340 s, approachRate: -0.582612 m/s, LOS rate: -0.239969 deg/s, posRepo size: 4 2021-02-18T02:10:17.460Z,1613614217.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.279999 m, bearing: 50.198731 deg, approachRate: -0.582612 m/s, LOS rate: -0.239969 deg/s, cmd update: -0.959876 deg/s, cmd heading: 54.640628 deg, new cmd heading: 53.968308 deg. 2021-02-18T02:10:19.817Z,1613614219.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:10:20.609Z,1613614220.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:10:21.018Z,1613614221.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:10:21.836Z,1613614221.836 [Micromodem](INFO): Nmea in: $SNTTA,0.087916,,0.089060,,021020.65*5A 2021-02-18T02:10:21.870Z,1613614221.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.700012 m, bearing: 51.853560 deg, deltaT: 4.484451 s, approachRate: -0.575318 m/s, LOS rate: 0.369015 deg/s, posRepo size: 4 2021-02-18T02:10:21.872Z,1613614221.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.700012 m, bearing: 51.853560 deg, approachRate: -0.575318 m/s, LOS rate: 0.369015 deg/s, cmd update: 1.476059 deg/s, cmd heading: 50.319000 deg, new cmd heading: 49.961539 deg. 2021-02-18T02:10:24.315Z,1613614224.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:10:25.055Z,1613614225.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:10:25.461Z,1613614225.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:10:26.300Z,1613614226.300 [Micromodem](INFO): Nmea in: $SNTTA,0.086213,,,,021025.09*43 2021-02-18T02:10:26.353Z,1613614226.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.119995 m, bearing: 52.255032 deg, deltaT: 4.382659 s, approachRate: -0.588688 m/s, LOS rate: 0.091605 deg/s, posRepo size: 4 2021-02-18T02:10:26.355Z,1613614226.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.119995 m, bearing: 52.255032 deg, approachRate: -0.588688 m/s, LOS rate: 0.091605 deg/s, cmd update: 0.366418 deg/s, cmd heading: 56.787533 deg, new cmd heading: 57.486218 deg. 2021-02-18T02:10:28.703Z,1613614228.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:10:29.497Z,1613614229.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:10:29.904Z,1613614229.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:10:30.732Z,1613614230.732 [Micromodem](INFO): Nmea in: $SNTTA,0.084469,,,,021029.53*49 2021-02-18T02:10:30.760Z,1613614230.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.540009 m, bearing: 51.978549 deg, deltaT: 4.466528 s, approachRate: -0.577627 m/s, LOS rate: -0.061901 deg/s, posRepo size: 4 2021-02-18T02:10:30.763Z,1613614230.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.540009 m, bearing: 51.978549 deg, approachRate: -0.577627 m/s, LOS rate: -0.061901 deg/s, cmd update: -0.247604 deg/s, cmd heading: 58.424343 deg, new cmd heading: 58.575334 deg. 2021-02-18T02:10:33.177Z,1613614233.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:10:33.943Z,1613614233.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:10:34.359Z,1613614234.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:10:35.168Z,1613614235.168 [Micromodem](INFO): Nmea in: $SNTTA,0.082704,,,,021033.98*4B 2021-02-18T02:10:35.212Z,1613614235.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.840004 m, bearing: 51.103998 deg, deltaT: 4.411407 s, approachRate: -0.612051 m/s, LOS rate: -0.198248 deg/s, posRepo size: 4 2021-02-18T02:10:35.214Z,1613614235.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.840004 m, bearing: 51.103998 deg, approachRate: -0.612051 m/s, LOS rate: -0.198248 deg/s, cmd update: -0.792991 deg/s, cmd heading: 57.332060 deg, new cmd heading: 57.219705 deg. 2021-02-18T02:10:37.609Z,1613614237.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:10:38.387Z,1613614238.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:10:38.792Z,1613614238.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:10:39.616Z,1613614239.616 [Micromodem](INFO): Nmea in: $SNTTA,0.081028,,,,021038.42*4D 2021-02-18T02:10:39.661Z,1613614239.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.380005 m, bearing: 50.316576 deg, deltaT: 4.539070 s, approachRate: -0.541961 m/s, LOS rate: -0.173476 deg/s, posRepo size: 4 2021-02-18T02:10:39.662Z,1613614239.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.380005 m, bearing: 50.316576 deg, approachRate: -0.541961 m/s, LOS rate: -0.173476 deg/s, cmd update: -0.693906 deg/s, cmd heading: 53.739053 deg, new cmd heading: 53.444615 deg. 2021-02-18T02:10:42.037Z,1613614242.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:10:42.826Z,1613614242.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:10:43.234Z,1613614243.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:10:44.060Z,1613614244.060 [Micromodem](INFO): Nmea in: $SNTTA,0.079200,,,,021042.86*47 2021-02-18T02:10:44.082Z,1613614244.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.620003 m, bearing: 50.724028 deg, deltaT: 4.400319 s, approachRate: -0.627228 m/s, LOS rate: 0.092596 deg/s, posRepo size: 4 2021-02-18T02:10:44.084Z,1613614244.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.620003 m, bearing: 50.724028 deg, approachRate: -0.627228 m/s, LOS rate: 0.092596 deg/s, cmd update: 0.370384 deg/s, cmd heading: 50.679995 deg, new cmd heading: 50.413316 deg. 2021-02-18T02:10:46.523Z,1613614246.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:10:47.293Z,1613614247.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:10:47.673Z,1613614247.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:10:48.508Z,1613614248.508 [Micromodem](INFO): Nmea in: $SNTTA,0.077477,,,,021047.33*44 2021-02-18T02:10:48.560Z,1613614248.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.040009 m, bearing: 49.091920 deg, deltaT: 4.443393 s, approachRate: -0.580636 m/s, LOS rate: -0.367311 deg/s, posRepo size: 4 2021-02-18T02:10:48.562Z,1613614248.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.040009 m, bearing: 49.091920 deg, approachRate: -0.580636 m/s, LOS rate: -0.367311 deg/s, cmd update: -1.469245 deg/s, cmd heading: 52.325752 deg, new cmd heading: 52.479243 deg. 2021-02-18T02:10:50.952Z,1613614250.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:10:51.712Z,1613614251.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:10:52.131Z,1613614252.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:10:52.948Z,1613614252.948 [Micromodem](INFO): Nmea in: $SNTTA,0.075913,,,,021051.75*4C 2021-02-18T02:10:52.970Z,1613614252.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.639999 m, bearing: 52.323945 deg, deltaT: 4.458674 s, approachRate: -0.538279 m/s, LOS rate: 0.724885 deg/s, posRepo size: 4 2021-02-18T02:10:52.972Z,1613614252.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.639999 m, bearing: 52.323945 deg, approachRate: -0.538279 m/s, LOS rate: 0.724885 deg/s, cmd update: 2.899539 deg/s, cmd heading: 45.780807 deg, new cmd heading: 45.230804 deg. 2021-02-18T02:10:55.387Z,1613614255.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:10:56.156Z,1613614256.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:10:56.564Z,1613614256.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:10:57.388Z,1613614257.388 [Micromodem](INFO): Nmea in: $SNTTA,0.074217,,,,021056.19*4F 2021-02-18T02:10:57.444Z,1613614257.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.119995 m, bearing: 50.205237 deg, deltaT: 4.378959 s, approachRate: -0.575480 m/s, LOS rate: -0.483838 deg/s, posRepo size: 4 2021-02-18T02:10:57.446Z,1613614257.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.119995 m, bearing: 50.205237 deg, approachRate: -0.575480 m/s, LOS rate: -0.483838 deg/s, cmd update: -1.935353 deg/s, cmd heading: 58.489297 deg, new cmd heading: 59.839752 deg. 2021-02-18T02:10:59.808Z,1613614259.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:00.619Z,1613614260.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:01.006Z,1613614261.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:01.840Z,1613614261.840 [Micromodem](INFO): Nmea in: $SNTTA,0.072452,,,,021100.66*44 2021-02-18T02:11:01.862Z,1613614261.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.479996 m, bearing: 50.068657 deg, deltaT: 4.479051 s, approachRate: -0.589410 m/s, LOS rate: -0.030493 deg/s, posRepo size: 4 2021-02-18T02:11:01.884Z,1613614261.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.479996 m, bearing: 50.068657 deg, approachRate: -0.589410 m/s, LOS rate: -0.030493 deg/s, cmd update: -0.121972 deg/s, cmd heading: 49.851580 deg, new cmd heading: 49.038275 deg. 2021-02-18T02:11:04.325Z,1613614264.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:05.049Z,1613614265.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:05.469Z,1613614265.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:06.300Z,1613614266.300 [Micromodem](INFO): Nmea in: $SNTTA,0.070784,,,,021105.09*42 2021-02-18T02:11:06.325Z,1613614266.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.960007 m, bearing: 50.460495 deg, deltaT: 4.408129 s, approachRate: -0.571669 m/s, LOS rate: 0.088890 deg/s, posRepo size: 4 2021-02-18T02:11:06.327Z,1613614266.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.960007 m, bearing: 50.460495 deg, approachRate: -0.571669 m/s, LOS rate: 0.088890 deg/s, cmd update: 0.355559 deg/s, cmd heading: 49.311959 deg, new cmd heading: 49.255983 deg. 2021-02-18T02:11:08.695Z,1613614268.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:09.499Z,1613614269.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:09.903Z,1613614269.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:10.726Z,1613614270.726 [Micromodem](INFO): Nmea in: $SNTTA,0.069141,,,,021109.54*41 2021-02-18T02:11:10.766Z,1613614270.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.500000 m, bearing: 50.331521 deg, deltaT: 4.504255 s, approachRate: -0.546152 m/s, LOS rate: -0.028634 deg/s, posRepo size: 4 2021-02-18T02:11:10.772Z,1613614270.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.500000 m, bearing: 50.331521 deg, approachRate: -0.546152 m/s, LOS rate: -0.028634 deg/s, cmd update: -0.114536 deg/s, cmd heading: 50.912052 deg, new cmd heading: 51.054250 deg. 2021-02-18T02:11:13.208Z,1613614273.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:13.936Z,1613614273.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:14.338Z,1613614274.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:15.160Z,1613614275.160 [Micromodem](INFO): Nmea in: $SNTTA,0.067263,,,,021113.97*48 2021-02-18T02:11:15.203Z,1613614275.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.740005 m, bearing: 51.092107 deg, deltaT: 4.385440 s, approachRate: -0.629354 m/s, LOS rate: 0.173434 deg/s, posRepo size: 4 2021-02-18T02:11:15.205Z,1613614275.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.740005 m, bearing: 51.092107 deg, approachRate: -0.629354 m/s, LOS rate: 0.173434 deg/s, cmd update: 0.693737 deg/s, cmd heading: 50.409313 deg, new cmd heading: 50.358054 deg. 2021-02-18T02:11:17.616Z,1613614277.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:18.377Z,1613614278.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:18.783Z,1613614278.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:19.616Z,1613614279.616 [Micromodem](INFO): Nmea in: $SNTTA,0.065790,,,,021118.41*43 2021-02-18T02:11:19.650Z,1613614279.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.460007 m, bearing: 52.634554 deg, deltaT: 4.461275 s, approachRate: -0.511064 m/s, LOS rate: 0.345742 deg/s, posRepo size: 4 2021-02-18T02:11:19.652Z,1613614279.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.460007 m, bearing: 52.634554 deg, approachRate: -0.511064 m/s, LOS rate: 0.345742 deg/s, cmd update: 1.382966 deg/s, cmd heading: 53.504345 deg, new cmd heading: 53.804787 deg. 2021-02-18T02:11:22.058Z,1613614282.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:22.821Z,1613614282.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:23.232Z,1613614283.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:24.056Z,1613614284.056 [Micromodem](INFO): Nmea in: $SNTTA,0.063988,,,,021122.86*40 2021-02-18T02:11:24.128Z,1613614284.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.760002 m, bearing: 51.372667 deg, deltaT: 4.463401 s, approachRate: -0.604921 m/s, LOS rate: -0.282719 deg/s, posRepo size: 4 2021-02-18T02:11:24.130Z,1613614284.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.760002 m, bearing: 51.372667 deg, approachRate: -0.604921 m/s, LOS rate: -0.282719 deg/s, cmd update: -1.130875 deg/s, cmd heading: 59.665596 deg, new cmd heading: 60.290562 deg. 2021-02-18T02:11:26.505Z,1613614286.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:27.291Z,1613614287.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:27.670Z,1613614287.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:28.504Z,1613614288.504 [Micromodem](INFO): Nmea in: $SNTTA,0.062134,,,,021127.33*45 2021-02-18T02:11:28.570Z,1613614288.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.000000 m, bearing: 51.517378 deg, deltaT: 4.405733 s, approachRate: -0.626457 m/s, LOS rate: 0.032846 deg/s, posRepo size: 4 2021-02-18T02:11:28.572Z,1613614288.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.000000 m, bearing: 51.517378 deg, approachRate: -0.626457 m/s, LOS rate: 0.032846 deg/s, cmd update: 0.131384 deg/s, cmd heading: 54.673883 deg, new cmd heading: 54.126987 deg. 2021-02-18T02:11:30.665Z,1613614290.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:31.318Z,1613614291.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:31.728Z,1613614291.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:32.556Z,1613614292.556 [Micromodem](INFO): Nmea in: $SNTTA,0.060620,,,,021131.36*47 2021-02-18T02:11:32.650Z,1613614292.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.720001 m, bearing: 50.990528 deg, deltaT: 4.095323 s, approachRate: -0.556732 m/s, LOS rate: -0.128647 deg/s, posRepo size: 4 2021-02-18T02:11:32.660Z,1613614292.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.720001 m, bearing: 50.990528 deg, approachRate: -0.556732 m/s, LOS rate: -0.128647 deg/s, cmd update: -0.514587 deg/s, cmd heading: 55.208251 deg, new cmd heading: 55.273470 deg. 2021-02-18T02:11:34.987Z,1613614294.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:35.762Z,1613614295.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:36.156Z,1613614296.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:36.988Z,1613614296.988 [Micromodem](INFO): Nmea in: $SNTTA,0.058780,,,,021135.80*4E 2021-02-18T02:11:37.029Z,1613614297.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.960007 m, bearing: 50.933998 deg, deltaT: 4.447670 s, approachRate: -0.620548 m/s, LOS rate: -0.012710 deg/s, posRepo size: 4 2021-02-18T02:11:37.031Z,1613614297.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.960007 m, bearing: 50.933998 deg, approachRate: -0.620548 m/s, LOS rate: -0.012710 deg/s, cmd update: -0.050840 deg/s, cmd heading: 52.909215 deg, new cmd heading: 52.699171 deg. 2021-02-18T02:11:39.485Z,1613614299.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:40.200Z,1613614300.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:40.612Z,1613614300.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:41.457Z,1613614301.457 [Micromodem](INFO): Nmea in: $SNTTA,0.057162,,,,021140.24*47 2021-02-18T02:11:41.541Z,1613614301.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.500008 m, bearing: 51.770276 deg, deltaT: 4.395718 s, approachRate: -0.559635 m/s, LOS rate: 0.190248 deg/s, posRepo size: 4 2021-02-18T02:11:41.542Z,1613614301.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.500008 m, bearing: 51.770276 deg, approachRate: -0.559635 m/s, LOS rate: 0.190248 deg/s, cmd update: 0.760993 deg/s, cmd heading: 52.685329 deg, new cmd heading: 52.659091 deg. 2021-02-18T02:11:43.546Z,1613614303.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:44.237Z,1613614304.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:44.639Z,1613614304.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:45.469Z,1613614305.469 [Micromodem](INFO): Nmea in: $SNTTA,0.055412,,,,021144.28*4F 2021-02-18T02:11:45.556Z,1613614305.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.919998 m, bearing: 51.439695 deg, deltaT: 4.085604 s, approachRate: -0.631488 m/s, LOS rate: -0.080914 deg/s, posRepo size: 4 2021-02-18T02:11:45.557Z,1613614305.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.919998 m, bearing: 51.439695 deg, approachRate: -0.631488 m/s, LOS rate: -0.080914 deg/s, cmd update: -0.323655 deg/s, cmd heading: 55.762953 deg, new cmd heading: 56.123977 deg. 2021-02-18T02:11:47.898Z,1613614307.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:48.678Z,1613614308.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:49.119Z,1613614309.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:49.913Z,1613614309.913 [Micromodem](INFO): Nmea in: $SNTTA,0.053740,,,,021148.71*4D 2021-02-18T02:11:49.928Z,1613614309.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.399994 m, bearing: 50.362919 deg, deltaT: 4.466643 s, approachRate: -0.564183 m/s, LOS rate: -0.241071 deg/s, posRepo size: 4 2021-02-18T02:11:49.929Z,1613614309.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.399994 m, bearing: 50.362919 deg, approachRate: -0.564183 m/s, LOS rate: -0.241071 deg/s, cmd update: -0.964282 deg/s, cmd heading: 54.309158 deg, new cmd heading: 54.190531 deg. 2021-02-18T02:11:52.530Z,1613614312.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:53.145Z,1613614313.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:53.559Z,1613614313.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:54.376Z,1613614314.376 [Micromodem](INFO): Nmea in: $SNTTA,0.051913,,,,021153.18*42 2021-02-18T02:11:54.460Z,1613614314.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.640007 m, bearing: 48.989583 deg, deltaT: 4.423679 s, approachRate: -0.623912 m/s, LOS rate: -0.310451 deg/s, posRepo size: 4 2021-02-18T02:11:54.461Z,1613614314.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.640007 m, bearing: 48.989583 deg, approachRate: -0.623912 m/s, LOS rate: -0.310451 deg/s, cmd update: -1.241804 deg/s, cmd heading: 50.031794 deg, new cmd heading: 49.589306 deg. 2021-02-18T02:11:56.813Z,1613614316.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:11:57.601Z,1613614317.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:11:57.990Z,1613614317.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:11:58.824Z,1613614318.824 [Micromodem](INFO): Nmea in: $SNTTA,0.050060,,,,021157.64*41 2021-02-18T02:11:58.846Z,1613614318.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.879997 m, bearing: 51.100675 deg, deltaT: 4.427703 s, approachRate: -0.623350 m/s, LOS rate: 0.476792 deg/s, posRepo size: 4 2021-02-18T02:11:58.848Z,1613614318.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.879997 m, bearing: 51.100675 deg, approachRate: -0.623350 m/s, LOS rate: 0.476792 deg/s, cmd update: 1.907167 deg/s, cmd heading: 44.528592 deg, new cmd heading: 44.009565 deg. 2021-02-18T02:12:01.289Z,1613614321.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:02.031Z,1613614322.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:12:02.451Z,1613614322.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:12:03.284Z,1613614323.284 [Micromodem](INFO): Nmea in: $SNTTA,0.048380,,,,021202.07*43 2021-02-18T02:12:03.322Z,1613614323.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.360001 m, bearing: 51.079153 deg, deltaT: 4.443178 s, approachRate: -0.567161 m/s, LOS rate: -0.004844 deg/s, posRepo size: 4 2021-02-18T02:12:03.328Z,1613614323.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.360001 m, bearing: 51.079153 deg, approachRate: -0.567161 m/s, LOS rate: -0.004844 deg/s, cmd update: -0.019375 deg/s, cmd heading: 52.972101 deg, new cmd heading: 53.862278 deg. 2021-02-18T02:12:05.679Z,1613614325.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:06.477Z,1613614326.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:12:06.878Z,1613614326.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:12:07.704Z,1613614327.704 [Micromodem](INFO): Nmea in: $SNTTA,0.046664,,,,021206.52*46 2021-02-18T02:12:07.726Z,1613614327.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.780006 m, bearing: 49.665775 deg, deltaT: 4.478450 s, approachRate: -0.576091 m/s, LOS rate: -0.315595 deg/s, posRepo size: 4 2021-02-18T02:12:07.728Z,1613614327.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.780006 m, bearing: 49.665775 deg, approachRate: -0.576091 m/s, LOS rate: -0.315595 deg/s, cmd update: -1.262381 deg/s, cmd heading: 52.885095 deg, new cmd heading: 52.877730 deg. 2021-02-18T02:12:10.164Z,1613614330.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:10.916Z,1613614330.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:12:11.323Z,1613614331.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:12:12.151Z,1613614332.151 [Micromodem](INFO): Nmea in: $SNTTA,0.045116,,,,021210.95*4B 2021-02-18T02:12:12.170Z,1613614332.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.440002 m, bearing: 53.100701 deg, deltaT: 4.399750 s, approachRate: -0.531849 m/s, LOS rate: 0.780709 deg/s, posRepo size: 4 2021-02-18T02:12:12.172Z,1613614332.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.440002 m, bearing: 53.100701 deg, approachRate: -0.531849 m/s, LOS rate: 0.780709 deg/s, cmd update: 3.122837 deg/s, cmd heading: 47.325879 deg, new cmd heading: 46.795255 deg. 2021-02-18T02:12:14.610Z,1613614334.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:15.366Z,1613614335.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:12:15.771Z,1613614335.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:12:16.592Z,1613614336.592 [Micromodem](INFO): Nmea in: $SNTTA,0.043323,,,,021215.40*44 2021-02-18T02:12:16.637Z,1613614336.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.800003 m, bearing: 52.159781 deg, deltaT: 4.457802 s, approachRate: -0.592220 m/s, LOS rate: -0.211073 deg/s, posRepo size: 4 2021-02-18T02:12:16.639Z,1613614336.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.800003 m, bearing: 52.159781 deg, approachRate: -0.592220 m/s, LOS rate: -0.211073 deg/s, cmd update: -0.844291 deg/s, cmd heading: 61.196508 deg, new cmd heading: 62.589069 deg. 2021-02-18T02:12:19.046Z,1613614339.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:19.817Z,1613614339.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:12:20.214Z,1613614340.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:12:21.045Z,1613614341.045 [Micromodem](INFO): Nmea in: $SNTTA,0.041732,,,,021219.85*47 2021-02-18T02:12:21.086Z,1613614341.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.459999 m, bearing: 56.509461 deg, deltaT: 4.431300 s, approachRate: -0.528063 m/s, LOS rate: 0.981581 deg/s, posRepo size: 4 2021-02-18T02:12:21.088Z,1613614341.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.459999 m, bearing: 56.509461 deg, approachRate: -0.528063 m/s, LOS rate: 0.981581 deg/s, cmd update: 3.926324 deg/s, cmd heading: 57.441587 deg, new cmd heading: 57.064001 deg. 2021-02-18T02:12:23.476Z,1613614343.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:24.263Z,1613614344.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:12:24.688Z,1613614344.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:12:25.484Z,1613614345.484 [Micromodem](INFO): Nmea in: $SNTTA,0.040013,,,,021224.30*42 2021-02-18T02:12:25.532Z,1613614345.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.820000 m, bearing: 53.208430 deg, deltaT: 4.447470 s, approachRate: -0.593596 m/s, LOS rate: -0.742227 deg/s, posRepo size: 4 2021-02-18T02:12:25.534Z,1613614345.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.820000 m, bearing: 53.208430 deg, approachRate: -0.593596 m/s, LOS rate: -0.742227 deg/s, cmd update: -2.968906 deg/s, cmd heading: 74.840960 deg, new cmd heading: 76.655742 deg. 2021-02-18T02:12:27.899Z,1613614347.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:28.693Z,1613614348.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:12:29.128Z,1613614349.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:12:29.924Z,1613614349.924 [Micromodem](INFO): Nmea in: $SNTTA,0.038392,,,,021228.73*4C 2021-02-18T02:12:29.949Z,1613614349.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.420006 m, bearing: 51.823562 deg, deltaT: 4.470233 s, approachRate: -0.536883 m/s, LOS rate: -0.309798 deg/s, posRepo size: 4 2021-02-18T02:12:29.971Z,1613614349.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.420006 m, bearing: 51.823562 deg, approachRate: -0.536883 m/s, LOS rate: -0.309798 deg/s, cmd update: -1.239192 deg/s, cmd heading: 61.533526 deg, new cmd heading: 60.355360 deg. 2021-02-18T02:12:32.365Z,1613614352.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:33.136Z,1613614353.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:12:33.550Z,1613614353.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:12:34.364Z,1613614354.364 [Micromodem](INFO): Nmea in: $SNTTA,0.036764,,,,021233.17*47 2021-02-18T02:12:34.413Z,1613614354.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.960007 m, bearing: 48.965650 deg, deltaT: 4.413954 s, approachRate: -0.557323 m/s, LOS rate: -0.647472 deg/s, posRepo size: 4 2021-02-18T02:12:34.415Z,1613614354.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.960007 m, bearing: 48.965650 deg, approachRate: -0.557323 m/s, LOS rate: -0.647472 deg/s, cmd update: -2.589888 deg/s, cmd heading: 56.058932 deg, new cmd heading: 55.510272 deg. 2021-02-18T02:12:36.787Z,1613614356.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:37.580Z,1613614357.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:12:37.993Z,1613614357.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:12:38.820Z,1613614358.820 [Micromodem](INFO): Nmea in: $SNTTA,0.035313,,,,021237.62*46 2021-02-18T02:12:38.842Z,1613614358.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.739998 m, bearing: 54.330682 deg, deltaT: 4.453727 s, approachRate: -0.498461 m/s, LOS rate: 1.204616 deg/s, posRepo size: 4 2021-02-18T02:12:38.844Z,1613614358.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.739998 m, bearing: 54.330682 deg, approachRate: -0.498461 m/s, LOS rate: 1.204616 deg/s, cmd update: 4.818465 deg/s, cmd heading: 44.524974 deg, new cmd heading: 43.441267 deg. 2021-02-18T02:12:41.287Z,1613614361.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:42.024Z,1613614362.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:12:42.435Z,1613614362.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:12:43.309Z,1613614363.309 [Micromodem](INFO): Nmea in: $SNTTA,0.033769,,,,021242.06*49 2021-02-18T02:12:43.368Z,1613614363.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.340000 m, bearing: 55.436120 deg, deltaT: 4.434196 s, approachRate: -0.541248 m/s, LOS rate: 0.249299 deg/s, posRepo size: 4 2021-02-18T02:12:43.370Z,1613614363.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.340000 m, bearing: 55.436120 deg, approachRate: -0.541248 m/s, LOS rate: 0.249299 deg/s, cmd update: 0.997194 deg/s, cmd heading: 65.892476 deg, new cmd heading: 68.269377 deg. 2021-02-18T02:12:45.718Z,1613614365.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:46.474Z,1613614366.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:12:46.874Z,1613614366.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:12:47.704Z,1613614367.704 [Micromodem](INFO): Nmea in: $SNTTA,0.032246,,,,021246.51*46 2021-02-18T02:12:47.737Z,1613614367.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.999996 m, bearing: 41.915198 deg, deltaT: 4.476617 s, approachRate: -0.522717 m/s, LOS rate: -3.020344 deg/s, posRepo size: 4 2021-02-18T02:12:47.740Z,1613614367.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.999996 m, bearing: 41.915198 deg, approachRate: -0.522717 m/s, LOS rate: -3.020344 deg/s, cmd update: -12.000000 deg/s, cmd heading: 70.356538 deg, new cmd heading: 70.757566 deg. 2021-02-18T02:12:50.147Z,1613614370.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:50.917Z,1613614370.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:12:51.317Z,1613614371.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:12:52.148Z,1613614372.148 [Micromodem](INFO): Nmea in: $SNTTA,0.031030,,,,021250.95*49 2021-02-18T02:12:52.193Z,1613614372.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.199997 m, bearing: 47.655374 deg, deltaT: 4.438660 s, approachRate: -0.405528 m/s, LOS rate: 1.293223 deg/s, posRepo size: 4 2021-02-18T02:12:52.194Z,1613614372.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.199997 m, bearing: 47.655374 deg, approachRate: -0.405528 m/s, LOS rate: 1.293223 deg/s, cmd update: 5.172891 deg/s, cmd heading: 17.429097 deg, new cmd heading: 12.064964 deg. 2021-02-18T02:12:54.578Z,1613614374.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:55.362Z,1613614375.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:12:55.762Z,1613614375.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:12:56.604Z,1613614376.604 [Micromodem](INFO): Nmea in: $SNTTA,0.029324,,,,021255.40*4B 2021-02-18T02:12:56.645Z,1613614376.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.799999 m, bearing: 54.165562 deg, deltaT: 4.414605 s, approachRate: -0.543649 m/s, LOS rate: 1.474693 deg/s, posRepo size: 4 2021-02-18T02:12:56.646Z,1613614376.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.799999 m, bearing: 54.165562 deg, approachRate: -0.543649 m/s, LOS rate: 1.474693 deg/s, cmd update: 5.898773 deg/s, cmd heading: 40.409319 deg, new cmd heading: 42.770914 deg. 2021-02-18T02:12:59.007Z,1613614379.007 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:12:59.800Z,1613614379.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:00.226Z,1613614380.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:01.036Z,1613614381.036 [Micromodem](INFO): Nmea in: $SNTTA,0.027608,,0.087195,,021259.84*56 2021-02-18T02:13:01.054Z,1613614381.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.159996 m, bearing: 50.349979 deg, deltaT: 4.456773 s, approachRate: -0.592358 m/s, LOS rate: -0.856131 deg/s, posRepo size: 4 2021-02-18T02:13:01.057Z,1613614381.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.159996 m, bearing: 50.349979 deg, approachRate: -0.592358 m/s, LOS rate: -0.856131 deg/s, cmd update: -3.424525 deg/s, cmd heading: 66.697436 deg, new cmd heading: 69.112441 deg. 2021-02-18T02:13:03.502Z,1613614383.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:13:04.268Z,1613614384.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:04.649Z,1613614384.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:05.496Z,1613614385.496 [Micromodem](INFO): Nmea in: $SNTTA,0.025761,,,,021304.31*41 2021-02-18T02:13:05.557Z,1613614385.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.879997 m, bearing: 48.829883 deg, deltaT: 4.430232 s, approachRate: -0.514645 m/s, LOS rate: -0.343119 deg/s, posRepo size: 4 2021-02-18T02:13:05.557Z,1613614385.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.88 m. 2021-02-18T02:13:05.576Z,1613614385.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.879997 m, bearing: 48.829883 deg, approachRate: -0.514645 m/s, LOS rate: -0.343119 deg/s, cmd update: -1.372476 deg/s, cmd heading: 51.535769 deg, new cmd heading: 49.881113 deg. 2021-02-18T02:13:05.873Z,1613614385.873 [PowerOnly](INFO): Powering up loadControl 2021-02-18T02:13:07.897Z,1613614387.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:13:08.692Z,1613614388.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:09.123Z,1613614389.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:09.944Z,1613614389.944 [Micromodem](INFO): Nmea in: $SNTTA,0.023760,,,,021308.73*4C 2021-02-18T02:13:09.987Z,1613614389.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.399998 m, bearing: 46.984742 deg, deltaT: 4.450488 s, approachRate: -0.781937 m/s, LOS rate: -0.414593 deg/s, posRepo size: 4 2021-02-18T02:13:09.988Z,1613614389.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.40 m. 2021-02-18T02:13:09.988Z,1613614389.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.40 m. 2021-02-18T02:13:09.988Z,1613614389.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T02:13:09.990Z,1613614389.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.399998 m, bearing: 46.984742 deg, approachRate: -0.781937 m/s, LOS rate: -0.414593 deg/s, cmd update: -1.658372 deg/s, cmd heading: 45.423010 deg, new cmd heading: 44.789835 deg. 2021-02-18T02:13:12.384Z,1613614392.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:13:13.133Z,1613614393.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:13.537Z,1613614393.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:14.364Z,1613614394.364 [Micromodem](INFO): Nmea in: $SNTTA,0.021835,,,,021313.17*49 2021-02-18T02:13:14.419Z,1613614394.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.520000 m, bearing: 51.346661 deg, deltaT: 4.428878 s, approachRate: -0.650277 m/s, LOS rate: 0.984881 deg/s, posRepo size: 4 2021-02-18T02:13:14.425Z,1613614394.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.520000 m, bearing: 51.346661 deg, approachRate: -0.650277 m/s, LOS rate: 0.984881 deg/s, cmd update: 3.939525 deg/s, cmd heading: 38.078376 deg, new cmd heading: 37.308866 deg. 2021-02-18T02:13:16.783Z,1613614396.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:13:17.577Z,1613614397.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:17.981Z,1613614397.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:18.808Z,1613614398.808 [Micromodem](INFO): Nmea in: $SNTTA,0.019921,,,,021317.62*40 2021-02-18T02:13:18.830Z,1613614398.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.639999 m, bearing: 50.965956 deg, deltaT: 4.499643 s, approachRate: -0.640051 m/s, LOS rate: -0.084608 deg/s, posRepo size: 4 2021-02-18T02:13:18.832Z,1613614398.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.639999 m, bearing: 50.965956 deg, approachRate: -0.640051 m/s, LOS rate: -0.084608 deg/s, cmd update: -0.338431 deg/s, cmd heading: 55.802687 deg, new cmd heading: 57.285245 deg. 2021-02-18T02:13:21.289Z,1613614401.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:13:22.020Z,1613614402.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:22.426Z,1613614402.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:23.268Z,1613614403.268 [Micromodem](INFO): Nmea in: $SNTTA,0.022107,,,0.056243,021322.06*58 2021-02-18T02:13:23.329Z,1613614403.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.580002 m, bearing: 46.705312 deg, deltaT: 4.390224 s, approachRate: -0.697003 m/s, LOS rate: -0.970485 deg/s, posRepo size: 4 2021-02-18T02:13:23.331Z,1613614403.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.580002 m, bearing: 46.705312 deg, approachRate: -0.697003 m/s, LOS rate: -0.970485 deg/s, cmd update: -3.881938 deg/s, cmd heading: 54.316946 deg, new cmd heading: 54.152782 deg. 2021-02-18T02:13:25.693Z,1613614405.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:13:26.481Z,1613614406.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:26.870Z,1613614406.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:26.908Z,1613614406.908 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239532 2021-02-18T02:13:27.732Z,1613614407.732 [Micromodem](INFO): Nmea in: $SNTTA,0.015924,,,,021326.52*48 2021-02-18T02:13:27.766Z,1613614407.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.359999 m, bearing: 51.269295 deg, deltaT: 4.551070 s, approachRate: -0.487798 m/s, LOS rate: 1.002838 deg/s, posRepo size: 4 2021-02-18T02:13:27.771Z,1613614407.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.359999 m, bearing: 51.269295 deg, approachRate: -0.487798 m/s, LOS rate: 1.002838 deg/s, cmd update: 4.011350 deg/s, cmd heading: 36.665089 deg, new cmd heading: 35.209249 deg. 2021-02-18T02:13:30.180Z,1613614410.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:13:30.908Z,1613614410.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:31.322Z,1613614411.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:32.160Z,1613614412.160 [Micromodem](INFO): Nmea in: $SNTTA,0.013676,,,,021330.94*4B 2021-02-18T02:13:32.235Z,1613614412.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.280001 m, bearing: 50.617750 deg, deltaT: 4.350872 s, approachRate: -0.937743 m/s, LOS rate: -0.149751 deg/s, posRepo size: 4 2021-02-18T02:13:32.246Z,1613614412.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.280001 m, bearing: 50.617750 deg, approachRate: -0.937743 m/s, LOS rate: -0.149751 deg/s, cmd update: -0.599002 deg/s, cmd heading: 54.134458 deg, new cmd heading: 56.049657 deg. 2021-02-18T02:13:34.256Z,1613614414.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:13:34.948Z,1613614414.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:35.361Z,1613614415.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:36.176Z,1613614416.176 [Micromodem](INFO): Nmea in: $SNTTA,0.011786,,,,021334.99*4E 2021-02-18T02:13:36.272Z,1613614416.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.599998 m, bearing: 47.322590 deg, deltaT: 4.044178 s, approachRate: -0.415413 m/s, LOS rate: -0.814791 deg/s, posRepo size: 4 2021-02-18T02:13:36.280Z,1613614416.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.599998 m, bearing: 47.322590 deg, approachRate: -0.415413 m/s, LOS rate: -0.814791 deg/s, cmd update: -3.259164 deg/s, cmd heading: 51.714172 deg, new cmd heading: 51.425932 deg. 2021-02-18T02:13:38.610Z,1613614418.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:13:39.196Z,1613614419.196 [Radio_Surface](INFO): Powering down 2021-02-18T02:13:39.394Z,1613614419.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:39.806Z,1613614419.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:40.624Z,1613614420.624 [Micromodem](INFO): Nmea in: $SNTTA,0.009644,,,,021339.43*42 2021-02-18T02:13:40.664Z,1613614420.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.220002 m, bearing: 47.865020 deg, deltaT: 4.489645 s, approachRate: -0.975577 m/s, LOS rate: 0.120818 deg/s, posRepo size: 4 2021-02-18T02:13:40.666Z,1613614420.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.220002 m, bearing: 47.865020 deg, approachRate: -0.975577 m/s, LOS rate: 0.120818 deg/s, cmd update: 0.483272 deg/s, cmd heading: 37.094787 deg, new cmd heading: 35.818175 deg. 2021-02-18T02:13:43.043Z,1613614423.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:13:43.848Z,1613614423.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:44.266Z,1613614424.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:45.072Z,1613614425.072 [Micromodem](INFO): Nmea in: $SNTTA,0.007683,,,,021343.88*4D 2021-02-18T02:13:45.132Z,1613614425.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.280000 m, bearing: 53.005963 deg, deltaT: 4.377916 s, approachRate: -0.671553 m/s, LOS rate: 1.174290 deg/s, posRepo size: 4 2021-02-18T02:13:45.133Z,1613614425.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.280000 m, bearing: 53.005963 deg, approachRate: -0.671553 m/s, LOS rate: 1.174290 deg/s, cmd update: 4.697160 deg/s, cmd heading: 39.214444 deg, new cmd heading: 39.440895 deg. 2021-02-18T02:13:45.480Z,1613614425.480 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T02:13:47.526Z,1613614427.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:13:48.288Z,1613614428.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:48.691Z,1613614428.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:49.533Z,1613614429.533 [Micromodem](INFO): Nmea in: $SNTTA,0.006082,,0.015983,,021348.32*59 2021-02-18T02:13:49.557Z,1613614429.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.939999 m, bearing: 52.850170 deg, deltaT: 4.492397 s, approachRate: -0.520880 m/s, LOS rate: -0.034679 deg/s, posRepo size: 4 2021-02-18T02:13:49.559Z,1613614429.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.939999 m, bearing: 52.850170 deg, approachRate: -0.520880 m/s, LOS rate: -0.034679 deg/s, cmd update: -0.138717 deg/s, cmd heading: 60.315765 deg, new cmd heading: 62.225372 deg. 2021-02-18T02:13:51.972Z,1613614431.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:13:52.775Z,1613614432.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:53.170Z,1613614433.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:54.000Z,1613614434.000 [Micromodem](INFO): Nmea in: $SNTTA,0.004988,,,,021352.81*43 2021-02-18T02:13:54.046Z,1613614434.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.320000 m, bearing: 63.511340 deg, deltaT: 4.478776 s, approachRate: -0.361706 m/s, LOS rate: 2.380376 deg/s, posRepo size: 4 2021-02-18T02:13:54.052Z,1613614434.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.320000 m, bearing: 63.511340 deg, approachRate: -0.361706 m/s, LOS rate: 2.380376 deg/s, cmd update: 9.521504 deg/s, cmd heading: 59.694912 deg, new cmd heading: 59.636645 deg. 2021-02-18T02:13:56.476Z,1613614436.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:13:57.244Z,1613614437.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:13:57.631Z,1613614437.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:13:58.460Z,1613614438.460 [Micromodem](INFO): Nmea in: $SNTTA,0.004563,,,,021357.28*4C 2021-02-18T02:13:58.512Z,1613614438.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.779999 m, bearing: 56.059765 deg, deltaT: 4.435604 s, approachRate: -0.121742 m/s, LOS rate: -1.679946 deg/s, posRepo size: 4 2021-02-18T02:13:58.516Z,1613614438.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.779999 m, bearing: 56.059765 deg, approachRate: -0.121742 m/s, LOS rate: -1.679946 deg/s, cmd update: -6.719785 deg/s, cmd heading: 101.806153 deg, new cmd heading: 106.201089 deg. 2021-02-18T02:14:00.860Z,1613614440.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:01.652Z,1613614441.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:14:02.060Z,1613614442.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:14:02.880Z,1613614442.880 [Micromodem](INFO): Nmea in: $SNTTA,0.004912,,,,021401.69*47 2021-02-18T02:14:02.895Z,1613614442.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.380000 m, bearing: 88.438027 deg, deltaT: 4.430481 s, approachRate: 0.135426 m/s, LOS rate: 7.308069 deg/s, posRepo size: 4 2021-02-18T02:14:02.897Z,1613614442.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.380000 m, bearing: 88.438027 deg, approachRate: 0.135426 m/s, LOS rate: 7.308069 deg/s, cmd update: 12.000000 deg/s, cmd heading: 71.926637 deg, new cmd heading: 69.240356 deg. 2021-02-18T02:14:03.059Z,1613614443.059 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T02:14:04.064Z,1613614444.064 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2021-02-18T02:14:05.337Z,1613614445.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:06.123Z,1613614446.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:14:06.502Z,1613614446.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:14:07.340Z,1613614447.340 [Micromodem](INFO): Nmea in: $SNTTA,0.005404,,,,021406.16*43 2021-02-18T02:14:07.388Z,1613614447.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.100000 m, bearing: 68.067705 deg, deltaT: 4.423434 s, approachRate: 0.162770 m/s, LOS rate: -4.605092 deg/s, posRepo size: 4 2021-02-18T02:14:07.390Z,1613614447.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.100000 m, bearing: 68.067705 deg, approachRate: 0.162770 m/s, LOS rate: -4.605092 deg/s, cmd update: -12.000000 deg/s, cmd heading: 125.007342 deg, new cmd heading: 130.641750 deg. 2021-02-18T02:14:09.753Z,1613614449.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:10.540Z,1613614450.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:14:10.946Z,1613614450.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:14:11.768Z,1613614451.768 [Micromodem](INFO): Nmea in: $SNTTA,0.006786,,,,021410.58*44 2021-02-18T02:14:11.811Z,1613614451.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.260000 m, bearing: 62.621865 deg, deltaT: 4.494806 s, approachRate: 0.480555 m/s, LOS rate: -1.211585 deg/s, posRepo size: 4 2021-02-18T02:14:11.813Z,1613614451.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.260000 m, bearing: 62.621865 deg, approachRate: 0.480555 m/s, LOS rate: -1.211585 deg/s, cmd update: -4.846340 deg/s, cmd heading: 71.117441 deg, new cmd heading: 66.352793 deg. 2021-02-18T02:14:14.253Z,1613614454.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:14.985Z,1613614454.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:14:15.389Z,1613614455.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:14:16.220Z,1613614456.220 [Micromodem](INFO): Nmea in: $SNTTA,0.009226,,,,021415.02*4E 2021-02-18T02:14:16.298Z,1613614456.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.919997 m, bearing: 37.479188 deg, deltaT: 4.412039 s, approachRate: 0.829548 m/s, LOS rate: -5.698653 deg/s, posRepo size: 4 2021-02-18T02:14:16.300Z,1613614456.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.919997 m, bearing: 37.479188 deg, approachRate: 0.829548 m/s, LOS rate: -5.698653 deg/s, cmd update: -12.000000 deg/s, cmd heading: 49.716201 deg, new cmd heading: 47.427629 deg. 2021-02-18T02:14:18.635Z,1613614458.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:19.467Z,1613614459.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:14:19.862Z,1613614459.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:14:20.718Z,1613614460.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.420000 m, bearing: 82.986689 deg, deltaT: 4.509428 s, approachRate: 0.332637 m/s, LOS rate: 10.091635 deg/s, posRepo size: 4 2021-02-18T02:14:20.722Z,1613614460.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.420000 m, bearing: 82.986689 deg, approachRate: 0.332637 m/s, LOS rate: 10.091635 deg/s, cmd update: 12.000000 deg/s, cmd heading: 355.794033 deg, new cmd heading: 351.031592 deg. 2021-02-18T02:14:21.096Z,1613614461.096 [Micromodem](INFO): Nmea in: $SNTTA,0.010543,,,,021419.58*41 2021-02-18T02:14:23.145Z,1613614463.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:23.897Z,1613614463.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:14:24.302Z,1613614464.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:14:25.136Z,1613614465.136 [Micromodem](INFO): Nmea in: $SNTTA,0.012111,,,,021423.93*4E 2021-02-18T02:14:25.184Z,1613614465.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.240002 m, bearing: 59.912398 deg, deltaT: 4.382911 s, approachRate: 0.643408 m/s, LOS rate: -5.264604 deg/s, posRepo size: 4 2021-02-18T02:14:25.184Z,1613614465.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.24 m. Rolling out. 2021-02-18T02:14:25.184Z,1613614465.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T02:14:27.583Z,1613614467.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:28.340Z,1613614468.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:14:28.754Z,1613614468.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:14:29.568Z,1613614469.568 [Micromodem](INFO): Nmea in: $SNTTA,0.013948,,,,021428.38*41 2021-02-18T02:14:29.608Z,1613614469.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.000000 m, bearing: 11.730470 deg, deltaT: 4.487538 s, approachRate: 0.615036 m/s, LOS rate: -10.736829 deg/s, posRepo size: 4 2021-02-18T02:14:31.993Z,1613614471.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:32.789Z,1613614472.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:14:33.208Z,1613614473.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:14:34.016Z,1613614474.016 [Micromodem](INFO): Nmea in: $SNTTA,0.015430,,,,021432.83*4E 2021-02-18T02:14:34.058Z,1613614474.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.939999 m, bearing: 68.745055 deg, deltaT: 4.452186 s, approachRate: 0.660349 m/s, LOS rate: 12.805975 deg/s, posRepo size: 4 2021-02-18T02:14:36.465Z,1613614476.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:37.258Z,1613614477.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:14:37.639Z,1613614477.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:14:38.468Z,1613614478.468 [Micromodem](INFO): Nmea in: $SNTTA,0.017350,,,,021437.30*40 2021-02-18T02:14:38.503Z,1613614478.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.160002 m, bearing: 36.169502 deg, deltaT: 4.458660 s, approachRate: 0.497908 m/s, LOS rate: -7.306130 deg/s, posRepo size: 4 2021-02-18T02:14:40.472Z,1613614480.472 [PowerOnly](INFO): Powering down loadControl 2021-02-18T02:14:40.885Z,1613614480.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:41.672Z,1613614481.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:14:42.106Z,1613614482.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:14:42.511Z,1613614482.511 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T02:14:42.511Z,1613614482.511 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T02:14:42.511Z,1613614482.511 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T02:14:42.511Z,1613614482.511 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T02:14:42.511Z,1613614482.511 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T02:14:42.924Z,1613614482.924 [Micromodem](INFO): Nmea in: $SNTTA,0.019289,,,,021441.71*4F 2021-02-18T02:14:43.006Z,1613614483.006 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60540000005D00000400610000000000000000151D80030C5669BF92F9E58B047DEC097231BE7CE18E1C2E0B17156646857A35033024C72A55F08696EF 2021-02-18T02:14:43.012Z,1613614483.012 [Micromodem](INFO): Outgoing frame #2, 36 bytes: 42875107589531485ED250FD51EE36FE9C6CDFA87A248F7808BD0A4F9C430F45373BF900 2021-02-18T02:14:43.012Z,1613614483.012 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T02:14:43.055Z,1613614483.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.099998 m, bearing: 41.228029 deg, deltaT: 4.389356 s, approachRate: 0.669801 m/s, LOS rate: 1.152453 deg/s, posRepo size: 4 2021-02-18T02:14:44.140Z,1613614484.140 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T02:14:44.536Z,1613614484.536 [Micromodem](INFO): Nmea in: $CADRQ,021442,1,10,0,64,1*77 2021-02-18T02:14:44.536Z,1613614484.536 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60540000005D00000400610000000000000000151D80030C5669BF92F9E58B047DEC097231BE7CE18E1C2E0B17156646857A35033024C72A55F08696EF*4F 2021-02-18T02:14:44.936Z,1613614484.936 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T02:14:45.330Z,1613614485.330 [Micromodem](INFO): Nmea in: $CADRQ,021444,1,10,0,64,2*72 2021-02-18T02:14:45.332Z,1613614485.332 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,42875107589531485ED250FD51EE36FE9C6CDFA87A248F7808BD0A4F9C430F45373BF900*37 2021-02-18T02:14:45.456Z,1613614485.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:45.736Z,1613614485.736 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,36*4E 2021-02-18T02:14:46.136Z,1613614486.136 [Micromodem](INFO): Nmea in: $CATXP,100*43 2021-02-18T02:14:46.136Z,1613614486.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:14:48.186Z,1613614488.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:48.561Z,1613614488.561 [Micromodem](INFO): Nmea in: $CATXF,100*55 2021-02-18T02:14:48.561Z,1613614488.561 [Micromodem](ERROR): Response from modem unexpected: $CATXF,100*55 2021-02-18T02:14:48.965Z,1613614488.965 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,021445.377272,3,0,200,4000,14500,1,1,10,1,2,2,3,100*7A 2021-02-18T02:14:48.965Z,1613614488.965 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,021445.377272,3,0,200,4000,14500,1,1,10,1,2,2,3,100*7A 2021-02-18T02:14:51.193Z,1613614491.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:51.384Z,1613614491.384 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T02:14:51.804Z,1613614491.804 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-18T02:14:51.806Z,1613614491.806 [Micromodem](INFO): Sent 92 bytes from file Logs/20210217T180521/Courier0084.lzma.parts 2021-02-18T02:14:51.806Z,1613614491.806 [Micromodem](INFO): Packets left to send: 0 2021-02-18T02:14:52.213Z,1613614492.213 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218021450.045146,06,3463,35,0169,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,12.4,3.00,05,0.00,-01,-1.05,32,14500,4000*59 2021-02-18T02:14:52.213Z,1613614492.213 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218021450.045146,06,3463,35,0169,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,12.4,3.00,05,0.00,-01,-1.05,32,14500,4000*59 2021-02-18T02:14:52.406Z,1613614492.406 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T02:14:52.406Z,1613614492.406 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T02:14:52.406Z,1613614492.406 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T02:14:52.406Z,1613614492.406 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T02:14:52.406Z,1613614492.406 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T02:14:53.897Z,1613614493.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:56.744Z,1613614496.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:14:57.522Z,1613614497.522 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:14:57.934Z,1613614497.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:14:58.748Z,1613614498.748 [Micromodem](INFO): Nmea in: $SNTTA,0.026678,,,,021457.56*4B 2021-02-18T02:14:58.770Z,1613614498.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.319996 m, bearing: 38.190368 deg, deltaT: 15.892598 s, approachRate: 0.705989 m/s, LOS rate: -0.191137 deg/s, posRepo size: 4 2021-02-18T02:15:01.194Z,1613614501.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:01.965Z,1613614501.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:02.365Z,1613614502.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:15:03.197Z,1613614503.197 [Micromodem](INFO): Nmea in: $SNTTA,0.028755,,,,021502.00*49 2021-02-18T02:15:03.280Z,1613614503.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.259998 m, bearing: 28.671044 deg, deltaT: 4.405229 s, approachRate: 0.667389 m/s, LOS rate: -2.160915 deg/s, posRepo size: 4 2021-02-18T02:15:05.378Z,1613614505.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:05.000Z,1613614506.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:06.425Z,1613614506.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:15:07.258Z,1613614507.258 [Micromodem](INFO): Nmea in: $SNTTA,0.030708,,,,021506.04*48 2021-02-18T02:15:07.316Z,1613614507.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.320000 m, bearing: 35.921174 deg, deltaT: 4.034714 s, approachRate: 0.758418 m/s, LOS rate: 1.796938 deg/s, posRepo size: 4 2021-02-18T02:15:09.662Z,1613614509.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:10.444Z,1613614510.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:10.851Z,1613614510.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:15:11.677Z,1613614511.677 [Micromodem](INFO): Nmea in: $SNTTA,0.032951,,,,021510.48*47 2021-02-18T02:15:11.722Z,1613614511.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.619995 m, bearing: 35.136539 deg, deltaT: 4.497810 s, approachRate: 0.733689 m/s, LOS rate: -0.174448 deg/s, posRepo size: 4 2021-02-18T02:15:14.157Z,1613614514.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:14.895Z,1613614514.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:15.316Z,1613614515.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:15:16.128Z,1613614516.128 [Micromodem](INFO): Nmea in: $SNTTA,0.034974,,,0.073775,021514.93*5B 2021-02-18T02:15:16.152Z,1613614516.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.680004 m, bearing: 38.708379 deg, deltaT: 4.392686 s, approachRate: 0.696615 m/s, LOS rate: 0.813134 deg/s, posRepo size: 4 2021-02-18T02:15:18.554Z,1613614518.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:19.337Z,1613614519.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:19.739Z,1613614519.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:15:20.564Z,1613614520.564 [Micromodem](INFO): Nmea in: $SNTTA,0.037194,,,,021519.37*42 2021-02-18T02:15:20.589Z,1613614520.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.859997 m, bearing: 28.895604 deg, deltaT: 4.553522 s, approachRate: 0.698359 m/s, LOS rate: -2.154986 deg/s, posRepo size: 4 2021-02-18T02:15:22.983Z,1613614522.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:23.793Z,1613614523.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:24.182Z,1613614524.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:15:25.020Z,1613614525.020 [Micromodem](INFO): Nmea in: $SNTTA,0.039135,,0.085324,,021523.83*57 2021-02-18T02:15:25.109Z,1613614525.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.799999 m, bearing: 20.154088 deg, deltaT: 4.326151 s, approachRate: 0.679588 m/s, LOS rate: -2.020622 deg/s, posRepo size: 4 2021-02-18T02:15:25.808Z,1613614525.808 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T02:15:27.488Z,1613614527.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:28.248Z,1613614528.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:28.650Z,1613614528.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:15:29.462Z,1613614529.462 [Micromodem](INFO): Nmea in: $SNTTA,0.041212,,,,021528.29*43 2021-02-18T02:15:29.496Z,1613614529.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.980007 m, bearing: 23.461758 deg, deltaT: 4.498221 s, approachRate: 0.706948 m/s, LOS rate: 0.735328 deg/s, posRepo size: 4 2021-02-18T02:15:31.882Z,1613614531.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:32.665Z,1613614532.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:33.074Z,1613614533.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:15:33.892Z,1613614533.892 [Micromodem](INFO): Nmea in: $SNTTA,0.043253,,,,021532.70*43 2021-02-18T02:15:33.914Z,1613614533.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.100006 m, bearing: 17.836163 deg, deltaT: 4.389793 s, approachRate: 0.710739 m/s, LOS rate: -1.281517 deg/s, posRepo size: 4 2021-02-18T02:15:36.346Z,1613614536.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:37.114Z,1613614537.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:37.515Z,1613614537.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:15:38.347Z,1613614538.347 [Micromodem](INFO): Nmea in: $SNTTA,0.045389,,,,021537.15*45 2021-02-18T02:15:38.382Z,1613614538.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.340004 m, bearing: 29.590934 deg, deltaT: 4.453979 s, approachRate: 0.727439 m/s, LOS rate: 2.639162 deg/s, posRepo size: 4 2021-02-18T02:15:40.821Z,1613614540.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:41.552Z,1613614541.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:41.957Z,1613614541.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:15:42.805Z,1613614542.805 [Micromodem](INFO): Nmea in: $SNTTA,0.047494,,,,021541.59*45 2021-02-18T02:15:42.819Z,1613614542.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.640007 m, bearing: 42.472561 deg, deltaT: 4.470549 s, approachRate: 0.738165 m/s, LOS rate: 2.881442 deg/s, posRepo size: 4 2021-02-18T02:15:45.235Z,1613614545.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:46.001Z,1613614546.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:46.402Z,1613614546.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:15:47.236Z,1613614547.236 [Micromodem](INFO): Nmea in: $SNTTA,0.049604,,,,021546.04*4F 2021-02-18T02:15:47.314Z,1613614547.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.639999 m, bearing: 24.301135 deg, deltaT: 4.397422 s, approachRate: 0.682216 m/s, LOS rate: -4.132291 deg/s, posRepo size: 4 2021-02-18T02:15:49.659Z,1613614549.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:50.440Z,1613614550.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:50.863Z,1613614550.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:15:51.668Z,1613614551.668 [Micromodem](INFO): Nmea in: $SNTTA,0.051803,,,,021550.48*40 2021-02-18T02:15:51.706Z,1613614551.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.880005 m, bearing: 26.479066 deg, deltaT: 4.488323 s, approachRate: 0.721874 m/s, LOS rate: 0.485244 deg/s, posRepo size: 4 2021-02-18T02:15:54.160Z,1613614554.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:54.884Z,1613614554.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:55.305Z,1613614555.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:15:56.128Z,1613614556.128 [Micromodem](INFO): Nmea in: $SNTTA,0.053951,,,,021554.92*47 2021-02-18T02:15:56.168Z,1613614556.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.059998 m, bearing: 27.497146 deg, deltaT: 4.399420 s, approachRate: 0.722821 m/s, LOS rate: 0.231412 deg/s, posRepo size: 4 2021-02-18T02:15:58.554Z,1613614558.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:15:59.328Z,1613614559.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:15:59.734Z,1613614559.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:00.556Z,1613614560.556 [Micromodem](INFO): Nmea in: $SNTTA,0.055829,,,,021559.36*4C 2021-02-18T02:16:00.608Z,1613614560.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.880005 m, bearing: 25.981206 deg, deltaT: 4.477581 s, approachRate: 0.629806 m/s, LOS rate: -0.338562 deg/s, posRepo size: 4 2021-02-18T02:16:02.995Z,1613614562.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:16:03.772Z,1613614563.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:16:04.179Z,1613614564.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:05.008Z,1613614565.008 [Micromodem](INFO): Nmea in: $SNTTA,0.058112,,,,021603.81*40 2021-02-18T02:16:05.041Z,1613614565.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.360008 m, bearing: 29.068414 deg, deltaT: 4.449822 s, approachRate: 0.782054 m/s, LOS rate: 0.693782 deg/s, posRepo size: 4 2021-02-18T02:16:07.450Z,1613614567.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:16:08.220Z,1613614568.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:16:08.622Z,1613614568.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:09.444Z,1613614569.444 [Micromodem](INFO): Nmea in: $SNTTA,0.060294,,,,021608.26*40 2021-02-18T02:16:09.506Z,1613614569.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.600006 m, bearing: 23.931111 deg, deltaT: 4.421721 s, approachRate: 0.732746 m/s, LOS rate: -1.161833 deg/s, posRepo size: 4 2021-02-18T02:16:11.870Z,1613614571.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:16:12.660Z,1613614572.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:16:13.079Z,1613614573.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:13.888Z,1613614573.888 [Micromodem](INFO): Nmea in: $SNTTA,0.062434,,,,021612.70*46 2021-02-18T02:16:13.925Z,1613614573.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.900002 m, bearing: 15.088402 deg, deltaT: 4.466245 s, approachRate: 0.738875 m/s, LOS rate: -1.979898 deg/s, posRepo size: 4 2021-02-18T02:16:16.360Z,1613614576.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:16:17.135Z,1613614577.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:16:17.510Z,1613614577.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:18.348Z,1613614578.348 [Micromodem](INFO): Nmea in: $SNTTA,0.064560,,,,021617.17*44 2021-02-18T02:16:18.406Z,1613614578.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.020004 m, bearing: 28.638707 deg, deltaT: 4.410280 s, approachRate: 0.707439 m/s, LOS rate: 3.072436 deg/s, posRepo size: 4 2021-02-18T02:16:20.756Z,1613614580.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:16:21.554Z,1613614581.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:16:21.953Z,1613614581.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:22.788Z,1613614582.788 [Micromodem](INFO): Nmea in: $SNTTA,0.066788,,,,021621.59*4D 2021-02-18T02:16:22.837Z,1613614582.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.380005 m, bearing: 34.326232 deg, deltaT: 4.531303 s, approachRate: 0.741509 m/s, LOS rate: 1.255163 deg/s, posRepo size: 4 2021-02-18T02:16:25.273Z,1613614585.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:16:25.997Z,1613614585.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:16:26.410Z,1613614586.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:27.228Z,1613614587.228 [Micromodem](INFO): Nmea in: $SNTTA,0.069134,,,,021626.03*4B 2021-02-18T02:16:27.302Z,1613614587.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.860008 m, bearing: 31.683438 deg, deltaT: 4.367148 s, approachRate: 0.796860 m/s, LOS rate: -0.605153 deg/s, posRepo size: 4 2021-02-18T02:16:29.660Z,1613614589.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:16:30.436Z,1613614590.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:16:30.850Z,1613614590.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:31.664Z,1613614591.664 [Micromodem](INFO): Nmea in: $SNTTA,0.071031,,,,021630.47*41 2021-02-18T02:16:31.698Z,1613614591.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.740005 m, bearing: 35.448204 deg, deltaT: 4.469172 s, approachRate: 0.644414 m/s, LOS rate: 0.842386 deg/s, posRepo size: 4 2021-02-18T02:16:34.147Z,1613614594.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:16:34.880Z,1613614594.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:16:35.286Z,1613614595.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:36.133Z,1613614596.133 [Micromodem](INFO): Nmea in: $SNTTA,0.073263,,,,021634.92*4A 2021-02-18T02:16:36.173Z,1613614596.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.160004 m, bearing: 36.171787 deg, deltaT: 4.408784 s, approachRate: 0.775724 m/s, LOS rate: 0.164123 deg/s, posRepo size: 4 2021-02-18T02:16:38.546Z,1613614598.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:16:39.328Z,1613614599.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:16:39.740Z,1613614599.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:40.556Z,1613614600.556 [Micromodem](INFO): Nmea in: $SNTTA,0.075482,,,,021639.37*47 2021-02-18T02:16:40.595Z,1613614600.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.399994 m, bearing: 34.369662 deg, deltaT: 4.459077 s, approachRate: 0.726606 m/s, LOS rate: -0.404148 deg/s, posRepo size: 4 2021-02-18T02:16:42.980Z,1613614602.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:16:43.768Z,1613614603.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:16:44.180Z,1613614604.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:45.003Z,1613614605.003 [Micromodem](INFO): Nmea in: $SNTTA,0.077702,,,,021643.80*4F 2021-02-18T02:16:45.026Z,1613614605.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.940002 m, bearing: 36.714422 deg, deltaT: 4.441077 s, approachRate: 0.797106 m/s, LOS rate: 0.527971 deg/s, posRepo size: 4 2021-02-18T02:16:47.468Z,1613614607.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:16:48.237Z,1613614608.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:16:48.618Z,1613614608.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:49.456Z,1613614609.456 [Micromodem](INFO): Nmea in: $SNTTA,0.079930,,,,021648.27*48 2021-02-18T02:16:49.509Z,1613614609.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.059998 m, bearing: 38.218334 deg, deltaT: 4.431390 s, approachRate: 0.704067 m/s, LOS rate: 0.339377 deg/s, posRepo size: 4 2021-02-18T02:16:51.889Z,1613614611.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:16:52.657Z,1613614612.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:16:53.071Z,1613614613.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:53.884Z,1613614613.884 [Micromodem](INFO): Nmea in: $SNTTA,0.082087,,,,021652.69*48 2021-02-18T02:16:53.921Z,1613614613.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.480003 m, bearing: 44.115420 deg, deltaT: 4.482987 s, approachRate: 0.762886 m/s, LOS rate: 1.315437 deg/s, posRepo size: 4 2021-02-18T02:16:56.368Z,1613614616.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:16:57.128Z,1613614617.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:16:57.506Z,1613614617.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:16:58.344Z,1613614618.344 [Micromodem](INFO): Nmea in: $SNTTA,0.084289,,,,021657.16*4F 2021-02-18T02:16:58.398Z,1613614618.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.599998 m, bearing: 45.091294 deg, deltaT: 4.404164 s, approachRate: 0.708419 m/s, LOS rate: 0.221580 deg/s, posRepo size: 4 2021-02-18T02:17:00.751Z,1613614620.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:01.544Z,1613614621.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:01.957Z,1613614621.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:17:02.776Z,1613614622.776 [Micromodem](INFO): Nmea in: $SNTTA,0.086347,,,,021701.58*46 2021-02-18T02:17:02.798Z,1613614622.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.660004 m, bearing: 45.495152 deg, deltaT: 4.483501 s, approachRate: 0.682504 m/s, LOS rate: 0.090077 deg/s, posRepo size: 4 2021-02-18T02:17:05.260Z,1613614625.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:05.989Z,1613614625.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:06.394Z,1613614626.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:17:07.228Z,1613614627.228 [Micromodem](INFO): Nmea in: $SNTTA,0.089427,,,,021706.02*40 2021-02-18T02:17:07.309Z,1613614627.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.279999 m, bearing: 44.659738 deg, deltaT: 4.400252 s, approachRate: 1.049939 m/s, LOS rate: -0.189856 deg/s, posRepo size: 4 2021-02-18T02:17:09.652Z,1613614629.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:10.439Z,1613614630.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:10.837Z,1613614630.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:17:11.667Z,1613614631.667 [Micromodem](INFO): Nmea in: $SNTTA,0.090692,,,,021710.48*4D 2021-02-18T02:17:11.701Z,1613614631.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.260010 m, bearing: 46.041216 deg, deltaT: 4.493964 s, approachRate: 0.440593 m/s, LOS rate: 0.307407 deg/s, posRepo size: 4 2021-02-18T02:17:14.151Z,1613614634.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:14.879Z,1613614634.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:15.283Z,1613614635.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:17:16.132Z,1613614636.132 [Micromodem](INFO): Nmea in: $SNTTA,0.092793,,,,021714.92*4C 2021-02-18T02:17:16.156Z,1613614636.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.440002 m, bearing: 42.304474 deg, deltaT: 4.443620 s, approachRate: 0.715631 m/s, LOS rate: -0.840923 deg/s, posRepo size: 4 2021-02-18T02:17:18.546Z,1613614638.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:19.325Z,1613614639.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:19.735Z,1613614639.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:17:20.556Z,1613614640.556 [Micromodem](INFO): Nmea in: $SNTTA,0.095052,,,,021719.36*42 2021-02-18T02:17:20.594Z,1613614640.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.679993 m, bearing: 40.343134 deg, deltaT: 4.420041 s, approachRate: 0.733023 m/s, LOS rate: -0.443738 deg/s, posRepo size: 4 2021-02-18T02:17:22.981Z,1613614642.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:23.769Z,1613614643.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:24.177Z,1613614644.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:17:25.003Z,1613614645.003 [Micromodem](INFO): Nmea in: $SNTTA,0.097499,,,,021723.81*46 2021-02-18T02:17:25.025Z,1613614645.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.340012 m, bearing: 44.905840 deg, deltaT: 4.447139 s, approachRate: 0.823005 m/s, LOS rate: 1.025987 deg/s, posRepo size: 4 2021-02-18T02:17:27.449Z,1613614647.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:28.212Z,1613614648.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:28.615Z,1613614648.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:17:29.448Z,1613614649.448 [Micromodem](INFO): Nmea in: $SNTTA,0.099410,,,,021728.25*4C 2021-02-18T02:17:29.515Z,1613614649.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.279999 m, bearing: 41.316825 deg, deltaT: 4.432928 s, approachRate: 0.663216 m/s, LOS rate: -0.809626 deg/s, posRepo size: 4 2021-02-18T02:17:31.877Z,1613614651.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:32.655Z,1613614652.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:33.077Z,1613614653.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:17:33.880Z,1613614653.880 [Micromodem](INFO): Nmea in: $SNTTA,0.101623,,,,021732.69*4D 2021-02-18T02:17:33.926Z,1613614653.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.640015 m, bearing: 43.664822 deg, deltaT: 4.464690 s, approachRate: 0.752575 m/s, LOS rate: 0.525904 deg/s, posRepo size: 4 2021-02-18T02:17:33.927Z,1613614653.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.64 m. Resuming terminal guidance. 2021-02-18T02:17:33.931Z,1613614653.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T02:17:36.333Z,1613614656.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:37.116Z,1613614657.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:37.501Z,1613614657.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:17:38.352Z,1613614658.352 [Micromodem](INFO): Nmea in: $SNTTA,0.103830,,,,021737.15*4D 2021-02-18T02:17:38.386Z,1613614658.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.640015 m, bearing: 43.228318 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T02:17:38.386Z,1613614658.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 43.228318deg and heading rate command to 0 deg/s. 2021-02-18T02:17:40.763Z,1613614660.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:41.546Z,1613614661.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:41.945Z,1613614661.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:17:42.768Z,1613614662.768 [Micromodem](INFO): Nmea in: $SNTTA,0.105944,,,,021741.58*41 2021-02-18T02:17:42.816Z,1613614662.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.120010 m, bearing: 40.270225 deg, deltaT: 4.468874 s, approachRate: 1.450029 m/s, LOS rate: -0.661933 deg/s, posRepo size: 2 2021-02-18T02:17:42.818Z,1613614662.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.120010 m, bearing: 40.270225 deg, approachRate: 1.450029 m/s, LOS rate: -0.661933 deg/s, cmd update: -2.647731 deg/s, cmd heading: 43.228318 deg, new cmd heading: 43.228318 deg. 2021-02-18T02:17:45.204Z,1613614665.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:45.983Z,1613614665.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:46.389Z,1613614666.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:17:47.228Z,1613614667.228 [Micromodem](INFO): Nmea in: $SNTTA,0.108039,,,,021746.02*47 2021-02-18T02:17:47.299Z,1613614667.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.239990 m, bearing: 26.838726 deg, deltaT: 4.422890 s, approachRate: 0.705417 m/s, LOS rate: -3.036815 deg/s, posRepo size: 3 2021-02-18T02:17:47.301Z,1613614667.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.239990 m, bearing: 26.838726 deg, approachRate: 0.705417 m/s, LOS rate: -3.036815 deg/s, cmd update: -12.000000 deg/s, cmd heading: 31.547845 deg, new cmd heading: 30.284250 deg. 2021-02-18T02:17:49.680Z,1613614669.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:50.433Z,1613614670.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:50.835Z,1613614670.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:17:51.660Z,1613614671.660 [Micromodem](INFO): Nmea in: $SNTTA,0.110070,,,,021750.47*45 2021-02-18T02:17:51.694Z,1613614671.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.360001 m, bearing: 349.721149 deg, deltaT: 4.490015 s, approachRate: 0.694878 m/s, LOS rate: -8.266696 deg/s, posRepo size: 4 2021-02-18T02:17:51.696Z,1613614671.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.360001 m, bearing: 349.721149 deg, approachRate: 0.694878 m/s, LOS rate: -8.266696 deg/s, cmd update: -12.000000 deg/s, cmd heading: 337.519955 deg, new cmd heading: 333.028775 deg. 2021-02-18T02:17:54.134Z,1613614674.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:54.872Z,1613614674.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:55.284Z,1613614675.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:17:56.124Z,1613614676.124 [Micromodem](INFO): Nmea in: $SNTTA,0.111885,,,,021754.91*49 2021-02-18T02:17:56.172Z,1613614676.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.000000 m, bearing: 4.596865 deg, deltaT: 4.379752 s, approachRate: 0.602774 m/s, LOS rate: 3.396472 deg/s, posRepo size: 4 2021-02-18T02:17:56.174Z,1613614676.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.000000 m, bearing: 4.596865 deg, approachRate: 0.602774 m/s, LOS rate: 3.396472 deg/s, cmd update: 12.000000 deg/s, cmd heading: 284.926366 deg, new cmd heading: 279.288238 deg. 2021-02-18T02:17:58.549Z,1613614678.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:17:59.321Z,1613614679.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:17:59.729Z,1613614679.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:00.548Z,1613614680.548 [Micromodem](INFO): Nmea in: $SNTTA,0.113288,,,,021759.36*4C 2021-02-18T02:18:00.586Z,1613614680.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.000000 m, bearing: 335.035751 deg, deltaT: 4.480655 s, approachRate: 0.000000 m/s, LOS rate: -6.597496 deg/s, posRepo size: 4 2021-02-18T02:18:00.588Z,1613614680.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.000000 m, bearing: 335.035751 deg, approachRate: 0.000000 m/s, LOS rate: -6.597496 deg/s, cmd update: -12.000000 deg/s, cmd heading: 338.607755 deg, new cmd heading: 343.528775 deg. 2021-02-18T02:18:02.980Z,1613614682.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:18:03.765Z,1613614683.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:18:04.166Z,1613614684.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:05.008Z,1613614685.008 [Micromodem](INFO): Nmea in: $SNTTA,0.114020,,,,021803.80*46 2021-02-18T02:18:05.130Z,1613614685.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.000000 m, bearing: 294.475191 deg, deltaT: 4.438645 s, approachRate: 0.000000 m/s, LOS rate: -9.138049 deg/s, posRepo size: 4 2021-02-18T02:18:05.132Z,1613614685.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.000000 m, bearing: 294.475191 deg, approachRate: 0.000000 m/s, LOS rate: -9.138049 deg/s, cmd update: -12.000000 deg/s, cmd heading: 285.246081 deg, new cmd heading: 279.157233 deg. 2021-02-18T02:18:07.444Z,1613614687.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:18:08.210Z,1613614688.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:18:08.609Z,1613614688.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:09.436Z,1613614689.436 [Micromodem](INFO): Nmea in: $SNTTA,0.114509,,,,021808.25*4C 2021-02-18T02:18:09.494Z,1613614689.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.000000 m, bearing: 286.856006 deg, deltaT: 4.409850 s, approachRate: 0.000000 m/s, LOS rate: -1.727765 deg/s, posRepo size: 4 2021-02-18T02:18:09.500Z,1613614689.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.000000 m, bearing: 286.856006 deg, approachRate: 0.000000 m/s, LOS rate: -1.727765 deg/s, cmd update: -6.911061 deg/s, cmd heading: 232.342699 deg, new cmd heading: 226.797595 deg. 2021-02-18T02:18:11.871Z,1613614691.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:18:12.649Z,1613614692.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:18:13.081Z,1613614693.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:13.880Z,1613614693.880 [Micromodem](INFO): Nmea in: $SNTTA,0.114286,,,,021812.69*4F 2021-02-18T02:18:13.902Z,1613614693.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.000000 m, bearing: 305.954991 deg, deltaT: 4.478764 s, approachRate: 0.000000 m/s, LOS rate: 4.264343 deg/s, posRepo size: 4 2021-02-18T02:18:13.924Z,1613614693.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.000000 m, bearing: 305.954991 deg, approachRate: 0.000000 m/s, LOS rate: 4.264343 deg/s, cmd update: 12.000000 deg/s, cmd heading: 201.410298 deg, new cmd heading: 198.681604 deg. 2021-02-18T02:18:16.331Z,1613614696.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:18:17.133Z,1613614697.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:18:17.540Z,1613614697.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:18.369Z,1613614698.369 [Micromodem](INFO): Nmea in: $SNTTA,0.113370,,0.116159,,021817.17*59 2021-02-18T02:18:18.422Z,1613614698.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.920013 m, bearing: 214.091542 deg, deltaT: 4.463978 s, approachRate: 0.430113 m/s, LOS rate: -20.578831 deg/s, posRepo size: 4 2021-02-18T02:18:18.423Z,1613614698.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.578831 deg/s. Setting heading cmd to target bearing of 214.091542deg and heading rate command to 0 deg/s. 2021-02-18T02:18:20.784Z,1613614700.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:18:21.576Z,1613614701.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:18:21.990Z,1613614701.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:22.804Z,1613614702.804 [Micromodem](INFO): Nmea in: $SNTTA,0.112121,,,,021821.61*4F 2021-02-18T02:18:22.845Z,1613614702.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.920013 m, bearing: 219.212572 deg, deltaT: 4.463411 s, approachRate: 0.000000 m/s, LOS rate: 1.147335 deg/s, posRepo size: 4 2021-02-18T02:18:22.847Z,1613614702.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.920013 m, bearing: 219.212572 deg, approachRate: 0.000000 m/s, LOS rate: 1.147335 deg/s, cmd update: 4.589342 deg/s, cmd heading: 214.091542 deg, new cmd heading: 214.091542 deg. 2021-02-18T02:18:25.297Z,1613614705.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:18:26.020Z,1613614706.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:18:26.459Z,1613614706.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:27.284Z,1613614707.284 [Micromodem](INFO): Nmea in: $SNTTA,0.110517,,,0.113032,021826.06*56 2021-02-18T02:18:27.338Z,1613614707.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.479996 m, bearing: 212.356647 deg, deltaT: 4.440745 s, approachRate: -0.999836 m/s, LOS rate: -1.543868 deg/s, posRepo size: 4 2021-02-18T02:18:27.341Z,1613614707.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.479996 m, bearing: 212.356647 deg, approachRate: -0.999836 m/s, LOS rate: -1.543868 deg/s, cmd update: -6.175473 deg/s, cmd heading: 234.471644 deg, new cmd heading: 236.574935 deg. 2021-02-18T02:18:29.681Z,1613614709.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:18:30.469Z,1613614710.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:18:30.881Z,1613614710.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:31.696Z,1613614711.696 [Micromodem](INFO): Nmea in: $SNTTA,0.108657,,,,021830.51*41 2021-02-18T02:18:31.730Z,1613614711.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.599991 m, bearing: 212.466531 deg, deltaT: 4.467782 s, approachRate: -0.644616 m/s, LOS rate: 0.024595 deg/s, posRepo size: 4 2021-02-18T02:18:31.732Z,1613614711.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.599991 m, bearing: 212.466531 deg, approachRate: -0.644616 m/s, LOS rate: 0.024595 deg/s, cmd update: 0.098379 deg/s, cmd heading: 206.930540 deg, new cmd heading: 204.519110 deg. 2021-02-18T02:18:34.199Z,1613614714.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:18:34.912Z,1613614714.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:18:35.315Z,1613614715.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:36.140Z,1613614716.140 [Micromodem](INFO): Nmea in: $SNTTA,0.106401,,,,021834.95*42 2021-02-18T02:18:36.179Z,1613614716.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.360001 m, bearing: 215.603309 deg, deltaT: 4.414258 s, approachRate: -0.733983 m/s, LOS rate: 0.710601 deg/s, posRepo size: 4 2021-02-18T02:18:36.181Z,1613614716.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.360001 m, bearing: 215.603309 deg, approachRate: -0.733983 m/s, LOS rate: 0.710601 deg/s, cmd update: 2.842406 deg/s, cmd heading: 207.365185 deg, new cmd heading: 207.406677 deg. 2021-02-18T02:18:38.577Z,1613614718.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:18:39.357Z,1613614719.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:18:39.761Z,1613614719.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:40.591Z,1613614720.591 [Micromodem](INFO): Nmea in: $SNTTA,0.104234,,,,021839.39*4B 2021-02-18T02:18:40.616Z,1613614720.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.180008 m, bearing: 214.350816 deg, deltaT: 4.446651 s, approachRate: -0.715143 m/s, LOS rate: -0.281671 deg/s, posRepo size: 4 2021-02-18T02:18:40.617Z,1613614720.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.180008 m, bearing: 214.350816 deg, approachRate: -0.715143 m/s, LOS rate: -0.281671 deg/s, cmd update: -1.126684 deg/s, cmd heading: 220.015030 deg, new cmd heading: 221.173012 deg. 2021-02-18T02:18:43.010Z,1613614723.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:18:43.813Z,1613614723.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:18:44.208Z,1613614724.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:45.040Z,1613614725.040 [Micromodem](INFO): Nmea in: $SNTTA,0.101949,,,,021843.85*45 2021-02-18T02:18:45.066Z,1613614725.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.699997 m, bearing: 215.733588 deg, deltaT: 4.433330 s, approachRate: -0.784965 m/s, LOS rate: 0.311904 deg/s, posRepo size: 4 2021-02-18T02:18:45.068Z,1613614725.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.699997 m, bearing: 215.733588 deg, approachRate: -0.784965 m/s, LOS rate: 0.311904 deg/s, cmd update: 1.247615 deg/s, cmd heading: 215.019773 deg, new cmd heading: 214.541233 deg. 2021-02-18T02:18:47.512Z,1613614727.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:18:48.266Z,1613614728.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:18:48.647Z,1613614728.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:49.488Z,1613614729.488 [Micromodem](INFO): Nmea in: $SNTTA,0.099759,,,,021848.30*4F 2021-02-18T02:18:49.543Z,1613614729.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.460007 m, bearing: 215.195738 deg, deltaT: 4.473009 s, approachRate: -0.724342 m/s, LOS rate: -0.120243 deg/s, posRepo size: 4 2021-02-18T02:18:49.545Z,1613614729.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.460007 m, bearing: 215.195738 deg, approachRate: -0.724342 m/s, LOS rate: -0.120243 deg/s, cmd update: -0.480974 deg/s, cmd heading: 220.568540 deg, new cmd heading: 221.134589 deg. 2021-02-18T02:18:51.898Z,1613614731.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:18:52.690Z,1613614732.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:18:53.121Z,1613614733.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:53.916Z,1613614733.916 [Micromodem](INFO): Nmea in: $SNTTA,0.097499,,,,021852.73*42 2021-02-18T02:18:53.957Z,1613614733.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.979996 m, bearing: 214.749904 deg, deltaT: 4.427406 s, approachRate: -0.786016 m/s, LOS rate: -0.100699 deg/s, posRepo size: 4 2021-02-18T02:18:53.958Z,1613614733.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.979996 m, bearing: 214.749904 deg, approachRate: -0.786016 m/s, LOS rate: -0.100699 deg/s, cmd update: -0.402795 deg/s, cmd heading: 218.426711 deg, new cmd heading: 218.227366 deg. 2021-02-18T02:18:56.367Z,1613614736.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:18:57.130Z,1613614737.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:18:57.549Z,1613614737.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:18:58.356Z,1613614738.356 [Micromodem](INFO): Nmea in: $SNTTA,0.095543,,,,021857.17*41 2021-02-18T02:18:58.412Z,1613614738.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.160004 m, bearing: 217.100377 deg, deltaT: 4.453102 s, approachRate: -0.633265 m/s, LOS rate: 0.527828 deg/s, posRepo size: 4 2021-02-18T02:18:58.414Z,1613614738.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.160004 m, bearing: 217.100377 deg, approachRate: -0.633265 m/s, LOS rate: 0.527828 deg/s, cmd update: 2.111313 deg/s, cmd heading: 216.634814 deg, new cmd heading: 216.465169 deg. 2021-02-18T02:19:00.803Z,1613614740.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:01.575Z,1613614741.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:19:01.990Z,1613614741.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:19:02.797Z,1613614742.797 [Micromodem](INFO): Nmea in: $SNTTA,0.093076,,,,021901.61*47 2021-02-18T02:19:03.617Z,1613614743.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:05.211Z,1613614745.211 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:19:06.478Z,1613614746.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:07.260Z,1613614747.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:19:07.634Z,1613614747.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:19:08.472Z,1613614748.472 [Micromodem](INFO): Nmea in: $SNTTA,0.090331,,,,021907.30*46 2021-02-18T02:19:08.524Z,1613614748.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.240005 m, bearing: 214.601238 deg, deltaT: 10.086124 s, approachRate: -0.785237 m/s, LOS rate: -0.247780 deg/s, posRepo size: 4 2021-02-18T02:19:08.526Z,1613614748.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.240005 m, bearing: 214.601238 deg, approachRate: -0.785237 m/s, LOS rate: -0.247780 deg/s, cmd update: -0.991120 deg/s, cmd heading: 237.899233 deg, new cmd heading: 238.874812 deg. 2021-02-18T02:19:10.880Z,1613614750.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:11.675Z,1613614751.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:19:12.110Z,1613614752.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:19:12.904Z,1613614752.904 [Micromodem](INFO): Nmea in: $SNTTA,0.088346,,,,021911.71*4D 2021-02-18T02:19:12.966Z,1613614752.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.120010 m, bearing: 212.618612 deg, deltaT: 4.444640 s, approachRate: -0.701968 m/s, LOS rate: -0.446071 deg/s, posRepo size: 4 2021-02-18T02:19:12.972Z,1613614752.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.120010 m, bearing: 212.618612 deg, approachRate: -0.701968 m/s, LOS rate: -0.446071 deg/s, cmd update: -1.784285 deg/s, cmd heading: 233.491463 deg, new cmd heading: 233.039250 deg. 2021-02-18T02:19:15.362Z,1613614755.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:16.127Z,1613614756.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:19:16.553Z,1613614756.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:19:17.356Z,1613614757.356 [Micromodem](INFO): Nmea in: $SNTTA,0.086130,,,,021916.16*46 2021-02-18T02:19:17.415Z,1613614757.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.820007 m, bearing: 212.207434 deg, deltaT: 4.421032 s, approachRate: -0.746433 m/s, LOS rate: -0.093005 deg/s, posRepo size: 4 2021-02-18T02:19:17.417Z,1613614757.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.820007 m, bearing: 212.207434 deg, approachRate: -0.746433 m/s, LOS rate: -0.093005 deg/s, cmd update: -0.372019 deg/s, cmd heading: 225.574750 deg, new cmd heading: 224.739137 deg. 2021-02-18T02:19:19.803Z,1613614759.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:20.568Z,1613614760.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:19:20.975Z,1613614760.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:19:21.796Z,1613614761.796 [Micromodem](INFO): Nmea in: $SNTTA,0.083756,,,,021920.61*40 2021-02-18T02:19:21.811Z,1613614761.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.459999 m, bearing: 214.230386 deg, deltaT: 4.471935 s, approachRate: -0.751354 m/s, LOS rate: 0.452366 deg/s, posRepo size: 4 2021-02-18T02:19:21.813Z,1613614761.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.459999 m, bearing: 214.230386 deg, approachRate: -0.751354 m/s, LOS rate: 0.452366 deg/s, cmd update: 1.809464 deg/s, cmd heading: 223.910967 deg, new cmd heading: 223.765184 deg. 2021-02-18T02:19:22.605Z,1613614762.605 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:19:24.290Z,1613614764.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:25.021Z,1613614765.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:19:25.435Z,1613614765.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:19:26.272Z,1613614766.272 [Micromodem](INFO): Nmea in: $SNTTA,0.081450,,,,021925.06*43 2021-02-18T02:19:26.320Z,1613614766.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.099998 m, bearing: 214.435770 deg, deltaT: 4.424338 s, approachRate: -0.759436 m/s, LOS rate: 0.046421 deg/s, posRepo size: 4 2021-02-18T02:19:26.322Z,1613614766.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.099998 m, bearing: 214.435770 deg, approachRate: -0.759436 m/s, LOS rate: 0.046421 deg/s, cmd update: 0.185685 deg/s, cmd heading: 231.916519 deg, new cmd heading: 232.778586 deg. 2021-02-18T02:19:28.362Z,1613614768.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:29.093Z,1613614769.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:19:29.462Z,1613614769.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:19:30.300Z,1613614770.300 [Micromodem](INFO): Nmea in: $SNTTA,0.079324,,,,021929.13*48 2021-02-18T02:19:30.383Z,1613614770.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.800003 m, bearing: 213.008410 deg, deltaT: 4.038068 s, approachRate: -0.817221 m/s, LOS rate: -0.353476 deg/s, posRepo size: 4 2021-02-18T02:19:30.385Z,1613614770.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.800003 m, bearing: 213.008410 deg, approachRate: -0.817221 m/s, LOS rate: -0.353476 deg/s, cmd update: -1.413903 deg/s, cmd heading: 232.666325 deg, new cmd heading: 232.758788 deg. 2021-02-18T02:19:32.716Z,1613614772.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:33.497Z,1613614773.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:19:33.911Z,1613614773.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:19:34.724Z,1613614774.724 [Micromodem](INFO): Nmea in: $SNTTA,0.077213,,,,021933.53*4C 2021-02-18T02:19:34.758Z,1613614774.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.500000 m, bearing: 211.752093 deg, deltaT: 4.470426 s, approachRate: -0.738185 m/s, LOS rate: -0.281029 deg/s, posRepo size: 4 2021-02-18T02:19:34.760Z,1613614774.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.500000 m, bearing: 211.752093 deg, approachRate: -0.738185 m/s, LOS rate: -0.281029 deg/s, cmd update: -1.124114 deg/s, cmd heading: 226.345853 deg, new cmd heading: 225.770697 deg. 2021-02-18T02:19:37.165Z,1613614777.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:37.969Z,1613614777.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:19:38.347Z,1613614778.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:19:39.192Z,1613614779.192 [Micromodem](INFO): Nmea in: $SNTTA,0.075060,,,,021938.01*44 2021-02-18T02:19:39.272Z,1613614779.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.379997 m, bearing: 212.676750 deg, deltaT: 4.413705 s, approachRate: -0.706890 m/s, LOS rate: 0.209497 deg/s, posRepo size: 4 2021-02-18T02:19:39.274Z,1613614779.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.379997 m, bearing: 212.676750 deg, approachRate: -0.706890 m/s, LOS rate: 0.209497 deg/s, cmd update: 0.837987 deg/s, cmd heading: 221.383953 deg, new cmd heading: 220.814032 deg. 2021-02-18T02:19:41.305Z,1613614781.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:42.107Z,1613614782.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:19:42.451Z,1613614782.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:19:43.330Z,1613614783.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.379997 m, bearing: 214.137577 deg, deltaT: 4.091105 s, approachRate: 0.000000 m/s, LOS rate: 0.357074 deg/s, posRepo size: 4 2021-02-18T02:19:43.332Z,1613614783.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.379997 m, bearing: 214.137577 deg, approachRate: 0.000000 m/s, LOS rate: 0.357074 deg/s, cmd update: 1.428296 deg/s, cmd heading: 224.811106 deg, new cmd heading: 225.209156 deg. 2021-02-18T02:19:43.640Z,1613614783.640 [Micromodem](INFO): Nmea in: $SNTTA,0.073028,,,,021942.15*46 2021-02-18T02:19:45.672Z,1613614785.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:46.449Z,1613614786.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:19:46.854Z,1613614786.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:19:47.676Z,1613614787.676 [Micromodem](INFO): Nmea in: $SNTTA,0.070670,,,,021946.48*42 2021-02-18T02:19:47.722Z,1613614787.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.840004 m, bearing: 212.380907 deg, deltaT: 4.494967 s, approachRate: -1.454959 m/s, LOS rate: -0.390808 deg/s, posRepo size: 4 2021-02-18T02:19:47.728Z,1613614787.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.840004 m, bearing: 212.380907 deg, approachRate: -1.454959 m/s, LOS rate: -0.390808 deg/s, cmd update: -1.563233 deg/s, cmd heading: 231.227320 deg, new cmd heading: 231.762435 deg. 2021-02-18T02:19:50.154Z,1613614790.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:50.897Z,1613614790.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:19:51.298Z,1613614791.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:19:52.132Z,1613614792.132 [Micromodem](INFO): Nmea in: $SNTTA,0.068437,,,,021950.93*4B 2021-02-18T02:19:52.176Z,1613614792.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.479996 m, bearing: 211.139138 deg, deltaT: 4.363643 s, approachRate: -0.770001 m/s, LOS rate: -0.284572 deg/s, posRepo size: 4 2021-02-18T02:19:52.178Z,1613614792.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.479996 m, bearing: 211.139138 deg, approachRate: -0.770001 m/s, LOS rate: -0.284572 deg/s, cmd update: -1.138287 deg/s, cmd heading: 224.399578 deg, new cmd heading: 223.710583 deg. 2021-02-18T02:19:54.623Z,1613614794.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:55.425Z,1613614795.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:19:55.789Z,1613614795.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:19:56.634Z,1613614796.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.000000 m, bearing: 212.774873 deg, deltaT: 4.498968 s, approachRate: -0.773510 m/s, LOS rate: 0.363580 deg/s, posRepo size: 4 2021-02-18T02:19:56.637Z,1613614796.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.000000 m, bearing: 212.774873 deg, approachRate: -0.773510 m/s, LOS rate: 0.363580 deg/s, cmd update: 1.454320 deg/s, cmd heading: 219.278627 deg, new cmd heading: 218.800094 deg. 2021-02-18T02:19:56.972Z,1613614796.972 [Micromodem](INFO): Nmea in: $SNTTA,0.066318,,,,021955.46*42 2021-02-18T02:19:59.022Z,1613614799.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:19:59.782Z,1613614799.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:00.201Z,1613614800.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:01.012Z,1613614801.012 [Micromodem](INFO): Nmea in: $SNTTA,0.063938,,,0.066426,021959.82*55 2021-02-18T02:20:01.052Z,1613614801.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.760002 m, bearing: 214.117483 deg, deltaT: 4.426305 s, approachRate: -0.731987 m/s, LOS rate: 0.303325 deg/s, posRepo size: 4 2021-02-18T02:20:01.057Z,1613614801.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.760002 m, bearing: 214.117483 deg, approachRate: -0.731987 m/s, LOS rate: 0.303325 deg/s, cmd update: 1.213301 deg/s, cmd heading: 225.703535 deg, new cmd heading: 226.313788 deg. 2021-02-18T02:20:03.461Z,1613614803.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:20:04.239Z,1613614804.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:04.630Z,1613614804.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:05.460Z,1613614805.460 [Micromodem](INFO): Nmea in: $SNTTA,0.061697,,,,022004.27*4E 2021-02-18T02:20:05.512Z,1613614805.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.400002 m, bearing: 212.089436 deg, deltaT: 4.406709 s, approachRate: -0.762474 m/s, LOS rate: -0.460218 deg/s, posRepo size: 4 2021-02-18T02:20:05.513Z,1613614805.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.400002 m, bearing: 212.089436 deg, approachRate: -0.762474 m/s, LOS rate: -0.460218 deg/s, cmd update: -1.840872 deg/s, cmd heading: 231.060719 deg, new cmd heading: 231.624100 deg. 2021-02-18T02:20:07.586Z,1613614807.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:20:08.294Z,1613614808.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:08.755Z,1613614808.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:09.524Z,1613614809.524 [Micromodem](INFO): Nmea in: $SNTTA,0.059850,,,,022008.33*49 2021-02-18T02:20:09.571Z,1613614809.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.400002 m, bearing: 209.806104 deg, deltaT: 4.130552 s, approachRate: -0.726295 m/s, LOS rate: -0.552791 deg/s, posRepo size: 4 2021-02-18T02:20:09.574Z,1613614809.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.400002 m, bearing: 209.806104 deg, approachRate: -0.726295 m/s, LOS rate: -0.552791 deg/s, cmd update: -2.211164 deg/s, cmd heading: 223.456829 deg, new cmd heading: 222.733552 deg. 2021-02-18T02:20:11.918Z,1613614811.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:20:12.708Z,1613614812.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:13.127Z,1613614813.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:13.936Z,1613614813.936 [Micromodem](INFO): Nmea in: $SNTTA,0.057438,,,,022012.75*4C 2021-02-18T02:20:13.974Z,1613614813.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.979996 m, bearing: 210.678196 deg, deltaT: 4.382516 s, approachRate: -0.780375 m/s, LOS rate: 0.198994 deg/s, posRepo size: 4 2021-02-18T02:20:13.976Z,1613614813.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.979996 m, bearing: 210.678196 deg, approachRate: -0.780375 m/s, LOS rate: 0.198994 deg/s, cmd update: 0.795974 deg/s, cmd heading: 213.766928 deg, new cmd heading: 212.852408 deg. 2021-02-18T02:20:16.398Z,1613614816.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:20:17.154Z,1613614817.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:17.558Z,1613614817.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:18.384Z,1613614818.384 [Micromodem](INFO): Nmea in: $SNTTA,0.055449,,,,022017.19*47 2021-02-18T02:20:18.438Z,1613614818.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.980003 m, bearing: 213.603019 deg, deltaT: 4.457654 s, approachRate: -0.672998 m/s, LOS rate: 0.656135 deg/s, posRepo size: 4 2021-02-18T02:20:18.440Z,1613614818.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.980003 m, bearing: 213.603019 deg, approachRate: -0.672998 m/s, LOS rate: 0.656135 deg/s, cmd update: 2.624541 deg/s, cmd heading: 217.312048 deg, new cmd heading: 217.649755 deg. 2021-02-18T02:20:20.804Z,1613614820.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:20:21.625Z,1613614821.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:22.101Z,1613614822.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:22.852Z,1613614822.852 [Micromodem](INFO): Nmea in: $SNTTA,0.053014,,,,022021.66*40 2021-02-18T02:20:22.867Z,1613614822.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.320007 m, bearing: 211.874476 deg, deltaT: 4.479940 s, approachRate: -0.816974 m/s, LOS rate: -0.385841 deg/s, posRepo size: 4 2021-02-18T02:20:22.869Z,1613614822.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.320007 m, bearing: 211.874476 deg, approachRate: -0.816974 m/s, LOS rate: -0.385841 deg/s, cmd update: -1.543363 deg/s, cmd heading: 229.070091 deg, new cmd heading: 230.049228 deg. 2021-02-18T02:20:25.304Z,1613614825.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:20:26.048Z,1613614826.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:26.446Z,1613614826.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:27.284Z,1613614827.284 [Micromodem](INFO): Nmea in: $SNTTA,0.051100,,,,022026.08*49 2021-02-18T02:20:27.338Z,1613614827.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.320000 m, bearing: 209.257708 deg, deltaT: 4.365081 s, approachRate: -0.687274 m/s, LOS rate: -0.599478 deg/s, posRepo size: 4 2021-02-18T02:20:27.356Z,1613614827.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.320000 m, bearing: 209.257708 deg, approachRate: -0.687274 m/s, LOS rate: -0.599478 deg/s, cmd update: -2.397911 deg/s, cmd heading: 222.327376 deg, new cmd heading: 221.593800 deg. 2021-02-18T02:20:29.699Z,1613614829.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:20:30.486Z,1613614830.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:30.890Z,1613614830.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:31.724Z,1613614831.724 [Micromodem](INFO): Nmea in: $SNTTA,0.049050,,,,022030.52*4C 2021-02-18T02:20:31.774Z,1613614831.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.080002 m, bearing: 211.244214 deg, deltaT: 4.484488 s, approachRate: -0.722490 m/s, LOS rate: 0.442973 deg/s, posRepo size: 4 2021-02-18T02:20:31.776Z,1613614831.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.080002 m, bearing: 211.244214 deg, approachRate: -0.722490 m/s, LOS rate: 0.442973 deg/s, cmd update: 1.771891 deg/s, cmd heading: 211.573502 deg, new cmd heading: 210.551318 deg. 2021-02-18T02:20:34.171Z,1613614834.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:20:35.059Z,1613614835.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:35.419Z,1613614835.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:36.190Z,1613614836.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.659996 m, bearing: 212.252295 deg, deltaT: 4.458346 s, approachRate: -0.767102 m/s, LOS rate: 0.226111 deg/s, posRepo size: 4 2021-02-18T02:20:36.192Z,1613614836.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.659996 m, bearing: 212.252295 deg, approachRate: -0.767102 m/s, LOS rate: 0.226111 deg/s, cmd update: 0.904444 deg/s, cmd heading: 219.472930 deg, new cmd heading: 220.154380 deg. 2021-02-18T02:20:36.572Z,1613614836.572 [Micromodem](INFO): Nmea in: $SNTTA,0.046567,,,,022035.10*41 2021-02-18T02:20:38.609Z,1613614838.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:20:39.374Z,1613614839.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:39.778Z,1613614839.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:40.604Z,1613614840.604 [Micromodem](INFO): Nmea in: $SNTTA,0.044385,,,0.075956,022039.41*57 2021-02-18T02:20:40.653Z,1613614840.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.480003 m, bearing: 212.902119 deg, deltaT: 4.472589 s, approachRate: -0.710996 m/s, LOS rate: 0.145290 deg/s, posRepo size: 4 2021-02-18T02:20:40.659Z,1613614840.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.480003 m, bearing: 212.902119 deg, approachRate: -0.710996 m/s, LOS rate: 0.145290 deg/s, cmd update: 0.581162 deg/s, cmd heading: 223.514546 deg, new cmd heading: 223.857209 deg. 2021-02-18T02:20:43.054Z,1613614843.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:20:43.817Z,1613614843.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:44.259Z,1613614844.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:45.048Z,1613614845.048 [Micromodem](INFO): Nmea in: $SNTTA,0.041988,,0.049000,,022043.85*55 2021-02-18T02:20:45.128Z,1613614845.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.820007 m, bearing: 210.483754 deg, deltaT: 4.360361 s, approachRate: -0.839379 m/s, LOS rate: -0.554625 deg/s, posRepo size: 4 2021-02-18T02:20:45.130Z,1613614845.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.820007 m, bearing: 210.483754 deg, approachRate: -0.839379 m/s, LOS rate: -0.554625 deg/s, cmd update: -2.218500 deg/s, cmd heading: 226.051008 deg, new cmd heading: 226.332873 deg. 2021-02-18T02:20:47.512Z,1613614847.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:20:48.394Z,1613614848.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:48.680Z,1613614848.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:49.550Z,1613614849.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.579998 m, bearing: 208.913931 deg, deltaT: 4.517687 s, approachRate: -0.717183 m/s, LOS rate: -0.347484 deg/s, posRepo size: 4 2021-02-18T02:20:49.554Z,1613614849.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.579998 m, bearing: 208.913931 deg, approachRate: -0.717183 m/s, LOS rate: -0.347484 deg/s, cmd update: -1.389935 deg/s, cmd heading: 216.046814 deg, new cmd heading: 215.160066 deg. 2021-02-18T02:20:49.896Z,1613614849.896 [Micromodem](INFO): Nmea in: $SNTTA,0.039981,,,,022048.43*41 2021-02-18T02:20:51.921Z,1613614851.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:20:52.704Z,1613614852.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:53.126Z,1613614853.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:53.932Z,1613614853.932 [Micromodem](INFO): Nmea in: $SNTTA,0.037661,,,,022052.74*41 2021-02-18T02:20:53.963Z,1613614853.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.279999 m, bearing: 211.074278 deg, deltaT: 4.397794 s, approachRate: -0.750376 m/s, LOS rate: 0.491234 deg/s, posRepo size: 4 2021-02-18T02:20:53.965Z,1613614853.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.279999 m, bearing: 211.074278 deg, approachRate: -0.750376 m/s, LOS rate: 0.491234 deg/s, cmd update: 1.964938 deg/s, cmd heading: 209.922671 deg, new cmd heading: 209.354911 deg. 2021-02-18T02:20:56.387Z,1613614856.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:20:57.157Z,1613614857.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:20:57.573Z,1613614857.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:20:58.384Z,1613614858.384 [Micromodem](INFO): Nmea in: $SNTTA,0.035738,,,,022057.19*40 2021-02-18T02:20:58.438Z,1613614858.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.159996 m, bearing: 212.527852 deg, deltaT: 4.479652 s, approachRate: -0.696483 m/s, LOS rate: 0.324484 deg/s, posRepo size: 4 2021-02-18T02:20:58.440Z,1613614858.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.159996 m, bearing: 212.527852 deg, approachRate: -0.696483 m/s, LOS rate: 0.324484 deg/s, cmd update: 1.297934 deg/s, cmd heading: 218.666450 deg, new cmd heading: 219.518551 deg. 2021-02-18T02:21:00.800Z,1613614860.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:01.662Z,1613614861.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:02.129Z,1613614862.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:21:02.858Z,1613614862.858 [Micromodem](INFO): Nmea in: $SNTTA,0.033381,0.057174,0.070856,,022101.70*41 2021-02-18T02:21:02.903Z,1613614862.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.500000 m, bearing: 209.650648 deg, deltaT: 4.456134 s, approachRate: -0.821339 m/s, LOS rate: -0.645673 deg/s, posRepo size: 4 2021-02-18T02:21:02.905Z,1613614862.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.500000 m, bearing: 209.650648 deg, approachRate: -0.821339 m/s, LOS rate: -0.645673 deg/s, cmd update: -2.582690 deg/s, cmd heading: 224.483617 deg, new cmd heading: 225.014857 deg. 2021-02-18T02:21:05.268Z,1613614865.268 [RDI_Pathfinder](ERROR): only read 1 of 4 data items 2021-02-18T02:21:05.293Z,1613614865.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:06.042Z,1613614866.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:06.465Z,1613614866.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:21:07.280Z,1613614867.280 [Micromodem](INFO): Nmea in: $SNTTA,0.031306,,,,022106.08*48 2021-02-18T02:21:07.328Z,1613614867.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.739998 m, bearing: 209.822920 deg, deltaT: 4.378954 s, approachRate: -0.630288 m/s, LOS rate: 0.039341 deg/s, posRepo size: 4 2021-02-18T02:21:07.330Z,1613614867.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.739998 m, bearing: 209.822920 deg, approachRate: -0.630288 m/s, LOS rate: 0.039341 deg/s, cmd update: 0.157363 deg/s, cmd heading: 213.163722 deg, new cmd heading: 211.979293 deg. 2021-02-18T02:21:09.708Z,1613614869.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:10.481Z,1613614870.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:10.893Z,1613614870.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:21:11.724Z,1613614871.724 [Micromodem](INFO): Nmea in: $SNTTA,0.028790,,,,022110.52*43 2021-02-18T02:21:11.746Z,1613614871.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.959999 m, bearing: 211.385585 deg, deltaT: 4.471888 s, approachRate: -0.845280 m/s, LOS rate: 0.349442 deg/s, posRepo size: 4 2021-02-18T02:21:11.748Z,1613614871.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.959999 m, bearing: 211.385585 deg, approachRate: -0.845280 m/s, LOS rate: 0.349442 deg/s, cmd update: 1.397768 deg/s, cmd heading: 213.867422 deg, new cmd heading: 213.931207 deg. 2021-02-18T02:21:14.158Z,1613614874.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:15.049Z,1613614875.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:15.370Z,1613614875.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:21:16.202Z,1613614876.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.480003 m, bearing: 211.020429 deg, deltaT: 4.445336 s, approachRate: -0.782842 m/s, LOS rate: -0.082144 deg/s, posRepo size: 4 2021-02-18T02:21:16.203Z,1613614876.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.48 m. 2021-02-18T02:21:16.206Z,1613614876.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.480003 m, bearing: 211.020429 deg, approachRate: -0.782842 m/s, LOS rate: -0.082144 deg/s, cmd update: -0.328574 deg/s, cmd heading: 220.081024 deg, new cmd heading: 220.656472 deg. 2021-02-18T02:21:16.568Z,1613614876.568 [Micromodem](INFO): Nmea in: $SNTTA,0.026449,,,,022115.09*41 2021-02-18T02:21:16.570Z,1613614876.570 [PowerOnly](INFO): Powering up loadControl 2021-02-18T02:21:18.597Z,1613614878.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:19.369Z,1613614879.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:19.786Z,1613614879.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:21:20.601Z,1613614880.601 [Micromodem](INFO): Nmea in: $SNTTA,0.024514,,,,022119.41*4A 2021-02-18T02:21:20.652Z,1613614880.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.180000 m, bearing: 210.731430 deg, deltaT: 4.474169 s, approachRate: -0.737568 m/s, LOS rate: -0.064593 deg/s, posRepo size: 4 2021-02-18T02:21:20.652Z,1613614880.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.18 m. 2021-02-18T02:21:20.652Z,1613614880.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.18 m. 2021-02-18T02:21:20.653Z,1613614880.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T02:21:20.654Z,1613614880.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.180000 m, bearing: 210.731430 deg, approachRate: -0.737568 m/s, LOS rate: -0.064593 deg/s, cmd update: -0.258371 deg/s, cmd heading: 218.611428 deg, new cmd heading: 218.482446 deg. 2021-02-18T02:21:23.021Z,1613614883.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:23.817Z,1613614883.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:24.235Z,1613614884.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:21:25.044Z,1613614885.044 [Micromodem](INFO): Nmea in: $SNTTA,0.022284,,,,022123.85*43 2021-02-18T02:21:25.103Z,1613614885.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.760002 m, bearing: 210.583188 deg, deltaT: 4.375001 s, approachRate: -0.781714 m/s, LOS rate: -0.033884 deg/s, posRepo size: 4 2021-02-18T02:21:25.114Z,1613614885.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.760002 m, bearing: 210.583188 deg, approachRate: -0.781714 m/s, LOS rate: -0.033884 deg/s, cmd update: -0.135536 deg/s, cmd heading: 217.480676 deg, new cmd heading: 217.361950 deg. 2021-02-18T02:21:27.507Z,1613614887.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:28.334Z,1613614888.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:28.755Z,1613614888.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:21:29.530Z,1613614889.530 [Micromodem](INFO): Nmea in: $SNTTA,0.020335,,,,022128.37*48 2021-02-18T02:21:29.559Z,1613614889.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.300001 m, bearing: 213.037357 deg, deltaT: 4.531384 s, approachRate: -0.542881 m/s, LOS rate: 0.541594 deg/s, posRepo size: 4 2021-02-18T02:21:29.561Z,1613614889.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.300001 m, bearing: 213.037357 deg, approachRate: -0.542881 m/s, LOS rate: 0.541594 deg/s, cmd update: 2.166375 deg/s, cmd heading: 216.867044 deg, new cmd heading: 216.813363 deg. 2021-02-18T02:21:31.909Z,1613614891.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:32.700Z,1613614892.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:33.124Z,1613614893.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:21:33.940Z,1613614893.940 [Micromodem](INFO): Nmea in: $SNTTA,0.017416,,,,022132.74*46 2021-02-18T02:21:33.962Z,1613614893.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.919998 m, bearing: 210.590483 deg, deltaT: 4.384794 s, approachRate: -0.998907 m/s, LOS rate: -0.558036 deg/s, posRepo size: 4 2021-02-18T02:21:33.964Z,1613614893.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.919998 m, bearing: 210.590483 deg, approachRate: -0.998907 m/s, LOS rate: -0.558036 deg/s, cmd update: -2.232145 deg/s, cmd heading: 226.374799 deg, new cmd heading: 227.264557 deg. 2021-02-18T02:21:36.397Z,1613614896.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:37.153Z,1613614897.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:37.558Z,1613614897.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:21:38.384Z,1613614898.384 [Micromodem](INFO): Nmea in: $SNTTA,0.015299,,,,022137.19*4B 2021-02-18T02:21:38.443Z,1613614898.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 205.817738 deg, deltaT: 4.418223 s, approachRate: -0.760486 m/s, LOS rate: -1.080241 deg/s, posRepo size: 4 2021-02-18T02:21:38.445Z,1613614898.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.560001 m, bearing: 205.817738 deg, approachRate: -0.760486 m/s, LOS rate: -1.080241 deg/s, cmd update: -4.320963 deg/s, cmd heading: 216.512665 deg, new cmd heading: 215.464795 deg. 2021-02-18T02:21:40.811Z,1613614900.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:41.610Z,1613614901.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:42.151Z,1613614902.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:21:42.908Z,1613614902.908 [Micromodem](INFO): Nmea in: $SNTTA,0.013441,,,,022141.64*45 2021-02-18T02:21:42.945Z,1613614902.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.919998 m, bearing: 206.894394 deg, deltaT: 4.584926 s, approachRate: -0.575801 m/s, LOS rate: 0.234825 deg/s, posRepo size: 4 2021-02-18T02:21:42.947Z,1613614902.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.919998 m, bearing: 206.894394 deg, approachRate: -0.575801 m/s, LOS rate: 0.234825 deg/s, cmd update: 0.939301 deg/s, cmd heading: 196.718777 deg, new cmd heading: 195.014675 deg. 2021-02-18T02:21:45.317Z,1613614905.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:46.116Z,1613614906.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:46.491Z,1613614906.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:21:47.332Z,1613614907.332 [Micromodem](INFO): Nmea in: $SNTTA,0.010857,,,,022146.15*4C 2021-02-18T02:21:47.391Z,1613614907.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.019999 m, bearing: 212.777728 deg, deltaT: 4.353885 s, approachRate: -0.895752 m/s, LOS rate: 1.351284 deg/s, posRepo size: 4 2021-02-18T02:21:47.397Z,1613614907.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.019999 m, bearing: 212.777728 deg, approachRate: -0.895752 m/s, LOS rate: 1.351284 deg/s, cmd update: 5.405135 deg/s, cmd heading: 200.812185 deg, new cmd heading: 201.264960 deg. 2021-02-18T02:21:49.737Z,1613614909.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:50.529Z,1613614910.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:50.936Z,1613614910.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:21:51.767Z,1613614911.767 [Micromodem](INFO): Nmea in: $SNTTA,0.008847,,,,022150.56*44 2021-02-18T02:21:51.786Z,1613614911.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.960001 m, bearing: 216.132443 deg, deltaT: 4.510672 s, approachRate: -0.678391 m/s, LOS rate: 0.743729 deg/s, posRepo size: 4 2021-02-18T02:21:51.788Z,1613614911.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.960001 m, bearing: 216.132443 deg, approachRate: -0.678391 m/s, LOS rate: 0.743729 deg/s, cmd update: 2.974914 deg/s, cmd heading: 225.192661 deg, new cmd heading: 227.175491 deg. 2021-02-18T02:21:54.209Z,1613614914.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:54.978Z,1613614914.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:55.502Z,1613614915.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:21:56.253Z,1613614916.253 [Micromodem](INFO): Nmea in: $SNTTA,0.006744,,,,022155.01*41 2021-02-18T02:21:56.305Z,1613614916.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.839999 m, bearing: 218.636350 deg, deltaT: 4.413585 s, approachRate: -0.706909 m/s, LOS rate: 0.567318 deg/s, posRepo size: 4 2021-02-18T02:21:56.308Z,1613614916.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.839999 m, bearing: 218.636350 deg, approachRate: -0.706909 m/s, LOS rate: 0.567318 deg/s, cmd update: 2.269272 deg/s, cmd heading: 238.311111 deg, new cmd heading: 239.729208 deg. 2021-02-18T02:21:58.634Z,1613614918.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:21:59.417Z,1613614919.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:21:59.830Z,1613614919.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:00.648Z,1613614920.648 [Micromodem](INFO): Nmea in: $SNTTA,0.004934,,,,022159.45*46 2021-02-18T02:22:00.670Z,1613614920.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.139998 m, bearing: 217.562917 deg, deltaT: 4.469269 s, approachRate: -0.604126 m/s, LOS rate: -0.240181 deg/s, posRepo size: 4 2021-02-18T02:22:00.703Z,1613614920.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.139998 m, bearing: 217.562917 deg, approachRate: -0.604126 m/s, LOS rate: -0.240181 deg/s, cmd update: -0.960723 deg/s, cmd heading: 248.462009 deg, new cmd heading: 249.297869 deg. 2021-02-18T02:22:03.150Z,1613614923.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:22:03.869Z,1613614923.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:22:04.274Z,1613614924.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:05.121Z,1613614925.121 [Micromodem](INFO): Nmea in: $SNTTA,0.003430,,0.051854,,022203.90*5F 2021-02-18T02:22:05.157Z,1613614925.157 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T02:22:05.157Z,1613614925.157 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T02:22:05.157Z,1613614925.157 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T02:22:05.157Z,1613614925.157 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T02:22:05.158Z,1613614925.158 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T02:22:05.158Z,1613614925.158 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 2021-02-18T02:22:05.158Z,1613614925.158 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T02:22:05.158Z,1613614925.158 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T02:22:05.158Z,1613614925.158 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T02:22:05.177Z,1613614925.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 218.097106 deg, deltaT: 4.402166 s, approachRate: -0.517926 m/s, LOS rate: 0.121347 deg/s, posRepo size: 4 2021-02-18T02:22:05.183Z,1613614925.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.860001 m, bearing: 218.097106 deg, approachRate: -0.517926 m/s, LOS rate: 0.121347 deg/s, cmd update: 0.485388 deg/s, cmd heading: 244.248308 deg, new cmd heading: 243.778541 deg. 2021-02-18T02:22:05.542Z,1613614925.542 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T022205: (41.552319, -70.708603) 2021-02-18T02:22:05.543Z,1613614925.543 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T02:22:05.547Z,1613614925.547 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T02:22:05.547Z,1613614925.547 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T02:22:05.547Z,1613614925.547 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T02:22:05.547Z,1613614925.547 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T02:22:05.547Z,1613614925.547 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T02:22:05.547Z,1613614925.547 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T02:22:05.548Z,1613614925.548 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T02:22:05.908Z,1613614925.908 [UniversalFixResidualReporter](INFO): Fix residual: 6.0 %DT, over the last 555.6 m. Residual distance 33.1 m at bearing 151.1 degrees. Fix at (41.5508, -70.7102) with 218.8 m made good. 2021-02-18T02:22:07.543Z,1613614927.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:22:08.315Z,1613614928.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:22:08.404Z,1613614928.404 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:22:08.838Z,1613614928.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:09.576Z,1613614929.576 [Micromodem](INFO): Nmea in: $SNTTA,0.003180,,,,022208.35*46 2021-02-18T02:22:09.601Z,1613614929.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.740000 m, bearing: 235.910007 deg, deltaT: 4.506450 s, approachRate: -0.026629 m/s, LOS rate: 3.952757 deg/s, posRepo size: 4 2021-02-18T02:22:09.603Z,1613614929.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.740000 m, bearing: 235.910007 deg, approachRate: -0.026629 m/s, LOS rate: 3.952757 deg/s, cmd update: 12.000000 deg/s, cmd heading: 246.441588 deg, new cmd heading: 246.633047 deg. 2021-02-18T02:22:11.976Z,1613614931.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:22:12.749Z,1613614932.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:22:13.155Z,1613614933.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:13.178Z,1613614933.178 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:22:13.999Z,1613614933.999 [Micromodem](INFO): Nmea in: $SNTTA,0.004425,,,,022212.79*48 2021-02-18T02:22:14.014Z,1613614934.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.719998 m, bearing: 248.107387 deg, deltaT: 4.410550 s, approachRate: 0.448923 m/s, LOS rate: 2.765501 deg/s, posRepo size: 4 2021-02-18T02:22:14.016Z,1613614934.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.719998 m, bearing: 248.107387 deg, approachRate: 0.448923 m/s, LOS rate: 2.765501 deg/s, cmd update: 11.062003 deg/s, cmd heading: 299.283794 deg, new cmd heading: 304.131122 deg. 2021-02-18T02:22:16.433Z,1613614936.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:22:17.204Z,1613614937.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:22:17.598Z,1613614937.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:18.432Z,1613614938.432 [Micromodem](INFO): Nmea in: $SNTTA,0.006160,,,,022217.24*43 2021-02-18T02:22:18.450Z,1613614938.450 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T02:22:18.462Z,1613614938.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.240001 m, bearing: 272.329751 deg, deltaT: 4.394383 s, approachRate: 0.573460 m/s, LOS rate: 5.512119 deg/s, posRepo size: 4 2021-02-18T02:22:18.464Z,1613614938.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.240001 m, bearing: 272.329751 deg, approachRate: 0.573460 m/s, LOS rate: 5.512119 deg/s, cmd update: 12.000000 deg/s, cmd heading: 348.015555 deg, new cmd heading: 352.954872 deg. 2021-02-18T02:22:20.860Z,1613614940.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:22:21.703Z,1613614941.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:22:22.176Z,1613614942.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:22.906Z,1613614942.906 [Micromodem](INFO): Nmea in: $SNTTA,0.009413,,,,022221.74*4D 2021-02-18T02:22:22.946Z,1613614942.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 302.371710 deg, deltaT: 4.486107 s, approachRate: 2.340559 m/s, LOS rate: 6.696666 deg/s, posRepo size: 4 2021-02-18T02:22:22.952Z,1613614942.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.740000 m, bearing: 302.371710 deg, approachRate: 2.340559 m/s, LOS rate: 6.696666 deg/s, cmd update: 12.000000 deg/s, cmd heading: 41.850472 deg, new cmd heading: 47.183224 deg. 2021-02-18T02:22:25.330Z,1613614945.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:22:26.111Z,1613614946.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:22:26.486Z,1613614946.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:27.325Z,1613614947.325 [Micromodem](INFO): Nmea in: $SNTTA,0.009762,,0.014918,,022226.15*53 2021-02-18T02:22:27.378Z,1613614947.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.759997 m, bearing: 287.367123 deg, deltaT: 4.406584 s, approachRate: -1.130128 m/s, LOS rate: -3.405038 deg/s, posRepo size: 4 2021-02-18T02:22:27.384Z,1613614947.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.759997 m, bearing: 287.367123 deg, approachRate: -1.130128 m/s, LOS rate: -3.405038 deg/s, cmd update: -12.000000 deg/s, cmd heading: 94.727010 deg, new cmd heading: 100.356618 deg. 2021-02-18T02:22:28.161Z,1613614948.161 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T02:22:29.740Z,1613614949.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:22:30.529Z,1613614950.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:22:30.932Z,1613614950.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:31.756Z,1613614951.756 [Micromodem](INFO): Nmea in: $SNTTA,0.011123,,,,022230.57*43 2021-02-18T02:22:31.794Z,1613614951.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.680002 m, bearing: 340.734669 deg, deltaT: 4.473673 s, approachRate: 0.429179 m/s, LOS rate: 11.929246 deg/s, posRepo size: 4 2021-02-18T02:22:31.795Z,1613614951.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.929246 deg/s. Setting heading cmd to target bearing of 340.734669deg and heading rate command to 0 deg/s. 2021-02-18T02:22:34.214Z,1613614954.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:22:35.033Z,1613614955.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:22:35.399Z,1613614955.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:36.252Z,1613614956.252 [Micromodem](INFO): Nmea in: $SNTTA,0.012773,,,,022235.07*43 2021-02-18T02:22:36.341Z,1613614956.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.199999 m, bearing: 357.221954 deg, deltaT: 4.502328 s, approachRate: 0.559710 m/s, LOS rate: 3.661947 deg/s, posRepo size: 4 2021-02-18T02:22:36.347Z,1613614956.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.199999 m, bearing: 357.221954 deg, approachRate: 0.559710 m/s, LOS rate: 3.661947 deg/s, cmd update: 12.000000 deg/s, cmd heading: 340.734669 deg, new cmd heading: 340.734669 deg. 2021-02-18T02:22:38.632Z,1613614958.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:22:39.412Z,1613614959.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:22:39.818Z,1613614959.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:40.644Z,1613614960.644 [Micromodem](INFO): Nmea in: $SNTTA,0.013197,,,,022239.45*44 2021-02-18T02:22:40.686Z,1613614960.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 17.709000 deg, deltaT: 4.431046 s, approachRate: 0.121868 m/s, LOS rate: 4.623521 deg/s, posRepo size: 4 2021-02-18T02:22:40.688Z,1613614960.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.740000 m, bearing: 17.709000 deg, approachRate: 0.121868 m/s, LOS rate: 4.623521 deg/s, cmd update: 12.000000 deg/s, cmd heading: 33.929111 deg, new cmd heading: 38.371787 deg. 2021-02-18T02:22:43.137Z,1613614963.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:22:43.563Z,1613614963.563 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout 2021-02-18T02:22:43.563Z,1613614963.563 [RDI_PathfinderUp] Communications Fault, FailCount= 1 2021-02-18T02:22:43.563Z,1613614963.563 [RDI_PathfinderUp](ERROR): Communications Fault 2021-02-18T02:22:43.671Z,1613614963.671 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp 2021-02-18T02:22:43.873Z,1613614963.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:22:43.952Z,1613614963.952 [RDI_PathfinderUp](INFO): Powering down 2021-02-18T02:22:44.279Z,1613614964.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:44.811Z,1613614964.811 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp 2021-02-18T02:22:44.811Z,1613614964.811 [RDI_PathfinderUp] No Fault, FailCount= 1 2021-02-18T02:22:45.096Z,1613614965.096 [Micromodem](INFO): Nmea in: $SNTTA,0.014439,0.030538,,,022243.91*55 2021-02-18T02:22:45.130Z,1613614965.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.059998 m, bearing: 30.271344 deg, deltaT: 4.383931 s, approachRate: 0.301099 m/s, LOS rate: 2.865543 deg/s, posRepo size: 4 2021-02-18T02:22:45.132Z,1613614965.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.059998 m, bearing: 30.271344 deg, approachRate: 0.301099 m/s, LOS rate: 2.865543 deg/s, cmd update: 11.462172 deg/s, cmd heading: 86.343588 deg, new cmd heading: 91.704744 deg. 2021-02-18T02:22:47.546Z,1613614967.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:22:48.371Z,1613614968.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:22:48.715Z,1613614968.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:49.566Z,1613614969.566 [Micromodem](INFO): Nmea in: $SNTTA,0.015101,,0.016282,,022248.41*5E 2021-02-18T02:22:49.626Z,1613614969.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 63.708822 deg, deltaT: 4.492529 s, approachRate: 0.333889 m/s, LOS rate: 7.442908 deg/s, posRepo size: 4 2021-02-18T02:22:49.633Z,1613614969.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.560001 m, bearing: 63.708822 deg, approachRate: 0.333889 m/s, LOS rate: 7.442908 deg/s, cmd update: 12.000000 deg/s, cmd heading: 138.021848 deg, new cmd heading: 142.988728 deg. 2021-02-18T02:22:51.144Z,1613614971.144 [PowerOnly](INFO): Powering down loadControl 2021-02-18T02:22:51.951Z,1613614971.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:22:52.744Z,1613614972.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:22:53.157Z,1613614973.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:53.979Z,1613614973.979 [Micromodem](INFO): Nmea in: $SNTTA,0.015625,,,,022252.78*4F 2021-02-18T02:22:53.998Z,1613614973.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.939999 m, bearing: 1.580728 deg, deltaT: 4.395461 s, approachRate: 0.313960 m/s, LOS rate: -14.134602 deg/s, posRepo size: 4 2021-02-18T02:22:53.998Z,1613614973.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.134602 deg/s. Setting heading cmd to target bearing of 1.580728deg and heading rate command to 0 deg/s. 2021-02-18T02:22:56.410Z,1613614976.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:22:57.189Z,1613614977.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:22:57.594Z,1613614977.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:22:58.424Z,1613614978.424 [Micromodem](INFO): Nmea in: $SNTTA,0.015768,,,0.018274,022257.22*5B 2021-02-18T02:22:58.449Z,1613614978.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.580000 m, bearing: 25.007558 deg, deltaT: 4.441562 s, approachRate: -0.081052 m/s, LOS rate: 5.274457 deg/s, posRepo size: 4 2021-02-18T02:22:58.451Z,1613614978.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.580000 m, bearing: 25.007558 deg, approachRate: -0.081052 m/s, LOS rate: 5.274457 deg/s, cmd update: 12.000000 deg/s, cmd heading: 1.580728 deg, new cmd heading: 1.580728 deg. 2021-02-18T02:23:00.841Z,1613614980.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:01.697Z,1613614981.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:02.045Z,1613614982.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:23:02.916Z,1613614982.916 [Micromodem](INFO): Nmea in: $SNTTA,0.015737,,,,022301.73*41 2021-02-18T02:23:02.964Z,1613614982.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.519997 m, bearing: 47.185143 deg, deltaT: 4.532642 s, approachRate: -0.013238 m/s, LOS rate: 4.892861 deg/s, posRepo size: 4 2021-02-18T02:23:02.979Z,1613614982.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.519997 m, bearing: 47.185143 deg, approachRate: -0.013238 m/s, LOS rate: 4.892861 deg/s, cmd update: 12.000000 deg/s, cmd heading: 55.923498 deg, new cmd heading: 60.651402 deg. 2021-02-18T02:23:05.331Z,1613614985.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:06.085Z,1613614986.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:06.486Z,1613614986.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:23:07.324Z,1613614987.324 [Micromodem](INFO): Nmea in: $SNTTA,0.015003,,0.018235,,022306.12*52 2021-02-18T02:23:07.382Z,1613614987.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.440001 m, bearing: 125.731543 deg, deltaT: 4.346124 s, approachRate: -0.248496 m/s, LOS rate: 18.072747 deg/s, posRepo size: 4 2021-02-18T02:23:07.387Z,1613614987.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.072747 deg/s. Setting heading cmd to target bearing of 125.731543deg and heading rate command to 0 deg/s. 2021-02-18T02:23:09.731Z,1613614989.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:10.526Z,1613614990.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:10.930Z,1613614990.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:23:11.760Z,1613614991.760 [Micromodem](INFO): Nmea in: $SNTTA,0.015216,,,,022310.56*40 2021-02-18T02:23:11.782Z,1613614991.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.740000 m, bearing: 43.725570 deg, deltaT: 4.510711 s, approachRate: 0.066508 m/s, LOS rate: -18.180277 deg/s, posRepo size: 4 2021-02-18T02:23:11.783Z,1613614991.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.180277 deg/s. Setting heading cmd to target bearing of 43.725570deg and heading rate command to 0 deg/s. 2021-02-18T02:23:14.185Z,1613614994.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:15.004Z,1613614995.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:15.504Z,1613614995.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:23:16.261Z,1613614996.261 [Micromodem](INFO): Nmea in: $SNTTA,0.014985,,0.024802,,022315.04*50 2021-02-18T02:23:16.317Z,1613614996.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.379997 m, bearing: 69.154081 deg, deltaT: 4.407020 s, approachRate: -0.081688 m/s, LOS rate: 5.770001 deg/s, posRepo size: 4 2021-02-18T02:23:16.319Z,1613614996.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.379997 m, bearing: 69.154081 deg, approachRate: -0.081688 m/s, LOS rate: 5.770001 deg/s, cmd update: 12.000000 deg/s, cmd heading: 43.725570 deg, new cmd heading: 43.725570 deg. 2021-02-18T02:23:18.649Z,1613614998.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:19.415Z,1613614999.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:19.818Z,1613614999.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:23:20.640Z,1613615000.640 [Micromodem](INFO): Nmea in: $SNTTA,0.014242,,,,022319.45*4B 2021-02-18T02:23:20.682Z,1613615000.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.359999 m, bearing: 71.526479 deg, deltaT: 4.487370 s, approachRate: -0.227304 m/s, LOS rate: 0.528683 deg/s, posRepo size: 4 2021-02-18T02:23:20.688Z,1613615000.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.359999 m, bearing: 71.526479 deg, approachRate: -0.227304 m/s, LOS rate: 0.528683 deg/s, cmd update: 2.114734 deg/s, cmd heading: 97.717927 deg, new cmd heading: 102.195188 deg. 2021-02-18T02:23:23.072Z,1613615003.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:23.856Z,1613615003.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:24.278Z,1613615004.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:23:25.084Z,1613615005.084 [Micromodem](INFO): Nmea in: $SNTTA,0.014820,,,,022323.89*4C 2021-02-18T02:23:25.132Z,1613615005.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.260002 m, bearing: 132.626223 deg, deltaT: 4.386566 s, approachRate: 0.205173 m/s, LOS rate: 13.928833 deg/s, posRepo size: 4 2021-02-18T02:23:25.132Z,1613615005.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.928833 deg/s. Setting heading cmd to target bearing of 132.626223deg and heading rate command to 0 deg/s. 2021-02-18T02:23:27.535Z,1613615007.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:28.302Z,1613615008.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:28.830Z,1613615008.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:23:29.560Z,1613615009.560 [Micromodem](INFO): Nmea in: $SNTTA,0.015669,,,,022328.34*43 2021-02-18T02:23:29.584Z,1613615009.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.459999 m, bearing: 128.918564 deg, deltaT: 4.490422 s, approachRate: 0.267235 m/s, LOS rate: -0.825682 deg/s, posRepo size: 4 2021-02-18T02:23:29.586Z,1613615009.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.459999 m, bearing: 128.918564 deg, approachRate: 0.267235 m/s, LOS rate: -0.825682 deg/s, cmd update: -3.302726 deg/s, cmd heading: 132.626223 deg, new cmd heading: 132.626223 deg. 2021-02-18T02:23:32.003Z,1613615012.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:32.745Z,1613615012.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:33.195Z,1613615013.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:23:34.008Z,1613615014.008 [Micromodem](INFO): Nmea in: $SNTTA,0.015806,,,,022332.78*47 2021-02-18T02:23:34.048Z,1613615014.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.700001 m, bearing: 163.646169 deg, deltaT: 4.401833 s, approachRate: 0.054523 m/s, LOS rate: 7.889351 deg/s, posRepo size: 4 2021-02-18T02:23:34.050Z,1613615014.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.700001 m, bearing: 163.646169 deg, approachRate: 0.054523 m/s, LOS rate: 7.889351 deg/s, cmd update: 12.000000 deg/s, cmd heading: 118.075146 deg, new cmd heading: 116.566352 deg. 2021-02-18T02:23:36.418Z,1613615016.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:37.189Z,1613615017.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:37.596Z,1613615017.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:23:38.425Z,1613615018.425 [Micromodem](INFO): Nmea in: $SNTTA,0.016038,,,,022337.23*4A 2021-02-18T02:23:38.477Z,1613615018.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.059999 m, bearing: 184.216882 deg, deltaT: 4.456262 s, approachRate: 0.080785 m/s, LOS rate: 4.616136 deg/s, posRepo size: 4 2021-02-18T02:23:38.478Z,1613615018.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.059999 m, bearing: 184.216882 deg, approachRate: 0.080785 m/s, LOS rate: 4.616136 deg/s, cmd update: 12.000000 deg/s, cmd heading: 171.311348 deg, new cmd heading: 176.695160 deg. 2021-02-18T02:23:40.852Z,1613615020.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:41.637Z,1613615021.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:42.173Z,1613615022.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:23:42.896Z,1613615022.896 [Micromodem](INFO): Nmea in: $SNTTA,0.016704,,,,022341.67*43 2021-02-18T02:23:42.918Z,1613615022.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.499998 m, bearing: 117.076682 deg, deltaT: 4.466213 s, approachRate: 0.322421 m/s, LOS rate: -15.032915 deg/s, posRepo size: 4 2021-02-18T02:23:42.919Z,1613615022.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.032915 deg/s. Setting heading cmd to target bearing of 117.076682deg and heading rate command to 0 deg/s. 2021-02-18T02:23:45.322Z,1613615025.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:46.085Z,1613615026.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:46.482Z,1613615026.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:23:47.308Z,1613615027.308 [Micromodem](INFO): Nmea in: $SNTTA,0.016034,,,,022346.12*42 2021-02-18T02:23:47.375Z,1613615027.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.000002 m, bearing: 123.329010 deg, deltaT: 4.414150 s, approachRate: -0.339815 m/s, LOS rate: 1.416429 deg/s, posRepo size: 4 2021-02-18T02:23:47.377Z,1613615027.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.000002 m, bearing: 123.329010 deg, approachRate: -0.339815 m/s, LOS rate: 1.416429 deg/s, cmd update: 5.665714 deg/s, cmd heading: 117.076682 deg, new cmd heading: 117.076682 deg. 2021-02-18T02:23:49.748Z,1613615029.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:50.523Z,1613615030.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:50.926Z,1613615030.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:23:51.756Z,1613615031.756 [Micromodem](INFO): Nmea in: $SNTTA,0.015807,,,,022350.56*4E 2021-02-18T02:23:51.790Z,1613615031.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.639997 m, bearing: 215.045965 deg, deltaT: 4.461616 s, approachRate: -0.080689 m/s, LOS rate: 20.556892 deg/s, posRepo size: 4 2021-02-18T02:23:51.791Z,1613615031.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.556892 deg/s. Setting heading cmd to target bearing of 215.045965deg and heading rate command to 0 deg/s. 2021-02-18T02:23:54.204Z,1613615034.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:54.994Z,1613615034.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:55.509Z,1613615035.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:23:56.254Z,1613615036.254 [Micromodem](INFO): Nmea in: $SNTTA,0.015316,,,,022355.03*40 2021-02-18T02:23:56.290Z,1613615036.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.980001 m, bearing: 129.459638 deg, deltaT: 4.467197 s, approachRate: -0.147743 m/s, LOS rate: -19.158843 deg/s, posRepo size: 4 2021-02-18T02:23:56.291Z,1613615036.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.158843 deg/s. Setting heading cmd to target bearing of 129.459638deg and heading rate command to 0 deg/s. 2021-02-18T02:23:58.628Z,1613615038.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:23:59.413Z,1613615039.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:23:59.822Z,1613615039.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:00.657Z,1613615040.657 [Micromodem](INFO): Nmea in: $SNTTA,0.015290,,,,022359.45*41 2021-02-18T02:24:00.684Z,1613615040.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.519997 m, bearing: 202.922297 deg, deltaT: 4.446879 s, approachRate: 0.121432 m/s, LOS rate: 16.520049 deg/s, posRepo size: 4 2021-02-18T02:24:00.684Z,1613615040.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.520049 deg/s. Setting heading cmd to target bearing of 202.922297deg and heading rate command to 0 deg/s. 2021-02-18T02:24:03.070Z,1613615043.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:03.859Z,1613615043.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:24:04.272Z,1613615044.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:05.088Z,1613615045.088 [Micromodem](INFO): Nmea in: $SNTTA,0.015379,,,0.054442,022403.90*5A 2021-02-18T02:24:05.128Z,1613615045.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.639997 m, bearing: 147.508467 deg, deltaT: 4.386712 s, approachRate: 0.027356 m/s, LOS rate: -12.632202 deg/s, posRepo size: 4 2021-02-18T02:24:05.128Z,1613615045.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 23.64 m. 2021-02-18T02:24:05.129Z,1613615045.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.632202 deg/s. Setting heading cmd to target bearing of 147.508467deg and heading rate command to 0 deg/s. 2021-02-18T02:24:07.522Z,1613615047.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:08.302Z,1613615048.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:24:08.825Z,1613615048.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:09.564Z,1613615049.564 [Micromodem](INFO): Nmea in: $SNTTA,0.015879,,,,022408.34*49 2021-02-18T02:24:09.589Z,1613615049.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.880001 m, bearing: 211.903737 deg, deltaT: 4.502953 s, approachRate: 0.053299 m/s, LOS rate: 14.300675 deg/s, posRepo size: 4 2021-02-18T02:24:09.590Z,1613615049.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 23.88 m. 2021-02-18T02:24:09.590Z,1613615049.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.300675 deg/s. Setting heading cmd to target bearing of 211.903737deg and heading rate command to 0 deg/s. 2021-02-18T02:24:11.997Z,1613615051.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:12.740Z,1613615052.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:24:13.146Z,1613615053.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:13.993Z,1613615053.993 [Micromodem](INFO): Nmea in: $SNTTA,0.017006,,,,022412.78*48 2021-02-18T02:24:14.030Z,1613615054.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.440001 m, bearing: 215.170083 deg, deltaT: 4.380262 s, approachRate: 0.356143 m/s, LOS rate: 0.745697 deg/s, posRepo size: 4 2021-02-18T02:24:14.032Z,1613615054.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.440001 m, bearing: 215.170083 deg, approachRate: 0.356143 m/s, LOS rate: 0.745697 deg/s, cmd update: 2.982787 deg/s, cmd heading: 211.903737 deg, new cmd heading: 211.903737 deg. 2021-02-18T02:24:16.400Z,1613615056.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:17.196Z,1613615057.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:24:17.590Z,1613615057.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:18.436Z,1613615058.436 [Micromodem](INFO): Nmea in: $SNTTA,0.017738,,,,022417.23*49 2021-02-18T02:24:18.467Z,1613615058.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.639999 m, bearing: 185.327129 deg, deltaT: 4.477934 s, approachRate: 0.267980 m/s, LOS rate: -6.664447 deg/s, posRepo size: 4 2021-02-18T02:24:18.469Z,1613615058.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.639999 m, bearing: 185.327129 deg, approachRate: 0.267980 m/s, LOS rate: -6.664447 deg/s, cmd update: -12.000000 deg/s, cmd heading: 225.248402 deg, new cmd heading: 226.498423 deg. 2021-02-18T02:24:20.867Z,1613615060.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:21.629Z,1613615061.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:24:22.035Z,1613615062.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:22.881Z,1613615062.881 [Micromodem](INFO): Nmea in: $SNTTA,0.019247,0.033246,,,022421.66*50 2021-02-18T02:24:22.959Z,1613615062.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.440001 m, bearing: 169.812955 deg, deltaT: 4.545179 s, approachRate: 0.396024 m/s, LOS rate: -3.413325 deg/s, posRepo size: 4 2021-02-18T02:24:22.974Z,1613615062.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.440001 m, bearing: 169.812955 deg, approachRate: 0.396024 m/s, LOS rate: -3.413325 deg/s, cmd update: -12.000000 deg/s, cmd heading: 170.659333 deg, new cmd heading: 166.420837 deg. 2021-02-18T02:24:25.331Z,1613615065.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:26.077Z,1613615066.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:24:26.491Z,1613615066.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:27.316Z,1613615067.316 [Micromodem](INFO): Nmea in: $SNTTA,0.020113,,,,022426.11*41 2021-02-18T02:24:27.370Z,1613615067.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.600000 m, bearing: 199.760371 deg, deltaT: 4.303592 s, approachRate: 0.501906 m/s, LOS rate: 6.958702 deg/s, posRepo size: 4 2021-02-18T02:24:27.370Z,1613615067.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 30.60 m. Rolling out. 2021-02-18T02:24:27.371Z,1613615067.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T02:24:29.729Z,1613615069.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:30.516Z,1613615070.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:24:30.924Z,1613615070.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:31.751Z,1613615071.751 [Micromodem](INFO): Nmea in: $SNTTA,0.021112,,,,022430.55*46 2021-02-18T02:24:31.770Z,1613615071.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.160004 m, bearing: 174.041102 deg, deltaT: 4.470549 s, approachRate: 0.348951 m/s, LOS rate: -5.753045 deg/s, posRepo size: 4 2021-02-18T02:24:34.177Z,1613615074.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:35.030Z,1613615075.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:24:35.448Z,1613615075.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:36.312Z,1613615076.312 [Micromodem](INFO): Nmea in: $SNTTA,0.022852,,,,022435.12*4E 2021-02-18T02:24:36.379Z,1613615076.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.259998 m, bearing: 159.803846 deg, deltaT: 4.665081 s, approachRate: 0.450152 m/s, LOS rate: -3.051878 deg/s, posRepo size: 4 2021-02-18T02:24:38.692Z,1613615078.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:39.482Z,1613615079.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:24:39.902Z,1613615079.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:40.708Z,1613615080.708 [Micromodem](INFO): Nmea in: $SNTTA,0.025030,,,,022439.52*4D 2021-02-18T02:24:40.751Z,1613615080.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.739998 m, bearing: 181.519381 deg, deltaT: 4.305366 s, approachRate: 0.808294 m/s, LOS rate: 5.043830 deg/s, posRepo size: 4 2021-02-18T02:24:43.168Z,1613615083.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:43.925Z,1613615083.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:24:44.326Z,1613615084.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:45.147Z,1613615085.147 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022443.96*52 2021-02-18T02:24:46.010Z,1613615086.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:47.568Z,1613615087.568 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:24:48.848Z,1613615088.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:49.177Z,1613615089.177 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-02-18T02:24:49.180Z,1613615089.180 [BPC1](INFO): Received data from all battery sticks. 2021-02-18T02:24:49.578Z,1613615089.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:24:50.002Z,1613615090.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:50.808Z,1613615090.808 [Micromodem](INFO): Nmea in: $SNTTA,0.029666,,,,022449.61*43 2021-02-18T02:24:50.856Z,1613615090.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.700001 m, bearing: 78.427101 deg, deltaT: 10.066641 s, approachRate: 0.691393 m/s, LOS rate: -10.240981 deg/s, posRepo size: 4 2021-02-18T02:24:53.288Z,1613615093.288 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:24:53.312Z,1613615093.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:54.026Z,1613615094.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:24:54.432Z,1613615094.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:55.275Z,1613615095.275 [Micromodem](INFO): Nmea in: $SNTTA,0.031709,,,,022454.06*4F 2021-02-18T02:24:55.309Z,1613615095.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.060001 m, bearing: 85.560216 deg, deltaT: 4.438819 s, approachRate: 0.756958 m/s, LOS rate: 1.606985 deg/s, posRepo size: 4 2021-02-18T02:24:57.695Z,1613615097.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:24:58.469Z,1613615098.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:24:58.870Z,1613615098.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:24:59.696Z,1613615099.696 [Micromodem](INFO): Nmea in: $SNTTA,0.033948,,,,022458.50*49 2021-02-18T02:24:59.737Z,1613615099.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.360001 m, bearing: 92.508253 deg, deltaT: 4.487452 s, approachRate: 0.735384 m/s, LOS rate: 1.548326 deg/s, posRepo size: 4 2021-02-18T02:25:02.126Z,1613615102.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:25:02.908Z,1613615102.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:25:03.319Z,1613615103.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:25:03.335Z,1613615103.335 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:25:04.144Z,1613615104.144 [Micromodem](INFO): Nmea in: $SNTTA,0.036295,,,,022502.94*41 2021-02-18T02:25:04.179Z,1613615104.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.540005 m, bearing: 84.835451 deg, deltaT: 4.409129 s, approachRate: 0.721232 m/s, LOS rate: -1.740208 deg/s, posRepo size: 4 2021-02-18T02:25:06.571Z,1613615106.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:25:07.352Z,1613615107.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:25:07.758Z,1613615107.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:25:08.580Z,1613615108.580 [Micromodem](INFO): Nmea in: $SNTTA,0.038317,,,,022507.39*46 2021-02-18T02:25:08.585Z,1613615108.585 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:25:08.602Z,1613615108.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.719997 m, bearing: 92.552608 deg, deltaT: 4.495312 s, approachRate: 0.707402 m/s, LOS rate: 1.716712 deg/s, posRepo size: 4 2021-02-18T02:25:11.035Z,1613615111.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:25:11.797Z,1613615111.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:25:12.206Z,1613615112.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:25:13.024Z,1613615113.024 [Micromodem](INFO): Nmea in: $SNTTA,0.040538,,,,022511.83*44 2021-02-18T02:25:13.076Z,1613615113.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.080002 m, bearing: 92.133296 deg, deltaT: 4.379100 s, approachRate: 0.767282 m/s, LOS rate: -0.095753 deg/s, posRepo size: 4 2021-02-18T02:25:15.466Z,1613615115.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:25:16.266Z,1613615116.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:25:16.646Z,1613615116.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:25:17.484Z,1613615117.484 [Micromodem](INFO): Nmea in: $SNTTA,0.042746,,,,022516.30*42 2021-02-18T02:25:17.508Z,1613615117.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.320000 m, bearing: 88.424961 deg, deltaT: 4.456130 s, approachRate: 0.727088 m/s, LOS rate: -0.832187 deg/s, posRepo size: 4 2021-02-18T02:25:18.311Z,1613615118.311 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:25:19.894Z,1613615119.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:25:20.690Z,1613615120.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:25:21.091Z,1613615121.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:25:21.919Z,1613615121.919 [Micromodem](INFO): Nmea in: $SNTTA,0.044975,,,,022520.73*48 2021-02-18T02:25:21.942Z,1613615121.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.860001 m, bearing: 95.421124 deg, deltaT: 4.454184 s, approachRate: 0.794759 m/s, LOS rate: 1.570695 deg/s, posRepo size: 4 2021-02-18T02:25:24.349Z,1613615124.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:25:25.133Z,1613615125.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:25:25.534Z,1613615125.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:25:26.365Z,1613615126.365 [Micromodem](INFO): Nmea in: $SNTTA,0.047348,,,,022525.17*48 2021-02-18T02:25:26.429Z,1613615126.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.339996 m, bearing: 102.781117 deg, deltaT: 4.462968 s, approachRate: 0.779749 m/s, LOS rate: 1.649125 deg/s, posRepo size: 4 2021-02-18T02:25:28.801Z,1613615128.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:25:29.577Z,1613615129.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:25:30.003Z,1613615130.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:25:30.809Z,1613615130.809 [Micromodem](INFO): Nmea in: $SNTTA,0.049515,,,,022529.61*45 2021-02-18T02:25:30.846Z,1613615130.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.520004 m, bearing: 100.451264 deg, deltaT: 4.436598 s, approachRate: 0.716767 m/s, LOS rate: -0.525144 deg/s, posRepo size: 4 2021-02-18T02:25:33.278Z,1613615133.278 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T02:25:33.332Z,1613615133.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:25:34.016Z,1613615134.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:25:34.425Z,1613615134.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:25:35.272Z,1613615135.272 [Micromodem](INFO): Nmea in: $SNTTA,0.051688,,,,022534.05*45 2021-02-18T02:25:35.326Z,1613615135.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.760002 m, bearing: 99.847421 deg, deltaT: 4.429931 s, approachRate: 0.731388 m/s, LOS rate: -0.136310 deg/s, posRepo size: 4 2021-02-18T02:25:37.669Z,1613615137.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:25:38.465Z,1613615138.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:25:38.871Z,1613615138.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:25:39.695Z,1613615139.695 [Micromodem](INFO): Nmea in: $SNTTA,0.053823,,,,022538.50*44 2021-02-18T02:25:39.714Z,1613615139.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.880005 m, bearing: 95.457406 deg, deltaT: 4.461568 s, approachRate: 0.699306 m/s, LOS rate: -0.983962 deg/s, posRepo size: 4 2021-02-18T02:25:42.125Z,1613615142.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:25:42.904Z,1613615142.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:25:43.315Z,1613615143.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:25:44.140Z,1613615144.140 [Micromodem](INFO): Nmea in: $SNTTA,0.056163,,,,022542.94*49 2021-02-18T02:25:44.164Z,1613615144.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.480003 m, bearing: 101.861773 deg, deltaT: 4.409006 s, approachRate: 0.816510 m/s, LOS rate: 1.452565 deg/s, posRepo size: 4 2021-02-18T02:25:46.565Z,1613615146.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:25:47.348Z,1613615147.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:25:47.760Z,1613615147.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:25:48.579Z,1613615148.579 [Micromodem](INFO): Nmea in: $SNTTA,0.058430,,,,022547.38*47 2021-02-18T02:25:48.604Z,1613615148.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.780006 m, bearing: 100.039213 deg, deltaT: 4.456279 s, approachRate: 0.740529 m/s, LOS rate: -0.408987 deg/s, posRepo size: 4 2021-02-18T02:25:51.086Z,1613615151.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:25:51.797Z,1613615151.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:25:52.197Z,1613615152.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:25:53.029Z,1613615153.029 [Micromodem](INFO): Nmea in: $SNTTA,0.060827,,,,022551.83*41 2021-02-18T02:25:53.085Z,1613615153.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.440002 m, bearing: 105.554679 deg, deltaT: 4.448536 s, approachRate: 0.822742 m/s, LOS rate: 1.239839 deg/s, posRepo size: 4 2021-02-18T02:25:55.458Z,1613615155.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:25:56.265Z,1613615156.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:25:56.643Z,1613615156.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:25:57.484Z,1613615157.484 [Micromodem](INFO): Nmea in: $SNTTA,0.063121,,,,022556.30*42 2021-02-18T02:25:57.525Z,1613615157.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.860001 m, bearing: 106.385633 deg, deltaT: 4.441825 s, approachRate: 0.769953 m/s, LOS rate: 0.187075 deg/s, posRepo size: 4 2021-02-18T02:25:59.887Z,1613615159.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:00.680Z,1613615160.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:26:01.089Z,1613615161.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:26:01.921Z,1613615161.921 [Micromodem](INFO): Nmea in: $SNTTA,0.065347,0.075115,0.076965,,022600.72*4C 2021-02-18T02:26:01.946Z,1613615161.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.280006 m, bearing: 118.393147 deg, deltaT: 4.482733 s, approachRate: 0.762929 m/s, LOS rate: 2.678614 deg/s, posRepo size: 4 2021-02-18T02:26:04.351Z,1613615164.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:05.129Z,1613615165.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:26:05.531Z,1613615165.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:26:06.342Z,1613615166.342 [Micromodem](INFO): Nmea in: $SNTTA,0.067567,,,,022605.16*41 2021-02-18T02:26:07.177Z,1613615167.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:08.764Z,1613615168.764 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:26:10.043Z,1613615170.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:10.789Z,1613615170.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:26:11.186Z,1613615171.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:26:12.020Z,1613615172.020 [Micromodem](INFO): Nmea in: $SNTTA,0.070309,,,,022610.82*40 2021-02-18T02:26:12.044Z,1613615172.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.720009 m, bearing: 103.327621 deg, deltaT: 10.060261 s, approachRate: 0.739544 m/s, LOS rate: -1.497528 deg/s, posRepo size: 4 2021-02-18T02:26:14.462Z,1613615174.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:15.253Z,1613615175.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:26:15.632Z,1613615175.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:26:16.519Z,1613615176.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.959999 m, bearing: 103.419979 deg, deltaT: 4.457082 s, approachRate: 0.726931 m/s, LOS rate: 0.020722 deg/s, posRepo size: 4 2021-02-18T02:26:16.852Z,1613615176.852 [Micromodem](INFO): Nmea in: $SNTTA,0.072589,,,,022615.34*44 2021-02-18T02:26:18.876Z,1613615178.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:19.668Z,1613615179.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:26:20.075Z,1613615180.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:26:20.908Z,1613615180.908 [Micromodem](INFO): Nmea in: $SNTTA,0.074710,,,,022619.70*4C 2021-02-18T02:26:20.930Z,1613615180.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.320007 m, bearing: 107.058222 deg, deltaT: 4.438831 s, approachRate: 0.756958 m/s, LOS rate: 0.819640 deg/s, posRepo size: 4 2021-02-18T02:26:23.346Z,1613615183.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:24.112Z,1613615184.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:26:24.536Z,1613615184.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:26:25.348Z,1613615185.348 [Micromodem](INFO): Nmea in: $SNTTA,0.076985,,,,022624.15*41 2021-02-18T02:26:25.378Z,1613615185.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.680000 m, bearing: 106.959881 deg, deltaT: 4.547302 s, approachRate: 0.738898 m/s, LOS rate: -0.021626 deg/s, posRepo size: 4 2021-02-18T02:26:27.764Z,1613615187.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:28.575Z,1613615188.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:26:28.000Z,1613615189.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:26:29.796Z,1613615189.796 [Micromodem](INFO): Nmea in: $SNTTA,0.079334,,,,022628.61*41 2021-02-18T02:26:29.818Z,1613615189.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.160011 m, bearing: 101.644813 deg, deltaT: 4.329152 s, approachRate: 0.803855 m/s, LOS rate: -1.227739 deg/s, posRepo size: 4 2021-02-18T02:26:32.292Z,1613615192.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:33.025Z,1613615193.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:26:33.411Z,1613615193.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:26:34.264Z,1613615194.264 [Micromodem](INFO): Nmea in: $SNTTA,0.081714,,,,022633.06*4B 2021-02-18T02:26:34.321Z,1613615194.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.760002 m, bearing: 105.629654 deg, deltaT: 4.433909 s, approachRate: 0.811923 m/s, LOS rate: 0.898720 deg/s, posRepo size: 4 2021-02-18T02:26:36.668Z,1613615196.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:37.449Z,1613615197.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:26:37.863Z,1613615197.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:26:38.687Z,1613615198.687 [Micromodem](INFO): Nmea in: $SNTTA,0.083898,,0.086642,,022637.49*5D 2021-02-18T02:26:38.706Z,1613615198.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.000000 m, bearing: 99.101892 deg, deltaT: 4.530894 s, approachRate: 0.715090 m/s, LOS rate: -1.440723 deg/s, posRepo size: 4 2021-02-18T02:26:41.113Z,1613615201.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:41.888Z,1613615201.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:26:42.302Z,1613615202.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:26:43.120Z,1613615203.120 [Micromodem](INFO): Nmea in: $SNTTA,0.086203,,,,022641.92*47 2021-02-18T02:26:43.144Z,1613615203.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.419998 m, bearing: 106.625093 deg, deltaT: 4.370794 s, approachRate: 0.782466 m/s, LOS rate: 1.721243 deg/s, posRepo size: 4 2021-02-18T02:26:45.565Z,1613615205.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:46.337Z,1613615206.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:26:46.737Z,1613615206.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:26:47.560Z,1613615207.560 [Micromodem](INFO): Nmea in: $SNTTA,0.088442,,,,022646.37*42 2021-02-18T02:26:47.612Z,1613615207.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.779999 m, bearing: 113.137221 deg, deltaT: 4.471266 s, approachRate: 0.751465 m/s, LOS rate: 1.456439 deg/s, posRepo size: 4 2021-02-18T02:26:50.022Z,1613615210.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:50.776Z,1613615210.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:26:51.190Z,1613615211.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:26:52.019Z,1613615212.019 [Micromodem](INFO): Nmea in: $SNTTA,0.090769,,,,022650.81*4B 2021-02-18T02:26:52.052Z,1613615212.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.319992 m, bearing: 107.657647 deg, deltaT: 4.436780 s, approachRate: 0.797874 m/s, LOS rate: -1.235034 deg/s, posRepo size: 4 2021-02-18T02:26:54.449Z,1613615214.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:55.234Z,1613615215.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:26:55.631Z,1613615215.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:26:56.456Z,1613615216.456 [Micromodem](INFO): Nmea in: $SNTTA,0.093014,,,,022655.27*4C 2021-02-18T02:26:56.501Z,1613615216.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.619995 m, bearing: 105.174436 deg, deltaT: 4.443148 s, approachRate: 0.742717 m/s, LOS rate: -0.558885 deg/s, posRepo size: 4 2021-02-18T02:26:58.871Z,1613615218.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:26:59.669Z,1613615219.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:00.069Z,1613615220.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:00.897Z,1613615220.897 [Micromodem](INFO): Nmea in: $SNTTA,0.095455,,,,022659.70*45 2021-02-18T02:27:00.942Z,1613615220.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.339996 m, bearing: 104.530117 deg, deltaT: 4.438504 s, approachRate: 0.838121 m/s, LOS rate: -0.145166 deg/s, posRepo size: 4 2021-02-18T02:27:03.401Z,1613615223.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:27:04.114Z,1613615224.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:04.515Z,1613615224.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:05.340Z,1613615225.340 [Micromodem](INFO): Nmea in: $SNTTA,0.097777,,,,022704.15*4E 2021-02-18T02:27:05.402Z,1613615225.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.819992 m, bearing: 106.572712 deg, deltaT: 4.476255 s, approachRate: 0.777435 m/s, LOS rate: 0.456318 deg/s, posRepo size: 4 2021-02-18T02:27:07.790Z,1613615227.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:27:08.554Z,1613615228.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:08.998Z,1613615228.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:09.780Z,1613615229.780 [Micromodem](INFO): Nmea in: $SNTTA,0.099967,,,,022708.59*4B 2021-02-18T02:27:09.822Z,1613615229.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.120010 m, bearing: 111.277073 deg, deltaT: 4.427138 s, approachRate: 0.745407 m/s, LOS rate: 1.062619 deg/s, posRepo size: 4 2021-02-18T02:27:09.823Z,1613615229.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.12 m. Resuming terminal guidance. 2021-02-18T02:27:09.827Z,1613615229.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T02:27:12.274Z,1613615232.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:27:13.007Z,1613615233.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:13.402Z,1613615233.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:14.312Z,1613615234.312 [Micromodem](INFO): Nmea in: $SNTTA,0.102295,,0.105858,,022713.04*53 2021-02-18T02:27:14.376Z,1613615234.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.599991 m, bearing: 111.160373 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T02:27:14.376Z,1613615234.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 111.160373deg and heading rate command to 0 deg/s. 2021-02-18T02:27:16.659Z,1613615236.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:27:17.440Z,1613615237.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:17.854Z,1613615237.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:18.668Z,1613615238.668 [Micromodem](INFO): Nmea in: $SNTTA,0.104477,,,,022717.48*4C 2021-02-18T02:27:18.705Z,1613615238.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.839996 m, bearing: 104.384688 deg, deltaT: 4.483126 s, approachRate: 0.722711 m/s, LOS rate: -1.511375 deg/s, posRepo size: 2 2021-02-18T02:27:18.707Z,1613615238.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.839996 m, bearing: 104.384688 deg, approachRate: 0.722711 m/s, LOS rate: -1.511375 deg/s, cmd update: -6.045500 deg/s, cmd heading: 111.160373 deg, new cmd heading: 111.160373 deg. 2021-02-18T02:27:21.118Z,1613615241.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:27:21.892Z,1613615241.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:22.290Z,1613615242.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:23.144Z,1613615243.144 [Micromodem](INFO): Nmea in: $SNTTA,0.106808,,,,022721.93*49 2021-02-18T02:27:23.177Z,1613615243.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.379990 m, bearing: 124.326368 deg, deltaT: 4.376695 s, approachRate: 0.808828 m/s, LOS rate: 4.556333 deg/s, posRepo size: 3 2021-02-18T02:27:23.180Z,1613615243.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.379990 m, bearing: 124.326368 deg, approachRate: 0.808828 m/s, LOS rate: 4.556333 deg/s, cmd update: 12.000000 deg/s, cmd heading: 84.518386 deg, new cmd heading: 81.711201 deg. 2021-02-18T02:27:25.570Z,1613615245.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:27:26.337Z,1613615246.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:26.735Z,1613615246.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:27.560Z,1613615247.560 [Micromodem](INFO): Nmea in: $SNTTA,0.108793,,,,022726.37*43 2021-02-18T02:27:27.609Z,1613615247.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.379990 m, bearing: 99.773580 deg, deltaT: 4.482700 s, approachRate: 0.000000 m/s, LOS rate: -5.477232 deg/s, posRepo size: 4 2021-02-18T02:27:27.615Z,1613615247.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.379990 m, bearing: 99.773580 deg, approachRate: 0.000000 m/s, LOS rate: -5.477232 deg/s, cmd update: -12.000000 deg/s, cmd heading: 138.268200 deg, new cmd heading: 143.273664 deg. 2021-02-18T02:27:30.025Z,1613615250.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:27:30.772Z,1613615250.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:31.180Z,1613615251.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:32.012Z,1613615252.012 [Micromodem](INFO): Nmea in: $SNTTA,0.110682,,,,022730.81*41 2021-02-18T02:27:32.036Z,1613615252.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.740005 m, bearing: 40.462126 deg, deltaT: 4.455438 s, approachRate: 3.447476 m/s, LOS rate: -13.312148 deg/s, posRepo size: 4 2021-02-18T02:27:32.037Z,1613615252.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.312148 deg/s. Setting heading cmd to target bearing of 40.462126deg and heading rate command to 0 deg/s. 2021-02-18T02:27:33.631Z,1613615253.631 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:27:34.436Z,1613615254.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:27:35.250Z,1613615255.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:35.624Z,1613615255.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:36.463Z,1613615256.463 [Micromodem](INFO): Nmea in: $SNTTA,0.112586,,,,022735.28*42 2021-02-18T02:27:36.874Z,1613615256.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.019989 m, bearing: 82.171854 deg, deltaT: 4.859380 s, approachRate: -1.382896 m/s, LOS rate: 8.583343 deg/s, posRepo size: 4 2021-02-18T02:27:36.876Z,1613615256.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.019989 m, bearing: 82.171854 deg, approachRate: -1.382896 m/s, LOS rate: 8.583343 deg/s, cmd update: 12.000000 deg/s, cmd heading: 40.462126 deg, new cmd heading: 40.462126 deg. 2021-02-18T02:27:39.334Z,1613615259.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:27:40.064Z,1613615260.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:40.470Z,1613615260.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:41.292Z,1613615261.292 [Micromodem](INFO): Nmea in: $SNTTA,0.114812,,,,022740.10*4D 2021-02-18T02:27:41.359Z,1613615261.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.019989 m, bearing: 37.618848 deg, deltaT: 4.415286 s, approachRate: 0.000000 m/s, LOS rate: -10.090628 deg/s, posRepo size: 4 2021-02-18T02:27:41.365Z,1613615261.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.019989 m, bearing: 37.618848 deg, approachRate: 0.000000 m/s, LOS rate: -10.090628 deg/s, cmd update: -12.000000 deg/s, cmd heading: 93.327647 deg, new cmd heading: 98.678556 deg. 2021-02-18T02:27:43.741Z,1613615263.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:27:44.514Z,1613615264.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:44.928Z,1613615264.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:45.740Z,1613615265.740 [Micromodem](INFO): Nmea in: $SNTTA,0.116663,,,,022744.55*42 2021-02-18T02:27:45.778Z,1613615265.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.019989 m, bearing: 69.738335 deg, deltaT: 4.472312 s, approachRate: 0.000000 m/s, LOS rate: 7.181853 deg/s, posRepo size: 4 2021-02-18T02:27:45.780Z,1613615265.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.019989 m, bearing: 69.738335 deg, approachRate: 0.000000 m/s, LOS rate: 7.181853 deg/s, cmd update: 12.000000 deg/s, cmd heading: 39.680770 deg, new cmd heading: 34.949026 deg. 2021-02-18T02:27:48.184Z,1613615268.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:27:48.970Z,1613615268.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:49.358Z,1613615269.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:50.182Z,1613615270.182 [Micromodem](INFO): Nmea in: $SNTTA,0.118199,,,,022749.01*42 2021-02-18T02:27:50.607Z,1613615270.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.360016 m, bearing: 55.368047 deg, deltaT: 4.836483 s, approachRate: 1.724399 m/s, LOS rate: -2.971227 deg/s, posRepo size: 4 2021-02-18T02:27:50.609Z,1613615270.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.360016 m, bearing: 55.368047 deg, approachRate: 1.724399 m/s, LOS rate: -2.971227 deg/s, cmd update: -11.884907 deg/s, cmd heading: 97.563960 deg, new cmd heading: 102.364368 deg. 2021-02-18T02:27:53.033Z,1613615273.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:27:53.800Z,1613615273.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:54.218Z,1613615274.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:55.052Z,1613615275.052 [Micromodem](INFO): Nmea in: $SNTTA,0.119713,,,,022753.84*41 2021-02-18T02:27:55.134Z,1613615275.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.360016 m, bearing: 44.734307 deg, deltaT: 4.424963 s, approachRate: 0.000000 m/s, LOS rate: -2.403125 deg/s, posRepo size: 4 2021-02-18T02:27:55.141Z,1613615275.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.360016 m, bearing: 44.734307 deg, approachRate: 0.000000 m/s, LOS rate: -2.403125 deg/s, cmd update: -9.612501 deg/s, cmd heading: 44.641311 deg, new cmd heading: 39.001839 deg. 2021-02-18T02:27:57.473Z,1613615277.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:27:58.265Z,1613615278.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:27:58.655Z,1613615278.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:27:59.484Z,1613615279.484 [Micromodem](INFO): Nmea in: $SNTTA,0.121135,,,,022758.30*4C 2021-02-18T02:27:59.906Z,1613615279.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.979996 m, bearing: 84.940431 deg, deltaT: 4.856829 s, approachRate: 0.951234 m/s, LOS rate: 8.278266 deg/s, posRepo size: 4 2021-02-18T02:27:59.912Z,1613615279.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.979996 m, bearing: 84.940431 deg, approachRate: 0.951234 m/s, LOS rate: 8.278266 deg/s, cmd update: 12.000000 deg/s, cmd heading: 357.950212 deg, new cmd heading: 354.208431 deg. 2021-02-18T02:28:02.343Z,1613615282.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:28:03.092Z,1613615283.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:28:03.498Z,1613615283.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:28:04.324Z,1613615284.324 [Micromodem](INFO): Nmea in: $SNTTA,0.122803,,,,022803.13*43 2021-02-18T02:28:04.386Z,1613615284.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.979996 m, bearing: 46.891643 deg, deltaT: 4.408026 s, approachRate: 0.000000 m/s, LOS rate: -8.631707 deg/s, posRepo size: 4 2021-02-18T02:28:04.392Z,1613615284.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.979996 m, bearing: 46.891643 deg, approachRate: 0.000000 m/s, LOS rate: -8.631707 deg/s, cmd update: -12.000000 deg/s, cmd heading: 50.824145 deg, new cmd heading: 56.377734 deg. 2021-02-18T02:28:06.743Z,1613615286.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:28:07.537Z,1613615287.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:28:07.946Z,1613615287.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:28:08.760Z,1613615288.760 [Micromodem](INFO): Nmea in: $SNTTA,0.123965,,,,022807.57*47 2021-02-18T02:28:09.192Z,1613615289.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.000015 m, bearing: 11.984778 deg, deltaT: 4.852424 s, approachRate: 0.828456 m/s, LOS rate: -7.193696 deg/s, posRepo size: 4 2021-02-18T02:28:09.194Z,1613615289.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.000015 m, bearing: 11.984778 deg, approachRate: 0.828456 m/s, LOS rate: -7.193696 deg/s, cmd update: -12.000000 deg/s, cmd heading: 352.572736 deg, new cmd heading: 347.604244 deg. 2021-02-18T02:28:11.625Z,1613615291.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:28:12.389Z,1613615292.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:28:12.789Z,1613615292.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:28:13.624Z,1613615293.624 [Micromodem](INFO): Nmea in: $SNTTA,0.124474,,,0.126981,022812.42*56 2021-02-18T02:28:14.080Z,1613615294.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.720001 m, bearing: 358.586216 deg, deltaT: 4.890880 s, approachRate: 0.147210 m/s, LOS rate: -2.739498 deg/s, posRepo size: 4 2021-02-18T02:28:14.082Z,1613615294.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.720001 m, bearing: 358.586216 deg, approachRate: 0.147210 m/s, LOS rate: -2.739498 deg/s, cmd update: -10.957990 deg/s, cmd heading: 293.886218 deg, new cmd heading: 288.942758 deg. 2021-02-18T02:28:16.477Z,1613615296.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:28:17.267Z,1613615297.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:28:17.657Z,1613615297.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:28:18.475Z,1613615298.475 [Micromodem](INFO): Nmea in: $SNTTA,0.124429,,0.125629,,022817.30*50 2021-02-18T02:28:18.894Z,1613615298.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.599991 m, bearing: 11.296005 deg, deltaT: 4.855248 s, approachRate: -0.024718 m/s, LOS rate: 2.617744 deg/s, posRepo size: 4 2021-02-18T02:28:18.896Z,1613615298.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.599991 m, bearing: 11.296005 deg, approachRate: -0.024718 m/s, LOS rate: 2.617744 deg/s, cmd update: 10.470977 deg/s, cmd heading: 240.679752 deg, new cmd heading: 236.619784 deg. 2021-02-18T02:28:21.332Z,1613615301.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:28:22.080Z,1613615302.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:28:22.489Z,1613615302.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:28:23.312Z,1613615303.312 [Micromodem](INFO): Nmea in: $SNTTA,0.123664,,,,022822.11*4C 2021-02-18T02:28:23.345Z,1613615303.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.599991 m, bearing: 281.711535 deg, deltaT: 4.393286 s, approachRate: 0.000000 m/s, LOS rate: -20.391224 deg/s, posRepo size: 4 2021-02-18T02:28:23.346Z,1613615303.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.391224 deg/s. Setting heading cmd to target bearing of 281.711535deg and heading rate command to 0 deg/s. 2021-02-18T02:28:25.740Z,1613615305.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:28:26.524Z,1613615306.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:28:26.932Z,1613615306.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:28:27.742Z,1613615307.742 [Micromodem](INFO): Nmea in: $SNTTA,0.122477,,,,022826.56*4A 2021-02-18T02:28:28.186Z,1613615308.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.600006 m, bearing: 290.161408 deg, deltaT: 4.902065 s, approachRate: -0.611984 m/s, LOS rate: 1.723737 deg/s, posRepo size: 4 2021-02-18T02:28:28.188Z,1613615308.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.600006 m, bearing: 290.161408 deg, approachRate: -0.611984 m/s, LOS rate: 1.723737 deg/s, cmd update: 6.894950 deg/s, cmd heading: 281.711535 deg, new cmd heading: 281.711535 deg. 2021-02-18T02:28:30.596Z,1613615310.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:28:31.372Z,1613615311.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:28:31.779Z,1613615311.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:28:32.600Z,1613615312.600 [Micromodem](INFO): Nmea in: $SNTTA,0.120923,,,,022831.41*44 2021-02-18T02:28:32.639Z,1613615312.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.600006 m, bearing: 283.209259 deg, deltaT: 4.461256 s, approachRate: 0.000000 m/s, LOS rate: -1.558339 deg/s, posRepo size: 4 2021-02-18T02:28:32.641Z,1613615312.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.600006 m, bearing: 283.209259 deg, approachRate: 0.000000 m/s, LOS rate: -1.558339 deg/s, cmd update: -6.233356 deg/s, cmd heading: 312.461638 deg, new cmd heading: 314.958817 deg. 2021-02-18T02:28:35.047Z,1613615315.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:28:35.822Z,1613615315.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:28:36.261Z,1613615316.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:28:37.048Z,1613615317.048 [Micromodem](INFO): Nmea in: $SNTTA,0.119050,,,,022835.86*4C 2021-02-18T02:28:37.094Z,1613615317.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.600006 m, bearing: 281.760357 deg, deltaT: 4.399339 s, approachRate: 0.000000 m/s, LOS rate: -0.329345 deg/s, posRepo size: 4 2021-02-18T02:28:37.096Z,1613615317.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.600006 m, bearing: 281.760357 deg, approachRate: 0.000000 m/s, LOS rate: -0.329345 deg/s, cmd update: -1.317381 deg/s, cmd heading: 285.041281 deg, new cmd heading: 282.433457 deg. 2021-02-18T02:28:37.450Z,1613615317.450 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T02:28:39.504Z,1613615319.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:28:40.269Z,1613615320.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:28:40.683Z,1613615320.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:28:41.492Z,1613615321.492 [Micromodem](INFO): Nmea in: $SNTTA,0.117020,,,,022840.30*4A 2021-02-18T02:28:41.530Z,1613615321.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.600006 m, bearing: 286.501055 deg, deltaT: 4.450544 s, approachRate: 0.000000 m/s, LOS rate: 1.065195 deg/s, posRepo size: 4 2021-02-18T02:28:41.532Z,1613615321.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.600006 m, bearing: 286.501055 deg, approachRate: 0.000000 m/s, LOS rate: 1.065195 deg/s, cmd update: 4.260780 deg/s, cmd heading: 279.178554 deg, new cmd heading: 278.646384 deg. 2021-02-18T02:28:43.911Z,1613615323.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:28:44.704Z,1613615324.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:28:45.117Z,1613615325.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:28:45.947Z,1613615325.947 [Micromodem](INFO): Nmea in: $SNTTA,0.114918,,,,022844.74*4F 2021-02-18T02:28:46.012Z,1613615326.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.199997 m, bearing: 280.858991 deg, deltaT: 4.434257 s, approachRate: -2.570895 m/s, LOS rate: -1.272381 deg/s, posRepo size: 4 2021-02-18T02:28:46.014Z,1613615326.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.199997 m, bearing: 280.858991 deg, approachRate: -2.570895 m/s, LOS rate: -1.272381 deg/s, cmd update: -5.089524 deg/s, cmd heading: 298.088881 deg, new cmd heading: 299.903842 deg. 2021-02-18T02:28:48.375Z,1613615328.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:28:49.154Z,1613615329.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:28:49.559Z,1613615329.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:28:50.380Z,1613615330.380 [Micromodem](INFO): Nmea in: $SNTTA,0.112970,,,,022849.19*41 2021-02-18T02:28:50.429Z,1613615330.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.260010 m, bearing: 280.792683 deg, deltaT: 4.462649 s, approachRate: -0.658799 m/s, LOS rate: -0.014858 deg/s, posRepo size: 4 2021-02-18T02:28:50.431Z,1613615330.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.260010 m, bearing: 280.792683 deg, approachRate: -0.658799 m/s, LOS rate: -0.014858 deg/s, cmd update: -0.059433 deg/s, cmd heading: 275.374653 deg, new cmd heading: 273.326807 deg. 2021-02-18T02:28:52.824Z,1613615332.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:28:53.598Z,1613615333.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:28:54.010Z,1613615334.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:28:54.824Z,1613615334.824 [Micromodem](INFO): Nmea in: $SNTTA,0.110933,,,,022853.63*42 2021-02-18T02:28:54.862Z,1613615334.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.380005 m, bearing: 280.302904 deg, deltaT: 4.430441 s, approachRate: -0.650049 m/s, LOS rate: -0.110549 deg/s, posRepo size: 4 2021-02-18T02:28:54.864Z,1613615334.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.380005 m, bearing: 280.302904 deg, approachRate: -0.650049 m/s, LOS rate: -0.110549 deg/s, cmd update: -0.442195 deg/s, cmd heading: 275.111573 deg, new cmd heading: 275.087289 deg. 2021-02-18T02:28:57.303Z,1613615337.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:28:58.038Z,1613615338.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:28:58.442Z,1613615338.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:28:59.291Z,1613615339.291 [Micromodem](INFO): Nmea in: $SNTTA,0.108795,,,,022858.07*40 2021-02-18T02:28:59.324Z,1613615339.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.960007 m, bearing: 280.406094 deg, deltaT: 4.425076 s, approachRate: -0.772868 m/s, LOS rate: 0.023319 deg/s, posRepo size: 4 2021-02-18T02:28:59.326Z,1613615339.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.960007 m, bearing: 280.406094 deg, approachRate: -0.772868 m/s, LOS rate: 0.023319 deg/s, cmd update: 0.093278 deg/s, cmd heading: 273.160296 deg, new cmd heading: 272.957682 deg. 2021-02-18T02:29:01.689Z,1613615341.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:02.486Z,1613615342.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:29:02.896Z,1613615342.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:29:03.716Z,1613615343.716 [Micromodem](INFO): Nmea in: $SNTTA,0.106758,,,0.109289,022902.52*54 2021-02-18T02:29:03.758Z,1613615343.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.900009 m, bearing: 280.979093 deg, deltaT: 4.472653 s, approachRate: -0.684157 m/s, LOS rate: 0.128111 deg/s, posRepo size: 4 2021-02-18T02:29:03.760Z,1613615343.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.900009 m, bearing: 280.979093 deg, approachRate: -0.684157 m/s, LOS rate: 0.128111 deg/s, cmd update: 0.512446 deg/s, cmd heading: 273.578644 deg, new cmd heading: 273.616588 deg. 2021-02-18T02:29:06.155Z,1613615346.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:06.925Z,1613615346.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:29:07.329Z,1613615347.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:29:08.175Z,1613615348.175 [Micromodem](INFO): Nmea in: $SNTTA,0.104659,,,,022906.96*4F 2021-02-18T02:29:08.199Z,1613615348.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.779999 m, bearing: 281.654407 deg, deltaT: 4.413519 s, approachRate: -0.706921 m/s, LOS rate: 0.153010 deg/s, posRepo size: 4 2021-02-18T02:29:08.201Z,1613615348.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.779999 m, bearing: 281.654407 deg, approachRate: -0.706921 m/s, LOS rate: 0.153010 deg/s, cmd update: 0.612042 deg/s, cmd heading: 275.834168 deg, new cmd heading: 276.062825 deg. 2021-02-18T02:29:10.608Z,1613615350.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:11.373Z,1613615351.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:29:11.774Z,1613615351.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:29:12.604Z,1613615352.604 [Micromodem](INFO): Nmea in: $SNTTA,0.102693,,0.125498,,022911.41*5E 2021-02-18T02:29:12.643Z,1613615352.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.840012 m, bearing: 282.330432 deg, deltaT: 4.493605 s, approachRate: -0.654260 m/s, LOS rate: 0.150442 deg/s, posRepo size: 4 2021-02-18T02:29:12.645Z,1613615352.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.840012 m, bearing: 282.330432 deg, approachRate: -0.654260 m/s, LOS rate: 0.150442 deg/s, cmd update: 0.601766 deg/s, cmd heading: 278.586964 deg, new cmd heading: 278.827067 deg. 2021-02-18T02:29:15.034Z,1613615355.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:15.812Z,1613615355.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:29:16.231Z,1613615356.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:29:17.047Z,1613615357.047 [Micromodem](INFO): Nmea in: $SNTTA,0.100640,,,,022915.85*43 2021-02-18T02:29:17.072Z,1613615357.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.780014 m, bearing: 282.853297 deg, deltaT: 4.394259 s, approachRate: -0.696363 m/s, LOS rate: 0.118988 deg/s, posRepo size: 4 2021-02-18T02:29:17.073Z,1613615357.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.780014 m, bearing: 282.853297 deg, approachRate: -0.696363 m/s, LOS rate: 0.118988 deg/s, cmd update: 0.475953 deg/s, cmd heading: 281.238471 deg, new cmd heading: 281.488092 deg. 2021-02-18T02:29:19.490Z,1613615359.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:20.273Z,1613615360.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:29:20.661Z,1613615360.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:29:21.492Z,1613615361.492 [Micromodem](INFO): Nmea in: $SNTTA,0.098514,,,,022920.31*48 2021-02-18T02:29:21.536Z,1613615361.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.479996 m, bearing: 283.168141 deg, deltaT: 4.459199 s, approachRate: -0.740047 m/s, LOS rate: 0.070606 deg/s, posRepo size: 4 2021-02-18T02:29:21.538Z,1613615361.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.479996 m, bearing: 283.168141 deg, approachRate: -0.740047 m/s, LOS rate: 0.070606 deg/s, cmd update: 0.282422 deg/s, cmd heading: 283.360020 deg, new cmd heading: 283.559485 deg. 2021-02-18T02:29:23.922Z,1613615363.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:24.701Z,1613615364.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:29:25.114Z,1613615365.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:29:25.929Z,1613615365.929 [Micromodem](INFO): Nmea in: $SNTTA,0.096302,,,,022924.74*42 2021-02-18T02:29:26.003Z,1613615366.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.240005 m, bearing: 281.516410 deg, deltaT: 4.447368 s, approachRate: -0.728519 m/s, LOS rate: -0.371395 deg/s, posRepo size: 4 2021-02-18T02:29:26.009Z,1613615366.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.240005 m, bearing: 281.516410 deg, approachRate: -0.728519 m/s, LOS rate: -0.371395 deg/s, cmd update: -1.485581 deg/s, cmd heading: 284.615409 deg, new cmd heading: 284.740652 deg. 2021-02-18T02:29:28.393Z,1613615368.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:29.156Z,1613615369.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:29:29.550Z,1613615369.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:29:30.380Z,1613615370.380 [Micromodem](INFO): Nmea in: $SNTTA,0.094196,,,,022929.19*49 2021-02-18T02:29:30.440Z,1613615370.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.119995 m, bearing: 281.526491 deg, deltaT: 4.451253 s, approachRate: -0.700929 m/s, LOS rate: 0.002265 deg/s, posRepo size: 4 2021-02-18T02:29:30.441Z,1613615370.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.119995 m, bearing: 281.526491 deg, approachRate: -0.700929 m/s, LOS rate: 0.002265 deg/s, cmd update: 0.009059 deg/s, cmd heading: 278.002704 deg, new cmd heading: 277.365336 deg. 2021-02-18T02:29:32.797Z,1613615372.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:33.593Z,1613615373.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:29:34.009Z,1613615374.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:29:34.820Z,1613615374.820 [Micromodem](INFO): Nmea in: $SNTTA,0.092091,,,,022933.63*4F 2021-02-18T02:29:34.854Z,1613615374.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.880005 m, bearing: 282.069573 deg, deltaT: 4.422333 s, approachRate: -0.732643 m/s, LOS rate: 0.122804 deg/s, posRepo size: 4 2021-02-18T02:29:34.856Z,1613615374.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.880005 m, bearing: 282.069573 deg, approachRate: -0.732643 m/s, LOS rate: 0.122804 deg/s, cmd update: 0.491218 deg/s, cmd heading: 278.042802 deg, new cmd heading: 278.046584 deg. 2021-02-18T02:29:37.293Z,1613615377.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:38.038Z,1613615378.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:29:38.463Z,1613615378.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:29:39.284Z,1613615379.284 [Micromodem](INFO): Nmea in: $SNTTA,0.089986,,,,022938.07*43 2021-02-18T02:29:39.341Z,1613615379.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.699997 m, bearing: 283.841379 deg, deltaT: 4.440290 s, approachRate: -0.716171 m/s, LOS rate: 0.399029 deg/s, posRepo size: 4 2021-02-18T02:29:39.347Z,1613615379.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.699997 m, bearing: 283.841379 deg, approachRate: -0.716171 m/s, LOS rate: 0.399029 deg/s, cmd update: 1.596117 deg/s, cmd heading: 280.223168 deg, new cmd heading: 280.452126 deg. 2021-02-18T02:29:41.688Z,1613615381.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:42.478Z,1613615382.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:29:42.881Z,1613615382.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:29:43.708Z,1613615383.708 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022942.51*55 2021-02-18T02:29:43.723Z,1613615383.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.580002 m, bearing: 283.442414 deg, deltaT: 4.526563 s, approachRate: -0.689264 m/s, LOS rate: -0.088139 deg/s, posRepo size: 4 2021-02-18T02:29:43.725Z,1613615383.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.580002 m, bearing: 283.442414 deg, approachRate: -0.689264 m/s, LOS rate: -0.088139 deg/s, cmd update: -0.352554 deg/s, cmd heading: 287.450578 deg, new cmd heading: 287.960315 deg. 2021-02-18T02:29:46.142Z,1613615386.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:46.925Z,1613615386.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:29:47.333Z,1613615387.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:29:48.139Z,1613615388.139 [Micromodem](INFO): Nmea in: $SNTTA,0.085686,,,,022946.96*41 2021-02-18T02:29:48.997Z,1613615388.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:50.556Z,1613615390.556 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:29:51.815Z,1613615391.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:52.584Z,1613615392.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:29:53.006Z,1613615393.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:29:53.812Z,1613615393.812 [Micromodem](INFO): Nmea in: $SNTTA,0.082928,,,,022952.62*43 2021-02-18T02:29:53.834Z,1613615393.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.260002 m, bearing: 285.456063 deg, deltaT: 10.020669 s, approachRate: -0.730490 m/s, LOS rate: 0.200950 deg/s, posRepo size: 4 2021-02-18T02:29:53.836Z,1613615393.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.260002 m, bearing: 285.456063 deg, approachRate: -0.730490 m/s, LOS rate: 0.200950 deg/s, cmd update: 0.803798 deg/s, cmd heading: 283.923440 deg, new cmd heading: 283.773240 deg. 2021-02-18T02:29:56.294Z,1613615396.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:29:57.026Z,1613615397.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:29:57.426Z,1613615397.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:29:58.284Z,1613615398.284 [Micromodem](INFO): Nmea in: $SNTTA,0.080821,,,,022957.06*4E 2021-02-18T02:29:58.332Z,1613615398.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.019997 m, bearing: 285.269298 deg, deltaT: 4.418895 s, approachRate: -0.733216 m/s, LOS rate: -0.042265 deg/s, posRepo size: 4 2021-02-18T02:29:58.333Z,1613615398.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.019997 m, bearing: 285.269298 deg, approachRate: -0.733216 m/s, LOS rate: -0.042265 deg/s, cmd update: -0.169060 deg/s, cmd heading: 287.488332 deg, new cmd heading: 287.880964 deg. 2021-02-18T02:30:00.350Z,1613615400.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:01.069Z,1613615401.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:01.482Z,1613615401.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:30:02.312Z,1613615402.312 [Micromodem](INFO): Nmea in: $SNTTA,0.078906,,,,023001.10*41 2021-02-18T02:30:02.345Z,1613615402.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.139999 m, bearing: 285.290827 deg, deltaT: 4.044174 s, approachRate: -0.712135 m/s, LOS rate: 0.005323 deg/s, posRepo size: 4 2021-02-18T02:30:02.347Z,1613615402.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.139999 m, bearing: 285.290827 deg, approachRate: -0.712135 m/s, LOS rate: 0.005323 deg/s, cmd update: 0.021294 deg/s, cmd heading: 286.804626 deg, new cmd heading: 286.727149 deg. 2021-02-18T02:30:04.710Z,1613615404.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:05.512Z,1613615405.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:05.909Z,1613615405.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:30:06.736Z,1613615406.736 [Micromodem](INFO): Nmea in: $SNTTA,0.076777,,,,023005.55*42 2021-02-18T02:30:06.782Z,1613615406.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.020004 m, bearing: 285.634249 deg, deltaT: 4.486378 s, approachRate: -0.695437 m/s, LOS rate: 0.076548 deg/s, posRepo size: 4 2021-02-18T02:30:06.788Z,1613615406.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.020004 m, bearing: 285.634249 deg, approachRate: -0.695437 m/s, LOS rate: 0.076548 deg/s, cmd update: 0.306191 deg/s, cmd heading: 286.900058 deg, new cmd heading: 286.908860 deg. 2021-02-18T02:30:09.165Z,1613615409.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:09.956Z,1613615409.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:10.355Z,1613615410.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:30:11.188Z,1613615411.188 [Micromodem](INFO): Nmea in: $SNTTA,0.074728,,,,023009.99*46 2021-02-18T02:30:11.216Z,1613615411.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.840004 m, bearing: 285.595098 deg, deltaT: 4.416421 s, approachRate: -0.720040 m/s, LOS rate: -0.008865 deg/s, posRepo size: 4 2021-02-18T02:30:11.217Z,1613615411.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.840004 m, bearing: 285.595098 deg, approachRate: -0.720040 m/s, LOS rate: -0.008865 deg/s, cmd update: -0.035459 deg/s, cmd heading: 288.252596 deg, new cmd heading: 288.384019 deg. 2021-02-18T02:30:13.610Z,1613615413.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:14.392Z,1613615414.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:14.798Z,1613615414.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:30:15.624Z,1613615415.624 [Micromodem](INFO): Nmea in: $SNTTA,0.072587,,,,023014.43*4C 2021-02-18T02:30:15.648Z,1613615415.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.659996 m, bearing: 284.948525 deg, deltaT: 4.487789 s, approachRate: -0.708591 m/s, LOS rate: -0.144074 deg/s, posRepo size: 4 2021-02-18T02:30:15.650Z,1613615415.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.659996 m, bearing: 284.948525 deg, approachRate: -0.708591 m/s, LOS rate: -0.144074 deg/s, cmd update: -0.576295 deg/s, cmd heading: 288.093469 deg, new cmd heading: 288.080195 deg. 2021-02-18T02:30:18.066Z,1613615418.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:18.459Z,1613615418.459 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:30:18.842Z,1613615418.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:19.273Z,1613615419.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:30:20.072Z,1613615420.072 [Micromodem](INFO): Nmea in: $SNTTA,0.070498,,0.096017,,023018.88*5D 2021-02-18T02:30:20.096Z,1613615420.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.599998 m, bearing: 285.517781 deg, deltaT: 4.397182 s, approachRate: -0.695900 m/s, LOS rate: 0.129459 deg/s, posRepo size: 4 2021-02-18T02:30:20.097Z,1613615420.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.599998 m, bearing: 285.517781 deg, approachRate: -0.695900 m/s, LOS rate: 0.129459 deg/s, cmd update: 0.517836 deg/s, cmd heading: 285.556980 deg, new cmd heading: 285.314762 deg. 2021-02-18T02:30:22.512Z,1613615422.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:23.281Z,1613615423.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:23.685Z,1613615423.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:30:24.508Z,1613615424.508 [Micromodem](INFO): Nmea in: $SNTTA,0.068325,,,,023023.31*48 2021-02-18T02:30:24.560Z,1613615424.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.240005 m, bearing: 284.885688 deg, deltaT: 4.460344 s, approachRate: -0.753304 m/s, LOS rate: -0.141714 deg/s, posRepo size: 4 2021-02-18T02:30:24.562Z,1613615424.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.240005 m, bearing: 284.885688 deg, approachRate: -0.753304 m/s, LOS rate: -0.141714 deg/s, cmd update: -0.566856 deg/s, cmd heading: 287.864534 deg, new cmd heading: 288.086787 deg. 2021-02-18T02:30:26.931Z,1613615426.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:27.729Z,1613615427.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:28.144Z,1613615428.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:30:28.964Z,1613615428.964 [Micromodem](INFO): Nmea in: $SNTTA,0.066195,,,,023027.76*48 2021-02-18T02:30:29.043Z,1613615429.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.060005 m, bearing: 284.609721 deg, deltaT: 4.442599 s, approachRate: -0.715797 m/s, LOS rate: -0.062118 deg/s, posRepo size: 4 2021-02-18T02:30:29.045Z,1613615429.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.060005 m, bearing: 284.609721 deg, approachRate: -0.715797 m/s, LOS rate: -0.062118 deg/s, cmd update: -0.248473 deg/s, cmd heading: 285.346113 deg, new cmd heading: 285.082547 deg. 2021-02-18T02:30:31.385Z,1613615431.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:32.168Z,1613615432.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:32.574Z,1613615432.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:30:33.405Z,1613615433.405 [Micromodem](INFO): Nmea in: $SNTTA,0.063977,,,,023032.21*4F 2021-02-18T02:30:33.430Z,1613615433.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.760002 m, bearing: 286.713446 deg, deltaT: 4.479394 s, approachRate: -0.736707 m/s, LOS rate: 0.469645 deg/s, posRepo size: 4 2021-02-18T02:30:33.432Z,1613615433.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.760002 m, bearing: 286.713446 deg, approachRate: -0.736707 m/s, LOS rate: 0.469645 deg/s, cmd update: 1.878581 deg/s, cmd heading: 284.233111 deg, new cmd heading: 284.139468 deg. 2021-02-18T02:30:35.825Z,1613615435.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:36.614Z,1613615436.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:37.018Z,1613615437.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:30:37.840Z,1613615437.840 [Micromodem](INFO): Nmea in: $SNTTA,0.061977,,,,023036.65*49 2021-02-18T02:30:37.886Z,1613615437.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.820000 m, bearing: 287.692622 deg, deltaT: 4.421772 s, approachRate: -0.664892 m/s, LOS rate: 0.221444 deg/s, posRepo size: 4 2021-02-18T02:30:37.892Z,1613615437.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.820000 m, bearing: 287.692622 deg, approachRate: -0.664892 m/s, LOS rate: 0.221444 deg/s, cmd update: 0.885777 deg/s, cmd heading: 292.532268 deg, new cmd heading: 293.311706 deg. 2021-02-18T02:30:40.314Z,1613615440.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:41.057Z,1613615441.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:41.463Z,1613615441.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:30:42.288Z,1613615442.288 [Micromodem](INFO): Nmea in: $SNTTA,0.059744,,,,023041.09*46 2021-02-18T02:30:42.337Z,1613615442.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.400002 m, bearing: 285.956443 deg, deltaT: 4.398712 s, approachRate: -0.777500 m/s, LOS rate: -0.394702 deg/s, posRepo size: 4 2021-02-18T02:30:42.339Z,1613615442.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.400002 m, bearing: 285.956443 deg, approachRate: -0.777500 m/s, LOS rate: -0.394702 deg/s, cmd update: -1.578807 deg/s, cmd heading: 296.435642 deg, new cmd heading: 296.842650 deg. 2021-02-18T02:30:44.729Z,1613615444.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:45.506Z,1613615445.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:45.906Z,1613615445.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:30:46.736Z,1613615446.736 [Micromodem](INFO): Nmea in: $SNTTA,0.057779,,,,023045.54*4A 2021-02-18T02:30:46.773Z,1613615446.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.520004 m, bearing: 285.606928 deg, deltaT: 4.495575 s, approachRate: -0.640629 m/s, LOS rate: -0.077746 deg/s, posRepo size: 4 2021-02-18T02:30:46.775Z,1613615446.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.520004 m, bearing: 285.606928 deg, approachRate: -0.640629 m/s, LOS rate: -0.077746 deg/s, cmd update: -0.310985 deg/s, cmd heading: 289.344457 deg, new cmd heading: 288.706915 deg. 2021-02-18T02:30:49.173Z,1613615449.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:49.948Z,1613615449.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:50.350Z,1613615450.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:30:51.176Z,1613615451.176 [Micromodem](INFO): Nmea in: $SNTTA,0.055544,,,,023049.98*48 2021-02-18T02:30:51.264Z,1613615451.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.099998 m, bearing: 285.266184 deg, deltaT: 4.417972 s, approachRate: -0.774112 m/s, LOS rate: -0.077127 deg/s, posRepo size: 4 2021-02-18T02:30:51.265Z,1613615451.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.099998 m, bearing: 285.266184 deg, approachRate: -0.774112 m/s, LOS rate: -0.077127 deg/s, cmd update: -0.308508 deg/s, cmd heading: 287.975476 deg, new cmd heading: 287.824370 deg. 2021-02-18T02:30:53.617Z,1613615453.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:54.393Z,1613615454.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:54.811Z,1613615454.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:30:55.620Z,1613615455.620 [Micromodem](INFO): Nmea in: $SNTTA,0.053430,,,,023054.43*46 2021-02-18T02:30:55.660Z,1613615455.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.040001 m, bearing: 287.550582 deg, deltaT: 4.494135 s, approachRate: -0.680887 m/s, LOS rate: 0.508306 deg/s, posRepo size: 4 2021-02-18T02:30:55.661Z,1613615455.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.040001 m, bearing: 287.550582 deg, approachRate: -0.680887 m/s, LOS rate: 0.508306 deg/s, cmd update: 2.033226 deg/s, cmd heading: 286.584056 deg, new cmd heading: 286.467554 deg. 2021-02-18T02:30:58.062Z,1613615458.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:30:58.834Z,1613615458.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:30:59.267Z,1613615459.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:00.064Z,1613615460.064 [Micromodem](INFO): Nmea in: $SNTTA,0.051318,,,,023058.87*4D 2021-02-18T02:31:00.118Z,1613615460.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.860008 m, bearing: 287.625195 deg, deltaT: 4.368457 s, approachRate: -0.727944 m/s, LOS rate: 0.017080 deg/s, posRepo size: 4 2021-02-18T02:31:00.124Z,1613615460.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.860008 m, bearing: 287.625195 deg, approachRate: -0.727944 m/s, LOS rate: 0.017080 deg/s, cmd update: 0.068320 deg/s, cmd heading: 295.474195 deg, new cmd heading: 296.418224 deg. 2021-02-18T02:31:02.504Z,1613615462.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:31:03.276Z,1613615463.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:31:03.696Z,1613615463.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:04.504Z,1613615464.504 [Micromodem](INFO): Nmea in: $SNTTA,0.049179,,,,023103.31*43 2021-02-18T02:31:04.561Z,1613615464.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.560005 m, bearing: 285.991031 deg, deltaT: 4.494304 s, approachRate: -0.734263 m/s, LOS rate: -0.363608 deg/s, posRepo size: 4 2021-02-18T02:31:04.567Z,1613615464.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.560005 m, bearing: 285.991031 deg, approachRate: -0.734263 m/s, LOS rate: -0.363608 deg/s, cmd update: -1.454431 deg/s, cmd heading: 295.780477 deg, new cmd heading: 295.809445 deg. 2021-02-18T02:31:06.941Z,1613615466.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:31:07.720Z,1613615467.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:31:08.131Z,1613615468.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:08.973Z,1613615468.973 [Micromodem](INFO): Nmea in: $SNTTA,0.046964,,,,023107.76*4F 2021-02-18T02:31:09.027Z,1613615469.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.440002 m, bearing: 287.887119 deg, deltaT: 4.436771 s, approachRate: -0.703215 m/s, LOS rate: 0.427358 deg/s, posRepo size: 4 2021-02-18T02:31:09.029Z,1613615469.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.440002 m, bearing: 287.887119 deg, approachRate: -0.703215 m/s, LOS rate: 0.427358 deg/s, cmd update: 1.709430 deg/s, cmd heading: 289.311321 deg, new cmd heading: 288.668240 deg. 2021-02-18T02:31:11.386Z,1613615471.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:31:12.174Z,1613615472.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:31:12.570Z,1613615472.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:13.400Z,1613615473.400 [Micromodem](INFO): Nmea in: $SNTTA,0.044940,,,,023112.21*4D 2021-02-18T02:31:13.425Z,1613615473.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.320007 m, bearing: 287.013100 deg, deltaT: 4.464320 s, approachRate: -0.698874 m/s, LOS rate: -0.195779 deg/s, posRepo size: 4 2021-02-18T02:31:13.427Z,1613615473.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.320007 m, bearing: 287.013100 deg, approachRate: -0.698874 m/s, LOS rate: -0.195779 deg/s, cmd update: -0.783114 deg/s, cmd heading: 296.936122 deg, new cmd heading: 297.584568 deg. 2021-02-18T02:31:15.831Z,1613615475.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:31:16.609Z,1613615476.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:31:17.022Z,1613615477.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:17.836Z,1613615477.836 [Micromodem](INFO): Nmea in: $SNTTA,0.042737,,,,023116.64*40 2021-02-18T02:31:17.872Z,1613615477.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.840004 m, bearing: 285.741620 deg, deltaT: 4.424582 s, approachRate: -0.786516 m/s, LOS rate: -0.287367 deg/s, posRepo size: 4 2021-02-18T02:31:17.874Z,1613615477.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.840004 m, bearing: 285.741620 deg, approachRate: -0.786516 m/s, LOS rate: -0.287367 deg/s, cmd update: -1.149470 deg/s, cmd heading: 293.468043 deg, new cmd heading: 293.156426 deg. 2021-02-18T02:31:20.300Z,1613615480.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:31:21.052Z,1613615481.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:31:21.459Z,1613615481.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:22.291Z,1613615482.291 [Micromodem](INFO): Nmea in: $SNTTA,0.040769,,,,023121.09*46 2021-02-18T02:31:22.325Z,1613615482.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.660000 m, bearing: 285.426803 deg, deltaT: 4.412298 s, approachRate: -0.720714 m/s, LOS rate: -0.071350 deg/s, posRepo size: 4 2021-02-18T02:31:22.326Z,1613615482.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.660000 m, bearing: 285.426803 deg, approachRate: -0.720714 m/s, LOS rate: -0.071350 deg/s, cmd update: -0.285400 deg/s, cmd heading: 288.400953 deg, new cmd heading: 287.892521 deg. 2021-02-18T02:31:24.719Z,1613615484.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:31:25.502Z,1613615485.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:31:25.920Z,1613615485.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:26.728Z,1613615486.728 [Micromodem](INFO): Nmea in: $SNTTA,0.038774,,,,023125.54*49 2021-02-18T02:31:26.773Z,1613615486.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.719997 m, bearing: 285.526414 deg, deltaT: 4.478649 s, approachRate: -0.656448 m/s, LOS rate: 0.022241 deg/s, posRepo size: 4 2021-02-18T02:31:26.779Z,1613615486.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.719997 m, bearing: 285.526414 deg, approachRate: -0.656448 m/s, LOS rate: 0.022241 deg/s, cmd update: 0.088966 deg/s, cmd heading: 287.122704 deg, new cmd heading: 287.005018 deg. 2021-02-18T02:31:29.162Z,1613615489.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:31:29.940Z,1613615489.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:31:30.351Z,1613615490.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:31.176Z,1613615491.176 [Micromodem](INFO): Nmea in: $SNTTA,0.036508,,,,023129.97*4D 2021-02-18T02:31:31.259Z,1613615491.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.480000 m, bearing: 285.855602 deg, deltaT: 4.399925 s, approachRate: -0.736376 m/s, LOS rate: 0.074817 deg/s, posRepo size: 4 2021-02-18T02:31:31.261Z,1613615491.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.480000 m, bearing: 285.855602 deg, approachRate: -0.736376 m/s, LOS rate: 0.074817 deg/s, cmd update: 0.299267 deg/s, cmd heading: 287.514500 deg, new cmd heading: 287.557907 deg. 2021-02-18T02:31:33.615Z,1613615493.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:31:34.392Z,1613615494.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:31:34.789Z,1613615494.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:35.616Z,1613615495.616 [Micromodem](INFO): Nmea in: $SNTTA,0.034169,,,,023134.43*49 2021-02-18T02:31:35.656Z,1613615495.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.119999 m, bearing: 287.156179 deg, deltaT: 4.513891 s, approachRate: -0.744369 m/s, LOS rate: 0.288128 deg/s, posRepo size: 4 2021-02-18T02:31:35.658Z,1613615495.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.119999 m, bearing: 287.156179 deg, approachRate: -0.744369 m/s, LOS rate: 0.288128 deg/s, cmd update: 1.152511 deg/s, cmd heading: 288.864090 deg, new cmd heading: 288.978119 deg. 2021-02-18T02:31:38.062Z,1613615498.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:31:38.834Z,1613615498.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:31:39.270Z,1613615499.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:40.060Z,1613615500.060 [Micromodem](INFO): Nmea in: $SNTTA,0.032175,,,,023138.87*46 2021-02-18T02:31:40.090Z,1613615500.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.060001 m, bearing: 286.300930 deg, deltaT: 4.372313 s, approachRate: -0.699858 m/s, LOS rate: -0.195606 deg/s, posRepo size: 4 2021-02-18T02:31:40.112Z,1613615500.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.060001 m, bearing: 286.300930 deg, approachRate: -0.699858 m/s, LOS rate: -0.195606 deg/s, cmd update: -0.782422 deg/s, cmd heading: 293.908098 deg, new cmd heading: 294.413411 deg. 2021-02-18T02:31:42.494Z,1613615502.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:31:43.289Z,1613615503.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:31:43.683Z,1613615503.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:44.516Z,1613615504.516 [Micromodem](INFO): Nmea in: $SNTTA,0.029953,0.044364,,,023143.32*5D 2021-02-18T02:31:44.554Z,1613615504.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.820000 m, bearing: 289.456177 deg, deltaT: 4.473131 s, approachRate: -0.724325 m/s, LOS rate: 0.705378 deg/s, posRepo size: 4 2021-02-18T02:31:44.556Z,1613615504.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.820000 m, bearing: 289.456177 deg, approachRate: -0.724325 m/s, LOS rate: 0.705378 deg/s, cmd update: 2.821511 deg/s, cmd heading: 290.420888 deg, new cmd heading: 290.072228 deg. 2021-02-18T02:31:46.956Z,1613615506.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:31:47.717Z,1613615507.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:31:48.129Z,1613615508.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:48.944Z,1613615508.944 [Micromodem](INFO): Nmea in: $SNTTA,0.027974,,,,023147.75*4E 2021-02-18T02:31:49.013Z,1613615509.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.700001 m, bearing: 288.158906 deg, deltaT: 4.484304 s, approachRate: -0.695760 m/s, LOS rate: -0.289292 deg/s, posRepo size: 4 2021-02-18T02:31:49.014Z,1613615509.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.700001 m, bearing: 288.158906 deg, approachRate: -0.695760 m/s, LOS rate: -0.289292 deg/s, cmd update: -1.157166 deg/s, cmd heading: 303.119149 deg, new cmd heading: 304.259485 deg. 2021-02-18T02:31:51.424Z,1613615511.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:31:52.160Z,1613615512.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:31:52.568Z,1613615512.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:53.388Z,1613615513.388 [Micromodem](INFO): Nmea in: $SNTTA,0.025716,,,0.036602,023152.19*57 2021-02-18T02:31:53.429Z,1613615513.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.399998 m, bearing: 285.245994 deg, deltaT: 4.433206 s, approachRate: -0.744383 m/s, LOS rate: -0.657067 deg/s, posRepo size: 4 2021-02-18T02:31:53.430Z,1613615513.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.40 m. 2021-02-18T02:31:53.432Z,1613615513.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.399998 m, bearing: 285.245994 deg, approachRate: -0.744383 m/s, LOS rate: -0.657067 deg/s, cmd update: -2.628267 deg/s, cmd heading: 298.007695 deg, new cmd heading: 297.540911 deg. 2021-02-18T02:31:53.801Z,1613615513.801 [PowerOnly](INFO): Powering up loadControl 2021-02-18T02:31:55.812Z,1613615515.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:31:56.609Z,1613615516.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:31:57.020Z,1613615517.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:31:57.836Z,1613615517.836 [Micromodem](INFO): Nmea in: $SNTTA,0.024005,,,,023156.64*42 2021-02-18T02:31:57.873Z,1613615517.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.760002 m, bearing: 288.972436 deg, deltaT: 4.422527 s, approachRate: -0.596943 m/s, LOS rate: 0.842605 deg/s, posRepo size: 4 2021-02-18T02:31:57.874Z,1613615517.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.76 m. 2021-02-18T02:31:57.874Z,1613615517.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.76 m. 2021-02-18T02:31:57.874Z,1613615517.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T02:31:57.876Z,1613615517.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.760002 m, bearing: 288.972436 deg, approachRate: -0.596943 m/s, LOS rate: 0.842605 deg/s, cmd update: 3.370419 deg/s, cmd heading: 286.363688 deg, new cmd heading: 285.267004 deg. 2021-02-18T02:32:00.324Z,1613615520.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:01.048Z,1613615521.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:01.455Z,1613615521.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:32:02.284Z,1613615522.284 [Micromodem](INFO): Nmea in: $SNTTA,0.021868,,0.038424,,023201.08*58 2021-02-18T02:32:02.334Z,1613615522.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.160004 m, bearing: 288.206034 deg, deltaT: 4.427250 s, approachRate: -0.813146 m/s, LOS rate: -0.173110 deg/s, posRepo size: 4 2021-02-18T02:32:02.336Z,1613615522.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.160004 m, bearing: 288.206034 deg, approachRate: -0.813146 m/s, LOS rate: -0.173110 deg/s, cmd update: -0.692441 deg/s, cmd heading: 301.312971 deg, new cmd heading: 302.803889 deg. 2021-02-18T02:32:04.699Z,1613615524.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:05.494Z,1613615525.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:05.912Z,1613615525.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:32:06.720Z,1613615526.720 [Micromodem](INFO): Nmea in: $SNTTA,0.019536,,,,023205.53*48 2021-02-18T02:32:06.766Z,1613615526.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.099998 m, bearing: 285.605098 deg, deltaT: 4.477795 s, approachRate: -0.683373 m/s, LOS rate: -0.580852 deg/s, posRepo size: 4 2021-02-18T02:32:06.772Z,1613615526.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.099998 m, bearing: 285.605098 deg, approachRate: -0.683373 m/s, LOS rate: -0.580852 deg/s, cmd update: -2.323408 deg/s, cmd heading: 298.215137 deg, new cmd heading: 297.937518 deg. 2021-02-18T02:32:09.164Z,1613615529.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:09.945Z,1613615529.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:10.341Z,1613615530.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:32:11.168Z,1613615531.168 [Micromodem](INFO): Nmea in: $SNTTA,0.017586,,,,023209.98*46 2021-02-18T02:32:11.193Z,1613615531.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.039999 m, bearing: 283.014817 deg, deltaT: 4.388581 s, approachRate: -0.697264 m/s, LOS rate: -0.590232 deg/s, posRepo size: 4 2021-02-18T02:32:11.194Z,1613615531.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.039999 m, bearing: 283.014817 deg, approachRate: -0.697264 m/s, LOS rate: -0.590232 deg/s, cmd update: -2.360928 deg/s, cmd heading: 288.009415 deg, new cmd heading: 286.999227 deg. 2021-02-18T02:32:13.672Z,1613615533.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:14.391Z,1613615534.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:14.786Z,1613615534.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:32:15.618Z,1613615535.618 [Micromodem](INFO): Nmea in: $SNTTA,0.015503,,,,023214.43*43 2021-02-18T02:32:15.668Z,1613615535.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.039999 m, bearing: 287.106127 deg, deltaT: 4.535121 s, approachRate: -0.661504 m/s, LOS rate: 0.902139 deg/s, posRepo size: 4 2021-02-18T02:32:15.669Z,1613615535.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.039999 m, bearing: 287.106127 deg, approachRate: -0.661504 m/s, LOS rate: 0.902139 deg/s, cmd update: 3.608557 deg/s, cmd heading: 277.312054 deg, new cmd heading: 276.418289 deg. 2021-02-18T02:32:18.056Z,1613615538.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:18.830Z,1613615538.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:19.265Z,1613615539.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:32:20.056Z,1613615540.056 [Micromodem](INFO): Nmea in: $SNTTA,0.013516,,,0.043988,023218.86*54 2021-02-18T02:32:20.104Z,1613615540.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.100002 m, bearing: 286.376335 deg, deltaT: 4.358592 s, approachRate: -0.674529 m/s, LOS rate: -0.167438 deg/s, posRepo size: 4 2021-02-18T02:32:20.106Z,1613615540.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.100002 m, bearing: 286.376335 deg, approachRate: -0.674529 m/s, LOS rate: -0.167438 deg/s, cmd update: -0.669750 deg/s, cmd heading: 293.055276 deg, new cmd heading: 294.686091 deg. 2021-02-18T02:32:22.541Z,1613615542.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:23.273Z,1613615543.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:23.693Z,1613615543.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:32:24.504Z,1613615544.504 [Micromodem](INFO): Nmea in: $SNTTA,0.011504,,0.021554,,023223.31*58 2021-02-18T02:32:24.552Z,1613615544.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.039999 m, bearing: 288.707042 deg, deltaT: 4.473668 s, approachRate: -0.684003 m/s, LOS rate: 0.520983 deg/s, posRepo size: 4 2021-02-18T02:32:24.554Z,1613615544.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.039999 m, bearing: 288.707042 deg, approachRate: -0.684003 m/s, LOS rate: 0.520983 deg/s, cmd update: 2.083933 deg/s, cmd heading: 290.061714 deg, new cmd heading: 289.773225 deg. 2021-02-18T02:32:26.948Z,1613615546.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:27.721Z,1613615547.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:28.118Z,1613615548.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:32:28.948Z,1613615548.948 [Micromodem](INFO): Nmea in: $SNTTA,0.009553,,,,023227.75*4E 2021-02-18T02:32:29.009Z,1613615549.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.100001 m, bearing: 288.116422 deg, deltaT: 4.440860 s, approachRate: -0.662033 m/s, LOS rate: -0.132997 deg/s, posRepo size: 4 2021-02-18T02:32:29.015Z,1613615549.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.100001 m, bearing: 288.116422 deg, approachRate: -0.662033 m/s, LOS rate: -0.132997 deg/s, cmd update: -0.531987 deg/s, cmd heading: 299.291134 deg, new cmd heading: 300.247885 deg. 2021-02-18T02:32:31.397Z,1613615551.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:32.162Z,1613615552.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:32.562Z,1613615552.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:32:33.388Z,1613615553.388 [Micromodem](INFO): Nmea in: $SNTTA,0.007474,,,,023232.19*4A 2021-02-18T02:32:33.446Z,1613615553.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.920002 m, bearing: 287.704807 deg, deltaT: 4.463544 s, approachRate: -0.712438 m/s, LOS rate: -0.092217 deg/s, posRepo size: 4 2021-02-18T02:32:33.452Z,1613615553.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.920002 m, bearing: 287.704807 deg, approachRate: -0.712438 m/s, LOS rate: -0.092217 deg/s, cmd update: -0.368868 deg/s, cmd heading: 296.908061 deg, new cmd heading: 296.686579 deg. 2021-02-18T02:32:35.823Z,1613615555.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:36.600Z,1613615556.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:37.014Z,1613615557.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:32:37.828Z,1613615557.828 [Micromodem](INFO): Nmea in: $SNTTA,0.005644,,,,023236.63*40 2021-02-18T02:32:37.865Z,1613615557.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.279999 m, bearing: 287.470504 deg, deltaT: 4.417242 s, approachRate: -0.597659 m/s, LOS rate: -0.053043 deg/s, posRepo size: 4 2021-02-18T02:32:37.867Z,1613615557.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.279999 m, bearing: 287.470504 deg, approachRate: -0.597659 m/s, LOS rate: -0.053043 deg/s, cmd update: -0.212171 deg/s, cmd heading: 295.278775 deg, new cmd heading: 295.124349 deg. 2021-02-18T02:32:40.312Z,1613615560.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:41.044Z,1613615561.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:41.451Z,1613615561.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:32:42.285Z,1613615562.285 [Micromodem](INFO): Nmea in: $SNTTA,0.003965,,0.046777,,023241.08*5C 2021-02-18T02:32:42.318Z,1613615562.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.759999 m, bearing: 285.066797 deg, deltaT: 4.439669 s, approachRate: -0.567610 m/s, LOS rate: -0.541416 deg/s, posRepo size: 4 2021-02-18T02:32:42.320Z,1613615562.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.759999 m, bearing: 285.066797 deg, approachRate: -0.567610 m/s, LOS rate: -0.541416 deg/s, cmd update: -2.165664 deg/s, cmd heading: 294.337614 deg, new cmd heading: 294.245143 deg. 2021-02-18T02:32:44.698Z,1613615564.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:45.488Z,1613615565.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:45.894Z,1613615565.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:32:46.716Z,1613615566.716 [Micromodem](INFO): Nmea in: $SNTTA,0.002924,,,,023245.52*48 2021-02-18T02:32:46.764Z,1613615566.764 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T02:32:46.764Z,1613615566.764 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T02:32:46.764Z,1613615566.764 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T02:32:46.764Z,1613615566.764 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T02:32:46.764Z,1613615566.764 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T02:32:46.764Z,1613615566.764 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.259999 m 2021-02-18T02:32:46.765Z,1613615566.765 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T02:32:46.765Z,1613615566.765 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T02:32:46.765Z,1613615566.765 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T02:32:46.771Z,1613615566.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.259999 m, bearing: 305.150285 deg, deltaT: 4.489799 s, approachRate: -0.334091 m/s, LOS rate: 4.473137 deg/s, posRepo size: 4 2021-02-18T02:32:46.773Z,1613615566.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.259999 m, bearing: 305.150285 deg, approachRate: -0.334091 m/s, LOS rate: 4.473137 deg/s, cmd update: 12.000000 deg/s, cmd heading: 284.627988 deg, new cmd heading: 283.759635 deg. 2021-02-18T02:32:47.138Z,1613615567.138 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T023247: (41.552319, -70.708603) 2021-02-18T02:32:47.138Z,1613615567.138 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T02:32:47.138Z,1613615567.138 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T02:32:47.138Z,1613615567.138 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T02:32:47.139Z,1613615567.139 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T02:32:47.139Z,1613615567.139 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T02:32:47.139Z,1613615567.139 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T02:32:47.139Z,1613615567.139 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T02:32:47.139Z,1613615567.139 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T02:32:49.180Z,1613615569.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:49.941Z,1613615569.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:50.360Z,1613615570.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:32:51.172Z,1613615571.172 [Micromodem](INFO): Nmea in: $SNTTA,0.004594,,,,023249.98*43 2021-02-18T02:32:51.227Z,1613615571.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.979999 m, bearing: 269.862058 deg, deltaT: 4.457978 s, approachRate: 0.161508 m/s, LOS rate: -7.915747 deg/s, posRepo size: 4 2021-02-18T02:32:51.238Z,1613615571.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.979999 m, bearing: 269.862058 deg, approachRate: 0.161508 m/s, LOS rate: -7.915747 deg/s, cmd update: -12.000000 deg/s, cmd heading: 338.056514 deg, new cmd heading: 342.880946 deg. 2021-02-18T02:32:53.602Z,1613615573.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:54.376Z,1613615574.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:54.784Z,1613615574.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:32:55.604Z,1613615575.604 [Micromodem](INFO): Nmea in: $SNTTA,0.004883,,,,023254.41*40 2021-02-18T02:32:55.644Z,1613615575.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.380000 m, bearing: 299.359869 deg, deltaT: 4.434994 s, approachRate: 0.541151 m/s, LOS rate: 6.651150 deg/s, posRepo size: 4 2021-02-18T02:32:55.646Z,1613615575.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.380000 m, bearing: 299.359869 deg, approachRate: 0.541151 m/s, LOS rate: 6.651150 deg/s, cmd update: 12.000000 deg/s, cmd heading: 284.692320 deg, new cmd heading: 280.153296 deg. 2021-02-18T02:32:58.046Z,1613615578.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:32:58.822Z,1613615578.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:32:59.260Z,1613615579.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:00.048Z,1613615580.048 [Micromodem](INFO): Nmea in: $SNTTA,0.006654,,,,023258.86*41 2021-02-18T02:33:00.100Z,1613615580.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.280000 m, bearing: 298.652016 deg, deltaT: 4.402024 s, approachRate: 0.885956 m/s, LOS rate: -0.160802 deg/s, posRepo size: 4 2021-02-18T02:33:00.101Z,1613615580.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.280000 m, bearing: 298.652016 deg, approachRate: 0.885956 m/s, LOS rate: -0.160802 deg/s, cmd update: -0.643207 deg/s, cmd heading: 337.514017 deg, new cmd heading: 342.700669 deg. 2021-02-18T02:33:02.487Z,1613615582.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:03.274Z,1613615583.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:33:03.675Z,1613615583.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:04.487Z,1613615584.487 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023303.31*5D 2021-02-18T02:33:05.329Z,1613615585.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:06.898Z,1613615586.898 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:33:08.141Z,1613615588.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:08.920Z,1613615588.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:33:09.325Z,1613615589.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:10.156Z,1613615590.156 [Micromodem](INFO): Nmea in: $SNTTA,0.011773,,,,023308.95*45 2021-02-18T02:33:10.180Z,1613615590.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.559999 m, bearing: 347.337276 deg, deltaT: 10.071400 s, approachRate: 0.524257 m/s, LOS rate: 4.834011 deg/s, posRepo size: 4 2021-02-18T02:33:10.182Z,1613615590.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.559999 m, bearing: 347.337276 deg, approachRate: 0.524257 m/s, LOS rate: 4.834011 deg/s, cmd update: 12.000000 deg/s, cmd heading: 331.033347 deg, new cmd heading: 330.752245 deg. 2021-02-18T02:33:12.600Z,1613615592.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:13.370Z,1613615593.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:33:13.770Z,1613615593.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:14.592Z,1613615594.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023313.40*5A 2021-02-18T02:33:14.645Z,1613615594.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.219997 m, bearing: 287.994599 deg, deltaT: 4.512000 s, approachRate: 0.811170 m/s, LOS rate: -13.152189 deg/s, posRepo size: 4 2021-02-18T02:33:14.645Z,1613615594.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.22 m. Rolling out. 2021-02-18T02:33:14.646Z,1613615594.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T02:33:17.034Z,1613615597.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:17.809Z,1613615597.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:33:18.232Z,1613615598.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:19.036Z,1613615599.036 [Micromodem](INFO): Nmea in: $SNTTA,0.014603,,,,023317.84*48 2021-02-18T02:33:19.075Z,1613615599.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.079998 m, bearing: 33.504407 deg, deltaT: 4.409631 s, approachRate: 0.421804 m/s, LOS rate: 23.927128 deg/s, posRepo size: 4 2021-02-18T02:33:21.486Z,1613615601.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:22.267Z,1613615602.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:33:22.658Z,1613615602.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:23.490Z,1613615603.490 [Micromodem](INFO): Nmea in: $SNTTA,0.015888,,,,023322.30*4D 2021-02-18T02:33:23.531Z,1613615603.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.880001 m, bearing: 25.743304 deg, deltaT: 4.443415 s, approachRate: 0.405095 m/s, LOS rate: -1.746653 deg/s, posRepo size: 4 2021-02-18T02:33:25.920Z,1613615605.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:26.701Z,1613615606.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:33:27.106Z,1613615607.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:27.932Z,1613615607.932 [Micromodem](INFO): Nmea in: $SNTTA,0.017605,,,,023326.73*47 2021-02-18T02:33:27.958Z,1613615607.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.919998 m, bearing: 26.998945 deg, deltaT: 4.425598 s, approachRate: 0.460954 m/s, LOS rate: 0.283722 deg/s, posRepo size: 4 2021-02-18T02:33:28.325Z,1613615608.325 [PowerOnly](INFO): Powering down loadControl 2021-02-18T02:33:30.044Z,1613615610.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:30.739Z,1613615610.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:33:31.141Z,1613615611.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:31.978Z,1613615611.978 [Micromodem](INFO): Nmea in: $SNTTA,0.017975,,0.030664,,023330.77*55 2021-02-18T02:33:32.030Z,1613615612.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.059999 m, bearing: 25.725843 deg, deltaT: 4.050351 s, approachRate: 0.281457 m/s, LOS rate: -0.314319 deg/s, posRepo size: 4 2021-02-18T02:33:34.414Z,1613615614.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:35.182Z,1613615615.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:33:35.594Z,1613615615.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:36.413Z,1613615616.413 [Micromodem](INFO): Nmea in: $SNTTA,0.019281,,0.020462,,023335.22*5B 2021-02-18T02:33:36.453Z,1613615616.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.040001 m, bearing: 32.539216 deg, deltaT: 4.446878 s, approachRate: 0.445257 m/s, LOS rate: 1.532170 deg/s, posRepo size: 4 2021-02-18T02:33:38.849Z,1613615618.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:39.629Z,1613615619.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:33:40.037Z,1613615620.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:40.856Z,1613615620.856 [Micromodem](INFO): Nmea in: $SNTTA,0.021085,,,,023339.66*46 2021-02-18T02:33:40.888Z,1613615620.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.220001 m, bearing: 71.504438 deg, deltaT: 4.453520 s, approachRate: 0.714042 m/s, LOS rate: 8.749308 deg/s, posRepo size: 4 2021-02-18T02:33:43.328Z,1613615623.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:44.068Z,1613615624.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:33:44.491Z,1613615624.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:45.316Z,1613615625.316 [Micromodem](INFO): Nmea in: $SNTTA,0.022623,,,,023344.10*44 2021-02-18T02:33:45.370Z,1613615625.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.139996 m, bearing: 37.945215 deg, deltaT: 4.424697 s, approachRate: 0.433927 m/s, LOS rate: -7.584525 deg/s, posRepo size: 4 2021-02-18T02:33:47.720Z,1613615627.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:48.512Z,1613615628.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:33:48.923Z,1613615628.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:49.740Z,1613615629.740 [Micromodem](INFO): Nmea in: $SNTTA,0.024309,,,,023348.55*42 2021-02-18T02:33:49.774Z,1613615629.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.719997 m, bearing: 35.512080 deg, deltaT: 4.465259 s, approachRate: 0.577794 m/s, LOS rate: -0.544904 deg/s, posRepo size: 4 2021-02-18T02:33:52.174Z,1613615632.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:52.973Z,1613615632.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:33:53.362Z,1613615633.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:54.211Z,1613615634.211 [Micromodem](INFO): Nmea in: $SNTTA,0.026267,,,,023353.01*42 2021-02-18T02:33:54.278Z,1613615634.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.119999 m, bearing: 14.633434 deg, deltaT: 4.425308 s, approachRate: 0.542335 m/s, LOS rate: -4.718010 deg/s, posRepo size: 4 2021-02-18T02:33:56.626Z,1613615636.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:33:57.400Z,1613615637.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:33:57.823Z,1613615637.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:33:58.639Z,1613615638.639 [Micromodem](INFO): Nmea in: $SNTTA,0.027795,,,,023357.43*49 2021-02-18T02:33:58.664Z,1613615638.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.940002 m, bearing: 16.196926 deg, deltaT: 4.486631 s, approachRate: 0.628535 m/s, LOS rate: 0.348478 deg/s, posRepo size: 4 2021-02-18T02:34:01.065Z,1613615641.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:01.844Z,1613615641.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:34:02.278Z,1613615642.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:34:03.077Z,1613615643.077 [Micromodem](INFO): Nmea in: $SNTTA,0.029628,,,,023401.93*49 2021-02-18T02:34:03.131Z,1613615643.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.579998 m, bearing: 8.730416 deg, deltaT: 4.380206 s, approachRate: 0.602710 m/s, LOS rate: -1.704603 deg/s, posRepo size: 4 2021-02-18T02:34:05.520Z,1613615645.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:06.293Z,1613615646.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:34:06.693Z,1613615646.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:34:07.520Z,1613615647.520 [Micromodem](INFO): Nmea in: $SNTTA,0.031484,,,,023406.33*49 2021-02-18T02:34:07.560Z,1613615647.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.339996 m, bearing: 9.593607 deg, deltaT: 4.473822 s, approachRate: 0.616922 m/s, LOS rate: 0.192943 deg/s, posRepo size: 4 2021-02-18T02:34:09.951Z,1613615649.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:10.732Z,1613615650.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:34:11.138Z,1613615651.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:34:11.970Z,1613615651.970 [Micromodem](INFO): Nmea in: $SNTTA,0.033763,,,0.068893,023410.77*54 2021-02-18T02:34:12.043Z,1613615652.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.279999 m, bearing: 74.433537 deg, deltaT: 4.451299 s, approachRate: 0.660482 m/s, LOS rate: 14.566519 deg/s, posRepo size: 4 2021-02-18T02:34:14.416Z,1613615654.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:15.182Z,1613615655.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:34:15.582Z,1613615655.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:34:16.408Z,1613615656.408 [Micromodem](INFO): Nmea in: $SNTTA,0.035656,,,,023415.22*42 2021-02-18T02:34:16.448Z,1613615656.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.579998 m, bearing: 66.063482 deg, deltaT: 4.438795 s, approachRate: 0.743445 m/s, LOS rate: -1.885659 deg/s, posRepo size: 4 2021-02-18T02:34:18.832Z,1613615658.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:19.620Z,1613615659.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:34:20.027Z,1613615660.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:34:20.865Z,1613615660.865 [Micromodem](INFO): Nmea in: $SNTTA,0.037776,,,0.040386,023419.66*58 2021-02-18T02:34:20.886Z,1613615660.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.459995 m, bearing: 62.142181 deg, deltaT: 4.429464 s, approachRate: 0.650191 m/s, LOS rate: -0.885277 deg/s, posRepo size: 4 2021-02-18T02:34:23.330Z,1613615663.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:24.064Z,1613615664.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:34:24.477Z,1613615664.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:34:25.292Z,1613615665.292 [Micromodem](INFO): Nmea in: $SNTTA,0.039482,,,,023424.10*46 2021-02-18T02:34:25.359Z,1613615665.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.340008 m, bearing: 2.435171 deg, deltaT: 4.446050 s, approachRate: 0.647769 m/s, LOS rate: -13.429227 deg/s, posRepo size: 4 2021-02-18T02:34:27.716Z,1613615667.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:28.508Z,1613615668.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:34:28.914Z,1613615668.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:34:29.732Z,1613615669.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023428.54*50 2021-02-18T02:34:29.780Z,1613615669.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.400005 m, bearing: 73.121717 deg, deltaT: 4.489875 s, approachRate: 0.681533 m/s, LOS rate: 15.743545 deg/s, posRepo size: 4 2021-02-18T02:34:32.174Z,1613615672.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:32.956Z,1613615672.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:34:33.372Z,1613615673.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:34:34.188Z,1613615674.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023432.99*5A 2021-02-18T02:34:34.273Z,1613615674.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.400002 m, bearing: 73.472721 deg, deltaT: 4.406321 s, approachRate: 0.680839 m/s, LOS rate: 0.079659 deg/s, posRepo size: 4 2021-02-18T02:34:36.614Z,1613615676.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:37.396Z,1613615677.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:34:37.811Z,1613615677.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:34:38.624Z,1613615678.624 [Micromodem](INFO): Nmea in: $SNTTA,0.045520,,,,023437.43*40 2021-02-18T02:34:38.662Z,1613615678.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.279999 m, bearing: 325.846660 deg, deltaT: 4.484915 s, approachRate: 0.642152 m/s, LOS rate: -23.997349 deg/s, posRepo size: 4 2021-02-18T02:34:41.061Z,1613615681.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:41.840Z,1613615681.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:34:42.267Z,1613615682.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:34:43.069Z,1613615683.069 [Micromodem](INFO): Nmea in: $SNTTA,0.055063,,,,023441.87*4A 2021-02-18T02:34:43.103Z,1613615683.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.460007 m, bearing: 16.998505 deg, deltaT: 4.380864 s, approachRate: 0.725886 m/s, LOS rate: 11.676202 deg/s, posRepo size: 4 2021-02-18T02:34:45.506Z,1613615685.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:46.299Z,1613615686.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:34:46.689Z,1613615686.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:34:47.524Z,1613615687.524 [Micromodem](INFO): Nmea in: $SNTTA,0.049886,,,,023446.33*4C 2021-02-18T02:34:47.548Z,1613615687.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.639999 m, bearing: 67.107660 deg, deltaT: 4.447267 s, approachRate: 0.715044 m/s, LOS rate: 11.267404 deg/s, posRepo size: 4 2021-02-18T02:34:49.945Z,1613615689.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:50.730Z,1613615690.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:34:51.134Z,1613615691.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:34:51.968Z,1613615691.968 [Micromodem](INFO): Nmea in: $SNTTA,0.051746,,,,023450.76*40 2021-02-18T02:34:52.026Z,1613615692.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.880005 m, bearing: 67.170976 deg, deltaT: 4.491904 s, approachRate: 0.721299 m/s, LOS rate: 0.014096 deg/s, posRepo size: 4 2021-02-18T02:34:54.392Z,1613615694.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:55.178Z,1613615695.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:34:55.578Z,1613615695.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:34:56.408Z,1613615696.408 [Micromodem](INFO): Nmea in: $SNTTA,0.053811,,,,023455.21*48 2021-02-18T02:34:56.433Z,1613615696.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.880005 m, bearing: 67.961823 deg, deltaT: 4.441886 s, approachRate: 0.675389 m/s, LOS rate: 0.178043 deg/s, posRepo size: 4 2021-02-18T02:34:58.829Z,1613615698.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:34:59.624Z,1613615699.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:00.022Z,1613615700.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:00.838Z,1613615700.838 [Micromodem](INFO): Nmea in: $SNTTA,0.055987,,,,023459.66*4F 2021-02-18T02:35:01.650Z,1613615701.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:03.269Z,1613615703.269 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:35:04.502Z,1613615704.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:05.273Z,1613615705.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:05.678Z,1613615705.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:06.502Z,1613615706.502 [Micromodem](INFO): Nmea in: $SNTTA,0.058906,,,,023505.31*41 2021-02-18T02:35:06.543Z,1613615706.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.260002 m, bearing: 62.585870 deg, deltaT: 10.074980 s, approachRate: 0.732507 m/s, LOS rate: -0.533594 deg/s, posRepo size: 4 2021-02-18T02:35:08.934Z,1613615708.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:09.717Z,1613615709.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:10.131Z,1613615710.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:10.946Z,1613615710.946 [Micromodem](INFO): Nmea in: $SNTTA,0.060711,,,,023509.75*4E 2021-02-18T02:35:11.017Z,1613615711.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.320000 m, bearing: 70.587123 deg, deltaT: 4.436668 s, approachRate: 0.689706 m/s, LOS rate: 1.803437 deg/s, posRepo size: 4 2021-02-18T02:35:13.388Z,1613615713.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:14.165Z,1613615714.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:14.565Z,1613615714.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:15.392Z,1613615715.392 [Micromodem](INFO): Nmea in: $SNTTA,0.062851,,,,023514.20*4B 2021-02-18T02:35:15.417Z,1613615715.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.500000 m, bearing: 66.775747 deg, deltaT: 4.475855 s, approachRate: 0.710479 m/s, LOS rate: -0.851541 deg/s, posRepo size: 4 2021-02-18T02:35:17.810Z,1613615717.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:18.612Z,1613615718.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:19.014Z,1613615719.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:19.840Z,1613615719.840 [Micromodem](INFO): Nmea in: $SNTTA,0.064959,,,,023518.65*49 2021-02-18T02:35:19.886Z,1613615719.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.680008 m, bearing: 66.997346 deg, deltaT: 4.421824 s, approachRate: 0.719162 m/s, LOS rate: 0.050115 deg/s, posRepo size: 4 2021-02-18T02:35:22.310Z,1613615722.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:23.054Z,1613615723.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:23.454Z,1613615723.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:24.280Z,1613615724.280 [Micromodem](INFO): Nmea in: $SNTTA,0.070698,,,,023523.09*4C 2021-02-18T02:35:24.330Z,1613615724.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.860001 m, bearing: 16.976292 deg, deltaT: 4.437026 s, approachRate: 0.716695 m/s, LOS rate: -11.273554 deg/s, posRepo size: 4 2021-02-18T02:35:26.701Z,1613615726.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:27.492Z,1613615727.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:27.899Z,1613615727.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:28.731Z,1613615728.731 [Micromodem](INFO): Nmea in: $SNTTA,0.069360,,,,023527.52*4C 2021-02-18T02:35:28.769Z,1613615728.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.220001 m, bearing: 55.909159 deg, deltaT: 4.451598 s, approachRate: 0.754785 m/s, LOS rate: 8.745818 deg/s, posRepo size: 4 2021-02-18T02:35:31.158Z,1613615731.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:31.953Z,1613615731.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:32.342Z,1613615732.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:33.175Z,1613615733.175 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023531.99*58 2021-02-18T02:35:33.263Z,1613615733.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.340004 m, bearing: 55.917792 deg, deltaT: 4.429099 s, approachRate: 0.704433 m/s, LOS rate: 0.001949 deg/s, posRepo size: 4 2021-02-18T02:35:35.620Z,1613615735.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:36.392Z,1613615736.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:36.786Z,1613615736.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:37.616Z,1613615737.616 [Micromodem](INFO): Nmea in: $SNTTA,0.073481,,,,023536.43*4F 2021-02-18T02:35:37.669Z,1613615737.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.400002 m, bearing: 24.246009 deg, deltaT: 4.492543 s, approachRate: 0.681128 m/s, LOS rate: -7.049857 deg/s, posRepo size: 4 2021-02-18T02:35:40.070Z,1613615740.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:40.825Z,1613615740.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:41.264Z,1613615741.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:42.060Z,1613615742.060 [Micromodem](INFO): Nmea in: $SNTTA,0.075642,,,,023540.86*4C 2021-02-18T02:35:42.098Z,1613615742.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.639999 m, bearing: 62.741599 deg, deltaT: 4.398313 s, approachRate: 0.736646 m/s, LOS rate: 8.752353 deg/s, posRepo size: 4 2021-02-18T02:35:44.492Z,1613615744.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:45.294Z,1613615745.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:45.680Z,1613615745.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:46.508Z,1613615746.508 [Micromodem](INFO): Nmea in: $SNTTA,0.077745,,,,023545.33*43 2021-02-18T02:35:46.532Z,1613615746.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.760002 m, bearing: 18.158633 deg, deltaT: 4.458829 s, approachRate: 0.699736 m/s, LOS rate: -9.998806 deg/s, posRepo size: 4 2021-02-18T02:35:48.922Z,1613615748.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:49.712Z,1613615749.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:50.123Z,1613615750.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:50.949Z,1613615750.949 [Micromodem](INFO): Nmea in: $SNTTA,0.080027,,,,023549.75*46 2021-02-18T02:35:51.009Z,1613615751.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.180008 m, bearing: 58.949983 deg, deltaT: 4.424145 s, approachRate: 0.773032 m/s, LOS rate: 9.220166 deg/s, posRepo size: 4 2021-02-18T02:35:53.402Z,1613615753.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:54.161Z,1613615754.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:54.561Z,1613615754.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:55.388Z,1613615755.388 [Micromodem](INFO): Nmea in: $SNTTA,0.082126,,,,023554.19*42 2021-02-18T02:35:55.432Z,1613615755.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.360001 m, bearing: 21.914232 deg, deltaT: 4.481376 s, approachRate: 0.709602 m/s, LOS rate: -8.264370 deg/s, posRepo size: 4 2021-02-18T02:35:57.807Z,1613615757.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:35:58.603Z,1613615758.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:35:59.017Z,1613615759.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:35:59.828Z,1613615759.828 [Micromodem](INFO): Nmea in: $SNTTA,0.084186,,,,023558.64*48 2021-02-18T02:35:59.865Z,1613615759.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.419998 m, bearing: 21.923119 deg, deltaT: 4.445959 s, approachRate: 0.688265 m/s, LOS rate: 0.001999 deg/s, posRepo size: 4 2021-02-18T02:36:02.315Z,1613615762.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:03.044Z,1613615763.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:36:03.458Z,1613615763.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:36:04.272Z,1613615764.272 [Micromodem](INFO): Nmea in: $SNTTA,0.086171,,,,023603.08*45 2021-02-18T02:36:05.089Z,1613615765.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:06.684Z,1613615766.684 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:36:07.937Z,1613615767.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:08.708Z,1613615768.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:36:09.122Z,1613615769.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:36:09.932Z,1613615769.932 [Micromodem](INFO): Nmea in: $SNTTA,0.088893,,,,023608.74*4E 2021-02-18T02:36:09.973Z,1613615769.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.500000 m, bearing: 25.098083 deg, deltaT: 10.080400 s, approachRate: 0.702353 m/s, LOS rate: 0.314964 deg/s, posRepo size: 4 2021-02-18T02:36:12.393Z,1613615772.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:13.147Z,1613615773.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:36:13.550Z,1613615773.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:36:14.364Z,1613615774.364 [Micromodem](INFO): Nmea in: $SNTTA,0.090936,,,,023613.18*49 2021-02-18T02:36:15.212Z,1613615775.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:16.783Z,1613615776.783 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:36:18.033Z,1613615778.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:18.816Z,1613615778.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:36:19.218Z,1613615779.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:36:20.025Z,1613615780.025 [Micromodem](INFO): Nmea in: $SNTTA,0.093623,,,,023618.85*4E 2021-02-18T02:36:20.836Z,1613615780.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:22.440Z,1613615782.440 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:36:23.663Z,1613615783.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:24.456Z,1613615784.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:36:24.870Z,1613615784.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:36:25.684Z,1613615785.684 [Micromodem](INFO): Nmea in: $SNTTA,0.096315,,,,023624.49*44 2021-02-18T02:36:25.716Z,1613615785.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.779999 m, bearing: 16.461746 deg, deltaT: 15.756264 s, approachRate: 0.715906 m/s, LOS rate: -0.548121 deg/s, posRepo size: 4 2021-02-18T02:36:28.117Z,1613615788.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:28.900Z,1613615788.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:36:29.306Z,1613615789.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:36:30.125Z,1613615790.125 [Micromodem](INFO): Nmea in: $SNTTA,0.098502,,,,023628.93*41 2021-02-18T02:36:30.934Z,1613615790.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:32.535Z,1613615792.535 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:36:33.777Z,1613615793.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:34.557Z,1613615794.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:36:34.993Z,1613615794.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:36:35.772Z,1613615795.772 [Micromodem](INFO): Nmea in: $SNTTA,0.101264,,,,023634.59*4C 2021-02-18T02:36:36.602Z,1613615796.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:38.196Z,1613615798.196 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:36:39.428Z,1613615799.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:40.226Z,1613615800.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:36:40.617Z,1613615800.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:36:41.436Z,1613615801.436 [Micromodem](INFO): Nmea in: $SNTTA,0.104094,,,,023640.26*4F 2021-02-18T02:36:42.314Z,1613615802.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:43.852Z,1613615803.852 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:36:45.094Z,1613615805.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:45.868Z,1613615805.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:36:46.282Z,1613615806.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:36:47.082Z,1613615807.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023645.90*51 2021-02-18T02:36:47.910Z,1613615807.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:49.502Z,1613615809.502 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:36:50.748Z,1613615810.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:51.529Z,1613615811.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:36:51.932Z,1613615811.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:36:52.334Z,1613615812.334 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,EFA,000,004 E,187,80,80,4B,FF 2021-02-18T02:36:52.745Z,1613615812.745 [Micromodem](INFO): Nmea in: $SNTTA,0.109701,,,,023651.56*4E 2021-02-18T02:36:53.588Z,1613615813.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:56.398Z,1613615816.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:36:59.271Z,1613615819.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:00.020Z,1613615820.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:37:00.414Z,1613615820.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:37:00.817Z,1613615820.817 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,EAA,000,004 E,187,80,80,4B,FF 2021-02-18T02:37:01.257Z,1613615821.257 [Micromodem](INFO): Nmea in: $SNTTA,0.113826,,,,023700.05*4C 2021-02-18T02:37:02.068Z,1613615822.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:04.889Z,1613615824.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:07.701Z,1613615827.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:08.492Z,1613615828.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:37:08.898Z,1613615828.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:37:09.302Z,1613615829.302 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,E7A,000,004 E,187,80,80,4B,FF 2021-02-18T02:37:09.709Z,1613615829.709 [Micromodem](INFO): Nmea in: $SNTTA,0.117878,,,,023708.53*48 2021-02-18T02:37:10.538Z,1613615830.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:13.383Z,1613615833.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:16.203Z,1613615836.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:17.005Z,1613615837.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:37:17.382Z,1613615837.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:37:18.209Z,1613615838.209 [Micromodem](INFO): Nmea in: $SNTTA,0.121919,,,,023717.04*47 2021-02-18T02:37:19.055Z,1613615839.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:20.610Z,1613615840.610 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:37:21.863Z,1613615841.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:22.637Z,1613615842.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:37:23.050Z,1613615843.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:37:23.879Z,1613615843.879 [Micromodem](INFO): Nmea in: $SNTTA,0.124561,,,,023722.67*42 2021-02-18T02:37:24.682Z,1613615844.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:26.271Z,1613615846.271 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:37:27.517Z,1613615847.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:28.288Z,1613615848.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:37:28.706Z,1613615848.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:37:29.510Z,1613615849.510 [Micromodem](INFO): Nmea in: $SNTTA,0.127302,,,,023728.32*48 2021-02-18T02:37:30.357Z,1613615850.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:31.922Z,1613615851.922 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:37:33.174Z,1613615853.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:33.954Z,1613615853.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:37:34.355Z,1613615854.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:37:35.170Z,1613615855.170 [Micromodem](INFO): Nmea in: $SNTTA,0.129983,,,,023733.99*4E 2021-02-18T02:37:36.026Z,1613615856.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:37.580Z,1613615857.580 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:37:38.812Z,1613615858.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:39.605Z,1613615859.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:37:40.014Z,1613615860.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:37:40.825Z,1613615860.825 [Micromodem](INFO): Nmea in: $SNTTA,0.132799,,,,023739.64*49 2021-02-18T02:37:41.634Z,1613615861.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:43.265Z,1613615863.265 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:37:44.484Z,1613615864.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:45.269Z,1613615865.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:37:45.667Z,1613615865.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:37:46.482Z,1613615866.482 [Micromodem](INFO): Nmea in: $SNTTA,0.135529,,,,023745.30*4D 2021-02-18T02:37:47.321Z,1613615867.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:48.891Z,1613615868.891 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:37:50.130Z,1613615870.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:50.912Z,1613615870.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:37:51.318Z,1613615871.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:37:52.130Z,1613615872.130 [Micromodem](INFO): Nmea in: $SNTTA,0.138176,,,,023750.95*45 2021-02-18T02:37:52.950Z,1613615872.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:54.546Z,1613615874.546 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:37:55.791Z,1613615875.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:37:56.585Z,1613615876.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:37:57.007Z,1613615877.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:37:57.804Z,1613615877.804 [Micromodem](INFO): Nmea in: $SNTTA,0.140930,,,,023756.62*4E 2021-02-18T02:37:58.619Z,1613615878.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:00.209Z,1613615880.209 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:38:01.456Z,1613615881.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:02.251Z,1613615882.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:38:02.630Z,1613615882.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:38:03.453Z,1613615883.453 [Micromodem](INFO): Nmea in: $SNTTA,0.143704,,,,023802.29*45 2021-02-18T02:38:04.306Z,1613615884.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:05.859Z,1613615885.859 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:38:07.125Z,1613615887.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:07.880Z,1613615887.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:38:08.286Z,1613615888.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:38:09.098Z,1613615889.098 [Micromodem](INFO): Nmea in: $SNTTA,0.146421,,,,023807.91*42 2021-02-18T02:38:09.915Z,1613615889.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:11.514Z,1613615891.514 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:38:12.769Z,1613615892.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:13.538Z,1613615893.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:38:13.950Z,1613615893.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:38:14.754Z,1613615894.754 [Micromodem](INFO): Nmea in: $SNTTA,0.149708,,,,023813.57*4A 2021-02-18T02:38:15.583Z,1613615895.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:17.171Z,1613615897.171 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:38:18.415Z,1613615898.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:19.192Z,1613615899.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:38:19.603Z,1613615899.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:38:20.414Z,1613615900.414 [Micromodem](INFO): Nmea in: $SNTTA,0.152424,,,,023819.22*45 2021-02-18T02:38:21.285Z,1613615901.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:22.827Z,1613615902.827 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:38:24.081Z,1613615904.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:24.850Z,1613615904.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:38:25.274Z,1613615905.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:38:26.065Z,1613615906.065 [Micromodem](INFO): Nmea in: $SNTTA,0.155065,,,,023824.88*4D 2021-02-18T02:38:26.899Z,1613615906.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:28.482Z,1613615908.482 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:38:29.720Z,1613615909.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:30.521Z,1613615910.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:38:30.911Z,1613615910.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:38:31.741Z,1613615911.741 [Micromodem](INFO): Nmea in: $SNTTA,0.158050,,,,023830.55*43 2021-02-18T02:38:32.170Z,1613615912.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.119995 m, bearing: 32.706159 deg, deltaT: 126.442019 s, approachRate: 0.730295 m/s, LOS rate: 0.128473 deg/s, posRepo size: 4 2021-02-18T02:38:32.170Z,1613615912.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 237.12 m. Resuming terminal guidance. 2021-02-18T02:38:32.170Z,1613615912.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T02:38:34.575Z,1613615914.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:35.357Z,1613615915.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:38:35.766Z,1613615915.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:38:36.577Z,1613615916.577 [Micromodem](INFO): Nmea in: $SNTTA,0.160123,,,,023835.39*42 2021-02-18T02:38:37.413Z,1613615917.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:39.005Z,1613615919.005 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:38:40.273Z,1613615920.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:41.017Z,1613615921.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:38:41.421Z,1613615921.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:38:42.261Z,1613615922.261 [Micromodem](INFO): Nmea in: $SNTTA,0.162944,,,,023841.05*45 2021-02-18T02:38:43.058Z,1613615923.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:44.642Z,1613615924.642 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:38:45.885Z,1613615925.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:46.664Z,1613615926.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:38:47.075Z,1613615927.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:38:47.880Z,1613615927.880 [Micromodem](INFO): Nmea in: $SNTTA,0.165986,,,,023846.70*49 2021-02-18T02:38:48.704Z,1613615928.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:50.304Z,1613615930.304 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:38:51.538Z,1613615931.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:52.321Z,1613615932.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:38:52.732Z,1613615932.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:38:53.537Z,1613615933.537 [Micromodem](INFO): Nmea in: $SNTTA,0.168424,,,,023852.36*46 2021-02-18T02:38:54.403Z,1613615934.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:55.964Z,1613615935.964 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:38:57.212Z,1613615937.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:38:58.006Z,1613615938.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:38:58.381Z,1613615938.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:38:59.217Z,1613615939.217 [Micromodem](INFO): Nmea in: $SNTTA,0.171533,,,,023858.04*42 2021-02-18T02:39:00.035Z,1613615940.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:01.610Z,1613615941.610 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:39:02.851Z,1613615942.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:03.638Z,1613615943.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:39:04.043Z,1613615944.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:39:04.854Z,1613615944.854 [Micromodem](INFO): Nmea in: $SNTTA,0.174326,,,,023903.67*4F 2021-02-18T02:39:05.336Z,1613615945.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.239990 m, bearing: 29.742479 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T02:39:05.337Z,1613615945.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 29.742479deg and heading rate command to 0 deg/s. 2021-02-18T02:39:07.705Z,1613615947.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:08.482Z,1613615948.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:39:08.894Z,1613615948.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:39:09.698Z,1613615949.698 [Micromodem](INFO): Nmea in: $SNTTA,0.176700,,,,023908.51*43 2021-02-18T02:39:10.159Z,1613615950.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.779999 m, bearing: 30.312294 deg, deltaT: 4.859387 s, approachRate: 0.728489 m/s, LOS rate: 0.117261 deg/s, posRepo size: 2 2021-02-18T02:39:10.161Z,1613615950.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 264.779999 m, bearing: 30.312294 deg, approachRate: 0.728489 m/s, LOS rate: 0.117261 deg/s, cmd update: 0.469043 deg/s, cmd heading: 29.742479 deg, new cmd heading: 29.742479 deg. 2021-02-18T02:39:12.547Z,1613615952.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:13.328Z,1613615953.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:39:13.734Z,1613615953.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:39:14.546Z,1613615954.546 [Micromodem](INFO): Nmea in: $SNTTA,0.178674,,,,023913.36*44 2021-02-18T02:39:15.111Z,1613615955.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:16.997Z,1613615956.997 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:39:17.790Z,1613615957.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:18.587Z,1613615958.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:39:19.009Z,1613615959.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:39:19.809Z,1613615959.809 [Micromodem](INFO): Nmea in: $SNTTA,0.181596,,,,023918.62*47 2021-02-18T02:39:20.276Z,1613615960.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 271.919983 m, bearing: 27.967832 deg, deltaT: 10.091051 s, approachRate: 0.707556 m/s, LOS rate: -0.232331 deg/s, posRepo size: 3 2021-02-18T02:39:20.277Z,1613615960.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 271.919983 m, bearing: 27.967832 deg, approachRate: 0.707556 m/s, LOS rate: -0.232331 deg/s, cmd update: -0.929323 deg/s, cmd heading: 34.485040 deg, new cmd heading: 34.696496 deg. 2021-02-18T02:39:22.639Z,1613615962.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:23.433Z,1613615963.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:39:23.837Z,1613615963.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:39:24.653Z,1613615964.653 [Micromodem](INFO): Nmea in: $SNTTA,0.183607,,,,023923.47*41 2021-02-18T02:39:25.104Z,1613615965.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.579987 m, bearing: 27.024204 deg, deltaT: 4.843336 s, approachRate: 0.755678 m/s, LOS rate: -0.194830 deg/s, posRepo size: 4 2021-02-18T02:39:25.106Z,1613615965.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 275.579987 m, bearing: 27.024204 deg, approachRate: 0.755678 m/s, LOS rate: -0.194830 deg/s, cmd update: -0.779321 deg/s, cmd heading: 29.984393 deg, new cmd heading: 29.579902 deg. 2021-02-18T02:39:27.502Z,1613615967.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:28.287Z,1613615968.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:39:28.688Z,1613615968.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:39:29.500Z,1613615969.500 [Micromodem](INFO): Nmea in: $SNTTA,0.185885,,,,023928.32*4A 2021-02-18T02:39:30.006Z,1613615970.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:31.920Z,1613615971.920 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:39:32.764Z,1613615972.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:33.538Z,1613615973.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:39:34.003Z,1613615974.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:39:34.752Z,1613615974.752 [Micromodem](INFO): Nmea in: $SNTTA,0.188488,,,,023933.57*4F 2021-02-18T02:39:35.594Z,1613615975.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:37.172Z,1613615977.172 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:39:38.411Z,1613615978.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:39.210Z,1613615979.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:39:39.595Z,1613615979.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:39:40.433Z,1613615980.433 [Micromodem](INFO): Nmea in: $SNTTA,0.191128,,,,023939.24*46 2021-02-18T02:39:40.853Z,1613615980.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.859985 m, bearing: 20.481647 deg, deltaT: 15.789731 s, approachRate: 0.714388 m/s, LOS rate: -0.414355 deg/s, posRepo size: 4 2021-02-18T02:39:40.855Z,1613615980.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 286.859985 m, bearing: 20.481647 deg, approachRate: 0.714388 m/s, LOS rate: -0.414355 deg/s, cmd update: -1.657421 deg/s, cmd heading: 17.678979 deg, new cmd heading: 17.370489 deg. 2021-02-18T02:39:43.294Z,1613615983.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:44.038Z,1613615984.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:39:44.447Z,1613615984.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:39:45.287Z,1613615985.287 [Micromodem](INFO): Nmea in: $SNTTA,0.193445,,,,023944.07*41 2021-02-18T02:39:45.681Z,1613615985.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.279999 m, bearing: 2.196440 deg, deltaT: 4.879066 s, approachRate: 0.700957 m/s, LOS rate: -3.747686 deg/s, posRepo size: 4 2021-02-18T02:39:45.683Z,1613615985.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 290.279999 m, bearing: 2.196440 deg, approachRate: 0.700957 m/s, LOS rate: -3.747686 deg/s, cmd update: -12.000000 deg/s, cmd heading: 9.592355 deg, new cmd heading: 9.020349 deg. 2021-02-18T02:39:48.106Z,1613615988.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:48.889Z,1613615988.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:39:49.289Z,1613615989.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:39:49.336Z,1613615989.336 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:39:50.108Z,1613615990.108 [Micromodem](INFO): Nmea in: $SNTTA,0.195496,,,,023948.92*49 2021-02-18T02:39:50.559Z,1613615990.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 293.399994 m, bearing: 19.859632 deg, deltaT: 4.795673 s, approachRate: 0.650585 m/s, LOS rate: 3.683152 deg/s, posRepo size: 4 2021-02-18T02:39:50.561Z,1613615990.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 293.399994 m, bearing: 19.859632 deg, approachRate: 0.650585 m/s, LOS rate: 3.683152 deg/s, cmd update: 12.000000 deg/s, cmd heading: 312.043845 deg, new cmd heading: 306.922221 deg. 2021-02-18T02:39:52.969Z,1613615992.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:53.737Z,1613615993.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:39:54.155Z,1613615994.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:39:54.957Z,1613615994.957 [Micromodem](INFO): Nmea in: $SNTTA,0.197795,,,,023953.77*4A 2021-02-18T02:39:55.420Z,1613615995.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 296.880005 m, bearing: 352.119993 deg, deltaT: 4.888073 s, approachRate: 0.711939 m/s, LOS rate: -5.674962 deg/s, posRepo size: 4 2021-02-18T02:39:55.422Z,1613615995.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 296.880005 m, bearing: 352.119993 deg, approachRate: 0.711939 m/s, LOS rate: -5.674962 deg/s, cmd update: -12.000000 deg/s, cmd heading: 10.603115 deg, new cmd heading: 15.504431 deg. 2021-02-18T02:39:57.792Z,1613615997.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:39:58.580Z,1613615998.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:39:59.026Z,1613615999.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:39:59.803Z,1613615999.803 [Micromodem](INFO): Nmea in: $SNTTA,0.199593,,,,023958.61*4C 2021-02-18T02:40:00.271Z,1613616000.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 299.579987 m, bearing: 336.576587 deg, deltaT: 4.823684 s, approachRate: 0.559734 m/s, LOS rate: -3.222310 deg/s, posRepo size: 4 2021-02-18T02:40:00.277Z,1613616000.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 299.579987 m, bearing: 336.576587 deg, approachRate: 0.559734 m/s, LOS rate: -3.222310 deg/s, cmd update: -12.000000 deg/s, cmd heading: 312.668901 deg, new cmd heading: 307.499781 deg. 2021-02-18T02:40:02.646Z,1613616002.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:40:03.434Z,1613616003.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:40:03.851Z,1613616003.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:40:04.303Z,1613616004.303 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:40:04.651Z,1613616004.651 [Micromodem](INFO): Nmea in: $SNTTA,0.201417,,,,024003.47*47 2021-02-18T02:40:05.079Z,1613616005.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.279999 m, bearing: 350.762015 deg, deltaT: 4.821598 s, approachRate: 0.559983 m/s, LOS rate: 2.942060 deg/s, posRepo size: 4 2021-02-18T02:40:05.081Z,1613616005.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 302.279999 m, bearing: 350.762015 deg, approachRate: 0.559983 m/s, LOS rate: 2.942060 deg/s, cmd update: 11.768238 deg/s, cmd heading: 254.759996 deg, new cmd heading: 249.800263 deg. 2021-02-18T02:40:07.528Z,1613616007.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:40:08.278Z,1613616008.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:40:08.683Z,1613616008.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:40:09.494Z,1613616009.494 [Micromodem](INFO): Nmea in: $SNTTA,0.203291,,,,024008.31*47 2021-02-18T02:40:09.954Z,1613616009.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.979980 m, bearing: 318.700643 deg, deltaT: 4.891686 s, approachRate: 0.551953 m/s, LOS rate: -6.554258 deg/s, posRepo size: 4 2021-02-18T02:40:09.956Z,1613616009.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 304.979980 m, bearing: 318.700643 deg, approachRate: 0.551953 m/s, LOS rate: -6.554258 deg/s, cmd update: -12.000000 deg/s, cmd heading: 312.204803 deg, new cmd heading: 316.994865 deg. 2021-02-18T02:40:12.362Z,1613616012.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:40:13.144Z,1613616013.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:40:13.550Z,1613616013.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:40:14.364Z,1613616014.364 [Micromodem](INFO): Nmea in: $SNTTA,0.204284,,,,024013.18*45 2021-02-18T02:40:14.785Z,1613616014.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.419983 m, bearing: 281.690607 deg, deltaT: 4.840548 s, approachRate: 0.297487 m/s, LOS rate: -7.645836 deg/s, posRepo size: 4 2021-02-18T02:40:14.787Z,1613616014.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 306.419983 m, bearing: 281.690607 deg, approachRate: 0.297487 m/s, LOS rate: -7.645836 deg/s, cmd update: -12.000000 deg/s, cmd heading: 253.994134 deg, new cmd heading: 249.348874 deg. 2021-02-18T02:40:17.200Z,1613616017.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:40:18.010Z,1613616018.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:40:18.379Z,1613616018.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:40:19.220Z,1613616019.220 [Micromodem](INFO): Nmea in: $SNTTA,0.204910,,,,024018.04*45 2021-02-18T02:40:19.630Z,1613616019.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.320007 m, bearing: 264.704446 deg, deltaT: 4.889078 s, approachRate: 0.184089 m/s, LOS rate: -3.474308 deg/s, posRepo size: 4 2021-02-18T02:40:19.632Z,1613616019.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 307.320007 m, bearing: 264.704446 deg, approachRate: 0.184089 m/s, LOS rate: -3.474308 deg/s, cmd update: -12.000000 deg/s, cmd heading: 195.325125 deg, new cmd heading: 191.208356 deg. 2021-02-18T02:40:22.040Z,1613616022.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:40:22.820Z,1613616022.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:40:23.264Z,1613616023.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:40:24.044Z,1613616024.044 [Micromodem](INFO): Nmea in: $SNTTA,0.204549,,,,024022.85*45 2021-02-18T02:40:24.053Z,1613616024.053 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T02:40:24.508Z,1613616024.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.779968 m, bearing: 271.565453 deg, deltaT: 4.778935 s, approachRate: -0.113004 m/s, LOS rate: 1.435677 deg/s, posRepo size: 4 2021-02-18T02:40:24.509Z,1613616024.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 306.779968 m, bearing: 271.565453 deg, approachRate: -0.113004 m/s, LOS rate: 1.435677 deg/s, cmd update: 5.742708 deg/s, cmd heading: 137.977891 deg, new cmd heading: 132.872898 deg. 2021-02-18T02:40:26.875Z,1613616026.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:40:27.670Z,1613616027.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:40:28.074Z,1613616028.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:40:28.888Z,1613616028.888 [Micromodem](INFO): Nmea in: $SNTTA,0.203989,,,,024027.70*4D 2021-02-18T02:40:29.338Z,1613616029.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.820007 m, bearing: 184.809332 deg, deltaT: 4.837363 s, approachRate: -0.198447 m/s, LOS rate: -17.934589 deg/s, posRepo size: 4 2021-02-18T02:40:29.339Z,1613616029.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.934589 deg/s. Setting heading cmd to target bearing of 184.809332deg and heading rate command to 0 deg/s. 2021-02-18T02:40:31.732Z,1613616031.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:40:32.516Z,1613616032.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:40:32.932Z,1613616032.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:40:33.735Z,1613616033.735 [Micromodem](INFO): Nmea in: $SNTTA,0.202569,,,,024032.55*4D 2021-02-18T02:40:34.191Z,1613616034.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 303.719971 m, bearing: 193.663621 deg, deltaT: 4.870926 s, approachRate: -0.431137 m/s, LOS rate: 1.817783 deg/s, posRepo size: 4 2021-02-18T02:40:34.193Z,1613616034.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 303.719971 m, bearing: 193.663621 deg, approachRate: -0.431137 m/s, LOS rate: 1.817783 deg/s, cmd update: 7.271133 deg/s, cmd heading: 184.809332 deg, new cmd heading: 184.809332 deg. 2021-02-18T02:40:36.598Z,1613616036.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:40:37.366Z,1613616037.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:40:37.771Z,1613616037.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:40:38.593Z,1613616038.593 [Micromodem](INFO): Nmea in: $SNTTA,0.200653,,,,024037.40*44 2021-02-18T02:40:39.049Z,1613616039.049 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T02:40:39.079Z,1613616039.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.659973 m, bearing: 188.792685 deg, deltaT: 4.843164 s, approachRate: -0.631818 m/s, LOS rate: -1.005734 deg/s, posRepo size: 4 2021-02-18T02:40:39.081Z,1613616039.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 300.659973 m, bearing: 188.792685 deg, approachRate: -0.631818 m/s, LOS rate: -1.005734 deg/s, cmd update: -4.022937 deg/s, cmd heading: 220.053883 deg, new cmd heading: 223.408318 deg. 2021-02-18T02:40:41.452Z,1613616041.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:40:42.221Z,1613616042.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:40:42.623Z,1613616042.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:40:43.437Z,1613616043.437 [Micromodem](INFO): Nmea in: $SNTTA,0.198598,,,,024042.25*43 2021-02-18T02:40:43.861Z,1613616043.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 297.660004 m, bearing: 189.347556 deg, deltaT: 4.844422 s, approachRate: -0.619263 m/s, LOS rate: 0.114538 deg/s, posRepo size: 4 2021-02-18T02:40:43.863Z,1613616043.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 297.660004 m, bearing: 189.347556 deg, approachRate: -0.619263 m/s, LOS rate: 0.114538 deg/s, cmd update: 0.458152 deg/s, cmd heading: 200.564965 deg, new cmd heading: 198.957344 deg. 2021-02-18T02:40:46.307Z,1613616046.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:40:47.060Z,1613616047.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:40:47.466Z,1613616047.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:40:48.285Z,1613616048.285 [Micromodem](INFO): Nmea in: $SNTTA,0.196245,,,,024047.09*41 2021-02-18T02:40:48.714Z,1613616048.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 294.179993 m, bearing: 188.170878 deg, deltaT: 4.894836 s, approachRate: -0.710956 m/s, LOS rate: -0.240392 deg/s, posRepo size: 4 2021-02-18T02:40:48.716Z,1613616048.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 294.179993 m, bearing: 188.170878 deg, approachRate: -0.710956 m/s, LOS rate: -0.240392 deg/s, cmd update: -0.961567 deg/s, cmd heading: 202.805705 deg, new cmd heading: 202.971314 deg. 2021-02-18T02:40:51.146Z,1613616051.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:40:51.908Z,1613616051.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:40:52.314Z,1613616052.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:40:53.134Z,1613616053.134 [Micromodem](INFO): Nmea in: $SNTTA,0.193783,,,,024051.94*48 2021-02-18T02:40:53.566Z,1613616053.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.519989 m, bearing: 188.813422 deg, deltaT: 4.801269 s, approachRate: -0.762299 m/s, LOS rate: 0.133828 deg/s, posRepo size: 4 2021-02-18T02:40:53.568Z,1613616053.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 290.519989 m, bearing: 188.813422 deg, approachRate: -0.762299 m/s, LOS rate: 0.133828 deg/s, cmd update: 0.535311 deg/s, cmd heading: 198.185116 deg, new cmd heading: 197.792528 deg. 2021-02-18T02:40:56.010Z,1613616056.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:40:56.757Z,1613616056.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:40:57.170Z,1613616057.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:40:58.007Z,1613616058.007 [Micromodem](INFO): Nmea in: $SNTTA,0.191383,,,,024056.79*4A 2021-02-18T02:40:58.438Z,1613616058.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.919983 m, bearing: 189.220651 deg, deltaT: 4.873187 s, approachRate: -0.738738 m/s, LOS rate: 0.083565 deg/s, posRepo size: 4 2021-02-18T02:40:58.440Z,1613616058.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 286.919983 m, bearing: 189.220651 deg, approachRate: -0.738738 m/s, LOS rate: 0.083565 deg/s, cmd update: 0.334261 deg/s, cmd heading: 200.793696 deg, new cmd heading: 201.011428 deg. 2021-02-18T02:41:00.810Z,1613616060.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:41:01.606Z,1613616061.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:41:02.023Z,1613616062.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:41:02.823Z,1613616062.823 [Micromodem](INFO): Nmea in: $SNTTA,0.188951,,,,024101.64*48 2021-02-18T02:41:03.286Z,1613616063.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 283.199982 m, bearing: 189.502670 deg, deltaT: 4.830763 s, approachRate: -0.770065 m/s, LOS rate: 0.058380 deg/s, posRepo size: 4 2021-02-18T02:41:03.288Z,1613616063.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 283.199982 m, bearing: 189.502670 deg, approachRate: -0.770065 m/s, LOS rate: 0.058380 deg/s, cmd update: 0.233519 deg/s, cmd heading: 202.400419 deg, new cmd heading: 202.550259 deg. 2021-02-18T02:41:05.677Z,1613616065.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:41:06.452Z,1613616066.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:41:06.868Z,1613616066.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:41:07.670Z,1613616067.670 [Micromodem](INFO): Nmea in: $SNTTA,0.186447,,,,024106.48*45 2021-02-18T02:41:08.123Z,1613616068.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 279.479980 m, bearing: 189.371325 deg, deltaT: 4.851800 s, approachRate: -0.766726 m/s, LOS rate: -0.027071 deg/s, posRepo size: 4 2021-02-18T02:41:08.125Z,1613616068.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 279.479980 m, bearing: 189.371325 deg, approachRate: -0.766726 m/s, LOS rate: -0.027071 deg/s, cmd update: -0.108285 deg/s, cmd heading: 203.538110 deg, new cmd heading: 203.633647 deg. 2021-02-18T02:41:10.517Z,1613616070.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:41:11.305Z,1613616071.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:41:11.705Z,1613616071.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:41:12.521Z,1613616072.521 [Micromodem](INFO): Nmea in: $SNTTA,0.184036,,,,024111.34*48 2021-02-18T02:41:12.950Z,1613616072.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.880005 m, bearing: 188.456435 deg, deltaT: 4.855566 s, approachRate: -0.741412 m/s, LOS rate: -0.188421 deg/s, posRepo size: 4 2021-02-18T02:41:12.952Z,1613616072.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 275.880005 m, bearing: 188.456435 deg, approachRate: -0.741412 m/s, LOS rate: -0.188421 deg/s, cmd update: -0.753684 deg/s, cmd heading: 203.014492 deg, new cmd heading: 202.970635 deg. 2021-02-18T02:41:15.398Z,1613616075.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:41:16.149Z,1613616076.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:41:16.573Z,1613616076.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:41:17.368Z,1613616077.368 [Micromodem](INFO): Nmea in: $SNTTA,0.181683,,,,024116.18*4C 2021-02-18T02:41:17.794Z,1613616077.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 272.339996 m, bearing: 188.370853 deg, deltaT: 4.865921 s, approachRate: -0.727511 m/s, LOS rate: -0.017588 deg/s, posRepo size: 4 2021-02-18T02:41:17.796Z,1613616077.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 272.339996 m, bearing: 188.370853 deg, approachRate: -0.727511 m/s, LOS rate: -0.017588 deg/s, cmd update: -0.070352 deg/s, cmd heading: 199.353820 deg, new cmd heading: 199.058384 deg. 2021-02-18T02:41:20.266Z,1613616080.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:41:21.015Z,1613616081.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:41:21.402Z,1613616081.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:41:22.264Z,1613616082.264 [Micromodem](INFO): Nmea in: $SNTTA,0.179231,,,,024121.05*4E 2021-02-18T02:41:22.658Z,1613616082.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.619995 m, bearing: 188.606918 deg, deltaT: 4.862944 s, approachRate: -0.764969 m/s, LOS rate: 0.048544 deg/s, posRepo size: 4 2021-02-18T02:41:22.660Z,1613616082.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 268.619995 m, bearing: 188.606918 deg, approachRate: -0.764969 m/s, LOS rate: 0.048544 deg/s, cmd update: 0.194175 deg/s, cmd heading: 199.009388 deg, new cmd heading: 198.984065 deg. 2021-02-18T02:41:25.060Z,1613616085.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:41:25.852Z,1613616085.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:41:26.274Z,1613616086.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:41:27.087Z,1613616087.087 [Micromodem](INFO): Nmea in: $SNTTA,0.177041,,,,024125.88*44 2021-02-18T02:41:27.510Z,1613616087.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.380005 m, bearing: 189.329333 deg, deltaT: 4.831961 s, approachRate: -0.670533 m/s, LOS rate: 0.149508 deg/s, posRepo size: 4 2021-02-18T02:41:27.512Z,1613616087.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 265.380005 m, bearing: 189.329333 deg, approachRate: -0.670533 m/s, LOS rate: 0.149508 deg/s, cmd update: 0.598031 deg/s, cmd heading: 199.947636 deg, new cmd heading: 200.021468 deg. 2021-02-18T02:41:29.904Z,1613616089.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:41:30.697Z,1613616090.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:41:31.098Z,1613616091.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:41:31.914Z,1613616091.914 [Micromodem](INFO): Nmea in: $SNTTA,0.174439,,,,024130.73*4C 2021-02-18T02:41:32.385Z,1613616092.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.480011 m, bearing: 189.389370 deg, deltaT: 4.798864 s, approachRate: -0.812691 m/s, LOS rate: 0.012511 deg/s, posRepo size: 4 2021-02-18T02:41:32.386Z,1613616092.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 261.480011 m, bearing: 189.389370 deg, approachRate: -0.812691 m/s, LOS rate: 0.012511 deg/s, cmd update: 0.050043 deg/s, cmd heading: 202.817454 deg, new cmd heading: 203.090012 deg. 2021-02-18T02:41:34.748Z,1613616094.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:41:35.540Z,1613616095.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:41:35.951Z,1613616095.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:41:36.758Z,1613616096.758 [Micromodem](INFO): Nmea in: $SNTTA,0.172186,,,,024135.57*48 2021-02-18T02:41:37.201Z,1613616097.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.059998 m, bearing: 188.860167 deg, deltaT: 4.872769 s, approachRate: -0.701862 m/s, LOS rate: -0.108604 deg/s, posRepo size: 4 2021-02-18T02:41:37.205Z,1613616097.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 258.059998 m, bearing: 188.860167 deg, approachRate: -0.701862 m/s, LOS rate: -0.108604 deg/s, cmd update: -0.434417 deg/s, cmd heading: 203.061102 deg, new cmd heading: 203.081311 deg. 2021-02-18T02:41:39.613Z,1613616099.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:41:40.388Z,1613616100.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:41:40.810Z,1613616100.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:41:41.606Z,1613616101.606 [Micromodem](INFO): Nmea in: $SNTTA,0.169672,,,,024140.42*48 2021-02-18T02:41:42.047Z,1613616102.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.279984 m, bearing: 187.947900 deg, deltaT: 4.877892 s, approachRate: -0.774928 m/s, LOS rate: -0.187021 deg/s, posRepo size: 4 2021-02-18T02:41:42.049Z,1613616102.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 254.279984 m, bearing: 187.947900 deg, approachRate: -0.774928 m/s, LOS rate: -0.187021 deg/s, cmd update: -0.748083 deg/s, cmd heading: 200.940386 deg, new cmd heading: 200.780803 deg. 2021-02-18T02:41:44.454Z,1613616104.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:41:45.266Z,1613616105.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:41:45.641Z,1613616105.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:41:46.474Z,1613616106.474 [Micromodem](INFO): Nmea in: $SNTTA,0.167319,,,,024145.30*4E 2021-02-18T02:41:46.898Z,1613616106.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.800003 m, bearing: 188.320022 deg, deltaT: 4.857682 s, approachRate: -0.716387 m/s, LOS rate: 0.076605 deg/s, posRepo size: 4 2021-02-18T02:41:46.900Z,1613616106.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 250.800003 m, bearing: 188.320022 deg, approachRate: -0.716387 m/s, LOS rate: 0.076605 deg/s, cmd update: 0.306420 deg/s, cmd heading: 197.306271 deg, new cmd heading: 197.036716 deg. 2021-02-18T02:41:49.326Z,1613616109.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:41:50.084Z,1613616110.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:41:50.501Z,1613616110.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:41:51.307Z,1613616111.307 [Micromodem](INFO): Nmea in: $SNTTA,0.164681,,,,024150.12*4D 2021-02-18T02:41:51.734Z,1613616111.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.839981 m, bearing: 188.856179 deg, deltaT: 4.867910 s, approachRate: -0.813495 m/s, LOS rate: 0.110141 deg/s, posRepo size: 4 2021-02-18T02:41:51.736Z,1613616111.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 246.839981 m, bearing: 188.856179 deg, approachRate: -0.813495 m/s, LOS rate: 0.110141 deg/s, cmd update: 0.440564 deg/s, cmd heading: 198.796928 deg, new cmd heading: 198.898728 deg. 2021-02-18T02:41:54.169Z,1613616114.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:41:54.932Z,1613616114.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:41:55.338Z,1613616115.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:41:56.152Z,1613616116.152 [Micromodem](INFO): Nmea in: $SNTTA,0.162297,,,,024154.97*41 2021-02-18T02:41:56.587Z,1613616116.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.299988 m, bearing: 189.056604 deg, deltaT: 4.776151 s, approachRate: -0.741181 m/s, LOS rate: 0.041964 deg/s, posRepo size: 4 2021-02-18T02:41:56.589Z,1613616116.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 243.299988 m, bearing: 189.056604 deg, approachRate: -0.741181 m/s, LOS rate: 0.041964 deg/s, cmd update: 0.167855 deg/s, cmd heading: 200.902523 deg, new cmd heading: 201.081340 deg. 2021-02-18T02:41:59.028Z,1613616119.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:41:59.781Z,1613616119.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:42:00.210Z,1613616120.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:42:01.010Z,1613616121.010 [Micromodem](INFO): Nmea in: $SNTTA,0.159898,,,,024159.82*45 2021-02-18T02:42:01.442Z,1613616121.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 239.699997 m, bearing: 187.762173 deg, deltaT: 4.885620 s, approachRate: -0.736854 m/s, LOS rate: -0.264947 deg/s, posRepo size: 4 2021-02-18T02:42:01.460Z,1613616121.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 239.699997 m, bearing: 187.762173 deg, approachRate: -0.736854 m/s, LOS rate: -0.264947 deg/s, cmd update: -1.059788 deg/s, cmd heading: 201.721922 deg, new cmd heading: 201.785556 deg. 2021-02-18T02:42:03.836Z,1613616123.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:42:04.633Z,1613616124.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:42:05.041Z,1613616125.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:42:05.849Z,1613616125.849 [Micromodem](INFO): Nmea in: $SNTTA,0.157921,,,,024204.67*48 2021-02-18T02:42:06.323Z,1613616126.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.159988 m, bearing: 187.453681 deg, deltaT: 4.796780 s, approachRate: -0.737997 m/s, LOS rate: -0.064312 deg/s, posRepo size: 4 2021-02-18T02:42:06.325Z,1613616126.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 236.159988 m, bearing: 187.453681 deg, approachRate: -0.737997 m/s, LOS rate: -0.064312 deg/s, cmd update: -0.257249 deg/s, cmd heading: 196.634323 deg, new cmd heading: 196.147691 deg. 2021-02-18T02:42:08.368Z,1613616128.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:42:09.091Z,1613616129.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:42:09.485Z,1613616129.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:42:10.316Z,1613616130.316 [Micromodem](INFO): Nmea in: $SNTTA,0.155661,,,,024209.12*4E 2021-02-18T02:42:10.729Z,1613616130.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.739990 m, bearing: 188.247909 deg, deltaT: 4.529826 s, approachRate: -0.754995 m/s, LOS rate: 0.175333 deg/s, posRepo size: 4 2021-02-18T02:42:10.732Z,1613616130.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 232.739990 m, bearing: 188.247909 deg, approachRate: -0.754995 m/s, LOS rate: 0.175333 deg/s, cmd update: 0.701332 deg/s, cmd heading: 195.470042 deg, new cmd heading: 195.382562 deg. 2021-02-18T02:42:13.138Z,1613616133.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:42:13.926Z,1613616133.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:42:14.332Z,1613616134.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:42:15.140Z,1613616135.140 [Micromodem](INFO): Nmea in: $SNTTA,0.153212,,,,024213.96*4F 2021-02-18T02:42:15.592Z,1613616135.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.259979 m, bearing: 187.514156 deg, deltaT: 4.791373 s, approachRate: -0.726308 m/s, LOS rate: -0.153141 deg/s, posRepo size: 4 2021-02-18T02:42:15.594Z,1613616135.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 229.259979 m, bearing: 187.514156 deg, approachRate: -0.726308 m/s, LOS rate: -0.153141 deg/s, cmd update: -0.612562 deg/s, cmd heading: 198.833247 deg, new cmd heading: 199.118722 deg. 2021-02-18T02:42:18.037Z,1613616138.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:42:18.769Z,1613616138.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:42:19.187Z,1613616139.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:42:20.009Z,1613616140.009 [Micromodem](INFO): Nmea in: $SNTTA,0.150945,,,,024218.80*49 2021-02-18T02:42:20.816Z,1613616140.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:42:22.414Z,1613616142.414 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:42:23.642Z,1613616143.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:42:24.424Z,1613616144.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:42:24.829Z,1613616144.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:42:25.647Z,1613616145.647 [Micromodem](INFO): Nmea in: $SNTTA,0.147746,,,,024224.46*47 2021-02-18T02:42:26.075Z,1613616146.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.399994 m, bearing: 189.076876 deg, deltaT: 10.500871 s, approachRate: -0.748508 m/s, LOS rate: 0.148818 deg/s, posRepo size: 4 2021-02-18T02:42:26.077Z,1613616146.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.399994 m, bearing: 189.076876 deg, approachRate: -0.748508 m/s, LOS rate: 0.148818 deg/s, cmd update: 0.595272 deg/s, cmd heading: 192.415483 deg, new cmd heading: 192.162263 deg. 2021-02-18T02:42:28.526Z,1613616148.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:42:29.283Z,1613616149.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:42:29.678Z,1613616149.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:42:30.503Z,1613616150.503 [Micromodem](INFO): Nmea in: $SNTTA,0.145418,,,,024229.32*43 2021-02-18T02:42:30.934Z,1613616150.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.919983 m, bearing: 190.121594 deg, deltaT: 4.861615 s, approachRate: -0.715814 m/s, LOS rate: 0.214891 deg/s, posRepo size: 4 2021-02-18T02:42:30.936Z,1613616150.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.919983 m, bearing: 190.121594 deg, approachRate: -0.715814 m/s, LOS rate: 0.214891 deg/s, cmd update: 0.859565 deg/s, cmd heading: 195.311791 deg, new cmd heading: 195.553983 deg. 2021-02-18T02:42:33.346Z,1613616153.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:42:34.143Z,1613616154.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:42:34.526Z,1613616154.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:42:35.352Z,1613616155.352 [Micromodem](INFO): Nmea in: $SNTTA,0.142963,,,,024234.18*41 2021-02-18T02:42:35.770Z,1613616155.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.259995 m, bearing: 189.737505 deg, deltaT: 4.866014 s, approachRate: -0.752153 m/s, LOS rate: -0.078933 deg/s, posRepo size: 4 2021-02-18T02:42:35.772Z,1613616155.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.259995 m, bearing: 189.737505 deg, approachRate: -0.752153 m/s, LOS rate: -0.078933 deg/s, cmd update: -0.315732 deg/s, cmd heading: 199.508227 deg, new cmd heading: 199.818604 deg. 2021-02-18T02:42:38.185Z,1613616158.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:42:38.999Z,1613616158.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:42:39.384Z,1613616159.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:42:40.204Z,1613616160.204 [Micromodem](INFO): Nmea in: $SNTTA,0.140546,,,,024239.03*4F 2021-02-18T02:42:40.632Z,1613616160.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.599991 m, bearing: 188.495545 deg, deltaT: 4.861043 s, approachRate: -0.752926 m/s, LOS rate: -0.255493 deg/s, posRepo size: 4 2021-02-18T02:42:40.633Z,1613616160.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.599991 m, bearing: 188.495545 deg, approachRate: -0.752926 m/s, LOS rate: -0.255493 deg/s, cmd update: -1.021970 deg/s, cmd heading: 197.973521 deg, new cmd heading: 197.859478 deg. 2021-02-18T02:42:43.041Z,1613616163.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:42:43.821Z,1613616163.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:42:44.245Z,1613616164.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:42:45.037Z,1613616165.037 [Micromodem](INFO): Nmea in: $SNTTA,0.138131,,,,024243.85*47 2021-02-18T02:42:45.488Z,1613616165.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.000000 m, bearing: 188.465902 deg, deltaT: 4.805884 s, approachRate: -0.749080 m/s, LOS rate: -0.006168 deg/s, posRepo size: 4 2021-02-18T02:42:45.489Z,1613616165.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.000000 m, bearing: 188.465902 deg, approachRate: -0.749080 m/s, LOS rate: -0.006168 deg/s, cmd update: -0.024672 deg/s, cmd heading: 193.057841 deg, new cmd heading: 192.641856 deg. 2021-02-18T02:42:47.887Z,1613616167.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:42:48.665Z,1613616168.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:42:49.071Z,1613616169.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:42:49.882Z,1613616169.882 [Micromodem](INFO): Nmea in: $SNTTA,0.135729,,,,024248.70*44 2021-02-18T02:42:50.349Z,1613616170.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.459991 m, bearing: 189.190161 deg, deltaT: 4.816442 s, approachRate: -0.734984 m/s, LOS rate: 0.150372 deg/s, posRepo size: 4 2021-02-18T02:42:50.356Z,1613616170.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.459991 m, bearing: 189.190161 deg, approachRate: -0.734984 m/s, LOS rate: 0.150372 deg/s, cmd update: 0.601489 deg/s, cmd heading: 192.939003 deg, new cmd heading: 192.927832 deg. 2021-02-18T02:42:52.724Z,1613616172.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:42:53.529Z,1613616173.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:42:53.926Z,1613616173.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:42:54.741Z,1613616174.741 [Micromodem](INFO): Nmea in: $SNTTA,0.133443,,,,024253.56*43 2021-02-18T02:42:55.178Z,1613616175.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.979980 m, bearing: 189.562707 deg, deltaT: 4.858351 s, approachRate: -0.716295 m/s, LOS rate: 0.076682 deg/s, posRepo size: 4 2021-02-18T02:42:55.180Z,1613616175.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.979980 m, bearing: 189.562707 deg, approachRate: -0.716295 m/s, LOS rate: 0.076682 deg/s, cmd update: 0.306726 deg/s, cmd heading: 195.861249 deg, new cmd heading: 196.115675 deg. 2021-02-18T02:42:57.594Z,1613616177.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:42:58.365Z,1613616178.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:42:58.773Z,1613616178.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:42:59.599Z,1613616179.599 [Micromodem](INFO): Nmea in: $SNTTA,0.130902,,,,024258.40*44 2021-02-18T02:43:00.053Z,1613616180.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.199997 m, bearing: 188.925655 deg, deltaT: 4.888541 s, approachRate: -0.773233 m/s, LOS rate: -0.130315 deg/s, posRepo size: 4 2021-02-18T02:43:00.056Z,1613616180.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.199997 m, bearing: 188.925655 deg, approachRate: -0.773233 m/s, LOS rate: -0.130315 deg/s, cmd update: -0.521261 deg/s, cmd heading: 197.359548 deg, new cmd heading: 197.486425 deg. 2021-02-18T02:43:02.453Z,1613616182.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:43:03.213Z,1613616183.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:43:03.620Z,1613616183.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:43:04.435Z,1613616184.435 [Micromodem](INFO): Nmea in: $SNTTA,0.128525,,,,024303.25*48 2021-02-18T02:43:04.854Z,1613616184.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.599991 m, bearing: 189.018423 deg, deltaT: 4.839594 s, approachRate: -0.743865 m/s, LOS rate: 0.019168 deg/s, posRepo size: 4 2021-02-18T02:43:04.856Z,1613616184.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.599991 m, bearing: 189.018423 deg, approachRate: -0.743865 m/s, LOS rate: 0.019168 deg/s, cmd update: 0.076674 deg/s, cmd heading: 194.837236 deg, new cmd heading: 194.641544 deg. 2021-02-18T02:43:07.306Z,1613616187.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:43:08.057Z,1613616188.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:43:08.462Z,1613616188.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:43:09.275Z,1613616189.275 [Micromodem](INFO): Nmea in: $SNTTA,0.126143,,,,024308.09*47 2021-02-18T02:43:09.706Z,1613616189.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.939987 m, bearing: 188.809160 deg, deltaT: 4.867752 s, approachRate: -0.751888 m/s, LOS rate: -0.042990 deg/s, posRepo size: 4 2021-02-18T02:43:09.708Z,1613616189.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.939987 m, bearing: 188.809160 deg, approachRate: -0.751888 m/s, LOS rate: -0.042990 deg/s, cmd update: -0.171959 deg/s, cmd heading: 195.210358 deg, new cmd heading: 195.238044 deg. 2021-02-18T02:43:12.120Z,1613616192.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:43:12.904Z,1613616192.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:43:13.310Z,1613616193.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:43:14.122Z,1613616194.122 [Micromodem](INFO): Nmea in: $SNTTA,0.123715,,,,024312.94*48 2021-02-18T02:43:14.560Z,1613616194.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 188.987468 deg, deltaT: 4.844240 s, approachRate: -0.730763 m/s, LOS rate: 0.036808 deg/s, posRepo size: 4 2021-02-18T02:43:14.562Z,1613616194.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.399994 m, bearing: 188.987468 deg, approachRate: -0.730763 m/s, LOS rate: 0.036808 deg/s, cmd update: 0.147234 deg/s, cmd heading: 194.376600 deg, new cmd heading: 194.313693 deg. 2021-02-18T02:43:17.003Z,1613616197.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:43:17.763Z,1613616197.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:43:18.158Z,1613616198.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:43:19.002Z,1613616199.002 [Micromodem](INFO): Nmea in: $SNTTA,0.121180,,0.123930,0.123674,024317.80*4F 2021-02-18T02:43:19.420Z,1613616199.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.620010 m, bearing: 188.397572 deg, deltaT: 4.850356 s, approachRate: -0.779321 m/s, LOS rate: -0.121619 deg/s, posRepo size: 4 2021-02-18T02:43:19.422Z,1613616199.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.620010 m, bearing: 188.397572 deg, approachRate: -0.779321 m/s, LOS rate: -0.121619 deg/s, cmd update: -0.486477 deg/s, cmd heading: 195.090945 deg, new cmd heading: 195.146056 deg. 2021-02-18T02:43:21.808Z,1613616201.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:43:22.600Z,1613616202.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:43:23.016Z,1613616203.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:43:23.828Z,1613616203.828 [Micromodem](INFO): Nmea in: $SNTTA,0.118756,,,,024322.63*4C 2021-02-18T02:43:23.860Z,1613616203.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.620010 m, bearing: 188.730407 deg, deltaT: 4.411966 s, approachRate: 0.000000 m/s, LOS rate: 0.075439 deg/s, posRepo size: 4 2021-02-18T02:43:23.862Z,1613616203.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.620010 m, bearing: 188.730407 deg, approachRate: 0.000000 m/s, LOS rate: 0.075439 deg/s, cmd update: 0.301757 deg/s, cmd heading: 192.944578 deg, new cmd heading: 192.748749 deg. 2021-02-18T02:43:26.309Z,1613616206.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:43:27.044Z,1613616207.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:43:27.450Z,1613616207.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:43:28.280Z,1613616208.280 [Micromodem](INFO): Nmea in: $SNTTA,0.116395,,,,024327.08*41 2021-02-18T02:43:28.329Z,1613616208.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.620010 m, bearing: 189.766643 deg, deltaT: 4.444038 s, approachRate: 0.000000 m/s, LOS rate: 0.233174 deg/s, posRepo size: 4 2021-02-18T02:43:28.331Z,1613616208.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.620010 m, bearing: 189.766643 deg, approachRate: 0.000000 m/s, LOS rate: 0.233174 deg/s, cmd update: 0.932697 deg/s, cmd heading: 194.284394 deg, new cmd heading: 194.414694 deg. 2021-02-18T02:43:30.701Z,1613616210.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:43:31.494Z,1613616211.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:43:31.899Z,1613616211.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:43:32.720Z,1613616212.720 [Micromodem](INFO): Nmea in: $SNTTA,0.114135,,,,024331.53*42 2021-02-18T02:43:32.742Z,1613616212.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.620010 m, bearing: 188.617040 deg, deltaT: 4.455327 s, approachRate: 0.000000 m/s, LOS rate: -0.258029 deg/s, posRepo size: 4 2021-02-18T02:43:32.744Z,1613616212.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.620010 m, bearing: 188.617040 deg, approachRate: 0.000000 m/s, LOS rate: -0.258029 deg/s, cmd update: -1.032115 deg/s, cmd heading: 198.428711 deg, new cmd heading: 198.802935 deg. 2021-02-18T02:43:35.150Z,1613616215.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:43:35.932Z,1613616215.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:43:36.345Z,1613616216.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:43:37.160Z,1613616217.160 [Micromodem](INFO): Nmea in: $SNTTA,0.111972,,,,024335.97*40 2021-02-18T02:43:37.189Z,1613616217.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.760010 m, bearing: 187.965781 deg, deltaT: 4.444644 s, approachRate: -3.118360 m/s, LOS rate: -0.146527 deg/s, posRepo size: 4 2021-02-18T02:43:37.191Z,1613616217.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.760010 m, bearing: 187.965781 deg, approachRate: -3.118360 m/s, LOS rate: -0.146527 deg/s, cmd update: -0.586106 deg/s, cmd heading: 193.841544 deg, new cmd heading: 193.424788 deg. 2021-02-18T02:43:39.630Z,1613616219.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:43:40.380Z,1613616220.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:43:40.787Z,1613616220.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:43:41.620Z,1613616221.620 [Micromodem](INFO): Nmea in: $SNTTA,0.109751,,,,024340.41*4F 2021-02-18T02:43:41.655Z,1613616221.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.459991 m, bearing: 188.790718 deg, deltaT: 4.464133 s, approachRate: -0.739229 m/s, LOS rate: 0.184792 deg/s, posRepo size: 4 2021-02-18T02:43:41.657Z,1613616221.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.459991 m, bearing: 188.790718 deg, approachRate: -0.739229 m/s, LOS rate: 0.184792 deg/s, cmd update: 0.739168 deg/s, cmd heading: 191.215606 deg, new cmd heading: 190.987767 deg. 2021-02-18T02:43:44.052Z,1613616224.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:43:44.831Z,1613616224.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:43:45.264Z,1613616225.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:43:46.056Z,1613616226.056 [Micromodem](INFO): Nmea in: $SNTTA,0.107452,,,,024344.86*4E 2021-02-18T02:43:46.104Z,1613616226.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.620010 m, bearing: 188.918839 deg, deltaT: 4.384132 s, approachRate: -0.875882 m/s, LOS rate: 0.029224 deg/s, posRepo size: 4 2021-02-18T02:43:46.106Z,1613616226.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.620010 m, bearing: 188.918839 deg, approachRate: -0.875882 m/s, LOS rate: 0.029224 deg/s, cmd update: 0.116895 deg/s, cmd heading: 194.455480 deg, new cmd heading: 194.788975 deg. 2021-02-18T02:43:48.511Z,1613616228.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:43:49.275Z,1613616229.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:43:49.670Z,1613616229.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:43:50.496Z,1613616230.496 [Micromodem](INFO): Nmea in: $SNTTA,0.105188,,,,024349.31*4F 2021-02-18T02:43:50.534Z,1613616230.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.619995 m, bearing: 188.461790 deg, deltaT: 4.494723 s, approachRate: -0.667453 m/s, LOS rate: -0.101686 deg/s, posRepo size: 4 2021-02-18T02:43:50.537Z,1613616230.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.619995 m, bearing: 188.461790 deg, approachRate: -0.667453 m/s, LOS rate: -0.101686 deg/s, cmd update: -0.406743 deg/s, cmd heading: 194.980013 deg, new cmd heading: 195.026593 deg. 2021-02-18T02:43:52.930Z,1613616232.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:43:53.708Z,1613616233.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:43:54.115Z,1613616234.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:43:54.936Z,1613616234.936 [Micromodem](INFO): Nmea in: $SNTTA,0.102944,,,,024353.74*4A 2021-02-18T02:43:55.010Z,1613616235.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.259995 m, bearing: 188.177804 deg, deltaT: 4.414885 s, approachRate: -0.761062 m/s, LOS rate: -0.064325 deg/s, posRepo size: 4 2021-02-18T02:43:55.012Z,1613616235.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.259995 m, bearing: 188.177804 deg, approachRate: -0.761062 m/s, LOS rate: -0.064325 deg/s, cmd update: -0.257298 deg/s, cmd heading: 193.180843 deg, new cmd heading: 192.997491 deg. 2021-02-18T02:43:57.384Z,1613616237.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:43:58.152Z,1613616238.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:43:58.569Z,1613616238.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:43:59.380Z,1613616239.380 [Micromodem](INFO): Nmea in: $SNTTA,0.100846,,,,024358.18*4A 2021-02-18T02:43:59.405Z,1613616239.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.079987 m, bearing: 188.427571 deg, deltaT: 4.471045 s, approachRate: -0.711245 m/s, LOS rate: 0.055863 deg/s, posRepo size: 4 2021-02-18T02:43:59.406Z,1613616239.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.079987 m, bearing: 188.427571 deg, approachRate: -0.711245 m/s, LOS rate: 0.055863 deg/s, cmd update: 0.223452 deg/s, cmd heading: 192.030446 deg, new cmd heading: 191.934180 deg. 2021-02-18T02:44:01.812Z,1613616241.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:02.596Z,1613616242.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:44:03.014Z,1613616243.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:44:03.824Z,1613616243.824 [Micromodem](INFO): Nmea in: $SNTTA,0.098621,,,,024402.63*41 2021-02-18T02:44:03.868Z,1613616243.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.779999 m, bearing: 188.804433 deg, deltaT: 4.414251 s, approachRate: -0.747576 m/s, LOS rate: 0.085374 deg/s, posRepo size: 4 2021-02-18T02:44:03.872Z,1613616243.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.779999 m, bearing: 188.804433 deg, approachRate: -0.747576 m/s, LOS rate: 0.085374 deg/s, cmd update: 0.341496 deg/s, cmd heading: 193.016827 deg, new cmd heading: 193.111211 deg. 2021-02-18T02:44:06.327Z,1613616246.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:07.047Z,1613616247.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:44:07.446Z,1613616247.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:44:08.291Z,1613616248.291 [Micromodem](INFO): Nmea in: $SNTTA,0.096337,,,,024407.08*45 2021-02-18T02:44:08.330Z,1613616248.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.300003 m, bearing: 188.002801 deg, deltaT: 4.442049 s, approachRate: -0.783421 m/s, LOS rate: -0.180464 deg/s, posRepo size: 4 2021-02-18T02:44:08.332Z,1613616248.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.300003 m, bearing: 188.002801 deg, approachRate: -0.783421 m/s, LOS rate: -0.180464 deg/s, cmd update: -0.721858 deg/s, cmd heading: 194.526920 deg, new cmd heading: 194.685035 deg. 2021-02-18T02:44:10.691Z,1613616250.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:11.486Z,1613616251.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:44:11.889Z,1613616251.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:44:12.716Z,1613616252.716 [Micromodem](INFO): Nmea in: $SNTTA,0.094087,,,,024411.52*47 2021-02-18T02:44:12.762Z,1613616252.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.880005 m, bearing: 188.526827 deg, deltaT: 4.489988 s, approachRate: -0.761694 m/s, LOS rate: 0.116710 deg/s, posRepo size: 4 2021-02-18T02:44:12.768Z,1613616252.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.880005 m, bearing: 188.526827 deg, approachRate: -0.761694 m/s, LOS rate: 0.116710 deg/s, cmd update: 0.466839 deg/s, cmd heading: 191.281159 deg, new cmd heading: 190.993069 deg. 2021-02-18T02:44:15.145Z,1613616255.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:15.928Z,1613616255.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:44:16.333Z,1613616256.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:44:17.176Z,1613616257.176 [Micromodem](INFO): Nmea in: $SNTTA,0.091794,,,,024415.96*4B 2021-02-18T02:44:17.233Z,1613616257.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.639999 m, bearing: 190.906164 deg, deltaT: 4.375312 s, approachRate: -0.740520 m/s, LOS rate: 0.543810 deg/s, posRepo size: 4 2021-02-18T02:44:17.248Z,1613616257.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.639999 m, bearing: 190.906164 deg, approachRate: -0.740520 m/s, LOS rate: 0.543810 deg/s, cmd update: 2.175239 deg/s, cmd heading: 193.330003 deg, new cmd heading: 193.548555 deg. 2021-02-18T02:44:19.279Z,1613616259.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:20.000Z,1613616260.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:44:20.374Z,1613616260.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:44:21.212Z,1613616261.212 [Micromodem](INFO): Nmea in: $SNTTA,0.089727,,,,024420.03*40 2021-02-18T02:44:21.284Z,1613616261.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.400009 m, bearing: 188.456052 deg, deltaT: 4.046292 s, approachRate: -0.800731 m/s, LOS rate: -0.605520 deg/s, posRepo size: 4 2021-02-18T02:44:21.286Z,1613616261.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.400009 m, bearing: 188.456052 deg, approachRate: -0.800731 m/s, LOS rate: -0.605520 deg/s, cmd update: -2.422081 deg/s, cmd heading: 202.131989 deg, new cmd heading: 203.179954 deg. 2021-02-18T02:44:23.630Z,1613616263.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:24.414Z,1613616264.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:44:24.819Z,1613616264.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:44:25.644Z,1613616265.644 [Micromodem](INFO): Nmea in: $SNTTA,0.087412,,,0.089924,024424.45*5D 2021-02-18T02:44:25.676Z,1613616265.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.919998 m, bearing: 187.442603 deg, deltaT: 4.510437 s, approachRate: -0.771546 m/s, LOS rate: -0.224690 deg/s, posRepo size: 4 2021-02-18T02:44:25.678Z,1613616265.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.919998 m, bearing: 187.442603 deg, approachRate: -0.771546 m/s, LOS rate: -0.224690 deg/s, cmd update: -0.898760 deg/s, cmd heading: 191.209157 deg, new cmd heading: 190.316729 deg. 2021-02-18T02:44:28.081Z,1613616268.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:28.856Z,1613616268.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:44:29.277Z,1613616269.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:44:30.084Z,1613616270.084 [Micromodem](INFO): Nmea in: $SNTTA,0.085335,,,,024428.89*41 2021-02-18T02:44:30.124Z,1613616270.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.800003 m, bearing: 189.672741 deg, deltaT: 4.389192 s, approachRate: -0.710836 m/s, LOS rate: 0.508098 deg/s, posRepo size: 4 2021-02-18T02:44:30.126Z,1613616270.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.800003 m, bearing: 189.672741 deg, approachRate: -0.710836 m/s, LOS rate: 0.508098 deg/s, cmd update: 2.032391 deg/s, cmd heading: 187.267399 deg, new cmd heading: 186.880862 deg. 2021-02-18T02:44:32.545Z,1613616272.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:33.306Z,1613616273.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:44:33.713Z,1613616273.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:44:34.543Z,1613616274.543 [Micromodem](INFO): Nmea in: $SNTTA,0.083060,,,,024433.34*48 2021-02-18T02:44:34.568Z,1613616274.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.440002 m, bearing: 190.085394 deg, deltaT: 4.451668 s, approachRate: -0.754773 m/s, LOS rate: 0.092696 deg/s, posRepo size: 4 2021-02-18T02:44:34.570Z,1613616274.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.440002 m, bearing: 190.085394 deg, approachRate: -0.754773 m/s, LOS rate: 0.092696 deg/s, cmd update: 0.370785 deg/s, cmd heading: 196.323492 deg, new cmd heading: 197.172777 deg. 2021-02-18T02:44:36.957Z,1613616276.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:37.762Z,1613616277.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:44:38.155Z,1613616278.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:44:39.004Z,1613616279.004 [Micromodem](INFO): Nmea in: $SNTTA,0.080855,,,,024437.80*4E 2021-02-18T02:44:39.041Z,1613616279.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.080002 m, bearing: 188.940354 deg, deltaT: 4.436143 s, approachRate: -0.757415 m/s, LOS rate: -0.258116 deg/s, posRepo size: 4 2021-02-18T02:44:39.043Z,1613616279.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.080002 m, bearing: 188.940354 deg, approachRate: -0.757415 m/s, LOS rate: -0.258116 deg/s, cmd update: -1.032465 deg/s, cmd heading: 197.968345 deg, new cmd heading: 198.137196 deg. 2021-02-18T02:44:41.426Z,1613616281.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:42.196Z,1613616282.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:44:42.594Z,1613616282.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:44:43.420Z,1613616283.420 [Micromodem](INFO): Nmea in: $SNTTA,0.078612,,,,024442.23*4F 2021-02-18T02:44:43.476Z,1613616283.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.779999 m, bearing: 187.988376 deg, deltaT: 4.463095 s, approachRate: -0.739398 m/s, LOS rate: -0.213300 deg/s, posRepo size: 4 2021-02-18T02:44:43.478Z,1613616283.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.779999 m, bearing: 187.988376 deg, approachRate: -0.739398 m/s, LOS rate: -0.213300 deg/s, cmd update: -0.853200 deg/s, cmd heading: 193.363278 deg, new cmd heading: 192.923411 deg. 2021-02-18T02:44:45.859Z,1613616285.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:46.650Z,1613616286.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:44:47.039Z,1613616287.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:44:47.872Z,1613616287.872 [Micromodem](INFO): Nmea in: $SNTTA,0.076579,,,,024446.68*44 2021-02-18T02:44:47.887Z,1613616287.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.659996 m, bearing: 189.154111 deg, deltaT: 4.432779 s, approachRate: -0.703848 m/s, LOS rate: 0.262981 deg/s, posRepo size: 4 2021-02-18T02:44:47.889Z,1613616287.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.659996 m, bearing: 189.154111 deg, approachRate: -0.703848 m/s, LOS rate: 0.262981 deg/s, cmd update: 1.051923 deg/s, cmd heading: 189.579013 deg, new cmd heading: 189.233121 deg. 2021-02-18T02:44:50.328Z,1613616290.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:51.076Z,1613616291.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:44:51.483Z,1613616291.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:44:52.304Z,1613616292.304 [Micromodem](INFO): Nmea in: $SNTTA,0.074267,,,,024451.11*46 2021-02-18T02:44:52.352Z,1613616292.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.180000 m, bearing: 189.499255 deg, deltaT: 4.437771 s, approachRate: -0.784177 m/s, LOS rate: 0.077774 deg/s, posRepo size: 4 2021-02-18T02:44:52.354Z,1613616292.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.180000 m, bearing: 189.499255 deg, approachRate: -0.784177 m/s, LOS rate: 0.077774 deg/s, cmd update: 0.311096 deg/s, cmd heading: 194.242930 deg, new cmd heading: 194.702358 deg. 2021-02-18T02:44:52.358Z,1613616292.358 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T02:44:52.358Z,1613616292.358 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T02:44:52.358Z,1613616292.358 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T02:44:52.358Z,1613616292.358 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T02:44:52.358Z,1613616292.358 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T02:44:52.808Z,1613616292.808 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60570000005D000004004A0000000000000000151D80030C5669BF92F9E56AF42DF3EC18B8E2540A0773CA3E7FEB87EC6A50AB6BFBBA06FD10AAE2DCBD 2021-02-18T02:44:52.808Z,1613616292.808 [Micromodem](INFO): Outgoing frame #2, 27 bytes: E66FD18AC8A72843AB92BAFBF406F90F477F2CF909C2FF5A5D6600 2021-02-18T02:44:52.808Z,1613616292.808 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T02:44:53.128Z,1613616293.128 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T02:44:53.532Z,1613616293.532 [Micromodem](INFO): Nmea in: $CADRQ,024452,1,10,0,64,1*73 2021-02-18T02:44:53.533Z,1613616293.533 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60570000005D000004004A0000000000000000151D80030C5669BF92F9E56AF42DF3EC18B8E2540A0773CA3E7FEB87EC6A50AB6BFBBA06FD10AAE2DCBD*33 2021-02-18T02:44:53.936Z,1613616293.936 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T02:44:54.356Z,1613616294.356 [Micromodem](INFO): Nmea in: $CADRQ,024453,1,10,0,64,2*71 2021-02-18T02:44:54.356Z,1613616294.356 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E66FD18AC8A72843AB92BAFBF406F90F477F2CF909C2FF5A5D6600*35 2021-02-18T02:44:54.550Z,1613616294.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:54.737Z,1613616294.737 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,27*4E 2021-02-18T02:44:55.136Z,1613616295.136 [Micromodem](INFO): Nmea in: $CATXP,91*7A 2021-02-18T02:44:55.137Z,1613616295.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:44:57.186Z,1613616297.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:44:57.565Z,1613616297.565 [Micromodem](INFO): Nmea in: $CATXF,91*6C 2021-02-18T02:44:57.565Z,1613616297.565 [Micromodem](ERROR): Response from modem unexpected: $CATXF,91*6C 2021-02-18T02:44:57.996Z,1613616297.996 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,024454.384606,3,0,200,4000,14500,1,1,10,1,2,2,3,91*4D 2021-02-18T02:44:57.997Z,1613616297.997 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,024454.384606,3,0,200,4000,14500,1,1,10,1,2,2,3,91*4D 2021-02-18T02:44:59.584Z,1613616299.584 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:45:00.120Z,1613616300.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:00.388Z,1613616300.388 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T02:45:00.805Z,1613616300.805 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-18T02:45:00.805Z,1613616300.805 [Micromodem](INFO): Sent 83 bytes from file Logs/20210217T180521/Courier0087.lzma.parts 2021-02-18T02:45:00.805Z,1613616300.805 [Micromodem](INFO): Packets left to send: 0 2021-02-18T02:45:01.196Z,1613616301.196 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218024459.134985,06,7736,38,0323,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,21.1,8.00,18,-5.00,-01,1.48,26,14500,4000*58 2021-02-18T02:45:01.197Z,1613616301.197 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218024459.134985,06,7736,38,0323,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,21.1,8.00,18,-5.00,-01,1.48,26,14500,4000*58 2021-02-18T02:45:01.354Z,1613616301.354 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T02:45:01.354Z,1613616301.354 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T02:45:01.354Z,1613616301.354 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T02:45:01.355Z,1613616301.355 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T02:45:01.355Z,1613616301.355 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T02:45:02.828Z,1613616302.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:05.667Z,1613616305.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:06.450Z,1613616306.450 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:45:06.850Z,1613616306.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:45:07.676Z,1613616307.676 [Micromodem](INFO): Nmea in: $SNTTA,0.066559,,,,024506.48*40 2021-02-18T02:45:07.710Z,1613616307.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.660004 m, bearing: 188.046637 deg, deltaT: 15.393338 s, approachRate: -0.748375 m/s, LOS rate: -0.094367 deg/s, posRepo size: 4 2021-02-18T02:45:07.712Z,1613616307.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.660004 m, bearing: 188.046637 deg, approachRate: -0.748375 m/s, LOS rate: -0.094367 deg/s, cmd update: -0.377466 deg/s, cmd heading: 199.033068 deg, new cmd heading: 199.156529 deg. 2021-02-18T02:45:10.122Z,1613616310.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:10.888Z,1613616310.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:45:11.300Z,1613616311.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:45:12.120Z,1613616312.120 [Micromodem](INFO): Nmea in: $SNTTA,0.064492,,,,024510.92*44 2021-02-18T02:45:12.144Z,1613616312.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.540001 m, bearing: 187.865460 deg, deltaT: 4.406939 s, approachRate: -0.707975 m/s, LOS rate: -0.041112 deg/s, posRepo size: 4 2021-02-18T02:45:12.146Z,1613616312.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.540001 m, bearing: 187.865460 deg, approachRate: -0.707975 m/s, LOS rate: -0.041112 deg/s, cmd update: -0.164448 deg/s, cmd heading: 197.370145 deg, new cmd heading: 197.209466 deg. 2021-02-18T02:45:14.535Z,1613616314.535 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T02:45:14.550Z,1613616314.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:15.349Z,1613616315.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:45:15.743Z,1613616315.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:45:16.584Z,1613616316.584 [Micromodem](INFO): Nmea in: $SNTTA,0.062267,,,,024515.38*4B 2021-02-18T02:45:16.633Z,1613616316.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.239998 m, bearing: 187.416429 deg, deltaT: 4.471896 s, approachRate: -0.737943 m/s, LOS rate: -0.100412 deg/s, posRepo size: 4 2021-02-18T02:45:16.639Z,1613616316.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.239998 m, bearing: 187.416429 deg, approachRate: -0.737943 m/s, LOS rate: -0.100412 deg/s, cmd update: -0.401646 deg/s, cmd heading: 196.635302 deg, new cmd heading: 196.561932 deg. 2021-02-18T02:45:19.045Z,1613616319.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:19.776Z,1613616319.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:45:20.214Z,1613616320.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:45:21.024Z,1613616321.024 [Micromodem](INFO): Nmea in: $SNTTA,0.060012,,,,024519.81*47 2021-02-18T02:45:21.068Z,1613616321.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.879997 m, bearing: 187.477423 deg, deltaT: 4.414287 s, approachRate: -0.761165 m/s, LOS rate: 0.013817 deg/s, posRepo size: 4 2021-02-18T02:45:21.070Z,1613616321.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.879997 m, bearing: 187.477423 deg, approachRate: -0.761165 m/s, LOS rate: 0.013817 deg/s, cmd update: 0.055269 deg/s, cmd heading: 194.860415 deg, new cmd heading: 194.674610 deg. 2021-02-18T02:45:23.461Z,1613616323.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:24.276Z,1613616324.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:45:24.641Z,1613616324.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:45:25.501Z,1613616325.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.280006 m, bearing: 186.864413 deg, deltaT: 4.471439 s, approachRate: -0.805108 m/s, LOS rate: -0.137094 deg/s, posRepo size: 4 2021-02-18T02:45:25.504Z,1613616325.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.280006 m, bearing: 186.864413 deg, approachRate: -0.805108 m/s, LOS rate: -0.137094 deg/s, cmd update: -0.548378 deg/s, cmd heading: 195.107543 deg, new cmd heading: 195.130944 deg. 2021-02-18T02:45:25.848Z,1613616325.848 [Micromodem](INFO): Nmea in: $SNTTA,0.057690,,,,024524.31*4A 2021-02-18T02:45:27.891Z,1613616327.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:28.668Z,1613616328.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:45:29.075Z,1613616329.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:45:29.896Z,1613616329.896 [Micromodem](INFO): Nmea in: $SNTTA,0.055538,,,,024528.70*40 2021-02-18T02:45:29.951Z,1613616329.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.160004 m, bearing: 190.416890 deg, deltaT: 4.440518 s, approachRate: -0.702621 m/s, LOS rate: 0.800014 deg/s, posRepo size: 4 2021-02-18T02:45:29.953Z,1613616329.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.160004 m, bearing: 190.416890 deg, approachRate: -0.702621 m/s, LOS rate: 0.800014 deg/s, cmd update: 3.200056 deg/s, cmd heading: 192.674652 deg, new cmd heading: 192.439313 deg. 2021-02-18T02:45:32.305Z,1613616332.305 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T02:45:32.378Z,1613616332.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:33.109Z,1613616333.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:45:33.514Z,1613616333.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:45:34.340Z,1613616334.340 [Micromodem](INFO): Nmea in: $SNTTA,0.053419,,,,024533.14*4C 2021-02-18T02:45:34.402Z,1613616334.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.979996 m, bearing: 188.752510 deg, deltaT: 4.412452 s, approachRate: -0.720690 m/s, LOS rate: -0.377201 deg/s, posRepo size: 4 2021-02-18T02:45:34.404Z,1613616334.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.979996 m, bearing: 188.752510 deg, approachRate: -0.720690 m/s, LOS rate: -0.377201 deg/s, cmd update: -1.508803 deg/s, cmd heading: 206.807694 deg, new cmd heading: 208.316435 deg. 2021-02-18T02:45:36.765Z,1613616336.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:37.560Z,1613616337.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:45:37.985Z,1613616337.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:45:38.784Z,1613616338.784 [Micromodem](INFO): Nmea in: $SNTTA,0.051171,,,,024537.59*48 2021-02-18T02:45:38.826Z,1613616338.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.560005 m, bearing: 185.340899 deg, deltaT: 4.469181 s, approachRate: -0.765239 m/s, LOS rate: -0.763364 deg/s, posRepo size: 4 2021-02-18T02:45:38.832Z,1613616338.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.560005 m, bearing: 185.340899 deg, approachRate: -0.765239 m/s, LOS rate: -0.763364 deg/s, cmd update: -3.053455 deg/s, cmd heading: 200.088643 deg, new cmd heading: 199.420581 deg. 2021-02-18T02:45:41.277Z,1613616341.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:42.013Z,1613616342.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:45:42.403Z,1613616342.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:45:43.253Z,1613616343.253 [Micromodem](INFO): Nmea in: $SNTTA,0.049350,,,,024542.04*4A 2021-02-18T02:45:43.302Z,1613616343.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.860001 m, bearing: 186.574308 deg, deltaT: 4.418823 s, approachRate: -0.611023 m/s, LOS rate: 0.279126 deg/s, posRepo size: 4 2021-02-18T02:45:43.304Z,1613616343.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.860001 m, bearing: 186.574308 deg, approachRate: -0.611023 m/s, LOS rate: 0.279126 deg/s, cmd update: 1.116505 deg/s, cmd heading: 186.547552 deg, new cmd heading: 185.069475 deg. 2021-02-18T02:45:45.662Z,1613616345.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:46.445Z,1613616346.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:45:46.852Z,1613616346.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:45:47.679Z,1613616347.679 [Micromodem](INFO): Nmea in: $SNTTA,0.047015,,,,024546.48*4A 2021-02-18T02:45:47.698Z,1613616347.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.440002 m, bearing: 189.615586 deg, deltaT: 4.485008 s, approachRate: -0.762540 m/s, LOS rate: 0.678099 deg/s, posRepo size: 4 2021-02-18T02:45:47.700Z,1613616347.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.440002 m, bearing: 189.615586 deg, approachRate: -0.762540 m/s, LOS rate: 0.678099 deg/s, cmd update: 2.712395 deg/s, cmd heading: 191.555258 deg, new cmd heading: 191.996117 deg. 2021-02-18T02:45:50.100Z,1613616350.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:50.884Z,1613616350.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:45:51.290Z,1613616351.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:45:52.116Z,1613616352.116 [Micromodem](INFO): Nmea in: $SNTTA,0.044829,,,,024550.92*4E 2021-02-18T02:45:52.169Z,1613616352.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.140007 m, bearing: 189.421431 deg, deltaT: 4.402721 s, approachRate: -0.749535 m/s, LOS rate: -0.044099 deg/s, posRepo size: 4 2021-02-18T02:45:52.175Z,1613616352.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.140007 m, bearing: 189.421431 deg, approachRate: -0.749535 m/s, LOS rate: -0.044099 deg/s, cmd update: -0.176395 deg/s, cmd heading: 203.497177 deg, new cmd heading: 204.752940 deg. 2021-02-18T02:45:54.567Z,1613616354.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:55.340Z,1613616355.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:45:55.738Z,1613616355.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:45:56.580Z,1613616356.580 [Micromodem](INFO): Nmea in: $SNTTA,0.042571,,,,024555.37*42 2021-02-18T02:45:56.613Z,1613616356.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.780003 m, bearing: 185.341322 deg, deltaT: 4.471501 s, approachRate: -0.751427 m/s, LOS rate: -0.912470 deg/s, posRepo size: 4 2021-02-18T02:45:56.615Z,1613616356.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.780003 m, bearing: 185.341322 deg, approachRate: -0.751427 m/s, LOS rate: -0.912470 deg/s, cmd update: -3.649879 deg/s, cmd heading: 202.711260 deg, new cmd heading: 202.631548 deg. 2021-02-18T02:45:59.021Z,1613616359.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:45:59.772Z,1613616359.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:00.179Z,1613616360.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:01.020Z,1613616361.020 [Micromodem](INFO): Nmea in: $SNTTA,0.040610,,,,024559.80*44 2021-02-18T02:46:01.044Z,1613616361.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.660000 m, bearing: 183.490450 deg, deltaT: 4.434048 s, approachRate: -0.703647 m/s, LOS rate: -0.417423 deg/s, posRepo size: 4 2021-02-18T02:46:01.046Z,1613616361.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.660000 m, bearing: 183.490450 deg, approachRate: -0.703647 m/s, LOS rate: -0.417423 deg/s, cmd update: -1.669691 deg/s, cmd heading: 186.468882 deg, new cmd heading: 184.891000 deg. 2021-02-18T02:46:03.438Z,1613616363.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:46:04.232Z,1613616364.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:04.628Z,1613616364.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:05.457Z,1613616365.457 [Micromodem](INFO): Nmea in: $SNTTA,0.038351,,0.065107,,024604.27*56 2021-02-18T02:46:05.481Z,1613616365.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.540001 m, bearing: 188.433458 deg, deltaT: 4.449111 s, approachRate: -0.701263 m/s, LOS rate: 1.111010 deg/s, posRepo size: 4 2021-02-18T02:46:05.483Z,1613616365.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.540001 m, bearing: 188.433458 deg, approachRate: -0.701263 m/s, LOS rate: 1.111010 deg/s, cmd update: 4.444041 deg/s, cmd heading: 179.040246 deg, new cmd heading: 178.337999 deg. 2021-02-18T02:46:07.885Z,1613616367.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:46:08.660Z,1613616368.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:09.067Z,1613616369.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:09.892Z,1613616369.892 [Micromodem](INFO): Nmea in: $SNTTA,0.036229,,,,024608.69*4B 2021-02-18T02:46:09.928Z,1613616369.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.359993 m, bearing: 188.935600 deg, deltaT: 4.449218 s, approachRate: -0.714734 m/s, LOS rate: 0.112861 deg/s, posRepo size: 4 2021-02-18T02:46:09.930Z,1613616369.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.359993 m, bearing: 188.935600 deg, approachRate: -0.714734 m/s, LOS rate: 0.112861 deg/s, cmd update: 0.451443 deg/s, cmd heading: 198.812752 deg, new cmd heading: 200.669899 deg. 2021-02-18T02:46:12.349Z,1613616372.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:46:13.109Z,1613616373.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:13.510Z,1613616373.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:14.344Z,1613616374.344 [Micromodem](INFO): Nmea in: $SNTTA,0.033968,,,,024613.14*40 2021-02-18T02:46:14.393Z,1613616374.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.820004 m, bearing: 186.937032 deg, deltaT: 4.416433 s, approachRate: -0.801549 m/s, LOS rate: -0.452530 deg/s, posRepo size: 4 2021-02-18T02:46:14.395Z,1613616374.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.820004 m, bearing: 186.937032 deg, approachRate: -0.801549 m/s, LOS rate: -0.452530 deg/s, cmd update: -1.810120 deg/s, cmd heading: 200.806512 deg, new cmd heading: 201.017329 deg. 2021-02-18T02:46:16.784Z,1613616376.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:46:17.566Z,1613616377.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:17.962Z,1613616377.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:18.792Z,1613616378.792 [Micromodem](INFO): Nmea in: $SNTTA,0.031914,,,0.034420,024617.60*51 2021-02-18T02:46:18.814Z,1613616378.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.459999 m, bearing: 184.733709 deg, deltaT: 4.476822 s, approachRate: -0.750533 m/s, LOS rate: -0.492162 deg/s, posRepo size: 4 2021-02-18T02:46:18.816Z,1613616378.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.459999 m, bearing: 184.733709 deg, approachRate: -0.750533 m/s, LOS rate: -0.492162 deg/s, cmd update: -1.968650 deg/s, cmd heading: 192.702952 deg, new cmd heading: 191.959363 deg. 2021-02-18T02:46:21.265Z,1613616381.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:46:22.009Z,1613616382.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:22.398Z,1613616382.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:23.236Z,1613616383.236 [Micromodem](INFO): Nmea in: $SNTTA,0.029636,,,,024622.04*4C 2021-02-18T02:46:23.314Z,1613616383.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.279999 m, bearing: 187.495673 deg, deltaT: 4.412681 s, approachRate: -0.720650 m/s, LOS rate: 0.625915 deg/s, posRepo size: 4 2021-02-18T02:46:23.316Z,1613616383.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.279999 m, bearing: 187.495673 deg, approachRate: -0.720650 m/s, LOS rate: 0.625915 deg/s, cmd update: 2.503661 deg/s, cmd heading: 184.015870 deg, new cmd heading: 183.034370 deg. 2021-02-18T02:46:25.668Z,1613616385.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:46:26.438Z,1613616386.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:26.850Z,1613616386.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:27.680Z,1613616387.680 [Micromodem](INFO): Nmea in: $SNTTA,0.027379,,,,024626.47*4F 2021-02-18T02:46:27.702Z,1613616387.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.859997 m, bearing: 188.267321 deg, deltaT: 4.505548 s, approachRate: -0.759065 m/s, LOS rate: 0.171266 deg/s, posRepo size: 4 2021-02-18T02:46:27.704Z,1613616387.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.859997 m, bearing: 188.267321 deg, approachRate: -0.759065 m/s, LOS rate: 0.171266 deg/s, cmd update: 0.685064 deg/s, cmd heading: 195.256219 deg, new cmd heading: 196.248921 deg. 2021-02-18T02:46:30.114Z,1613616390.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:46:30.886Z,1613616390.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:31.287Z,1613616391.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:32.116Z,1613616392.116 [Micromodem](INFO): Nmea in: $SNTTA,0.025082,,,0.053344,024630.92*5E 2021-02-18T02:46:32.141Z,1613616392.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.439999 m, bearing: 186.247975 deg, deltaT: 4.385905 s, approachRate: -0.779770 m/s, LOS rate: -0.460417 deg/s, posRepo size: 4 2021-02-18T02:46:32.141Z,1613616392.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.44 m. 2021-02-18T02:46:32.143Z,1613616392.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.439999 m, bearing: 186.247975 deg, approachRate: -0.779770 m/s, LOS rate: -0.460417 deg/s, cmd update: -1.841668 deg/s, cmd heading: 198.271786 deg, new cmd heading: 198.568678 deg. 2021-02-18T02:46:32.509Z,1613616392.509 [PowerOnly](INFO): Powering up loadControl 2021-02-18T02:46:34.544Z,1613616394.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:46:35.325Z,1613616395.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:35.737Z,1613616395.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:36.557Z,1613616396.557 [Micromodem](INFO): Nmea in: $SNTTA,0.023167,,,,024635.36*42 2021-02-18T02:46:36.601Z,1613616396.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.559998 m, bearing: 186.865055 deg, deltaT: 4.462038 s, approachRate: -0.645445 m/s, LOS rate: 0.138296 deg/s, posRepo size: 4 2021-02-18T02:46:36.602Z,1613616396.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.56 m. 2021-02-18T02:46:36.602Z,1613616396.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.56 m. 2021-02-18T02:46:36.602Z,1613616396.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T02:46:36.604Z,1613616396.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.559998 m, bearing: 186.865055 deg, approachRate: -0.645445 m/s, LOS rate: 0.138296 deg/s, cmd update: 0.553182 deg/s, cmd heading: 190.054418 deg, new cmd heading: 189.258981 deg. 2021-02-18T02:46:39.022Z,1613616399.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:46:39.768Z,1613616399.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:40.181Z,1613616400.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:41.020Z,1613616401.020 [Micromodem](INFO): Nmea in: $SNTTA,0.020693,,,,024639.80*4C 2021-02-18T02:46:41.065Z,1613616401.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.839998 m, bearing: 188.374841 deg, deltaT: 4.433052 s, approachRate: -0.839151 m/s, LOS rate: 0.340575 deg/s, posRepo size: 4 2021-02-18T02:46:41.066Z,1613616401.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.839998 m, bearing: 188.374841 deg, approachRate: -0.839151 m/s, LOS rate: 0.340575 deg/s, cmd update: 1.362299 deg/s, cmd heading: 192.506781 deg, new cmd heading: 192.762487 deg. 2021-02-18T02:46:43.411Z,1613616403.411 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T02:46:43.426Z,1613616403.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:46:44.216Z,1613616404.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:44.618Z,1613616404.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:45.440Z,1613616405.440 [Micromodem](INFO): Nmea in: $SNTTA,0.018523,,,,024644.25*4A 2021-02-18T02:46:45.465Z,1613616405.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.600000 m, bearing: 187.892507 deg, deltaT: 4.494607 s, approachRate: -0.720863 m/s, LOS rate: -0.107314 deg/s, posRepo size: 4 2021-02-18T02:46:45.467Z,1613616405.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.600000 m, bearing: 187.892507 deg, approachRate: -0.720863 m/s, LOS rate: -0.107314 deg/s, cmd update: -0.429256 deg/s, cmd heading: 198.629212 deg, new cmd heading: 199.131631 deg. 2021-02-18T02:46:47.865Z,1613616407.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:46:48.661Z,1613616408.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:49.063Z,1613616409.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:49.899Z,1613616409.899 [Micromodem](INFO): Nmea in: $SNTTA,0.016509,,,,024648.69*48 2021-02-18T02:46:49.918Z,1613616409.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.359999 m, bearing: 184.950198 deg, deltaT: 4.406218 s, approachRate: -0.735325 m/s, LOS rate: -0.667763 deg/s, posRepo size: 4 2021-02-18T02:46:49.920Z,1613616409.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.359999 m, bearing: 184.950198 deg, approachRate: -0.735325 m/s, LOS rate: -0.667763 deg/s, cmd update: -2.671052 deg/s, cmd heading: 196.737645 deg, new cmd heading: 196.559376 deg. 2021-02-18T02:46:52.343Z,1613616412.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:46:53.100Z,1613616413.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:53.515Z,1613616413.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:54.364Z,1613616414.364 [Micromodem](INFO): Nmea in: $SNTTA,0.014304,,,,024653.13*46 2021-02-18T02:46:54.431Z,1613616414.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.239996 m, bearing: 186.847270 deg, deltaT: 4.431827 s, approachRate: -0.703999 m/s, LOS rate: 0.428056 deg/s, posRepo size: 4 2021-02-18T02:46:54.433Z,1613616414.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.239996 m, bearing: 186.847270 deg, approachRate: -0.703999 m/s, LOS rate: 0.428056 deg/s, cmd update: 1.712225 deg/s, cmd heading: 184.910704 deg, new cmd heading: 183.585454 deg. 2021-02-18T02:46:56.761Z,1613616416.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:46:57.550Z,1613616417.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:46:57.971Z,1613616417.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:46:58.777Z,1613616418.777 [Micromodem](INFO): Nmea in: $SNTTA,0.012686,,,0.015648,024657.58*54 2021-02-18T02:46:58.831Z,1613616418.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.779997 m, bearing: 189.817241 deg, deltaT: 4.475685 s, approachRate: -0.549636 m/s, LOS rate: 0.663579 deg/s, posRepo size: 4 2021-02-18T02:46:58.833Z,1613616418.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.779997 m, bearing: 189.817241 deg, approachRate: -0.549636 m/s, LOS rate: 0.663579 deg/s, cmd update: 2.654317 deg/s, cmd heading: 192.580706 deg, new cmd heading: 193.298652 deg. 2021-02-18T02:47:01.266Z,1613616421.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:02.014Z,1613616422.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:47:02.415Z,1613616422.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:47:03.243Z,1613616423.243 [Micromodem](INFO): Nmea in: $SNTTA,0.010071,,,,024702.05*41 2021-02-18T02:47:03.326Z,1613616423.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.879999 m, bearing: 185.039155 deg, deltaT: 4.404719 s, approachRate: -0.885414 m/s, LOS rate: -1.084765 deg/s, posRepo size: 4 2021-02-18T02:47:03.332Z,1613616423.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.879999 m, bearing: 185.039155 deg, approachRate: -0.885414 m/s, LOS rate: -1.084765 deg/s, cmd update: -4.339061 deg/s, cmd heading: 204.272482 deg, new cmd heading: 205.626374 deg. 2021-02-18T02:47:05.641Z,1613616425.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:06.437Z,1613616426.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:47:06.840Z,1613616426.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:47:07.664Z,1613616427.664 [Micromodem](INFO): Nmea in: $SNTTA,0.008131,,,,024706.47*4F 2021-02-18T02:47:07.686Z,1613616427.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.879998 m, bearing: 178.267555 deg, deltaT: 4.526799 s, approachRate: -0.662720 m/s, LOS rate: -1.495891 deg/s, posRepo size: 4 2021-02-18T02:47:07.688Z,1613616427.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.879998 m, bearing: 178.267555 deg, approachRate: -0.662720 m/s, LOS rate: -1.495891 deg/s, cmd update: -5.983566 deg/s, cmd heading: 184.648357 deg, new cmd heading: 183.138689 deg. 2021-02-18T02:47:10.108Z,1613616430.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:10.882Z,1613616430.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:47:11.282Z,1613616431.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:47:12.108Z,1613616432.108 [Micromodem](INFO): Nmea in: $SNTTA,0.008068,,,,024710.91*4E 2021-02-18T02:47:12.133Z,1613616432.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.439999 m, bearing: 185.314275 deg, deltaT: 4.355949 s, approachRate: -0.330582 m/s, LOS rate: 1.617723 deg/s, posRepo size: 4 2021-02-18T02:47:12.134Z,1613616432.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.439999 m, bearing: 185.314275 deg, approachRate: -0.330582 m/s, LOS rate: 1.617723 deg/s, cmd update: 6.470893 deg/s, cmd heading: 158.559184 deg, new cmd heading: 155.959528 deg. 2021-02-18T02:47:14.537Z,1613616434.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:15.320Z,1613616435.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:47:15.734Z,1613616435.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:47:16.555Z,1613616436.555 [Micromodem](INFO): Nmea in: $SNTTA,0.004640,,,,024715.35*45 2021-02-18T02:47:16.580Z,1613616436.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.660000 m, bearing: 184.747629 deg, deltaT: 4.465236 s, approachRate: -0.846539 m/s, LOS rate: -0.126902 deg/s, posRepo size: 4 2021-02-18T02:47:16.582Z,1613616436.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.660000 m, bearing: 184.747629 deg, approachRate: -0.846539 m/s, LOS rate: -0.126902 deg/s, cmd update: -0.507607 deg/s, cmd heading: 187.452077 deg, new cmd heading: 190.146084 deg. 2021-02-18T02:47:19.035Z,1613616439.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:19.764Z,1613616439.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:47:20.187Z,1613616440.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:47:21.020Z,1613616441.020 [Micromodem](INFO): Nmea in: $SNTTA,0.003345,,,,024719.80*40 2021-02-18T02:47:21.073Z,1613616441.073 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T02:47:21.073Z,1613616441.073 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T02:47:21.073Z,1613616441.073 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T02:47:21.074Z,1613616441.074 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T02:47:21.074Z,1613616441.074 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T02:47:21.079Z,1613616441.079 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 2021-02-18T02:47:21.080Z,1613616441.080 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T02:47:21.080Z,1613616441.080 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T02:47:21.080Z,1613616441.080 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T02:47:21.088Z,1613616441.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.679999 m, bearing: 192.324248 deg, deltaT: 4.450554 s, approachRate: -0.444889 m/s, LOS rate: 1.702399 deg/s, posRepo size: 4 2021-02-18T02:47:21.090Z,1613616441.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.679999 m, bearing: 192.324248 deg, approachRate: -0.444889 m/s, LOS rate: 1.702399 deg/s, cmd update: 6.809597 deg/s, cmd heading: 185.192852 deg, new cmd heading: 184.954949 deg. 2021-02-18T02:47:21.414Z,1613616441.414 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T024721: (41.552319, -70.708603) 2021-02-18T02:47:21.414Z,1613616441.414 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T02:47:21.414Z,1613616441.414 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T02:47:21.414Z,1613616441.414 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T02:47:21.415Z,1613616441.415 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T02:47:21.427Z,1613616441.427 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T02:47:21.427Z,1613616441.427 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T02:47:21.427Z,1613616441.427 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T02:47:21.427Z,1613616441.427 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T02:47:21.816Z,1613616441.816 [UniversalFixResidualReporter](INFO): Fix residual: 4.4 %DT, over the last 602.3 m. Residual distance 26.6 m at bearing 112.7 degrees. Fix at (41.5508, -70.7102) with 0.0 m made good. 2021-02-18T02:47:23.430Z,1613616443.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:24.217Z,1613616444.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:47:24.621Z,1613616444.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:47:25.440Z,1613616445.440 [Micromodem](INFO): Nmea in: $SNTTA,0.003027,,,,024724.25*46 2021-02-18T02:47:25.486Z,1613616445.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 192.541858 deg, deltaT: 4.441488 s, approachRate: -0.054036 m/s, LOS rate: 0.048995 deg/s, posRepo size: 4 2021-02-18T02:47:25.488Z,1613616445.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.440000 m, bearing: 192.541858 deg, approachRate: -0.054036 m/s, LOS rate: 0.048995 deg/s, cmd update: 0.195979 deg/s, cmd heading: 215.436806 deg, new cmd heading: 218.369829 deg. 2021-02-18T02:47:27.874Z,1613616447.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:28.652Z,1613616448.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:47:29.075Z,1613616449.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:47:29.887Z,1613616449.887 [Micromodem](INFO): Nmea in: $SNTTA,0.004291,,,,024728.68*4B 2021-02-18T02:47:29.906Z,1613616449.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.419999 m, bearing: 212.408829 deg, deltaT: 4.442535 s, approachRate: 0.445691 m/s, LOS rate: 4.471990 deg/s, posRepo size: 4 2021-02-18T02:47:29.908Z,1613616449.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.419999 m, bearing: 212.408829 deg, approachRate: 0.445691 m/s, LOS rate: 4.471990 deg/s, cmd update: 12.000000 deg/s, cmd heading: 216.307453 deg, new cmd heading: 216.387441 deg. 2021-02-18T02:47:32.338Z,1613616452.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:33.108Z,1613616453.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:47:33.502Z,1613616453.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:47:34.345Z,1613616454.345 [Micromodem](INFO): Nmea in: $SNTTA,0.005790,,,,024733.14*4F 2021-02-18T02:47:34.419Z,1613616454.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.699999 m, bearing: 198.374607 deg, deltaT: 4.421123 s, approachRate: 0.515706 m/s, LOS rate: -3.174357 deg/s, posRepo size: 4 2021-02-18T02:47:34.421Z,1613616454.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.699999 m, bearing: 198.374607 deg, approachRate: 0.515706 m/s, LOS rate: -3.174357 deg/s, cmd update: -12.000000 deg/s, cmd heading: 269.360918 deg, new cmd heading: 275.260803 deg. 2021-02-18T02:47:36.753Z,1613616456.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:37.546Z,1613616457.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:47:37.956Z,1613616457.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:47:38.772Z,1613616458.772 [Micromodem](INFO): Nmea in: $SNTTA,0.007265,,,,024737.58*4E 2021-02-18T02:47:38.813Z,1613616458.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.920002 m, bearing: 196.893850 deg, deltaT: 4.483256 s, approachRate: 0.495177 m/s, LOS rate: -0.330286 deg/s, posRepo size: 4 2021-02-18T02:47:38.815Z,1613616458.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.920002 m, bearing: 196.893850 deg, approachRate: 0.495177 m/s, LOS rate: -0.330286 deg/s, cmd update: -1.321145 deg/s, cmd heading: 215.560753 deg, new cmd heading: 210.629641 deg. 2021-02-18T02:47:41.270Z,1613616461.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:42.008Z,1613616462.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:47:42.389Z,1613616462.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:47:43.244Z,1613616463.244 [Micromodem](INFO): Nmea in: $SNTTA,0.008883,,,,024742.04*48 2021-02-18T02:47:43.324Z,1613616463.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.220002 m, bearing: 306.017473 deg, deltaT: 4.429707 s, approachRate: 0.744970 m/s, LOS rate: 24.634501 deg/s, posRepo size: 4 2021-02-18T02:47:43.325Z,1613616463.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.22 m. Rolling out. 2021-02-18T02:47:43.325Z,1613616463.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T02:47:45.659Z,1613616465.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:46.428Z,1613616466.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:47:46.839Z,1613616466.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:47:47.660Z,1613616467.660 [Micromodem](INFO): Nmea in: $SNTTA,0.010780,,,,024746.46*4F 2021-02-18T02:47:47.682Z,1613616467.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.960001 m, bearing: 272.299452 deg, deltaT: 4.473437 s, approachRate: 0.388962 m/s, LOS rate: -7.537386 deg/s, posRepo size: 4 2021-02-18T02:47:50.104Z,1613616470.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:50.878Z,1613616470.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:47:51.282Z,1613616471.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:47:52.111Z,1613616472.111 [Micromodem](INFO): Nmea in: $SNTTA,0.013023,,,,024750.91*4F 2021-02-18T02:47:52.142Z,1613616472.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.619999 m, bearing: 212.200877 deg, deltaT: 4.408486 s, approachRate: 0.830217 m/s, LOS rate: -13.632475 deg/s, posRepo size: 4 2021-02-18T02:47:54.535Z,1613616474.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:55.316Z,1613616475.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:47:55.722Z,1613616475.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:47:56.544Z,1613616476.544 [Micromodem](INFO): Nmea in: $SNTTA,0.015113,,,,024755.35*40 2021-02-18T02:47:56.593Z,1613616476.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.740000 m, bearing: 212.040709 deg, deltaT: 4.456828 s, approachRate: 0.700050 m/s, LOS rate: -0.035938 deg/s, posRepo size: 4 2021-02-18T02:47:59.020Z,1613616479.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:47:59.760Z,1613616479.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:00.183Z,1613616480.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:01.016Z,1613616481.016 [Micromodem](INFO): Nmea in: $SNTTA,0.017081,,,,024759.79*4C 2021-02-18T02:48:01.066Z,1613616481.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.199999 m, bearing: 212.857518 deg, deltaT: 4.436408 s, approachRate: 0.554502 m/s, LOS rate: 0.184115 deg/s, posRepo size: 4 2021-02-18T02:48:03.431Z,1613616483.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:48:04.210Z,1613616484.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:04.611Z,1613616484.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:05.443Z,1613616485.443 [Micromodem](INFO): Nmea in: $SNTTA,0.018902,,,,024804.24*4E 2021-02-18T02:48:05.468Z,1613616485.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.500000 m, bearing: 215.082466 deg, deltaT: 4.446645 s, approachRate: 0.742133 m/s, LOS rate: 0.500366 deg/s, posRepo size: 4 2021-02-18T02:48:07.056Z,1613616487.056 [PowerOnly](INFO): Powering down loadControl 2021-02-18T02:48:07.857Z,1613616487.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:48:08.648Z,1613616488.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:09.061Z,1613616489.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:09.881Z,1613616489.881 [Micromodem](INFO): Nmea in: $SNTTA,0.020895,,0.044669,,024808.68*59 2021-02-18T02:48:09.918Z,1613616489.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.799999 m, bearing: 208.562586 deg, deltaT: 4.450428 s, approachRate: 0.741502 m/s, LOS rate: -1.465001 deg/s, posRepo size: 4 2021-02-18T02:48:12.336Z,1613616492.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:48:13.093Z,1613616493.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:13.498Z,1613616493.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:14.325Z,1613616494.325 [Micromodem](INFO): Nmea in: $SNTTA,0.023149,,0.031380,,024813.12*55 2021-02-18T02:48:14.406Z,1613616494.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.099998 m, bearing: 212.072825 deg, deltaT: 4.425780 s, approachRate: 0.745631 m/s, LOS rate: 0.793135 deg/s, posRepo size: 4 2021-02-18T02:48:16.745Z,1613616496.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:48:17.542Z,1613616497.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:17.954Z,1613616497.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:18.768Z,1613616498.768 [Micromodem](INFO): Nmea in: $SNTTA,0.025162,,,,024817.57*48 2021-02-18T02:48:18.802Z,1613616498.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.099998 m, bearing: 212.921886 deg, deltaT: 4.463164 s, approachRate: 0.672169 m/s, LOS rate: 0.190237 deg/s, posRepo size: 4 2021-02-18T02:48:21.202Z,1613616501.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:48:22.008Z,1613616502.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:22.385Z,1613616502.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:23.228Z,1613616503.228 [Micromodem](INFO): Nmea in: $SNTTA,0.027459,,,,024822.04*47 2021-02-18T02:48:23.289Z,1613616503.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.520000 m, bearing: 215.470325 deg, deltaT: 4.410508 s, approachRate: 0.775421 m/s, LOS rate: 0.577811 deg/s, posRepo size: 4 2021-02-18T02:48:25.656Z,1613616505.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:48:26.429Z,1613616506.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:26.833Z,1613616506.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:27.656Z,1613616507.656 [Micromodem](INFO): Nmea in: $SNTTA,0.029623,,,,024826.46*44 2021-02-18T02:48:27.698Z,1613616507.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.820000 m, bearing: 213.453862 deg, deltaT: 4.498525 s, approachRate: 0.733574 m/s, LOS rate: -0.448250 deg/s, posRepo size: 4 2021-02-18T02:48:30.114Z,1613616510.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:48:30.870Z,1613616510.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:31.288Z,1613616511.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:32.101Z,1613616512.101 [Micromodem](INFO): Nmea in: $SNTTA,0.031910,,,,024830.90*4E 2021-02-18T02:48:32.147Z,1613616512.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.999996 m, bearing: 209.979372 deg, deltaT: 4.387465 s, approachRate: 0.724791 m/s, LOS rate: -0.791913 deg/s, posRepo size: 4 2021-02-18T02:48:34.540Z,1613616514.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:48:35.314Z,1613616515.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:35.723Z,1613616515.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:36.544Z,1613616516.544 [Micromodem](INFO): Nmea in: $SNTTA,0.034056,,,,024835.34*4B 2021-02-18T02:48:36.583Z,1613616516.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.420002 m, bearing: 203.530294 deg, deltaT: 4.467599 s, approachRate: 0.765513 m/s, LOS rate: -1.443522 deg/s, posRepo size: 4 2021-02-18T02:48:39.019Z,1613616519.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:48:39.756Z,1613616519.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:40.164Z,1613616520.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:41.021Z,1613616521.021 [Micromodem](INFO): Nmea in: $SNTTA,0.036440,,,,024839.79*4F 2021-02-18T02:48:41.067Z,1613616521.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.900002 m, bearing: 214.746625 deg, deltaT: 4.465012 s, approachRate: 0.779393 m/s, LOS rate: 2.512050 deg/s, posRepo size: 4 2021-02-18T02:48:43.431Z,1613616523.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:48:44.210Z,1613616524.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:44.606Z,1613616524.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:45.440Z,1613616525.440 [Micromodem](INFO): Nmea in: $SNTTA,0.038495,,,0.054426,024844.24*54 2021-02-18T02:48:45.465Z,1613616525.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.020004 m, bearing: 220.241813 deg, deltaT: 4.424010 s, approachRate: 0.705243 m/s, LOS rate: 1.242128 deg/s, posRepo size: 4 2021-02-18T02:48:47.852Z,1613616527.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:48:48.644Z,1613616528.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:49.058Z,1613616529.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:49.888Z,1613616529.888 [Micromodem](INFO): Nmea in: $SNTTA,0.040765,,,,024848.67*43 2021-02-18T02:48:49.910Z,1613616529.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.320004 m, bearing: 204.717667 deg, deltaT: 4.447267 s, approachRate: 0.742029 m/s, LOS rate: -3.490716 deg/s, posRepo size: 4 2021-02-18T02:48:52.329Z,1613616532.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:48:53.099Z,1613616533.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:53.494Z,1613616533.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:54.326Z,1613616534.326 [Micromodem](INFO): Nmea in: $SNTTA,0.042927,,,,024853.18*4B 2021-02-18T02:48:54.420Z,1613616534.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.620003 m, bearing: 217.515570 deg, deltaT: 4.416487 s, approachRate: 0.747200 m/s, LOS rate: 2.897756 deg/s, posRepo size: 4 2021-02-18T02:48:56.760Z,1613616536.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:48:57.541Z,1613616537.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:48:57.954Z,1613616537.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:48:58.764Z,1613616538.764 [Micromodem](INFO): Nmea in: $SNTTA,0.045108,,,,024857.57*46 2021-02-18T02:48:58.803Z,1613616538.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.740005 m, bearing: 223.393686 deg, deltaT: 4.480597 s, approachRate: 0.696336 m/s, LOS rate: 1.311905 deg/s, posRepo size: 4 2021-02-18T02:49:01.194Z,1613616541.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:02.007Z,1613616542.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:49:02.382Z,1613616542.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:49:03.224Z,1613616543.224 [Micromodem](INFO): Nmea in: $SNTTA,0.047150,,0.057999,,024902.04*5B 2021-02-18T02:49:03.284Z,1613616543.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.040001 m, bearing: 220.144251 deg, deltaT: 4.419805 s, approachRate: 0.746638 m/s, LOS rate: -0.735199 deg/s, posRepo size: 4 2021-02-18T02:49:05.642Z,1613616545.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:06.420Z,1613616546.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:49:06.832Z,1613616546.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:49:07.655Z,1613616547.655 [Micromodem](INFO): Nmea in: $SNTTA,0.049484,,,,024906.45*4D 2021-02-18T02:49:07.678Z,1613616547.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.459999 m, bearing: 236.221218 deg, deltaT: 4.499502 s, approachRate: 0.760084 m/s, LOS rate: 3.573055 deg/s, posRepo size: 4 2021-02-18T02:49:10.090Z,1613616550.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:10.864Z,1613616550.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:49:11.277Z,1613616551.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:49:12.092Z,1613616552.092 [Micromodem](INFO): Nmea in: $SNTTA,0.051509,,,,024910.89*47 2021-02-18T02:49:12.116Z,1613616552.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.400002 m, bearing: 228.920634 deg, deltaT: 4.375748 s, approachRate: 0.671886 m/s, LOS rate: -1.668420 deg/s, posRepo size: 4 2021-02-18T02:49:14.545Z,1613616554.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:15.313Z,1613616555.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:49:15.722Z,1613616555.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:49:16.540Z,1613616556.540 [Micromodem](INFO): Nmea in: $SNTTA,0.053789,,,,024915.34*4C 2021-02-18T02:49:16.588Z,1613616556.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.760002 m, bearing: 220.928370 deg, deltaT: 4.483377 s, approachRate: 0.749435 m/s, LOS rate: -1.782644 deg/s, posRepo size: 4 2021-02-18T02:49:19.013Z,1613616559.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:19.758Z,1613616559.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:49:20.162Z,1613616560.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:49:21.009Z,1613616561.009 [Micromodem](INFO): Nmea in: $SNTTA,0.055754,,,,024919.79*4F 2021-02-18T02:49:21.033Z,1613616561.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.820007 m, bearing: 219.026627 deg, deltaT: 4.438383 s, approachRate: 0.689441 m/s, LOS rate: -0.428477 deg/s, posRepo size: 4 2021-02-18T02:49:23.424Z,1613616563.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:24.196Z,1613616564.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:49:24.607Z,1613616564.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:49:25.428Z,1613616565.428 [Micromodem](INFO): Nmea in: $SNTTA,0.058092,,,,024924.23*4E 2021-02-18T02:49:25.453Z,1613616565.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.360008 m, bearing: 221.427206 deg, deltaT: 4.432586 s, approachRate: 0.798631 m/s, LOS rate: 0.541575 deg/s, posRepo size: 4 2021-02-18T02:49:27.846Z,1613616567.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:28.651Z,1613616568.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:49:29.051Z,1613616569.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:49:29.876Z,1613616569.876 [Micromodem](INFO): Nmea in: $SNTTA,0.060166,,,,024928.68*4C 2021-02-18T02:49:29.918Z,1613616569.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.420006 m, bearing: 224.161672 deg, deltaT: 4.482568 s, approachRate: 0.682644 m/s, LOS rate: 0.610022 deg/s, posRepo size: 4 2021-02-18T02:49:32.333Z,1613616572.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:33.092Z,1613616573.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:49:33.490Z,1613616573.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:49:34.316Z,1613616574.316 [Micromodem](INFO): Nmea in: $SNTTA,0.062409,,,,024933.12*45 2021-02-18T02:49:34.374Z,1613616574.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.660004 m, bearing: 224.446040 deg, deltaT: 4.383437 s, approachRate: 0.739146 m/s, LOS rate: 0.064873 deg/s, posRepo size: 4 2021-02-18T02:49:36.743Z,1613616576.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:37.534Z,1613616577.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:49:37.954Z,1613616577.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:49:38.767Z,1613616578.767 [Micromodem](INFO): Nmea in: $SNTTA,0.064432,,,,024937.56*4F 2021-02-18T02:49:38.790Z,1613616578.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.779999 m, bearing: 213.355357 deg, deltaT: 4.476608 s, approachRate: 0.696955 m/s, LOS rate: -2.477475 deg/s, posRepo size: 4 2021-02-18T02:49:41.194Z,1613616581.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:42.015Z,1613616582.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:49:42.384Z,1613616582.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:49:43.224Z,1613616583.224 [Micromodem](INFO): Nmea in: $SNTTA,0.066670,,,,024942.05*4D 2021-02-18T02:49:43.283Z,1613616583.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.080002 m, bearing: 227.263849 deg, deltaT: 4.413472 s, approachRate: 0.747711 m/s, LOS rate: 3.151372 deg/s, posRepo size: 4 2021-02-18T02:49:45.632Z,1613616585.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:46.416Z,1613616586.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:49:46.824Z,1613616586.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:49:47.652Z,1613616587.652 [Micromodem](INFO): Nmea in: $SNTTA,0.068749,,,,024946.45*48 2021-02-18T02:49:47.670Z,1613616587.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.440002 m, bearing: 240.987188 deg, deltaT: 4.520175 s, approachRate: 0.743334 m/s, LOS rate: 3.036020 deg/s, posRepo size: 4 2021-02-18T02:49:50.086Z,1613616590.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:50.866Z,1613616590.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:49:51.281Z,1613616591.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:49:52.098Z,1613616592.098 [Micromodem](INFO): Nmea in: $SNTTA,0.071055,,,,024950.90*45 2021-02-18T02:49:52.910Z,1613616592.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:54.520Z,1613616594.520 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:49:55.724Z,1613616595.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:49:56.516Z,1613616596.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:49:56.930Z,1613616596.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:49:57.744Z,1613616597.744 [Micromodem](INFO): Nmea in: $SNTTA,0.073696,,,,024956.55*41 2021-02-18T02:49:57.778Z,1613616597.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.760002 m, bearing: 221.968239 deg, deltaT: 10.060644 s, approachRate: 0.727588 m/s, LOS rate: -1.890431 deg/s, posRepo size: 4 2021-02-18T02:50:00.178Z,1613616600.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:00.972Z,1613616600.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:01.367Z,1613616601.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:02.202Z,1613616602.202 [Micromodem](INFO): Nmea in: $SNTTA,0.075840,,,,025001.01*49 2021-02-18T02:50:02.280Z,1613616602.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.940002 m, bearing: 220.805604 deg, deltaT: 4.422706 s, approachRate: 0.719017 m/s, LOS rate: -0.262879 deg/s, posRepo size: 4 2021-02-18T02:50:04.626Z,1613616604.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:05.410Z,1613616605.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:05.815Z,1613616605.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:06.639Z,1613616606.639 [Micromodem](INFO): Nmea in: $SNTTA,0.077993,,,,025005.44*41 2021-02-18T02:50:06.658Z,1613616606.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.060005 m, bearing: 221.139587 deg, deltaT: 4.493408 s, approachRate: 0.694351 m/s, LOS rate: 0.074327 deg/s, posRepo size: 4 2021-02-18T02:50:09.066Z,1613616609.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:09.853Z,1613616609.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:10.268Z,1613616610.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:11.135Z,1613616611.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.480003 m, bearing: 222.967427 deg, deltaT: 4.412802 s, approachRate: 0.775017 m/s, LOS rate: 0.414213 deg/s, posRepo size: 4 2021-02-18T02:50:11.480Z,1613616611.480 [Micromodem](INFO): Nmea in: $SNTTA,0.080253,,,,025009.94*4F 2021-02-18T02:50:13.520Z,1613616613.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:14.297Z,1613616614.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:14.698Z,1613616614.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:15.524Z,1613616615.524 [Micromodem](INFO): Nmea in: $SNTTA,0.082349,,,,025014.33*46 2021-02-18T02:50:15.564Z,1613616615.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.660004 m, bearing: 229.809720 deg, deltaT: 4.437000 s, approachRate: 0.716701 m/s, LOS rate: 1.542099 deg/s, posRepo size: 4 2021-02-18T02:50:17.957Z,1613616617.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:18.736Z,1613616618.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:19.149Z,1613616619.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:19.972Z,1613616619.972 [Micromodem](INFO): Nmea in: $SNTTA,0.084393,,,,025018.77*4B 2021-02-18T02:50:20.028Z,1613616620.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.720001 m, bearing: 226.421563 deg, deltaT: 4.450505 s, approachRate: 0.687562 m/s, LOS rate: -0.761297 deg/s, posRepo size: 4 2021-02-18T02:50:22.409Z,1613616622.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:23.200Z,1613616623.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:23.585Z,1613616623.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:24.416Z,1613616624.416 [Micromodem](INFO): Nmea in: $SNTTA,0.086487,,,,025023.23*42 2021-02-18T02:50:24.470Z,1613616624.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.960007 m, bearing: 227.818842 deg, deltaT: 4.446885 s, approachRate: 0.728601 m/s, LOS rate: 0.314215 deg/s, posRepo size: 4 2021-02-18T02:50:26.837Z,1613616626.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:27.637Z,1613616627.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:28.036Z,1613616628.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:28.864Z,1613616628.864 [Micromodem](INFO): Nmea in: $SNTTA,0.088638,,,,025027.67*4E 2021-02-18T02:50:28.882Z,1613616628.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.139999 m, bearing: 200.978904 deg, deltaT: 4.435903 s, approachRate: 0.716876 m/s, LOS rate: -6.050614 deg/s, posRepo size: 4 2021-02-18T02:50:31.332Z,1613616631.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:32.068Z,1613616632.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:32.481Z,1613616632.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:33.296Z,1613616633.296 [Micromodem](INFO): Nmea in: $SNTTA,0.090572,,,,025032.10*4E 2021-02-18T02:50:33.345Z,1613616633.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.080002 m, bearing: 218.156338 deg, deltaT: 4.438755 s, approachRate: 0.662348 m/s, LOS rate: 3.869877 deg/s, posRepo size: 4 2021-02-18T02:50:35.724Z,1613616635.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:36.512Z,1613616636.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:36.923Z,1613616636.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:37.740Z,1613616637.740 [Micromodem](INFO): Nmea in: $SNTTA,0.093459,,,,025036.54*41 2021-02-18T02:50:37.773Z,1613616637.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.500000 m, bearing: 222.507332 deg, deltaT: 4.457691 s, approachRate: 0.767213 m/s, LOS rate: 0.976065 deg/s, posRepo size: 4 2021-02-18T02:50:40.181Z,1613616640.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:40.962Z,1613616640.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:41.368Z,1613616641.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:42.188Z,1613616642.188 [Micromodem](INFO): Nmea in: $SNTTA,0.094856,,,,025041.00*44 2021-02-18T02:50:42.269Z,1613616642.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.500000 m, bearing: 222.756006 deg, deltaT: 4.429491 s, approachRate: 0.677279 m/s, LOS rate: 0.056140 deg/s, posRepo size: 4 2021-02-18T02:50:44.651Z,1613616644.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:45.400Z,1613616645.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:45.815Z,1613616645.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:46.628Z,1613616646.628 [Micromodem](INFO): Nmea in: $SNTTA,0.097106,,,,025045.43*48 2021-02-18T02:50:46.668Z,1613616646.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.800003 m, bearing: 219.805282 deg, deltaT: 4.479549 s, approachRate: 0.736682 m/s, LOS rate: -0.658710 deg/s, posRepo size: 4 2021-02-18T02:50:49.062Z,1613616649.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:49.844Z,1613616649.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:50.291Z,1613616650.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:51.072Z,1613616651.072 [Micromodem](INFO): Nmea in: $SNTTA,0.099233,,,,025049.88*48 2021-02-18T02:50:51.096Z,1613616651.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.979996 m, bearing: 220.383567 deg, deltaT: 4.388657 s, approachRate: 0.724594 m/s, LOS rate: 0.131768 deg/s, posRepo size: 4 2021-02-18T02:50:53.525Z,1613616653.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:54.306Z,1613616654.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:54.705Z,1613616654.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:55.524Z,1613616655.524 [Micromodem](INFO): Nmea in: $SNTTA,0.101415,,,,025054.34*41 2021-02-18T02:50:55.564Z,1613616655.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.279999 m, bearing: 219.783972 deg, deltaT: 4.487462 s, approachRate: 0.735383 m/s, LOS rate: -0.133616 deg/s, posRepo size: 4 2021-02-18T02:50:55.564Z,1613616655.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.28 m. Resuming terminal guidance. 2021-02-18T02:50:55.564Z,1613616655.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T02:50:57.953Z,1613616657.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:50:58.378Z,1613616658.378 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:50:58.732Z,1613616658.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:50:59.138Z,1613616659.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:50:59.969Z,1613616659.969 [Micromodem](INFO): Nmea in: $SNTTA,0.103605,,,,025058.76*4A 2021-02-18T02:51:00.025Z,1613616660.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.580002 m, bearing: 221.325259 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T02:51:00.026Z,1613616660.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 221.325259deg and heading rate command to 0 deg/s. 2021-02-18T02:51:02.409Z,1613616662.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:51:03.177Z,1613616663.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:51:03.593Z,1613616663.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:51:04.409Z,1613616664.409 [Micromodem](INFO): Nmea in: $SNTTA,0.105813,,,,025103.21*48 2021-02-18T02:51:04.447Z,1613616664.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.940002 m, bearing: 227.963916 deg, deltaT: 4.431542 s, approachRate: 0.758201 m/s, LOS rate: 1.498047 deg/s, posRepo size: 2 2021-02-18T02:51:04.449Z,1613616664.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.940002 m, bearing: 227.963916 deg, approachRate: 0.758201 m/s, LOS rate: 1.498047 deg/s, cmd update: 5.992187 deg/s, cmd heading: 221.325259 deg, new cmd heading: 221.325259 deg. 2021-02-18T02:51:06.849Z,1613616666.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:51:07.621Z,1613616667.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:51:08.026Z,1613616668.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:51:08.852Z,1613616668.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025107.65*5C 2021-02-18T02:51:08.889Z,1613616668.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.059998 m, bearing: 276.443492 deg, deltaT: 4.442132 s, approachRate: 0.702364 m/s, LOS rate: 10.913583 deg/s, posRepo size: 3 2021-02-18T02:51:08.891Z,1613616668.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.059998 m, bearing: 276.443492 deg, approachRate: 0.702364 m/s, LOS rate: 10.913583 deg/s, cmd update: 12.000000 deg/s, cmd heading: 247.944482 deg, new cmd heading: 250.418003 deg. 2021-02-18T02:51:11.307Z,1613616671.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:51:12.064Z,1613616672.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:51:12.478Z,1613616672.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:51:13.292Z,1613616673.292 [Micromodem](INFO): Nmea in: $SNTTA,0.109893,,,,025112.09*46 2021-02-18T02:51:13.341Z,1613616673.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.700012 m, bearing: 245.398998 deg, deltaT: 4.434742 s, approachRate: 0.595303 m/s, LOS rate: -7.000293 deg/s, posRepo size: 4 2021-02-18T02:51:13.344Z,1613616673.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.700012 m, bearing: 245.398998 deg, approachRate: 0.595303 m/s, LOS rate: -7.000293 deg/s, cmd update: -12.000000 deg/s, cmd heading: 301.113352 deg, new cmd heading: 306.321640 deg. 2021-02-18T02:51:15.715Z,1613616675.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:51:16.519Z,1613616676.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:51:16.913Z,1613616676.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:51:17.744Z,1613616677.744 [Micromodem](INFO): Nmea in: $SNTTA,0.111408,,0.118583,,025116.55*54 2021-02-18T02:51:17.786Z,1613616677.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.700012 m, bearing: 271.516084 deg, deltaT: 4.477006 s, approachRate: 0.000000 m/s, LOS rate: 5.833605 deg/s, posRepo size: 4 2021-02-18T02:51:17.788Z,1613616677.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.700012 m, bearing: 271.516084 deg, approachRate: 0.000000 m/s, LOS rate: 5.833605 deg/s, cmd update: 12.000000 deg/s, cmd heading: 247.389266 deg, new cmd heading: 242.571482 deg. 2021-02-18T02:51:20.174Z,1613616680.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:51:20.962Z,1613616680.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:51:21.010Z,1613616681.010 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:51:21.376Z,1613616681.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:51:22.183Z,1613616682.183 [Micromodem](INFO): Nmea in: $SNTTA,0.112518,,,,025121.01*4A 2021-02-18T02:51:22.603Z,1613616682.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.779999 m, bearing: 304.481528 deg, deltaT: 4.879005 s, approachRate: 0.836233 m/s, LOS rate: 6.756591 deg/s, posRepo size: 4 2021-02-18T02:51:22.605Z,1613616682.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.779999 m, bearing: 304.481528 deg, approachRate: 0.836233 m/s, LOS rate: 6.756591 deg/s, cmd update: 12.000000 deg/s, cmd heading: 305.936104 deg, new cmd heading: 310.011880 deg. 2021-02-18T02:51:25.276Z,1613616685.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:51:25.800Z,1613616685.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:51:26.212Z,1613616686.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:51:27.041Z,1613616687.041 [Micromodem](INFO): Nmea in: $SNTTA,0.113667,,,,025125.83*4E 2021-02-18T02:51:27.070Z,1613616687.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.519989 m, bearing: 312.280101 deg, deltaT: 4.383135 s, approachRate: 0.396974 m/s, LOS rate: 1.779223 deg/s, posRepo size: 4 2021-02-18T02:51:27.072Z,1613616687.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.519989 m, bearing: 312.280101 deg, approachRate: 0.396974 m/s, LOS rate: 1.779223 deg/s, cmd update: 7.116891 deg/s, cmd heading: 358.580334 deg, new cmd heading: 3.616542 deg. 2021-02-18T02:51:29.579Z,1613616689.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:51:30.265Z,1613616690.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:51:30.649Z,1613616690.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:51:31.474Z,1613616691.474 [Micromodem](INFO): Nmea in: $SNTTA,0.114411,,,,025130.30*46 2021-02-18T02:51:31.897Z,1613616691.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.600006 m, bearing: 348.179111 deg, deltaT: 4.848369 s, approachRate: 0.222759 m/s, LOS rate: 7.404348 deg/s, posRepo size: 4 2021-02-18T02:51:31.899Z,1613616691.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.600006 m, bearing: 348.179111 deg, approachRate: 0.222759 m/s, LOS rate: 7.404348 deg/s, cmd update: 12.000000 deg/s, cmd heading: 33.087020 deg, new cmd heading: 35.923009 deg. 2021-02-18T02:51:34.339Z,1613616694.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:51:35.092Z,1613616695.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:51:35.517Z,1613616695.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:51:36.323Z,1613616696.323 [Micromodem](INFO): Nmea in: $SNTTA,0.114420,,,,025135.18*4B 2021-02-18T02:51:36.762Z,1613616696.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.600006 m, bearing: 287.138912 deg, deltaT: 4.909599 s, approachRate: 0.000000 m/s, LOS rate: -12.432828 deg/s, posRepo size: 4 2021-02-18T02:51:36.763Z,1613616696.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.432828 deg/s. Setting heading cmd to target bearing of 287.138912deg and heading rate command to 0 deg/s. 2021-02-18T02:51:39.161Z,1613616699.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:51:39.940Z,1613616699.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:51:40.351Z,1613616700.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:51:41.168Z,1613616701.168 [Micromodem](INFO): Nmea in: $SNTTA,0.113956,,,,025139.97*4B 2021-02-18T02:51:41.193Z,1613616701.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.600006 m, bearing: 34.929048 deg, deltaT: 4.370695 s, approachRate: 0.000000 m/s, LOS rate: 24.662012 deg/s, posRepo size: 4 2021-02-18T02:51:41.193Z,1613616701.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.662012 deg/s. Setting heading cmd to target bearing of 34.929048deg and heading rate command to 0 deg/s. 2021-02-18T02:51:43.601Z,1613616703.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:51:44.389Z,1613616704.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:51:44.789Z,1613616704.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:51:45.616Z,1613616705.616 [Micromodem](INFO): Nmea in: $SNTTA,0.112731,,,,025144.42*47 2021-02-18T02:51:45.654Z,1613616705.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.600006 m, bearing: 42.046528 deg, deltaT: 4.494698 s, approachRate: 0.000000 m/s, LOS rate: 1.583528 deg/s, posRepo size: 4 2021-02-18T02:51:45.657Z,1613616705.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.600006 m, bearing: 42.046528 deg, approachRate: 0.000000 m/s, LOS rate: 1.583528 deg/s, cmd update: 6.334113 deg/s, cmd heading: 34.929048 deg, new cmd heading: 34.929048 deg. 2021-02-18T02:51:48.062Z,1613616708.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:51:48.828Z,1613616708.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:51:49.269Z,1613616709.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:51:50.056Z,1613616710.056 [Micromodem](INFO): Nmea in: $SNTTA,0.111254,,,,025148.86*46 2021-02-18T02:51:50.094Z,1613616710.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.619995 m, bearing: 39.784766 deg, deltaT: 4.406620 s, approachRate: -1.130120 m/s, LOS rate: -0.513265 deg/s, posRepo size: 4 2021-02-18T02:51:50.096Z,1613616710.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.619995 m, bearing: 39.784766 deg, approachRate: -1.130120 m/s, LOS rate: -0.513265 deg/s, cmd update: -2.053059 deg/s, cmd heading: 62.840473 deg, new cmd heading: 65.460959 deg. 2021-02-18T02:51:52.499Z,1613616712.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:51:53.273Z,1613616713.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:51:53.678Z,1613616713.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:51:54.504Z,1613616714.504 [Micromodem](INFO): Nmea in: $SNTTA,0.109424,,,,025153.30*49 2021-02-18T02:51:54.529Z,1613616714.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.919998 m, bearing: 40.445481 deg, deltaT: 4.432853 s, approachRate: -0.609088 m/s, LOS rate: 0.149050 deg/s, posRepo size: 4 2021-02-18T02:51:54.531Z,1613616714.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.919998 m, bearing: 40.445481 deg, approachRate: -0.609088 m/s, LOS rate: 0.149050 deg/s, cmd update: 0.596198 deg/s, cmd heading: 53.739393 deg, new cmd heading: 52.885602 deg. 2021-02-18T02:51:56.951Z,1613616716.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:51:57.718Z,1613616717.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:51:58.127Z,1613616718.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:51:58.944Z,1613616718.944 [Micromodem](INFO): Nmea in: $SNTTA,0.107312,,,,025157.75*40 2021-02-18T02:51:59.018Z,1613616719.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.800003 m, bearing: 41.295389 deg, deltaT: 4.455825 s, approachRate: -0.700206 m/s, LOS rate: 0.190741 deg/s, posRepo size: 4 2021-02-18T02:51:59.020Z,1613616719.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.800003 m, bearing: 41.295389 deg, approachRate: -0.700206 m/s, LOS rate: 0.190741 deg/s, cmd update: 0.762963 deg/s, cmd heading: 56.396063 deg, new cmd heading: 56.663931 deg. 2021-02-18T02:52:01.397Z,1613616721.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:02.160Z,1613616722.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:52:02.587Z,1613616722.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:52:03.396Z,1613616723.396 [Micromodem](INFO): Nmea in: $SNTTA,0.105213,,,,025202.19*4B 2021-02-18T02:52:03.420Z,1613616723.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.679993 m, bearing: 39.179591 deg, deltaT: 4.501086 s, approachRate: -0.693168 m/s, LOS rate: -0.470064 deg/s, posRepo size: 4 2021-02-18T02:52:03.422Z,1613616723.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.679993 m, bearing: 39.179591 deg, approachRate: -0.693168 m/s, LOS rate: -0.470064 deg/s, cmd update: -1.880255 deg/s, cmd heading: 59.826653 deg, new cmd heading: 60.097536 deg. 2021-02-18T02:52:05.826Z,1613616725.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:06.604Z,1613616726.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:52:07.044Z,1613616727.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:52:07.836Z,1613616727.836 [Micromodem](INFO): Nmea in: $SNTTA,0.103050,,,,025206.63*41 2021-02-18T02:52:07.875Z,1613616727.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.320007 m, bearing: 39.794250 deg, deltaT: 4.394200 s, approachRate: -0.764641 m/s, LOS rate: 0.139880 deg/s, posRepo size: 4 2021-02-18T02:52:07.877Z,1613616727.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.320007 m, bearing: 39.794250 deg, approachRate: -0.764641 m/s, LOS rate: 0.139880 deg/s, cmd update: 0.559518 deg/s, cmd heading: 51.555464 deg, new cmd heading: 50.783337 deg. 2021-02-18T02:52:10.325Z,1613616730.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:11.052Z,1613616731.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:52:11.465Z,1613616731.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:52:12.284Z,1613616732.284 [Micromodem](INFO): Nmea in: $SNTTA,0.100808,,,,025211.08*4C 2021-02-18T02:52:12.332Z,1613616732.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.020004 m, bearing: 38.912428 deg, deltaT: 4.431762 s, approachRate: -0.744626 m/s, LOS rate: -0.198978 deg/s, posRepo size: 4 2021-02-18T02:52:12.333Z,1613616732.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.020004 m, bearing: 38.912428 deg, approachRate: -0.744626 m/s, LOS rate: -0.198978 deg/s, cmd update: -0.795911 deg/s, cmd heading: 54.030308 deg, new cmd heading: 54.278637 deg. 2021-02-18T02:52:14.736Z,1613616734.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:15.493Z,1613616735.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:52:15.898Z,1613616735.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:52:16.724Z,1613616736.724 [Micromodem](INFO): Nmea in: $SNTTA,0.098513,,,,025215.53*41 2021-02-18T02:52:16.760Z,1613616736.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.540009 m, bearing: 39.761735 deg, deltaT: 4.456095 s, approachRate: -0.780952 m/s, LOS rate: 0.190594 deg/s, posRepo size: 4 2021-02-18T02:52:16.762Z,1613616736.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.540009 m, bearing: 39.761735 deg, approachRate: -0.780952 m/s, LOS rate: 0.190594 deg/s, cmd update: 0.762378 deg/s, cmd heading: 50.476984 deg, new cmd heading: 50.152518 deg. 2021-02-18T02:52:19.166Z,1613616739.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:19.938Z,1613616739.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:52:20.348Z,1613616740.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:52:21.164Z,1613616741.164 [Micromodem](INFO): Nmea in: $SNTTA,0.096309,,,,025219.97*46 2021-02-18T02:52:21.243Z,1613616741.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.240005 m, bearing: 38.863479 deg, deltaT: 4.409202 s, approachRate: -0.748435 m/s, LOS rate: -0.203723 deg/s, posRepo size: 4 2021-02-18T02:52:21.259Z,1613616741.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.240005 m, bearing: 38.863479 deg, approachRate: -0.748435 m/s, LOS rate: -0.203723 deg/s, cmd update: -0.814891 deg/s, cmd heading: 53.838534 deg, new cmd heading: 54.195862 deg. 2021-02-18T02:52:23.266Z,1613616743.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:24.008Z,1613616744.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:52:24.399Z,1613616744.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:52:25.223Z,1613616745.223 [Micromodem](INFO): Nmea in: $SNTTA,0.094193,,,,025224.04*41 2021-02-18T02:52:25.311Z,1613616745.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.000000 m, bearing: 38.886166 deg, deltaT: 4.045172 s, approachRate: -0.800956 m/s, LOS rate: 0.005608 deg/s, posRepo size: 4 2021-02-18T02:52:25.314Z,1613616745.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.000000 m, bearing: 38.886166 deg, approachRate: -0.800956 m/s, LOS rate: 0.005608 deg/s, cmd update: 0.022433 deg/s, cmd heading: 50.542795 deg, new cmd heading: 50.134752 deg. 2021-02-18T02:52:27.636Z,1613616747.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:28.420Z,1613616748.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:52:28.831Z,1613616748.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:52:29.656Z,1613616749.656 [Micromodem](INFO): Nmea in: $SNTTA,0.092010,,,,025228.45*44 2021-02-18T02:52:29.678Z,1613616749.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.759995 m, bearing: 38.053999 deg, deltaT: 4.498539 s, approachRate: -0.720235 m/s, LOS rate: -0.184986 deg/s, posRepo size: 4 2021-02-18T02:52:29.700Z,1613616749.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.759995 m, bearing: 38.053999 deg, approachRate: -0.720235 m/s, LOS rate: -0.184986 deg/s, cmd update: -0.739944 deg/s, cmd heading: 50.643729 deg, new cmd heading: 50.652097 deg. 2021-02-18T02:52:32.081Z,1613616752.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:32.864Z,1613616752.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:52:33.277Z,1613616753.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:52:34.090Z,1613616754.090 [Micromodem](INFO): Nmea in: $SNTTA,0.089584,,,,025232.90*45 2021-02-18T02:52:34.903Z,1613616754.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:36.504Z,1613616756.504 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:52:37.727Z,1613616757.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:38.520Z,1613616758.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:52:38.928Z,1613616758.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:52:39.748Z,1613616759.748 [Micromodem](INFO): Nmea in: $SNTTA,0.086869,,,,025238.55*47 2021-02-18T02:52:39.790Z,1613616759.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.020004 m, bearing: 40.685791 deg, deltaT: 10.092188 s, approachRate: -0.766929 m/s, LOS rate: 0.260775 deg/s, posRepo size: 4 2021-02-18T02:52:39.792Z,1613616759.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.020004 m, bearing: 40.685791 deg, approachRate: -0.766929 m/s, LOS rate: 0.260775 deg/s, cmd update: 1.043100 deg/s, cmd heading: 43.188331 deg, new cmd heading: 42.885104 deg. 2021-02-18T02:52:42.186Z,1613616762.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:42.982Z,1613616762.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:52:43.377Z,1613616763.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:52:44.207Z,1613616764.207 [Micromodem](INFO): Nmea in: $SNTTA,0.084430,,,,025243.01*48 2021-02-18T02:52:44.274Z,1613616764.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.419998 m, bearing: 39.233232 deg, deltaT: 4.395464 s, approachRate: -0.819028 m/s, LOS rate: -0.330468 deg/s, posRepo size: 4 2021-02-18T02:52:44.277Z,1613616764.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.419998 m, bearing: 39.233232 deg, approachRate: -0.819028 m/s, LOS rate: -0.330468 deg/s, cmd update: -1.321871 deg/s, cmd heading: 47.789604 deg, new cmd heading: 48.293053 deg. 2021-02-18T02:52:46.630Z,1613616766.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:47.413Z,1613616767.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:52:47.816Z,1613616767.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:52:48.649Z,1613616768.649 [Micromodem](INFO): Nmea in: $SNTTA,0.082181,,,,025247.45*45 2021-02-18T02:52:48.680Z,1613616768.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.119995 m, bearing: 39.126838 deg, deltaT: 4.505776 s, approachRate: -0.732394 m/s, LOS rate: -0.023613 deg/s, posRepo size: 4 2021-02-18T02:52:48.682Z,1613616768.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.119995 m, bearing: 39.126838 deg, approachRate: -0.732394 m/s, LOS rate: -0.023613 deg/s, cmd update: -0.094451 deg/s, cmd heading: 41.832196 deg, new cmd heading: 41.328571 deg. 2021-02-18T02:52:51.074Z,1613616771.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:51.861Z,1613616771.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:52:52.275Z,1613616772.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:52:53.087Z,1613616773.087 [Micromodem](INFO): Nmea in: $SNTTA,0.080008,,,,025251.89*40 2021-02-18T02:52:53.111Z,1613616773.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.820000 m, bearing: 39.977196 deg, deltaT: 4.393617 s, approachRate: -0.751089 m/s, LOS rate: 0.193544 deg/s, posRepo size: 4 2021-02-18T02:52:53.113Z,1613616773.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.820000 m, bearing: 39.977196 deg, approachRate: -0.751089 m/s, LOS rate: 0.193544 deg/s, cmd update: 0.774176 deg/s, cmd heading: 41.417233 deg, new cmd heading: 41.377662 deg. 2021-02-18T02:52:55.534Z,1613616775.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:52:56.302Z,1613616776.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:52:56.702Z,1613616776.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:52:57.528Z,1613616777.528 [Micromodem](INFO): Nmea in: $SNTTA,0.077712,,,,025256.33*42 2021-02-18T02:52:57.569Z,1613616777.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.400002 m, bearing: 38.615198 deg, deltaT: 4.481196 s, approachRate: -0.763189 m/s, LOS rate: -0.303936 deg/s, posRepo size: 4 2021-02-18T02:52:57.571Z,1613616777.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.400002 m, bearing: 38.615198 deg, approachRate: -0.763189 m/s, LOS rate: -0.303936 deg/s, cmd update: -1.215745 deg/s, cmd heading: 44.883523 deg, new cmd heading: 45.193117 deg. 2021-02-18T02:53:00.008Z,1613616780.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:00.742Z,1613616780.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:01.145Z,1613616781.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:01.977Z,1613616781.977 [Micromodem](INFO): Nmea in: $SNTTA,0.075350,,0.078701,,025300.77*57 2021-02-18T02:53:02.034Z,1613616782.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.860001 m, bearing: 38.728709 deg, deltaT: 4.427600 s, approachRate: -0.799530 m/s, LOS rate: 0.025637 deg/s, posRepo size: 4 2021-02-18T02:53:02.045Z,1613616782.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.860001 m, bearing: 38.728709 deg, approachRate: -0.799530 m/s, LOS rate: 0.025637 deg/s, cmd update: 0.102548 deg/s, cmd heading: 39.495805 deg, new cmd heading: 38.969019 deg. 2021-02-18T02:53:04.426Z,1613616784.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:05.186Z,1613616785.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:05.597Z,1613616785.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:06.416Z,1613616786.416 [Micromodem](INFO): Nmea in: $SNTTA,0.072990,,,,025305.22*44 2021-02-18T02:53:06.460Z,1613616786.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.200005 m, bearing: 37.993825 deg, deltaT: 4.449052 s, approachRate: -0.822646 m/s, LOS rate: -0.165178 deg/s, posRepo size: 4 2021-02-18T02:53:06.462Z,1613616786.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.200005 m, bearing: 37.993825 deg, approachRate: -0.822646 m/s, LOS rate: -0.165178 deg/s, cmd update: -0.660711 deg/s, cmd heading: 39.952047 deg, new cmd heading: 39.994127 deg. 2021-02-18T02:53:08.848Z,1613616788.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:09.653Z,1613616789.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:10.045Z,1613616790.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:10.879Z,1613616790.879 [Micromodem](INFO): Nmea in: $SNTTA,0.070815,,,,025309.68*48 2021-02-18T02:53:10.909Z,1613616790.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.900002 m, bearing: 37.753604 deg, deltaT: 4.434445 s, approachRate: -0.744175 m/s, LOS rate: -0.054172 deg/s, posRepo size: 4 2021-02-18T02:53:10.910Z,1613616790.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.900002 m, bearing: 37.753604 deg, approachRate: -0.744175 m/s, LOS rate: -0.054172 deg/s, cmd update: -0.216687 deg/s, cmd heading: 37.027977 deg, new cmd heading: 36.742695 deg. 2021-02-18T02:53:13.329Z,1613616793.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:14.082Z,1613616794.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:14.477Z,1613616794.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:15.308Z,1613616795.308 [Micromodem](INFO): Nmea in: $SNTTA,0.068468,,,,025314.11*45 2021-02-18T02:53:15.365Z,1613616795.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.420006 m, bearing: 38.366901 deg, deltaT: 4.415071 s, approachRate: -0.788208 m/s, LOS rate: 0.138910 deg/s, posRepo size: 4 2021-02-18T02:53:15.367Z,1613616795.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.420006 m, bearing: 38.366901 deg, approachRate: -0.788208 m/s, LOS rate: 0.138910 deg/s, cmd update: 0.555639 deg/s, cmd heading: 36.069398 deg, new cmd heading: 35.968545 deg. 2021-02-18T02:53:17.732Z,1613616797.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:18.537Z,1613616798.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:18.926Z,1613616798.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:19.756Z,1613616799.756 [Micromodem](INFO): Nmea in: $SNTTA,0.066260,,,,025318.57*4B 2021-02-18T02:53:19.798Z,1613616799.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.239998 m, bearing: 39.892847 deg, deltaT: 4.507756 s, approachRate: -0.705453 m/s, LOS rate: 0.338516 deg/s, posRepo size: 4 2021-02-18T02:53:19.800Z,1613616799.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.239998 m, bearing: 39.892847 deg, approachRate: -0.705453 m/s, LOS rate: 0.338516 deg/s, cmd update: 1.354063 deg/s, cmd heading: 38.571782 deg, new cmd heading: 38.791167 deg. 2021-02-18T02:53:22.199Z,1613616802.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:22.981Z,1613616802.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:23.369Z,1613616803.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:24.200Z,1613616804.200 [Micromodem](INFO): Nmea in: $SNTTA,0.064037,,,,025323.01*42 2021-02-18T02:53:24.274Z,1613616804.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.879997 m, bearing: 40.417815 deg, deltaT: 4.392816 s, approachRate: -0.764885 m/s, LOS rate: 0.119506 deg/s, posRepo size: 4 2021-02-18T02:53:24.280Z,1613616804.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.879997 m, bearing: 40.417815 deg, approachRate: -0.764885 m/s, LOS rate: 0.119506 deg/s, cmd update: 0.478024 deg/s, cmd heading: 44.525328 deg, new cmd heading: 45.166801 deg. 2021-02-18T02:53:26.622Z,1613616806.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:27.404Z,1613616807.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:27.816Z,1613616807.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:28.639Z,1613616808.639 [Micromodem](INFO): Nmea in: $SNTTA,0.061785,,,,025327.44*4C 2021-02-18T02:53:28.664Z,1613616808.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.520004 m, bearing: 40.095857 deg, deltaT: 4.484628 s, approachRate: -0.749224 m/s, LOS rate: -0.071791 deg/s, posRepo size: 4 2021-02-18T02:53:28.666Z,1613616808.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.520004 m, bearing: 40.095857 deg, approachRate: -0.749224 m/s, LOS rate: -0.071791 deg/s, cmd update: -0.287166 deg/s, cmd heading: 46.669218 deg, new cmd heading: 46.850118 deg. 2021-02-18T02:53:31.095Z,1613616811.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:31.848Z,1613616811.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:32.273Z,1613616812.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:33.083Z,1613616813.083 [Micromodem](INFO): Nmea in: $SNTTA,0.059536,,,,025331.88*4A 2021-02-18T02:53:33.108Z,1613616813.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.160004 m, bearing: 40.190650 deg, deltaT: 4.398711 s, approachRate: -0.763860 m/s, LOS rate: 0.021550 deg/s, posRepo size: 4 2021-02-18T02:53:33.109Z,1613616813.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.160004 m, bearing: 40.190650 deg, approachRate: -0.763860 m/s, LOS rate: 0.021550 deg/s, cmd update: 0.086201 deg/s, cmd heading: 45.406104 deg, new cmd heading: 45.284384 deg. 2021-02-18T02:53:35.514Z,1613616815.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:36.292Z,1613616816.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:36.699Z,1613616816.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:37.520Z,1613616817.520 [Micromodem](INFO): Nmea in: $SNTTA,0.057244,,,,025336.32*40 2021-02-18T02:53:37.545Z,1613616817.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.379997 m, bearing: 38.884164 deg, deltaT: 4.465339 s, approachRate: -0.846522 m/s, LOS rate: -0.292584 deg/s, posRepo size: 4 2021-02-18T02:53:37.546Z,1613616817.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.379997 m, bearing: 38.884164 deg, approachRate: -0.846522 m/s, LOS rate: -0.292584 deg/s, cmd update: -1.170335 deg/s, cmd heading: 45.790685 deg, new cmd heading: 45.825133 deg. 2021-02-18T02:53:39.960Z,1613616819.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:40.737Z,1613616820.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:41.142Z,1613616821.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:41.977Z,1613616821.977 [Micromodem](INFO): Nmea in: $SNTTA,0.054933,0.064788,,,025340.77*53 2021-02-18T02:53:42.028Z,1613616822.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.259995 m, bearing: 39.850080 deg, deltaT: 4.424422 s, approachRate: -0.705177 m/s, LOS rate: 0.218314 deg/s, posRepo size: 4 2021-02-18T02:53:42.030Z,1613616822.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.259995 m, bearing: 39.850080 deg, approachRate: -0.705177 m/s, LOS rate: 0.218314 deg/s, cmd update: 0.873258 deg/s, cmd heading: 40.608139 deg, new cmd heading: 40.075957 deg. 2021-02-18T02:53:44.397Z,1613616824.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:45.182Z,1613616825.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:45.586Z,1613616825.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:46.412Z,1613616826.412 [Micromodem](INFO): Nmea in: $SNTTA,0.052740,,,,025345.21*42 2021-02-18T02:53:46.436Z,1613616826.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.959999 m, bearing: 40.782745 deg, deltaT: 4.474018 s, approachRate: -0.737591 m/s, LOS rate: 0.208463 deg/s, posRepo size: 4 2021-02-18T02:53:46.438Z,1613616826.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.959999 m, bearing: 40.782745 deg, approachRate: -0.737591 m/s, LOS rate: 0.208463 deg/s, cmd update: 0.833851 deg/s, cmd heading: 44.515247 deg, new cmd heading: 44.854581 deg. 2021-02-18T02:53:48.852Z,1613616828.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:49.634Z,1613616829.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:50.047Z,1613616830.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:50.860Z,1613616830.860 [Micromodem](INFO): Nmea in: $SNTTA,0.050604,,,,025349.67*4F 2021-02-18T02:53:50.898Z,1613616830.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.840004 m, bearing: 40.289281 deg, deltaT: 4.446503 s, approachRate: -0.701674 m/s, LOS rate: -0.110978 deg/s, posRepo size: 4 2021-02-18T02:53:50.900Z,1613616830.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.840004 m, bearing: 40.289281 deg, approachRate: -0.701674 m/s, LOS rate: -0.110978 deg/s, cmd update: -0.443912 deg/s, cmd heading: 48.219624 deg, new cmd heading: 48.559950 deg. 2021-02-18T02:53:53.334Z,1613616833.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:54.069Z,1613616834.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:54.474Z,1613616834.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:55.296Z,1613616835.296 [Micromodem](INFO): Nmea in: $SNTTA,0.048325,,,,025354.10*4C 2021-02-18T02:53:55.350Z,1613616835.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.000000 m, bearing: 38.385544 deg, deltaT: 4.396340 s, approachRate: -0.873455 m/s, LOS rate: -0.433028 deg/s, posRepo size: 4 2021-02-18T02:53:55.352Z,1613616835.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.000000 m, bearing: 38.385544 deg, approachRate: -0.873455 m/s, LOS rate: -0.433028 deg/s, cmd update: -1.732111 deg/s, cmd heading: 46.266307 deg, new cmd heading: 46.061934 deg. 2021-02-18T02:53:57.719Z,1613616837.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:53:58.512Z,1613616838.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:53:58.918Z,1613616838.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:53:59.744Z,1613616839.744 [Micromodem](INFO): Nmea in: $SNTTA,0.045910,,,,025358.54*41 2021-02-18T02:53:59.771Z,1613616839.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.820007 m, bearing: 39.508010 deg, deltaT: 4.464603 s, approachRate: -0.712268 m/s, LOS rate: 0.251415 deg/s, posRepo size: 4 2021-02-18T02:53:59.773Z,1613616839.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.820007 m, bearing: 39.508010 deg, approachRate: -0.712268 m/s, LOS rate: 0.251415 deg/s, cmd update: 1.005658 deg/s, cmd heading: 38.532951 deg, new cmd heading: 37.812074 deg. 2021-02-18T02:54:02.178Z,1613616842.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:54:02.960Z,1613616842.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:54:03.379Z,1613616843.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:54:04.195Z,1613616844.195 [Micromodem](INFO): Nmea in: $SNTTA,0.043627,,,,025402.99*45 2021-02-18T02:54:04.270Z,1613616844.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.339996 m, bearing: 39.792586 deg, deltaT: 4.441393 s, approachRate: -0.783540 m/s, LOS rate: 0.064074 deg/s, posRepo size: 4 2021-02-18T02:54:04.272Z,1613616844.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.339996 m, bearing: 39.792586 deg, approachRate: -0.783540 m/s, LOS rate: 0.064074 deg/s, cmd update: 0.256295 deg/s, cmd heading: 42.999280 deg, new cmd heading: 43.475680 deg. 2021-02-18T02:54:06.622Z,1613616846.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:54:07.405Z,1613616847.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:54:07.813Z,1613616847.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:54:08.632Z,1613616848.632 [Micromodem](INFO): Nmea in: $SNTTA,0.041379,,,,025407.43*4B 2021-02-18T02:54:08.671Z,1613616848.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.920002 m, bearing: 38.654339 deg, deltaT: 4.495425 s, approachRate: -0.760772 m/s, LOS rate: -0.253201 deg/s, posRepo size: 4 2021-02-18T02:54:08.673Z,1613616848.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.920002 m, bearing: 38.654339 deg, approachRate: -0.760772 m/s, LOS rate: -0.253201 deg/s, cmd update: -1.012805 deg/s, cmd heading: 44.150468 deg, new cmd heading: 44.248693 deg. 2021-02-18T02:54:11.068Z,1613616851.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:54:11.844Z,1613616851.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:54:12.269Z,1613616852.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:54:13.076Z,1613616853.076 [Micromodem](INFO): Nmea in: $SNTTA,0.039155,,,,025411.87*47 2021-02-18T02:54:13.122Z,1613616853.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.500008 m, bearing: 37.995639 deg, deltaT: 4.393675 s, approachRate: -0.778390 m/s, LOS rate: -0.149920 deg/s, posRepo size: 4 2021-02-18T02:54:13.124Z,1613616853.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.500008 m, bearing: 37.995639 deg, approachRate: -0.778390 m/s, LOS rate: -0.149920 deg/s, cmd update: -0.599680 deg/s, cmd heading: 39.696501 deg, new cmd heading: 39.254120 deg. 2021-02-18T02:54:15.514Z,1613616855.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:54:16.288Z,1613616856.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:54:16.694Z,1613616856.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:54:17.516Z,1613616857.516 [Micromodem](INFO): Nmea in: $SNTTA,0.036871,,,,025416.32*4E 2021-02-18T02:54:17.564Z,1613616857.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.140003 m, bearing: 39.028008 deg, deltaT: 4.458176 s, approachRate: -0.753672 m/s, LOS rate: 0.231568 deg/s, posRepo size: 4 2021-02-18T02:54:17.566Z,1613616857.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.140003 m, bearing: 39.028008 deg, approachRate: -0.753672 m/s, LOS rate: 0.231568 deg/s, cmd update: 0.926271 deg/s, cmd heading: 37.025427 deg, new cmd heading: 36.770569 deg. 2021-02-18T02:54:19.945Z,1613616859.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:54:20.740Z,1613616860.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:54:21.143Z,1613616861.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:54:21.972Z,1613616861.972 [Micromodem](INFO): Nmea in: $SNTTA,0.034476,,,,025420.77*43 2021-02-18T02:54:22.042Z,1613616862.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.539997 m, bearing: 38.966431 deg, deltaT: 4.436282 s, approachRate: -0.811492 m/s, LOS rate: -0.013880 deg/s, posRepo size: 4 2021-02-18T02:54:22.044Z,1613616862.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.539997 m, bearing: 38.966431 deg, approachRate: -0.811492 m/s, LOS rate: -0.013880 deg/s, cmd update: -0.055522 deg/s, cmd heading: 41.123476 deg, new cmd heading: 41.566674 deg. 2021-02-18T02:54:24.413Z,1613616864.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:54:25.178Z,1613616865.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:54:25.584Z,1613616865.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:54:26.412Z,1613616866.412 [Micromodem](INFO): Nmea in: $SNTTA,0.032305,,,,025425.21*40 2021-02-18T02:54:26.437Z,1613616866.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.419998 m, bearing: 38.754951 deg, deltaT: 4.481164 s, approachRate: -0.696247 m/s, LOS rate: -0.047193 deg/s, posRepo size: 4 2021-02-18T02:54:26.438Z,1613616866.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.419998 m, bearing: 38.754951 deg, approachRate: -0.696247 m/s, LOS rate: -0.047193 deg/s, cmd update: -0.188772 deg/s, cmd heading: 40.874004 deg, new cmd heading: 40.852927 deg. 2021-02-18T02:54:28.833Z,1613616868.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:54:29.638Z,1613616869.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:54:30.026Z,1613616870.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:54:30.860Z,1613616870.860 [Micromodem](INFO): Nmea in: $SNTTA,0.029930,,,,025429.67*48 2021-02-18T02:54:30.902Z,1613616870.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.640003 m, bearing: 39.128969 deg, deltaT: 4.397998 s, approachRate: -0.859481 m/s, LOS rate: 0.085043 deg/s, posRepo size: 4 2021-02-18T02:54:30.908Z,1613616870.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.640003 m, bearing: 39.128969 deg, approachRate: -0.859481 m/s, LOS rate: 0.085043 deg/s, cmd update: 0.340171 deg/s, cmd heading: 40.043031 deg, new cmd heading: 39.959371 deg. 2021-02-18T02:54:33.328Z,1613616873.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:54:34.064Z,1613616874.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:54:34.472Z,1613616874.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:54:35.307Z,1613616875.307 [Micromodem](INFO): Nmea in: $SNTTA,0.027718,,,,025434.10*4E 2021-02-18T02:54:35.342Z,1613616875.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.340000 m, bearing: 39.363746 deg, deltaT: 4.446245 s, approachRate: -0.742200 m/s, LOS rate: 0.052804 deg/s, posRepo size: 4 2021-02-18T02:54:35.344Z,1613616875.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.340000 m, bearing: 39.363746 deg, approachRate: -0.742200 m/s, LOS rate: 0.052804 deg/s, cmd update: 0.211214 deg/s, cmd heading: 41.555512 deg, new cmd heading: 41.704019 deg. 2021-02-18T02:54:37.734Z,1613616877.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:54:38.509Z,1613616878.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:54:38.927Z,1613616878.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:54:39.752Z,1613616879.752 [Micromodem](INFO): Nmea in: $SNTTA,0.025402,,,,025438.54*48 2021-02-18T02:54:39.788Z,1613616879.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.920002 m, bearing: 39.978853 deg, deltaT: 4.479722 s, approachRate: -0.763440 m/s, LOS rate: 0.137309 deg/s, posRepo size: 4 2021-02-18T02:54:39.788Z,1613616879.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.92 m. 2021-02-18T02:54:39.790Z,1613616879.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.920002 m, bearing: 39.978853 deg, approachRate: -0.763440 m/s, LOS rate: 0.137309 deg/s, cmd update: 0.549236 deg/s, cmd heading: 42.500847 deg, new cmd heading: 42.586798 deg. 2021-02-18T02:54:40.149Z,1613616880.149 [PowerOnly](INFO): Powering up loadControl 2021-02-18T02:54:42.188Z,1613616882.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:54:42.958Z,1613616882.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:54:43.363Z,1613616883.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:54:44.188Z,1613616884.188 [Micromodem](INFO): Nmea in: $SNTTA,0.023085,,,,025442.99*49 2021-02-18T02:54:44.280Z,1613616884.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.439999 m, bearing: 37.349049 deg, deltaT: 4.389435 s, approachRate: -0.792813 m/s, LOS rate: -0.599121 deg/s, posRepo size: 4 2021-02-18T02:54:44.280Z,1613616884.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.44 m. 2021-02-18T02:54:44.280Z,1613616884.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.44 m. 2021-02-18T02:54:44.280Z,1613616884.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T02:54:44.282Z,1613616884.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.439999 m, bearing: 37.349049 deg, approachRate: -0.792813 m/s, LOS rate: -0.599121 deg/s, cmd update: -2.396485 deg/s, cmd heading: 44.913873 deg, new cmd heading: 45.189016 deg. 2021-02-18T02:54:46.633Z,1613616886.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:54:47.402Z,1613616887.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:54:47.801Z,1613616887.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:54:48.628Z,1613616888.628 [Micromodem](INFO): Nmea in: $SNTTA,0.021114,0.051864,,,025447.43*50 2021-02-18T02:54:48.669Z,1613616888.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.440002 m, bearing: 37.882135 deg, deltaT: 4.514521 s, approachRate: -0.664521 m/s, LOS rate: 0.118083 deg/s, posRepo size: 4 2021-02-18T02:54:48.671Z,1613616888.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.440002 m, bearing: 37.882135 deg, approachRate: -0.664521 m/s, LOS rate: 0.118083 deg/s, cmd update: 0.472330 deg/s, cmd heading: 34.104412 deg, new cmd heading: 33.184109 deg. 2021-02-18T02:54:51.081Z,1613616891.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:54:51.845Z,1613616891.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:54:52.272Z,1613616892.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:54:53.072Z,1613616893.072 [Micromodem](INFO): Nmea in: $SNTTA,0.018552,,,,025451.87*43 2021-02-18T02:54:53.126Z,1613616893.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.600000 m, bearing: 37.704949 deg, deltaT: 4.408618 s, approachRate: -0.871022 m/s, LOS rate: -0.040191 deg/s, posRepo size: 4 2021-02-18T02:54:53.132Z,1613616893.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.600000 m, bearing: 37.704949 deg, approachRate: -0.871022 m/s, LOS rate: -0.040191 deg/s, cmd update: -0.160763 deg/s, cmd heading: 36.178273 deg, new cmd heading: 36.391029 deg. 2021-02-18T02:54:55.526Z,1613616895.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:54:56.290Z,1613616896.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:54:56.689Z,1613616896.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:54:57.516Z,1613616897.516 [Micromodem](INFO): Nmea in: $SNTTA,0.016214,,,,025456.32*41 2021-02-18T02:54:57.567Z,1613616897.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.120003 m, bearing: 37.094945 deg, deltaT: 4.436360 s, approachRate: -0.784426 m/s, LOS rate: -0.137501 deg/s, posRepo size: 4 2021-02-18T02:54:57.569Z,1613616897.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.120003 m, bearing: 37.094945 deg, approachRate: -0.784426 m/s, LOS rate: -0.137501 deg/s, cmd update: -0.550004 deg/s, cmd heading: 35.464533 deg, new cmd heading: 35.391946 deg. 2021-02-18T02:54:59.965Z,1613616899.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:00.736Z,1613616900.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:01.148Z,1613616901.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:01.984Z,1613616901.984 [Micromodem](INFO): Nmea in: $SNTTA,0.014073,,,,025500.77*43 2021-02-18T02:55:02.012Z,1613616902.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.879999 m, bearing: 36.888455 deg, deltaT: 4.447042 s, approachRate: -0.728575 m/s, LOS rate: -0.046433 deg/s, posRepo size: 4 2021-02-18T02:55:02.014Z,1613616902.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.879999 m, bearing: 36.888455 deg, approachRate: -0.728575 m/s, LOS rate: -0.046433 deg/s, cmd update: -0.185733 deg/s, cmd heading: 33.008455 deg, new cmd heading: 32.771239 deg. 2021-02-18T02:55:04.411Z,1613616904.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:05.174Z,1613616905.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:05.578Z,1613616905.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:06.404Z,1613616906.404 [Micromodem](INFO): Nmea in: $SNTTA,0.011888,,,,025505.20*4D 2021-02-18T02:55:06.472Z,1613616906.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 39.605648 deg, deltaT: 4.458397 s, approachRate: -0.726719 m/s, LOS rate: 0.609455 deg/s, posRepo size: 4 2021-02-18T02:55:06.474Z,1613616906.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.639997 m, bearing: 39.605648 deg, approachRate: -0.726719 m/s, LOS rate: 0.609455 deg/s, cmd update: 2.437820 deg/s, cmd heading: 32.180383 deg, new cmd heading: 32.101087 deg. 2021-02-18T02:55:08.849Z,1613616908.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:09.625Z,1613616909.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:10.027Z,1613616910.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:10.864Z,1613616910.864 [Micromodem](INFO): Nmea in: $SNTTA,0.009729,,,,025509.65*4D 2021-02-18T02:55:10.886Z,1613616910.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.339997 m, bearing: 40.954460 deg, deltaT: 4.497432 s, approachRate: -0.733752 m/s, LOS rate: 0.299907 deg/s, posRepo size: 4 2021-02-18T02:55:10.908Z,1613616910.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.339997 m, bearing: 40.954460 deg, approachRate: -0.733752 m/s, LOS rate: 0.299907 deg/s, cmd update: 1.199629 deg/s, cmd heading: 43.105346 deg, new cmd heading: 43.996152 deg. 2021-02-18T02:55:13.306Z,1613616913.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:14.061Z,1613616914.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:14.466Z,1613616914.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:15.292Z,1613616915.292 [Micromodem](INFO): Nmea in: $SNTTA,0.007654,0.017504,,,025514.09*57 2021-02-18T02:55:15.342Z,1613616915.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.100000 m, bearing: 39.393061 deg, deltaT: 4.373067 s, approachRate: -0.740898 m/s, LOS rate: -0.357049 deg/s, posRepo size: 4 2021-02-18T02:55:15.344Z,1613616915.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.100000 m, bearing: 39.393061 deg, approachRate: -0.740898 m/s, LOS rate: -0.357049 deg/s, cmd update: -1.428195 deg/s, cmd heading: 48.355730 deg, new cmd heading: 48.888939 deg. 2021-02-18T02:55:17.741Z,1613616917.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:18.506Z,1613616918.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:18.921Z,1613616918.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:19.736Z,1613616919.736 [Micromodem](INFO): Nmea in: $SNTTA,0.005465,,,,025518.53*4F 2021-02-18T02:55:19.780Z,1613616919.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.979999 m, bearing: 38.516069 deg, deltaT: 4.455888 s, approachRate: -0.700197 m/s, LOS rate: -0.196817 deg/s, posRepo size: 4 2021-02-18T02:55:19.781Z,1613616919.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.979999 m, bearing: 38.516069 deg, approachRate: -0.700197 m/s, LOS rate: -0.196817 deg/s, cmd update: -0.787267 deg/s, cmd heading: 41.974122 deg, new cmd heading: 41.383350 deg. 2021-02-18T02:55:22.182Z,1613616922.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:22.955Z,1613616922.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:23.353Z,1613616923.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:24.180Z,1613616924.180 [Micromodem](INFO): Nmea in: $SNTTA,0.003795,,,,025522.98*4B 2021-02-18T02:55:24.251Z,1613616924.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.399999 m, bearing: 36.750116 deg, deltaT: 4.455568 s, approachRate: -0.579051 m/s, LOS rate: -0.396347 deg/s, posRepo size: 4 2021-02-18T02:55:24.261Z,1613616924.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.399999 m, bearing: 36.750116 deg, approachRate: -0.579051 m/s, LOS rate: -0.396347 deg/s, cmd update: -1.585389 deg/s, cmd heading: 38.466434 deg, new cmd heading: 38.137223 deg. 2021-02-18T02:55:26.644Z,1613616926.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:27.392Z,1613616927.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:27.799Z,1613616927.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:28.620Z,1613616928.620 [Micromodem](INFO): Nmea in: $SNTTA,0.002799,,,,025527.42*44 2021-02-18T02:55:28.658Z,1613616928.658 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T02:55:28.658Z,1613616928.658 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T02:55:28.658Z,1613616928.658 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T02:55:28.658Z,1613616928.658 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T02:55:28.658Z,1613616928.658 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T02:55:28.659Z,1613616928.659 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.959999 m 2021-02-18T02:55:28.659Z,1613616928.659 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T02:55:28.659Z,1613616928.659 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T02:55:28.659Z,1613616928.659 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T02:55:28.662Z,1613616928.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 45.122733 deg, deltaT: 4.466032 s, approachRate: -0.322434 m/s, LOS rate: 1.874733 deg/s, posRepo size: 4 2021-02-18T02:55:28.663Z,1613616928.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.959999 m, bearing: 45.122733 deg, approachRate: -0.322434 m/s, LOS rate: 1.874733 deg/s, cmd update: 7.498931 deg/s, cmd heading: 31.392396 deg, new cmd heading: 30.792526 deg. 2021-02-18T02:55:29.054Z,1613616929.054 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T025529: (41.552319, -70.708603) 2021-02-18T02:55:29.054Z,1613616929.054 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T02:55:29.054Z,1613616929.054 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T02:55:29.054Z,1613616929.054 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T02:55:29.055Z,1613616929.055 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T02:55:29.071Z,1613616929.071 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T02:55:29.072Z,1613616929.072 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T02:55:29.072Z,1613616929.072 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T02:55:29.073Z,1613616929.073 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T02:55:31.079Z,1613616931.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:31.838Z,1613616931.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:32.275Z,1613616932.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:33.069Z,1613616933.069 [Micromodem](INFO): Nmea in: $SNTTA,0.004680,,,,025531.87*45 2021-02-18T02:55:33.114Z,1613616933.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.100000 m, bearing: 20.580612 deg, deltaT: 4.371090 s, approachRate: 0.260805 m/s, LOS rate: -5.614646 deg/s, posRepo size: 4 2021-02-18T02:55:33.120Z,1613616933.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.100000 m, bearing: 20.580612 deg, approachRate: 0.260805 m/s, LOS rate: -5.614646 deg/s, cmd update: -12.000000 deg/s, cmd heading: 64.200835 deg, new cmd heading: 67.618173 deg. 2021-02-18T02:55:35.514Z,1613616935.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:36.286Z,1613616936.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:36.693Z,1613616936.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:37.532Z,1613616937.532 [Micromodem](INFO): Nmea in: $SNTTA,0.007027,,,,025536.32*44 2021-02-18T02:55:37.557Z,1613616937.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.120000 m, bearing: 44.609676 deg, deltaT: 4.466699 s, approachRate: 0.899993 m/s, LOS rate: 5.379603 deg/s, posRepo size: 4 2021-02-18T02:55:37.558Z,1613616937.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.120000 m, bearing: 44.609676 deg, approachRate: 0.899993 m/s, LOS rate: 5.379603 deg/s, cmd update: 12.000000 deg/s, cmd heading: 10.599487 deg, new cmd heading: 5.419962 deg. 2021-02-18T02:55:39.957Z,1613616939.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:40.725Z,1613616940.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:41.129Z,1613616941.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:41.953Z,1613616941.953 [Micromodem](INFO): Nmea in: $SNTTA,0.008757,,,,025540.76*4A 2021-02-18T02:55:42.029Z,1613616942.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.260000 m, bearing: 15.686646 deg, deltaT: 4.457888 s, approachRate: 0.928691 m/s, LOS rate: -6.488057 deg/s, posRepo size: 4 2021-02-18T02:55:42.035Z,1613616942.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.260000 m, bearing: 15.686646 deg, approachRate: 0.928691 m/s, LOS rate: -6.488057 deg/s, cmd update: -12.000000 deg/s, cmd heading: 64.093604 deg, new cmd heading: 69.450908 deg. 2021-02-18T02:55:44.404Z,1613616944.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:45.174Z,1613616945.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:45.574Z,1613616945.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:46.400Z,1613616946.400 [Micromodem](INFO): Nmea in: $SNTTA,0.009294,,,,025545.20*47 2021-02-18T02:55:46.450Z,1613616946.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.100001 m, bearing: 40.713453 deg, deltaT: 4.453406 s, approachRate: 0.188620 m/s, LOS rate: 5.619700 deg/s, posRepo size: 4 2021-02-18T02:55:46.452Z,1613616946.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.100001 m, bearing: 40.713453 deg, approachRate: 0.188620 m/s, LOS rate: 5.619700 deg/s, cmd update: 12.000000 deg/s, cmd heading: 10.655634 deg, new cmd heading: 5.689254 deg. 2021-02-18T02:55:48.065Z,1613616948.065 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T02:55:48.823Z,1613616948.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:49.613Z,1613616949.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:50.021Z,1613616950.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:50.848Z,1613616950.848 [Micromodem](INFO): Nmea in: $SNTTA,0.011895,,,,025549.64*49 2021-02-18T02:55:50.870Z,1613616950.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.879999 m, bearing: 38.737237 deg, deltaT: 4.413271 s, approachRate: 0.856507 m/s, LOS rate: -0.447789 deg/s, posRepo size: 4 2021-02-18T02:55:50.872Z,1613616950.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.879999 m, bearing: 38.737237 deg, approachRate: 0.856507 m/s, LOS rate: -0.447789 deg/s, cmd update: -1.791158 deg/s, cmd heading: 63.618164 deg, new cmd heading: 68.663504 deg. 2021-02-18T02:55:53.320Z,1613616953.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:54.061Z,1613616954.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:54.479Z,1613616954.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:55.299Z,1613616955.299 [Micromodem](INFO): Nmea in: $SNTTA,0.013525,,,,025554.09*4A 2021-02-18T02:55:55.334Z,1613616955.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.459999 m, bearing: 34.606318 deg, deltaT: 4.447303 s, approachRate: 0.580127 m/s, LOS rate: -0.928859 deg/s, posRepo size: 4 2021-02-18T02:55:55.336Z,1613616955.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.459999 m, bearing: 34.606318 deg, approachRate: 0.580127 m/s, LOS rate: -0.928859 deg/s, cmd update: -3.715437 deg/s, cmd heading: 55.652355 deg, new cmd heading: 54.870203 deg. 2021-02-18T02:55:57.712Z,1613616957.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:55:58.505Z,1613616958.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:55:58.920Z,1613616958.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:55:59.721Z,1613616959.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025558.53*57 2021-02-18T02:56:00.565Z,1613616960.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:02.140Z,1613616962.140 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:56:03.392Z,1613616963.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:04.162Z,1613616964.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:56:04.563Z,1613616964.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:56:05.388Z,1613616965.388 [Micromodem](INFO): Nmea in: $SNTTA,0.018534,,,,025604.19*46 2021-02-18T02:56:05.434Z,1613616965.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.900000 m, bearing: 44.580047 deg, deltaT: 10.157805 s, approachRate: 0.732442 m/s, LOS rate: 0.981878 deg/s, posRepo size: 4 2021-02-18T02:56:05.436Z,1613616965.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.900000 m, bearing: 44.580047 deg, approachRate: 0.732442 m/s, LOS rate: 0.981878 deg/s, cmd update: 3.927513 deg/s, cmd heading: 17.927515 deg, new cmd heading: 16.503027 deg. 2021-02-18T02:56:07.823Z,1613616967.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:08.249Z,1613616968.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:56:08.608Z,1613616968.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:56:09.451Z,1613616969.451 [Micromodem](INFO): Nmea in: $SNTTA,0.020536,,0.041868,,025608.28*5C 2021-02-18T02:56:09.499Z,1613616969.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.379999 m, bearing: 18.024299 deg, deltaT: 3.993547 s, approachRate: 0.871406 m/s, LOS rate: -6.649665 deg/s, posRepo size: 4 2021-02-18T02:56:09.500Z,1613616969.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 31.38 m. Rolling out. 2021-02-18T02:56:09.500Z,1613616969.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T02:56:11.849Z,1613616971.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:12.640Z,1613616972.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:56:13.046Z,1613616973.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:56:13.876Z,1613616973.876 [Micromodem](INFO): Nmea in: $SNTTA,0.022960,,0.061072,,025612.67*50 2021-02-18T02:56:13.898Z,1613616973.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.620003 m, bearing: 348.885462 deg, deltaT: 4.429351 s, approachRate: 0.731485 m/s, LOS rate: -6.578579 deg/s, posRepo size: 4 2021-02-18T02:56:14.676Z,1613616974.676 [PowerOnly](INFO): Powering down loadControl 2021-02-18T02:56:16.316Z,1613616976.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:17.089Z,1613616977.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:56:17.506Z,1613616977.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:56:18.316Z,1613616978.316 [Micromodem](INFO): Nmea in: $SNTTA,0.024761,,,,025617.12*42 2021-02-18T02:56:18.364Z,1613616978.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.680000 m, bearing: 26.012612 deg, deltaT: 4.440236 s, approachRate: 0.689152 m/s, LOS rate: 8.361526 deg/s, posRepo size: 4 2021-02-18T02:56:20.737Z,1613616980.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:21.528Z,1613616981.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:56:21.939Z,1613616981.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:56:22.768Z,1613616982.768 [Micromodem](INFO): Nmea in: $SNTTA,0.027038,,,,025621.56*4F 2021-02-18T02:56:22.796Z,1613616982.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.039997 m, bearing: 28.195921 deg, deltaT: 4.464723 s, approachRate: 0.752566 m/s, LOS rate: 0.489013 deg/s, posRepo size: 4 2021-02-18T02:56:25.190Z,1613616985.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:26.006Z,1613616986.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:56:26.383Z,1613616986.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:56:27.233Z,1613616987.233 [Micromodem](INFO): Nmea in: $SNTTA,0.029246,,0.067222,,025626.04*57 2021-02-18T02:56:27.284Z,1613616987.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.279999 m, bearing: 25.961459 deg, deltaT: 4.424921 s, approachRate: 0.732217 m/s, LOS rate: -0.504972 deg/s, posRepo size: 4 2021-02-18T02:56:29.638Z,1613616989.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:30.416Z,1613616990.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:56:30.824Z,1613616990.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:56:31.644Z,1613616991.644 [Micromodem](INFO): Nmea in: $SNTTA,0.031512,,,,025630.45*47 2021-02-18T02:56:31.676Z,1613616991.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.399998 m, bearing: 21.616548 deg, deltaT: 4.517448 s, approachRate: 0.690655 m/s, LOS rate: -0.961806 deg/s, posRepo size: 4 2021-02-18T02:56:34.077Z,1613616994.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:34.865Z,1613616994.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:56:35.274Z,1613616995.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:56:36.095Z,1613616996.095 [Micromodem](INFO): Nmea in: $SNTTA,0.034122,,,,025634.89*41 2021-02-18T02:56:36.120Z,1613616996.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.360001 m, bearing: 22.355863 deg, deltaT: 4.374329 s, approachRate: 0.905282 m/s, LOS rate: 0.169012 deg/s, posRepo size: 4 2021-02-18T02:56:38.521Z,1613616998.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:39.304Z,1613616999.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:56:39.721Z,1613616999.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:56:40.532Z,1613617000.532 [Micromodem](INFO): Nmea in: $SNTTA,0.035852,,,,025639.33*42 2021-02-18T02:56:40.577Z,1613617000.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.179996 m, bearing: 26.246706 deg, deltaT: 4.460186 s, approachRate: 0.632260 m/s, LOS rate: 0.872350 deg/s, posRepo size: 4 2021-02-18T02:56:43.021Z,1613617003.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:43.757Z,1613617003.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:56:44.165Z,1613617004.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:56:45.005Z,1613617005.005 [Micromodem](INFO): Nmea in: $SNTTA,0.038358,,,,025643.79*4D 2021-02-18T02:56:45.069Z,1613617005.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.900009 m, bearing: 22.629475 deg, deltaT: 4.444700 s, approachRate: 0.836955 m/s, LOS rate: -0.813830 deg/s, posRepo size: 4 2021-02-18T02:56:47.420Z,1613617007.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:48.201Z,1613617008.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:56:48.598Z,1613617008.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:56:49.428Z,1613617009.428 [Micromodem](INFO): Nmea in: $SNTTA,0.040510,,0.050891,,025648.23*57 2021-02-18T02:56:49.468Z,1613617009.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.900002 m, bearing: 15.078782 deg, deltaT: 4.446131 s, approachRate: 0.674742 m/s, LOS rate: -1.698262 deg/s, posRepo size: 4 2021-02-18T02:56:51.864Z,1613617011.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:52.642Z,1613617012.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:56:53.042Z,1613617013.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:56:53.868Z,1613617013.868 [Micromodem](INFO): Nmea in: $SNTTA,0.042783,,,,025652.67*4D 2021-02-18T02:56:53.890Z,1613617013.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.500008 m, bearing: 25.080897 deg, deltaT: 4.417363 s, approachRate: 0.814967 m/s, LOS rate: 2.264273 deg/s, posRepo size: 4 2021-02-18T02:56:56.320Z,1613617016.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:56:57.081Z,1613617017.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:56:57.486Z,1613617017.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:56:58.308Z,1613617018.308 [Micromodem](INFO): Nmea in: $SNTTA,0.044902,,,,025657.11*48 2021-02-18T02:56:58.361Z,1613617018.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.560005 m, bearing: 15.970738 deg, deltaT: 4.453556 s, approachRate: 0.687091 m/s, LOS rate: -2.045592 deg/s, posRepo size: 4 2021-02-18T02:57:00.740Z,1613617020.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:01.530Z,1613617021.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:01.930Z,1613617021.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:57:02.756Z,1613617022.756 [Micromodem](INFO): Nmea in: $SNTTA,0.047315,,,,025701.56*46 2021-02-18T02:57:02.778Z,1613617022.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.159996 m, bearing: 23.537983 deg, deltaT: 4.463832 s, approachRate: 0.806480 m/s, LOS rate: 1.695235 deg/s, posRepo size: 4 2021-02-18T02:57:05.220Z,1613617025.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:05.993Z,1613617025.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:06.374Z,1613617026.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:57:07.208Z,1613617027.208 [Micromodem](INFO): Nmea in: $SNTTA,0.049685,,,,025706.02*42 2021-02-18T02:57:07.303Z,1613617027.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.879997 m, bearing: 25.528606 deg, deltaT: 4.404715 s, approachRate: 0.844550 m/s, LOS rate: 0.451930 deg/s, posRepo size: 4 2021-02-18T02:57:09.644Z,1613617029.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:10.417Z,1613617030.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:10.818Z,1613617030.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:57:11.644Z,1613617031.644 [Micromodem](INFO): Nmea in: $SNTTA,0.052056,,,,025710.45*44 2021-02-18T02:57:11.680Z,1613617031.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.360001 m, bearing: 28.615228 deg, deltaT: 4.519504 s, approachRate: 0.769997 m/s, LOS rate: 0.682956 deg/s, posRepo size: 4 2021-02-18T02:57:14.088Z,1613617034.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:14.860Z,1613617034.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:15.272Z,1613617035.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:57:16.096Z,1613617036.096 [Micromodem](INFO): Nmea in: $SNTTA,0.054339,,,,025714.89*4C 2021-02-18T02:57:16.126Z,1613617036.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.900002 m, bearing: 24.204809 deg, deltaT: 4.392881 s, approachRate: 0.805849 m/s, LOS rate: -1.003992 deg/s, posRepo size: 4 2021-02-18T02:57:18.518Z,1613617038.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:19.300Z,1613617039.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:19.711Z,1613617039.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:57:20.536Z,1613617040.536 [Micromodem](INFO): Nmea in: $SNTTA,0.056576,,,,025719.33*4F 2021-02-18T02:57:20.560Z,1613617040.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.199997 m, bearing: 30.493837 deg, deltaT: 4.441258 s, approachRate: 0.743032 m/s, LOS rate: 1.416047 deg/s, posRepo size: 4 2021-02-18T02:57:22.957Z,1613617042.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:23.749Z,1613617043.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:24.155Z,1613617044.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:57:25.092Z,1613617045.092 [Micromodem](INFO): Nmea in: $SNTTA,0.058934,,,,025723.78*4D 2021-02-18T02:57:25.267Z,1613617045.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.620010 m, bearing: 26.087598 deg, deltaT: 4.438504 s, approachRate: 0.770533 m/s, LOS rate: -0.992731 deg/s, posRepo size: 4 2021-02-18T02:57:27.501Z,1613617047.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:28.272Z,1613617048.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:28.654Z,1613617048.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:57:29.488Z,1613617049.488 [Micromodem](INFO): Nmea in: $SNTTA,0.061189,,,,025728.30*4E 2021-02-18T02:57:29.545Z,1613617049.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.979996 m, bearing: 23.983383 deg, deltaT: 4.497173 s, approachRate: 0.747133 m/s, LOS rate: -0.467897 deg/s, posRepo size: 4 2021-02-18T02:57:31.911Z,1613617051.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:32.697Z,1613617052.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:33.103Z,1613617053.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:57:33.924Z,1613617053.924 [Micromodem](INFO): Nmea in: $SNTTA,0.063434,,,,025732.73*43 2021-02-18T02:57:34.060Z,1613617054.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.400009 m, bearing: 23.396755 deg, deltaT: 4.465100 s, approachRate: 0.765943 m/s, LOS rate: -0.131381 deg/s, posRepo size: 4 2021-02-18T02:57:36.392Z,1613617056.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:37.136Z,1613617057.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:37.547Z,1613617057.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:57:38.364Z,1613617058.364 [Micromodem](INFO): Nmea in: $SNTTA,0.065734,,,,025737.16*40 2021-02-18T02:57:38.414Z,1613617058.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.759995 m, bearing: 23.127128 deg, deltaT: 4.487450 s, approachRate: 0.748752 m/s, LOS rate: -0.060085 deg/s, posRepo size: 4 2021-02-18T02:57:40.808Z,1613617060.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:41.597Z,1613617061.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:42.014Z,1613617062.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:57:42.819Z,1613617062.819 [Micromodem](INFO): Nmea in: $SNTTA,0.067997,,,,025741.63*46 2021-02-18T02:57:42.842Z,1613617062.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.180008 m, bearing: 15.900059 deg, deltaT: 4.395158 s, approachRate: 0.778132 m/s, LOS rate: -1.644325 deg/s, posRepo size: 4 2021-02-18T02:57:45.283Z,1613617065.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:46.028Z,1613617066.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:46.438Z,1613617066.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:57:47.280Z,1613617067.280 [Micromodem](INFO): Nmea in: $SNTTA,0.070198,,,,025746.06*43 2021-02-18T02:57:47.338Z,1613617067.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.480003 m, bearing: 23.491071 deg, deltaT: 4.439717 s, approachRate: 0.743290 m/s, LOS rate: 1.709796 deg/s, posRepo size: 4 2021-02-18T02:57:49.683Z,1613617069.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:50.468Z,1613617070.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:50.875Z,1613617070.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:57:51.700Z,1613617071.700 [Micromodem](INFO): Nmea in: $SNTTA,0.072488,,,,025750.50*41 2021-02-18T02:57:51.718Z,1613617071.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.900002 m, bearing: 22.829655 deg, deltaT: 4.450678 s, approachRate: 0.768422 m/s, LOS rate: -0.148610 deg/s, posRepo size: 4 2021-02-18T02:57:54.129Z,1613617074.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:54.912Z,1613617074.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:55.323Z,1613617075.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:57:56.140Z,1613617076.140 [Micromodem](INFO): Nmea in: $SNTTA,0.075004,,,,025754.94*4A 2021-02-18T02:57:56.164Z,1613617076.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.379997 m, bearing: 22.684713 deg, deltaT: 4.416340 s, approachRate: 0.787982 m/s, LOS rate: -0.032819 deg/s, posRepo size: 4 2021-02-18T02:57:58.257Z,1613617078.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:57:58.958Z,1613617078.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:57:59.357Z,1613617079.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:00.188Z,1613617080.188 [Micromodem](INFO): Nmea in: $SNTTA,0.076883,,,,025758.99*4F 2021-02-18T02:58:00.272Z,1613617080.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.440010 m, bearing: 21.105742 deg, deltaT: 4.040495 s, approachRate: 0.757336 m/s, LOS rate: -0.390786 deg/s, posRepo size: 4 2021-02-18T02:58:02.629Z,1613617082.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:03.397Z,1613617083.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:58:03.801Z,1613617083.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:04.628Z,1613617084.628 [Micromodem](INFO): Nmea in: $SNTTA,0.079098,,,0.081598,025803.43*57 2021-02-18T02:58:04.652Z,1613617084.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.800003 m, bearing: 24.859387 deg, deltaT: 4.513200 s, approachRate: 0.744481 m/s, LOS rate: 0.831704 deg/s, posRepo size: 4 2021-02-18T02:58:07.076Z,1613617087.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:07.841Z,1613617087.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:58:08.287Z,1613617088.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:09.068Z,1613617089.068 [Micromodem](INFO): Nmea in: $SNTTA,0.081324,,,,025807.87*4B 2021-02-18T02:58:09.120Z,1613617089.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.099998 m, bearing: 23.251808 deg, deltaT: 4.375004 s, approachRate: 0.754284 m/s, LOS rate: -0.367446 deg/s, posRepo size: 4 2021-02-18T02:58:10.303Z,1613617090.303 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T02:58:11.516Z,1613617091.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:12.302Z,1613617092.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:58:12.691Z,1613617092.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:13.523Z,1613617093.523 [Micromodem](INFO): Nmea in: $SNTTA,0.083700,,,,025812.33*40 2021-02-18T02:58:13.548Z,1613617093.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.700005 m, bearing: 24.155493 deg, deltaT: 4.470391 s, approachRate: 0.805300 m/s, LOS rate: 0.202149 deg/s, posRepo size: 4 2021-02-18T02:58:15.943Z,1613617095.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:16.728Z,1613617096.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:58:17.134Z,1613617097.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:17.967Z,1613617097.967 [Micromodem](INFO): Nmea in: $SNTTA,0.085885,,,,025816.76*41 2021-02-18T02:58:18.026Z,1613617098.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.000000 m, bearing: 23.868728 deg, deltaT: 4.439763 s, approachRate: 0.743282 m/s, LOS rate: -0.064590 deg/s, posRepo size: 4 2021-02-18T02:58:20.393Z,1613617100.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:21.177Z,1613617101.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:58:21.580Z,1613617101.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:22.404Z,1613617102.404 [Micromodem](INFO): Nmea in: $SNTTA,0.088226,,,,025821.21*49 2021-02-18T02:58:22.428Z,1613617102.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.540009 m, bearing: 29.457165 deg, deltaT: 4.477776 s, approachRate: 0.790573 m/s, LOS rate: 1.248039 deg/s, posRepo size: 4 2021-02-18T02:58:24.823Z,1613617104.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:25.618Z,1613617105.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:58:26.024Z,1613617106.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:26.837Z,1613617106.837 [Micromodem](INFO): Nmea in: $SNTTA,0.090396,,,,025825.65*4E 2021-02-18T02:58:27.666Z,1613617107.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:29.271Z,1613617109.271 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T02:58:30.490Z,1613617110.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:31.277Z,1613617111.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:58:31.679Z,1613617111.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:32.504Z,1613617112.504 [Micromodem](INFO): Nmea in: $SNTTA,0.093964,,,,025831.31*4E 2021-02-18T02:58:32.543Z,1613617112.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.160004 m, bearing: 25.687795 deg, deltaT: 10.101965 s, approachRate: 0.754308 m/s, LOS rate: -0.373132 deg/s, posRepo size: 4 2021-02-18T02:58:35.088Z,1613617115.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:35.716Z,1613617115.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:58:36.130Z,1613617116.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:36.944Z,1613617116.944 [Micromodem](INFO): Nmea in: $SNTTA,0.095710,,,,025835.75*41 2021-02-18T02:58:37.022Z,1613617117.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.639999 m, bearing: 23.977198 deg, deltaT: 4.419148 s, approachRate: 0.787481 m/s, LOS rate: -0.387087 deg/s, posRepo size: 4 2021-02-18T02:58:39.393Z,1613617119.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:40.165Z,1613617120.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:58:40.574Z,1613617120.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:41.392Z,1613617121.392 [Micromodem](INFO): Nmea in: $SNTTA,0.097797,,,,025840.19*44 2021-02-18T02:58:41.436Z,1613617121.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.819992 m, bearing: 24.904552 deg, deltaT: 4.468588 s, approachRate: 0.711633 m/s, LOS rate: 0.207527 deg/s, posRepo size: 4 2021-02-18T02:58:43.815Z,1613617123.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:44.607Z,1613617124.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:58:45.028Z,1613617125.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:45.836Z,1613617125.836 [Micromodem](INFO): Nmea in: $SNTTA,0.100154,,,,025844.64*4C 2021-02-18T02:58:45.894Z,1613617125.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.239990 m, bearing: 24.186569 deg, deltaT: 4.420539 s, approachRate: 0.773661 m/s, LOS rate: -0.162420 deg/s, posRepo size: 4 2021-02-18T02:58:45.894Z,1613617125.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.24 m. Resuming terminal guidance. 2021-02-18T02:58:45.894Z,1613617125.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T02:58:48.327Z,1613617128.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:49.056Z,1613617129.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:58:49.459Z,1613617129.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:50.288Z,1613617130.288 [Micromodem](INFO): Nmea in: $SNTTA,0.102351,,,,025849.08*4E 2021-02-18T02:58:50.345Z,1613617130.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.660004 m, bearing: 25.108957 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T02:58:50.346Z,1613617130.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 25.108957deg and heading rate command to 0 deg/s. 2021-02-18T02:58:52.711Z,1613617132.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:53.493Z,1613617133.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:58:53.911Z,1613617133.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:54.724Z,1613617134.724 [Micromodem](INFO): Nmea in: $SNTTA,0.104532,,,,025853.53*4E 2021-02-18T02:58:54.756Z,1613617134.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.960007 m, bearing: 12.909552 deg, deltaT: 4.520520 s, approachRate: 0.730005 m/s, LOS rate: -2.698673 deg/s, posRepo size: 2 2021-02-18T02:58:54.758Z,1613617134.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.960007 m, bearing: 12.909552 deg, approachRate: 0.730005 m/s, LOS rate: -2.698673 deg/s, cmd update: -10.794692 deg/s, cmd heading: 25.108957 deg, new cmd heading: 25.108957 deg. 2021-02-18T02:58:57.158Z,1613617137.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:58:57.936Z,1613617137.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:58:58.342Z,1613617138.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:58:59.164Z,1613617139.164 [Micromodem](INFO): Nmea in: $SNTTA,0.106764,,,,025857.96*40 2021-02-18T02:58:59.189Z,1613617139.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.260010 m, bearing: 31.689185 deg, deltaT: 4.369048 s, approachRate: 0.755314 m/s, LOS rate: 4.298335 deg/s, posRepo size: 3 2021-02-18T02:58:59.190Z,1613617139.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.260010 m, bearing: 31.689185 deg, approachRate: 0.755314 m/s, LOS rate: 4.298335 deg/s, cmd update: 12.000000 deg/s, cmd heading: 337.894150 deg, new cmd heading: 333.345104 deg. 2021-02-18T02:59:01.596Z,1613617141.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:59:02.381Z,1613617142.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:59:02.788Z,1613617142.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:59:03.620Z,1613617143.620 [Micromodem](INFO): Nmea in: $SNTTA,0.108767,,0.113730,,025902.41*5F 2021-02-18T02:59:03.643Z,1613617143.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.320007 m, bearing: 16.144812 deg, deltaT: 4.513479 s, approachRate: 0.677969 m/s, LOS rate: -3.443989 deg/s, posRepo size: 4 2021-02-18T02:59:03.645Z,1613617143.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.320007 m, bearing: 16.144812 deg, approachRate: 0.677969 m/s, LOS rate: -3.443989 deg/s, cmd update: -12.000000 deg/s, cmd heading: 32.008883 deg, new cmd heading: 36.404292 deg. 2021-02-18T02:59:06.070Z,1613617146.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:59:06.825Z,1613617146.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:59:07.262Z,1613617147.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:59:08.052Z,1613617148.052 [Micromodem](INFO): Nmea in: $SNTTA,0.110549,,,,025906.85*4D 2021-02-18T02:59:08.104Z,1613617148.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 0.021868 deg, deltaT: 4.388083 s, approachRate: 0.615302 m/s, LOS rate: -3.674257 deg/s, posRepo size: 4 2021-02-18T02:59:08.106Z,1613617148.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.020004 m, bearing: 0.021868 deg, approachRate: 0.615302 m/s, LOS rate: -3.674257 deg/s, cmd update: -12.000000 deg/s, cmd heading: 339.352294 deg, new cmd heading: 334.085625 deg. 2021-02-18T02:59:10.498Z,1613617150.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:59:11.274Z,1613617151.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:59:11.689Z,1613617151.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:59:12.500Z,1613617152.500 [Micromodem](INFO): Nmea in: $SNTTA,0.112349,,,,025911.30*41 2021-02-18T02:59:12.553Z,1613617152.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 347.951802 deg, deltaT: 4.460969 s, approachRate: 0.000000 m/s, LOS rate: -2.705702 deg/s, posRepo size: 4 2021-02-18T02:59:12.559Z,1613617152.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.020004 m, bearing: 347.951802 deg, approachRate: 0.000000 m/s, LOS rate: -2.705702 deg/s, cmd update: -10.822810 deg/s, cmd heading: 285.821624 deg, new cmd heading: 280.692955 deg. 2021-02-18T02:59:15.033Z,1613617155.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:59:15.713Z,1613617155.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:59:16.129Z,1613617156.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:59:16.940Z,1613617156.940 [Micromodem](INFO): Nmea in: $SNTTA,0.114397,,,,025915.74*40 2021-02-18T02:59:17.017Z,1613617157.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 7.734153 deg, deltaT: 4.436549 s, approachRate: 0.000000 m/s, LOS rate: 4.458950 deg/s, posRepo size: 4 2021-02-18T02:59:17.020Z,1613617157.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.020004 m, bearing: 7.734153 deg, approachRate: 0.000000 m/s, LOS rate: 4.458950 deg/s, cmd update: 12.000000 deg/s, cmd heading: 237.761963 deg, new cmd heading: 232.880638 deg. 2021-02-18T02:59:19.389Z,1613617159.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:59:20.158Z,1613617160.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:59:20.562Z,1613617160.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:59:21.388Z,1613617161.388 [Micromodem](INFO): Nmea in: $SNTTA,0.115905,,,,025920.19*4D 2021-02-18T02:59:21.432Z,1613617161.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.939987 m, bearing: 327.638246 deg, deltaT: 4.483115 s, approachRate: 1.766625 m/s, LOS rate: -8.943760 deg/s, posRepo size: 4 2021-02-18T02:59:21.434Z,1613617161.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.939987 m, bearing: 327.638246 deg, approachRate: 1.766625 m/s, LOS rate: -8.943760 deg/s, cmd update: -12.000000 deg/s, cmd heading: 291.451644 deg, new cmd heading: 296.154637 deg. 2021-02-18T02:59:23.823Z,1613617163.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:59:24.602Z,1613617164.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:59:25.024Z,1613617165.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:59:25.832Z,1613617165.832 [Micromodem](INFO): Nmea in: $SNTTA,0.117172,0.133204,,,025924.63*57 2021-02-18T02:59:25.870Z,1613617165.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.939987 m, bearing: 292.319747 deg, deltaT: 4.410028 s, approachRate: 0.000000 m/s, LOS rate: -8.008679 deg/s, posRepo size: 4 2021-02-18T02:59:25.872Z,1613617165.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.939987 m, bearing: 292.319747 deg, approachRate: 0.000000 m/s, LOS rate: -8.008679 deg/s, cmd update: -12.000000 deg/s, cmd heading: 238.430855 deg, new cmd heading: 233.501399 deg. 2021-02-18T02:59:28.335Z,1613617168.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:59:29.048Z,1613617169.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:59:29.457Z,1613617169.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:59:30.284Z,1613617170.284 [Micromodem](INFO): Nmea in: $SNTTA,0.117783,,,0.120276,025929.08*58 2021-02-18T02:59:30.319Z,1613617170.319 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:59:30.331Z,1613617170.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.939987 m, bearing: 234.219536 deg, deltaT: 4.442268 s, approachRate: 0.000000 m/s, LOS rate: -13.078953 deg/s, posRepo size: 4 2021-02-18T02:59:30.332Z,1613617170.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.078953 deg/s. Setting heading cmd to target bearing of 234.219536deg and heading rate command to 0 deg/s. 2021-02-18T02:59:32.694Z,1613617172.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:59:33.489Z,1613617173.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:59:33.894Z,1613617173.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:59:34.720Z,1613617174.720 [Micromodem](INFO): Nmea in: $SNTTA,0.117816,,,,025933.52*41 2021-02-18T02:59:34.762Z,1613617174.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.939987 m, bearing: 331.362202 deg, deltaT: 4.465961 s, approachRate: 0.000000 m/s, LOS rate: 21.751794 deg/s, posRepo size: 4 2021-02-18T02:59:34.763Z,1613617174.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.751794 deg/s. Setting heading cmd to target bearing of 331.362202deg and heading rate command to 0 deg/s. 2021-02-18T02:59:37.158Z,1613617177.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:59:37.932Z,1613617177.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:59:38.343Z,1613617178.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:59:39.164Z,1613617179.164 [Micromodem](INFO): Nmea in: $SNTTA,0.117170,,,,025937.96*44 2021-02-18T02:59:39.189Z,1613617179.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.939987 m, bearing: 200.098820 deg, deltaT: 4.395026 s, approachRate: 0.000000 m/s, LOS rate: -29.866348 deg/s, posRepo size: 4 2021-02-18T02:59:39.189Z,1613617179.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -29.866348 deg/s. Setting heading cmd to target bearing of 200.098820deg and heading rate command to 0 deg/s. 2021-02-18T02:59:41.593Z,1613617181.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:59:42.387Z,1613617182.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:59:42.783Z,1613617182.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:59:43.601Z,1613617183.601 [Micromodem](INFO): Nmea in: $SNTTA,0.116283,,,,025942.42*41 2021-02-18T02:59:44.072Z,1613617184.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.239990 m, bearing: 199.166964 deg, deltaT: 4.862520 s, approachRate: 0.061697 m/s, LOS rate: -0.191641 deg/s, posRepo size: 4 2021-02-18T02:59:44.073Z,1613617184.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.239990 m, bearing: 199.166964 deg, approachRate: 0.061697 m/s, LOS rate: -0.191641 deg/s, cmd update: -0.766562 deg/s, cmd heading: 200.098820 deg, new cmd heading: 200.098820 deg. 2021-02-18T02:59:46.451Z,1613617186.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:59:47.248Z,1613617187.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:59:47.635Z,1613617187.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:59:48.458Z,1613617188.458 [Micromodem](INFO): Nmea in: $SNTTA,0.115382,,,,025947.28*4B 2021-02-18T02:59:48.870Z,1613617188.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.980011 m, bearing: 267.352346 deg, deltaT: 4.880066 s, approachRate: -0.258189 m/s, LOS rate: 13.972225 deg/s, posRepo size: 4 2021-02-18T02:59:48.871Z,1613617188.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.972225 deg/s. Setting heading cmd to target bearing of 267.352346deg and heading rate command to 0 deg/s. 2021-02-18T02:59:51.317Z,1613617191.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:59:52.073Z,1613617192.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:59:52.477Z,1613617192.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:59:53.300Z,1613617193.300 [Micromodem](INFO): Nmea in: $SNTTA,0.114442,,,,025952.10*4E 2021-02-18T02:59:53.353Z,1613617193.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.980011 m, bearing: 195.625169 deg, deltaT: 4.419987 s, approachRate: 0.000000 m/s, LOS rate: -16.227916 deg/s, posRepo size: 4 2021-02-18T02:59:53.354Z,1613617193.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.227916 deg/s. Setting heading cmd to target bearing of 195.625169deg and heading rate command to 0 deg/s. 2021-02-18T02:59:55.345Z,1613617195.345 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T02:59:55.722Z,1613617195.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T02:59:56.516Z,1613617196.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T02:59:56.932Z,1613617196.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T02:59:57.744Z,1613617197.744 [Micromodem](INFO): Nmea in: $SNTTA,0.112957,,,,025956.54*45 2021-02-18T02:59:57.786Z,1613617197.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.980011 m, bearing: 204.051396 deg, deltaT: 4.481506 s, approachRate: 0.000000 m/s, LOS rate: 1.880222 deg/s, posRepo size: 4 2021-02-18T02:59:57.788Z,1613617197.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.980011 m, bearing: 204.051396 deg, approachRate: 0.000000 m/s, LOS rate: 1.880222 deg/s, cmd update: 7.520889 deg/s, cmd heading: 195.625169 deg, new cmd heading: 195.625169 deg. 2021-02-18T03:00:00.166Z,1613617200.166 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T03:00:00.185Z,1613617200.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:00.964Z,1613617200.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:01.371Z,1613617201.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:02.224Z,1613617202.224 [Micromodem](INFO): Nmea in: $SNTTA,0.111444,,,,030001.00*47 2021-02-18T03:00:02.303Z,1613617202.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.800003 m, bearing: 197.553072 deg, deltaT: 4.391455 s, approachRate: -1.407280 m/s, LOS rate: -1.479766 deg/s, posRepo size: 4 2021-02-18T03:00:02.305Z,1613617202.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.800003 m, bearing: 197.553072 deg, approachRate: -1.407280 m/s, LOS rate: -1.479766 deg/s, cmd update: -5.919062 deg/s, cmd heading: 228.675790 deg, new cmd heading: 232.480464 deg. 2021-02-18T03:00:04.631Z,1613617204.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:05.410Z,1613617205.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:05.813Z,1613617205.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:06.643Z,1613617206.643 [Micromodem](INFO): Nmea in: $SNTTA,0.109409,,,,030005.44*43 2021-02-18T03:00:06.662Z,1613617206.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.860001 m, bearing: 195.706312 deg, deltaT: 4.496934 s, approachRate: -0.653779 m/s, LOS rate: -0.410671 deg/s, posRepo size: 4 2021-02-18T03:00:06.664Z,1613617206.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.860001 m, bearing: 195.706312 deg, approachRate: -0.653779 m/s, LOS rate: -0.410671 deg/s, cmd update: -1.642684 deg/s, cmd heading: 202.053457 deg, new cmd heading: 199.880841 deg. 2021-02-18T03:00:09.079Z,1613617209.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:09.853Z,1613617209.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:10.268Z,1613617210.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:10.304Z,1613617210.304 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T03:00:11.080Z,1613617211.080 [Micromodem](INFO): Nmea in: $SNTTA,0.107488,,,,030009.88*48 2021-02-18T03:00:11.104Z,1613617211.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.860001 m, bearing: 193.680491 deg, deltaT: 4.415127 s, approachRate: -0.679482 m/s, LOS rate: -0.458836 deg/s, posRepo size: 4 2021-02-18T03:00:11.106Z,1613617211.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.860001 m, bearing: 193.680491 deg, approachRate: -0.679482 m/s, LOS rate: -0.458836 deg/s, cmd update: -1.835345 deg/s, cmd heading: 194.836360 deg, new cmd heading: 194.154176 deg. 2021-02-18T03:00:13.509Z,1613617213.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:14.292Z,1613617214.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:14.698Z,1613617214.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:15.520Z,1613617215.520 [Micromodem](INFO): Nmea in: $SNTTA,0.105383,,,,030014.32*4B 2021-02-18T03:00:15.545Z,1613617215.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.859985 m, bearing: 194.487629 deg, deltaT: 4.438021 s, approachRate: -0.675980 m/s, LOS rate: 0.181869 deg/s, posRepo size: 4 2021-02-18T03:00:15.546Z,1613617215.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.859985 m, bearing: 194.487629 deg, approachRate: -0.675980 m/s, LOS rate: 0.181869 deg/s, cmd update: 0.727475 deg/s, cmd heading: 186.658231 deg, new cmd heading: 185.923893 deg. 2021-02-18T03:00:17.978Z,1613617217.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:18.737Z,1613617218.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:19.144Z,1613617219.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:19.976Z,1613617219.976 [Micromodem](INFO): Nmea in: $SNTTA,0.103411,,,,030018.77*4C 2021-02-18T03:00:20.068Z,1613617220.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.860016 m, bearing: 195.595089 deg, deltaT: 4.449432 s, approachRate: -0.674236 m/s, LOS rate: 0.248899 deg/s, posRepo size: 4 2021-02-18T03:00:20.070Z,1613617220.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.860016 m, bearing: 195.595089 deg, approachRate: -0.674236 m/s, LOS rate: 0.248899 deg/s, cmd update: 0.995597 deg/s, cmd heading: 189.895056 deg, new cmd heading: 190.239958 deg. 2021-02-18T03:00:22.426Z,1613617222.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:23.188Z,1613617223.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:23.586Z,1613617223.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:24.412Z,1613617224.412 [Micromodem](INFO): Nmea in: $SNTTA,0.101349,,,,030023.22*4C 2021-02-18T03:00:24.461Z,1613617224.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.739990 m, bearing: 197.986079 deg, deltaT: 4.454757 s, approachRate: -0.700381 m/s, LOS rate: 0.536727 deg/s, posRepo size: 4 2021-02-18T03:00:24.469Z,1613617224.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.739990 m, bearing: 197.986079 deg, approachRate: -0.700381 m/s, LOS rate: 0.536727 deg/s, cmd update: 2.146909 deg/s, cmd heading: 194.334203 deg, new cmd heading: 194.740622 deg. 2021-02-18T03:00:26.833Z,1613617226.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:27.635Z,1613617227.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:28.030Z,1613617228.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:28.860Z,1613617228.860 [Micromodem](INFO): Nmea in: $SNTTA,0.099260,,,,030027.67*43 2021-02-18T03:00:28.898Z,1613617228.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.620010 m, bearing: 198.449671 deg, deltaT: 4.442678 s, approachRate: -0.702275 m/s, LOS rate: 0.104350 deg/s, posRepo size: 4 2021-02-18T03:00:28.900Z,1613617228.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.620010 m, bearing: 198.449671 deg, approachRate: -0.702275 m/s, LOS rate: 0.104350 deg/s, cmd update: 0.417399 deg/s, cmd heading: 203.863260 deg, new cmd heading: 204.737120 deg. 2021-02-18T03:00:31.309Z,1613617231.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:32.073Z,1613617232.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:32.474Z,1613617232.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:33.300Z,1613617233.300 [Micromodem](INFO): Nmea in: $SNTTA,0.097026,,,,030032.10*49 2021-02-18T03:00:33.356Z,1613617233.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.260010 m, bearing: 196.338610 deg, deltaT: 4.436091 s, approachRate: -0.757424 m/s, LOS rate: -0.475883 deg/s, posRepo size: 4 2021-02-18T03:00:33.358Z,1613617233.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.260010 m, bearing: 196.338610 deg, approachRate: -0.757424 m/s, LOS rate: -0.475883 deg/s, cmd update: -1.903533 deg/s, cmd heading: 205.716043 deg, new cmd heading: 205.893876 deg. 2021-02-18T03:00:35.736Z,1613617235.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:36.529Z,1613617236.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:36.924Z,1613617236.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:37.752Z,1613617237.752 [Micromodem](INFO): Nmea in: $SNTTA,0.094904,,,,030036.56*45 2021-02-18T03:00:37.775Z,1613617237.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.139999 m, bearing: 197.808207 deg, deltaT: 4.452966 s, approachRate: -0.700659 m/s, LOS rate: 0.330027 deg/s, posRepo size: 4 2021-02-18T03:00:37.777Z,1613617237.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.139999 m, bearing: 197.808207 deg, approachRate: -0.700659 m/s, LOS rate: 0.330027 deg/s, cmd update: 1.320106 deg/s, cmd heading: 197.275926 deg, new cmd heading: 196.494097 deg. 2021-02-18T03:00:40.182Z,1613617240.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:40.960Z,1613617240.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:41.362Z,1613617241.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:42.192Z,1613617242.192 [Micromodem](INFO): Nmea in: $SNTTA,0.092805,,,,030040.99*41 2021-02-18T03:00:42.246Z,1613617242.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.020004 m, bearing: 197.991884 deg, deltaT: 4.396614 s, approachRate: -0.709636 m/s, LOS rate: 0.041777 deg/s, posRepo size: 4 2021-02-18T03:00:42.261Z,1613617242.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.020004 m, bearing: 197.991884 deg, approachRate: -0.709636 m/s, LOS rate: 0.041777 deg/s, cmd update: 0.167108 deg/s, cmd heading: 203.106786 deg, new cmd heading: 203.709652 deg. 2021-02-18T03:00:44.656Z,1613617244.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:45.400Z,1613617245.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:45.806Z,1613617245.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:46.632Z,1613617246.632 [Micromodem](INFO): Nmea in: $SNTTA,0.090373,,,,030045.43*4B 2021-02-18T03:00:46.656Z,1613617246.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.360001 m, bearing: 197.068880 deg, deltaT: 4.515579 s, approachRate: -0.810528 m/s, LOS rate: -0.204404 deg/s, posRepo size: 4 2021-02-18T03:00:46.658Z,1613617246.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.360001 m, bearing: 197.068880 deg, approachRate: -0.810528 m/s, LOS rate: -0.204404 deg/s, cmd update: -0.817618 deg/s, cmd heading: 203.860625 deg, new cmd heading: 203.921471 deg. 2021-02-18T03:00:49.074Z,1613617249.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:49.846Z,1613617249.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:50.274Z,1613617250.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:51.072Z,1613617251.072 [Micromodem](INFO): Nmea in: $SNTTA,,,,,030049.87*5F 2021-02-18T03:00:51.110Z,1613617251.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.360001 m, bearing: 196.908043 deg, deltaT: 4.395339 s, approachRate: -0.682541 m/s, LOS rate: -0.036593 deg/s, posRepo size: 4 2021-02-18T03:00:51.112Z,1613617251.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.360001 m, bearing: 196.908043 deg, approachRate: -0.682541 m/s, LOS rate: -0.036593 deg/s, cmd update: -0.146371 deg/s, cmd heading: 200.266467 deg, new cmd heading: 199.921293 deg. 2021-02-18T03:00:53.520Z,1613617253.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:54.289Z,1613617254.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:54.694Z,1613617254.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:55.520Z,1613617255.520 [Micromodem](INFO): Nmea in: $SNTTA,0.085984,,,,030054.32*4B 2021-02-18T03:00:55.545Z,1613617255.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.880005 m, bearing: 200.273113 deg, deltaT: 4.461106 s, approachRate: -0.780075 m/s, LOS rate: 0.754313 deg/s, posRepo size: 4 2021-02-18T03:00:55.546Z,1613617255.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.880005 m, bearing: 200.273113 deg, approachRate: -0.780075 m/s, LOS rate: 0.754313 deg/s, cmd update: 3.017252 deg/s, cmd heading: 199.613514 deg, new cmd heading: 199.555578 deg. 2021-02-18T03:00:57.952Z,1613617257.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:00:58.749Z,1613617258.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:00:59.137Z,1613617259.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:00:59.988Z,1613617259.988 [Micromodem](INFO): Nmea in: $SNTTA,0.083882,,,,030058.78*48 2021-02-18T03:01:00.059Z,1613617260.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.639999 m, bearing: 199.846909 deg, deltaT: 4.436734 s, approachRate: -0.730268 m/s, LOS rate: -0.096063 deg/s, posRepo size: 4 2021-02-18T03:01:00.061Z,1613617260.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.639999 m, bearing: 199.846909 deg, approachRate: -0.730268 m/s, LOS rate: -0.096063 deg/s, cmd update: -0.384250 deg/s, cmd heading: 213.000838 deg, new cmd heading: 214.428210 deg. 2021-02-18T03:01:02.408Z,1613617262.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:01:03.185Z,1613617263.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:01:03.582Z,1613617263.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:01:04.428Z,1613617264.428 [Micromodem](INFO): Nmea in: $SNTTA,0.081642,,,,030103.22*48 2021-02-18T03:01:04.467Z,1613617264.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.220009 m, bearing: 198.233769 deg, deltaT: 4.514961 s, approachRate: -0.757480 m/s, LOS rate: -0.357288 deg/s, posRepo size: 4 2021-02-18T03:01:04.469Z,1613617264.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.220009 m, bearing: 198.233769 deg, approachRate: -0.757480 m/s, LOS rate: -0.357288 deg/s, cmd update: -1.429151 deg/s, cmd heading: 211.264471 deg, new cmd heading: 211.125314 deg. 2021-02-18T03:01:06.873Z,1613617266.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:01:07.620Z,1613617267.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:01:08.032Z,1613617268.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:01:08.863Z,1613617268.863 [Micromodem](INFO): Nmea in: $SNTTA,0.079612,,,,030107.65*4D 2021-02-18T03:01:08.882Z,1613617268.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.160011 m, bearing: 197.390240 deg, deltaT: 4.362898 s, approachRate: -0.701368 m/s, LOS rate: -0.193341 deg/s, posRepo size: 4 2021-02-18T03:01:08.884Z,1613617268.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.160011 m, bearing: 197.390240 deg, approachRate: -0.701368 m/s, LOS rate: -0.193341 deg/s, cmd update: -0.773365 deg/s, cmd heading: 205.029214 deg, new cmd heading: 204.436800 deg. 2021-02-18T03:01:11.310Z,1613617271.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:01:12.066Z,1613617272.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:01:12.471Z,1613617272.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:01:13.312Z,1613617273.312 [Micromodem](INFO): Nmea in: $SNTTA,0.077385,,,,030112.10*4E 2021-02-18T03:01:13.345Z,1613617273.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.919998 m, bearing: 198.385221 deg, deltaT: 4.438821 s, approachRate: -0.729927 m/s, LOS rate: 0.224154 deg/s, posRepo size: 4 2021-02-18T03:01:13.367Z,1613617273.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.919998 m, bearing: 198.385221 deg, approachRate: -0.729927 m/s, LOS rate: 0.224154 deg/s, cmd update: 0.896617 deg/s, cmd heading: 201.599574 deg, new cmd heading: 201.256862 deg. 2021-02-18T03:01:15.735Z,1613617275.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:01:16.508Z,1613617276.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:01:16.916Z,1613617276.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:01:17.747Z,1613617277.747 [Micromodem](INFO): Nmea in: $SNTTA,0.075248,,,,030116.54*48 2021-02-18T03:01:17.766Z,1613617277.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.680000 m, bearing: 199.013257 deg, deltaT: 4.457111 s, approachRate: -0.726928 m/s, LOS rate: 0.140906 deg/s, posRepo size: 4 2021-02-18T03:01:17.768Z,1613617277.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.680000 m, bearing: 199.013257 deg, approachRate: -0.726928 m/s, LOS rate: 0.140906 deg/s, cmd update: 0.563626 deg/s, cmd heading: 205.599430 deg, new cmd heading: 205.960689 deg. 2021-02-18T03:01:20.186Z,1613617280.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:01:20.956Z,1613617280.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:01:21.359Z,1613617281.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:01:22.180Z,1613617282.180 [Micromodem](INFO): Nmea in: $SNTTA,0.073180,,,,030120.98*4C 2021-02-18T03:01:22.262Z,1613617282.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.680000 m, bearing: 198.531811 deg, deltaT: 4.427311 s, approachRate: -0.677612 m/s, LOS rate: -0.108745 deg/s, posRepo size: 4 2021-02-18T03:01:22.268Z,1613617282.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.680000 m, bearing: 198.531811 deg, approachRate: -0.677612 m/s, LOS rate: -0.108745 deg/s, cmd update: -0.434979 deg/s, cmd heading: 208.094744 deg, new cmd heading: 208.356591 deg. 2021-02-18T03:01:24.619Z,1613617284.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:01:25.401Z,1613617285.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:01:25.803Z,1613617285.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:01:26.628Z,1613617286.628 [Micromodem](INFO): Nmea in: $SNTTA,0.070976,,,,030125.43*4D 2021-02-18T03:01:26.666Z,1613617286.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.260002 m, bearing: 197.053553 deg, deltaT: 4.501447 s, approachRate: -0.759755 m/s, LOS rate: -0.328396 deg/s, posRepo size: 4 2021-02-18T03:01:26.668Z,1613617286.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.260002 m, bearing: 197.053553 deg, approachRate: -0.759755 m/s, LOS rate: -0.328396 deg/s, cmd update: -1.313585 deg/s, cmd heading: 206.140292 deg, new cmd heading: 205.974048 deg. 2021-02-18T03:01:29.058Z,1613617289.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:01:29.840Z,1613617289.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:01:30.272Z,1613617290.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:01:31.072Z,1613617291.072 [Micromodem](INFO): Nmea in: $SNTTA,0.068881,,0.073644,,030129.87*55 2021-02-18T03:01:31.114Z,1613617291.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.079994 m, bearing: 196.749009 deg, deltaT: 4.382647 s, approachRate: -0.725591 m/s, LOS rate: -0.069489 deg/s, posRepo size: 4 2021-02-18T03:01:31.116Z,1613617291.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.079994 m, bearing: 196.749009 deg, approachRate: -0.725591 m/s, LOS rate: -0.069489 deg/s, cmd update: -0.277955 deg/s, cmd heading: 200.387978 deg, new cmd heading: 199.795082 deg. 2021-02-18T03:01:33.509Z,1613617293.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:01:34.284Z,1613617294.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:01:34.690Z,1613617294.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:01:35.517Z,1613617295.517 [Micromodem](INFO): Nmea in: $SNTTA,0.066658,,,,030134.31*4C 2021-02-18T03:01:35.562Z,1613617295.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.840004 m, bearing: 200.684140 deg, deltaT: 4.465813 s, approachRate: -0.725510 m/s, LOS rate: 0.881168 deg/s, posRepo size: 4 2021-02-18T03:01:35.564Z,1613617295.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.840004 m, bearing: 200.684140 deg, approachRate: -0.725510 m/s, LOS rate: 0.881168 deg/s, cmd update: 3.524672 deg/s, cmd heading: 199.144431 deg, new cmd heading: 199.026147 deg. 2021-02-18T03:01:37.948Z,1613617297.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:01:38.733Z,1613617298.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:01:39.139Z,1613617299.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:01:39.960Z,1613617299.960 [Micromodem](INFO): Nmea in: $SNTTA,0.064570,,,,030138.76*48 2021-02-18T03:01:40.020Z,1613617300.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.720001 m, bearing: 200.054602 deg, deltaT: 4.445163 s, approachRate: -0.701887 m/s, LOS rate: -0.141623 deg/s, posRepo size: 4 2021-02-18T03:01:40.022Z,1613617300.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.720001 m, bearing: 200.054602 deg, approachRate: -0.701887 m/s, LOS rate: -0.141623 deg/s, cmd update: -0.566493 deg/s, cmd heading: 214.812204 deg, new cmd heading: 216.353536 deg. 2021-02-18T03:01:42.416Z,1613617302.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:01:43.179Z,1613617303.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:01:43.579Z,1613617303.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:01:44.411Z,1613617304.411 [Micromodem](INFO): Nmea in: $SNTTA,0.062450,,,,030143.21*43 2021-02-18T03:01:44.436Z,1613617304.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.419998 m, bearing: 196.223139 deg, deltaT: 4.483425 s, approachRate: -0.736045 m/s, LOS rate: -0.854584 deg/s, posRepo size: 4 2021-02-18T03:01:44.438Z,1613617304.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.419998 m, bearing: 196.223139 deg, approachRate: -0.736045 m/s, LOS rate: -0.854584 deg/s, cmd update: -3.418336 deg/s, cmd heading: 212.270227 deg, new cmd heading: 212.062739 deg. 2021-02-18T03:01:46.839Z,1613617306.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:01:47.616Z,1613617307.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:01:48.028Z,1613617308.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:01:48.844Z,1613617308.844 [Micromodem](INFO): Nmea in: $SNTTA,0.060352,,,,030147.65*40 2021-02-18T03:01:48.885Z,1613617308.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.360001 m, bearing: 196.971987 deg, deltaT: 4.396620 s, approachRate: -0.695989 m/s, LOS rate: 0.170324 deg/s, posRepo size: 4 2021-02-18T03:01:48.887Z,1613617308.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.360001 m, bearing: 196.971987 deg, approachRate: -0.695989 m/s, LOS rate: 0.170324 deg/s, cmd update: 0.681295 deg/s, cmd heading: 197.240536 deg, new cmd heading: 195.806842 deg. 2021-02-18T03:01:51.314Z,1613617311.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:01:52.065Z,1613617312.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:01:52.482Z,1613617312.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:01:53.292Z,1613617313.292 [Micromodem](INFO): Nmea in: $SNTTA,0.058262,,,,030152.09*47 2021-02-18T03:01:53.340Z,1613617313.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.180008 m, bearing: 200.814624 deg, deltaT: 4.428053 s, approachRate: -0.718147 m/s, LOS rate: 0.867794 deg/s, posRepo size: 4 2021-02-18T03:01:53.342Z,1613617313.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.180008 m, bearing: 200.814624 deg, approachRate: -0.718147 m/s, LOS rate: 0.867794 deg/s, cmd update: 3.471175 deg/s, cmd heading: 200.249196 deg, new cmd heading: 200.561506 deg. 2021-02-18T03:01:55.712Z,1613617315.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:01:56.504Z,1613617316.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:01:56.924Z,1613617316.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:01:57.734Z,1613617317.734 [Micromodem](INFO): Nmea in: $SNTTA,0.056115,,,,030156.53*41 2021-02-18T03:01:57.788Z,1613617317.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.000000 m, bearing: 200.232077 deg, deltaT: 4.478568 s, approachRate: -0.710050 m/s, LOS rate: -0.130074 deg/s, posRepo size: 4 2021-02-18T03:01:57.791Z,1613617317.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.000000 m, bearing: 200.232077 deg, approachRate: -0.710050 m/s, LOS rate: -0.130074 deg/s, cmd update: -0.520297 deg/s, cmd heading: 215.836679 deg, new cmd heading: 217.262319 deg. 2021-02-18T03:02:00.174Z,1613617320.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:00.958Z,1613617320.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:01.360Z,1613617321.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:02.184Z,1613617322.184 [Micromodem](INFO): Nmea in: $SNTTA,0.054077,,,,030200.99*40 2021-02-18T03:02:02.264Z,1613617322.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.000008 m, bearing: 196.366040 deg, deltaT: 4.402753 s, approachRate: -0.681390 m/s, LOS rate: -0.878095 deg/s, posRepo size: 4 2021-02-18T03:02:02.265Z,1613617322.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.000008 m, bearing: 196.366040 deg, approachRate: -0.681390 m/s, LOS rate: -0.878095 deg/s, cmd update: -3.512382 deg/s, cmd heading: 213.545988 deg, new cmd heading: 213.294005 deg. 2021-02-18T03:02:04.280Z,1613617324.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:05.016Z,1613617325.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:05.405Z,1613617325.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:06.248Z,1613617326.248 [Micromodem](INFO): Nmea in: $SNTTA,0.051990,,,,030205.05*45 2021-02-18T03:02:06.305Z,1613617326.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.820000 m, bearing: 196.099881 deg, deltaT: 4.051109 s, approachRate: -0.784972 m/s, LOS rate: -0.065700 deg/s, posRepo size: 4 2021-02-18T03:02:06.306Z,1613617326.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.820000 m, bearing: 196.099881 deg, approachRate: -0.784972 m/s, LOS rate: -0.065700 deg/s, cmd update: -0.262801 deg/s, cmd heading: 199.372875 deg, new cmd heading: 197.636923 deg. 2021-02-18T03:02:08.638Z,1613617328.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:09.445Z,1613617329.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:09.838Z,1613617329.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:10.672Z,1613617330.672 [Micromodem](INFO): Nmea in: $SNTTA,0.049952,,,,030209.47*48 2021-02-18T03:02:10.694Z,1613617330.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.760002 m, bearing: 200.186260 deg, deltaT: 4.498376 s, approachRate: -0.680245 m/s, LOS rate: 0.908412 deg/s, posRepo size: 4 2021-02-18T03:02:10.716Z,1613617330.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.760002 m, bearing: 200.186260 deg, approachRate: -0.680245 m/s, LOS rate: 0.908412 deg/s, cmd update: 3.633648 deg/s, cmd heading: 198.187528 deg, new cmd heading: 198.089397 deg. 2021-02-18T03:02:13.106Z,1613617333.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:13.881Z,1613617333.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:14.282Z,1613617334.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:15.128Z,1613617335.128 [Micromodem](INFO): Nmea in: $SNTTA,0.047763,,,,030213.91*4A 2021-02-18T03:02:15.167Z,1613617335.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.460007 m, bearing: 199.484554 deg, deltaT: 4.400633 s, approachRate: -0.749891 m/s, LOS rate: -0.159456 deg/s, posRepo size: 4 2021-02-18T03:02:15.169Z,1613617335.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.460007 m, bearing: 199.484554 deg, approachRate: -0.749891 m/s, LOS rate: -0.159456 deg/s, cmd update: -0.637823 deg/s, cmd heading: 214.170406 deg, new cmd heading: 215.796376 deg. 2021-02-18T03:02:17.546Z,1613617337.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:18.320Z,1613617338.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:18.732Z,1613617338.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:19.559Z,1613617339.559 [Micromodem](INFO): Nmea in: $SNTTA,0.045541,,,,030218.35*4F 2021-02-18T03:02:19.583Z,1613617339.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.099998 m, bearing: 197.738034 deg, deltaT: 4.449711 s, approachRate: -0.755107 m/s, LOS rate: -0.392502 deg/s, posRepo size: 4 2021-02-18T03:02:19.585Z,1613617339.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.099998 m, bearing: 197.738034 deg, approachRate: -0.755107 m/s, LOS rate: -0.392502 deg/s, cmd update: -1.570008 deg/s, cmd heading: 211.328432 deg, new cmd heading: 211.068130 deg. 2021-02-18T03:02:22.015Z,1613617342.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:22.764Z,1613617342.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:23.170Z,1613617343.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:24.019Z,1613617344.019 [Micromodem](INFO): Nmea in: $SNTTA,0.043533,,,,030222.79*4D 2021-02-18T03:02:24.043Z,1613617344.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.040001 m, bearing: 197.082335 deg, deltaT: 4.436478 s, approachRate: -0.689736 m/s, LOS rate: -0.147797 deg/s, posRepo size: 4 2021-02-18T03:02:24.045Z,1613617344.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.040001 m, bearing: 197.082335 deg, approachRate: -0.689736 m/s, LOS rate: -0.147797 deg/s, cmd update: -0.591188 deg/s, cmd heading: 204.369791 deg, new cmd heading: 203.685676 deg. 2021-02-18T03:02:26.446Z,1613617346.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:27.212Z,1613617347.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:27.614Z,1613617347.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:28.440Z,1613617348.440 [Micromodem](INFO): Nmea in: $SNTTA,0.041407,,,,030227.24*44 2021-02-18T03:02:28.493Z,1613617348.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.860001 m, bearing: 197.976298 deg, deltaT: 4.465052 s, approachRate: -0.712198 m/s, LOS rate: 0.200213 deg/s, posRepo size: 4 2021-02-18T03:02:28.500Z,1613617348.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.860001 m, bearing: 197.976298 deg, approachRate: -0.712198 m/s, LOS rate: 0.200213 deg/s, cmd update: 0.800853 deg/s, cmd heading: 201.730004 deg, new cmd heading: 201.481587 deg. 2021-02-18T03:02:30.859Z,1613617350.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:31.656Z,1613617351.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:32.058Z,1613617352.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:32.884Z,1613617352.884 [Micromodem](INFO): Nmea in: $SNTTA,0.039291,,,,030231.69*4C 2021-02-18T03:02:32.921Z,1613617352.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.680004 m, bearing: 199.129767 deg, deltaT: 4.431727 s, approachRate: -0.717552 m/s, LOS rate: 0.260275 deg/s, posRepo size: 4 2021-02-18T03:02:32.924Z,1613617352.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.680004 m, bearing: 199.129767 deg, approachRate: -0.717552 m/s, LOS rate: 0.260275 deg/s, cmd update: 1.041101 deg/s, cmd heading: 205.279208 deg, new cmd heading: 205.613292 deg. 2021-02-18T03:02:35.348Z,1613617355.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:36.102Z,1613617356.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:36.508Z,1613617356.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:37.336Z,1613617357.336 [Micromodem](INFO): Nmea in: $SNTTA,0.037042,,,,030236.13*44 2021-02-18T03:02:37.370Z,1613617357.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.379993 m, bearing: 197.966271 deg, deltaT: 4.429433 s, approachRate: -0.745019 m/s, LOS rate: -0.262674 deg/s, posRepo size: 4 2021-02-18T03:02:37.372Z,1613617357.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.379993 m, bearing: 197.966271 deg, approachRate: -0.745019 m/s, LOS rate: -0.262674 deg/s, cmd update: -1.050695 deg/s, cmd heading: 209.890703 deg, new cmd heading: 210.344840 deg. 2021-02-18T03:02:39.747Z,1613617359.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:40.540Z,1613617360.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:40.587Z,1613617360.587 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T03:02:40.959Z,1613617360.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:41.779Z,1613617361.779 [Micromodem](INFO): Nmea in: $SNTTA,0.035032,,,,030240.57*40 2021-02-18T03:02:41.798Z,1613617361.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.440002 m, bearing: 198.192897 deg, deltaT: 4.456290 s, approachRate: -0.659740 m/s, LOS rate: 0.050855 deg/s, posRepo size: 4 2021-02-18T03:02:41.800Z,1613617361.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.440002 m, bearing: 198.192897 deg, approachRate: -0.659740 m/s, LOS rate: 0.050855 deg/s, cmd update: 0.203421 deg/s, cmd heading: 205.204289 deg, new cmd heading: 204.779871 deg. 2021-02-18T03:02:44.256Z,1613617364.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:45.015Z,1613617365.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:45.390Z,1613617365.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:46.249Z,1613617366.249 [Micromodem](INFO): Nmea in: $SNTTA,0.032800,,0.060561,,030245.04*57 2021-02-18T03:02:46.318Z,1613617366.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.019997 m, bearing: 198.710284 deg, deltaT: 4.420683 s, approachRate: -0.773637 m/s, LOS rate: 0.117038 deg/s, posRepo size: 4 2021-02-18T03:02:46.324Z,1613617366.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.019997 m, bearing: 198.710284 deg, approachRate: -0.773637 m/s, LOS rate: 0.117038 deg/s, cmd update: 0.468151 deg/s, cmd heading: 206.101889 deg, new cmd heading: 206.205849 deg. 2021-02-18T03:02:48.689Z,1613617368.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:49.428Z,1613617369.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:49.834Z,1613617369.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:50.660Z,1613617370.660 [Micromodem](INFO): Nmea in: $SNTTA,0.030761,,,,030249.46*4D 2021-02-18T03:02:50.682Z,1613617370.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.959999 m, bearing: 199.250033 deg, deltaT: 4.510229 s, approachRate: -0.678457 m/s, LOS rate: 0.119672 deg/s, posRepo size: 4 2021-02-18T03:02:50.704Z,1613617370.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.959999 m, bearing: 199.250033 deg, approachRate: -0.678457 m/s, LOS rate: 0.119672 deg/s, cmd update: 0.478689 deg/s, cmd heading: 208.211527 deg, new cmd heading: 208.384395 deg. 2021-02-18T03:02:53.105Z,1613617373.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:53.897Z,1613617373.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:54.283Z,1613617374.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:55.114Z,1613617375.114 [Micromodem](INFO): Nmea in: $SNTTA,0.028494,,,,030253.93*4E 2021-02-18T03:02:55.202Z,1613617375.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.840000 m, bearing: 198.491718 deg, deltaT: 4.369183 s, approachRate: -0.714092 m/s, LOS rate: -0.173560 deg/s, posRepo size: 4 2021-02-18T03:02:55.208Z,1613617375.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.840000 m, bearing: 198.491718 deg, approachRate: -0.714092 m/s, LOS rate: -0.173560 deg/s, cmd update: -0.694240 deg/s, cmd heading: 210.308762 deg, new cmd heading: 210.541355 deg. 2021-02-18T03:02:57.549Z,1613617377.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:02:58.355Z,1613617378.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:02:58.722Z,1613617378.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:02:59.609Z,1613617379.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.419998 m, bearing: 196.703328 deg, deltaT: 4.491012 s, approachRate: -0.761521 m/s, LOS rate: -0.398215 deg/s, posRepo size: 4 2021-02-18T03:02:59.610Z,1613617379.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.42 m. 2021-02-18T03:02:59.616Z,1613617379.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.419998 m, bearing: 196.703328 deg, approachRate: -0.761521 m/s, LOS rate: -0.398215 deg/s, cmd update: -1.592861 deg/s, cmd heading: 207.190935 deg, new cmd heading: 206.896543 deg. 2021-02-18T03:02:59.944Z,1613617379.944 [Micromodem](INFO): Nmea in: $SNTTA,0.026421,,0.042671,,030258.42*51 2021-02-18T03:02:59.946Z,1613617379.946 [PowerOnly](INFO): Powering up loadControl 2021-02-18T03:03:02.025Z,1613617382.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:03:02.760Z,1613617382.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:03:03.167Z,1613617383.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:03:04.024Z,1613617384.024 [Micromodem](INFO): Nmea in: $SNTTA,0.024342,,,0.064537,030302.79*52 2021-02-18T03:03:04.074Z,1613617384.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.299995 m, bearing: 197.406059 deg, deltaT: 4.421987 s, approachRate: -0.705566 m/s, LOS rate: 0.158917 deg/s, posRepo size: 4 2021-02-18T03:03:04.075Z,1613617384.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.30 m. 2021-02-18T03:03:04.079Z,1613617384.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.30 m. 2021-02-18T03:03:04.079Z,1613617384.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T03:03:04.081Z,1613617384.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.299995 m, bearing: 197.406059 deg, approachRate: -0.705566 m/s, LOS rate: 0.158917 deg/s, cmd update: 0.635670 deg/s, cmd heading: 200.147291 deg, new cmd heading: 199.403261 deg. 2021-02-18T03:03:06.428Z,1613617386.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:03:07.210Z,1613617387.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:03:07.609Z,1613617387.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:03:08.436Z,1613617388.436 [Micromodem](INFO): Nmea in: $SNTTA,0.022549,,,,030307.24*49 2021-02-18T03:03:08.481Z,1613617388.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.660000 m, bearing: 201.055607 deg, deltaT: 4.457792 s, approachRate: -0.592220 m/s, LOS rate: 0.818690 deg/s, posRepo size: 4 2021-02-18T03:03:08.483Z,1613617388.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.660000 m, bearing: 201.055607 deg, approachRate: -0.592220 m/s, LOS rate: 0.818690 deg/s, cmd update: 3.274758 deg/s, cmd heading: 202.978489 deg, new cmd heading: 203.245353 deg. 2021-02-18T03:03:10.865Z,1613617390.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:03:11.648Z,1613617391.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:03:12.054Z,1613617392.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:03:12.876Z,1613617392.876 [Micromodem](INFO): Nmea in: $SNTTA,0.020088,,,,030311.68*4C 2021-02-18T03:03:12.918Z,1613617392.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.939999 m, bearing: 199.625679 deg, deltaT: 4.448857 s, approachRate: -0.836170 m/s, LOS rate: -0.321415 deg/s, posRepo size: 4 2021-02-18T03:03:12.924Z,1613617392.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.939999 m, bearing: 199.625679 deg, approachRate: -0.836170 m/s, LOS rate: -0.321415 deg/s, cmd update: -1.285658 deg/s, cmd heading: 217.547275 deg, new cmd heading: 218.884133 deg. 2021-02-18T03:03:15.336Z,1613617395.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:03:16.093Z,1613617396.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:03:16.497Z,1613617396.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:03:17.344Z,1613617397.344 [Micromodem](INFO): Nmea in: $SNTTA,0.018106,,,,030316.12*4A 2021-02-18T03:03:17.378Z,1613617397.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.760000 m, bearing: 194.192810 deg, deltaT: 4.400232 s, approachRate: -0.722689 m/s, LOS rate: -1.234678 deg/s, posRepo size: 4 2021-02-18T03:03:17.380Z,1613617397.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.760000 m, bearing: 194.192810 deg, approachRate: -0.722689 m/s, LOS rate: -1.234678 deg/s, cmd update: -4.938711 deg/s, cmd heading: 211.885068 deg, new cmd heading: 211.288412 deg. 2021-02-18T03:03:19.744Z,1613617399.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:03:20.541Z,1613617400.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:03:20.954Z,1613617400.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:03:21.768Z,1613617401.768 [Micromodem](INFO): Nmea in: $SNTTA,0.016510,,,,030320.57*43 2021-02-18T03:03:21.801Z,1613617401.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.939999 m, bearing: 195.656902 deg, deltaT: 4.479143 s, approachRate: -0.629585 m/s, LOS rate: 0.326869 deg/s, posRepo size: 4 2021-02-18T03:03:21.803Z,1613617401.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.939999 m, bearing: 195.656902 deg, approachRate: -0.629585 m/s, LOS rate: 0.326869 deg/s, cmd update: 1.307475 deg/s, cmd heading: 189.763484 deg, new cmd heading: 187.747359 deg. 2021-02-18T03:03:24.202Z,1613617404.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:03:25.014Z,1613617405.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:03:25.408Z,1613617405.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:03:26.232Z,1613617406.232 [Micromodem](INFO): Nmea in: $SNTTA,0.014042,,,,030325.04*40 2021-02-18T03:03:26.294Z,1613617406.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.879999 m, bearing: 199.903900 deg, deltaT: 4.428246 s, approachRate: -0.691018 m/s, LOS rate: 0.959070 deg/s, posRepo size: 4 2021-02-18T03:03:26.296Z,1613617406.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.879999 m, bearing: 199.903900 deg, approachRate: -0.691018 m/s, LOS rate: 0.959070 deg/s, cmd update: 3.836280 deg/s, cmd heading: 195.553351 deg, new cmd heading: 196.170844 deg. 2021-02-18T03:03:28.637Z,1613617408.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:03:29.436Z,1613617409.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:03:29.830Z,1613617409.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:03:30.660Z,1613617410.660 [Micromodem](INFO): Nmea in: $SNTTA,0.012075,,,,030329.47*49 2021-02-18T03:03:30.706Z,1613617410.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.820002 m, bearing: 202.477024 deg, deltaT: 4.485013 s, approachRate: -0.682272 m/s, LOS rate: 0.573716 deg/s, posRepo size: 4 2021-02-18T03:03:30.712Z,1613617410.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.820002 m, bearing: 202.477024 deg, approachRate: -0.682272 m/s, LOS rate: 0.573716 deg/s, cmd update: 2.294864 deg/s, cmd heading: 212.758583 deg, new cmd heading: 214.293080 deg. 2021-02-18T03:03:33.086Z,1613617413.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:03:33.873Z,1613617413.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:03:34.281Z,1613617414.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:03:35.100Z,1613617415.100 [Micromodem](INFO): Nmea in: $SNTTA,0.009964,,0.041951,,030333.90*5D 2021-02-18T03:03:35.145Z,1613617415.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.700000 m, bearing: 198.792984 deg, deltaT: 4.396394 s, approachRate: -0.709673 m/s, LOS rate: -0.837969 deg/s, posRepo size: 4 2021-02-18T03:03:35.180Z,1613617415.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.700000 m, bearing: 198.792984 deg, approachRate: -0.709673 m/s, LOS rate: -0.837969 deg/s, cmd update: -3.351874 deg/s, cmd heading: 222.838421 deg, new cmd heading: 223.850071 deg. 2021-02-18T03:03:37.538Z,1613617417.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:03:38.312Z,1613617418.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:03:38.718Z,1613617418.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:03:39.545Z,1613617419.545 [Micromodem](INFO): Nmea in: $SNTTA,0.008897,,,,030338.34*42 2021-02-18T03:03:39.593Z,1613617419.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.139999 m, bearing: 201.999675 deg, deltaT: 4.465719 s, approachRate: -0.349328 m/s, LOS rate: 0.718068 deg/s, posRepo size: 4 2021-02-18T03:03:39.595Z,1613617419.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.139999 m, bearing: 201.999675 deg, approachRate: -0.349328 m/s, LOS rate: 0.718068 deg/s, cmd update: 2.872274 deg/s, cmd heading: 207.884831 deg, new cmd heading: 206.431774 deg. 2021-02-18T03:03:42.010Z,1613617422.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:03:42.758Z,1613617422.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:03:43.167Z,1613617423.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:03:44.016Z,1613617424.016 [Micromodem](INFO): Nmea in: $SNTTA,0.007191,,,,030342.79*46 2021-02-18T03:03:44.040Z,1613617424.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.359999 m, bearing: 195.728715 deg, deltaT: 4.444184 s, approachRate: -0.850550 m/s, LOS rate: -1.411049 deg/s, posRepo size: 4 2021-02-18T03:03:44.042Z,1613617424.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.359999 m, bearing: 195.728715 deg, approachRate: -0.850550 m/s, LOS rate: -1.411049 deg/s, cmd update: -5.644195 deg/s, cmd heading: 220.662762 deg, new cmd heading: 221.902932 deg. 2021-02-18T03:03:46.417Z,1613617426.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:03:47.213Z,1613617427.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:03:47.611Z,1613617427.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:03:48.437Z,1613617428.437 [Micromodem](INFO): Nmea in: $SNTTA,0.004803,0.046254,,,030347.24*55 2021-02-18T03:03:48.461Z,1613617428.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.960000 m, bearing: 192.257353 deg, deltaT: 4.442842 s, approachRate: -0.540194 m/s, LOS rate: -0.781338 deg/s, posRepo size: 4 2021-02-18T03:03:48.463Z,1613617428.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.960000 m, bearing: 192.257353 deg, approachRate: -0.540194 m/s, LOS rate: -0.781338 deg/s, cmd update: -3.125352 deg/s, cmd heading: 195.563455 deg, new cmd heading: 193.275948 deg. 2021-02-18T03:03:50.871Z,1613617430.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:03:51.644Z,1613617431.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:03:52.058Z,1613617432.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:03:52.872Z,1613617432.872 [Micromodem](INFO): Nmea in: $SNTTA,0.003612,,,,030351.67*43 2021-02-18T03:03:52.910Z,1613617432.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.279998 m, bearing: 189.143607 deg, deltaT: 4.440611 s, approachRate: -0.378327 m/s, LOS rate: -0.701198 deg/s, posRepo size: 4 2021-02-18T03:03:52.912Z,1613617432.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.279998 m, bearing: 189.143607 deg, approachRate: -0.378327 m/s, LOS rate: -0.701198 deg/s, cmd update: -2.804791 deg/s, cmd heading: 181.694629 deg, new cmd heading: 180.390832 deg. 2021-02-18T03:03:55.332Z,1613617435.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:03:56.094Z,1613617436.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:03:56.501Z,1613617436.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:03:57.324Z,1613617437.324 [Micromodem](INFO): Nmea in: $SNTTA,0.002985,,,,030356.12*46 2021-02-18T03:03:57.385Z,1613617437.385 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T03:03:57.385Z,1613617437.385 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T03:03:57.385Z,1613617437.385 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T03:03:57.385Z,1613617437.385 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T03:03:57.385Z,1613617437.385 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T03:03:57.386Z,1613617437.386 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.559999 m 2021-02-18T03:03:57.386Z,1613617437.386 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T03:03:57.386Z,1613617437.386 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T03:03:57.386Z,1613617437.386 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T03:03:57.393Z,1613617437.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 206.019939 deg, deltaT: 4.413932 s, approachRate: -0.163120 m/s, LOS rate: 3.823424 deg/s, posRepo size: 4 2021-02-18T03:03:57.394Z,1613617437.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.559999 m, bearing: 206.019939 deg, approachRate: -0.163120 m/s, LOS rate: 3.823424 deg/s, cmd update: 12.000000 deg/s, cmd heading: 169.305858 deg, new cmd heading: 167.952199 deg. 2021-02-18T03:03:57.755Z,1613617437.755 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T030357: (41.552319, -70.708603) 2021-02-18T03:03:57.755Z,1613617437.755 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T03:03:57.756Z,1613617437.756 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T03:03:57.756Z,1613617437.756 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T03:03:57.756Z,1613617437.756 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T03:03:57.756Z,1613617437.756 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T03:03:57.756Z,1613617437.756 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T03:03:57.756Z,1613617437.756 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T03:03:57.756Z,1613617437.756 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T03:03:59.760Z,1613617439.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:00.532Z,1613617440.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:00.955Z,1613617440.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:01.766Z,1613617441.766 [Micromodem](INFO): Nmea in: $SNTTA,0.003626,,,,030400.56*45 2021-02-18T03:04:01.817Z,1613617441.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.399999 m, bearing: 161.928909 deg, deltaT: 4.521716 s, approachRate: 0.185770 m/s, LOS rate: -9.750951 deg/s, posRepo size: 4 2021-02-18T03:04:01.836Z,1613617441.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.399999 m, bearing: 161.928909 deg, approachRate: 0.185770 m/s, LOS rate: -9.750951 deg/s, cmd update: -12.000000 deg/s, cmd heading: 223.518584 deg, new cmd heading: 228.190160 deg. 2021-02-18T03:04:04.210Z,1613617444.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:05.009Z,1613617445.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:05.382Z,1613617445.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:06.224Z,1613617446.224 [Micromodem](INFO): Nmea in: $SNTTA,0.005023,0.008029,,,030405.04*5F 2021-02-18T03:04:06.302Z,1613617446.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.680000 m, bearing: 171.328383 deg, deltaT: 4.368610 s, approachRate: 0.521905 m/s, LOS rate: 2.151594 deg/s, posRepo size: 4 2021-02-18T03:04:06.308Z,1613617446.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.680000 m, bearing: 171.328383 deg, approachRate: 0.521905 m/s, LOS rate: 2.151594 deg/s, cmd update: 8.606375 deg/s, cmd heading: 171.047563 deg, new cmd heading: 165.032130 deg. 2021-02-18T03:04:08.646Z,1613617448.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:09.426Z,1613617449.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:09.826Z,1613617449.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:10.656Z,1613617450.656 [Micromodem](INFO): Nmea in: $SNTTA,0.006836,,,0.010085,030409.45*56 2021-02-18T03:04:10.702Z,1613617450.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.319998 m, bearing: 195.716940 deg, deltaT: 4.524868 s, approachRate: 0.583442 m/s, LOS rate: 5.389894 deg/s, posRepo size: 4 2021-02-18T03:04:10.704Z,1613617450.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.319998 m, bearing: 195.716940 deg, approachRate: 0.583442 m/s, LOS rate: 5.389894 deg/s, cmd update: 12.000000 deg/s, cmd heading: 209.989764 deg, new cmd heading: 213.228326 deg. 2021-02-18T03:04:13.092Z,1613617453.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:13.864Z,1613617453.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:14.279Z,1613617454.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:15.092Z,1613617455.092 [Micromodem](INFO): Nmea in: $SNTTA,0.008972,,,,030413.89*40 2021-02-18T03:04:15.132Z,1613617455.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.559999 m, bearing: 192.742351 deg, deltaT: 4.395120 s, approachRate: 0.737182 m/s, LOS rate: -0.676793 deg/s, posRepo size: 4 2021-02-18T03:04:15.133Z,1613617455.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.559999 m, bearing: 192.742351 deg, approachRate: 0.737182 m/s, LOS rate: -0.676793 deg/s, cmd update: -2.707174 deg/s, cmd heading: 262.683721 deg, new cmd heading: 267.662989 deg. 2021-02-18T03:04:17.540Z,1613617457.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:18.308Z,1613617458.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:18.722Z,1613617458.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:19.536Z,1613617459.536 [Micromodem](INFO): Nmea in: $SNTTA,0.011467,,,,030418.34*4C 2021-02-18T03:04:19.577Z,1613617459.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.380001 m, bearing: 196.641092 deg, deltaT: 4.443123 s, approachRate: 0.634689 m/s, LOS rate: 0.877477 deg/s, posRepo size: 4 2021-02-18T03:04:19.578Z,1613617459.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.38 m. Rolling out. 2021-02-18T03:04:19.578Z,1613617459.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T03:04:22.010Z,1613617462.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:22.752Z,1613617462.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:23.161Z,1613617463.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:24.008Z,1613617464.008 [Micromodem](INFO): Nmea in: $SNTTA,0.012899,,,,030422.78*43 2021-02-18T03:04:24.073Z,1613617464.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.039999 m, bearing: 187.520344 deg, deltaT: 4.435534 s, approachRate: 0.825154 m/s, LOS rate: -2.056291 deg/s, posRepo size: 4 2021-02-18T03:04:26.429Z,1613617466.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:27.203Z,1613617467.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:27.607Z,1613617467.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:28.428Z,1613617468.428 [Micromodem](INFO): Nmea in: $SNTTA,0.014833,,,,030427.23*4E 2021-02-18T03:04:28.452Z,1613617468.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.499998 m, bearing: 269.086722 deg, deltaT: 4.463153 s, approachRate: 0.551180 m/s, LOS rate: 18.275506 deg/s, posRepo size: 4 2021-02-18T03:04:30.847Z,1613617470.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:31.642Z,1613617471.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:32.055Z,1613617472.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:32.888Z,1613617472.888 [Micromodem](INFO): Nmea in: $SNTTA,0.016180,,,,030431.67*4A 2021-02-18T03:04:32.910Z,1613617472.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.300001 m, bearing: 286.144683 deg, deltaT: 4.434630 s, approachRate: 0.405897 m/s, LOS rate: 3.846535 deg/s, posRepo size: 4 2021-02-18T03:04:34.484Z,1613617474.484 [PowerOnly](INFO): Powering down loadControl 2021-02-18T03:04:35.322Z,1613617475.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:36.094Z,1613617476.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:36.494Z,1613617476.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:37.320Z,1613617477.320 [Micromodem](INFO): Nmea in: $SNTTA,0.017440,,0.038590,,030436.12*5E 2021-02-18T03:04:37.369Z,1613617477.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.219999 m, bearing: 262.637931 deg, deltaT: 4.409738 s, approachRate: 0.435400 m/s, LOS rate: -5.330646 deg/s, posRepo size: 4 2021-02-18T03:04:39.752Z,1613617479.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:40.528Z,1613617480.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:40.935Z,1613617480.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:41.756Z,1613617481.756 [Micromodem](INFO): Nmea in: $SNTTA,0.018650,,,,030440.56*4A 2021-02-18T03:04:41.793Z,1613617481.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.020000 m, bearing: 257.163780 deg, deltaT: 4.492140 s, approachRate: 0.400700 m/s, LOS rate: -1.218606 deg/s, posRepo size: 4 2021-02-18T03:04:44.241Z,1613617484.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:45.007Z,1613617485.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:45.384Z,1613617485.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:46.220Z,1613617486.220 [Micromodem](INFO): Nmea in: $SNTTA,0.020106,,,,030445.04*47 2021-02-18T03:04:46.299Z,1613617486.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.239998 m, bearing: 272.559846 deg, deltaT: 4.401693 s, approachRate: 0.504351 m/s, LOS rate: 3.497760 deg/s, posRepo size: 4 2021-02-18T03:04:48.633Z,1613617488.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:49.416Z,1613617489.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:49.836Z,1613617489.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:50.644Z,1613617490.644 [Micromodem](INFO): Nmea in: $SNTTA,0.021474,,,,030449.45*4F 2021-02-18T03:04:50.684Z,1613617490.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.760002 m, bearing: 293.647509 deg, deltaT: 4.524787 s, approachRate: 0.556933 m/s, LOS rate: 4.660476 deg/s, posRepo size: 4 2021-02-18T03:04:53.078Z,1613617493.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:53.860Z,1613617493.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:54.281Z,1613617494.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:55.088Z,1613617495.088 [Micromodem](INFO): Nmea in: $SNTTA,0.023289,,,,030453.89*42 2021-02-18T03:04:55.140Z,1613617495.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.220001 m, bearing: 250.064509 deg, deltaT: 4.356617 s, approachRate: 0.564658 m/s, LOS rate: -10.003863 deg/s, posRepo size: 4 2021-02-18T03:04:57.540Z,1613617497.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:04:58.312Z,1613617498.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:04:58.710Z,1613617498.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:04:59.536Z,1613617499.536 [Micromodem](INFO): Nmea in: $SNTTA,0.025444,,,,030458.34*4E 2021-02-18T03:04:59.592Z,1613617499.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.220001 m, bearing: 272.956216 deg, deltaT: 4.469689 s, approachRate: 2.013563 m/s, LOS rate: 5.121543 deg/s, posRepo size: 4 2021-02-18T03:05:00.353Z,1613617500.353 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T03:05:01.959Z,1613617501.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:05:02.750Z,1613617502.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:05:03.154Z,1613617503.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:05:04.009Z,1613617504.009 [Micromodem](INFO): Nmea in: $SNTTA,0.026711,0.035436,,,030502.78*51 2021-02-18T03:05:04.038Z,1613617504.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.139999 m, bearing: 282.080338 deg, deltaT: 4.453391 s, approachRate: -0.916156 m/s, LOS rate: 2.048803 deg/s, posRepo size: 4 2021-02-18T03:05:05.610Z,1613617505.610 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T03:05:06.425Z,1613617506.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:05:07.193Z,1613617507.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:05:07.620Z,1613617507.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:05:08.420Z,1613617508.420 [Micromodem](INFO): Nmea in: $SNTTA,0.028398,,,,030507.22*49 2021-02-18T03:05:08.468Z,1613617508.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.360001 m, bearing: 243.998536 deg, deltaT: 4.451870 s, approachRate: 0.498667 m/s, LOS rate: -8.554114 deg/s, posRepo size: 4 2021-02-18T03:05:10.858Z,1613617510.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:05:11.641Z,1613617511.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:05:12.042Z,1613617512.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:05:12.872Z,1613617512.872 [Micromodem](INFO): Nmea in: $SNTTA,0.030081,,,,030511.67*4D 2021-02-18T03:05:12.914Z,1613617512.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.059998 m, bearing: 249.959297 deg, deltaT: 4.436957 s, approachRate: 0.608525 m/s, LOS rate: 1.343434 deg/s, posRepo size: 4 2021-02-18T03:05:15.324Z,1613617515.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:05:16.081Z,1613617516.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:05:16.497Z,1613617516.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:05:17.312Z,1613617517.312 [Micromodem](INFO): Nmea in: $SNTTA,0.031981,,0.053924,,030516.11*54 2021-02-18T03:05:17.362Z,1613617517.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.759995 m, bearing: 246.102917 deg, deltaT: 4.423974 s, approachRate: 0.610310 m/s, LOS rate: -0.871700 deg/s, posRepo size: 4 2021-02-18T03:05:19.744Z,1613617519.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:05:20.531Z,1613617520.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:05:20.562Z,1613617520.562 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T03:05:20.930Z,1613617520.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:05:21.756Z,1613617521.756 [Micromodem](INFO): Nmea in: $SNTTA,0.033682,,,,030520.56*4B 2021-02-18T03:05:21.792Z,1613617521.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 244.459410 deg, deltaT: 4.478549 s, approachRate: 0.643066 m/s, LOS rate: -0.366973 deg/s, posRepo size: 4 2021-02-18T03:05:24.206Z,1613617524.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:05:24.987Z,1613617524.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:05:25.385Z,1613617525.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:05:26.221Z,1613617526.221 [Micromodem](INFO): Nmea in: $SNTTA,0.035512,0.038680,,0.049987,030525.01*4E 2021-02-18T03:05:26.282Z,1613617526.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.399998 m, bearing: 238.195689 deg, deltaT: 4.415460 s, approachRate: 0.625077 m/s, LOS rate: -1.418588 deg/s, posRepo size: 4 2021-02-18T03:05:28.646Z,1613617528.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:05:29.418Z,1613617529.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:05:29.830Z,1613617529.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:05:30.661Z,1613617530.661 [Micromodem](INFO): Nmea in: $SNTTA,0.037822,,0.051323,,030529.45*58 2021-02-18T03:05:30.682Z,1613617530.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.340000 m, bearing: 245.016480 deg, deltaT: 4.527015 s, approachRate: 0.649435 m/s, LOS rate: 1.506686 deg/s, posRepo size: 4 2021-02-18T03:05:33.076Z,1613617533.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:05:33.858Z,1613617533.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:05:34.276Z,1613617534.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:05:35.095Z,1613617535.095 [Micromodem](INFO): Nmea in: $SNTTA,0.039469,,,,030533.89*46 2021-02-18T03:05:35.124Z,1613617535.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.340008 m, bearing: 235.098117 deg, deltaT: 4.352118 s, approachRate: 0.689321 m/s, LOS rate: -2.278974 deg/s, posRepo size: 4 2021-02-18T03:05:37.517Z,1613617537.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:05:38.309Z,1613617538.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:05:38.711Z,1613617538.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:05:39.535Z,1613617539.535 [Micromodem](INFO): Nmea in: $SNTTA,0.041480,,,,030538.34*43 2021-02-18T03:05:39.564Z,1613617539.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.920002 m, bearing: 195.887148 deg, deltaT: 4.456467 s, approachRate: 0.578933 m/s, LOS rate: -8.798667 deg/s, posRepo size: 4 2021-02-18T03:05:41.962Z,1613617541.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:05:42.744Z,1613617542.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:05:43.159Z,1613617543.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:05:43.983Z,1613617543.983 [Micromodem](INFO): Nmea in: $SNTTA,,,,,030542.77*5E 2021-02-18T03:05:44.038Z,1613617544.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.100006 m, bearing: 238.103127 deg, deltaT: 4.470962 s, approachRate: 0.711257 m/s, LOS rate: 9.442258 deg/s, posRepo size: 4 2021-02-18T03:05:46.410Z,1613617546.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:05:47.193Z,1613617547.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:05:47.594Z,1613617547.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:05:48.420Z,1613617548.420 [Micromodem](INFO): Nmea in: $SNTTA,0.045206,,,,030547.22*40 2021-02-18T03:05:48.444Z,1613617548.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.860001 m, bearing: 202.047528 deg, deltaT: 4.437052 s, approachRate: 0.622033 m/s, LOS rate: -8.126025 deg/s, posRepo size: 4 2021-02-18T03:05:50.838Z,1613617550.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:05:51.637Z,1613617551.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:05:52.053Z,1613617552.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:05:52.864Z,1613617552.864 [Micromodem](INFO): Nmea in: $SNTTA,0.047507,,,,030551.67*42 2021-02-18T03:05:52.901Z,1613617552.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.980003 m, bearing: 254.207729 deg, deltaT: 4.428403 s, approachRate: 0.704544 m/s, LOS rate: 11.778558 deg/s, posRepo size: 4 2021-02-18T03:05:55.368Z,1613617555.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:05:56.077Z,1613617556.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:05:56.492Z,1613617556.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:05:57.304Z,1613617557.304 [Micromodem](INFO): Nmea in: $SNTTA,0.049197,,,,030556.11*47 2021-02-18T03:05:57.388Z,1613617557.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.980011 m, bearing: 297.645328 deg, deltaT: 4.429885 s, approachRate: 0.677220 m/s, LOS rate: 9.805582 deg/s, posRepo size: 4 2021-02-18T03:05:59.738Z,1613617559.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:00.526Z,1613617560.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:00.925Z,1613617560.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:01.752Z,1613617561.752 [Micromodem](INFO): Nmea in: $SNTTA,0.051217,,,0.068617,030600.55*55 2021-02-18T03:06:01.788Z,1613617561.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.980003 m, bearing: 301.158559 deg, deltaT: 4.479174 s, approachRate: 0.669765 m/s, LOS rate: 0.784348 deg/s, posRepo size: 4 2021-02-18T03:06:04.187Z,1613617564.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:04.975Z,1613617564.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:05.381Z,1613617565.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:06.196Z,1613617566.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,030605.00*5E 2021-02-18T03:06:06.278Z,1613617566.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.860001 m, bearing: 262.193340 deg, deltaT: 4.410978 s, approachRate: 0.652916 m/s, LOS rate: -8.833691 deg/s, posRepo size: 4 2021-02-18T03:06:08.642Z,1613617568.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:09.414Z,1613617569.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:09.814Z,1613617569.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:10.640Z,1613617570.640 [Micromodem](INFO): Nmea in: $SNTTA,0.055103,,,,030609.44*4E 2021-02-18T03:06:10.665Z,1613617570.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.800003 m, bearing: 260.918062 deg, deltaT: 4.517815 s, approachRate: 0.650758 m/s, LOS rate: -0.282278 deg/s, posRepo size: 4 2021-02-18T03:06:13.086Z,1613617573.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:13.857Z,1613617573.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:14.278Z,1613617574.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:15.084Z,1613617575.084 [Micromodem](INFO): Nmea in: $SNTTA,0.057451,,,,030613.88*45 2021-02-18T03:06:15.127Z,1613617575.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.979996 m, bearing: 250.874761 deg, deltaT: 4.352388 s, approachRate: 0.730632 m/s, LOS rate: -2.307538 deg/s, posRepo size: 4 2021-02-18T03:06:17.531Z,1613617577.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:18.309Z,1613617578.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:18.708Z,1613617578.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:19.539Z,1613617579.539 [Micromodem](INFO): Nmea in: $SNTTA,0.059352,,,,030618.34*43 2021-02-18T03:06:19.564Z,1613617579.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.220009 m, bearing: 255.902436 deg, deltaT: 4.470754 s, approachRate: 0.724713 m/s, LOS rate: 1.124570 deg/s, posRepo size: 4 2021-02-18T03:06:21.948Z,1613617581.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:22.740Z,1613617582.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:23.151Z,1613617583.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:23.980Z,1613617583.980 [Micromodem](INFO): Nmea in: $SNTTA,0.061411,,,,030622.77*46 2021-02-18T03:06:24.037Z,1613617584.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.400002 m, bearing: 298.283896 deg, deltaT: 4.432217 s, approachRate: 0.717472 m/s, LOS rate: 9.562136 deg/s, posRepo size: 4 2021-02-18T03:06:26.402Z,1613617586.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:27.184Z,1613617587.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:27.589Z,1613617587.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:28.417Z,1613617588.417 [Micromodem](INFO): Nmea in: $SNTTA,0.063325,,0.076718,,030627.21*53 2021-02-18T03:06:28.440Z,1613617588.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.160004 m, bearing: 307.352584 deg, deltaT: 4.479342 s, approachRate: 0.616162 m/s, LOS rate: 2.024558 deg/s, posRepo size: 4 2021-02-18T03:06:30.846Z,1613617590.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:31.641Z,1613617591.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:32.054Z,1613617592.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:32.868Z,1613617592.868 [Micromodem](INFO): Nmea in: $SNTTA,0.065461,,,,030631.67*46 2021-02-18T03:06:32.905Z,1613617592.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.460007 m, bearing: 299.594801 deg, deltaT: 4.435823 s, approachRate: 0.743944 m/s, LOS rate: -1.748894 deg/s, posRepo size: 4 2021-02-18T03:06:35.357Z,1613617595.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:36.084Z,1613617596.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:36.508Z,1613617596.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:37.312Z,1613617597.312 [Micromodem](INFO): Nmea in: $SNTTA,0.067443,,,,030636.11*42 2021-02-18T03:06:37.362Z,1613617597.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.459999 m, bearing: 276.734103 deg, deltaT: 4.425442 s, approachRate: 0.677897 m/s, LOS rate: -5.165743 deg/s, posRepo size: 4 2021-02-18T03:06:39.753Z,1613617599.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:40.533Z,1613617600.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:40.934Z,1613617600.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:41.776Z,1613617601.776 [Micromodem](INFO): Nmea in: $SNTTA,0.069526,,,,030640.56*4C 2021-02-18T03:06:41.798Z,1613617601.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.460007 m, bearing: 290.089609 deg, deltaT: 4.469709 s, approachRate: 0.671186 m/s, LOS rate: 2.988003 deg/s, posRepo size: 4 2021-02-18T03:06:44.196Z,1613617604.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:44.989Z,1613617604.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:45.383Z,1613617605.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:46.221Z,1613617606.221 [Micromodem](INFO): Nmea in: $SNTTA,0.071478,,,,030645.02*4B 2021-02-18T03:06:46.290Z,1613617606.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.580009 m, bearing: 302.213550 deg, deltaT: 4.407330 s, approachRate: 0.707912 m/s, LOS rate: 2.750858 deg/s, posRepo size: 4 2021-02-18T03:06:48.652Z,1613617608.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:49.416Z,1613617609.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:49.822Z,1613617609.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:50.648Z,1613617610.648 [Micromodem](INFO): Nmea in: $SNTTA,0.073409,,,,030649.44*41 2021-02-18T03:06:50.689Z,1613617610.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.580002 m, bearing: 293.093225 deg, deltaT: 4.542194 s, approachRate: 0.660472 m/s, LOS rate: -2.007912 deg/s, posRepo size: 4 2021-02-18T03:06:53.078Z,1613617613.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:53.865Z,1613617613.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:54.279Z,1613617614.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:55.108Z,1613617615.108 [Micromodem](INFO): Nmea in: $SNTTA,0.075517,,,,030653.89*43 2021-02-18T03:06:55.132Z,1613617615.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.399994 m, bearing: 252.160612 deg, deltaT: 4.344694 s, approachRate: 0.649066 m/s, LOS rate: -9.421288 deg/s, posRepo size: 4 2021-02-18T03:06:57.534Z,1613617617.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:06:58.309Z,1613617618.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:06:58.721Z,1613617618.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:06:59.536Z,1613617619.536 [Micromodem](INFO): Nmea in: $SNTTA,0.077525,,,,030658.34*4D 2021-02-18T03:06:59.575Z,1613617619.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.460007 m, bearing: 250.549097 deg, deltaT: 4.476048 s, approachRate: 0.683642 m/s, LOS rate: -0.360031 deg/s, posRepo size: 4 2021-02-18T03:07:01.969Z,1613617621.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:02.748Z,1613617622.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:07:03.155Z,1613617623.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:07:03.996Z,1613617623.996 [Micromodem](INFO): Nmea in: $SNTTA,0.079566,,,,030702.78*42 2021-02-18T03:07:04.044Z,1613617624.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.520004 m, bearing: 252.522749 deg, deltaT: 4.437069 s, approachRate: 0.689644 m/s, LOS rate: 0.444810 deg/s, posRepo size: 4 2021-02-18T03:07:06.415Z,1613617626.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:07.197Z,1613617627.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:07:07.596Z,1613617627.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:07:08.428Z,1613617628.428 [Micromodem](INFO): Nmea in: $SNTTA,0.081616,,,,030707.22*4B 2021-02-18T03:07:08.452Z,1613617628.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.580002 m, bearing: 255.176878 deg, deltaT: 4.472197 s, approachRate: 0.684227 m/s, LOS rate: 0.593473 deg/s, posRepo size: 4 2021-02-18T03:07:10.844Z,1613617630.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:11.632Z,1613617631.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:07:12.039Z,1613617632.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:07:12.864Z,1613617632.864 [Micromodem](INFO): Nmea in: $SNTTA,0.083621,,,,030711.66*4A 2021-02-18T03:07:12.882Z,1613617632.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.579994 m, bearing: 252.215773 deg, deltaT: 4.406416 s, approachRate: 0.680824 m/s, LOS rate: -0.671999 deg/s, posRepo size: 4 2021-02-18T03:07:15.307Z,1613617635.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:16.095Z,1613617636.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:07:16.483Z,1613617636.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:07:17.312Z,1613617637.312 [Micromodem](INFO): Nmea in: $SNTTA,0.085831,,,,030716.12*47 2021-02-18T03:07:17.346Z,1613617637.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.880005 m, bearing: 252.675690 deg, deltaT: 4.431061 s, approachRate: 0.744745 m/s, LOS rate: 0.103794 deg/s, posRepo size: 4 2021-02-18T03:07:19.730Z,1613617639.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:20.525Z,1613617640.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:07:20.926Z,1613617640.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:07:21.752Z,1613617641.752 [Micromodem](INFO): Nmea in: $SNTTA,0.087753,,,,030720.55*48 2021-02-18T03:07:21.786Z,1613617641.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.759995 m, bearing: 252.008217 deg, deltaT: 4.490769 s, approachRate: 0.641313 m/s, LOS rate: -0.148632 deg/s, posRepo size: 4 2021-02-18T03:07:24.186Z,1613617644.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:24.979Z,1613617644.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:07:25.411Z,1613617645.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:07:26.190Z,1613617646.190 [Micromodem](INFO): Nmea in: $SNTTA,0.089809,,,,030725.01*42 2021-02-18T03:07:27.053Z,1613617647.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:28.600Z,1613617648.600 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:07:29.826Z,1613617649.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:30.642Z,1613617650.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:07:31.046Z,1613617651.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:07:31.862Z,1613617651.862 [Micromodem](INFO): Nmea in: $SNTTA,0.092377,,,0.094940,030730.67*50 2021-02-18T03:07:32.377Z,1613617652.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:34.284Z,1613617654.284 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:07:35.096Z,1613617655.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:35.872Z,1613617655.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:07:36.278Z,1613617656.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:07:37.086Z,1613617657.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,030735.90*55 2021-02-18T03:07:37.916Z,1613617657.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:39.507Z,1613617659.507 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:07:40.740Z,1613617660.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:41.534Z,1613617661.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:07:41.935Z,1613617661.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:07:42.748Z,1613617662.748 [Micromodem](INFO): Nmea in: $SNTTA,0.097552,,,,030741.56*4E 2021-02-18T03:07:43.574Z,1613617663.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:45.165Z,1613617665.165 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:07:46.406Z,1613617666.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:47.184Z,1613617667.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:07:47.598Z,1613617667.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:07:48.404Z,1613617668.404 [Micromodem](INFO): Nmea in: $SNTTA,,,,,030747.21*5A 2021-02-18T03:07:49.276Z,1613617669.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:50.819Z,1613617670.819 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:07:52.076Z,1613617672.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:52.845Z,1613617672.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:07:53.268Z,1613617673.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:07:54.060Z,1613617674.060 [Micromodem](INFO): Nmea in: $SNTTA,0.120438,,,,030752.87*40 2021-02-18T03:07:54.491Z,1613617674.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.639999 m, bearing: 264.861895 deg, deltaT: 32.705690 s, approachRate: 1.463966 m/s, LOS rate: 0.393010 deg/s, posRepo size: 4 2021-02-18T03:07:54.492Z,1613617674.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 179.64 m. Resuming terminal guidance. 2021-02-18T03:07:54.492Z,1613617674.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T03:07:56.900Z,1613617676.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:07:57.698Z,1613617677.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:07:58.100Z,1613617678.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:07:58.928Z,1613617678.928 [Micromodem](INFO): Nmea in: $SNTTA,0.105840,,,,030757.73*4A 2021-02-18T03:07:58.989Z,1613617678.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.740005 m, bearing: 268.243604 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T03:07:58.992Z,1613617678.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 268.243604deg and heading rate command to 0 deg/s. 2021-02-18T03:08:01.394Z,1613617681.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:08:02.135Z,1613617682.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:08:02.538Z,1613617682.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:08:03.360Z,1613617683.360 [Micromodem](INFO): Nmea in: $SNTTA,0.107802,,,,030802.16*42 2021-02-18T03:08:03.410Z,1613617683.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.739990 m, bearing: 283.234776 deg, deltaT: 4.468697 s, approachRate: 0.671333 m/s, LOS rate: 3.354708 deg/s, posRepo size: 2 2021-02-18T03:08:03.412Z,1613617683.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.739990 m, bearing: 283.234776 deg, approachRate: 0.671333 m/s, LOS rate: 3.354708 deg/s, cmd update: 12.000000 deg/s, cmd heading: 268.243604 deg, new cmd heading: 268.243604 deg. 2021-02-18T03:08:05.799Z,1613617685.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:08:06.581Z,1613617686.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:08:07.014Z,1613617687.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:08:07.808Z,1613617687.808 [Micromodem](INFO): Nmea in: $SNTTA,0.109098,,,,030806.61*43 2021-02-18T03:08:07.844Z,1613617687.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.099991 m, bearing: 318.349571 deg, deltaT: 4.419042 s, approachRate: 3.475867 m/s, LOS rate: 7.946246 deg/s, posRepo size: 3 2021-02-18T03:08:07.846Z,1613617687.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.099991 m, bearing: 318.349571 deg, approachRate: 3.475867 m/s, LOS rate: 7.946246 deg/s, cmd update: 12.000000 deg/s, cmd heading: 321.221781 deg, new cmd heading: 326.133957 deg. 2021-02-18T03:08:10.285Z,1613617690.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:08:11.041Z,1613617691.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:08:11.434Z,1613617691.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:08:12.288Z,1613617692.288 [Micromodem](INFO): Nmea in: $SNTTA,0.110707,,,,030811.07*4C 2021-02-18T03:08:12.340Z,1613617692.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.099991 m, bearing: 296.915263 deg, deltaT: 4.445964 s, approachRate: 0.000000 m/s, LOS rate: -4.821071 deg/s, posRepo size: 4 2021-02-18T03:08:12.342Z,1613617692.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.099991 m, bearing: 296.915263 deg, approachRate: 0.000000 m/s, LOS rate: -4.821071 deg/s, cmd update: -12.000000 deg/s, cmd heading: 14.517551 deg, new cmd heading: 20.092979 deg. 2021-02-18T03:08:14.673Z,1613617694.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:08:15.466Z,1613617695.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:08:15.877Z,1613617695.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:08:16.692Z,1613617696.692 [Micromodem](INFO): Nmea in: $SNTTA,0.111890,,,,030815.49*42 2021-02-18T03:08:16.730Z,1613617696.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 310.492449 deg, deltaT: 4.445150 s, approachRate: -1.835706 m/s, LOS rate: 3.054382 deg/s, posRepo size: 4 2021-02-18T03:08:16.732Z,1613617696.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.940002 m, bearing: 310.492449 deg, approachRate: -1.835706 m/s, LOS rate: 3.054382 deg/s, cmd update: 12.000000 deg/s, cmd heading: 321.072141 deg, new cmd heading: 316.270149 deg. 2021-02-18T03:08:19.128Z,1613617699.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:08:19.917Z,1613617699.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:08:20.314Z,1613617700.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:08:21.140Z,1613617701.140 [Micromodem](INFO): Nmea in: $SNTTA,0.112749,,,,030819.95*47 2021-02-18T03:08:21.184Z,1613617701.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 15.386570 deg, deltaT: 4.407582 s, approachRate: 0.000000 m/s, LOS rate: 14.723291 deg/s, posRepo size: 4 2021-02-18T03:08:21.184Z,1613617701.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.723291 deg/s. Setting heading cmd to target bearing of 15.386570deg and heading rate command to 0 deg/s. 2021-02-18T03:08:23.588Z,1613617703.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:08:24.353Z,1613617704.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:08:24.766Z,1613617704.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:08:25.580Z,1613617705.580 [Micromodem](INFO): Nmea in: $SNTTA,0.113126,,,,030824.38*40 2021-02-18T03:08:25.619Z,1613617705.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 306.884142 deg, deltaT: 4.507245 s, approachRate: 0.000000 m/s, LOS rate: -15.198289 deg/s, posRepo size: 4 2021-02-18T03:08:25.620Z,1613617705.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.198289 deg/s. Setting heading cmd to target bearing of 306.884142deg and heading rate command to 0 deg/s. 2021-02-18T03:08:28.057Z,1613617708.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:08:28.802Z,1613617708.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:08:29.203Z,1613617709.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:08:30.036Z,1613617710.036 [Micromodem](INFO): Nmea in: $SNTTA,0.112948,,,,030828.83*4D 2021-02-18T03:08:30.082Z,1613617710.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 41.937764 deg, deltaT: 4.416317 s, approachRate: 0.000000 m/s, LOS rate: 21.523280 deg/s, posRepo size: 4 2021-02-18T03:08:30.083Z,1613617710.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.523280 deg/s. Setting heading cmd to target bearing of 41.937764deg and heading rate command to 0 deg/s. 2021-02-18T03:08:32.471Z,1613617712.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:08:33.276Z,1613617713.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:08:33.307Z,1613617713.307 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T03:08:33.652Z,1613617713.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:08:34.483Z,1613617714.483 [Micromodem](INFO): Nmea in: $SNTTA,0.112359,,,,030833.30*45 2021-02-18T03:08:34.905Z,1613617714.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.419998 m, bearing: 333.162721 deg, deltaT: 4.873275 s, approachRate: 0.098496 m/s, LOS rate: -14.112697 deg/s, posRepo size: 4 2021-02-18T03:08:34.906Z,1613617714.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.112697 deg/s. Setting heading cmd to target bearing of 333.162721deg and heading rate command to 0 deg/s. 2021-02-18T03:08:37.324Z,1613617717.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:08:38.089Z,1613617718.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:08:38.510Z,1613617718.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:08:39.316Z,1613617719.316 [Micromodem](INFO): Nmea in: $SNTTA,0.112000,,,,030838.12*41 2021-02-18T03:08:39.370Z,1613617719.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.000000 m, bearing: 308.984890 deg, deltaT: 4.408774 s, approachRate: -0.095264 m/s, LOS rate: -5.484026 deg/s, posRepo size: 4 2021-02-18T03:08:39.372Z,1613617719.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.000000 m, bearing: 308.984890 deg, approachRate: -0.095264 m/s, LOS rate: -5.484026 deg/s, cmd update: -12.000000 deg/s, cmd heading: 333.162721 deg, new cmd heading: 333.162721 deg. 2021-02-18T03:08:41.738Z,1613617721.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:08:42.533Z,1613617722.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:08:42.943Z,1613617722.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:08:43.765Z,1613617723.765 [Micromodem](INFO): Nmea in: $SNTTA,0.111708,,,,030842.56*40 2021-02-18T03:08:43.811Z,1613617723.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.000000 m, bearing: 306.843161 deg, deltaT: 4.454535 s, approachRate: 0.000000 m/s, LOS rate: -0.480797 deg/s, posRepo size: 4 2021-02-18T03:08:43.813Z,1613617723.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.000000 m, bearing: 306.843161 deg, approachRate: 0.000000 m/s, LOS rate: -0.480797 deg/s, cmd update: -1.923190 deg/s, cmd heading: 279.657300 deg, new cmd heading: 274.698816 deg. 2021-02-18T03:08:46.198Z,1613617726.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:08:47.013Z,1613617727.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:08:47.387Z,1613617727.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:08:48.220Z,1613617728.220 [Micromodem](INFO): Nmea in: $SNTTA,0.111974,,,,030847.04*47 2021-02-18T03:08:48.635Z,1613617728.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 21.373180 deg, deltaT: 4.889204 s, approachRate: -0.012271 m/s, LOS rate: 15.243797 deg/s, posRepo size: 4 2021-02-18T03:08:48.636Z,1613617728.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.243797 deg/s. Setting heading cmd to target bearing of 21.373180deg and heading rate command to 0 deg/s. 2021-02-18T03:08:51.049Z,1613617731.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:08:51.825Z,1613617731.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:08:52.270Z,1613617732.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:08:53.060Z,1613617733.060 [Micromodem](INFO): Nmea in: $SNTTA,0.112904,,,,030851.85*4D 2021-02-18T03:08:53.090Z,1613617733.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 341.183904 deg, deltaT: 4.368865 s, approachRate: 0.000000 m/s, LOS rate: -9.199023 deg/s, posRepo size: 4 2021-02-18T03:08:53.112Z,1613617733.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.940002 m, bearing: 341.183904 deg, approachRate: 0.000000 m/s, LOS rate: -9.199023 deg/s, cmd update: -12.000000 deg/s, cmd heading: 21.373180 deg, new cmd heading: 21.373180 deg. 2021-02-18T03:08:55.527Z,1613617735.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:08:56.276Z,1613617736.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:08:56.683Z,1613617736.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:08:57.507Z,1613617737.507 [Micromodem](INFO): Nmea in: $SNTTA,0.114268,,,,030856.30*43 2021-02-18T03:08:57.535Z,1613617737.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 318.709522 deg, deltaT: 4.468119 s, approachRate: 0.000000 m/s, LOS rate: -5.029943 deg/s, posRepo size: 4 2021-02-18T03:08:57.538Z,1613617737.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.940002 m, bearing: 318.709522 deg, approachRate: 0.000000 m/s, LOS rate: -5.029943 deg/s, cmd update: -12.000000 deg/s, cmd heading: 327.748695 deg, new cmd heading: 322.808331 deg. 2021-02-18T03:08:59.924Z,1613617739.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:09:00.716Z,1613617740.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:09:01.118Z,1613617741.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:09:01.944Z,1613617741.944 [Micromodem](INFO): Nmea in: $SNTTA,0.115399,,,,030900.75*4E 2021-02-18T03:09:02.021Z,1613617742.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 328.330035 deg, deltaT: 4.450443 s, approachRate: 0.000000 m/s, LOS rate: 2.161698 deg/s, posRepo size: 4 2021-02-18T03:09:02.022Z,1613617742.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.940002 m, bearing: 328.330035 deg, approachRate: 0.000000 m/s, LOS rate: 2.161698 deg/s, cmd update: 8.646791 deg/s, cmd heading: 274.339021 deg, new cmd heading: 268.982197 deg. 2021-02-18T03:09:04.406Z,1613617744.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:09:05.158Z,1613617745.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:09:05.562Z,1613617745.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:09:06.404Z,1613617746.404 [Micromodem](INFO): Nmea in: $SNTTA,0.116301,,,,030905.19*43 2021-02-18T03:09:06.454Z,1613617746.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 9.373805 deg, deltaT: 4.472005 s, approachRate: 0.000000 m/s, LOS rate: 9.177935 deg/s, posRepo size: 4 2021-02-18T03:09:06.456Z,1613617746.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.940002 m, bearing: 9.373805 deg, approachRate: 0.000000 m/s, LOS rate: 9.177935 deg/s, cmd update: 12.000000 deg/s, cmd heading: 312.883734 deg, new cmd heading: 316.535645 deg. 2021-02-18T03:09:08.817Z,1613617748.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:09:09.600Z,1613617749.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:09:10.022Z,1613617750.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:09:10.828Z,1613617750.828 [Micromodem](INFO): Nmea in: $SNTTA,0.117462,,,,030909.63*41 2021-02-18T03:09:10.850Z,1613617750.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 331.334936 deg, deltaT: 4.441378 s, approachRate: 0.000000 m/s, LOS rate: -8.564655 deg/s, posRepo size: 4 2021-02-18T03:09:10.852Z,1613617750.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.940002 m, bearing: 331.334936 deg, approachRate: 0.000000 m/s, LOS rate: -8.564655 deg/s, cmd update: -12.000000 deg/s, cmd heading: 6.300763 deg, new cmd heading: 10.704055 deg. 2021-02-18T03:09:13.304Z,1613617753.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:09:14.044Z,1613617754.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:09:14.450Z,1613617754.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:09:15.280Z,1613617755.280 [Micromodem](INFO): Nmea in: $SNTTA,0.118928,,,,030914.07*43 2021-02-18T03:09:15.328Z,1613617755.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 321.533805 deg, deltaT: 4.407663 s, approachRate: 0.000000 m/s, LOS rate: -2.223657 deg/s, posRepo size: 4 2021-02-18T03:09:15.330Z,1613617755.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.940002 m, bearing: 321.533805 deg, approachRate: 0.000000 m/s, LOS rate: -2.223657 deg/s, cmd update: -8.894628 deg/s, cmd heading: 313.613070 deg, new cmd heading: 308.163018 deg. 2021-02-18T03:09:17.720Z,1613617757.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:09:18.494Z,1613617758.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:09:18.893Z,1613617758.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:09:19.720Z,1613617759.720 [Micromodem](INFO): Nmea in: $SNTTA,0.119788,,,,030918.52*4A 2021-02-18T03:09:19.766Z,1613617759.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 337.903283 deg, deltaT: 4.467699 s, approachRate: 0.000000 m/s, LOS rate: 3.663961 deg/s, posRepo size: 4 2021-02-18T03:09:19.772Z,1613617759.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.940002 m, bearing: 337.903283 deg, approachRate: 0.000000 m/s, LOS rate: 3.663961 deg/s, cmd update: 12.000000 deg/s, cmd heading: 273.685665 deg, new cmd heading: 270.098319 deg. 2021-02-18T03:09:22.159Z,1613617762.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:09:22.937Z,1613617762.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:09:23.339Z,1613617763.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:09:24.154Z,1613617764.154 [Micromodem](INFO): Nmea in: $SNTTA,0.120585,,,,030922.96*4E 2021-02-18T03:09:24.596Z,1613617764.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.960007 m, bearing: 9.643850 deg, deltaT: 4.814454 s, approachRate: 2.704357 m/s, LOS rate: 6.592765 deg/s, posRepo size: 4 2021-02-18T03:09:24.598Z,1613617764.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.960007 m, bearing: 9.643850 deg, approachRate: 2.704357 m/s, LOS rate: 6.592765 deg/s, cmd update: 12.000000 deg/s, cmd heading: 331.460170 deg, new cmd heading: 336.482542 deg. 2021-02-18T03:09:27.055Z,1613617767.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:09:27.785Z,1613617767.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:09:28.187Z,1613617768.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:09:29.020Z,1613617769.020 [Micromodem](INFO): Nmea in: $SNTTA,0.121861,,,,030927.81*4B 2021-02-18T03:09:29.457Z,1613617769.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.879990 m, bearing: 330.996677 deg, deltaT: 4.866231 s, approachRate: 0.394552 m/s, LOS rate: -7.941910 deg/s, posRepo size: 4 2021-02-18T03:09:29.459Z,1613617769.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.879990 m, bearing: 330.996677 deg, approachRate: 0.394552 m/s, LOS rate: -7.941910 deg/s, cmd update: -12.000000 deg/s, cmd heading: 29.854728 deg, new cmd heading: 34.818528 deg. 2021-02-18T03:09:31.841Z,1613617771.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:09:32.645Z,1613617772.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:09:33.034Z,1613617773.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:09:33.853Z,1613617773.853 [Micromodem](INFO): Nmea in: $SNTTA,0.123333,,,,030932.67*49 2021-02-18T03:09:34.321Z,1613617774.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.099991 m, bearing: 334.504335 deg, deltaT: 4.824295 s, approachRate: 0.460171 m/s, LOS rate: 0.727082 deg/s, posRepo size: 4 2021-02-18T03:09:34.323Z,1613617774.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.099991 m, bearing: 334.504335 deg, approachRate: 0.460171 m/s, LOS rate: 0.727082 deg/s, cmd update: 2.908327 deg/s, cmd heading: 331.964302 deg, new cmd heading: 326.521846 deg. 2021-02-18T03:09:36.683Z,1613617776.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:09:37.481Z,1613617777.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:09:37.893Z,1613617777.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:09:38.696Z,1613617778.696 [Micromodem](INFO): Nmea in: $SNTTA,0.124101,,,,030937.51*4D 2021-02-18T03:09:39.136Z,1613617779.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.119995 m, bearing: 43.143358 deg, deltaT: 4.842468 s, approachRate: 0.210637 m/s, LOS rate: 14.174388 deg/s, posRepo size: 4 2021-02-18T03:09:39.137Z,1613617779.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.174388 deg/s. Setting heading cmd to target bearing of 43.143358deg and heading rate command to 0 deg/s. 2021-02-18T03:09:41.559Z,1613617781.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:09:42.330Z,1613617782.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:09:42.745Z,1613617782.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:09:43.563Z,1613617783.563 [Micromodem](INFO): Nmea in: $SNTTA,0.124558,,,,030942.36*46 2021-02-18T03:09:44.016Z,1613617784.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.779999 m, bearing: 54.466661 deg, deltaT: 4.908678 s, approachRate: 0.134457 m/s, LOS rate: 2.306793 deg/s, posRepo size: 4 2021-02-18T03:09:44.018Z,1613617784.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.779999 m, bearing: 54.466661 deg, approachRate: 0.134457 m/s, LOS rate: 2.306793 deg/s, cmd update: 9.227171 deg/s, cmd heading: 43.143358 deg, new cmd heading: 43.143358 deg. 2021-02-18T03:09:46.402Z,1613617786.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:09:47.172Z,1613617787.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:09:47.579Z,1613617787.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:09:48.403Z,1613617788.403 [Micromodem](INFO): Nmea in: $SNTTA,0.124491,,,,030947.20*40 2021-02-18T03:09:48.437Z,1613617788.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.720001 m, bearing: 346.191608 deg, deltaT: 4.444110 s, approachRate: -0.013500 m/s, LOS rate: -15.363044 deg/s, posRepo size: 4 2021-02-18T03:09:48.438Z,1613617788.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.363044 deg/s. Setting heading cmd to target bearing of 346.191608deg and heading rate command to 0 deg/s. 2021-02-18T03:09:50.831Z,1613617790.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:09:51.624Z,1613617791.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:09:52.033Z,1613617792.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:09:52.838Z,1613617792.838 [Micromodem](INFO): Nmea in: $SNTTA,0.124009,,,,030951.65*43 2021-02-18T03:09:53.311Z,1613617793.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.820007 m, bearing: 93.839914 deg, deltaT: 4.809457 s, approachRate: -0.187130 m/s, LOS rate: 22.382632 deg/s, posRepo size: 4 2021-02-18T03:09:53.312Z,1613617793.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.382632 deg/s. Setting heading cmd to target bearing of 93.839914deg and heading rate command to 0 deg/s. 2021-02-18T03:09:55.692Z,1613617795.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:09:56.473Z,1613617796.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:09:56.870Z,1613617796.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:09:57.688Z,1613617797.688 [Micromodem](INFO): Nmea in: $SNTTA,0.122737,,,,030956.50*4E 2021-02-18T03:09:58.122Z,1613617798.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.960007 m, bearing: 105.542064 deg, deltaT: 4.829666 s, approachRate: -0.385120 m/s, LOS rate: 2.422973 deg/s, posRepo size: 4 2021-02-18T03:09:58.124Z,1613617798.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.960007 m, bearing: 105.542064 deg, approachRate: -0.385120 m/s, LOS rate: 2.422973 deg/s, cmd update: 9.691892 deg/s, cmd heading: 93.839914 deg, new cmd heading: 93.839914 deg. 2021-02-18T03:10:00.536Z,1613617800.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:01.317Z,1613617801.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:01.719Z,1613617801.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:10:02.543Z,1613617802.543 [Micromodem](INFO): Nmea in: $SNTTA,0.121309,,,0.123803,031001.35*58 2021-02-18T03:10:02.973Z,1613617802.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.800003 m, bearing: 98.756353 deg, deltaT: 4.885037 s, approachRate: -0.442167 m/s, LOS rate: -1.389081 deg/s, posRepo size: 4 2021-02-18T03:10:02.980Z,1613617802.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.800003 m, bearing: 98.756353 deg, approachRate: -0.442167 m/s, LOS rate: -1.389081 deg/s, cmd update: -5.556323 deg/s, cmd heading: 141.145708 deg, new cmd heading: 144.889501 deg. 2021-02-18T03:10:05.405Z,1613617805.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:06.160Z,1613617806.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:06.566Z,1613617806.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:10:07.388Z,1613617807.388 [Micromodem](INFO): Nmea in: $SNTTA,0.119426,,,,031006.19*45 2021-02-18T03:10:07.412Z,1613617807.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.800003 m, bearing: 98.176183 deg, deltaT: 4.465923 s, approachRate: 0.000000 m/s, LOS rate: -0.129910 deg/s, posRepo size: 4 2021-02-18T03:10:07.414Z,1613617807.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.800003 m, bearing: 98.176183 deg, approachRate: 0.000000 m/s, LOS rate: -0.129910 deg/s, cmd update: -0.519642 deg/s, cmd heading: 116.353466 deg, new cmd heading: 114.314562 deg. 2021-02-18T03:10:09.811Z,1613617809.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:10.605Z,1613617810.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:11.026Z,1613617811.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:10:11.832Z,1613617811.832 [Micromodem](INFO): Nmea in: $SNTTA,0.117425,,,,031010.63*42 2021-02-18T03:10:11.875Z,1613617811.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.800003 m, bearing: 98.851716 deg, deltaT: 4.418532 s, approachRate: 0.000000 m/s, LOS rate: 0.152886 deg/s, posRepo size: 4 2021-02-18T03:10:11.877Z,1613617811.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.800003 m, bearing: 98.851716 deg, approachRate: 0.000000 m/s, LOS rate: 0.152886 deg/s, cmd update: 0.611545 deg/s, cmd heading: 114.055369 deg, new cmd heading: 113.843727 deg. 2021-02-18T03:10:14.320Z,1613617814.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:15.048Z,1613617815.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:15.460Z,1613617815.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:10:16.292Z,1613617816.292 [Micromodem](INFO): Nmea in: $SNTTA,0.115181,,,,031015.07*4C 2021-02-18T03:10:16.338Z,1613617816.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.500000 m, bearing: 100.651020 deg, deltaT: 4.415402 s, approachRate: -2.106264 m/s, LOS rate: 0.407506 deg/s, posRepo size: 4 2021-02-18T03:10:16.344Z,1613617816.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.500000 m, bearing: 100.651020 deg, approachRate: -2.106264 m/s, LOS rate: 0.407506 deg/s, cmd update: 1.630025 deg/s, cmd heading: 116.757451 deg, new cmd heading: 117.033791 deg. 2021-02-18T03:10:18.704Z,1613617818.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:19.497Z,1613617819.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:19.904Z,1613617819.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:10:20.728Z,1613617820.728 [Micromodem](INFO): Nmea in: $SNTTA,0.113042,,,,031019.53*49 2021-02-18T03:10:20.743Z,1613617820.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.380020 m, bearing: 97.845267 deg, deltaT: 4.482485 s, approachRate: -0.696038 m/s, LOS rate: -0.625937 deg/s, posRepo size: 4 2021-02-18T03:10:20.745Z,1613617820.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.380020 m, bearing: 97.845267 deg, approachRate: -0.696038 m/s, LOS rate: -0.625937 deg/s, cmd update: -2.503748 deg/s, cmd heading: 124.039443 deg, new cmd heading: 124.674138 deg. 2021-02-18T03:10:23.160Z,1613617823.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:23.938Z,1613617823.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:24.342Z,1613617824.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:10:25.168Z,1613617825.168 [Micromodem](INFO): Nmea in: $SNTTA,0.110956,,,,031023.97*47 2021-02-18T03:10:25.261Z,1613617825.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.139999 m, bearing: 94.542311 deg, deltaT: 4.417639 s, approachRate: -0.733428 m/s, LOS rate: -0.747675 deg/s, posRepo size: 4 2021-02-18T03:10:25.267Z,1613617825.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.139999 m, bearing: 94.542311 deg, approachRate: -0.733428 m/s, LOS rate: -0.747675 deg/s, cmd update: -2.990698 deg/s, cmd heading: 112.979441 deg, new cmd heading: 111.767026 deg. 2021-02-18T03:10:27.597Z,1613617827.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:28.380Z,1613617828.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:28.788Z,1613617828.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:10:29.615Z,1613617829.615 [Micromodem](INFO): Nmea in: $SNTTA,0.108879,,,,031028.41*42 2021-02-18T03:10:29.640Z,1613617829.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.960007 m, bearing: 95.004482 deg, deltaT: 4.491280 s, approachRate: -0.708037 m/s, LOS rate: 0.102904 deg/s, posRepo size: 4 2021-02-18T03:10:29.641Z,1613617829.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.960007 m, bearing: 95.004482 deg, approachRate: -0.708037 m/s, LOS rate: 0.102904 deg/s, cmd update: 0.411617 deg/s, cmd heading: 99.510540 deg, new cmd heading: 98.419467 deg. 2021-02-18T03:10:32.056Z,1613617832.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:32.829Z,1613617832.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:33.269Z,1613617833.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:10:34.060Z,1613617834.060 [Micromodem](INFO): Nmea in: $SNTTA,0.106501,,,,031032.86*4E 2021-02-18T03:10:34.105Z,1613617834.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.539993 m, bearing: 97.344198 deg, deltaT: 4.407628 s, approachRate: -0.775931 m/s, LOS rate: 0.530833 deg/s, posRepo size: 4 2021-02-18T03:10:34.107Z,1613617834.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.539993 m, bearing: 97.344198 deg, approachRate: -0.775931 m/s, LOS rate: 0.530833 deg/s, cmd update: 2.123333 deg/s, cmd heading: 101.324792 deg, new cmd heading: 101.498964 deg. 2021-02-18T03:10:36.493Z,1613617836.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:37.276Z,1613617837.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:37.674Z,1613617837.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:10:38.504Z,1613617838.504 [Micromodem](INFO): Nmea in: $SNTTA,0.104226,,0.137788,,031037.30*5A 2021-02-18T03:10:38.553Z,1613617838.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.119995 m, bearing: 97.224990 deg, deltaT: 4.440276 s, approachRate: -0.770222 m/s, LOS rate: -0.026847 deg/s, posRepo size: 4 2021-02-18T03:10:38.555Z,1613617838.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.119995 m, bearing: 97.224990 deg, approachRate: -0.770222 m/s, LOS rate: -0.026847 deg/s, cmd update: -0.107387 deg/s, cmd heading: 110.760896 deg, new cmd heading: 111.667076 deg. 2021-02-18T03:10:40.931Z,1613617840.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:41.717Z,1613617841.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:42.126Z,1613617842.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:10:42.964Z,1613617842.964 [Micromodem](INFO): Nmea in: $SNTTA,0.101900,,,,031041.74*4D 2021-02-18T03:10:43.033Z,1613617843.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.699997 m, bearing: 95.914079 deg, deltaT: 4.441893 s, approachRate: -0.769942 m/s, LOS rate: -0.295124 deg/s, posRepo size: 4 2021-02-18T03:10:43.035Z,1613617843.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.699997 m, bearing: 95.914079 deg, approachRate: -0.769942 m/s, LOS rate: -0.295124 deg/s, cmd update: -1.180498 deg/s, cmd heading: 110.283890 deg, new cmd heading: 110.234138 deg. 2021-02-18T03:10:45.389Z,1613617845.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:46.158Z,1613617846.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:46.580Z,1613617846.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:10:47.401Z,1613617847.401 [Micromodem](INFO): Nmea in: $SNTTA,0.099523,,,,031046.18*4D 2021-02-18T03:10:47.430Z,1613617847.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.160004 m, bearing: 95.588723 deg, deltaT: 4.470186 s, approachRate: -0.791912 m/s, LOS rate: -0.072784 deg/s, posRepo size: 4 2021-02-18T03:10:47.432Z,1613617847.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.160004 m, bearing: 95.588723 deg, approachRate: -0.791912 m/s, LOS rate: -0.072784 deg/s, cmd update: -0.291134 deg/s, cmd heading: 105.011498 deg, new cmd heading: 104.544387 deg. 2021-02-18T03:10:49.821Z,1613617849.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:50.605Z,1613617850.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:51.029Z,1613617851.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:10:51.832Z,1613617851.832 [Micromodem](INFO): Nmea in: $SNTTA,0.097274,,,0.099788,031050.63*54 2021-02-18T03:10:51.854Z,1613617851.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.740005 m, bearing: 95.887434 deg, deltaT: 4.417828 s, approachRate: -0.774136 m/s, LOS rate: 0.067615 deg/s, posRepo size: 4 2021-02-18T03:10:51.876Z,1613617851.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.740005 m, bearing: 95.887434 deg, approachRate: -0.774136 m/s, LOS rate: 0.067615 deg/s, cmd update: 0.270460 deg/s, cmd heading: 103.729979 deg, new cmd heading: 103.608210 deg. 2021-02-18T03:10:54.302Z,1613617854.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:55.045Z,1613617855.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:55.458Z,1613617855.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:10:56.291Z,1613617856.291 [Micromodem](INFO): Nmea in: $SNTTA,0.094907,,,,031055.07*46 2021-02-18T03:10:56.352Z,1613617856.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.139999 m, bearing: 95.609193 deg, deltaT: 4.432182 s, approachRate: -0.812242 m/s, LOS rate: -0.062778 deg/s, posRepo size: 4 2021-02-18T03:10:56.354Z,1613617856.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.139999 m, bearing: 95.609193 deg, approachRate: -0.812242 m/s, LOS rate: -0.062778 deg/s, cmd update: -0.251110 deg/s, cmd heading: 104.934059 deg, new cmd heading: 105.059670 deg. 2021-02-18T03:10:58.696Z,1613617858.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:10:59.494Z,1613617859.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:10:59.895Z,1613617859.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:00.719Z,1613617860.719 [Micromodem](INFO): Nmea in: $SNTTA,,,,,031059.52*57 2021-02-18T03:11:00.741Z,1613617860.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.900009 m, bearing: 95.185626 deg, deltaT: 4.450354 s, approachRate: -0.728030 m/s, LOS rate: -0.095176 deg/s, posRepo size: 4 2021-02-18T03:11:00.743Z,1613617860.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.900009 m, bearing: 95.185626 deg, approachRate: -0.728030 m/s, LOS rate: -0.095176 deg/s, cmd update: -0.380704 deg/s, cmd heading: 103.816427 deg, new cmd heading: 103.715363 deg. 2021-02-18T03:11:01.525Z,1613617861.525 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T03:11:03.154Z,1613617863.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:11:03.932Z,1613617863.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:11:04.338Z,1613617864.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:05.168Z,1613617865.168 [Micromodem](INFO): Nmea in: $SNTTA,0.090266,,,,031103.96*44 2021-02-18T03:11:05.198Z,1613617865.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.119995 m, bearing: 95.451593 deg, deltaT: 4.430070 s, approachRate: -0.853263 m/s, LOS rate: 0.060037 deg/s, posRepo size: 4 2021-02-18T03:11:05.232Z,1613617865.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.119995 m, bearing: 95.451593 deg, approachRate: -0.853263 m/s, LOS rate: 0.060037 deg/s, cmd update: 0.240148 deg/s, cmd heading: 102.130676 deg, new cmd heading: 101.966532 deg. 2021-02-18T03:11:07.595Z,1613617867.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:11:08.381Z,1613617868.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:11:08.784Z,1613617868.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:09.612Z,1613617869.612 [Micromodem](INFO): Nmea in: $SNTTA,0.087928,,,,031108.41*42 2021-02-18T03:11:09.636Z,1613617869.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.700012 m, bearing: 94.866178 deg, deltaT: 4.492327 s, approachRate: -0.761294 m/s, LOS rate: -0.130315 deg/s, posRepo size: 4 2021-02-18T03:11:09.637Z,1613617869.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.700012 m, bearing: 94.866178 deg, approachRate: -0.761294 m/s, LOS rate: -0.130315 deg/s, cmd update: -0.521258 deg/s, cmd heading: 103.202675 deg, new cmd heading: 103.299859 deg. 2021-02-18T03:11:12.051Z,1613617872.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:11:12.820Z,1613617872.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:11:13.255Z,1613617873.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:14.048Z,1613617874.048 [Micromodem](INFO): Nmea in: $SNTTA,0.085711,,,,031112.85*47 2021-02-18T03:11:14.086Z,1613617874.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.160004 m, bearing: 94.812199 deg, deltaT: 4.392902 s, approachRate: -0.805847 m/s, LOS rate: -0.012288 deg/s, posRepo size: 4 2021-02-18T03:11:14.088Z,1613617874.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.160004 m, bearing: 94.812199 deg, approachRate: -0.805847 m/s, LOS rate: -0.012288 deg/s, cmd update: -0.049151 deg/s, cmd heading: 100.899025 deg, new cmd heading: 100.671796 deg. 2021-02-18T03:11:16.500Z,1613617876.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:11:17.276Z,1613617877.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:11:17.675Z,1613617877.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:18.522Z,1613617878.522 [Micromodem](INFO): Nmea in: $SNTTA,0.083259,,,,031117.30*43 2021-02-18T03:11:18.577Z,1613617878.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.739998 m, bearing: 94.892501 deg, deltaT: 4.443827 s, approachRate: -0.769608 m/s, LOS rate: 0.018071 deg/s, posRepo size: 4 2021-02-18T03:11:18.596Z,1613617878.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.739998 m, bearing: 94.892501 deg, approachRate: -0.769608 m/s, LOS rate: 0.018071 deg/s, cmd update: 0.072282 deg/s, cmd heading: 100.680419 deg, new cmd heading: 100.656883 deg. 2021-02-18T03:11:20.932Z,1613617880.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:11:21.713Z,1613617881.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:11:22.127Z,1613617882.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:22.944Z,1613617882.944 [Micromodem](INFO): Nmea in: $SNTTA,0.080907,,0.086364,,031121.74*54 2021-02-18T03:11:23.022Z,1613617883.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.200005 m, bearing: 95.195454 deg, deltaT: 4.469898 s, approachRate: -0.791963 m/s, LOS rate: 0.067776 deg/s, posRepo size: 4 2021-02-18T03:11:23.028Z,1613617883.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.200005 m, bearing: 95.195454 deg, approachRate: -0.791963 m/s, LOS rate: 0.067776 deg/s, cmd update: 0.271105 deg/s, cmd heading: 101.003209 deg, new cmd heading: 101.036326 deg. 2021-02-18T03:11:25.389Z,1613617885.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:11:26.157Z,1613617886.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:11:26.558Z,1613617886.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:27.384Z,1613617887.384 [Micromodem](INFO): Nmea in: $SNTTA,0.078550,,,,031126.19*40 2021-02-18T03:11:27.428Z,1613617887.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.660004 m, bearing: 93.836643 deg, deltaT: 4.498146 s, approachRate: -0.786991 m/s, LOS rate: -0.302083 deg/s, posRepo size: 4 2021-02-18T03:11:27.430Z,1613617887.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.660004 m, bearing: 93.836643 deg, approachRate: -0.786991 m/s, LOS rate: -0.302083 deg/s, cmd update: -1.208330 deg/s, cmd heading: 102.222462 deg, new cmd heading: 102.322161 deg. 2021-02-18T03:11:29.832Z,1613617889.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:11:30.602Z,1613617890.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:11:31.024Z,1613617891.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:31.828Z,1613617891.828 [Micromodem](INFO): Nmea in: $SNTTA,0.076299,0.080238,,,031130.63*59 2021-02-18T03:11:31.869Z,1613617891.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.239998 m, bearing: 93.832176 deg, deltaT: 4.380002 s, approachRate: -0.780823 m/s, LOS rate: -0.001020 deg/s, posRepo size: 4 2021-02-18T03:11:31.871Z,1613617891.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.239998 m, bearing: 93.832176 deg, approachRate: -0.780823 m/s, LOS rate: -0.001020 deg/s, cmd update: -0.004079 deg/s, cmd heading: 96.923885 deg, new cmd heading: 96.412234 deg. 2021-02-18T03:11:34.318Z,1613617894.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:11:35.045Z,1613617895.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:11:35.449Z,1613617895.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:36.283Z,1613617896.283 [Micromodem](INFO): Nmea in: $SNTTA,0.073835,,,,031135.07*48 2021-02-18T03:11:36.317Z,1613617896.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.580002 m, bearing: 95.492424 deg, deltaT: 4.437773 s, approachRate: -0.824737 m/s, LOS rate: 0.374117 deg/s, posRepo size: 4 2021-02-18T03:11:36.318Z,1613617896.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.580002 m, bearing: 95.492424 deg, approachRate: -0.824737 m/s, LOS rate: 0.374117 deg/s, cmd update: 1.496470 deg/s, cmd heading: 96.905782 deg, new cmd heading: 96.904015 deg. 2021-02-18T03:11:38.729Z,1613617898.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:11:39.489Z,1613617899.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:11:39.890Z,1613617899.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:40.716Z,1613617900.716 [Micromodem](INFO): Nmea in: $SNTTA,0.071551,,,,031139.52*49 2021-02-18T03:11:40.758Z,1613617900.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.160004 m, bearing: 94.925996 deg, deltaT: 4.466826 s, approachRate: -0.765644 m/s, LOS rate: -0.126808 deg/s, posRepo size: 4 2021-02-18T03:11:40.764Z,1613617900.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.160004 m, bearing: 94.925996 deg, approachRate: -0.765644 m/s, LOS rate: -0.126808 deg/s, cmd update: -0.507230 deg/s, cmd heading: 103.590609 deg, new cmd heading: 104.200471 deg. 2021-02-18T03:11:43.158Z,1613617903.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:11:43.928Z,1613617903.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:11:44.352Z,1613617904.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:45.160Z,1613617905.160 [Micromodem](INFO): Nmea in: $SNTTA,0.069203,,,,031143.95*46 2021-02-18T03:11:45.221Z,1613617905.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.680008 m, bearing: 93.952510 deg, deltaT: 4.399726 s, approachRate: -0.790957 m/s, LOS rate: -0.221261 deg/s, posRepo size: 4 2021-02-18T03:11:45.236Z,1613617905.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.680008 m, bearing: 93.952510 deg, approachRate: -0.790957 m/s, LOS rate: -0.221261 deg/s, cmd update: -0.885043 deg/s, cmd heading: 101.359102 deg, new cmd heading: 101.123672 deg. 2021-02-18T03:11:47.263Z,1613617907.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:11:47.998Z,1613617907.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:11:48.386Z,1613617908.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:49.208Z,1613617909.208 [Micromodem](INFO): Nmea in: $SNTTA,0.067055,,,,031148.03*4D 2021-02-18T03:11:49.290Z,1613617909.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.380005 m, bearing: 93.449241 deg, deltaT: 4.040395 s, approachRate: -0.816753 m/s, LOS rate: -0.124559 deg/s, posRepo size: 4 2021-02-18T03:11:49.293Z,1613617909.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.380005 m, bearing: 93.449241 deg, approachRate: -0.816753 m/s, LOS rate: -0.124559 deg/s, cmd update: -0.498237 deg/s, cmd heading: 97.782856 deg, new cmd heading: 97.341174 deg. 2021-02-18T03:11:51.295Z,1613617911.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:11:52.022Z,1613617912.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:11:52.416Z,1613617912.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:53.272Z,1613617913.272 [Micromodem](INFO): Nmea in: $SNTTA,0.064896,,,,031152.05*44 2021-02-18T03:11:53.326Z,1613617913.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.200005 m, bearing: 94.358230 deg, deltaT: 4.057601 s, approachRate: -0.783714 m/s, LOS rate: 0.224021 deg/s, posRepo size: 4 2021-02-18T03:11:53.328Z,1613617913.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.200005 m, bearing: 94.358230 deg, approachRate: -0.783714 m/s, LOS rate: 0.224021 deg/s, cmd update: 0.896085 deg/s, cmd heading: 95.761304 deg, new cmd heading: 95.523074 deg. 2021-02-18T03:11:55.678Z,1613617915.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:11:56.452Z,1613617916.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:11:56.859Z,1613617916.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:11:57.684Z,1613617917.684 [Micromodem](INFO): Nmea in: $SNTTA,0.062455,,,,031156.48*4C 2021-02-18T03:11:57.718Z,1613617917.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.599998 m, bearing: 94.718939 deg, deltaT: 4.466327 s, approachRate: -0.806033 m/s, LOS rate: 0.080762 deg/s, posRepo size: 4 2021-02-18T03:11:57.720Z,1613617917.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.599998 m, bearing: 94.718939 deg, approachRate: -0.806033 m/s, LOS rate: 0.080762 deg/s, cmd update: 0.323048 deg/s, cmd heading: 99.763549 deg, new cmd heading: 100.125320 deg. 2021-02-18T03:12:00.114Z,1613617920.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:00.902Z,1613617920.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:01.307Z,1613617921.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:02.128Z,1613617922.128 [Micromodem](INFO): Nmea in: $SNTTA,0.060038,,,,031200.93*47 2021-02-18T03:12:02.152Z,1613617922.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.820007 m, bearing: 93.633028 deg, deltaT: 4.412387 s, approachRate: -0.856677 m/s, LOS rate: -0.246105 deg/s, posRepo size: 4 2021-02-18T03:12:02.154Z,1613617922.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.820007 m, bearing: 93.633028 deg, approachRate: -0.856677 m/s, LOS rate: -0.246105 deg/s, cmd update: -0.984421 deg/s, cmd heading: 101.189001 deg, new cmd heading: 101.326312 deg. 2021-02-18T03:12:04.566Z,1613617924.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:05.340Z,1613617925.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:05.751Z,1613617925.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:06.575Z,1613617926.575 [Micromodem](INFO): Nmea in: $SNTTA,0.057578,,,,031205.37*49 2021-02-18T03:12:06.599Z,1613617926.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 94.699378 deg, deltaT: 4.445913 s, approachRate: -0.782742 m/s, LOS rate: 0.239849 deg/s, posRepo size: 4 2021-02-18T03:12:06.601Z,1613617926.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.340004 m, bearing: 94.699378 deg, approachRate: -0.782742 m/s, LOS rate: 0.239849 deg/s, cmd update: 0.959398 deg/s, cmd heading: 96.812313 deg, new cmd heading: 96.392864 deg. 2021-02-18T03:12:09.050Z,1613617929.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:09.784Z,1613617929.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:10.191Z,1613617930.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:11.032Z,1613617931.032 [Micromodem](INFO): Nmea in: $SNTTA,0.055394,,,,031209.81*4E 2021-02-18T03:12:11.056Z,1613617931.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.980003 m, bearing: 93.832401 deg, deltaT: 4.465106 s, approachRate: -0.752502 m/s, LOS rate: -0.194167 deg/s, posRepo size: 4 2021-02-18T03:12:11.058Z,1613617931.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.980003 m, bearing: 93.832401 deg, approachRate: -0.752502 m/s, LOS rate: -0.194167 deg/s, cmd update: -0.776668 deg/s, cmd heading: 101.096047 deg, new cmd heading: 101.496960 deg. 2021-02-18T03:12:13.466Z,1613617933.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:14.261Z,1613617934.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:14.634Z,1613617934.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:15.484Z,1613617935.484 [Micromodem](INFO): Nmea in: $SNTTA,0.053058,,,,031214.29*45 2021-02-18T03:12:15.518Z,1613617935.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.440002 m, bearing: 92.639085 deg, deltaT: 4.422714 s, approachRate: -0.800414 m/s, LOS rate: -0.269815 deg/s, posRepo size: 4 2021-02-18T03:12:15.520Z,1613617935.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.440002 m, bearing: 92.639085 deg, approachRate: -0.800414 m/s, LOS rate: -0.269815 deg/s, cmd update: -1.079261 deg/s, cmd heading: 97.660973 deg, new cmd heading: 97.305727 deg. 2021-02-18T03:12:17.882Z,1613617937.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:18.672Z,1613617938.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:19.099Z,1613617939.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:19.907Z,1613617939.907 [Micromodem](INFO): Nmea in: $SNTTA,0.050609,,,,031218.70*44 2021-02-18T03:12:19.929Z,1613617939.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.780006 m, bearing: 94.360511 deg, deltaT: 4.460567 s, approachRate: -0.820523 m/s, LOS rate: 0.385921 deg/s, posRepo size: 4 2021-02-18T03:12:19.931Z,1613617939.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.780006 m, bearing: 94.360511 deg, approachRate: -0.820523 m/s, LOS rate: 0.385921 deg/s, cmd update: 1.543684 deg/s, cmd heading: 92.846911 deg, new cmd heading: 92.406464 deg. 2021-02-18T03:12:22.355Z,1613617942.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:23.116Z,1613617943.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:23.522Z,1613617943.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:23.547Z,1613617943.547 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T03:12:24.348Z,1613617944.348 [Micromodem](INFO): Nmea in: $SNTTA,0.048274,,,,031223.14*49 2021-02-18T03:12:24.412Z,1613617944.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.180000 m, bearing: 93.241699 deg, deltaT: 4.487883 s, approachRate: -0.802161 m/s, LOS rate: -0.249296 deg/s, posRepo size: 4 2021-02-18T03:12:24.414Z,1613617944.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.180000 m, bearing: 93.241699 deg, approachRate: -0.802161 m/s, LOS rate: -0.249296 deg/s, cmd update: -0.997185 deg/s, cmd heading: 99.726789 deg, new cmd heading: 100.397181 deg. 2021-02-18T03:12:26.767Z,1613617946.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:27.582Z,1613617947.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:27.972Z,1613617947.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:28.800Z,1613617948.800 [Micromodem](INFO): Nmea in: $SNTTA,0.045751,,,,031227.61*40 2021-02-18T03:12:28.842Z,1613617948.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.520004 m, bearing: 93.205602 deg, deltaT: 4.435315 s, approachRate: -0.825194 m/s, LOS rate: -0.008139 deg/s, posRepo size: 4 2021-02-18T03:12:28.844Z,1613617948.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.520004 m, bearing: 93.205602 deg, approachRate: -0.825194 m/s, LOS rate: -0.008139 deg/s, cmd update: -0.032555 deg/s, cmd heading: 95.281406 deg, new cmd heading: 94.876986 deg. 2021-02-18T03:12:31.280Z,1613617951.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:32.023Z,1613617952.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:32.426Z,1613617952.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:33.262Z,1613617953.262 [Micromodem](INFO): Nmea in: $SNTTA,0.043433,,,,031232.05*47 2021-02-18T03:12:33.308Z,1613617953.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.919998 m, bearing: 92.502618 deg, deltaT: 4.387324 s, approachRate: -0.820547 m/s, LOS rate: -0.160231 deg/s, posRepo size: 4 2021-02-18T03:12:33.310Z,1613617953.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.919998 m, bearing: 92.502618 deg, approachRate: -0.820547 m/s, LOS rate: -0.160231 deg/s, cmd update: -0.640922 deg/s, cmd heading: 95.138302 deg, new cmd heading: 95.122799 deg. 2021-02-18T03:12:35.674Z,1613617955.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:36.453Z,1613617956.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:36.854Z,1613617956.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:37.680Z,1613617957.680 [Micromodem](INFO): Nmea in: $SNTTA,0.041263,,,,031236.48*4B 2021-02-18T03:12:37.722Z,1613617957.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.800007 m, bearing: 95.685233 deg, deltaT: 4.485571 s, approachRate: -0.695562 m/s, LOS rate: 0.709523 deg/s, posRepo size: 4 2021-02-18T03:12:37.728Z,1613617957.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.800007 m, bearing: 95.685233 deg, approachRate: -0.695562 m/s, LOS rate: 0.709523 deg/s, cmd update: 2.838092 deg/s, cmd heading: 92.263393 deg, new cmd heading: 92.004018 deg. 2021-02-18T03:12:40.121Z,1613617960.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:40.894Z,1613617960.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:41.310Z,1613617961.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:42.124Z,1613617962.124 [Micromodem](INFO): Nmea in: $SNTTA,0.038720,,,,031240.92*41 2021-02-18T03:12:42.166Z,1613617962.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.900009 m, bearing: 93.722449 deg, deltaT: 4.396376 s, approachRate: -0.887094 m/s, LOS rate: -0.446455 deg/s, posRepo size: 4 2021-02-18T03:12:42.168Z,1613617962.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.900009 m, bearing: 93.722449 deg, approachRate: -0.887094 m/s, LOS rate: -0.446455 deg/s, cmd update: -1.785821 deg/s, cmd heading: 104.740700 deg, new cmd heading: 106.023978 deg. 2021-02-18T03:12:44.558Z,1613617964.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:45.341Z,1613617965.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:45.747Z,1613617965.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:46.577Z,1613617966.577 [Micromodem](INFO): Nmea in: $SNTTA,0.036424,,,,031245.37*42 2021-02-18T03:12:46.601Z,1613617966.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.419998 m, bearing: 89.323609 deg, deltaT: 4.477855 s, approachRate: -0.777160 m/s, LOS rate: -0.982354 deg/s, posRepo size: 4 2021-02-18T03:12:46.603Z,1613617966.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.419998 m, bearing: 89.323609 deg, approachRate: -0.777160 m/s, LOS rate: -0.982354 deg/s, cmd update: -3.929417 deg/s, cmd heading: 96.751223 deg, new cmd heading: 96.013251 deg. 2021-02-18T03:12:49.037Z,1613617969.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:49.781Z,1613617969.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:50.200Z,1613617970.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:51.032Z,1613617971.032 [Micromodem](INFO): Nmea in: $SNTTA,0.034019,,,,031249.81*4B 2021-02-18T03:12:51.056Z,1613617971.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.059994 m, bearing: 91.677955 deg, deltaT: 4.462002 s, approachRate: -0.753026 m/s, LOS rate: 0.527643 deg/s, posRepo size: 4 2021-02-18T03:12:51.058Z,1613617971.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.059994 m, bearing: 91.677955 deg, approachRate: -0.753026 m/s, LOS rate: 0.527643 deg/s, cmd update: 2.110573 deg/s, cmd heading: 79.218172 deg, new cmd heading: 77.622699 deg. 2021-02-18T03:12:53.457Z,1613617973.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:54.242Z,1613617974.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:54.630Z,1613617974.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:55.464Z,1613617975.464 [Micromodem](INFO): Nmea in: $SNTTA,0.031862,,,,031254.27*4A 2021-02-18T03:12:55.509Z,1613617975.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.520004 m, bearing: 93.040960 deg, deltaT: 4.431801 s, approachRate: -0.798770 m/s, LOS rate: 0.307551 deg/s, posRepo size: 4 2021-02-18T03:12:55.510Z,1613617975.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.520004 m, bearing: 93.040960 deg, approachRate: -0.798770 m/s, LOS rate: 0.307551 deg/s, cmd update: 1.230204 deg/s, cmd heading: 88.571828 deg, new cmd heading: 89.473754 deg. 2021-02-18T03:12:57.875Z,1613617977.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:12:58.669Z,1613617978.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:12:59.073Z,1613617979.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:12:59.900Z,1613617979.900 [Micromodem](INFO): Nmea in: $SNTTA,0.029436,,,0.128867,031258.70*5C 2021-02-18T03:12:59.938Z,1613617979.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.980000 m, bearing: 92.896617 deg, deltaT: 4.440222 s, approachRate: -0.797258 m/s, LOS rate: -0.032508 deg/s, posRepo size: 4 2021-02-18T03:12:59.940Z,1613617979.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.980000 m, bearing: 92.896617 deg, approachRate: -0.797258 m/s, LOS rate: -0.032508 deg/s, cmd update: -0.130032 deg/s, cmd heading: 94.039147 deg, new cmd heading: 94.546228 deg. 2021-02-18T03:13:02.368Z,1613617982.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:13:03.113Z,1613617983.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:13:03.535Z,1613617983.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:13:04.345Z,1613617984.345 [Micromodem](INFO): Nmea in: $SNTTA,0.027133,,,,031303.14*43 2021-02-18T03:13:04.396Z,1613617984.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.559998 m, bearing: 92.827154 deg, deltaT: 4.408807 s, approachRate: -0.775720 m/s, LOS rate: -0.015756 deg/s, posRepo size: 4 2021-02-18T03:13:04.398Z,1613617984.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.559998 m, bearing: 92.827154 deg, approachRate: -0.775720 m/s, LOS rate: -0.015756 deg/s, cmd update: -0.063022 deg/s, cmd heading: 93.465867 deg, new cmd heading: 93.405785 deg. 2021-02-18T03:13:06.785Z,1613617986.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:13:07.562Z,1613617987.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:13:07.967Z,1613617987.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:13:08.793Z,1613617988.793 [Micromodem](INFO): Nmea in: $SNTTA,0.024683,,,,031307.59*41 2021-02-18T03:13:08.844Z,1613617988.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.840000 m, bearing: 94.229693 deg, deltaT: 4.469224 s, approachRate: -0.832359 m/s, LOS rate: 0.313821 deg/s, posRepo size: 4 2021-02-18T03:13:08.844Z,1613617988.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.84 m. 2021-02-18T03:13:08.846Z,1613617988.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.840000 m, bearing: 94.229693 deg, approachRate: -0.832359 m/s, LOS rate: 0.313821 deg/s, cmd update: 1.255286 deg/s, cmd heading: 93.185213 deg, new cmd heading: 93.156473 deg. 2021-02-18T03:13:09.185Z,1613617989.185 [PowerOnly](INFO): Powering up loadControl 2021-02-18T03:13:11.270Z,1613617991.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:13:12.021Z,1613617992.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:13:12.411Z,1613617992.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:13:13.256Z,1613617993.256 [Micromodem](INFO): Nmea in: $SNTTA,0.022700,,,,031312.05*40 2021-02-18T03:13:13.308Z,1613617993.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.900002 m, bearing: 93.058076 deg, deltaT: 4.418236 s, approachRate: -0.665424 m/s, LOS rate: -0.265177 deg/s, posRepo size: 4 2021-02-18T03:13:13.308Z,1613617993.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.90 m. 2021-02-18T03:13:13.309Z,1613617993.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.90 m. 2021-02-18T03:13:13.309Z,1613617993.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T03:13:13.311Z,1613617993.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.900002 m, bearing: 93.058076 deg, approachRate: -0.665424 m/s, LOS rate: -0.265177 deg/s, cmd update: -1.060710 deg/s, cmd heading: 98.751440 deg, new cmd heading: 99.361132 deg. 2021-02-18T03:13:15.330Z,1613617995.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:13:16.046Z,1613617996.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:13:16.446Z,1613617996.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:13:17.297Z,1613617997.297 [Micromodem](INFO): Nmea in: $SNTTA,0.020194,,,,031316.07*4F 2021-02-18T03:13:17.363Z,1613617997.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.119997 m, bearing: 90.693335 deg, deltaT: 4.040190 s, approachRate: -0.935601 m/s, LOS rate: -0.585304 deg/s, posRepo size: 4 2021-02-18T03:13:17.365Z,1613617997.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.119997 m, bearing: 90.693335 deg, approachRate: -0.935601 m/s, LOS rate: -0.585304 deg/s, cmd update: -2.341218 deg/s, cmd heading: 94.465980 deg, new cmd heading: 93.939074 deg. 2021-02-18T03:13:19.706Z,1613617999.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:13:20.494Z,1613618000.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:13:20.890Z,1613618000.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:13:21.720Z,1613618001.720 [Micromodem](INFO): Nmea in: $SNTTA,0.017943,0.036426,,,031320.52*57 2021-02-18T03:13:21.753Z,1613618001.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.760000 m, bearing: 91.869439 deg, deltaT: 4.482459 s, approachRate: -0.749588 m/s, LOS rate: 0.262379 deg/s, posRepo size: 4 2021-02-18T03:13:21.755Z,1613618001.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.760000 m, bearing: 91.869439 deg, approachRate: -0.749588 m/s, LOS rate: 0.262379 deg/s, cmd update: 1.049517 deg/s, cmd heading: 83.971445 deg, new cmd heading: 83.015557 deg. 2021-02-18T03:13:24.150Z,1613618004.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:13:24.933Z,1613618004.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:13:25.335Z,1613618005.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:13:26.163Z,1613618006.163 [Micromodem](INFO): Nmea in: $SNTTA,0.015622,,,,031324.96*4A 2021-02-18T03:13:26.188Z,1613618006.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.219997 m, bearing: 93.412064 deg, deltaT: 4.424743 s, approachRate: -0.800047 m/s, LOS rate: 0.348636 deg/s, posRepo size: 4 2021-02-18T03:13:26.189Z,1613618006.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.219997 m, bearing: 93.412064 deg, approachRate: -0.800047 m/s, LOS rate: 0.348636 deg/s, cmd update: 1.394545 deg/s, cmd heading: 88.612988 deg, new cmd heading: 89.054145 deg. 2021-02-18T03:13:28.591Z,1613618008.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:13:29.378Z,1613618009.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:13:29.778Z,1613618009.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:13:30.605Z,1613618010.605 [Micromodem](INFO): Nmea in: $SNTTA,0.013300,,,0.049900,031329.40*55 2021-02-18T03:13:30.693Z,1613618010.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 93.436004 deg, deltaT: 4.471092 s, approachRate: -0.778333 m/s, LOS rate: 0.005354 deg/s, posRepo size: 4 2021-02-18T03:13:30.694Z,1613618010.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.740000 m, bearing: 93.436004 deg, approachRate: -0.778333 m/s, LOS rate: 0.005354 deg/s, cmd update: 0.021417 deg/s, cmd heading: 94.815910 deg, new cmd heading: 95.481758 deg. 2021-02-18T03:13:33.072Z,1613618013.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:13:33.816Z,1613618013.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:13:34.261Z,1613618014.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:13:35.044Z,1613618015.044 [Micromodem](INFO): Nmea in: $SNTTA,0.011050,,,,031333.84*48 2021-02-18T03:13:35.084Z,1613618015.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.160000 m, bearing: 93.356590 deg, deltaT: 4.423338 s, approachRate: -0.583270 m/s, LOS rate: -0.017954 deg/s, posRepo size: 4 2021-02-18T03:13:35.086Z,1613618015.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.160000 m, bearing: 93.356590 deg, approachRate: -0.583270 m/s, LOS rate: -0.017954 deg/s, cmd update: -0.071814 deg/s, cmd heading: 94.911189 deg, new cmd heading: 94.920179 deg. 2021-02-18T03:13:37.503Z,1613618017.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:13:38.273Z,1613618018.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:13:38.666Z,1613618018.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:13:39.504Z,1613618019.504 [Micromodem](INFO): Nmea in: $SNTTA,0.008759,,,,031338.30*4A 2021-02-18T03:13:39.562Z,1613618019.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.899998 m, bearing: 94.476187 deg, deltaT: 4.452529 s, approachRate: -0.956760 m/s, LOS rate: 0.251452 deg/s, posRepo size: 4 2021-02-18T03:13:39.565Z,1613618019.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.899998 m, bearing: 94.476187 deg, approachRate: -0.956760 m/s, LOS rate: 0.251452 deg/s, cmd update: 1.005808 deg/s, cmd heading: 94.591722 deg, new cmd heading: 94.559514 deg. 2021-02-18T03:13:41.915Z,1613618021.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:13:42.711Z,1613618022.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:13:43.117Z,1613618023.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:13:43.948Z,1613618023.948 [Micromodem](INFO): Nmea in: $SNTTA,0.006542,,,,031342.74*41 2021-02-18T03:13:43.978Z,1613618023.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.419999 m, bearing: 93.274607 deg, deltaT: 4.435791 s, approachRate: -0.784527 m/s, LOS rate: -0.270883 deg/s, posRepo size: 4 2021-02-18T03:13:43.984Z,1613618023.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.419999 m, bearing: 93.274607 deg, approachRate: -0.784527 m/s, LOS rate: -0.270883 deg/s, cmd update: -1.083532 deg/s, cmd heading: 99.056984 deg, new cmd heading: 99.480993 deg. 2021-02-18T03:13:46.376Z,1613618026.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:13:47.153Z,1613618027.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:13:47.566Z,1613618027.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:13:48.384Z,1613618028.384 [Micromodem](INFO): Nmea in: $SNTTA,0.004342,,,,031347.18*4A 2021-02-18T03:13:48.433Z,1613618028.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.300001 m, bearing: 90.654423 deg, deltaT: 4.471286 s, approachRate: -0.697785 m/s, LOS rate: -0.586002 deg/s, posRepo size: 4 2021-02-18T03:13:48.435Z,1613618028.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.300001 m, bearing: 90.654423 deg, approachRate: -0.697785 m/s, LOS rate: -0.586002 deg/s, cmd update: -2.344009 deg/s, cmd heading: 94.218592 deg, new cmd heading: 93.767801 deg. 2021-02-18T03:13:50.800Z,1613618030.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:13:51.597Z,1613618031.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:13:52.022Z,1613618032.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:13:52.824Z,1613618032.824 [Micromodem](INFO): Nmea in: $SNTTA,0.002841,,,0.006852,031351.62*59 2021-02-18T03:13:52.855Z,1613618032.855 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T03:13:52.856Z,1613618032.856 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T03:13:52.856Z,1613618032.856 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T03:13:52.856Z,1613618032.856 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T03:13:52.856Z,1613618032.856 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T03:13:52.856Z,1613618032.856 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.080000 m 2021-02-18T03:13:52.856Z,1613618032.856 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T03:13:52.857Z,1613618032.857 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T03:13:52.857Z,1613618032.857 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T03:13:52.859Z,1613618032.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 88.457937 deg, deltaT: 4.422540 s, approachRate: -0.501974 m/s, LOS rate: -0.496657 deg/s, posRepo size: 4 2021-02-18T03:13:52.861Z,1613618032.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.080000 m, bearing: 88.457937 deg, approachRate: -0.501974 m/s, LOS rate: -0.496657 deg/s, cmd update: -1.986629 deg/s, cmd heading: 83.838198 deg, new cmd heading: 82.869532 deg. 2021-02-18T03:13:53.280Z,1613618033.280 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T031353: (41.552319, -70.708603) 2021-02-18T03:13:53.280Z,1613618033.280 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T03:13:53.280Z,1613618033.280 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T03:13:53.280Z,1613618033.280 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T03:13:53.280Z,1613618033.280 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T03:13:53.280Z,1613618033.280 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T03:13:53.281Z,1613618033.281 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T03:13:53.281Z,1613618033.281 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T03:13:53.281Z,1613618033.281 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T03:13:55.317Z,1613618035.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:13:56.054Z,1613618036.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:13:56.442Z,1613618036.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:13:57.289Z,1613618037.289 [Micromodem](INFO): Nmea in: $SNTTA,0.002770,,0.022915,,031356.08*5B 2021-02-18T03:13:57.322Z,1613618037.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 84.116676 deg, deltaT: 4.433641 s, approachRate: 0.000000 m/s, LOS rate: -0.979164 deg/s, posRepo size: 4 2021-02-18T03:13:57.324Z,1613618037.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.080000 m, bearing: 84.116676 deg, approachRate: 0.000000 m/s, LOS rate: -0.979164 deg/s, cmd update: -3.916656 deg/s, cmd heading: 75.061453 deg, new cmd heading: 74.150685 deg. 2021-02-18T03:13:59.721Z,1613618039.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:00.481Z,1613618040.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:00.898Z,1613618040.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:01.708Z,1613618041.708 [Micromodem](INFO): Nmea in: $SNTTA,0.004533,,,,031400.51*43 2021-02-18T03:14:01.750Z,1613618041.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.839999 m, bearing: 74.103188 deg, deltaT: 4.469368 s, approachRate: 0.617537 m/s, LOS rate: -2.240471 deg/s, posRepo size: 4 2021-02-18T03:14:01.756Z,1613618041.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.839999 m, bearing: 74.103188 deg, approachRate: 0.617537 m/s, LOS rate: -2.240471 deg/s, cmd update: -8.961883 deg/s, cmd heading: 57.493865 deg, new cmd heading: 55.923674 deg. 2021-02-18T03:14:04.149Z,1613618044.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:04.924Z,1613618044.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:05.336Z,1613618045.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:06.161Z,1613618046.161 [Micromodem](INFO): Nmea in: $SNTTA,0.006231,,,0.037181,031404.95*5A 2021-02-18T03:14:06.196Z,1613618046.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.479997 m, bearing: 53.065249 deg, deltaT: 4.431394 s, approachRate: 0.595749 m/s, LOS rate: -4.747477 deg/s, posRepo size: 4 2021-02-18T03:14:06.198Z,1613618046.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.479997 m, bearing: 53.065249 deg, approachRate: 0.595749 m/s, LOS rate: -4.747477 deg/s, cmd update: -12.000000 deg/s, cmd heading: 17.853674 deg, new cmd heading: 14.050448 deg. 2021-02-18T03:14:08.602Z,1613618048.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:09.368Z,1613618049.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:09.774Z,1613618049.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:10.596Z,1613618050.596 [Micromodem](INFO): Nmea in: $SNTTA,0.008414,,,,031409.39*4C 2021-02-18T03:14:10.621Z,1613618050.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.719999 m, bearing: 63.326481 deg, deltaT: 4.429199 s, approachRate: 0.731510 m/s, LOS rate: 2.316724 deg/s, posRepo size: 4 2021-02-18T03:14:10.623Z,1613618050.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.719999 m, bearing: 63.326481 deg, approachRate: 0.731510 m/s, LOS rate: 2.316724 deg/s, cmd update: 9.266897 deg/s, cmd heading: 324.642456 deg, new cmd heading: 319.666284 deg. 2021-02-18T03:14:13.054Z,1613618053.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:13.818Z,1613618053.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:14.246Z,1613618054.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:15.055Z,1613618055.055 [Micromodem](INFO): Nmea in: $SNTTA,0.010132,,,,031413.84*49 2021-02-18T03:14:15.079Z,1613618055.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.260000 m, bearing: 55.374242 deg, deltaT: 4.440132 s, approachRate: 0.797274 m/s, LOS rate: -1.790992 deg/s, posRepo size: 4 2021-02-18T03:14:15.079Z,1613618055.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.26 m. Rolling out. 2021-02-18T03:14:15.080Z,1613618055.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T03:14:17.474Z,1613618057.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:18.272Z,1613618058.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:18.674Z,1613618058.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:19.492Z,1613618059.492 [Micromodem](INFO): Nmea in: $SNTTA,0.011834,,,,031418.30*43 2021-02-18T03:14:19.532Z,1613618059.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.879999 m, bearing: 29.305111 deg, deltaT: 4.461604 s, approachRate: 0.363098 m/s, LOS rate: -5.842995 deg/s, posRepo size: 4 2021-02-18T03:14:21.918Z,1613618061.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:22.706Z,1613618062.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:23.106Z,1613618063.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:23.932Z,1613618063.932 [Micromodem](INFO): Nmea in: $SNTTA,0.013313,,,,031422.73*41 2021-02-18T03:14:23.972Z,1613618063.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.100002 m, bearing: 13.803509 deg, deltaT: 4.440441 s, approachRate: 0.499951 m/s, LOS rate: -3.491005 deg/s, posRepo size: 4 2021-02-18T03:14:26.385Z,1613618066.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:27.144Z,1613618067.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:27.557Z,1613618067.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:28.372Z,1613618068.372 [Micromodem](INFO): Nmea in: $SNTTA,0.015271,,,,031427.17*45 2021-02-18T03:14:28.421Z,1613618068.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.639997 m, bearing: 8.102111 deg, deltaT: 4.463880 s, approachRate: 0.793031 m/s, LOS rate: -1.277229 deg/s, posRepo size: 4 2021-02-18T03:14:30.810Z,1613618070.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:31.588Z,1613618071.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:32.023Z,1613618072.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:32.816Z,1613618072.816 [Micromodem](INFO): Nmea in: $SNTTA,0.017243,,,,031431.61*40 2021-02-18T03:14:32.849Z,1613618072.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.099998 m, bearing: 21.192841 deg, deltaT: 4.425007 s, approachRate: 0.555932 m/s, LOS rate: 2.958352 deg/s, posRepo size: 4 2021-02-18T03:14:35.299Z,1613618075.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:36.032Z,1613618076.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:36.438Z,1613618076.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:37.280Z,1613618077.280 [Micromodem](INFO): Nmea in: $SNTTA,0.019323,,,,031436.06*4F 2021-02-18T03:14:37.337Z,1613618077.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.699997 m, bearing: 327.839163 deg, deltaT: 4.415083 s, approachRate: 0.815386 m/s, LOS rate: -12.084413 deg/s, posRepo size: 4 2021-02-18T03:14:39.683Z,1613618079.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:40.477Z,1613618080.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:40.894Z,1613618080.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:41.708Z,1613618081.708 [Micromodem](INFO): Nmea in: $SNTTA,0.021739,,0.028938,,031440.50*5F 2021-02-18T03:14:41.745Z,1613618081.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.300003 m, bearing: 333.736129 deg, deltaT: 4.490054 s, approachRate: 0.801773 m/s, LOS rate: 1.313340 deg/s, posRepo size: 4 2021-02-18T03:14:43.720Z,1613618083.720 [PowerOnly](INFO): Powering down loadControl 2021-02-18T03:14:44.137Z,1613618084.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:44.925Z,1613618084.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:45.332Z,1613618085.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:46.164Z,1613618086.164 [Micromodem](INFO): Nmea in: $SNTTA,0.023541,,,,031444.96*48 2021-02-18T03:14:46.188Z,1613618086.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.880001 m, bearing: 331.932796 deg, deltaT: 4.424040 s, approachRate: 0.583177 m/s, LOS rate: -0.407622 deg/s, posRepo size: 4 2021-02-18T03:14:48.586Z,1613618088.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:49.369Z,1613618089.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:49.776Z,1613618089.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:50.597Z,1613618090.597 [Micromodem](INFO): Nmea in: $SNTTA,0.025722,,,,031449.39*41 2021-02-18T03:14:50.637Z,1613618090.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.180000 m, bearing: 331.957166 deg, deltaT: 4.488379 s, approachRate: 0.735232 m/s, LOS rate: 0.005430 deg/s, posRepo size: 4 2021-02-18T03:14:53.063Z,1613618093.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:53.808Z,1613618093.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:54.232Z,1613618094.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:55.044Z,1613618095.044 [Micromodem](INFO): Nmea in: $SNTTA,0.028013,,0.052343,,031453.83*5E 2021-02-18T03:14:55.067Z,1613618095.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.179996 m, bearing: 28.681945 deg, deltaT: 4.384551 s, approachRate: 0.684220 m/s, LOS rate: 12.937423 deg/s, posRepo size: 4 2021-02-18T03:14:57.474Z,1613618097.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:14:58.266Z,1613618098.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:14:58.665Z,1613618098.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:14:59.495Z,1613618099.495 [Micromodem](INFO): Nmea in: $SNTTA,0.030194,,,,031458.29*4F 2021-02-18T03:14:59.520Z,1613618099.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.419998 m, bearing: 331.659233 deg, deltaT: 4.468285 s, approachRate: 0.725111 m/s, LOS rate: -12.761652 deg/s, posRepo size: 4 2021-02-18T03:15:01.544Z,1613618101.544 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T03:15:01.544Z,1613618101.544 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T03:15:01.544Z,1613618101.544 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T03:15:01.545Z,1613618101.545 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T03:15:01.545Z,1613618101.545 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T03:15:02.013Z,1613618102.013 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D605A0000005D000004003E0000000000000000151D80030C5669BF92F9E56178EEB1AF12F9506CC3FE7032DC55705581A45057202AEAE4C613451D0E97 2021-02-18T03:15:02.013Z,1613618102.013 [Micromodem](INFO): Outgoing frame #2, 17 bytes: A7C6B95F4C1348B18A4B6F9A9DF63B1400 2021-02-18T03:15:02.014Z,1613618102.014 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T03:15:02.080Z,1613618102.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:02.308Z,1613618102.308 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T03:15:02.696Z,1613618102.696 [Micromodem](INFO): Nmea in: $CADRQ,031501,1,10,0,64,1*70 2021-02-18T03:15:02.696Z,1613618102.696 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D605A0000005D000004003E0000000000000000151D80030C5669BF92F9E56178EEB1AF12F9506CC3FE7032DC55705581A45057202AEAE4C613451D0E97*49 2021-02-18T03:15:03.105Z,1613618103.105 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T03:15:03.105Z,1613618103.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:15:03.511Z,1613618103.511 [Micromodem](INFO): Nmea in: $CADRQ,031502,1,10,0,64,2*70 2021-02-18T03:15:03.511Z,1613618103.511 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,031502,1,10,0,64,2*70 2021-02-18T03:15:03.911Z,1613618103.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:15:04.348Z,1613618104.348 [Micromodem](INFO): Nmea in: $SNTTA,0.032528,,,,031503.13*48 2021-02-18T03:15:04.487Z,1613618104.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.599995 m, bearing: 333.054422 deg, deltaT: 4.908185 s, approachRate: 0.647897 m/s, LOS rate: 0.284258 deg/s, posRepo size: 4 2021-02-18T03:15:06.760Z,1613618106.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:07.559Z,1613618107.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:15:07.967Z,1613618107.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:15:08.784Z,1613618108.784 [Micromodem](INFO): Nmea in: $SNTTA,0.034462,,,,031507.59*4B 2021-02-18T03:15:08.818Z,1613618108.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.840004 m, bearing: 32.025265 deg, deltaT: 4.379296 s, approachRate: 0.739847 m/s, LOS rate: 13.465825 deg/s, posRepo size: 4 2021-02-18T03:15:10.921Z,1613618110.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:11.592Z,1613618111.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:15:12.022Z,1613618112.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:15:12.837Z,1613618112.837 [Micromodem](INFO): Nmea in: $SNTTA,0.036630,,,,031511.62*43 2021-02-18T03:15:12.966Z,1613618112.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.019997 m, bearing: 335.952034 deg, deltaT: 4.043758 s, approachRate: 0.786395 m/s, LOS rate: -13.866612 deg/s, posRepo size: 4 2021-02-18T03:15:15.305Z,1613618115.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:16.046Z,1613618116.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:15:16.447Z,1613618116.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:15:17.284Z,1613618117.284 [Micromodem](INFO): Nmea in: $SNTTA,0.038670,,0.043483,,031516.07*5B 2021-02-18T03:15:17.429Z,1613618117.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.139999 m, bearing: 33.416096 deg, deltaT: 4.439615 s, approachRate: 0.702764 m/s, LOS rate: 12.943479 deg/s, posRepo size: 4 2021-02-18T03:15:19.413Z,1613618119.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:20.077Z,1613618120.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:15:20.483Z,1613618120.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:15:21.317Z,1613618121.317 [Micromodem](INFO): Nmea in: $SNTTA,0.040612,,,,031520.10*45 2021-02-18T03:15:21.372Z,1613618121.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.259998 m, bearing: 338.465954 deg, deltaT: 4.037729 s, approachRate: 0.772711 m/s, LOS rate: -13.609172 deg/s, posRepo size: 4 2021-02-18T03:15:23.844Z,1613618123.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:24.527Z,1613618124.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:15:24.926Z,1613618124.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:15:25.788Z,1613618125.788 [Micromodem](INFO): Nmea in: $SNTTA,0.042888,,,,031524.56*4C 2021-02-18T03:15:25.902Z,1613618125.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.500008 m, bearing: 29.361334 deg, deltaT: 4.473804 s, approachRate: 0.724218 m/s, LOS rate: 11.376312 deg/s, posRepo size: 4 2021-02-18T03:15:28.213Z,1613618128.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:28.970Z,1613618128.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:15:29.370Z,1613618129.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:15:30.196Z,1613618130.196 [Micromodem](INFO): Nmea in: $SNTTA,0.045041,,,,031529.00*48 2021-02-18T03:15:30.363Z,1613618130.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.920006 m, bearing: 344.686234 deg, deltaT: 4.440282 s, approachRate: 0.770221 m/s, LOS rate: -10.061323 deg/s, posRepo size: 4 2021-02-18T03:15:32.371Z,1613618132.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:33.032Z,1613618133.032 [Micromodem](INFO): Nmea in: $CAERR,031532,DATA_TIMEOUT,2*4B 2021-02-18T03:15:33.033Z,1613618133.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:15:33.413Z,1613618133.413 [Micromodem](INFO): Nmea in: $CATXP,64*70 2021-02-18T03:15:33.413Z,1613618133.413 [Micromodem](ERROR): Response from modem unexpected: $CATXP,64*70 2021-02-18T03:15:35.027Z,1613618135.027 [Micromodem](INFO): Nmea in: $CATXF,64*66 2021-02-18T03:15:35.027Z,1613618135.027 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66 2021-02-18T03:15:35.090Z,1613618135.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:35.430Z,1613618135.430 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,031532.761763,3,0,200,4000,14500,1,1,10,1,2,1,3,64*4C 2021-02-18T03:15:35.430Z,1613618135.430 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,031532.761763,3,0,200,4000,14500,1,1,10,1,2,1,3,64*4C 2021-02-18T03:15:36.655Z,1613618136.655 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T03:15:37.048Z,1613618137.048 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218031535.644499,06,5432,37,0229,0150,29,02,02,00,04,1,010,001,0,4,1,0,150,13.9,4.00,10,-1.00,-01,-1.61,36,14500,4000*73 2021-02-18T03:15:37.048Z,1613618137.048 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218031535.644499,06,5432,37,0229,0150,29,02,02,00,04,1,010,001,0,4,1,0,150,13.9,4.00,10,-1.00,-01,-1.61,36,14500,4000*73 2021-02-18T03:15:37.900Z,1613618137.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:40.701Z,1613618140.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:43.266Z,1613618143.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:44.315Z,1613618144.315 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:15:44.727Z,1613618144.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:15:45.551Z,1613618145.551 [Micromodem](INFO): Nmea in: $SNTTA,0.052809,,,,031544.34*46 2021-02-18T03:15:45.576Z,1613618145.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.620003 m, bearing: 23.476407 deg, deltaT: 15.445196 s, approachRate: 0.757517 m/s, LOS rate: 2.511471 deg/s, posRepo size: 4 2021-02-18T03:15:47.980Z,1613618147.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:48.760Z,1613618148.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:15:49.166Z,1613618149.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:15:50.016Z,1613618150.016 [Micromodem](INFO): Nmea in: $SNTTA,0.055069,,,,031548.79*4A 2021-02-18T03:15:50.067Z,1613618150.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.859993 m, bearing: 334.534879 deg, deltaT: 4.419507 s, approachRate: 0.733111 m/s, LOS rate: -11.073977 deg/s, posRepo size: 4 2021-02-18T03:15:52.450Z,1613618152.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:53.215Z,1613618153.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:15:53.610Z,1613618153.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:15:54.441Z,1613618154.441 [Micromodem](INFO): Nmea in: $SNTTA,0.057231,,,,031553.24*45 2021-02-18T03:15:54.484Z,1613618154.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.159996 m, bearing: 338.449097 deg, deltaT: 4.367012 s, approachRate: 0.755666 m/s, LOS rate: 0.896315 deg/s, posRepo size: 4 2021-02-18T03:15:56.887Z,1613618156.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:15:57.650Z,1613618157.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:15:58.055Z,1613618158.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:15:58.876Z,1613618158.876 [Micromodem](INFO): Nmea in: $SNTTA,0.059677,,,,031557.68*41 2021-02-18T03:15:58.908Z,1613618158.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.699997 m, bearing: 345.968069 deg, deltaT: 4.432421 s, approachRate: 0.798661 m/s, LOS rate: 1.696358 deg/s, posRepo size: 4 2021-02-18T03:16:01.324Z,1613618161.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:02.098Z,1613618162.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:16:02.498Z,1613618162.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:16:03.332Z,1613618163.332 [Micromodem](INFO): Nmea in: $SNTTA,0.061863,,,,031602.12*4F 2021-02-18T03:16:03.385Z,1613618163.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.000000 m, bearing: 345.831575 deg, deltaT: 4.418445 s, approachRate: 0.746870 m/s, LOS rate: -0.030892 deg/s, posRepo size: 4 2021-02-18T03:16:05.831Z,1613618165.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:06.536Z,1613618166.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:16:06.946Z,1613618166.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:16:07.344Z,1613618167.344 [Micromodem](ERROR): Buffer fill timout failure. 2021-02-18T03:16:07.764Z,1613618167.764 [Micromodem](INFO): Nmea in: $SNTTA,0.064206,,,,031606.56*47 2021-02-18T03:16:07.851Z,1613618167.851 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D605A0000005D000004003E0000000000000000151D80030C5669BF92F9E56178EEB1AF12F9506CC3FE7032DC55705581A45057202AEAE4C613451D0E97 2021-02-18T03:16:07.852Z,1613618167.852 [Micromodem](INFO): Outgoing frame #2, 17 bytes: A7C6B95F4C1348B18A4B6F9A9DF63B1400 2021-02-18T03:16:07.852Z,1613618167.852 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T03:16:07.914Z,1613618167.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.540001 m, bearing: 347.680452 deg, deltaT: 4.479233 s, approachRate: 0.790314 m/s, LOS rate: 0.412767 deg/s, posRepo size: 4 2021-02-18T03:16:08.991Z,1613618168.991 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T03:16:09.380Z,1613618169.380 [Micromodem](INFO): Nmea in: $CADRQ,031607,1,10,0,64,1*75 2021-02-18T03:16:09.381Z,1613618169.381 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D605A0000005D000004003E0000000000000000151D80030C5669BF92F9E56178EEB1AF12F9506CC3FE7032DC55705581A45057202AEAE4C613451D0E97*49 2021-02-18T03:16:09.780Z,1613618169.780 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T03:16:10.172Z,1613618170.172 [Micromodem](INFO): Nmea in: $CADRQ,031609,1,10,0,64,2*78 2021-02-18T03:16:10.172Z,1613618170.172 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A7C6B95F4C1348B18A4B6F9A9DF63B1400*36 2021-02-18T03:16:10.287Z,1613618170.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:10.580Z,1613618170.580 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D 2021-02-18T03:16:10.998Z,1613618170.998 [Micromodem](INFO): Nmea in: $CATXP,81*7B 2021-02-18T03:16:11.015Z,1613618171.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:16:13.044Z,1613618173.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:13.405Z,1613618173.405 [Micromodem](INFO): Nmea in: $CATXF,81*6D 2021-02-18T03:16:13.405Z,1613618173.405 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D 2021-02-18T03:16:13.804Z,1613618173.804 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,031610.183571,3,0,200,4000,14500,1,1,10,1,2,2,3,81*4C 2021-02-18T03:16:13.805Z,1613618173.805 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,031610.183571,3,0,200,4000,14500,1,1,10,1,2,2,3,81*4C 2021-02-18T03:16:15.845Z,1613618175.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:16.259Z,1613618176.259 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T03:16:16.648Z,1613618176.648 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-18T03:16:16.649Z,1613618176.649 [Micromodem](INFO): Sent 73 bytes from file Logs/20210217T180521/Courier0090.lzma.parts 2021-02-18T03:16:16.649Z,1613618176.649 [Micromodem](INFO): Packets left to send: 0 2021-02-18T03:16:17.039Z,1613618177.039 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218031614.914788,06,2483,33,0242,0150,59,02,02,00,04,1,010,001,0,4,1,0,150,-6.1,4.00,13,-1.00,-01,-1.21,48,14500,4000*66 2021-02-18T03:16:17.039Z,1613618177.039 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218031614.914788,06,2483,33,0242,0150,59,02,02,00,04,1,010,001,0,4,1,0,150,-6.1,4.00,13,-1.00,-01,-1.21,48,14500,4000*66 2021-02-18T03:16:17.184Z,1613618177.184 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T03:16:17.184Z,1613618177.184 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T03:16:17.184Z,1613618177.184 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T03:16:17.184Z,1613618177.184 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T03:16:17.184Z,1613618177.184 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T03:16:18.688Z,1613618178.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:21.514Z,1613618181.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:22.305Z,1613618182.305 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:16:22.696Z,1613618182.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:16:23.527Z,1613618183.527 [Micromodem](INFO): Nmea in: $SNTTA,0.072114,,,,031622.33*45 2021-02-18T03:16:23.552Z,1613618183.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.540001 m, bearing: 345.787042 deg, deltaT: 15.742384 s, approachRate: 0.762273 m/s, LOS rate: -0.120275 deg/s, posRepo size: 4 2021-02-18T03:16:25.945Z,1613618185.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:26.732Z,1613618186.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:16:27.149Z,1613618187.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:16:27.961Z,1613618187.961 [Micromodem](INFO): Nmea in: $SNTTA,0.074277,,,,031626.76*40 2021-02-18T03:16:28.026Z,1613618188.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.779999 m, bearing: 349.991242 deg, deltaT: 4.455117 s, approachRate: 0.727253 m/s, LOS rate: 0.943679 deg/s, posRepo size: 4 2021-02-18T03:16:30.410Z,1613618190.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:31.181Z,1613618191.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:16:31.588Z,1613618191.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:16:32.412Z,1613618192.412 [Micromodem](INFO): Nmea in: $SNTTA,0.076713,,,,031631.21*41 2021-02-18T03:16:32.437Z,1613618192.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.259995 m, bearing: 350.208032 deg, deltaT: 4.473427 s, approachRate: 0.777926 m/s, LOS rate: 0.048462 deg/s, posRepo size: 4 2021-02-18T03:16:34.827Z,1613618194.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:35.620Z,1613618195.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:16:36.032Z,1613618196.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:16:36.848Z,1613618196.848 [Micromodem](INFO): Nmea in: $SNTTA,0.078977,,0.088721,,031635.65*5D 2021-02-18T03:16:36.885Z,1613618196.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.620003 m, bearing: 344.759645 deg, deltaT: 4.410272 s, approachRate: 0.761860 m/s, LOS rate: -1.235386 deg/s, posRepo size: 4 2021-02-18T03:16:39.307Z,1613618199.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:40.066Z,1613618200.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:16:40.471Z,1613618200.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:16:41.292Z,1613618201.292 [Micromodem](INFO): Nmea in: $SNTTA,0.081226,,,,031640.09*46 2021-02-18T03:16:41.342Z,1613618201.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.040009 m, bearing: 346.746356 deg, deltaT: 4.434346 s, approachRate: 0.771254 m/s, LOS rate: 0.448028 deg/s, posRepo size: 4 2021-02-18T03:16:43.723Z,1613618203.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:44.508Z,1613618204.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:16:44.921Z,1613618204.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:16:45.736Z,1613618205.736 [Micromodem](INFO): Nmea in: $SNTTA,0.083430,,,,031644.54*49 2021-02-18T03:16:45.778Z,1613618205.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.280006 m, bearing: 350.499791 deg, deltaT: 4.455883 s, approachRate: 0.727128 m/s, LOS rate: 0.842355 deg/s, posRepo size: 4 2021-02-18T03:16:48.149Z,1613618208.149 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T03:16:48.175Z,1613618208.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:48.952Z,1613618208.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:16:49.363Z,1613618209.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:16:50.181Z,1613618210.181 [Micromodem](INFO): Nmea in: $SNTTA,0.085668,,,,031648.98*4C 2021-02-18T03:16:50.210Z,1613618210.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.699997 m, bearing: 354.723498 deg, deltaT: 4.413345 s, approachRate: 0.774920 m/s, LOS rate: 0.957031 deg/s, posRepo size: 4 2021-02-18T03:16:52.612Z,1613618212.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:53.396Z,1613618213.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:16:53.820Z,1613618213.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:16:54.640Z,1613618214.640 [Micromodem](INFO): Nmea in: $SNTTA,0.087999,,,,031653.42*42 2021-02-18T03:16:54.665Z,1613618214.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.120010 m, bearing: 349.519003 deg, deltaT: 4.512294 s, approachRate: 0.757932 m/s, LOS rate: -1.153403 deg/s, posRepo size: 4 2021-02-18T03:16:57.056Z,1613618217.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:16:57.858Z,1613618217.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:16:58.268Z,1613618218.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:16:59.076Z,1613618219.076 [Micromodem](INFO): Nmea in: $SNTTA,0.090245,,,,031657.88*4C 2021-02-18T03:16:59.118Z,1613618219.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.540009 m, bearing: 350.716772 deg, deltaT: 4.389955 s, approachRate: 0.779051 m/s, LOS rate: 0.272843 deg/s, posRepo size: 4 2021-02-18T03:17:01.502Z,1613618221.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:17:02.284Z,1613618222.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:17:02.689Z,1613618222.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:17:03.514Z,1613618223.514 [Micromodem](INFO): Nmea in: $SNTTA,0.092582,,,,031702.31*41 2021-02-18T03:17:03.538Z,1613618223.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.139999 m, bearing: 2.334321 deg, deltaT: 4.460457 s, approachRate: 0.807090 m/s, LOS rate: 2.604563 deg/s, posRepo size: 4 2021-02-18T03:17:05.961Z,1613618225.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:17:06.730Z,1613618226.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:17:07.134Z,1613618227.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:17:07.957Z,1613618227.957 [Micromodem](INFO): Nmea in: $SNTTA,0.094725,,,,031706.75*4C 2021-02-18T03:17:08.030Z,1613618228.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.319992 m, bearing: 1.260859 deg, deltaT: 4.443990 s, approachRate: 0.715572 m/s, LOS rate: -0.241554 deg/s, posRepo size: 4 2021-02-18T03:17:10.400Z,1613618230.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:17:11.172Z,1613618231.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:17:11.585Z,1613618231.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:17:12.400Z,1613618232.400 [Micromodem](INFO): Nmea in: $SNTTA,0.097068,,,,031711.20*47 2021-02-18T03:17:12.425Z,1613618232.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.919998 m, bearing: 14.135585 deg, deltaT: 4.477472 s, approachRate: 0.804026 m/s, LOS rate: 2.875445 deg/s, posRepo size: 4 2021-02-18T03:17:14.822Z,1613618234.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:17:15.616Z,1613618235.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:17:16.030Z,1613618236.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:17:16.436Z,1613618236.436 [RDI_Pathfinder](ERROR): only read 0 of 4 data items 2021-02-18T03:17:16.849Z,1613618236.849 [Micromodem](INFO): Nmea in: $SNTTA,0.099296,,,,031715.64*4E 2021-02-18T03:17:16.875Z,1613618236.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.339996 m, bearing: 9.832045 deg, deltaT: 4.384777 s, approachRate: 0.779971 m/s, LOS rate: -0.981473 deg/s, posRepo size: 4 2021-02-18T03:17:19.307Z,1613618239.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:17:20.069Z,1613618240.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:17:20.466Z,1613618240.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:17:21.292Z,1613618241.292 [Micromodem](INFO): Nmea in: $SNTTA,0.101703,,,,031720.10*42 2021-02-18T03:17:21.342Z,1613618241.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.759995 m, bearing: 347.998931 deg, deltaT: 4.471333 s, approachRate: 0.764872 m/s, LOS rate: -4.882912 deg/s, posRepo size: 4 2021-02-18T03:17:21.342Z,1613618241.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.76 m. Resuming terminal guidance. 2021-02-18T03:17:21.342Z,1613618241.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T03:17:23.719Z,1613618243.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:17:24.504Z,1613618244.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:17:24.911Z,1613618244.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:17:25.732Z,1613618245.732 [Micromodem](INFO): Nmea in: $SNTTA,0.103859,,,,031724.53*43 2021-02-18T03:17:25.765Z,1613618245.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.999985 m, bearing: 347.036693 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T03:17:25.766Z,1613618245.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 347.036693deg and heading rate command to 0 deg/s. 2021-02-18T03:17:28.166Z,1613618248.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:17:28.948Z,1613618248.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:17:29.354Z,1613618249.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:17:30.188Z,1613618250.188 [Micromodem](INFO): Nmea in: $SNTTA,0.106309,,,,031728.97*4C 2021-02-18T03:17:30.260Z,1613618250.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.660004 m, bearing: 335.806496 deg, deltaT: 4.384258 s, approachRate: 0.834809 m/s, LOS rate: -2.561482 deg/s, posRepo size: 2 2021-02-18T03:17:30.268Z,1613618250.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.660004 m, bearing: 335.806496 deg, approachRate: 0.834809 m/s, LOS rate: -2.561482 deg/s, cmd update: -10.245928 deg/s, cmd heading: 347.036693 deg, new cmd heading: 347.036693 deg. 2021-02-18T03:17:32.614Z,1613618252.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:17:33.392Z,1613618253.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:17:33.805Z,1613618253.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:17:34.620Z,1613618254.620 [Micromodem](INFO): Nmea in: $SNTTA,0.108366,,,,031733.42*49 2021-02-18T03:17:34.665Z,1613618254.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.780014 m, bearing: 358.339236 deg, deltaT: 4.499143 s, approachRate: 0.693468 m/s, LOS rate: 5.008229 deg/s, posRepo size: 3 2021-02-18T03:17:34.667Z,1613618254.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.780014 m, bearing: 358.339236 deg, approachRate: 0.693468 m/s, LOS rate: 5.008229 deg/s, cmd update: 12.000000 deg/s, cmd heading: 300.934445 deg, new cmd heading: 296.978339 deg. 2021-02-18T03:17:37.074Z,1613618257.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:17:37.854Z,1613618257.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:17:38.273Z,1613618258.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:17:39.076Z,1613618259.076 [Micromodem](INFO): Nmea in: $SNTTA,0.110227,,,,031737.88*46 2021-02-18T03:17:39.130Z,1613618259.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.780014 m, bearing: 317.357254 deg, deltaT: 4.412482 s, approachRate: 0.000000 m/s, LOS rate: -9.287739 deg/s, posRepo size: 4 2021-02-18T03:17:39.133Z,1613618259.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.780014 m, bearing: 317.357254 deg, approachRate: 0.000000 m/s, LOS rate: -9.287739 deg/s, cmd update: -12.000000 deg/s, cmd heading: 353.876179 deg, new cmd heading: 359.142799 deg. 2021-02-18T03:17:41.510Z,1613618261.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:17:42.290Z,1613618262.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:17:42.691Z,1613618262.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:17:43.516Z,1613618263.516 [Micromodem](INFO): Nmea in: $SNTTA,0.111649,,,,031742.32*48 2021-02-18T03:17:43.560Z,1613618263.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.780014 m, bearing: 308.308237 deg, deltaT: 4.448392 s, approachRate: 0.000000 m/s, LOS rate: -2.034222 deg/s, posRepo size: 4 2021-02-18T03:17:43.562Z,1613618263.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.780014 m, bearing: 308.308237 deg, approachRate: 0.000000 m/s, LOS rate: -2.034222 deg/s, cmd update: -8.136888 deg/s, cmd heading: 300.537354 deg, new cmd heading: 295.445226 deg. 2021-02-18T03:17:45.948Z,1613618265.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:17:46.729Z,1613618266.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:17:47.130Z,1613618267.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:17:47.957Z,1613618267.957 [Micromodem](INFO): Nmea in: $SNTTA,0.113335,,,,031746.76*40 2021-02-18T03:17:48.031Z,1613618268.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.780014 m, bearing: 336.149918 deg, deltaT: 4.470608 s, approachRate: 0.000000 m/s, LOS rate: 6.227717 deg/s, posRepo size: 4 2021-02-18T03:17:48.033Z,1613618268.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.780014 m, bearing: 336.149918 deg, approachRate: 0.000000 m/s, LOS rate: 6.227717 deg/s, cmd update: 12.000000 deg/s, cmd heading: 264.209957 deg, new cmd heading: 260.735669 deg. 2021-02-18T03:17:50.410Z,1613618270.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:17:51.170Z,1613618271.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:17:51.574Z,1613618271.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:17:52.400Z,1613618272.400 [Micromodem](INFO): Nmea in: $SNTTA,0.114894,,,,031751.20*42 2021-02-18T03:17:52.444Z,1613618272.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 311.632025 deg, deltaT: 4.437003 s, approachRate: 2.177146 m/s, LOS rate: -5.525778 deg/s, posRepo size: 4 2021-02-18T03:17:52.446Z,1613618272.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.440018 m, bearing: 311.632025 deg, approachRate: 2.177146 m/s, LOS rate: -5.525778 deg/s, cmd update: -12.000000 deg/s, cmd heading: 317.572387 deg, new cmd heading: 322.341583 deg. 2021-02-18T03:17:54.834Z,1613618274.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:17:55.617Z,1613618275.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:17:56.030Z,1613618276.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:17:56.847Z,1613618276.847 [Micromodem](INFO): Nmea in: $SNTTA,0.116182,,,,031755.64*4A 2021-02-18T03:17:56.866Z,1613618276.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 285.375849 deg, deltaT: 4.420399 s, approachRate: 0.000000 m/s, LOS rate: -5.939775 deg/s, posRepo size: 4 2021-02-18T03:17:56.868Z,1613618276.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.440018 m, bearing: 285.375849 deg, approachRate: 0.000000 m/s, LOS rate: -5.939775 deg/s, cmd update: -12.000000 deg/s, cmd heading: 264.523626 deg, new cmd heading: 259.745322 deg. 2021-02-18T03:17:59.318Z,1613618279.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:00.061Z,1613618280.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:00.462Z,1613618280.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:01.292Z,1613618281.292 [Micromodem](INFO): Nmea in: $SNTTA,0.117043,,,,031800.09*43 2021-02-18T03:18:01.361Z,1613618281.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 249.750785 deg, deltaT: 4.460970 s, approachRate: 0.000000 m/s, LOS rate: -7.985946 deg/s, posRepo size: 4 2021-02-18T03:18:01.368Z,1613618281.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.440018 m, bearing: 249.750785 deg, approachRate: 0.000000 m/s, LOS rate: -7.985946 deg/s, cmd update: -12.000000 deg/s, cmd heading: 211.039253 deg, new cmd heading: 205.862752 deg. 2021-02-18T03:18:03.712Z,1613618283.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:04.500Z,1613618284.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:04.906Z,1613618284.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:05.732Z,1613618285.732 [Micromodem](INFO): Nmea in: $SNTTA,0.117490,,,,031804.53*42 2021-02-18T03:18:05.754Z,1613618285.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 247.879805 deg, deltaT: 4.452247 s, approachRate: 0.000000 m/s, LOS rate: -0.420233 deg/s, posRepo size: 4 2021-02-18T03:18:05.776Z,1613618285.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.440018 m, bearing: 247.879805 deg, approachRate: 0.000000 m/s, LOS rate: -0.420233 deg/s, cmd update: -1.680931 deg/s, cmd heading: 157.612215 deg, new cmd heading: 153.087135 deg. 2021-02-18T03:18:08.182Z,1613618288.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:08.945Z,1613618288.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:09.365Z,1613618289.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:10.176Z,1613618290.176 [Micromodem](INFO): Nmea in: $SNTTA,0.117128,,,,031808.97*40 2021-02-18T03:18:10.232Z,1613618290.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 194.882413 deg, deltaT: 4.411659 s, approachRate: 0.000000 m/s, LOS rate: -12.013030 deg/s, posRepo size: 4 2021-02-18T03:18:10.234Z,1613618290.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.013030 deg/s. Setting heading cmd to target bearing of 194.882413deg and heading rate command to 0 deg/s. 2021-02-18T03:18:12.617Z,1613618292.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:13.392Z,1613618293.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:13.800Z,1613618293.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:14.620Z,1613618294.620 [Micromodem](INFO): Nmea in: $SNTTA,0.116565,,,,031813.42*4E 2021-02-18T03:18:14.660Z,1613618294.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 175.673203 deg, deltaT: 4.486136 s, approachRate: 0.000000 m/s, LOS rate: -4.281905 deg/s, posRepo size: 4 2021-02-18T03:18:14.661Z,1613618294.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.440018 m, bearing: 175.673203 deg, approachRate: 0.000000 m/s, LOS rate: -4.281905 deg/s, cmd update: -12.000000 deg/s, cmd heading: 194.882413 deg, new cmd heading: 194.882413 deg. 2021-02-18T03:18:17.054Z,1613618297.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:17.832Z,1613618297.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:18.269Z,1613618298.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:19.060Z,1613618299.060 [Micromodem](INFO): Nmea in: $SNTTA,0.115111,,,,031817.86*46 2021-02-18T03:18:19.098Z,1613618299.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 186.020380 deg, deltaT: 4.407419 s, approachRate: 0.000000 m/s, LOS rate: 2.347673 deg/s, posRepo size: 4 2021-02-18T03:18:19.100Z,1613618299.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.440018 m, bearing: 186.020380 deg, approachRate: 0.000000 m/s, LOS rate: 2.347673 deg/s, cmd update: 9.390690 deg/s, cmd heading: 142.045417 deg, new cmd heading: 137.054808 deg. 2021-02-18T03:18:21.498Z,1613618301.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:22.279Z,1613618302.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:22.690Z,1613618302.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:23.504Z,1613618303.504 [Micromodem](INFO): Nmea in: $SNTTA,0.113675,,,,031822.31*4F 2021-02-18T03:18:23.553Z,1613618303.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.519989 m, bearing: 180.165446 deg, deltaT: 4.449422 s, approachRate: -0.431523 m/s, LOS rate: -1.315886 deg/s, posRepo size: 4 2021-02-18T03:18:23.555Z,1613618303.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.519989 m, bearing: 180.165446 deg, approachRate: -0.431523 m/s, LOS rate: -1.315886 deg/s, cmd update: -5.263546 deg/s, cmd heading: 183.869505 deg, new cmd heading: 187.786681 deg. 2021-02-18T03:18:25.950Z,1613618305.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:26.720Z,1613618306.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:27.125Z,1613618307.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:27.948Z,1613618307.948 [Micromodem](INFO): Nmea in: $SNTTA,0.111679,,,,031826.75*45 2021-02-18T03:18:28.023Z,1613618308.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.339996 m, bearing: 179.725377 deg, deltaT: 4.454230 s, approachRate: -0.713926 m/s, LOS rate: -0.098798 deg/s, posRepo size: 4 2021-02-18T03:18:28.025Z,1613618308.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.339996 m, bearing: 179.725377 deg, approachRate: -0.713926 m/s, LOS rate: -0.098798 deg/s, cmd update: -0.395192 deg/s, cmd heading: 160.446195 deg, new cmd heading: 158.143904 deg. 2021-02-18T03:18:30.403Z,1613618310.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:31.164Z,1613618311.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:31.570Z,1613618311.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:32.396Z,1613618312.396 [Micromodem](INFO): Nmea in: $SNTTA,0.109820,,,,031831.19*42 2021-02-18T03:18:32.440Z,1613618312.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.520004 m, bearing: 180.297706 deg, deltaT: 4.471932 s, approachRate: -0.630598 m/s, LOS rate: 0.127982 deg/s, posRepo size: 4 2021-02-18T03:18:32.442Z,1613618312.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.520004 m, bearing: 180.297706 deg, approachRate: -0.630598 m/s, LOS rate: 0.127982 deg/s, cmd update: 0.511930 deg/s, cmd heading: 158.678877 deg, new cmd heading: 158.535667 deg. 2021-02-18T03:18:34.836Z,1613618314.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:35.614Z,1613618315.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:36.029Z,1613618316.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:36.840Z,1613618316.840 [Micromodem](INFO): Nmea in: $SNTTA,0.107899,,,,031835.64*40 2021-02-18T03:18:36.878Z,1613618316.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.640015 m, bearing: 183.208377 deg, deltaT: 4.393317 s, approachRate: -0.655539 m/s, LOS rate: 0.662523 deg/s, posRepo size: 4 2021-02-18T03:18:36.880Z,1613618316.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.640015 m, bearing: 183.208377 deg, approachRate: -0.655539 m/s, LOS rate: 0.662523 deg/s, cmd update: 2.650090 deg/s, cmd heading: 160.927844 deg, new cmd heading: 161.146653 deg. 2021-02-18T03:18:39.328Z,1613618319.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:40.052Z,1613618320.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:40.457Z,1613618320.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:41.288Z,1613618321.288 [Micromodem](INFO): Nmea in: $SNTTA,0.106027,,,,031840.08*44 2021-02-18T03:18:41.345Z,1613618321.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.819992 m, bearing: 185.166237 deg, deltaT: 4.471753 s, approachRate: -0.630630 m/s, LOS rate: 0.437828 deg/s, posRepo size: 4 2021-02-18T03:18:41.346Z,1613618321.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.819992 m, bearing: 185.166237 deg, approachRate: -0.630630 m/s, LOS rate: 0.437828 deg/s, cmd update: 1.751313 deg/s, cmd heading: 172.723069 deg, new cmd heading: 173.897162 deg. 2021-02-18T03:18:43.729Z,1613618323.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:44.499Z,1613618324.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:44.902Z,1613618324.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:45.727Z,1613618325.727 [Micromodem](INFO): Nmea in: $SNTTA,0.104111,,,,031844.52*49 2021-02-18T03:18:45.766Z,1613618325.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.940002 m, bearing: 185.024579 deg, deltaT: 4.440430 s, approachRate: -0.648583 m/s, LOS rate: -0.031902 deg/s, posRepo size: 4 2021-02-18T03:18:45.772Z,1613618325.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.940002 m, bearing: 185.024579 deg, approachRate: -0.648583 m/s, LOS rate: -0.031902 deg/s, cmd update: -0.127608 deg/s, cmd heading: 180.543355 deg, new cmd heading: 181.241887 deg. 2021-02-18T03:18:48.186Z,1613618328.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:48.940Z,1613618328.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:49.352Z,1613618329.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:50.184Z,1613618330.184 [Micromodem](INFO): Nmea in: $SNTTA,0.102027,,,,031848.97*4E 2021-02-18T03:18:50.252Z,1613618330.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.820007 m, bearing: 183.641179 deg, deltaT: 4.401047 s, approachRate: -0.708921 m/s, LOS rate: -0.314334 deg/s, posRepo size: 4 2021-02-18T03:18:50.262Z,1613618330.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.820007 m, bearing: 183.641179 deg, approachRate: -0.708921 m/s, LOS rate: -0.314334 deg/s, cmd update: -1.257337 deg/s, cmd heading: 179.981756 deg, new cmd heading: 179.921755 deg. 2021-02-18T03:18:52.601Z,1613618332.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:53.384Z,1613618333.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:53.801Z,1613618333.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:54.612Z,1613618334.612 [Micromodem](INFO): Nmea in: $SNTTA,0.100029,,,,031853.41*43 2021-02-18T03:18:54.652Z,1613618334.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.820007 m, bearing: 184.963613 deg, deltaT: 4.510383 s, approachRate: -0.665132 m/s, LOS rate: 0.293198 deg/s, posRepo size: 4 2021-02-18T03:18:54.654Z,1613618334.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.820007 m, bearing: 184.963613 deg, approachRate: -0.665132 m/s, LOS rate: 0.293198 deg/s, cmd update: 1.172791 deg/s, cmd heading: 174.310450 deg, new cmd heading: 173.841141 deg. 2021-02-18T03:18:57.060Z,1613618337.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:18:57.833Z,1613618337.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:18:58.265Z,1613618338.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:18:59.068Z,1613618339.068 [Micromodem](INFO): Nmea in: $SNTTA,0.097786,,,,031857.86*41 2021-02-18T03:18:59.092Z,1613618339.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.460007 m, bearing: 186.514148 deg, deltaT: 4.394064 s, approachRate: -0.764668 m/s, LOS rate: 0.352870 deg/s, posRepo size: 4 2021-02-18T03:18:59.094Z,1613618339.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.460007 m, bearing: 186.514148 deg, approachRate: -0.764668 m/s, LOS rate: 0.352870 deg/s, cmd update: 1.411481 deg/s, cmd heading: 179.463812 deg, new cmd heading: 179.955457 deg. 2021-02-18T03:19:01.494Z,1613618341.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:19:02.277Z,1613618342.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:19:02.678Z,1613618342.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:19:03.504Z,1613618343.504 [Micromodem](INFO): Nmea in: $SNTTA,0.096571,,,,031902.30*46 2021-02-18T03:19:03.529Z,1613618343.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.580002 m, bearing: 188.297865 deg, deltaT: 4.434896 s, approachRate: -0.649396 m/s, LOS rate: 0.402201 deg/s, posRepo size: 4 2021-02-18T03:19:03.530Z,1613618343.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.580002 m, bearing: 188.297865 deg, approachRate: -0.649396 m/s, LOS rate: 0.402201 deg/s, cmd update: 1.608802 deg/s, cmd heading: 185.723443 deg, new cmd heading: 186.317806 deg. 2021-02-18T03:19:05.968Z,1613618345.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:19:06.716Z,1613618346.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:19:07.132Z,1613618347.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:19:07.951Z,1613618347.951 [Micromodem](INFO): Nmea in: $SNTTA,0.093691,,,,031906.74*4A 2021-02-18T03:19:07.975Z,1613618347.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.400009 m, bearing: 188.255914 deg, deltaT: 4.477465 s, approachRate: -0.710222 m/s, LOS rate: -0.009369 deg/s, posRepo size: 4 2021-02-18T03:19:07.982Z,1613618347.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.400009 m, bearing: 188.255914 deg, approachRate: -0.710222 m/s, LOS rate: -0.009369 deg/s, cmd update: -0.037477 deg/s, cmd heading: 192.908802 deg, new cmd heading: 193.548846 deg. 2021-02-18T03:19:10.396Z,1613618350.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:19:11.165Z,1613618351.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:19:11.566Z,1613618351.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:19:12.397Z,1613618352.397 [Micromodem](INFO): Nmea in: $SNTTA,0.091613,,,,031911.19*4F 2021-02-18T03:19:12.464Z,1613618352.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.220001 m, bearing: 186.272509 deg, deltaT: 4.446088 s, approachRate: -0.715237 m/s, LOS rate: -0.446101 deg/s, posRepo size: 4 2021-02-18T03:19:12.466Z,1613618352.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.220001 m, bearing: 186.272509 deg, approachRate: -0.715237 m/s, LOS rate: -0.446101 deg/s, cmd update: -1.784405 deg/s, cmd heading: 192.741903 deg, new cmd heading: 192.725531 deg. 2021-02-18T03:19:14.816Z,1613618354.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:19:15.613Z,1613618355.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:19:16.034Z,1613618356.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:19:16.840Z,1613618356.840 [Micromodem](INFO): Nmea in: $SNTTA,0.089374,,,,031915.64*4C 2021-02-18T03:19:16.889Z,1613618356.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.860001 m, bearing: 186.120893 deg, deltaT: 4.427699 s, approachRate: -0.758859 m/s, LOS rate: -0.034243 deg/s, posRepo size: 4 2021-02-18T03:19:16.895Z,1613618356.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.860001 m, bearing: 186.120893 deg, approachRate: -0.758859 m/s, LOS rate: -0.034243 deg/s, cmd update: -0.136971 deg/s, cmd heading: 184.869524 deg, new cmd heading: 184.065605 deg. 2021-02-18T03:19:19.308Z,1613618359.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:19:20.057Z,1613618360.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:19:20.454Z,1613618360.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:19:21.288Z,1613618361.288 [Micromodem](INFO): Nmea in: $SNTTA,0.087151,,,,031920.09*4A 2021-02-18T03:19:21.347Z,1613618361.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.559998 m, bearing: 187.304346 deg, deltaT: 4.450672 s, approachRate: -0.741462 m/s, LOS rate: 0.265904 deg/s, posRepo size: 4 2021-02-18T03:19:21.349Z,1613618361.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.559998 m, bearing: 187.304346 deg, approachRate: -0.741462 m/s, LOS rate: 0.265904 deg/s, cmd update: 1.063618 deg/s, cmd heading: 184.260816 deg, new cmd heading: 184.197248 deg. 2021-02-18T03:19:23.705Z,1613618363.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:19:24.497Z,1613618364.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:19:24.898Z,1613618364.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:19:25.724Z,1613618365.724 [Micromodem](INFO): Nmea in: $SNTTA,0.085044,,,,031924.52*47 2021-02-18T03:19:25.746Z,1613618365.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.380005 m, bearing: 187.570491 deg, deltaT: 4.449121 s, approachRate: -0.714746 m/s, LOS rate: 0.059820 deg/s, posRepo size: 4 2021-02-18T03:19:25.768Z,1613618365.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.380005 m, bearing: 187.570491 deg, approachRate: -0.714746 m/s, LOS rate: 0.059820 deg/s, cmd update: 0.239279 deg/s, cmd heading: 189.017029 deg, new cmd heading: 189.433169 deg. 2021-02-18T03:19:28.152Z,1613618368.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:19:28.936Z,1613618368.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:19:29.344Z,1613618369.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:19:30.176Z,1613618370.176 [Micromodem](INFO): Nmea in: $SNTTA,0.083059,,,,031928.96*49 2021-02-18T03:19:30.204Z,1613618370.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.440002 m, bearing: 187.040386 deg, deltaT: 4.405651 s, approachRate: -0.667325 m/s, LOS rate: -0.120324 deg/s, posRepo size: 4 2021-02-18T03:19:30.206Z,1613618370.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.440002 m, bearing: 187.040386 deg, approachRate: -0.667325 m/s, LOS rate: -0.120324 deg/s, cmd update: -0.481295 deg/s, cmd heading: 190.072063 deg, new cmd heading: 190.177377 deg. 2021-02-18T03:19:32.625Z,1613618372.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:19:33.380Z,1613618373.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:19:33.792Z,1613618373.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:19:34.611Z,1613618374.611 [Micromodem](INFO): Nmea in: $SNTTA,0.080786,,,,031933.41*4F 2021-02-18T03:19:34.636Z,1613618374.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.019997 m, bearing: 186.605290 deg, deltaT: 4.497649 s, approachRate: -0.760399 m/s, LOS rate: -0.096739 deg/s, posRepo size: 4 2021-02-18T03:19:34.638Z,1613618374.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.019997 m, bearing: 186.605290 deg, approachRate: -0.760399 m/s, LOS rate: -0.096739 deg/s, cmd update: -0.386955 deg/s, cmd heading: 187.920150 deg, new cmd heading: 187.727328 deg. 2021-02-18T03:19:37.072Z,1613618377.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:19:37.836Z,1613618377.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:19:38.261Z,1613618378.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:19:39.060Z,1613618379.060 [Micromodem](INFO): Nmea in: $SNTTA,0.078641,,,,031937.86*4D 2021-02-18T03:19:39.100Z,1613618379.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.779999 m, bearing: 185.678010 deg, deltaT: 4.384414 s, approachRate: -0.738981 m/s, LOS rate: -0.211495 deg/s, posRepo size: 4 2021-02-18T03:19:39.102Z,1613618379.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.779999 m, bearing: 185.678010 deg, approachRate: -0.738981 m/s, LOS rate: -0.211495 deg/s, cmd update: -0.845979 deg/s, cmd heading: 186.213242 deg, new cmd heading: 186.037802 deg. 2021-02-18T03:19:41.497Z,1613618381.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:19:42.275Z,1613618382.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:19:42.674Z,1613618382.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:19:43.500Z,1613618383.500 [Micromodem](INFO): Nmea in: $SNTTA,0.076458,,,,031942.30*46 2021-02-18T03:19:43.553Z,1613618383.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.480003 m, bearing: 185.875826 deg, deltaT: 4.469246 s, approachRate: -0.738379 m/s, LOS rate: 0.044262 deg/s, posRepo size: 4 2021-02-18T03:19:43.559Z,1613618383.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.480003 m, bearing: 185.875826 deg, approachRate: -0.738379 m/s, LOS rate: 0.044262 deg/s, cmd update: 0.177046 deg/s, cmd heading: 182.445864 deg, new cmd heading: 182.062141 deg. 2021-02-18T03:19:45.919Z,1613618385.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:19:46.712Z,1613618386.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:19:47.120Z,1613618387.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:19:47.940Z,1613618387.940 [Micromodem](INFO): Nmea in: $SNTTA,0.074379,,,,031946.74*44 2021-02-18T03:19:48.027Z,1613618388.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.360001 m, bearing: 186.924342 deg, deltaT: 4.452207 s, approachRate: -0.700777 m/s, LOS rate: 0.235505 deg/s, posRepo size: 4 2021-02-18T03:19:48.029Z,1613618388.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.360001 m, bearing: 186.924342 deg, approachRate: -0.700777 m/s, LOS rate: 0.235505 deg/s, cmd update: 0.942019 deg/s, cmd heading: 183.236273 deg, new cmd heading: 183.317500 deg. 2021-02-18T03:19:50.398Z,1613618390.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:19:51.161Z,1613618391.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:19:51.562Z,1613618391.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:19:52.408Z,1613618392.408 [Micromodem](INFO): Nmea in: $SNTTA,0.072302,,,,031951.19*43 2021-02-18T03:19:52.448Z,1613618392.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.300003 m, bearing: 189.329552 deg, deltaT: 4.456641 s, approachRate: -0.686615 m/s, LOS rate: 0.539691 deg/s, posRepo size: 4 2021-02-18T03:19:52.450Z,1613618392.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.300003 m, bearing: 189.329552 deg, approachRate: -0.686615 m/s, LOS rate: 0.539691 deg/s, cmd update: 2.158765 deg/s, cmd heading: 187.435435 deg, new cmd heading: 187.837251 deg. 2021-02-18T03:19:54.839Z,1613618394.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:19:55.606Z,1613618395.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:19:56.053Z,1613618396.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:19:56.072Z,1613618396.072 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T03:19:56.839Z,1613618396.839 [Micromodem](INFO): Nmea in: $SNTTA,0.070152,,,,031955.63*4F 2021-02-18T03:19:56.862Z,1613618396.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.120010 m, bearing: 189.387677 deg, deltaT: 4.426029 s, approachRate: -0.718475 m/s, LOS rate: 0.013133 deg/s, posRepo size: 4 2021-02-18T03:19:56.864Z,1613618396.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.120010 m, bearing: 189.387677 deg, approachRate: -0.718475 m/s, LOS rate: 0.013133 deg/s, cmd update: 0.052530 deg/s, cmd heading: 196.996730 deg, new cmd heading: 197.884913 deg. 2021-02-18T03:19:59.312Z,1613618399.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:00.044Z,1613618400.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:00.459Z,1613618400.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:01.284Z,1613618401.284 [Micromodem](INFO): Nmea in: $SNTTA,0.067930,,0.077035,,032000.07*55 2021-02-18T03:20:01.299Z,1613618401.299 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T03:20:01.312Z,1613618401.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.760002 m, bearing: 186.815291 deg, deltaT: 4.428480 s, approachRate: -0.758727 m/s, LOS rate: -0.580873 deg/s, posRepo size: 4 2021-02-18T03:20:01.314Z,1613618401.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.760002 m, bearing: 186.815291 deg, approachRate: -0.758727 m/s, LOS rate: -0.580873 deg/s, cmd update: -2.323493 deg/s, cmd heading: 197.229357 deg, new cmd heading: 197.252079 deg. 2021-02-18T03:20:03.721Z,1613618403.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:04.505Z,1613618404.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:04.894Z,1613618404.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:05.724Z,1613618405.724 [Micromodem](INFO): Nmea in: $SNTTA,0.065809,,,,032004.53*41 2021-02-18T03:20:05.761Z,1613618405.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.580002 m, bearing: 185.762103 deg, deltaT: 4.478532 s, approachRate: -0.710054 m/s, LOS rate: -0.235164 deg/s, posRepo size: 4 2021-02-18T03:20:05.763Z,1613618405.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.580002 m, bearing: 185.762103 deg, approachRate: -0.710054 m/s, LOS rate: -0.235164 deg/s, cmd update: -0.940655 deg/s, cmd heading: 186.833281 deg, new cmd heading: 185.885349 deg. 2021-02-18T03:20:06.136Z,1613618406.136 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T03:20:08.158Z,1613618408.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:08.932Z,1613618408.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:09.343Z,1613618409.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:10.160Z,1613618410.160 [Micromodem](INFO): Nmea in: $SNTTA,0.063692,,,,032008.96*4E 2021-02-18T03:20:10.205Z,1613618410.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.340004 m, bearing: 187.045154 deg, deltaT: 4.416369 s, approachRate: -0.733634 m/s, LOS rate: 0.290522 deg/s, posRepo size: 4 2021-02-18T03:20:10.207Z,1613618410.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.340004 m, bearing: 187.045154 deg, approachRate: -0.733634 m/s, LOS rate: 0.290522 deg/s, cmd update: 1.162087 deg/s, cmd heading: 182.678802 deg, new cmd heading: 182.269164 deg. 2021-02-18T03:20:12.621Z,1613618412.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:13.376Z,1613618413.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:13.783Z,1613618413.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:14.604Z,1613618414.604 [Micromodem](INFO): Nmea in: $SNTTA,0.061516,,,,032013.40*42 2021-02-18T03:20:14.642Z,1613618414.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.040001 m, bearing: 187.746696 deg, deltaT: 4.489880 s, approachRate: -0.734987 m/s, LOS rate: 0.156250 deg/s, posRepo size: 4 2021-02-18T03:20:14.645Z,1613618414.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.040001 m, bearing: 187.746696 deg, approachRate: -0.734987 m/s, LOS rate: 0.156250 deg/s, cmd update: 0.624999 deg/s, cmd heading: 187.900198 deg, new cmd heading: 188.341188 deg. 2021-02-18T03:20:17.066Z,1613618417.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:17.820Z,1613618417.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:18.257Z,1613618418.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:19.048Z,1613618419.048 [Micromodem](INFO): Nmea in: $SNTTA,0.059421,,,,032017.85*41 2021-02-18T03:20:19.088Z,1613618419.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.919998 m, bearing: 187.039840 deg, deltaT: 4.390162 s, approachRate: -0.710681 m/s, LOS rate: -0.161009 deg/s, posRepo size: 4 2021-02-18T03:20:19.089Z,1613618419.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.919998 m, bearing: 187.039840 deg, approachRate: -0.710681 m/s, LOS rate: -0.161009 deg/s, cmd update: -0.644037 deg/s, cmd heading: 190.641989 deg, new cmd heading: 190.915397 deg. 2021-02-18T03:20:21.486Z,1613618421.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:22.273Z,1613618422.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:22.682Z,1613618422.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:23.496Z,1613618423.496 [Micromodem](INFO): Nmea in: $SNTTA,0.057273,,,,032022.30*46 2021-02-18T03:20:23.536Z,1613618423.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.800003 m, bearing: 189.333131 deg, deltaT: 4.470079 s, approachRate: -0.697973 m/s, LOS rate: 0.513031 deg/s, posRepo size: 4 2021-02-18T03:20:23.538Z,1613618423.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.800003 m, bearing: 189.333131 deg, approachRate: -0.697973 m/s, LOS rate: 0.513031 deg/s, cmd update: 2.052125 deg/s, cmd heading: 187.765837 deg, new cmd heading: 187.495232 deg. 2021-02-18T03:20:25.923Z,1613618425.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:26.717Z,1613618426.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:27.128Z,1613618427.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:27.944Z,1613618427.944 [Micromodem](INFO): Nmea in: $SNTTA,0.055322,,,,032026.74*45 2021-02-18T03:20:28.022Z,1613618428.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.560005 m, bearing: 187.026576 deg, deltaT: 4.434652 s, approachRate: -0.730609 m/s, LOS rate: -0.520121 deg/s, posRepo size: 4 2021-02-18T03:20:28.028Z,1613618428.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.560005 m, bearing: 187.026576 deg, approachRate: -0.730609 m/s, LOS rate: -0.520121 deg/s, cmd update: -2.080483 deg/s, cmd heading: 196.883356 deg, new cmd heading: 197.835038 deg. 2021-02-18T03:20:30.403Z,1613618430.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:31.157Z,1613618431.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:31.559Z,1613618431.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:32.389Z,1613618432.389 [Micromodem](INFO): Nmea in: $SNTTA,0.053113,,0.062045,,032031.18*54 2021-02-18T03:20:32.422Z,1613618432.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.500008 m, bearing: 187.334645 deg, deltaT: 4.476284 s, approachRate: -0.683602 m/s, LOS rate: 0.068822 deg/s, posRepo size: 4 2021-02-18T03:20:32.424Z,1613618432.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.500008 m, bearing: 187.334645 deg, approachRate: -0.683602 m/s, LOS rate: 0.068822 deg/s, cmd update: 0.275290 deg/s, cmd heading: 187.579004 deg, new cmd heading: 186.765831 deg. 2021-02-18T03:20:34.824Z,1613618434.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:35.602Z,1613618435.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:36.052Z,1613618436.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:36.828Z,1613618436.828 [Micromodem](INFO): Nmea in: $SNTTA,0.051055,,,,032035.63*46 2021-02-18T03:20:36.865Z,1613618436.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.440010 m, bearing: 189.284964 deg, deltaT: 4.410847 s, approachRate: -0.693744 m/s, LOS rate: 0.442164 deg/s, posRepo size: 4 2021-02-18T03:20:36.867Z,1613618436.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.440010 m, bearing: 189.284964 deg, approachRate: -0.693744 m/s, LOS rate: 0.442164 deg/s, cmd update: 1.768658 deg/s, cmd heading: 188.793296 deg, new cmd heading: 188.909904 deg. 2021-02-18T03:20:39.326Z,1613618439.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:40.040Z,1613618440.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:40.449Z,1613618440.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:41.284Z,1613618441.284 [Micromodem](INFO): Nmea in: $SNTTA,0.048986,,,,032040.07*49 2021-02-18T03:20:41.318Z,1613618441.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.320007 m, bearing: 189.024597 deg, deltaT: 4.435346 s, approachRate: -0.703441 m/s, LOS rate: -0.058703 deg/s, posRepo size: 4 2021-02-18T03:20:41.320Z,1613618441.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.320007 m, bearing: 189.024597 deg, approachRate: -0.703441 m/s, LOS rate: -0.058703 deg/s, cmd update: -0.234811 deg/s, cmd heading: 196.644947 deg, new cmd heading: 197.417514 deg. 2021-02-18T03:20:43.699Z,1613618443.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:44.489Z,1613618444.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:44.890Z,1613618444.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:45.725Z,1613618445.725 [Micromodem](INFO): Nmea in: $SNTTA,0.046856,,,,032044.51*4C 2021-02-18T03:20:45.762Z,1613618445.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.260010 m, bearing: 189.869109 deg, deltaT: 4.462499 s, approachRate: -0.685714 m/s, LOS rate: 0.189246 deg/s, posRepo size: 4 2021-02-18T03:20:45.764Z,1613618445.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.260010 m, bearing: 189.869109 deg, approachRate: -0.685714 m/s, LOS rate: 0.189246 deg/s, cmd update: 0.756986 deg/s, cmd heading: 195.597098 deg, new cmd heading: 195.498823 deg. 2021-02-18T03:20:48.158Z,1613618448.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:48.930Z,1613618448.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:49.339Z,1613618449.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:50.156Z,1613618450.156 [Micromodem](INFO): Nmea in: $SNTTA,0.044728,,,,032048.95*4C 2021-02-18T03:20:50.216Z,1613618450.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.840004 m, bearing: 187.696549 deg, deltaT: 4.422383 s, approachRate: -0.773340 m/s, LOS rate: -0.491265 deg/s, posRepo size: 4 2021-02-18T03:20:50.217Z,1613618450.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.840004 m, bearing: 187.696549 deg, approachRate: -0.773340 m/s, LOS rate: -0.491265 deg/s, cmd update: -1.965058 deg/s, cmd heading: 198.944738 deg, new cmd heading: 199.281890 deg. 2021-02-18T03:20:52.590Z,1613618452.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:53.377Z,1613618453.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:53.779Z,1613618453.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:54.604Z,1613618454.604 [Micromodem](INFO): Nmea in: $SNTTA,0.042561,,,,032053.40*47 2021-02-18T03:20:54.626Z,1613618454.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.660007 m, bearing: 186.219821 deg, deltaT: 4.566878 s, approachRate: -0.696317 m/s, LOS rate: -0.323356 deg/s, posRepo size: 4 2021-02-18T03:20:54.628Z,1613618454.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.660007 m, bearing: 186.219821 deg, approachRate: -0.696317 m/s, LOS rate: -0.323356 deg/s, cmd update: -1.293424 deg/s, cmd heading: 189.978365 deg, new cmd heading: 189.394061 deg. 2021-02-18T03:20:57.049Z,1613618457.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:20:57.816Z,1613618457.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:20:58.263Z,1613618458.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:20:59.044Z,1613618459.044 [Micromodem](INFO): Nmea in: $SNTTA,0.040645,,,,032057.84*4C 2021-02-18T03:20:59.100Z,1613618459.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.540005 m, bearing: 188.350294 deg, deltaT: 4.335124 s, approachRate: -0.719703 m/s, LOS rate: 0.491444 deg/s, posRepo size: 4 2021-02-18T03:20:59.102Z,1613618459.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.540005 m, bearing: 188.350294 deg, approachRate: -0.719703 m/s, LOS rate: 0.491444 deg/s, cmd update: 1.965778 deg/s, cmd heading: 184.376600 deg, new cmd heading: 183.812665 deg. 2021-02-18T03:21:01.488Z,1613618461.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:02.278Z,1613618462.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:21:02.683Z,1613618462.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:21:03.501Z,1613618463.501 [Micromodem](INFO): Nmea in: $SNTTA,0.038546,,0.046589,,032102.30*55 2021-02-18T03:21:03.525Z,1613618463.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.600002 m, bearing: 190.572947 deg, deltaT: 4.440831 s, approachRate: -0.662039 m/s, LOS rate: 0.500504 deg/s, posRepo size: 4 2021-02-18T03:21:03.527Z,1613618463.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.600002 m, bearing: 190.572947 deg, approachRate: -0.662039 m/s, LOS rate: 0.500504 deg/s, cmd update: 2.002015 deg/s, cmd heading: 193.122027 deg, new cmd heading: 193.940632 deg. 2021-02-18T03:21:05.923Z,1613618465.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:06.709Z,1613618466.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:21:07.109Z,1613618467.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:21:07.953Z,1613618467.953 [Micromodem](INFO): Nmea in: $SNTTA,0.036457,,,,032106.74*46 2021-02-18T03:21:07.984Z,1613618467.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.179996 m, bearing: 188.706461 deg, deltaT: 4.455765 s, approachRate: -0.767546 m/s, LOS rate: -0.418892 deg/s, posRepo size: 4 2021-02-18T03:21:07.991Z,1613618467.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.179996 m, bearing: 188.706461 deg, approachRate: -0.767546 m/s, LOS rate: -0.418892 deg/s, cmd update: -1.675569 deg/s, cmd heading: 202.034789 deg, new cmd heading: 202.871831 deg. 2021-02-18T03:21:10.388Z,1613618470.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:11.154Z,1613618471.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:21:11.559Z,1613618471.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:21:12.384Z,1613618472.384 [Micromodem](INFO): Nmea in: $SNTTA,0.034357,0.053357,,,032111.18*56 2021-02-18T03:21:12.438Z,1613618472.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.119999 m, bearing: 186.262810 deg, deltaT: 4.456569 s, approachRate: -0.686626 m/s, LOS rate: -0.548326 deg/s, posRepo size: 4 2021-02-18T03:21:12.440Z,1613618472.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.119999 m, bearing: 186.262810 deg, approachRate: -0.686626 m/s, LOS rate: -0.548326 deg/s, cmd update: -2.193302 deg/s, cmd heading: 194.567577 deg, new cmd heading: 193.862776 deg. 2021-02-18T03:21:14.821Z,1613618474.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:15.598Z,1613618475.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:21:16.027Z,1613618476.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:21:16.824Z,1613618476.824 [Micromodem](INFO): Nmea in: $SNTTA,0.032087,,,,032115.62*4E 2021-02-18T03:21:16.866Z,1613618476.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.940006 m, bearing: 187.591842 deg, deltaT: 4.445078 s, approachRate: -0.715396 m/s, LOS rate: 0.298990 deg/s, posRepo size: 4 2021-02-18T03:21:16.872Z,1613618476.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.940006 m, bearing: 187.591842 deg, approachRate: -0.715396 m/s, LOS rate: 0.298990 deg/s, cmd update: 1.195958 deg/s, cmd heading: 184.831650 deg, new cmd heading: 183.932032 deg. 2021-02-18T03:21:19.314Z,1613618479.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:20.038Z,1613618480.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:21:20.442Z,1613618480.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:21:21.320Z,1613618481.320 [Micromodem](INFO): Nmea in: $SNTTA,0.030345,,,,032120.06*45 2021-02-18T03:21:21.354Z,1613618481.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.299999 m, bearing: 191.752042 deg, deltaT: 4.394540 s, approachRate: -0.600747 m/s, LOS rate: 0.946675 deg/s, posRepo size: 4 2021-02-18T03:21:21.356Z,1613618481.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.299999 m, bearing: 191.752042 deg, approachRate: -0.600747 m/s, LOS rate: 0.946675 deg/s, cmd update: 3.786699 deg/s, cmd heading: 190.099583 deg, new cmd heading: 190.689734 deg. 2021-02-18T03:21:23.692Z,1613618483.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:24.485Z,1613618484.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:21:24.894Z,1613618484.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:21:25.716Z,1613618485.716 [Micromodem](INFO): Nmea in: $SNTTA,0.027849,,,,032124.51*42 2021-02-18T03:21:25.738Z,1613618485.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.579998 m, bearing: 189.751603 deg, deltaT: 4.475445 s, approachRate: -0.831203 m/s, LOS rate: -0.446981 deg/s, posRepo size: 4 2021-02-18T03:21:25.740Z,1613618485.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.579998 m, bearing: 189.751603 deg, approachRate: -0.831203 m/s, LOS rate: -0.446981 deg/s, cmd update: -1.787925 deg/s, cmd heading: 207.045749 deg, new cmd heading: 208.567596 deg. 2021-02-18T03:21:28.158Z,1613618488.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:28.924Z,1613618488.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:21:29.331Z,1613618489.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:21:30.156Z,1613618490.156 [Micromodem](INFO): Nmea in: $SNTTA,0.026031,,,,032128.95*40 2021-02-18T03:21:30.180Z,1613618490.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.639999 m, bearing: 184.820042 deg, deltaT: 4.411957 s, approachRate: -0.666371 m/s, LOS rate: -1.117772 deg/s, posRepo size: 4 2021-02-18T03:21:30.181Z,1613618490.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.64 m. 2021-02-18T03:21:30.182Z,1613618490.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.639999 m, bearing: 184.820042 deg, approachRate: -0.666371 m/s, LOS rate: -1.117772 deg/s, cmd update: -4.471087 deg/s, cmd heading: 199.157674 deg, new cmd heading: 198.384904 deg. 2021-02-18T03:21:30.553Z,1613618490.553 [PowerOnly](INFO): Powering up loadControl 2021-02-18T03:21:32.261Z,1613618492.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:32.988Z,1613618492.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:21:33.378Z,1613618493.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:21:34.208Z,1613618494.208 [Micromodem](INFO): Nmea in: $SNTTA,0.024172,,,,032133.01*43 2021-02-18T03:21:34.289Z,1613618494.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.820000 m, bearing: 186.326714 deg, deltaT: 4.044193 s, approachRate: -0.697296 m/s, LOS rate: 0.372552 deg/s, posRepo size: 4 2021-02-18T03:21:34.290Z,1613618494.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.82 m. 2021-02-18T03:21:34.290Z,1613618494.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.82 m. 2021-02-18T03:21:34.290Z,1613618494.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T03:21:34.296Z,1613618494.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.820000 m, bearing: 186.326714 deg, approachRate: -0.697296 m/s, LOS rate: 0.372552 deg/s, cmd update: 1.490207 deg/s, cmd heading: 181.074244 deg, new cmd heading: 178.852579 deg. 2021-02-18T03:21:36.645Z,1613618496.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:37.426Z,1613618497.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:21:37.818Z,1613618497.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:21:38.648Z,1613618498.648 [Micromodem](INFO): Nmea in: $SNTTA,0.022329,,,,032137.45*4D 2021-02-18T03:21:38.692Z,1613618498.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.820000 m, bearing: 190.666807 deg, deltaT: 4.515909 s, approachRate: -0.664318 m/s, LOS rate: 0.961067 deg/s, posRepo size: 4 2021-02-18T03:21:38.694Z,1613618498.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.820000 m, bearing: 190.666807 deg, approachRate: -0.664318 m/s, LOS rate: 0.961067 deg/s, cmd update: 3.844270 deg/s, cmd heading: 187.803476 deg, new cmd heading: 188.374446 deg. 2021-02-18T03:21:41.121Z,1613618501.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:41.857Z,1613618501.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:21:42.271Z,1613618502.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:21:43.084Z,1613618503.084 [Micromodem](INFO): Nmea in: $SNTTA,0.020082,0.047003,,,032141.88*53 2021-02-18T03:21:43.123Z,1613618503.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.939999 m, bearing: 193.330963 deg, deltaT: 4.378347 s, approachRate: -0.657783 m/s, LOS rate: 0.608484 deg/s, posRepo size: 4 2021-02-18T03:21:43.125Z,1613618503.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.939999 m, bearing: 193.330963 deg, approachRate: -0.657783 m/s, LOS rate: 0.608484 deg/s, cmd update: 2.433938 deg/s, cmd heading: 204.620185 deg, new cmd heading: 206.313117 deg. 2021-02-18T03:21:45.528Z,1613618505.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:46.301Z,1613618506.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:21:46.709Z,1613618506.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:21:47.528Z,1613618507.528 [Micromodem](INFO): Nmea in: $SNTTA,0.018208,,,,032146.33*41 2021-02-18T03:21:47.569Z,1613618507.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.819998 m, bearing: 190.075190 deg, deltaT: 4.456856 s, approachRate: -0.700045 m/s, LOS rate: -0.730509 deg/s, posRepo size: 4 2021-02-18T03:21:47.571Z,1613618507.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.819998 m, bearing: 190.075190 deg, approachRate: -0.700045 m/s, LOS rate: -0.730509 deg/s, cmd update: -2.922036 deg/s, cmd heading: 215.477974 deg, new cmd heading: 216.513939 deg. 2021-02-18T03:21:49.967Z,1613618509.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:50.740Z,1613618510.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:21:51.146Z,1613618511.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:21:51.980Z,1613618511.980 [Micromodem](INFO): Nmea in: $SNTTA,0.016186,,,,032150.76*4C 2021-02-18T03:21:52.048Z,1613618512.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.939999 m, bearing: 186.597872 deg, deltaT: 4.448754 s, approachRate: -0.647372 m/s, LOS rate: -0.781639 deg/s, posRepo size: 4 2021-02-18T03:21:52.050Z,1613618512.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.939999 m, bearing: 186.597872 deg, approachRate: -0.647372 m/s, LOS rate: -0.781639 deg/s, cmd update: -3.126554 deg/s, cmd heading: 202.537912 deg, new cmd heading: 201.145562 deg. 2021-02-18T03:21:54.428Z,1613618514.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:55.186Z,1613618515.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:21:55.589Z,1613618515.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:21:56.420Z,1613618516.420 [Micromodem](INFO): Nmea in: $SNTTA,0.014344,,0.041734,,032155.21*5E 2021-02-18T03:21:56.461Z,1613618516.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.239996 m, bearing: 185.772375 deg, deltaT: 4.453787 s, approachRate: -0.606226 m/s, LOS rate: -0.185347 deg/s, posRepo size: 4 2021-02-18T03:21:56.462Z,1613618516.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.239996 m, bearing: 185.772375 deg, approachRate: -0.606226 m/s, LOS rate: -0.185347 deg/s, cmd update: -0.741389 deg/s, cmd heading: 188.549512 deg, new cmd heading: 187.252839 deg. 2021-02-18T03:21:58.862Z,1613618518.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:21:59.628Z,1613618519.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:00.043Z,1613618520.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:00.867Z,1613618520.867 [Micromodem](INFO): Nmea in: $SNTTA,0.012354,,,,032159.65*4E 2021-02-18T03:22:00.886Z,1613618520.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 189.365246 deg, deltaT: 4.431867 s, approachRate: -0.663377 m/s, LOS rate: 0.810690 deg/s, posRepo size: 4 2021-02-18T03:22:00.888Z,1613618520.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.299999 m, bearing: 189.365246 deg, approachRate: -0.663377 m/s, LOS rate: 0.810690 deg/s, cmd update: 3.242760 deg/s, cmd heading: 185.263766 deg, new cmd heading: 184.961110 deg. 2021-02-18T03:22:03.311Z,1613618523.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:22:04.078Z,1613618524.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:04.478Z,1613618524.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:05.308Z,1613618525.308 [Micromodem](INFO): Nmea in: $SNTTA,0.011592,,,,032204.10*48 2021-02-18T03:22:05.378Z,1613618525.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.319998 m, bearing: 191.282139 deg, deltaT: 4.415765 s, approachRate: -0.448394 m/s, LOS rate: 0.434102 deg/s, posRepo size: 4 2021-02-18T03:22:05.384Z,1613618525.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.319998 m, bearing: 191.282139 deg, approachRate: -0.448394 m/s, LOS rate: 0.434102 deg/s, cmd update: 1.736408 deg/s, cmd heading: 199.583105 deg, new cmd heading: 201.152420 deg. 2021-02-18T03:22:07.401Z,1613618527.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:22:08.124Z,1613618528.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:08.523Z,1613618528.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:09.356Z,1613618529.356 [Micromodem](INFO): Nmea in: $SNTTA,0.009517,,,0.051954,032208.15*57 2021-02-18T03:22:09.409Z,1613618529.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.660002 m, bearing: 184.934994 deg, deltaT: 4.046721 s, approachRate: -0.904435 m/s, LOS rate: -1.568466 deg/s, posRepo size: 4 2021-02-18T03:22:09.410Z,1613618529.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.660002 m, bearing: 184.934994 deg, approachRate: -0.904435 m/s, LOS rate: -1.568466 deg/s, cmd update: -6.273864 deg/s, cmd heading: 206.609306 deg, new cmd heading: 207.422927 deg. 2021-02-18T03:22:11.777Z,1613618531.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:22:12.561Z,1613618532.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:12.991Z,1613618532.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:13.788Z,1613618533.788 [Micromodem](INFO): Nmea in: $SNTTA,0.007650,,,0.010149,032212.59*5B 2021-02-18T03:22:13.828Z,1613618533.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.019998 m, bearing: 184.087928 deg, deltaT: 4.477207 s, approachRate: -0.589654 m/s, LOS rate: -0.189195 deg/s, posRepo size: 4 2021-02-18T03:22:13.830Z,1613618533.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.019998 m, bearing: 184.087928 deg, approachRate: -0.589654 m/s, LOS rate: -0.189195 deg/s, cmd update: -0.756781 deg/s, cmd heading: 178.542891 deg, new cmd heading: 175.943818 deg. 2021-02-18T03:22:16.272Z,1613618536.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:22:17.022Z,1613618537.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:17.409Z,1613618537.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:18.263Z,1613618538.263 [Micromodem](INFO): Nmea in: $SNTTA,0.005168,,,,032217.05*4A 2021-02-18T03:22:18.318Z,1613618538.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.559999 m, bearing: 186.972030 deg, deltaT: 4.411909 s, approachRate: -0.557581 m/s, LOS rate: 0.653708 deg/s, posRepo size: 4 2021-02-18T03:22:18.324Z,1613618538.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.559999 m, bearing: 186.972030 deg, approachRate: -0.557581 m/s, LOS rate: 0.653708 deg/s, cmd update: 2.614834 deg/s, cmd heading: 175.201025 deg, new cmd heading: 174.831644 deg. 2021-02-18T03:22:20.651Z,1613618540.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:22:21.449Z,1613618541.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:21.850Z,1613618541.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:22.676Z,1613618542.676 [Micromodem](INFO): Nmea in: $SNTTA,0.006370,,,,032221.47*41 2021-02-18T03:22:22.698Z,1613618542.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.139998 m, bearing: 186.655847 deg, deltaT: 4.501866 s, approachRate: -0.093295 m/s, LOS rate: -0.070234 deg/s, posRepo size: 4 2021-02-18T03:22:22.700Z,1613618542.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.139998 m, bearing: 186.655847 deg, approachRate: -0.093295 m/s, LOS rate: -0.070234 deg/s, cmd update: -0.280935 deg/s, cmd heading: 186.961864 deg, new cmd heading: 187.931614 deg. 2021-02-18T03:22:25.106Z,1613618545.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:22:25.907Z,1613618545.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:26.296Z,1613618546.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:27.128Z,1613618547.128 [Micromodem](INFO): Nmea in: $SNTTA,0.002681,,0.005440,,032225.93*58 2021-02-18T03:22:27.151Z,1613618547.151 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T03:22:27.151Z,1613618547.151 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T03:22:27.151Z,1613618547.151 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T03:22:27.152Z,1613618547.152 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T03:22:27.152Z,1613618547.152 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T03:22:27.152Z,1613618547.152 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.779998 m 2021-02-18T03:22:27.152Z,1613618547.152 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T03:22:27.152Z,1613618547.152 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T03:22:27.152Z,1613618547.152 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T03:22:27.155Z,1613618547.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 183.397382 deg, deltaT: 4.380412 s, approachRate: -0.767051 m/s, LOS rate: -0.743872 deg/s, posRepo size: 4 2021-02-18T03:22:27.169Z,1613618547.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.779998 m, bearing: 183.397382 deg, approachRate: -0.767051 m/s, LOS rate: -0.743872 deg/s, cmd update: -2.975487 deg/s, cmd heading: 185.730095 deg, new cmd heading: 185.605678 deg. 2021-02-18T03:22:27.550Z,1613618547.550 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T032227: (41.552319, -70.708603) 2021-02-18T03:22:27.550Z,1613618547.550 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T03:22:27.551Z,1613618547.551 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T03:22:27.551Z,1613618547.551 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T03:22:27.551Z,1613618547.551 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T03:22:27.551Z,1613618547.551 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T03:22:27.551Z,1613618547.551 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T03:22:27.551Z,1613618547.551 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T03:22:27.551Z,1613618547.551 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T03:22:29.557Z,1613618549.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:22:30.361Z,1613618550.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:30.769Z,1613618550.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:31.584Z,1613618551.584 [Micromodem](INFO): Nmea in: $SNTTA,0.002538,,,,032230.39*46 2021-02-18T03:22:31.624Z,1613618551.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 190.879513 deg, deltaT: 4.495029 s, approachRate: 0.000000 m/s, LOS rate: 1.664534 deg/s, posRepo size: 4 2021-02-18T03:22:31.626Z,1613618551.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.779998 m, bearing: 190.879513 deg, approachRate: 0.000000 m/s, LOS rate: 1.664534 deg/s, cmd update: 6.658138 deg/s, cmd heading: 172.360197 deg, new cmd heading: 171.114854 deg. 2021-02-18T03:22:34.046Z,1613618554.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:22:34.809Z,1613618554.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:35.217Z,1613618555.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:36.036Z,1613618556.036 [Micromodem](INFO): Nmea in: $SNTTA,0.002674,,,,032234.83*48 2021-02-18T03:22:36.076Z,1613618556.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.720000 m, bearing: 228.292994 deg, deltaT: 4.449337 s, approachRate: -0.013485 m/s, LOS rate: 8.408777 deg/s, posRepo size: 4 2021-02-18T03:22:36.078Z,1613618556.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.720000 m, bearing: 228.292994 deg, approachRate: -0.013485 m/s, LOS rate: 8.408777 deg/s, cmd update: 12.000000 deg/s, cmd heading: 201.940879 deg, new cmd heading: 204.788758 deg. 2021-02-18T03:22:36.124Z,1613618556.124 [RudderServo](FAULT): Invalid EZ Servo response:"\377" 2021-02-18T03:22:36.124Z,1613618556.124 [RudderServo] Communications Fault, FailCount= 1 2021-02-18T03:22:36.124Z,1613618556.124 [RudderServo](ERROR): Communications Fault 2021-02-18T03:22:36.124Z,1613618556.124 [RudderServo](ERROR): Rudder reporting null position 2021-02-18T03:22:36.163Z,1613618556.163 [CBIT](ERROR): Communications Fault in component: RudderServo 2021-02-18T03:22:36.512Z,1613618556.512 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2021-02-18T03:22:36.512Z,1613618556.512 [RudderServo](INFO): Powering down 2021-02-18T03:22:37.336Z,1613618557.336 [RudderServo](DEBUG): Initializing EZServoServo. 2021-02-18T03:22:37.456Z,1613618557.456 [RudderServo](DEBUG): Initializing RudderServo. 2021-02-18T03:22:37.487Z,1613618557.487 [CBIT](INFO): Clearing failed state for component RudderServo 2021-02-18T03:22:37.487Z,1613618557.487 [RudderServo] No Fault, FailCount= 1 2021-02-18T03:22:38.481Z,1613618558.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:22:39.270Z,1613618559.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:39.658Z,1613618559.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:40.501Z,1613618560.501 [Micromodem](INFO): Nmea in: $SNTTA,0.002721,,0.022263,,032239.29*5D 2021-02-18T03:22:40.525Z,1613618560.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 257.429611 deg, deltaT: 4.443453 s, approachRate: 0.013503 m/s, LOS rate: 6.557201 deg/s, posRepo size: 4 2021-02-18T03:22:40.527Z,1613618560.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.779998 m, bearing: 257.429611 deg, approachRate: 0.013503 m/s, LOS rate: 6.557201 deg/s, cmd update: 12.000000 deg/s, cmd heading: 255.311013 deg, new cmd heading: 260.462793 deg. 2021-02-18T03:22:42.913Z,1613618562.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:22:43.705Z,1613618563.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:44.106Z,1613618564.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:44.936Z,1613618564.936 [Micromodem](INFO): Nmea in: $SNTTA,0.002697,,0.022583,,032243.73*5A 2021-02-18T03:22:44.954Z,1613618564.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 294.588709 deg, deltaT: 4.440519 s, approachRate: 0.027024 m/s, LOS rate: 8.368188 deg/s, posRepo size: 4 2021-02-18T03:22:44.954Z,1613618564.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 3.90 m. 2021-02-18T03:22:44.956Z,1613618564.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.899999 m, bearing: 294.588709 deg, approachRate: 0.027024 m/s, LOS rate: 8.368188 deg/s, cmd update: 12.000000 deg/s, cmd heading: 308.644427 deg, new cmd heading: 313.610891 deg. 2021-02-18T03:22:47.373Z,1613618567.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:22:48.133Z,1613618568.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:48.538Z,1613618568.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:49.365Z,1613618569.365 [Micromodem](INFO): Nmea in: $SNTTA,0.002670,,0.005439,,032248.16*5E 2021-02-18T03:22:49.414Z,1613618569.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 300.916879 deg, deltaT: 4.476783 s, approachRate: -0.013403 m/s, LOS rate: 1.413553 deg/s, posRepo size: 4 2021-02-18T03:22:49.416Z,1613618569.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.839998 m, bearing: 300.916879 deg, approachRate: -0.013403 m/s, LOS rate: 1.413553 deg/s, cmd update: 5.654212 deg/s, cmd heading: 1.996177 deg, new cmd heading: 7.131757 deg. 2021-02-18T03:22:51.799Z,1613618571.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:22:52.582Z,1613618572.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:53.019Z,1613618573.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:53.808Z,1613618573.808 [Micromodem](INFO): Nmea in: $SNTTA,0.002577,,,,032252.61*44 2021-02-18T03:22:53.848Z,1613618573.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 287.972441 deg, deltaT: 4.416656 s, approachRate: -0.013585 m/s, LOS rate: -2.930823 deg/s, posRepo size: 4 2021-02-18T03:22:53.850Z,1613618573.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.779998 m, bearing: 287.972441 deg, approachRate: -0.013585 m/s, LOS rate: -2.930823 deg/s, cmd update: -11.723293 deg/s, cmd heading: 27.121821 deg, new cmd heading: 29.489319 deg. 2021-02-18T03:22:56.296Z,1613618576.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:22:57.029Z,1613618577.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:22:57.432Z,1613618577.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:22:58.276Z,1613618578.276 [Micromodem](INFO): Nmea in: $SNTTA,0.002704,,,,032257.05*45 2021-02-18T03:22:58.330Z,1613618578.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.720000 m, bearing: 291.160227 deg, deltaT: 4.424606 s, approachRate: -0.013560 m/s, LOS rate: 0.720468 deg/s, posRepo size: 4 2021-02-18T03:22:58.336Z,1613618578.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.720000 m, bearing: 291.160227 deg, approachRate: -0.013560 m/s, LOS rate: 0.720468 deg/s, cmd update: 2.881871 deg/s, cmd heading: 335.204925 deg, new cmd heading: 329.675129 deg. 2021-02-18T03:23:00.363Z,1613618580.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:01.060Z,1613618581.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:01.465Z,1613618581.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:02.292Z,1613618582.292 [Micromodem](INFO): Nmea in: $SNTTA,0.002716,,,,032301.08*49 2021-02-18T03:23:02.355Z,1613618582.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 294.430139 deg, deltaT: 4.024500 s, approachRate: 0.014908 m/s, LOS rate: 0.812501 deg/s, posRepo size: 4 2021-02-18T03:23:02.357Z,1613618582.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.779998 m, bearing: 294.430139 deg, approachRate: 0.014908 m/s, LOS rate: 0.812501 deg/s, cmd update: 3.250006 deg/s, cmd heading: 346.803242 deg, new cmd heading: 348.151923 deg. 2021-02-18T03:23:04.696Z,1613618584.696 [PowerOnly](INFO): Powering down loadControl 2021-02-18T03:23:04.711Z,1613618584.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:05.509Z,1613618585.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:05.909Z,1613618585.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:06.740Z,1613618586.740 [Micromodem](INFO): Nmea in: $SNTTA,0.002708,,,,032305.54*4B 2021-02-18T03:23:06.776Z,1613618586.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 284.410962 deg, deltaT: 4.488501 s, approachRate: 0.000000 m/s, LOS rate: -2.232188 deg/s, posRepo size: 4 2021-02-18T03:23:06.778Z,1613618586.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.779998 m, bearing: 284.410962 deg, approachRate: 0.000000 m/s, LOS rate: -2.232188 deg/s, cmd update: -8.928751 deg/s, cmd heading: 1.390876 deg, new cmd heading: 2.706589 deg. 2021-02-18T03:23:09.176Z,1613618589.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:10.085Z,1613618590.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:10.422Z,1613618590.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:11.301Z,1613618591.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 277.956953 deg, deltaT: 4.446690 s, approachRate: 0.000000 m/s, LOS rate: -1.451419 deg/s, posRepo size: 4 2021-02-18T03:23:11.303Z,1613618591.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.779998 m, bearing: 277.956953 deg, approachRate: 0.000000 m/s, LOS rate: -1.451419 deg/s, cmd update: -5.805675 deg/s, cmd heading: 321.687613 deg, new cmd heading: 317.375187 deg. 2021-02-18T03:23:11.645Z,1613618591.645 [Micromodem](INFO): Nmea in: $SNTTA,0.002714,,0.005463,,032310.11*59 2021-02-18T03:23:13.326Z,1613618593.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:14.044Z,1613618594.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:14.446Z,1613618594.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:15.291Z,1613618595.291 [Micromodem](INFO): Nmea in: $SNTTA,0.002666,0.066966,,,032314.07*53 2021-02-18T03:23:15.298Z,1613618595.298 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T03:23:15.320Z,1613618595.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 270.268892 deg, deltaT: 4.045321 s, approachRate: 0.014832 m/s, LOS rate: -1.900482 deg/s, posRepo size: 4 2021-02-18T03:23:15.322Z,1613618595.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.839998 m, bearing: 270.268892 deg, approachRate: 0.014832 m/s, LOS rate: -1.900482 deg/s, cmd update: -7.601929 deg/s, cmd heading: 298.201740 deg, new cmd heading: 295.549534 deg. 2021-02-18T03:23:17.700Z,1613618597.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:18.485Z,1613618598.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:18.886Z,1613618598.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:19.717Z,1613618599.717 [Micromodem](INFO): Nmea in: $SNTTA,0.002623,,0.131612,0.017804,032318.51*46 2021-02-18T03:23:19.754Z,1613618599.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 262.724811 deg, deltaT: 4.486232 s, approachRate: 0.000000 m/s, LOS rate: -1.681607 deg/s, posRepo size: 4 2021-02-18T03:23:19.756Z,1613618599.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.839998 m, bearing: 262.724811 deg, approachRate: 0.000000 m/s, LOS rate: -1.681607 deg/s, cmd update: -6.726429 deg/s, cmd heading: 264.097815 deg, new cmd heading: 261.021436 deg. 2021-02-18T03:23:22.152Z,1613618602.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:22.930Z,1613618602.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:23.341Z,1613618603.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:24.156Z,1613618604.156 [Micromodem](INFO): Nmea in: $SNTTA,0.002636,,0.046955,,032322.95*5A 2021-02-18T03:23:24.208Z,1613618604.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 262.844804 deg, deltaT: 4.412316 s, approachRate: 0.000000 m/s, LOS rate: 0.027195 deg/s, posRepo size: 4 2021-02-18T03:23:24.209Z,1613618604.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.839998 m, bearing: 262.844804 deg, approachRate: 0.000000 m/s, LOS rate: 0.027195 deg/s, cmd update: 0.108780 deg/s, cmd heading: 234.526065 deg, new cmd heading: 231.428941 deg. 2021-02-18T03:23:26.270Z,1613618606.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:26.968Z,1613618606.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:27.382Z,1613618607.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:28.215Z,1613618608.215 [Micromodem](INFO): Nmea in: $SNTTA,0.002608,,,,032326.99*4A 2021-02-18T03:23:28.292Z,1613618608.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 266.797298 deg, deltaT: 4.023977 s, approachRate: 0.014911 m/s, LOS rate: 0.982236 deg/s, posRepo size: 4 2021-02-18T03:23:28.294Z,1613618608.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.899999 m, bearing: 266.797298 deg, approachRate: 0.014911 m/s, LOS rate: 0.982236 deg/s, cmd update: 3.928943 deg/s, cmd heading: 234.965519 deg, new cmd heading: 235.020161 deg. 2021-02-18T03:23:30.294Z,1613618610.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:31.025Z,1613618611.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:31.432Z,1613618611.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:32.272Z,1613618612.272 [Micromodem](INFO): Nmea in: $SNTTA,0.002615,,0.005803,,032331.05*55 2021-02-18T03:23:32.305Z,1613618612.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 273.152734 deg, deltaT: 4.040543 s, approachRate: 0.000000 m/s, LOS rate: 1.572916 deg/s, posRepo size: 4 2021-02-18T03:23:32.307Z,1613618612.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.899999 m, bearing: 273.152734 deg, approachRate: 0.000000 m/s, LOS rate: 1.572916 deg/s, cmd update: 6.291665 deg/s, cmd heading: 250.840841 deg, new cmd heading: 252.723732 deg. 2021-02-18T03:23:34.344Z,1613618614.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:35.052Z,1613618615.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:35.468Z,1613618615.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:36.284Z,1613618616.284 [Micromodem](INFO): Nmea in: $SNTTA,0.002632,,,,032335.08*49 2021-02-18T03:23:36.318Z,1613618616.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 287.922007 deg, deltaT: 4.057506 s, approachRate: -0.014788 m/s, LOS rate: 3.639988 deg/s, posRepo size: 4 2021-02-18T03:23:36.320Z,1613618616.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.839998 m, bearing: 287.922007 deg, approachRate: -0.014788 m/s, LOS rate: 3.639988 deg/s, cmd update: 12.000000 deg/s, cmd heading: 276.369494 deg, new cmd heading: 279.099725 deg. 2021-02-18T03:23:38.697Z,1613618618.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:39.505Z,1613618619.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:39.899Z,1613618619.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:40.728Z,1613618620.728 [Micromodem](INFO): Nmea in: $SNTTA,0.002624,,0.038586,,032339.53*52 2021-02-18T03:23:40.746Z,1613618620.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 295.544061 deg, deltaT: 4.458911 s, approachRate: 0.026913 m/s, LOS rate: 1.709398 deg/s, posRepo size: 4 2021-02-18T03:23:40.748Z,1613618620.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.959999 m, bearing: 295.544061 deg, approachRate: 0.026913 m/s, LOS rate: 1.709398 deg/s, cmd update: 6.837592 deg/s, cmd heading: 329.876116 deg, new cmd heading: 334.713568 deg. 2021-02-18T03:23:43.165Z,1613618623.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:43.932Z,1613618623.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:44.340Z,1613618624.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:45.168Z,1613618625.168 [Micromodem](INFO): Nmea in: $SNTTA,0.002666,,,,032343.96*4E 2021-02-18T03:23:45.197Z,1613618625.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 294.089641 deg, deltaT: 4.424691 s, approachRate: -0.040681 m/s, LOS rate: -0.328706 deg/s, posRepo size: 4 2021-02-18T03:23:45.198Z,1613618625.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 3.78 m. Reached intercept timeout. 2021-02-18T03:23:45.198Z,1613618625.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped 2021-02-18T03:23:45.198Z,1613618625.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-02-18T03:23:45.198Z,1613618625.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1 2021-02-18T03:23:45.599Z,1613618625.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete. 2021-02-18T03:23:45.599Z,1613618625.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped 2021-02-18T03:23:45.599Z,1613618625.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1 2021-02-18T03:23:46.031Z,1613618626.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped 2021-02-18T03:23:46.032Z,1613618626.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T03:23:46.032Z,1613618626.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-02-18T03:23:46.032Z,1613618626.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T03:23:46.032Z,1613618626.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-02-18T03:23:46.032Z,1613618626.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-02-18T03:23:46.032Z,1613618626.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-02-18T03:23:46.033Z,1613618626.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T03:23:46.425Z,1613618626.425 [lineCaptureDepth:LineCapture:HomingSequence] Stopped 2021-02-18T03:23:46.425Z,1613618626.425 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence 2021-02-18T03:23:46.425Z,1613618626.425 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped 2021-02-18T03:23:46.425Z,1613618626.425 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-02-18T03:23:46.425Z,1613618626.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-02-18T03:23:46.425Z,1613618626.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T03:23:46.426Z,1613618626.426 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1 2021-02-18T03:23:46.426Z,1613618626.426 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component. 2021-02-18T03:23:47.600Z,1613618627.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:48.381Z,1613618628.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:48.786Z,1613618628.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:49.616Z,1613618629.616 [Micromodem](INFO): Nmea in: $SNTTA,0.002785,,,,032348.41*43 2021-02-18T03:23:50.053Z,1613618630.053 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting. 2021-02-18T03:23:50.053Z,1613618630.053 [lineCaptureDepth:LineCapture:K.Wait] Stopped 2021-02-18T03:23:50.053Z,1613618630.053 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component. 2021-02-18T03:23:50.053Z,1613618630.053 [lineCaptureDepth:LineCapture:L] Running Loop=1 2021-02-18T03:23:50.437Z,1613618630.437 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 2021-02-18T03:23:50.437Z,1613618630.437 [lineCaptureDepth:LineCapture:L] Stopped 2021-02-18T03:23:50.439Z,1613618630.439 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture 2021-02-18T03:23:50.439Z,1613618630.439 [lineCaptureDepth:LineCapture] Stopped 2021-02-18T03:23:50.439Z,1613618630.439 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture 2021-02-18T03:23:50.439Z,1613618630.439 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped 2021-02-18T03:23:50.439Z,1613618630.439 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-02-18T03:23:50.439Z,1613618630.439 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2021-02-18T03:23:50.439Z,1613618630.439 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2021-02-18T03:23:50.439Z,1613618630.439 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2021-02-18T03:23:50.440Z,1613618630.440 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2021-02-18T03:23:50.440Z,1613618630.440 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2021-02-18T03:23:50.440Z,1613618630.440 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2021-02-18T03:23:50.440Z,1613618630.440 [lineCaptureDepth:LineCapture:G] Stopped 2021-02-18T03:23:50.440Z,1613618630.440 [lineCaptureDepth:LineCapture:H] Stopped 2021-02-18T03:23:50.440Z,1613618630.440 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-18T03:23:50.440Z,1613618630.440 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T03:23:50.440Z,1613618630.440 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-18T03:23:50.440Z,1613618630.440 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-18T03:23:50.440Z,1613618630.440 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-18T03:23:50.440Z,1613618630.440 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-18T03:23:50.440Z,1613618630.440 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-18T03:23:50.836Z,1613618630.836 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B 2021-02-18T03:23:50.836Z,1613618630.836 [lineCaptureDepth:Lap:B] Stopped 2021-02-18T03:23:50.836Z,1613618630.836 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B 2021-02-18T03:23:50.836Z,1613618630.836 [lineCaptureDepth:Lap:C] Running Loop=1 2021-02-18T03:23:51.298Z,1613618631.298 [lineCaptureDepth:Lap:C] Stopped 2021-02-18T03:23:51.298Z,1613618631.298 [lineCaptureDepth:Lap:D] Running Loop=1 2021-02-18T03:23:51.640Z,1613618631.640 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 2021-02-18T03:23:51.640Z,1613618631.640 [lineCaptureDepth:Lap:D] Stopped 2021-02-18T03:23:51.640Z,1613618631.640 [lineCaptureDepth:Lap:Docked] Running Loop=1 2021-02-18T03:23:51.640Z,1613618631.640 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked 2021-02-18T03:23:51.641Z,1613618631.641 [lineCaptureDepth:Lap:Docked:A] Running Loop=1 2021-02-18T03:23:52.048Z,1613618632.048 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 0.010000 min 2021-02-18T03:23:52.048Z,1613618632.048 [lineCaptureDepth:Lap:Docked:A] Stopped 2021-02-18T03:23:52.048Z,1613618632.048 [lineCaptureDepth:Lap:Docked:B.Docked] Running Loop=1 2021-02-18T03:23:52.048Z,1613618632.048 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initialize. 2021-02-18T03:23:52.048Z,1613618632.048 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values. 2021-02-18T03:23:52.048Z,1613618632.048 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Maintaining depth of 6.000000 m. 2021-02-18T03:23:52.049Z,1613618632.049 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Maintaining pitch angle of 20.000000 degree. 2021-02-18T03:23:52.049Z,1613618632.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:52.820Z,1613618632.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:52.869Z,1613618632.869 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Timed out from 2021-02-18T03:23:52.0Z 2021-02-18T03:23:52.869Z,1613618632.869 [lineCaptureDepth:Lap:Docked:B.Docked] Stopped 2021-02-18T03:23:52.869Z,1613618632.869 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1 2021-02-18T03:23:52.870Z,1613618632.870 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach 2021-02-18T03:23:52.870Z,1613618632.870 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1 2021-02-18T03:23:53.264Z,1613618633.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:53.321Z,1613618633.321 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 4.140001 m . 2021-02-18T03:23:53.322Z,1613618633.322 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped 2021-02-18T03:23:53.322Z,1613618633.322 [lineCaptureDepth:Lap:Docked:Detach:B.Undock] Running Loop=1 2021-02-18T03:23:53.322Z,1613618633.322 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initialize. 2021-02-18T03:23:53.322Z,1613618633.322 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2021-02-18T03:23:53.646Z,1613618633.646 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T03:23:54.048Z,1613618634.048 [Micromodem](INFO): Nmea in: $SNTTA,0.002721,,,,032352.84*4F 2021-02-18T03:23:54.050Z,1613618634.050 [PowerOnly](INFO): Powering up loadControl 2021-02-18T03:23:54.101Z,1613618634.101 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T03:23:54.473Z,1613618634.473 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T03:23:54.868Z,1613618634.868 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T03:23:54.868Z,1613618634.868 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detaching from dock. 2021-02-18T03:23:55.310Z,1613618635.310 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage. 2021-02-18T03:23:56.492Z,1613618636.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:23:57.270Z,1613618637.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:23:57.676Z,1613618637.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:23:58.499Z,1613618638.499 [Micromodem](INFO): Nmea in: $SNTTA,0.003038,,,,032357.29*43 2021-02-18T03:24:00.917Z,1613618640.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:01.708Z,1613618641.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:02.125Z,1613618642.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:24:02.936Z,1613618642.936 [Micromodem](INFO): Nmea in: $SNTTA,0.003566,,,,032401.73*46 2021-02-18T03:24:05.389Z,1613618645.389 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Thruster off. 2021-02-18T03:24:05.390Z,1613618645.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:06.153Z,1613618646.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:06.565Z,1613618646.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:24:07.389Z,1613618647.389 [Micromodem](INFO): Nmea in: $SNTTA,0.004384,,,0.008772,032406.18*55 2021-02-18T03:24:09.801Z,1613618649.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:10.596Z,1613618650.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:11.028Z,1613618651.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:24:11.831Z,1613618651.831 [Micromodem](INFO): Nmea in: $SNTTA,0.006484,,,,032410.62*4E 2021-02-18T03:24:14.305Z,1613618654.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:15.040Z,1613618655.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:15.445Z,1613618655.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:24:16.280Z,1613618656.280 [Micromodem](INFO): Nmea in: $SNTTA,0.006131,,,0.052476,032415.07*5F 2021-02-18T03:24:18.693Z,1613618658.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:19.484Z,1613618659.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:19.895Z,1613618659.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:24:20.724Z,1613618660.724 [Micromodem](INFO): Nmea in: $SNTTA,0.006731,,0.058848,,032419.51*5D 2021-02-18T03:24:23.145Z,1613618663.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:23.928Z,1613618663.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:24.340Z,1613618664.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:24:25.208Z,1613618665.208 [Micromodem](INFO): Nmea in: $SNTTA,0.007409,,,,032423.95*42 2021-02-18T03:24:25.281Z,1613618665.281 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detected possible detachment. Starting timer. 2021-02-18T03:24:27.596Z,1613618667.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:28.378Z,1613618668.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:28.777Z,1613618668.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:24:29.604Z,1613618669.604 [Micromodem](INFO): Nmea in: $SNTTA,0.008194,,,,032428.40*4F 2021-02-18T03:24:32.050Z,1613618672.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:32.817Z,1613618672.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:33.257Z,1613618673.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:24:34.048Z,1613618674.048 [Micromodem](INFO): Nmea in: $SNTTA,0.008863,,,,032432.84*4D 2021-02-18T03:24:36.482Z,1613618676.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:37.268Z,1613618677.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:37.667Z,1613618677.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:24:38.492Z,1613618678.492 [Micromodem](INFO): Nmea in: $SNTTA,0.009530,,,,032437.29*45 2021-02-18T03:24:40.909Z,1613618680.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:41.704Z,1613618681.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:42.127Z,1613618682.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:24:42.932Z,1613618682.932 [Micromodem](INFO): Nmea in: $SNTTA,0.009998,,,,032441.73*45 2021-02-18T03:24:45.381Z,1613618685.381 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detached at range: 14.76 m. Transitioning DDM to standby. 2021-02-18T03:24:45.382Z,1613618685.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:45.782Z,1613618685.782 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T03:24:45.782Z,1613618685.782 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM at standby. 2021-02-18T03:24:46.148Z,1613618686.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:46.282Z,1613618686.282 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](IMPORTANT): Undocking sequence complete. 2021-02-18T03:24:46.282Z,1613618686.282 [lineCaptureDepth:Lap:Docked:Detach:B.Undock] Stopped 2021-02-18T03:24:46.283Z,1613618686.283 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach 2021-02-18T03:24:46.283Z,1613618686.283 [lineCaptureDepth:Lap:Docked:Detach] Stopped 2021-02-18T03:24:46.287Z,1613618686.287 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach 2021-02-18T03:24:46.287Z,1613618686.287 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked 2021-02-18T03:24:46.287Z,1613618686.287 [lineCaptureDepth:Lap:Docked] Stopped 2021-02-18T03:24:46.287Z,1613618686.287 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked 2021-02-18T03:24:46.288Z,1613618686.288 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap 2021-02-18T03:24:46.288Z,1613618686.288 [lineCaptureDepth:Lap] Stopped 2021-02-18T03:24:46.288Z,1613618686.288 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap 2021-02-18T03:24:46.288Z,1613618686.288 [lineCaptureDepth:Lap](INFO): Running loop #4 2021-02-18T03:24:46.288Z,1613618686.288 [lineCaptureDepth:Lap] Running Loop=4 2021-02-18T03:24:46.288Z,1613618686.288 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap 2021-02-18T03:24:46.288Z,1613618686.288 [lineCaptureDepth:Lap:A] Running Loop=1 2021-02-18T03:24:46.555Z,1613618686.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:24:46.609Z,1613618686.609 [lineCaptureDepth:Lap:A] Stopped 2021-02-18T03:24:46.609Z,1613618686.609 [lineCaptureDepth:Lap:B] Running Loop=1 2021-02-18T03:24:46.609Z,1613618686.609 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B 2021-02-18T03:24:46.972Z,1613618686.972 [lineCaptureDepth:LineCapture] Running Loop=1 2021-02-18T03:24:46.972Z,1613618686.972 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture 2021-02-18T03:24:46.973Z,1613618686.973 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1 2021-02-18T03:24:46.973Z,1613618686.973 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-02-18T03:24:46.973Z,1613618686.973 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-02-18T03:24:46.973Z,1613618686.973 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2021-02-18T03:24:46.973Z,1613618686.973 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-02-18T03:24:46.973Z,1613618686.973 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2021-02-18T03:24:46.973Z,1613618686.973 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-02-18T03:24:46.973Z,1613618686.973 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2021-02-18T03:24:46.973Z,1613618686.973 [lineCaptureDepth:LineCapture:G] Running Loop=1 2021-02-18T03:24:46.973Z,1613618686.973 [lineCaptureDepth:LineCapture:H] Running Loop=1 2021-02-18T03:24:46.973Z,1613618686.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-18T03:24:46.974Z,1613618686.974 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T03:24:46.974Z,1613618686.974 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-18T03:24:46.974Z,1613618686.974 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-18T03:24:46.974Z,1613618686.974 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-18T03:24:46.974Z,1613618686.974 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-18T03:24:46.974Z,1613618686.974 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-18T03:24:46.974Z,1613618686.974 [lineCaptureDepth:LineCapture:A] Running Loop=1 2021-02-18T03:24:46.974Z,1613618686.974 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-18T03:24:46.974Z,1613618686.974 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T03:24:46.975Z,1613618686.975 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-18T03:24:46.975Z,1613618686.975 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-18T03:24:46.975Z,1613618686.975 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-18T03:24:46.975Z,1613618686.975 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-18T03:24:46.975Z,1613618686.975 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-18T03:24:46.977Z,1613618686.977 [lineCaptureDepth:LineCapture:A] Stopped 2021-02-18T03:24:46.977Z,1613618686.977 [lineCaptureDepth:LineCapture:B] Running Loop=1 2021-02-18T03:24:47.381Z,1613618687.381 [Micromodem](INFO): Nmea in: $SNTTA,0.010504,,,,032446.17*41 2021-02-18T03:24:47.467Z,1613618687.467 [lineCaptureDepth:LineCapture:B] Stopped 2021-02-18T03:24:47.467Z,1613618687.467 [lineCaptureDepth:LineCapture:D] Running Loop=1 2021-02-18T03:24:47.797Z,1613618687.797 [lineCaptureDepth:LineCapture:D] Stopped 2021-02-18T03:24:47.797Z,1613618687.797 [lineCaptureDepth:LineCapture:E] Running Loop=1 2021-02-18T03:24:48.209Z,1613618688.209 [lineCaptureDepth:LineCapture:E] Stopped 2021-02-18T03:24:48.209Z,1613618688.209 [lineCaptureDepth:LineCapture:F] Running Loop=1 2021-02-18T03:24:48.621Z,1613618688.621 [lineCaptureDepth:LineCapture:F] Stopped 2021-02-18T03:24:48.621Z,1613618688.621 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1 2021-02-18T03:24:48.621Z,1613618688.621 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence 2021-02-18T03:24:48.621Z,1613618688.621 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2021-02-18T03:24:48.621Z,1613618688.621 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-02-18T03:24:48.621Z,1613618688.621 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2021-02-18T03:24:48.621Z,1613618688.621 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-02-18T03:24:48.621Z,1613618688.621 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2021-02-18T03:24:48.621Z,1613618688.621 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2021-02-18T03:24:48.622Z,1613618688.622 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2021-02-18T03:24:48.622Z,1613618688.622 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-02-18T03:24:48.622Z,1613618688.622 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-18T03:24:48.622Z,1613618688.622 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-02-18T03:24:48.622Z,1613618688.622 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-18T03:24:48.622Z,1613618688.622 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-02-18T03:24:48.622Z,1613618688.622 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-02-18T03:24:48.622Z,1613618688.622 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-02-18T03:24:48.622Z,1613618688.622 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-02-18T03:24:48.623Z,1613618688.623 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-02-18T03:24:48.623Z,1613618688.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-02-18T03:24:48.623Z,1613618688.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T03:24:48.623Z,1613618688.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-02-18T03:24:48.623Z,1613618688.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T03:24:48.623Z,1613618688.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-02-18T03:24:48.623Z,1613618688.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-02-18T03:24:48.624Z,1613618688.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-02-18T03:24:48.624Z,1613618688.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-02-18T03:24:48.624Z,1613618688.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-02-18T03:24:49.039Z,1613618689.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-02-18T03:24:49.039Z,1613618689.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T03:24:49.039Z,1613618689.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-02-18T03:24:49.039Z,1613618689.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T03:24:49.039Z,1613618689.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-02-18T03:24:49.039Z,1613618689.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-02-18T03:24:49.039Z,1613618689.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-02-18T03:24:49.039Z,1613618689.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-02-18T03:24:49.039Z,1613618689.039 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-02-18T03:24:49.040Z,1613618689.040 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-18T03:24:49.040Z,1613618689.040 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-02-18T03:24:49.040Z,1613618689.040 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-18T03:24:49.040Z,1613618689.040 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-02-18T03:24:49.040Z,1613618689.040 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-02-18T03:24:49.040Z,1613618689.040 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-02-18T03:24:49.040Z,1613618689.040 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-02-18T03:24:49.040Z,1613618689.040 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T03:24:49.040Z,1613618689.040 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock. 2021-02-18T03:24:49.447Z,1613618689.447 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage. 2021-02-18T03:24:49.829Z,1613618689.829 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off. 2021-02-18T03:24:49.831Z,1613618689.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:50.276Z,1613618690.276 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2021-02-18T03:24:50.598Z,1613618690.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:51.029Z,1613618691.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:24:51.434Z,1613618691.434 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T03:24:51.828Z,1613618691.828 [Micromodem](INFO): Nmea in: $SNTTA,0.011066,,,0.013574,032450.62*5E 2021-02-18T03:24:54.313Z,1613618694.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:55.040Z,1613618695.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:55.454Z,1613618695.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:24:56.300Z,1613618696.300 [Micromodem](INFO): Nmea in: $SNTTA,0.011445,,,,032455.07*47 2021-02-18T03:24:56.306Z,1613618696.306 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T03:24:58.687Z,1613618698.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:24:59.485Z,1613618699.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:24:59.887Z,1613618699.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:00.719Z,1613618700.719 [Micromodem](INFO): Nmea in: $SNTTA,0.011984,,,0.048316,032459.51*5E 2021-02-18T03:25:03.144Z,1613618703.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:25:03.924Z,1613618703.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:25:04.330Z,1613618704.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:05.152Z,1613618705.152 [Micromodem](INFO): Nmea in: $SNTTA,0.012369,,,,032503.95*44 2021-02-18T03:25:07.612Z,1613618707.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:25:08.386Z,1613618708.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:25:08.779Z,1613618708.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:09.604Z,1613618709.604 [Micromodem](INFO): Nmea in: $SNTTA,0.012779,,,,032508.41*43 2021-02-18T03:25:10.425Z,1613618710.425 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 18.96 m. Transitioning DDM to standby. 2021-02-18T03:25:10.836Z,1613618710.836 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T03:25:10.836Z,1613618710.836 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby. 2021-02-18T03:25:11.301Z,1613618711.301 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2021-02-18T03:25:11.301Z,1613618711.301 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2021-02-18T03:25:11.301Z,1613618711.301 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2021-02-18T03:25:11.644Z,1613618711.644 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2021-02-18T03:25:11.644Z,1613618711.644 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2021-02-18T03:25:11.644Z,1613618711.644 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2021-02-18T03:25:12.054Z,1613618712.054 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2021-02-18T03:25:12.054Z,1613618712.054 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-02-18T03:25:12.054Z,1613618712.054 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2021-02-18T03:25:12.054Z,1613618712.054 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-02-18T03:25:12.054Z,1613618712.054 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-02-18T03:25:12.056Z,1613618712.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:25:12.453Z,1613618712.453 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-02-18T03:25:12.454Z,1613618712.454 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-18T03:25:12.454Z,1613618712.454 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-02-18T03:25:12.454Z,1613618712.454 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-18T03:25:12.454Z,1613618712.454 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-02-18T03:25:12.454Z,1613618712.454 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-02-18T03:25:12.454Z,1613618712.454 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-02-18T03:25:12.454Z,1613618712.454 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-02-18T03:25:12.454Z,1613618712.454 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-02-18T03:25:12.456Z,1613618712.456 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2021-02-18T03:25:12.456Z,1613618712.456 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-02-18T03:25:12.456Z,1613618712.456 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2021-02-18T03:25:12.456Z,1613618712.456 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 18.960001 m 2021-02-18T03:25:12.456Z,1613618712.456 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2021-02-18T03:25:12.456Z,1613618712.456 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2021-02-18T03:25:12.457Z,1613618712.457 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg ) 2021-02-18T03:25:12.457Z,1613618712.457 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-02-18T03:25:12.458Z,1613618712.458 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2021-02-18T03:25:12.458Z,1613618712.458 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2021-02-18T03:25:12.820Z,1613618712.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:25:12.898Z,1613618712.898 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2021-02-18T03:25:12.898Z,1613618712.898 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-02-18T03:25:12.915Z,1613618712.915 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2021-02-18T03:25:12.915Z,1613618712.915 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-02-18T03:25:12.916Z,1613618712.916 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-18T03:25:12.916Z,1613618712.916 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T03:25:12.916Z,1613618712.916 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-18T03:25:12.916Z,1613618712.916 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-18T03:25:12.916Z,1613618712.916 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-18T03:25:12.917Z,1613618712.917 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-18T03:25:12.917Z,1613618712.917 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-18T03:25:13.253Z,1613618713.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:13.322Z,1613618713.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-02-18T03:25:13.322Z,1613618713.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T03:25:13.322Z,1613618713.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-02-18T03:25:13.322Z,1613618713.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T03:25:13.323Z,1613618713.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-02-18T03:25:13.323Z,1613618713.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-02-18T03:25:13.327Z,1613618713.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-02-18T03:25:13.327Z,1613618713.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-02-18T03:25:13.327Z,1613618713.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-02-18T03:25:13.328Z,1613618713.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2021-02-18T03:25:13.328Z,1613618713.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-02-18T03:25:13.328Z,1613618713.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1 2021-02-18T03:25:13.329Z,1613618713.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize. 2021-02-18T03:25:13.329Z,1613618713.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values. 2021-02-18T03:25:13.329Z,1613618713.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-02-18T03:25:13.329Z,1613618713.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec. 2021-02-18T03:25:13.330Z,1613618713.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T03:25:13.330Z,1613618713.330 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-02-18T03:25:13.330Z,1613618713.330 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-02-18T03:25:13.330Z,1613618713.330 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-02-18T03:25:13.330Z,1613618713.330 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-02-18T03:25:13.330Z,1613618713.330 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-02-18T03:25:13.330Z,1613618713.330 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-02-18T03:25:13.330Z,1613618713.330 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-02-18T03:25:13.331Z,1613618713.331 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2021-02-18T03:25:13.331Z,1613618713.331 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2021-02-18T03:25:13.652Z,1613618713.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 250.946587 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T03:25:13.652Z,1613618713.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 18.96 m. 2021-02-18T03:25:13.653Z,1613618713.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 18.96 m. 2021-02-18T03:25:13.653Z,1613618713.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T03:25:13.653Z,1613618713.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 250.946587deg and heading rate command to 0 deg/s. 2021-02-18T03:25:14.052Z,1613618714.052 [Micromodem](INFO): Nmea in: $SNTTA,0.013342,,,,032512.85*4D 2021-02-18T03:25:14.076Z,1613618714.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 250.590488 deg, deltaT: 4.417352 s, approachRate: 0.176576 m/s, LOS rate: -0.080614 deg/s, posRepo size: 2 2021-02-18T03:25:14.078Z,1613618714.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.740000 m, bearing: 250.590488 deg, approachRate: 0.176576 m/s, LOS rate: -0.080614 deg/s, cmd update: -0.322454 deg/s, cmd heading: 250.946587 deg, new cmd heading: 250.946587 deg. 2021-02-18T03:25:16.466Z,1613618716.466 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T03:25:16.481Z,1613618716.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:25:17.265Z,1613618717.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:25:17.664Z,1613618717.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:18.495Z,1613618718.495 [Micromodem](INFO): Nmea in: $SNTTA,0.013518,,,,032517.29*47 2021-02-18T03:25:18.520Z,1613618718.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.039999 m, bearing: 253.236831 deg, deltaT: 4.430908 s, approachRate: 0.067706 m/s, LOS rate: 0.597246 deg/s, posRepo size: 3 2021-02-18T03:25:18.522Z,1613618718.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.039999 m, bearing: 253.236831 deg, approachRate: 0.067706 m/s, LOS rate: 0.597246 deg/s, cmd update: 2.388985 deg/s, cmd heading: 249.511618 deg, new cmd heading: 249.376786 deg. 2021-02-18T03:25:20.913Z,1613618720.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:25:21.342Z,1613618721.342 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2021-02-18T03:25:21.342Z,1613618721.342 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-02-18T03:25:21.342Z,1613618721.342 [RDI_Pathfinder](ERROR): Communications Fault 2021-02-18T03:25:21.439Z,1613618721.439 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-02-18T03:25:21.708Z,1613618721.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:25:21.784Z,1613618721.784 [RDI_Pathfinder](INFO): Powering down 2021-02-18T03:25:22.112Z,1613618722.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:22.623Z,1613618722.623 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-02-18T03:25:22.623Z,1613618722.623 [RDI_Pathfinder] No Fault, FailCount= 1 2021-02-18T03:25:22.932Z,1613618722.932 [Micromodem](INFO): Nmea in: $SNTTA,0.012945,,,,032521.73*48 2021-02-18T03:25:22.976Z,1613618722.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.140001 m, bearing: 253.033237 deg, deltaT: 4.425704 s, approachRate: -0.203357 m/s, LOS rate: -0.046003 deg/s, posRepo size: 4 2021-02-18T03:25:22.977Z,1613618722.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.140001 m, bearing: 253.033237 deg, approachRate: -0.203357 m/s, LOS rate: -0.046003 deg/s, cmd update: -0.184011 deg/s, cmd heading: 260.084191 deg, new cmd heading: 261.141678 deg. 2021-02-18T03:25:25.336Z,1613618725.336 [PowerOnly](INFO): Powering down loadControl 2021-02-18T03:25:25.385Z,1613618725.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:25:26.161Z,1613618726.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:25:26.549Z,1613618726.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:27.408Z,1613618727.408 [Micromodem](INFO): Nmea in: $SNTTA,0.011717,,,,032526.19*49 2021-02-18T03:25:27.432Z,1613618727.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.280001 m, bearing: 247.496331 deg, deltaT: 4.492032 s, approachRate: -0.414067 m/s, LOS rate: -1.232606 deg/s, posRepo size: 4 2021-02-18T03:25:27.433Z,1613618727.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.280001 m, bearing: 247.496331 deg, approachRate: -0.414067 m/s, LOS rate: -1.232606 deg/s, cmd update: -4.930425 deg/s, cmd heading: 259.262757 deg, new cmd heading: 259.181841 deg. 2021-02-18T03:25:29.821Z,1613618729.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:25:30.606Z,1613618730.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:25:31.025Z,1613618731.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:31.832Z,1613618731.832 [Micromodem](INFO): Nmea in: $SNTTA,0.010259,,,,032530.63*4D 2021-02-18T03:25:31.854Z,1613618731.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.059998 m, bearing: 245.822224 deg, deltaT: 4.396072 s, approachRate: -0.504997 m/s, LOS rate: -0.380819 deg/s, posRepo size: 4 2021-02-18T03:25:31.856Z,1613618731.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.059998 m, bearing: 245.822224 deg, approachRate: -0.504997 m/s, LOS rate: -0.380819 deg/s, cmd update: -1.523275 deg/s, cmd heading: 237.449551 deg, new cmd heading: 235.288990 deg. 2021-02-18T03:25:34.259Z,1613618734.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:25:35.040Z,1613618735.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:25:35.439Z,1613618735.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:36.292Z,1613618736.292 [Micromodem](INFO): Nmea in: $SNTTA,0.008575,,0.018399,,032535.06*5F 2021-02-18T03:25:36.341Z,1613618736.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.599998 m, bearing: 247.685336 deg, deltaT: 4.448274 s, approachRate: -0.553023 m/s, LOS rate: 0.418839 deg/s, posRepo size: 4 2021-02-18T03:25:36.342Z,1613618736.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.599998 m, bearing: 247.685336 deg, approachRate: -0.553023 m/s, LOS rate: 0.418839 deg/s, cmd update: 1.675357 deg/s, cmd heading: 230.673587 deg, new cmd heading: 229.947542 deg. 2021-02-18T03:25:38.682Z,1613618738.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:25:39.476Z,1613618739.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:25:39.881Z,1613618739.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:40.712Z,1613618740.712 [Micromodem](INFO): Nmea in: $SNTTA,0.006919,,,,032539.50*4C 2021-02-18T03:25:40.734Z,1613618740.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.139999 m, bearing: 247.602280 deg, deltaT: 4.443347 s, approachRate: -0.553636 m/s, LOS rate: -0.018692 deg/s, posRepo size: 4 2021-02-18T03:25:40.736Z,1613618740.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.139999 m, bearing: 247.602280 deg, approachRate: -0.553636 m/s, LOS rate: -0.018692 deg/s, cmd update: -0.074768 deg/s, cmd heading: 238.117538 deg, new cmd heading: 238.832573 deg. 2021-02-18T03:25:43.165Z,1613618743.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:25:43.963Z,1613618743.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:25:44.326Z,1613618744.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:45.213Z,1613618745.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.800001 m, bearing: 243.881084 deg, deltaT: 4.438938 s, approachRate: -0.527153 m/s, LOS rate: -0.838308 deg/s, posRepo size: 4 2021-02-18T03:25:45.219Z,1613618745.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.800001 m, bearing: 243.881084 deg, approachRate: -0.527153 m/s, LOS rate: -0.838308 deg/s, cmd update: -3.353231 deg/s, cmd heading: 237.785653 deg, new cmd heading: 237.750699 deg. 2021-02-18T03:25:45.552Z,1613618745.552 [Micromodem](INFO): Nmea in: $SNTTA,0.005360,,,,032544.02*46 2021-02-18T03:25:47.571Z,1613618747.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:25:48.378Z,1613618748.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:25:48.802Z,1613618748.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:49.596Z,1613618749.596 [Micromodem](INFO): Nmea in: $SNTTA,0.003987,,,,032548.40*49 2021-02-18T03:25:49.634Z,1613618749.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.759999 m, bearing: 255.551692 deg, deltaT: 4.470887 s, approachRate: -0.456286 m/s, LOS rate: 2.610356 deg/s, posRepo size: 4 2021-02-18T03:25:49.636Z,1613618749.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.759999 m, bearing: 255.551692 deg, approachRate: -0.456286 m/s, LOS rate: 2.610356 deg/s, cmd update: 10.441425 deg/s, cmd heading: 222.806404 deg, new cmd heading: 221.396055 deg. 2021-02-18T03:25:52.107Z,1613618752.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:25:52.813Z,1613618752.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:25:53.220Z,1613618753.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:54.044Z,1613618754.044 [Micromodem](INFO): Nmea in: $SNTTA,0.003282,,,,032552.84*44 2021-02-18T03:25:54.093Z,1613618754.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.979999 m, bearing: 230.631856 deg, deltaT: 4.413865 s, approachRate: -0.176716 m/s, LOS rate: -5.645808 deg/s, posRepo size: 4 2021-02-18T03:25:54.094Z,1613618754.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.979999 m, bearing: 230.631856 deg, approachRate: -0.176716 m/s, LOS rate: -5.645808 deg/s, cmd update: -12.000000 deg/s, cmd heading: 268.933757 deg, new cmd heading: 273.755221 deg. 2021-02-18T03:25:56.476Z,1613618756.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:25:57.289Z,1613618757.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:25:57.696Z,1613618757.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:25:58.500Z,1613618758.500 [Micromodem](INFO): Nmea in: $SNTTA,0.004131,,,,032557.31*43 2021-02-18T03:25:58.546Z,1613618758.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.059999 m, bearing: 245.872439 deg, deltaT: 4.510712 s, approachRate: 0.239430 m/s, LOS rate: 3.378753 deg/s, posRepo size: 4 2021-02-18T03:25:58.552Z,1613618758.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.059999 m, bearing: 245.872439 deg, approachRate: 0.239430 m/s, LOS rate: 3.378753 deg/s, cmd update: 12.000000 deg/s, cmd heading: 214.930288 deg, new cmd heading: 209.951080 deg. 2021-02-18T03:26:00.942Z,1613618760.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:01.697Z,1613618761.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:02.106Z,1613618762.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:26:02.936Z,1613618762.936 [Micromodem](INFO): Nmea in: $SNTTA,0.006332,,,,032601.72*47 2021-02-18T03:26:02.960Z,1613618762.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.919999 m, bearing: 224.705629 deg, deltaT: 4.403139 s, approachRate: 0.422426 m/s, LOS rate: -4.807209 deg/s, posRepo size: 4 2021-02-18T03:26:02.962Z,1613618762.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.919999 m, bearing: 224.705629 deg, approachRate: 0.422426 m/s, LOS rate: -4.807209 deg/s, cmd update: -12.000000 deg/s, cmd heading: 267.846834 deg, new cmd heading: 272.883114 deg. 2021-02-18T03:26:05.363Z,1613618765.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:06.145Z,1613618766.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:06.547Z,1613618766.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:26:07.372Z,1613618767.372 [Micromodem](INFO): Nmea in: $SNTTA,0.007834,,,,032606.17*4F 2021-02-18T03:26:07.412Z,1613618767.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.019999 m, bearing: 253.512088 deg, deltaT: 4.480636 s, approachRate: 1.138231 m/s, LOS rate: 6.429100 deg/s, posRepo size: 4 2021-02-18T03:26:07.414Z,1613618767.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.019999 m, bearing: 253.512088 deg, approachRate: 1.138231 m/s, LOS rate: 6.429100 deg/s, cmd update: 12.000000 deg/s, cmd heading: 214.143700 deg, new cmd heading: 209.586664 deg. 2021-02-18T03:26:09.892Z,1613618769.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:10.663Z,1613618770.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:11.068Z,1613618771.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:26:11.849Z,1613618771.849 [Micromodem](INFO): Nmea in: $SNTTA,0.009914,,,,032610.69*4C 2021-02-18T03:26:11.899Z,1613618771.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.940002 m, bearing: 223.211320 deg, deltaT: 4.404536 s, approachRate: 0.435915 m/s, LOS rate: -6.879446 deg/s, posRepo size: 4 2021-02-18T03:26:11.900Z,1613618771.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.94 m. Rolling out. 2021-02-18T03:26:11.900Z,1613618771.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T03:26:14.246Z,1613618774.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:15.070Z,1613618775.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:15.437Z,1613618775.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:26:16.270Z,1613618776.270 [Micromodem](INFO): Nmea in: $SNTTA,0.010928,,,,032615.10*40 2021-02-18T03:26:16.342Z,1613618776.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.540001 m, bearing: 260.107346 deg, deltaT: 4.454589 s, approachRate: 0.134692 m/s, LOS rate: 8.282701 deg/s, posRepo size: 4 2021-02-18T03:26:18.694Z,1613618778.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:19.474Z,1613618779.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:19.886Z,1613618779.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:26:20.720Z,1613618780.720 [Micromodem](INFO): Nmea in: $SNTTA,0.015729,,0.031172,,032619.50*5A 2021-02-18T03:26:20.746Z,1613618780.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.519997 m, bearing: 265.301514 deg, deltaT: 4.435300 s, approachRate: 1.799201 m/s, LOS rate: 1.171097 deg/s, posRepo size: 4 2021-02-18T03:26:23.225Z,1613618783.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:24.027Z,1613618784.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:24.351Z,1613618784.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:26:25.248Z,1613618785.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.020000 m, bearing: 225.806628 deg, deltaT: 4.481657 s, approachRate: -0.334697 m/s, LOS rate: -8.812564 deg/s, posRepo size: 4 2021-02-18T03:26:25.544Z,1613618785.544 [Micromodem](INFO): Nmea in: $SNTTA,0.014758,,,,032624.05*4B 2021-02-18T03:26:27.569Z,1613618787.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:28.366Z,1613618788.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:28.790Z,1613618788.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:26:29.593Z,1613618789.593 [Micromodem](INFO): Nmea in: $SNTTA,0.016034,,0.051978,,032628.39*5B 2021-02-18T03:26:29.608Z,1613618789.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.059999 m, bearing: 242.441991 deg, deltaT: 4.413118 s, approachRate: 0.462258 m/s, LOS rate: 3.769526 deg/s, posRepo size: 4 2021-02-18T03:26:32.077Z,1613618792.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:32.814Z,1613618792.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:33.219Z,1613618793.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:26:34.056Z,1613618794.056 [Micromodem](INFO): Nmea in: $SNTTA,0.017427,,,,032632.84*4D 2021-02-18T03:26:34.118Z,1613618794.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.160002 m, bearing: 318.284083 deg, deltaT: 4.430093 s, approachRate: 0.474031 m/s, LOS rate: 17.119751 deg/s, posRepo size: 4 2021-02-18T03:26:36.457Z,1613618796.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:37.377Z,1613618797.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:37.707Z,1613618797.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:26:38.518Z,1613618798.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.979998 m, bearing: 317.538691 deg, deltaT: 4.496822 s, approachRate: 0.627109 m/s, LOS rate: -0.165760 deg/s, posRepo size: 4 2021-02-18T03:26:38.891Z,1613618798.891 [Micromodem](INFO): Nmea in: $SNTTA,0.019610,,,,032637.40*48 2021-02-18T03:26:40.917Z,1613618800.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:41.693Z,1613618801.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:42.099Z,1613618802.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:26:42.929Z,1613618802.929 [Micromodem](INFO): Nmea in: $SNTTA,0.021493,,0.051686,,032641.72*58 2021-02-18T03:26:43.004Z,1613618803.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.859997 m, bearing: 261.366150 deg, deltaT: 4.378284 s, approachRate: 0.657792 m/s, LOS rate: -12.829808 deg/s, posRepo size: 4 2021-02-18T03:26:45.353Z,1613618805.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:46.146Z,1613618806.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:46.543Z,1613618806.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:26:47.372Z,1613618807.372 [Micromodem](INFO): Nmea in: $SNTTA,0.023315,0.057810,,,032646.17*50 2021-02-18T03:26:47.426Z,1613618807.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.740002 m, bearing: 316.449194 deg, deltaT: 4.474646 s, approachRate: 0.643627 m/s, LOS rate: 12.310034 deg/s, posRepo size: 4 2021-02-18T03:26:49.833Z,1613618809.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:50.700Z,1613618810.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:51.034Z,1613618811.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:26:51.882Z,1613618811.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.040001 m, bearing: 300.409587 deg, deltaT: 4.465775 s, approachRate: 0.738953 m/s, LOS rate: -3.591674 deg/s, posRepo size: 4 2021-02-18T03:26:52.208Z,1613618812.208 [Micromodem](INFO): Nmea in: $SNTTA,0.025331,,,,032650.72*41 2021-02-18T03:26:54.254Z,1613618814.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:55.032Z,1613618815.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:55.430Z,1613618815.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:26:56.256Z,1613618816.256 [Micromodem](INFO): Nmea in: $SNTTA,0.027282,,,,032655.06*4C 2021-02-18T03:26:56.300Z,1613618816.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.980000 m, bearing: 302.739064 deg, deltaT: 4.411846 s, approachRate: 0.666387 m/s, LOS rate: 0.528005 deg/s, posRepo size: 4 2021-02-18T03:26:58.675Z,1613618818.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:26:59.469Z,1613618819.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:26:59.899Z,1613618819.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:00.700Z,1613618820.700 [Micromodem](INFO): Nmea in: $SNTTA,0.029231,,,,032659.49*4D 2021-02-18T03:27:00.722Z,1613618820.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.799999 m, bearing: 299.376426 deg, deltaT: 4.418981 s, approachRate: 0.638156 m/s, LOS rate: -0.760953 deg/s, posRepo size: 4 2021-02-18T03:27:03.159Z,1613618823.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:27:04.042Z,1613618824.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:27:04.364Z,1613618824.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:05.225Z,1613618825.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.739998 m, bearing: 294.573928 deg, deltaT: 4.553411 s, approachRate: 0.645670 m/s, LOS rate: -1.054703 deg/s, posRepo size: 4 2021-02-18T03:27:05.556Z,1613618825.556 [Micromodem](INFO): Nmea in: $SNTTA,,,,,032704.07*5B 2021-02-18T03:27:07.579Z,1613618827.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:27:08.389Z,1613618828.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:27:08.813Z,1613618828.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:09.613Z,1613618829.613 [Micromodem](INFO): Nmea in: $SNTTA,0.032825,,,,032708.41*45 2021-02-18T03:27:09.654Z,1613618829.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.619995 m, bearing: 295.326397 deg, deltaT: 4.391834 s, approachRate: 0.655762 m/s, LOS rate: 0.171333 deg/s, posRepo size: 4 2021-02-18T03:27:12.096Z,1613618832.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:27:12.821Z,1613618832.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:27:13.222Z,1613618833.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:14.052Z,1613618834.052 [Micromodem](INFO): Nmea in: $SNTTA,0.034794,,0.049070,,032712.85*51 2021-02-18T03:27:14.104Z,1613618834.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.559998 m, bearing: 288.052409 deg, deltaT: 4.402490 s, approachRate: 0.667804 m/s, LOS rate: -1.652244 deg/s, posRepo size: 4 2021-02-18T03:27:16.480Z,1613618836.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:27:17.269Z,1613618837.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:27:17.743Z,1613618837.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:18.513Z,1613618838.513 [Micromodem](INFO): Nmea in: $SNTTA,0.061749,,0.082799,,032717.29*55 2021-02-18T03:27:18.527Z,1613618838.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.560005 m, bearing: 293.069456 deg, deltaT: 4.527181 s, approachRate: 0.662666 m/s, LOS rate: 1.108206 deg/s, posRepo size: 4 2021-02-18T03:27:20.932Z,1613618840.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:27:21.704Z,1613618841.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:27:22.110Z,1613618842.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:22.937Z,1613618842.937 [Micromodem](INFO): Nmea in: $SNTTA,0.038705,,,,032721.73*48 2021-02-18T03:27:23.021Z,1613618843.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.200001 m, bearing: 270.941884 deg, deltaT: 4.365506 s, approachRate: 0.604740 m/s, LOS rate: -5.068730 deg/s, posRepo size: 4 2021-02-18T03:27:25.143Z,1613618845.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:27:25.753Z,1613618845.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:27:26.160Z,1613618846.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:26.988Z,1613618846.988 [Micromodem](INFO): Nmea in: $SNTTA,0.040601,,,,032725.78*4D 2021-02-18T03:27:27.053Z,1613618847.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.019997 m, bearing: 273.081755 deg, deltaT: 4.046027 s, approachRate: 0.696979 m/s, LOS rate: 0.528882 deg/s, posRepo size: 4 2021-02-18T03:27:29.396Z,1613618849.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:27:30.189Z,1613618850.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:27:30.674Z,1613618850.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:31.468Z,1613618851.468 [Micromodem](INFO): Nmea in: $SNTTA,0.042538,,0.084999,,032730.21*55 2021-02-18T03:27:31.502Z,1613618851.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.080009 m, bearing: 317.007494 deg, deltaT: 4.577859 s, approachRate: 0.668438 m/s, LOS rate: 9.595258 deg/s, posRepo size: 4 2021-02-18T03:27:33.056Z,1613618853.056 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T03:27:33.871Z,1613618853.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:27:34.650Z,1613618854.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:27:35.051Z,1613618855.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:35.868Z,1613618855.868 [Micromodem](INFO): Nmea in: $SNTTA,0.044628,,,,032734.67*4C 2021-02-18T03:27:35.908Z,1613618855.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.260002 m, bearing: 300.210501 deg, deltaT: 4.299219 s, approachRate: 0.739668 m/s, LOS rate: -3.906987 deg/s, posRepo size: 4 2021-02-18T03:27:38.311Z,1613618858.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:27:39.078Z,1613618859.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:27:39.482Z,1613618859.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:40.308Z,1613618860.308 [Micromodem](INFO): Nmea in: $SNTTA,0.046664,,,,032739.10*4B 2021-02-18T03:27:40.353Z,1613618860.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.320000 m, bearing: 308.119259 deg, deltaT: 4.469868 s, approachRate: 0.684583 m/s, LOS rate: 1.769349 deg/s, posRepo size: 4 2021-02-18T03:27:42.728Z,1613618862.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:27:43.526Z,1613618863.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:27:44.029Z,1613618864.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:44.866Z,1613618864.866 [Micromodem](INFO): Nmea in: $SNTTA,0.048723,,,,032743.55*4B 2021-02-18T03:27:44.897Z,1613618864.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.379997 m, bearing: 293.240211 deg, deltaT: 4.468837 s, approachRate: 0.684741 m/s, LOS rate: -3.329512 deg/s, posRepo size: 4 2021-02-18T03:27:47.197Z,1613618867.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:27:47.970Z,1613618867.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:27:48.370Z,1613618868.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:49.196Z,1613618869.196 [Micromodem](INFO): Nmea in: $SNTTA,0.050696,,,,032747.99*49 2021-02-18T03:27:49.244Z,1613618869.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.320000 m, bearing: 284.191139 deg, deltaT: 4.433116 s, approachRate: 0.663191 m/s, LOS rate: -2.041244 deg/s, posRepo size: 4 2021-02-18T03:27:51.640Z,1613618871.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:27:52.410Z,1613618872.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:27:52.821Z,1613618872.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:53.636Z,1613618873.636 [Micromodem](INFO): Nmea in: $SNTTA,0.052718,,,,032752.43*4F 2021-02-18T03:27:53.670Z,1613618873.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.320007 m, bearing: 294.225917 deg, deltaT: 4.435114 s, approachRate: 0.676422 m/s, LOS rate: 2.262575 deg/s, posRepo size: 4 2021-02-18T03:27:56.122Z,1613618876.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:27:56.853Z,1613618876.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:27:57.323Z,1613618877.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:27:58.104Z,1613618878.104 [Micromodem](INFO): Nmea in: $SNTTA,0.054713,,,,032756.88*41 2021-02-18T03:27:58.158Z,1613618878.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.320000 m, bearing: 287.485831 deg, deltaT: 4.448230 s, approachRate: 0.674424 m/s, LOS rate: -1.515229 deg/s, posRepo size: 4 2021-02-18T03:28:00.504Z,1613618880.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:01.298Z,1613618881.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:28:01.702Z,1613618881.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:28:02.528Z,1613618882.528 [Micromodem](INFO): Nmea in: $SNTTA,0.056804,,0.070878,,032801.32*58 2021-02-18T03:28:02.550Z,1613618882.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.440002 m, bearing: 296.076625 deg, deltaT: 4.460883 s, approachRate: 0.699414 m/s, LOS rate: 1.925806 deg/s, posRepo size: 4 2021-02-18T03:28:04.999Z,1613618884.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:05.746Z,1613618885.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:28:06.152Z,1613618886.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:28:06.972Z,1613618886.972 [Micromodem](INFO): Nmea in: $SNTTA,0.058812,,,,032805.77*4A 2021-02-18T03:28:07.067Z,1613618887.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.500000 m, bearing: 299.275093 deg, deltaT: 4.392525 s, approachRate: 0.696638 m/s, LOS rate: 0.728162 deg/s, posRepo size: 4 2021-02-18T03:28:09.404Z,1613618889.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:10.190Z,1613618890.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:28:10.591Z,1613618890.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:28:11.429Z,1613618891.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,032810.21*55 2021-02-18T03:28:11.914Z,1613618891.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:13.819Z,1613618893.819 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:28:14.651Z,1613618894.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:15.436Z,1613618895.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:28:15.853Z,1613618895.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:28:16.664Z,1613618896.664 [Micromodem](INFO): Nmea in: $SNTTA,0.063133,,,,032815.46*4B 2021-02-18T03:28:16.698Z,1613618896.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.919998 m, bearing: 280.702497 deg, deltaT: 9.739867 s, approachRate: 0.659146 m/s, LOS rate: -1.906863 deg/s, posRepo size: 4 2021-02-18T03:28:19.118Z,1613618899.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:19.886Z,1613618899.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:28:20.293Z,1613618900.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:28:21.115Z,1613618901.115 [Micromodem](INFO): Nmea in: $SNTTA,,,,,032819.91*57 2021-02-18T03:28:21.150Z,1613618901.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.980003 m, bearing: 285.594880 deg, deltaT: 4.420847 s, approachRate: 0.692176 m/s, LOS rate: 1.106662 deg/s, posRepo size: 4 2021-02-18T03:28:23.533Z,1613618903.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:24.325Z,1613618904.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:28:24.837Z,1613618904.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:28:25.632Z,1613618905.632 [Micromodem](INFO): Nmea in: $SNTTA,0.067272,,,,032824.35*4F 2021-02-18T03:28:25.657Z,1613618905.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.099998 m, bearing: 287.549161 deg, deltaT: 4.485917 s, approachRate: 0.695509 m/s, LOS rate: 0.435648 deg/s, posRepo size: 4 2021-02-18T03:28:28.025Z,1613618908.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:28.799Z,1613618908.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:28:29.175Z,1613618909.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:28:30.033Z,1613618910.033 [Micromodem](INFO): Nmea in: $SNTTA,0.069199,,,,032828.82*47 2021-02-18T03:28:30.090Z,1613618910.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.100006 m, bearing: 271.946796 deg, deltaT: 4.382847 s, approachRate: 0.684488 m/s, LOS rate: -3.559870 deg/s, posRepo size: 4 2021-02-18T03:28:32.419Z,1613618912.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:33.231Z,1613618913.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:28:33.623Z,1613618913.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:28:34.452Z,1613618914.452 [Micromodem](INFO): Nmea in: $SNTTA,0.071249,,,,032833.25*47 2021-02-18T03:28:34.474Z,1613618914.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.100006 m, bearing: 268.658989 deg, deltaT: 4.493152 s, approachRate: 0.667683 m/s, LOS rate: -0.731737 deg/s, posRepo size: 4 2021-02-18T03:28:36.891Z,1613618916.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:37.658Z,1613618917.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:28:38.127Z,1613618918.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:28:38.907Z,1613618918.907 [Micromodem](INFO): Nmea in: $SNTTA,0.073323,,,,032837.68*45 2021-02-18T03:28:38.932Z,1613618918.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.220001 m, bearing: 281.130996 deg, deltaT: 4.470743 s, approachRate: 0.697869 m/s, LOS rate: 2.789695 deg/s, posRepo size: 4 2021-02-18T03:28:41.337Z,1613618921.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:42.100Z,1613618922.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:28:42.512Z,1613618922.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:28:43.340Z,1613618923.340 [Micromodem](INFO): Nmea in: $SNTTA,0.075320,,,,032842.13*4E 2021-02-18T03:28:43.364Z,1613618923.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.160004 m, bearing: 285.680503 deg, deltaT: 4.377607 s, approachRate: 0.671600 m/s, LOS rate: 1.039268 deg/s, posRepo size: 4 2021-02-18T03:28:45.755Z,1613618925.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:46.545Z,1613618926.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:28:46.950Z,1613618926.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:28:47.787Z,1613618927.787 [Micromodem](INFO): Nmea in: $SNTTA,0.077280,,,,032846.57*43 2021-02-18T03:28:47.842Z,1613618927.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.099998 m, bearing: 285.775251 deg, deltaT: 4.432953 s, approachRate: 0.663214 m/s, LOS rate: 0.021374 deg/s, posRepo size: 4 2021-02-18T03:28:50.281Z,1613618930.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:51.024Z,1613618931.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:28:51.489Z,1613618931.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:28:52.250Z,1613618932.250 [Micromodem](INFO): Nmea in: $SNTTA,0.079402,,,,032851.05*40 2021-02-18T03:28:52.285Z,1613618932.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.280006 m, bearing: 286.407973 deg, deltaT: 4.526492 s, approachRate: 0.702533 m/s, LOS rate: 0.139782 deg/s, posRepo size: 4 2021-02-18T03:28:54.664Z,1613618934.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:55.435Z,1613618935.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:28:55.845Z,1613618935.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:28:56.660Z,1613618936.660 [Micromodem](INFO): Nmea in: $SNTTA,0.081336,,,,032855.46*44 2021-02-18T03:28:56.697Z,1613618936.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.160004 m, bearing: 285.237825 deg, deltaT: 4.385564 s, approachRate: 0.656699 m/s, LOS rate: -0.266818 deg/s, posRepo size: 4 2021-02-18T03:28:59.110Z,1613618939.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:28:59.878Z,1613618939.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:29:00.282Z,1613618940.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:29:01.108Z,1613618941.108 [Micromodem](INFO): Nmea in: $SNTTA,0.083381,,,,032859.90*4D 2021-02-18T03:29:01.162Z,1613618941.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.220001 m, bearing: 285.617338 deg, deltaT: 4.419837 s, approachRate: 0.692333 m/s, LOS rate: 0.085866 deg/s, posRepo size: 4 2021-02-18T03:29:03.529Z,1613618943.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:04.329Z,1613618944.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:29:04.824Z,1613618944.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:29:05.580Z,1613618945.580 [Micromodem](INFO): Nmea in: $SNTTA,0.085392,,,,032904.35*4F 2021-02-18T03:29:05.602Z,1613618945.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.279999 m, bearing: 285.622283 deg, deltaT: 4.510807 s, approachRate: 0.678370 m/s, LOS rate: 0.001096 deg/s, posRepo size: 4 2021-02-18T03:29:08.049Z,1613618948.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:08.778Z,1613618948.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:29:09.170Z,1613618949.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:29:10.024Z,1613618950.024 [Micromodem](INFO): Nmea in: $SNTTA,0.087433,,,,032908.80*43 2021-02-18T03:29:10.072Z,1613618950.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.339996 m, bearing: 284.403831 deg, deltaT: 4.381236 s, approachRate: 0.698433 m/s, LOS rate: -0.278107 deg/s, posRepo size: 4 2021-02-18T03:29:12.426Z,1613618952.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:13.220Z,1613618953.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:29:13.614Z,1613618953.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:29:14.077Z,1613618954.077 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T03:29:14.444Z,1613618954.444 [Micromodem](INFO): Nmea in: $SNTTA,0.089460,,,,032913.24*4F 2021-02-18T03:29:14.490Z,1613618954.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.459991 m, bearing: 287.895233 deg, deltaT: 4.498437 s, approachRate: 0.693573 m/s, LOS rate: 0.776137 deg/s, posRepo size: 4 2021-02-18T03:29:16.884Z,1613618956.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:17.654Z,1613618957.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:29:18.123Z,1613618958.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:29:18.889Z,1613618958.889 [Micromodem](INFO): Nmea in: $SNTTA,0.091491,,,,032917.68*44 2021-02-18T03:29:19.695Z,1613618959.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:21.306Z,1613618961.306 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:29:22.516Z,1613618962.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:23.314Z,1613618963.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:29:23.721Z,1613618963.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:29:24.540Z,1613618964.540 [Micromodem](INFO): Nmea in: $SNTTA,0.094083,,,,032923.34*48 2021-02-18T03:29:24.576Z,1613618964.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.360001 m, bearing: 283.673630 deg, deltaT: 10.086367 s, approachRate: 0.684093 m/s, LOS rate: -0.418545 deg/s, posRepo size: 4 2021-02-18T03:29:27.032Z,1613618967.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:27.773Z,1613618967.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:29:28.163Z,1613618968.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:29:29.001Z,1613618969.001 [Micromodem](INFO): Nmea in: $SNTTA,0.096157,,,,032927.80*49 2021-02-18T03:29:29.828Z,1613618969.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:31.388Z,1613618971.388 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:29:32.641Z,1613618972.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:33.408Z,1613618973.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:29:33.880Z,1613618973.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:29:34.665Z,1613618974.665 [Micromodem](INFO): Nmea in: $SNTTA,0.098691,,,,032933.43*40 2021-02-18T03:29:34.692Z,1613618974.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.040009 m, bearing: 280.891748 deg, deltaT: 10.119788 s, approachRate: 0.758910 m/s, LOS rate: -0.274895 deg/s, posRepo size: 4 2021-02-18T03:29:37.107Z,1613618977.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:37.860Z,1613618977.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:29:38.266Z,1613618978.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:29:39.073Z,1613618979.073 [Micromodem](INFO): Nmea in: $SNTTA,0.100730,,,,032937.88*49 2021-02-18T03:29:39.898Z,1613618979.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:41.495Z,1613618981.495 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:29:42.727Z,1613618982.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:43.510Z,1613618983.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:29:43.926Z,1613618983.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:29:44.727Z,1613618984.727 [Micromodem](INFO): Nmea in: $SNTTA,0.103264,,,,032943.53*4B 2021-02-18T03:29:45.240Z,1613618985.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:47.208Z,1613618987.208 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:29:48.059Z,1613618988.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:48.774Z,1613618988.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:29:49.176Z,1613618989.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:29:50.020Z,1613618990.020 [Micromodem](INFO): Nmea in: $SNTTA,,,,,032948.80*52 2021-02-18T03:29:50.078Z,1613618990.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.879990 m, bearing: 279.165732 deg, deltaT: 15.305866 s, approachRate: 0.642890 m/s, LOS rate: -0.112768 deg/s, posRepo size: 4 2021-02-18T03:29:50.083Z,1613618990.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 158.88 m. Resuming terminal guidance. 2021-02-18T03:29:50.083Z,1613618990.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T03:29:52.416Z,1613618992.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:53.210Z,1613618993.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:29:53.621Z,1613618993.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:29:54.436Z,1613618994.436 [Micromodem](INFO): Nmea in: $SNTTA,0.107752,,,,032953.23*49 2021-02-18T03:29:54.470Z,1613618994.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.820007 m, bearing: 281.154765 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T03:29:54.470Z,1613618994.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 281.154765deg and heading rate command to 0 deg/s. 2021-02-18T03:29:56.883Z,1613618996.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:29:57.649Z,1613618997.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:29:58.075Z,1613618998.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:29:58.950Z,1613618998.950 [Micromodem](INFO): Nmea in: $SNTTA,0.109872,,,,032957.67*4E 2021-02-18T03:29:58.983Z,1613618998.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.940002 m, bearing: 285.275008 deg, deltaT: 4.429100 s, approachRate: 0.704431 m/s, LOS rate: 0.930267 deg/s, posRepo size: 2 2021-02-18T03:29:58.991Z,1613618998.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.940002 m, bearing: 285.275008 deg, approachRate: 0.704431 m/s, LOS rate: 0.930267 deg/s, cmd update: 3.721066 deg/s, cmd heading: 281.154765 deg, new cmd heading: 281.154765 deg. 2021-02-18T03:30:01.334Z,1613619001.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:30:02.100Z,1613619002.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:30:02.512Z,1613619002.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:30:03.328Z,1613619003.328 [Micromodem](INFO): Nmea in: $SNTTA,0.112078,,,,033002.12*4C 2021-02-18T03:30:03.371Z,1613619003.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.940002 m, bearing: 335.010834 deg, deltaT: 4.470732 s, approachRate: 0.000000 m/s, LOS rate: 11.124761 deg/s, posRepo size: 3 2021-02-18T03:30:03.373Z,1613619003.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.940002 m, bearing: 335.010834 deg, approachRate: 0.000000 m/s, LOS rate: 11.124761 deg/s, cmd update: 12.000000 deg/s, cmd heading: 297.863755 deg, new cmd heading: 299.361812 deg. 2021-02-18T03:30:05.801Z,1613619005.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:30:06.562Z,1613619006.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:30:06.953Z,1613619006.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:30:07.794Z,1613619007.794 [Micromodem](INFO): Nmea in: $SNTTA,0.113774,,,,033006.58*4C 2021-02-18T03:30:08.218Z,1613619008.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.639999 m, bearing: 291.395623 deg, deltaT: 4.869339 s, approachRate: 1.170589 m/s, LOS rate: -8.957111 deg/s, posRepo size: 4 2021-02-18T03:30:08.224Z,1613619008.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.639999 m, bearing: 291.395623 deg, approachRate: 1.170589 m/s, LOS rate: -8.957111 deg/s, cmd update: -12.000000 deg/s, cmd heading: 356.344268 deg, new cmd heading: 0.858140 deg. 2021-02-18T03:30:10.593Z,1613619010.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:30:11.385Z,1613619011.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:30:11.819Z,1613619011.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:30:12.620Z,1613619012.620 [Micromodem](INFO): Nmea in: $SNTTA,0.115405,,,,033011.41*41 2021-02-18T03:30:12.684Z,1613619012.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.220001 m, bearing: 332.076448 deg, deltaT: 4.447930 s, approachRate: 0.580046 m/s, LOS rate: 9.146013 deg/s, posRepo size: 4 2021-02-18T03:30:12.685Z,1613619012.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.220001 m, bearing: 332.076448 deg, approachRate: 0.580046 m/s, LOS rate: 9.146013 deg/s, cmd update: 12.000000 deg/s, cmd heading: 302.968795 deg, new cmd heading: 298.248198 deg. 2021-02-18T03:30:15.094Z,1613619015.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:30:15.839Z,1613619015.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:30:16.235Z,1613619016.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:30:17.066Z,1613619017.066 [Micromodem](INFO): Nmea in: $SNTTA,0.116585,,,,033015.86*44 2021-02-18T03:30:17.145Z,1613619017.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.220001 m, bearing: 332.150460 deg, deltaT: 4.415698 s, approachRate: 0.000000 m/s, LOS rate: 0.016761 deg/s, posRepo size: 4 2021-02-18T03:30:17.146Z,1613619017.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.220001 m, bearing: 332.150460 deg, approachRate: 0.000000 m/s, LOS rate: 0.016761 deg/s, cmd update: 0.067044 deg/s, cmd heading: 355.957196 deg, new cmd heading: 1.222952 deg. 2021-02-18T03:30:19.484Z,1613619019.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:30:20.279Z,1613619020.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:30:20.678Z,1613619020.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:30:21.537Z,1613619021.537 [Micromodem](INFO): Nmea in: $SNTTA,0.117656,,,,033020.30*43 2021-02-18T03:30:21.558Z,1613619021.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.220001 m, bearing: 331.433454 deg, deltaT: 4.452048 s, approachRate: 0.000000 m/s, LOS rate: -0.161051 deg/s, posRepo size: 4 2021-02-18T03:30:21.560Z,1613619021.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.220001 m, bearing: 331.433454 deg, approachRate: 0.000000 m/s, LOS rate: -0.161051 deg/s, cmd update: -0.644203 deg/s, cmd heading: 356.255414 deg, new cmd heading: 356.282532 deg. 2021-02-18T03:30:23.938Z,1613619023.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:30:24.717Z,1613619024.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:30:25.128Z,1613619025.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:30:25.952Z,1613619025.952 [Micromodem](INFO): Nmea in: $SNTTA,0.118555,,,,033024.74*48 2021-02-18T03:30:26.032Z,1613619026.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.779999 m, bearing: 36.520687 deg, deltaT: 4.468277 s, approachRate: 1.020527 m/s, LOS rate: 14.566519 deg/s, posRepo size: 4 2021-02-18T03:30:26.033Z,1613619026.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.566519 deg/s. Setting heading cmd to target bearing of 36.520687deg and heading rate command to 0 deg/s. 2021-02-18T03:30:28.392Z,1613619028.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:30:29.161Z,1613619029.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:30:29.565Z,1613619029.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:30:30.388Z,1613619030.388 [Micromodem](INFO): Nmea in: $SNTTA,0.118930,,,,033029.18*40 2021-02-18T03:30:30.425Z,1613619030.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.779999 m, bearing: 63.739107 deg, deltaT: 4.439812 s, approachRate: 0.000000 m/s, LOS rate: 6.130534 deg/s, posRepo size: 4 2021-02-18T03:30:30.426Z,1613619030.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.779999 m, bearing: 63.739107 deg, approachRate: 0.000000 m/s, LOS rate: 6.130534 deg/s, cmd update: 12.000000 deg/s, cmd heading: 36.520687 deg, new cmd heading: 36.520687 deg. 2021-02-18T03:30:32.838Z,1613619032.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:30:33.604Z,1613619033.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:30:34.041Z,1613619034.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:30:34.836Z,1613619034.836 [Micromodem](INFO): Nmea in: $SNTTA,0.118985,,,,033033.63*49 2021-02-18T03:30:34.860Z,1613619034.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.779999 m, bearing: 350.871626 deg, deltaT: 4.401740 s, approachRate: 0.000000 m/s, LOS rate: -16.554244 deg/s, posRepo size: 4 2021-02-18T03:30:34.861Z,1613619034.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.554244 deg/s. Setting heading cmd to target bearing of 350.871626deg and heading rate command to 0 deg/s. 2021-02-18T03:30:37.324Z,1613619037.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:30:38.050Z,1613619038.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:30:38.518Z,1613619038.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:30:39.296Z,1613619039.296 [Micromodem](INFO): Nmea in: $SNTTA,0.118403,,,,033038.07*43 2021-02-18T03:30:39.321Z,1613619039.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.779999 m, bearing: 95.440166 deg, deltaT: 4.466757 s, approachRate: 0.000000 m/s, LOS rate: 23.410395 deg/s, posRepo size: 4 2021-02-18T03:30:39.321Z,1613619039.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.410395 deg/s. Setting heading cmd to target bearing of 95.440166deg and heading rate command to 0 deg/s. 2021-02-18T03:30:41.717Z,1613619041.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:30:42.493Z,1613619042.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:30:42.905Z,1613619042.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:30:43.720Z,1613619043.720 [Micromodem](INFO): Nmea in: $SNTTA,0.117451,,,,033042.52*46 2021-02-18T03:30:43.776Z,1613619043.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.779999 m, bearing: 113.834077 deg, deltaT: 4.413183 s, approachRate: 0.000000 m/s, LOS rate: 4.167947 deg/s, posRepo size: 4 2021-02-18T03:30:43.797Z,1613619043.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.779999 m, bearing: 113.834077 deg, approachRate: 0.000000 m/s, LOS rate: 4.167947 deg/s, cmd update: 12.000000 deg/s, cmd heading: 95.440166 deg, new cmd heading: 95.440166 deg. 2021-02-18T03:30:46.177Z,1613619046.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:30:46.938Z,1613619046.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:30:47.342Z,1613619047.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:30:48.168Z,1613619048.168 [Micromodem](INFO): Nmea in: $SNTTA,0.116128,,,,033046.96*40 2021-02-18T03:30:48.226Z,1613619048.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.779999 m, bearing: 107.258497 deg, deltaT: 4.471657 s, approachRate: 0.000000 m/s, LOS rate: -1.470502 deg/s, posRepo size: 4 2021-02-18T03:30:48.232Z,1613619048.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.779999 m, bearing: 107.258497 deg, approachRate: 0.000000 m/s, LOS rate: -1.470502 deg/s, cmd update: -5.882008 deg/s, cmd heading: 149.027104 deg, new cmd heading: 153.982396 deg. 2021-02-18T03:30:50.588Z,1613619050.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:30:51.382Z,1613619051.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:30:51.872Z,1613619051.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:30:52.628Z,1613619052.628 [Micromodem](INFO): Nmea in: $SNTTA,0.114359,,,,033051.41*4A 2021-02-18T03:30:52.666Z,1613619052.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.300003 m, bearing: 104.573721 deg, deltaT: 4.449612 s, approachRate: -1.456306 m/s, LOS rate: -0.603373 deg/s, posRepo size: 4 2021-02-18T03:30:52.668Z,1613619052.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.300003 m, bearing: 104.573721 deg, approachRate: -1.456306 m/s, LOS rate: -0.603373 deg/s, cmd update: -2.413493 deg/s, cmd heading: 122.842005 deg, new cmd heading: 120.483926 deg. 2021-02-18T03:30:55.084Z,1613619055.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:30:55.829Z,1613619055.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:30:56.244Z,1613619056.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:30:57.056Z,1613619057.056 [Micromodem](INFO): Nmea in: $SNTTA,0.112220,,,,033055.85*4F 2021-02-18T03:30:57.104Z,1613619057.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.419998 m, bearing: 106.956125 deg, deltaT: 4.408709 s, approachRate: -0.653254 m/s, LOS rate: 0.540386 deg/s, posRepo size: 4 2021-02-18T03:30:57.106Z,1613619057.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.419998 m, bearing: 106.956125 deg, approachRate: -0.653254 m/s, LOS rate: 0.540386 deg/s, cmd update: 2.161544 deg/s, cmd heading: 112.191836 deg, new cmd heading: 111.162647 deg. 2021-02-18T03:30:59.506Z,1613619059.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:00.273Z,1613619060.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:00.674Z,1613619060.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:01.500Z,1613619061.500 [Micromodem](INFO): Nmea in: $SNTTA,0.110020,,,,033100.30*40 2021-02-18T03:31:01.563Z,1613619061.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.759995 m, bearing: 104.255775 deg, deltaT: 4.483430 s, approachRate: -0.816340 m/s, LOS rate: -0.602295 deg/s, posRepo size: 4 2021-02-18T03:31:01.565Z,1613619061.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.759995 m, bearing: 104.255775 deg, approachRate: -0.816340 m/s, LOS rate: -0.602295 deg/s, cmd update: -2.409182 deg/s, cmd heading: 121.874157 deg, new cmd heading: 122.743741 deg. 2021-02-18T03:31:03.938Z,1613619063.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:04.713Z,1613619064.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:05.192Z,1613619065.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:05.523Z,1613619065.523 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file). 2021-02-18T03:31:05.967Z,1613619065.967 [Micromodem](INFO): Nmea in: $SNTTA,0.107857,,,,033104.74*4A 2021-02-18T03:31:06.063Z,1613619066.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.520004 m, bearing: 104.591711 deg, deltaT: 4.405985 s, approachRate: -0.735361 m/s, LOS rate: 0.076245 deg/s, posRepo size: 4 2021-02-18T03:31:06.065Z,1613619066.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.520004 m, bearing: 104.591711 deg, approachRate: -0.735361 m/s, LOS rate: 0.076245 deg/s, cmd update: 0.304982 deg/s, cmd heading: 111.259355 deg, new cmd heading: 110.064312 deg. 2021-02-18T03:31:08.384Z,1613619068.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:09.156Z,1613619069.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:09.564Z,1613619069.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:10.399Z,1613619070.399 [Micromodem](INFO): Nmea in: $SNTTA,0.105568,,,,033109.18*4E 2021-02-18T03:31:10.418Z,1613619070.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.160004 m, bearing: 103.278614 deg, deltaT: 4.486516 s, approachRate: -0.748911 m/s, LOS rate: -0.292676 deg/s, posRepo size: 4 2021-02-18T03:31:10.420Z,1613619070.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.160004 m, bearing: 103.278614 deg, approachRate: -0.748911 m/s, LOS rate: -0.292676 deg/s, cmd update: -1.170705 deg/s, cmd heading: 112.628893 deg, new cmd heading: 112.740127 deg. 2021-02-18T03:31:12.837Z,1613619072.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:13.600Z,1613619073.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:14.030Z,1613619074.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:14.848Z,1613619074.848 [Micromodem](INFO): Nmea in: $SNTTA,0.103284,,,,033113.62*4B 2021-02-18T03:31:14.873Z,1613619074.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.740005 m, bearing: 103.836627 deg, deltaT: 4.389563 s, approachRate: -0.779120 m/s, LOS rate: 0.127123 deg/s, posRepo size: 4 2021-02-18T03:31:14.875Z,1613619074.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.740005 m, bearing: 103.836627 deg, approachRate: -0.779120 m/s, LOS rate: 0.127123 deg/s, cmd update: 0.508491 deg/s, cmd heading: 107.490147 deg, new cmd heading: 106.986434 deg. 2021-02-18T03:31:17.264Z,1613619077.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:18.050Z,1613619078.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:18.514Z,1613619078.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:19.296Z,1613619079.296 [Micromodem](INFO): Nmea in: $SNTTA,0.100914,,,,033118.07*42 2021-02-18T03:31:19.340Z,1613619079.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.140015 m, bearing: 102.630812 deg, deltaT: 4.447828 s, approachRate: -0.809382 m/s, LOS rate: -0.271102 deg/s, posRepo size: 4 2021-02-18T03:31:19.341Z,1613619079.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.140015 m, bearing: 102.630812 deg, approachRate: -0.809382 m/s, LOS rate: -0.271102 deg/s, cmd update: -1.084408 deg/s, cmd heading: 109.751887 deg, new cmd heading: 109.980099 deg. 2021-02-18T03:31:21.704Z,1613619081.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:22.509Z,1613619082.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:22.902Z,1613619082.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:23.731Z,1613619083.731 [Micromodem](INFO): Nmea in: $SNTTA,0.098564,,,,033122.53*41 2021-02-18T03:31:23.754Z,1613619083.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.600006 m, bearing: 103.581800 deg, deltaT: 4.463235 s, approachRate: -0.793149 m/s, LOS rate: 0.213071 deg/s, posRepo size: 4 2021-02-18T03:31:23.756Z,1613619083.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.600006 m, bearing: 103.581800 deg, approachRate: -0.793149 m/s, LOS rate: 0.213071 deg/s, cmd update: 0.852286 deg/s, cmd heading: 104.916258 deg, new cmd heading: 104.477845 deg. 2021-02-18T03:31:26.166Z,1613619086.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:26.932Z,1613619086.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:27.344Z,1613619087.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:28.168Z,1613619088.168 [Micromodem](INFO): Nmea in: $SNTTA,,,,,033126.96*54 2021-02-18T03:31:28.230Z,1613619088.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.120010 m, bearing: 103.321200 deg, deltaT: 4.437815 s, approachRate: -0.784169 m/s, LOS rate: -0.058722 deg/s, posRepo size: 4 2021-02-18T03:31:28.232Z,1613619088.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.120010 m, bearing: 103.321200 deg, approachRate: -0.784169 m/s, LOS rate: -0.058722 deg/s, cmd update: -0.234890 deg/s, cmd heading: 108.678348 deg, new cmd heading: 109.075131 deg. 2021-02-18T03:31:30.605Z,1613619090.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:31.442Z,1613619091.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:31.818Z,1613619091.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:32.626Z,1613619092.626 [Micromodem](INFO): Nmea in: $SNTTA,0.093796,,,,033131.46*43 2021-02-18T03:31:32.668Z,1613619092.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.120010 m, bearing: 103.369230 deg, deltaT: 4.447324 s, approachRate: 0.000000 m/s, LOS rate: 0.010800 deg/s, posRepo size: 4 2021-02-18T03:31:32.670Z,1613619092.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.120010 m, bearing: 103.369230 deg, approachRate: 0.000000 m/s, LOS rate: 0.010800 deg/s, cmd update: 0.043199 deg/s, cmd heading: 107.627435 deg, new cmd heading: 107.527498 deg. 2021-02-18T03:31:35.157Z,1613619095.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:35.841Z,1613619095.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:36.249Z,1613619096.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:37.060Z,1613619097.060 [Micromodem](INFO): Nmea in: $SNTTA,0.091495,,,,033135.86*49 2021-02-18T03:31:37.112Z,1613619097.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.979996 m, bearing: 103.769527 deg, deltaT: 4.411586 s, approachRate: -1.618469 m/s, LOS rate: 0.090738 deg/s, posRepo size: 4 2021-02-18T03:31:37.117Z,1613619097.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.979996 m, bearing: 103.769527 deg, approachRate: -1.618469 m/s, LOS rate: 0.090738 deg/s, cmd update: 0.362951 deg/s, cmd heading: 107.818042 deg, new cmd heading: 107.837976 deg. 2021-02-18T03:31:39.491Z,1613619099.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:40.266Z,1613619100.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:40.670Z,1613619100.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:41.492Z,1613619101.492 [Micromodem](INFO): Nmea in: $SNTTA,0.089147,,,,033140.29*4D 2021-02-18T03:31:41.534Z,1613619101.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.560013 m, bearing: 106.200637 deg, deltaT: 4.478758 s, approachRate: -0.763601 m/s, LOS rate: 0.542809 deg/s, posRepo size: 4 2021-02-18T03:31:41.536Z,1613619101.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.560013 m, bearing: 106.200637 deg, approachRate: -0.763601 m/s, LOS rate: 0.542809 deg/s, cmd update: 2.171236 deg/s, cmd heading: 109.443697 deg, new cmd heading: 109.590645 deg. 2021-02-18T03:31:43.947Z,1613619103.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:44.812Z,1613619104.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:45.131Z,1613619105.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:46.344Z,1613619106.344 [Micromodem](INFO): Nmea in: $SNTTA,0.086780,,,0.089248,033144.83*5A 2021-02-18T03:31:46.392Z,1613619106.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.899994 m, bearing: 104.865192 deg, deltaT: 4.902422 s, approachRate: -0.746574 m/s, LOS rate: -0.272405 deg/s, posRepo size: 4 2021-02-18T03:31:46.394Z,1613619106.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.899994 m, bearing: 104.865192 deg, approachRate: -0.746574 m/s, LOS rate: -0.272405 deg/s, cmd update: -1.089621 deg/s, cmd heading: 120.079217 deg, new cmd heading: 120.869314 deg. 2021-02-18T03:31:48.824Z,1613619108.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:49.578Z,1613619109.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:50.003Z,1613619110.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:50.820Z,1613619110.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,033149.60*54 2021-02-18T03:31:50.857Z,1613619110.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.300003 m, bearing: 101.855333 deg, deltaT: 4.381333 s, approachRate: -0.821666 m/s, LOS rate: -0.686973 deg/s, posRepo size: 4 2021-02-18T03:31:50.863Z,1613619110.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.300003 m, bearing: 101.855333 deg, approachRate: -0.821666 m/s, LOS rate: -0.686973 deg/s, cmd update: -2.747894 deg/s, cmd heading: 115.301507 deg, new cmd heading: 114.816995 deg. 2021-02-18T03:31:53.234Z,1613619113.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:54.026Z,1613619114.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:54.411Z,1613619114.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:55.244Z,1613619115.244 [Micromodem](INFO): Nmea in: $SNTTA,0.082068,,,,033154.05*41 2021-02-18T03:31:55.281Z,1613619115.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.760002 m, bearing: 100.857305 deg, deltaT: 4.448440 s, approachRate: -0.795785 m/s, LOS rate: -0.224354 deg/s, posRepo size: 4 2021-02-18T03:31:55.282Z,1613619115.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.760002 m, bearing: 100.857305 deg, approachRate: -0.795785 m/s, LOS rate: -0.224354 deg/s, cmd update: -0.897418 deg/s, cmd heading: 103.087798 deg, new cmd heading: 101.924752 deg. 2021-02-18T03:31:57.680Z,1613619117.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:31:58.453Z,1613619118.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:31:58.881Z,1613619118.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:31:59.680Z,1613619119.680 [Micromodem](INFO): Nmea in: $SNTTA,0.079782,,,,033158.48*43 2021-02-18T03:31:59.726Z,1613619119.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.400002 m, bearing: 105.031350 deg, deltaT: 4.446446 s, approachRate: -0.755660 m/s, LOS rate: 0.938737 deg/s, posRepo size: 4 2021-02-18T03:31:59.733Z,1613619119.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.400002 m, bearing: 105.031350 deg, approachRate: -0.755660 m/s, LOS rate: 0.938737 deg/s, cmd update: 3.754949 deg/s, cmd heading: 99.093752 deg, new cmd heading: 98.718166 deg. 2021-02-18T03:32:02.152Z,1613619122.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:32:02.888Z,1613619122.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:32:03.294Z,1613619123.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:32:04.116Z,1613619124.116 [Micromodem](INFO): Nmea in: $SNTTA,0.077469,,,,033202.91*43 2021-02-18T03:32:04.200Z,1613619124.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.040009 m, bearing: 104.902109 deg, deltaT: 4.427341 s, approachRate: -0.758919 m/s, LOS rate: -0.029192 deg/s, posRepo size: 4 2021-02-18T03:32:04.202Z,1613619124.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.040009 m, bearing: 104.902109 deg, approachRate: -0.758919 m/s, LOS rate: -0.029192 deg/s, cmd update: -0.116766 deg/s, cmd heading: 115.703509 deg, new cmd heading: 117.447465 deg. 2021-02-18T03:32:06.556Z,1613619126.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:32:07.367Z,1613619127.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:32:07.762Z,1613619127.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:32:08.597Z,1613619128.597 [Micromodem](INFO): Nmea in: $SNTTA,0.075072,,,,033207.39*48 2021-02-18T03:32:08.618Z,1613619128.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.320007 m, bearing: 102.603061 deg, deltaT: 4.464771 s, approachRate: -0.833190 m/s, LOS rate: -0.514931 deg/s, posRepo size: 4 2021-02-18T03:32:08.620Z,1613619128.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.320007 m, bearing: 102.603061 deg, approachRate: -0.833190 m/s, LOS rate: -0.514931 deg/s, cmd update: -2.059724 deg/s, cmd heading: 115.181749 deg, new cmd heading: 115.132892 deg. 2021-02-18T03:32:11.109Z,1613619131.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:32:11.376Z,1613619131.376 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-02-18T03:32:11.378Z,1613619131.378 [BPC1](INFO): Received data from all battery sticks. 2021-02-18T03:32:11.826Z,1613619131.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:32:12.182Z,1613619132.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:32:13.030Z,1613619133.030 [Micromodem](INFO): Nmea in: $SNTTA,,,0.096379,,033211.85*4D 2021-02-18T03:32:13.093Z,1613619133.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.959999 m, bearing: 101.970742 deg, deltaT: 4.401904 s, approachRate: -0.763308 m/s, LOS rate: -0.143647 deg/s, posRepo size: 4 2021-02-18T03:32:13.095Z,1613619133.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.959999 m, bearing: 101.970742 deg, approachRate: -0.763308 m/s, LOS rate: -0.143647 deg/s, cmd update: -0.574586 deg/s, cmd heading: 106.114203 deg, new cmd heading: 105.102053 deg. 2021-02-18T03:32:15.442Z,1613619135.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:32:16.226Z,1613619136.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:32:16.652Z,1613619136.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:32:17.452Z,1613619137.452 [Micromodem](INFO): Nmea in: $SNTTA,0.070422,,,,033216.25*41 2021-02-18T03:32:17.474Z,1613619137.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.480003 m, bearing: 103.509625 deg, deltaT: 4.498268 s, approachRate: -0.773630 m/s, LOS rate: 0.342106 deg/s, posRepo size: 4 2021-02-18T03:32:17.476Z,1613619137.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.480003 m, bearing: 103.509625 deg, approachRate: -0.773630 m/s, LOS rate: 0.342106 deg/s, cmd update: 1.368422 deg/s, cmd heading: 103.534439 deg, new cmd heading: 103.314756 deg. 2021-02-18T03:32:19.892Z,1613619139.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:32:20.669Z,1613619140.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:32:21.077Z,1613619141.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:32:21.896Z,1613619141.896 [Micromodem](INFO): Nmea in: $SNTTA,0.068138,,,,033220.69*4B 2021-02-18T03:32:21.934Z,1613619141.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.059998 m, bearing: 104.326597 deg, deltaT: 4.398022 s, approachRate: -0.777624 m/s, LOS rate: 0.185759 deg/s, posRepo size: 4 2021-02-18T03:32:21.936Z,1613619141.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.059998 m, bearing: 104.326597 deg, approachRate: -0.777624 m/s, LOS rate: 0.185759 deg/s, cmd update: 0.743036 deg/s, cmd heading: 109.558924 deg, new cmd heading: 110.160772 deg. 2021-02-18T03:32:24.347Z,1613619144.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:32:25.109Z,1613619145.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:32:25.528Z,1613619145.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:32:26.336Z,1613619146.336 [Micromodem](INFO): Nmea in: $SNTTA,0.065661,,,,033225.13*45 2021-02-18T03:32:26.387Z,1613619146.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.400002 m, bearing: 102.399897 deg, deltaT: 4.466934 s, approachRate: -0.819353 m/s, LOS rate: -0.431325 deg/s, posRepo size: 4 2021-02-18T03:32:26.389Z,1613619146.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.400002 m, bearing: 102.399897 deg, approachRate: -0.819353 m/s, LOS rate: -0.431325 deg/s, cmd update: -1.725300 deg/s, cmd heading: 112.873879 deg, new cmd heading: 113.191486 deg. 2021-02-18T03:32:28.810Z,1613619148.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:32:29.558Z,1613619149.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:32:29.957Z,1613619149.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:32:30.808Z,1613619150.808 [Micromodem](INFO): Nmea in: $SNTTA,0.063390,,,,033229.58*4B 2021-02-18T03:32:30.833Z,1613619150.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.919998 m, bearing: 101.575520 deg, deltaT: 4.413872 s, approachRate: -0.788424 m/s, LOS rate: -0.186769 deg/s, posRepo size: 4 2021-02-18T03:32:30.835Z,1613619150.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.919998 m, bearing: 101.575520 deg, approachRate: -0.788424 m/s, LOS rate: -0.186769 deg/s, cmd update: -0.747078 deg/s, cmd heading: 105.242094 deg, new cmd heading: 104.459204 deg. 2021-02-18T03:32:33.241Z,1613619153.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:32:34.026Z,1613619154.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:32:34.401Z,1613619154.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:32:35.236Z,1613619155.236 [Micromodem](INFO): Nmea in: $SNTTA,0.060960,,,,033234.05*49 2021-02-18T03:32:35.274Z,1613619155.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.379997 m, bearing: 103.986666 deg, deltaT: 4.470979 s, approachRate: -0.791773 m/s, LOS rate: 0.539288 deg/s, posRepo size: 4 2021-02-18T03:32:35.276Z,1613619155.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.379997 m, bearing: 103.986666 deg, approachRate: -0.791773 m/s, LOS rate: 0.539288 deg/s, cmd update: 2.157152 deg/s, cmd heading: 101.902167 deg, new cmd heading: 101.585244 deg. 2021-02-18T03:32:37.661Z,1613619157.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:32:38.440Z,1613619158.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:32:38.851Z,1613619158.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:32:39.675Z,1613619159.675 [Micromodem](INFO): Nmea in: $SNTTA,0.058749,,,,033238.46*4C 2021-02-18T03:32:39.694Z,1613619159.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.960007 m, bearing: 104.059052 deg, deltaT: 4.436202 s, approachRate: -0.770928 m/s, LOS rate: 0.016317 deg/s, posRepo size: 4 2021-02-18T03:32:39.696Z,1613619159.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.960007 m, bearing: 104.059052 deg, approachRate: -0.770928 m/s, LOS rate: 0.016317 deg/s, cmd update: 0.065269 deg/s, cmd heading: 111.472194 deg, new cmd heading: 112.351738 deg. 2021-02-18T03:32:42.131Z,1613619162.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:32:42.896Z,1613619162.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:32:43.289Z,1613619163.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:32:44.120Z,1613619164.120 [Micromodem](INFO): Nmea in: $SNTTA,0.056413,,,,033242.92*4A 2021-02-18T03:32:44.174Z,1613619164.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.540001 m, bearing: 100.789878 deg, deltaT: 4.428001 s, approachRate: -0.772359 m/s, LOS rate: -0.738296 deg/s, posRepo size: 4 2021-02-18T03:32:44.180Z,1613619164.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.540001 m, bearing: 100.789878 deg, approachRate: -0.772359 m/s, LOS rate: -0.738296 deg/s, cmd update: -2.953183 deg/s, cmd heading: 111.761193 deg, new cmd heading: 111.791224 deg. 2021-02-18T03:32:46.541Z,1613619166.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:32:47.329Z,1613619167.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:32:47.749Z,1613619167.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:32:48.556Z,1613619168.556 [Micromodem](INFO): Nmea in: $SNTTA,0.054019,,,,033247.35*4E 2021-02-18T03:32:48.598Z,1613619168.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.940002 m, bearing: 100.379841 deg, deltaT: 4.478146 s, approachRate: -0.803904 m/s, LOS rate: -0.091564 deg/s, posRepo size: 4 2021-02-18T03:32:48.600Z,1613619168.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.940002 m, bearing: 100.379841 deg, approachRate: -0.803904 m/s, LOS rate: -0.091564 deg/s, cmd update: -0.366256 deg/s, cmd heading: 98.535592 deg, new cmd heading: 97.339030 deg. 2021-02-18T03:32:51.038Z,1613619171.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:32:51.805Z,1613619171.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:32:52.192Z,1613619172.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:32:53.036Z,1613619173.036 [Micromodem](INFO): Nmea in: $SNTTA,0.051739,,,,033251.83*44 2021-02-18T03:32:53.070Z,1613619173.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.519997 m, bearing: 105.900171 deg, deltaT: 4.405842 s, approachRate: -0.776243 m/s, LOS rate: 1.252957 deg/s, posRepo size: 4 2021-02-18T03:32:53.072Z,1613619173.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.519997 m, bearing: 105.900171 deg, approachRate: -0.776243 m/s, LOS rate: 1.252957 deg/s, cmd update: 5.011827 deg/s, cmd heading: 96.921918 deg, new cmd heading: 96.749206 deg. 2021-02-18T03:32:55.115Z,1613619175.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:32:55.820Z,1613619175.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:32:56.217Z,1613619176.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:32:57.048Z,1613619177.048 [Micromodem](INFO): Nmea in: $SNTTA,0.049503,,,,033255.84*45 2021-02-18T03:32:57.109Z,1613619177.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.160004 m, bearing: 104.596950 deg, deltaT: 4.076152 s, approachRate: -0.824305 m/s, LOS rate: -0.319718 deg/s, posRepo size: 4 2021-02-18T03:32:57.116Z,1613619177.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.160004 m, bearing: 104.596950 deg, approachRate: -0.824305 m/s, LOS rate: -0.319718 deg/s, cmd update: -1.278873 deg/s, cmd heading: 117.350837 deg, new cmd heading: 119.531077 deg. 2021-02-18T03:32:59.462Z,1613619179.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:00.262Z,1613619180.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:00.674Z,1613619180.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:01.488Z,1613619181.488 [Micromodem](INFO): Nmea in: $SNTTA,0.047205,,,,033300.28*4D 2021-02-18T03:33:01.524Z,1613619181.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.620003 m, bearing: 100.393911 deg, deltaT: 4.451542 s, approachRate: -0.795230 m/s, LOS rate: -0.944176 deg/s, posRepo size: 4 2021-02-18T03:33:01.526Z,1613619181.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.620003 m, bearing: 100.393911 deg, approachRate: -0.795230 m/s, LOS rate: -0.944176 deg/s, cmd update: -3.776704 deg/s, cmd heading: 111.657895 deg, new cmd heading: 111.148946 deg. 2021-02-18T03:33:03.925Z,1613619183.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:04.706Z,1613619184.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:05.111Z,1613619185.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:05.943Z,1613619185.943 [Micromodem](INFO): Nmea in: $SNTTA,0.044887,,,,033304.73*44 2021-02-18T03:33:05.972Z,1613619185.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.140007 m, bearing: 98.304119 deg, deltaT: 4.411599 s, approachRate: -0.788829 m/s, LOS rate: -0.473704 deg/s, posRepo size: 4 2021-02-18T03:33:05.974Z,1613619185.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.140007 m, bearing: 98.304119 deg, approachRate: -0.788829 m/s, LOS rate: -0.473704 deg/s, cmd update: -1.894816 deg/s, cmd heading: 94.996654 deg, new cmd heading: 93.356575 deg. 2021-02-18T03:33:08.362Z,1613619188.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:09.145Z,1613619189.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:09.549Z,1613619189.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:10.376Z,1613619190.376 [Micromodem](INFO): Nmea in: $SNTTA,0.042637,,,,033309.17*48 2021-02-18T03:33:10.414Z,1613619190.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.959999 m, bearing: 103.870293 deg, deltaT: 4.498017 s, approachRate: -0.706980 m/s, LOS rate: 1.237473 deg/s, posRepo size: 4 2021-02-18T03:33:10.416Z,1613619190.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.959999 m, bearing: 103.870293 deg, approachRate: -0.706980 m/s, LOS rate: 1.237473 deg/s, cmd update: 4.949891 deg/s, cmd heading: 86.488676 deg, new cmd heading: 85.757158 deg. 2021-02-18T03:33:12.848Z,1613619192.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:13.594Z,1613619193.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:14.025Z,1613619194.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:14.824Z,1613619194.824 [Micromodem](INFO): Nmea in: $SNTTA,0.040381,,,,033313.62*4B 2021-02-18T03:33:14.862Z,1613619194.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.300003 m, bearing: 103.133480 deg, deltaT: 4.374789 s, approachRate: -0.836611 m/s, LOS rate: -0.168423 deg/s, posRepo size: 4 2021-02-18T03:33:14.865Z,1613619194.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.300003 m, bearing: 103.133480 deg, approachRate: -0.836611 m/s, LOS rate: -0.168423 deg/s, cmd update: -0.673691 deg/s, cmd heading: 108.182482 deg, new cmd heading: 110.419674 deg. 2021-02-18T03:33:17.283Z,1613619197.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:18.038Z,1613619198.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:18.438Z,1613619198.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:19.264Z,1613619199.264 [Micromodem](INFO): Nmea in: $SNTTA,0.037916,,,,033318.06*46 2021-02-18T03:33:19.312Z,1613619199.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.699997 m, bearing: 103.251813 deg, deltaT: 4.483072 s, approachRate: -0.803022 m/s, LOS rate: 0.026396 deg/s, posRepo size: 4 2021-02-18T03:33:19.314Z,1613619199.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.699997 m, bearing: 103.251813 deg, approachRate: -0.803022 m/s, LOS rate: 0.026396 deg/s, cmd update: 0.105582 deg/s, cmd heading: 105.164947 deg, new cmd heading: 104.880459 deg. 2021-02-18T03:33:21.705Z,1613619201.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:22.481Z,1613619202.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:22.881Z,1613619202.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:23.712Z,1613619203.712 [Micromodem](INFO): Nmea in: $SNTTA,0.035608,,,,033322.51*4F 2021-02-18T03:33:23.754Z,1613619203.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.159996 m, bearing: 100.959649 deg, deltaT: 4.443749 s, approachRate: -0.796625 m/s, LOS rate: -0.515818 deg/s, posRepo size: 4 2021-02-18T03:33:23.761Z,1613619203.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.159996 m, bearing: 100.959649 deg, approachRate: -0.796625 m/s, LOS rate: -0.515818 deg/s, cmd update: -2.063270 deg/s, cmd heading: 105.634122 deg, new cmd heading: 105.678492 deg. 2021-02-18T03:33:26.184Z,1613619206.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:26.932Z,1613619206.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:27.330Z,1613619207.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:28.156Z,1613619208.156 [Micromodem](INFO): Nmea in: $SNTTA,0.033284,,,,033326.95*45 2021-02-18T03:33:28.208Z,1613619208.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.740002 m, bearing: 100.499376 deg, deltaT: 4.413985 s, approachRate: -0.774809 m/s, LOS rate: -0.104276 deg/s, posRepo size: 4 2021-02-18T03:33:28.210Z,1613619208.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.740002 m, bearing: 100.499376 deg, approachRate: -0.774809 m/s, LOS rate: -0.104276 deg/s, cmd update: -0.417104 deg/s, cmd heading: 96.518835 deg, new cmd heading: 95.576851 deg. 2021-02-18T03:33:30.571Z,1613619210.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:31.365Z,1613619211.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:31.802Z,1613619211.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:32.592Z,1613619212.592 [Micromodem](INFO): Nmea in: $SNTTA,0.030944,,,,033331.39*41 2021-02-18T03:33:32.631Z,1613619212.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.259998 m, bearing: 102.812727 deg, deltaT: 4.480147 s, approachRate: -0.776761 m/s, LOS rate: 0.516356 deg/s, posRepo size: 4 2021-02-18T03:33:32.633Z,1613619212.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.259998 m, bearing: 102.812727 deg, approachRate: -0.776761 m/s, LOS rate: 0.516356 deg/s, cmd update: 2.065424 deg/s, cmd heading: 94.651889 deg, new cmd heading: 94.483491 deg. 2021-02-18T03:33:35.086Z,1613619215.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:35.815Z,1613619215.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:36.231Z,1613619216.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:37.044Z,1613619217.044 [Micromodem](INFO): Nmea in: $SNTTA,0.028589,,,,033335.84*47 2021-02-18T03:33:37.091Z,1613619217.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.719997 m, bearing: 103.771522 deg, deltaT: 4.432124 s, approachRate: -0.798714 m/s, LOS rate: 0.216328 deg/s, posRepo size: 4 2021-02-18T03:33:37.093Z,1613619217.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.719997 m, bearing: 103.771522 deg, approachRate: -0.798714 m/s, LOS rate: 0.216328 deg/s, cmd update: 0.865314 deg/s, cmd heading: 103.745341 deg, new cmd heading: 104.697746 deg. 2021-02-18T03:33:39.475Z,1613619219.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:40.254Z,1613619220.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:40.666Z,1613619220.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:41.488Z,1613619221.488 [Micromodem](INFO): Nmea in: $SNTTA,0.026358,,,,033340.28*47 2021-02-18T03:33:41.510Z,1613619221.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.360001 m, bearing: 101.880154 deg, deltaT: 4.441498 s, approachRate: -0.756501 m/s, LOS rate: -0.425840 deg/s, posRepo size: 4 2021-02-18T03:33:41.510Z,1613619221.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.36 m. 2021-02-18T03:33:41.512Z,1613619221.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.360001 m, bearing: 101.880154 deg, approachRate: -0.756501 m/s, LOS rate: -0.425840 deg/s, cmd update: -1.703361 deg/s, cmd heading: 107.617752 deg, new cmd heading: 107.968206 deg. 2021-02-18T03:33:41.885Z,1613619221.885 [PowerOnly](INFO): Powering up loadControl 2021-02-18T03:33:43.919Z,1613619223.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:44.702Z,1613619224.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:45.123Z,1613619225.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:45.933Z,1613619225.933 [Micromodem](INFO): Nmea in: $SNTTA,0.026924,,0.053429,,033344.72*5A 2021-02-18T03:33:46.033Z,1613619226.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.639999 m, bearing: 100.966745 deg, deltaT: 4.413071 s, approachRate: -0.842951 m/s, LOS rate: -0.206978 deg/s, posRepo size: 4 2021-02-18T03:33:46.033Z,1613619226.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.64 m. 2021-02-18T03:33:46.034Z,1613619226.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.64 m. 2021-02-18T03:33:46.034Z,1613619226.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T03:33:46.040Z,1613619226.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.639999 m, bearing: 100.966745 deg, approachRate: -0.842951 m/s, LOS rate: -0.206978 deg/s, cmd update: -0.827911 deg/s, cmd heading: 100.100782 deg, new cmd heading: 99.223640 deg. 2021-02-18T03:33:48.365Z,1613619228.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:49.147Z,1613619229.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:49.545Z,1613619229.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:50.376Z,1613619230.376 [Micromodem](INFO): Nmea in: $SNTTA,0.021519,,,0.048600,033349.17*52 2021-02-18T03:33:50.416Z,1613619230.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.099998 m, bearing: 103.317594 deg, deltaT: 4.507469 s, approachRate: -0.785363 m/s, LOS rate: 0.521545 deg/s, posRepo size: 4 2021-02-18T03:33:50.417Z,1613619230.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.099998 m, bearing: 103.317594 deg, approachRate: -0.785363 m/s, LOS rate: 0.521545 deg/s, cmd update: 2.086181 deg/s, cmd heading: 96.372218 deg, new cmd heading: 96.046034 deg. 2021-02-18T03:33:52.832Z,1613619232.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:53.598Z,1613619233.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:54.021Z,1613619234.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:54.827Z,1613619234.827 [Micromodem](INFO): Nmea in: $SNTTA,0.019496,,,,033353.62*42 2021-02-18T03:33:54.852Z,1613619234.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.040001 m, bearing: 104.111788 deg, deltaT: 4.424864 s, approachRate: -0.691546 m/s, LOS rate: 0.179484 deg/s, posRepo size: 4 2021-02-18T03:33:54.854Z,1613619234.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.040001 m, bearing: 104.111788 deg, approachRate: -0.691546 m/s, LOS rate: 0.179484 deg/s, cmd update: 0.717937 deg/s, cmd heading: 105.603222 deg, new cmd heading: 106.449477 deg. 2021-02-18T03:33:57.264Z,1613619237.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:33:58.036Z,1613619238.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:33:58.434Z,1613619238.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:33:59.261Z,1613619239.261 [Micromodem](INFO): Nmea in: $SNTTA,0.017299,0.033479,,,033358.06*58 2021-02-18T03:33:59.305Z,1613619239.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.079998 m, bearing: 101.413604 deg, deltaT: 4.443346 s, approachRate: -0.891221 m/s, LOS rate: -0.607242 deg/s, posRepo size: 4 2021-02-18T03:33:59.306Z,1613619239.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.079998 m, bearing: 101.413604 deg, approachRate: -0.891221 m/s, LOS rate: -0.607242 deg/s, cmd update: -2.428966 deg/s, cmd heading: 108.793310 deg, new cmd heading: 109.091193 deg. 2021-02-18T03:34:01.710Z,1613619241.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:02.477Z,1613619242.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:34:02.897Z,1613619242.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:34:03.704Z,1613619243.704 [Micromodem](INFO): Nmea in: $SNTTA,0.014537,,,,033402.50*47 2021-02-18T03:34:03.742Z,1613619243.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.600000 m, bearing: 100.086833 deg, deltaT: 4.429654 s, approachRate: -0.785614 m/s, LOS rate: -0.299520 deg/s, posRepo size: 4 2021-02-18T03:34:03.748Z,1613619243.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.600000 m, bearing: 100.086833 deg, approachRate: -0.785614 m/s, LOS rate: -0.299520 deg/s, cmd update: -1.198081 deg/s, cmd heading: 98.033925 deg, new cmd heading: 97.007582 deg. 2021-02-18T03:34:06.168Z,1613619246.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:06.916Z,1613619246.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:34:07.328Z,1613619247.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:34:08.151Z,1613619248.151 [Micromodem](INFO): Nmea in: $SNTTA,0.013279,,,,033406.94*41 2021-02-18T03:34:08.218Z,1613619248.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.680002 m, bearing: 106.695246 deg, deltaT: 4.446266 s, approachRate: -0.431823 m/s, LOS rate: 1.486284 deg/s, posRepo size: 4 2021-02-18T03:34:08.225Z,1613619248.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.680002 m, bearing: 106.695246 deg, approachRate: -0.431823 m/s, LOS rate: 1.486284 deg/s, cmd update: 5.945135 deg/s, cmd heading: 92.712774 deg, new cmd heading: 92.166027 deg. 2021-02-18T03:34:10.569Z,1613619250.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:11.375Z,1613619251.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:34:11.784Z,1613619251.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:34:12.600Z,1613619252.600 [Micromodem](INFO): Nmea in: $SNTTA,0.010048,,,,033411.40*4D 2021-02-18T03:34:12.622Z,1613619252.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.820001 m, bearing: 107.540181 deg, deltaT: 4.423396 s, approachRate: -1.098704 m/s, LOS rate: 0.191015 deg/s, posRepo size: 4 2021-02-18T03:34:12.624Z,1613619252.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.820001 m, bearing: 107.540181 deg, approachRate: -1.098704 m/s, LOS rate: 0.191015 deg/s, cmd update: 0.764060 deg/s, cmd heading: 119.062854 deg, new cmd heading: 121.613906 deg. 2021-02-18T03:34:15.179Z,1613619255.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:15.813Z,1613619255.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:34:16.211Z,1613619256.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:34:17.060Z,1613619257.060 [Micromodem](INFO): Nmea in: $SNTTA,0.008602,,,,033415.84*40 2021-02-18T03:34:17.114Z,1613619257.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.459998 m, bearing: 102.375718 deg, deltaT: 4.458580 s, approachRate: -0.753604 m/s, LOS rate: -1.158320 deg/s, posRepo size: 4 2021-02-18T03:34:17.120Z,1613619257.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.459998 m, bearing: 102.375718 deg, approachRate: -0.753604 m/s, LOS rate: -1.158320 deg/s, cmd update: -4.633281 deg/s, cmd heading: 122.464246 deg, new cmd heading: 122.822746 deg. 2021-02-18T03:34:19.460Z,1613619259.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:20.248Z,1613619260.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:34:20.655Z,1613619260.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:34:21.476Z,1613619261.476 [Micromodem](INFO): Nmea in: $SNTTA,0.005796,,,,033420.27*4E 2021-02-18T03:34:21.510Z,1613619261.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.520000 m, bearing: 100.937403 deg, deltaT: 4.477327 s, approachRate: -0.656641 m/s, LOS rate: -0.321244 deg/s, posRepo size: 4 2021-02-18T03:34:21.512Z,1613619261.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.520000 m, bearing: 100.937403 deg, approachRate: -0.656641 m/s, LOS rate: -0.321244 deg/s, cmd update: -1.284976 deg/s, cmd heading: 101.731098 deg, new cmd heading: 99.923748 deg. 2021-02-18T03:34:23.929Z,1613619263.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:24.698Z,1613619264.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:34:25.098Z,1613619265.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:34:25.924Z,1613619265.924 [Micromodem](INFO): Nmea in: $SNTTA,0.004103,,,,033424.72*41 2021-02-18T03:34:25.971Z,1613619265.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.880000 m, bearing: 103.601300 deg, deltaT: 4.385336 s, approachRate: -0.602006 m/s, LOS rate: 0.607456 deg/s, posRepo size: 4 2021-02-18T03:34:25.973Z,1613619265.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.880000 m, bearing: 103.601300 deg, approachRate: -0.602006 m/s, LOS rate: 0.607456 deg/s, cmd update: 2.429822 deg/s, cmd heading: 96.084077 deg, new cmd heading: 95.497634 deg. 2021-02-18T03:34:28.388Z,1613619268.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:29.136Z,1613619269.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:34:29.547Z,1613619269.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:34:30.364Z,1613619270.364 [Micromodem](INFO): Nmea in: $SNTTA,0.002869,,,,033429.16*4D 2021-02-18T03:34:30.408Z,1613619270.408 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T03:34:30.408Z,1613619270.408 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T03:34:30.408Z,1613619270.408 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T03:34:30.408Z,1613619270.408 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T03:34:30.408Z,1613619270.408 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T03:34:30.409Z,1613619270.409 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.140001 m 2021-02-18T03:34:30.409Z,1613619270.409 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T03:34:30.409Z,1613619270.409 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T03:34:30.409Z,1613619270.409 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T03:34:30.411Z,1613619270.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 103.949557 deg, deltaT: 4.509210 s, approachRate: -0.385877 m/s, LOS rate: 0.077233 deg/s, posRepo size: 4 2021-02-18T03:34:30.413Z,1613619270.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 103.949557 deg, approachRate: -0.385877 m/s, LOS rate: 0.077233 deg/s, cmd update: 0.308930 deg/s, cmd heading: 107.025627 deg, new cmd heading: 107.982729 deg. 2021-02-18T03:34:30.815Z,1613619270.815 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T033430: (41.552319, -70.708603) 2021-02-18T03:34:30.815Z,1613619270.815 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T03:34:30.815Z,1613619270.815 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T03:34:30.816Z,1613619270.816 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T03:34:30.816Z,1613619270.816 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T03:34:30.816Z,1613619270.816 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T03:34:30.816Z,1613619270.816 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T03:34:30.816Z,1613619270.816 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T03:34:30.816Z,1613619270.816 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T03:34:32.831Z,1613619272.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:33.585Z,1613619273.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:34:34.024Z,1613619274.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:34:34.820Z,1613619274.820 [Micromodem](INFO): Nmea in: $SNTTA,0.003315,,,,033433.61*47 2021-02-18T03:34:34.859Z,1613619274.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.919998 m, bearing: 92.777062 deg, deltaT: 4.397675 s, approachRate: 0.177366 m/s, LOS rate: -2.540546 deg/s, posRepo size: 4 2021-02-18T03:34:34.861Z,1613619274.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.919998 m, bearing: 92.777062 deg, approachRate: 0.177366 m/s, LOS rate: -2.540546 deg/s, cmd update: -10.162184 deg/s, cmd heading: 108.384903 deg, new cmd heading: 108.521414 deg. 2021-02-18T03:34:37.241Z,1613619277.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:38.035Z,1613619278.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:34:38.431Z,1613619278.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:34:39.260Z,1613619279.260 [Micromodem](INFO): Nmea in: $SNTTA,0.005109,,,,033438.06*44 2021-02-18T03:34:39.314Z,1613619279.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.740000 m, bearing: 112.778629 deg, deltaT: 4.434533 s, approachRate: 0.635919 m/s, LOS rate: 4.510411 deg/s, posRepo size: 4 2021-02-18T03:34:39.320Z,1613619279.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.740000 m, bearing: 112.778629 deg, approachRate: 0.635919 m/s, LOS rate: 4.510411 deg/s, cmd update: 12.000000 deg/s, cmd heading: 63.280790 deg, new cmd heading: 58.623105 deg. 2021-02-18T03:34:41.675Z,1613619281.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:42.473Z,1613619282.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:34:42.875Z,1613619282.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:34:43.700Z,1613619283.700 [Micromodem](INFO): Nmea in: $SNTTA,0.007120,,,,033442.50*43 2021-02-18T03:34:43.714Z,1613619283.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.800001 m, bearing: 109.718342 deg, deltaT: 4.452513 s, approachRate: 0.687253 m/s, LOS rate: -0.687317 deg/s, posRepo size: 4 2021-02-18T03:34:43.716Z,1613619283.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.800001 m, bearing: 109.718342 deg, approachRate: 0.687253 m/s, LOS rate: -0.687317 deg/s, cmd update: -2.749267 deg/s, cmd heading: 116.708512 deg, new cmd heading: 121.582216 deg. 2021-02-18T03:34:46.160Z,1613619286.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:46.914Z,1613619286.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:34:47.318Z,1613619287.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:34:48.144Z,1613619288.144 [Micromodem](INFO): Nmea in: $SNTTA,0.009355,,0.126255,,033446.94*58 2021-02-18T03:34:48.198Z,1613619288.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.159999 m, bearing: 74.375330 deg, deltaT: 4.436499 s, approachRate: 0.757353 m/s, LOS rate: -7.966419 deg/s, posRepo size: 4 2021-02-18T03:34:48.200Z,1613619288.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.159999 m, bearing: 74.375330 deg, approachRate: 0.757353 m/s, LOS rate: -7.966419 deg/s, cmd update: -12.000000 deg/s, cmd heading: 104.521753 deg, new cmd heading: 103.264590 deg. 2021-02-18T03:34:50.594Z,1613619290.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:51.362Z,1613619291.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:34:51.804Z,1613619291.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:34:52.588Z,1613619292.588 [Micromodem](INFO): Nmea in: $SNTTA,0.011531,,,,033451.39*4D 2021-02-18T03:34:52.624Z,1613619292.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.400002 m, bearing: 104.682307 deg, deltaT: 4.464591 s, approachRate: 0.725711 m/s, LOS rate: 6.788299 deg/s, posRepo size: 4 2021-02-18T03:34:52.625Z,1613619292.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.40 m. Rolling out. 2021-02-18T03:34:52.625Z,1613619292.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T03:34:55.078Z,1613619295.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:55.813Z,1613619295.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:34:56.221Z,1613619296.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:34:57.064Z,1613619297.064 [Micromodem](INFO): Nmea in: $SNTTA,0.014292,,,,033455.84*44 2021-02-18T03:34:57.094Z,1613619297.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.480000 m, bearing: 96.463089 deg, deltaT: 4.412880 s, approachRate: 0.924566 m/s, LOS rate: -1.862552 deg/s, posRepo size: 4 2021-02-18T03:34:59.126Z,1613619299.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:34:59.840Z,1613619299.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:00.251Z,1613619300.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:35:01.072Z,1613619301.072 [Micromodem](INFO): Nmea in: $SNTTA,0.015782,,,,033459.86*4F 2021-02-18T03:35:01.107Z,1613619301.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.880001 m, bearing: 39.962771 deg, deltaT: 4.048201 s, approachRate: 0.592856 m/s, LOS rate: -13.956896 deg/s, posRepo size: 4 2021-02-18T03:35:03.493Z,1613619303.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:04.284Z,1613619304.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:04.707Z,1613619304.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:35:05.512Z,1613619305.512 [Micromodem](INFO): Nmea in: $SNTTA,0.017864,,,,033504.31*4F 2021-02-18T03:35:05.557Z,1613619305.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.939999 m, bearing: 77.895849 deg, deltaT: 4.478214 s, approachRate: 0.683308 m/s, LOS rate: 8.470582 deg/s, posRepo size: 4 2021-02-18T03:35:07.968Z,1613619307.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:08.734Z,1613619308.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:09.144Z,1613619309.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:35:10.024Z,1613619310.024 [Micromodem](INFO): Nmea in: $SNTTA,0.019616,,,,033508.76*45 2021-02-18T03:35:10.070Z,1613619310.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.519999 m, bearing: 64.517263 deg, deltaT: 4.406397 s, approachRate: 0.585512 m/s, LOS rate: -3.036173 deg/s, posRepo size: 4 2021-02-18T03:35:12.398Z,1613619312.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:13.172Z,1613619313.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:13.578Z,1613619313.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:35:14.404Z,1613619314.404 [Micromodem](INFO): Nmea in: $SNTTA,0.021635,,,,033513.20*46 2021-02-18T03:35:14.443Z,1613619314.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.060001 m, bearing: 72.860708 deg, deltaT: 4.510784 s, approachRate: 0.784787 m/s, LOS rate: 1.849666 deg/s, posRepo size: 4 2021-02-18T03:35:16.420Z,1613619316.420 [PowerOnly](INFO): Powering down loadControl 2021-02-18T03:35:16.842Z,1613619316.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:17.616Z,1613619317.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:18.035Z,1613619318.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:35:18.844Z,1613619318.844 [Micromodem](INFO): Nmea in: $SNTTA,0.023663,,,,033517.64*43 2021-02-18T03:35:18.883Z,1613619318.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.639999 m, bearing: 11.762772 deg, deltaT: 4.388440 s, approachRate: 0.587908 m/s, LOS rate: -13.922472 deg/s, posRepo size: 4 2021-02-18T03:35:21.282Z,1613619321.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:22.066Z,1613619322.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:22.468Z,1613619322.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:35:23.295Z,1613619323.295 [Micromodem](INFO): Nmea in: $SNTTA,0.025683,,,,033522.09*46 2021-02-18T03:35:23.319Z,1613619323.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.639999 m, bearing: 18.407252 deg, deltaT: 4.451089 s, approachRate: 0.673992 m/s, LOS rate: 1.492776 deg/s, posRepo size: 4 2021-02-18T03:35:25.713Z,1613619325.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:26.500Z,1613619326.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:26.913Z,1613619326.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:35:27.732Z,1613619327.732 [Micromodem](INFO): Nmea in: $SNTTA,0.027860,,,,033526.52*4D 2021-02-18T03:35:27.806Z,1613619327.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.299999 m, bearing: 11.352131 deg, deltaT: 4.441228 s, approachRate: 0.824096 m/s, LOS rate: -1.588552 deg/s, posRepo size: 4 2021-02-18T03:35:30.176Z,1613619330.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:30.944Z,1613619330.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:31.351Z,1613619331.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:35:32.180Z,1613619332.180 [Micromodem](INFO): Nmea in: $SNTTA,0.029976,,,,033530.97*4B 2021-02-18T03:35:32.203Z,1613619332.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.419998 m, bearing: 8.670706 deg, deltaT: 4.493694 s, approachRate: 0.694306 m/s, LOS rate: -0.596709 deg/s, posRepo size: 4 2021-02-18T03:35:34.596Z,1613619334.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:35.388Z,1613619335.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:35.814Z,1613619335.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:35:36.609Z,1613619336.609 [Micromodem](INFO): Nmea in: $SNTTA,0.032181,,,,033535.41*4F 2021-02-18T03:35:37.428Z,1613619337.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:39.032Z,1613619339.032 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:35:40.260Z,1613619340.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:41.062Z,1613619341.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:41.453Z,1613619341.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:35:42.284Z,1613619342.284 [Micromodem](INFO): Nmea in: $SNTTA,0.034989,,,,033541.08*47 2021-02-18T03:35:42.332Z,1613619342.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.919994 m, bearing: 14.567786 deg, deltaT: 10.065700 s, approachRate: 0.745104 m/s, LOS rate: 0.585859 deg/s, posRepo size: 4 2021-02-18T03:35:44.725Z,1613619344.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:45.498Z,1613619345.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:45.893Z,1613619345.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:35:46.720Z,1613619346.720 [Micromodem](INFO): Nmea in: $SNTTA,0.037320,,,,033545.52*46 2021-02-18T03:35:46.783Z,1613619346.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.400005 m, bearing: 73.573145 deg, deltaT: 4.435375 s, approachRate: 0.784604 m/s, LOS rate: 13.303353 deg/s, posRepo size: 4 2021-02-18T03:35:47.124Z,1613619347.124 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T03:35:49.163Z,1613619349.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:49.936Z,1613619349.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:50.343Z,1613619350.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:35:51.167Z,1613619351.167 [Micromodem](INFO): Nmea in: $SNTTA,0.039728,,,,033549.96*40 2021-02-18T03:35:51.201Z,1613619351.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.000000 m, bearing: 16.187267 deg, deltaT: 4.472738 s, approachRate: 0.804875 m/s, LOS rate: -12.830145 deg/s, posRepo size: 4 2021-02-18T03:35:53.589Z,1613619353.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:54.378Z,1613619354.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:54.811Z,1613619354.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:35:55.604Z,1613619355.604 [Micromodem](INFO): Nmea in: $SNTTA,0.041956,,,,033554.40*4F 2021-02-18T03:35:55.650Z,1613619355.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.119999 m, bearing: 56.242008 deg, deltaT: 4.422708 s, approachRate: 0.705450 m/s, LOS rate: 9.056611 deg/s, posRepo size: 4 2021-02-18T03:35:56.849Z,1613619356.849 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T03:35:58.066Z,1613619358.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:35:58.825Z,1613619358.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:35:59.231Z,1613619359.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:00.130Z,1613619360.130 [Micromodem](INFO): Nmea in: $SNTTA,0.044100,,,,033558.85*44 2021-02-18T03:36:00.164Z,1613619360.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.540009 m, bearing: 16.775691 deg, deltaT: 4.410916 s, approachRate: 0.775351 m/s, LOS rate: -8.947420 deg/s, posRepo size: 4 2021-02-18T03:36:02.073Z,1613619362.073 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T03:36:02.485Z,1613619362.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:36:03.264Z,1613619363.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:36:03.670Z,1613619363.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:04.492Z,1613619364.492 [Micromodem](INFO): Nmea in: $SNTTA,0.046486,,,,033603.29*46 2021-02-18T03:36:04.529Z,1613619364.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.200005 m, bearing: 21.273150 deg, deltaT: 4.477448 s, approachRate: 0.817429 m/s, LOS rate: 1.004469 deg/s, posRepo size: 4 2021-02-18T03:36:06.943Z,1613619366.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:36:07.708Z,1613619367.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:36:08.113Z,1613619368.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:08.936Z,1613619368.936 [Micromodem](INFO): Nmea in: $SNTTA,0.048828,,,,033607.73*4B 2021-02-18T03:36:08.960Z,1613619368.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.680000 m, bearing: 19.786576 deg, deltaT: 4.405882 s, approachRate: 0.789852 m/s, LOS rate: -0.337407 deg/s, posRepo size: 4 2021-02-18T03:36:11.390Z,1613619371.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:36:12.159Z,1613619372.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:36:12.185Z,1613619372.185 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T03:36:12.559Z,1613619372.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:13.384Z,1613619373.384 [Micromodem](INFO): Nmea in: $SNTTA,0.051152,,,,033612.18*4E 2021-02-18T03:36:13.436Z,1613619373.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.099998 m, bearing: 17.794238 deg, deltaT: 4.500735 s, approachRate: 0.759875 m/s, LOS rate: -0.442670 deg/s, posRepo size: 4 2021-02-18T03:36:15.841Z,1613619375.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:36:16.596Z,1613619376.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:36:17.032Z,1613619377.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:17.050Z,1613619377.050 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T03:36:17.833Z,1613619377.833 [Micromodem](INFO): Nmea in: $SNTTA,0.053499,,0.059129,,033616.62*5F 2021-02-18T03:36:17.872Z,1613619377.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.459999 m, bearing: 75.462081 deg, deltaT: 4.413244 s, approachRate: 0.761345 m/s, LOS rate: 13.066997 deg/s, posRepo size: 4 2021-02-18T03:36:20.262Z,1613619380.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:36:21.046Z,1613619381.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:36:21.455Z,1613619381.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:21.873Z,1613619381.873 [RDI_Pathfinder](ERROR): only read 1 of 4 data items 2021-02-18T03:36:22.275Z,1613619382.275 [Micromodem](INFO): Nmea in: $SNTTA,0.055902,,,,033621.07*49 2021-02-18T03:36:22.299Z,1613619382.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.060005 m, bearing: 24.868019 deg, deltaT: 4.440829 s, approachRate: 0.810661 m/s, LOS rate: -11.392932 deg/s, posRepo size: 4 2021-02-18T03:36:24.693Z,1613619384.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:36:25.484Z,1613619385.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:36:25.908Z,1613619385.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:26.719Z,1613619386.719 [Micromodem](INFO): Nmea in: $SNTTA,0.058078,,,,033625.51*47 2021-02-18T03:36:26.738Z,1613619386.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.540001 m, bearing: 26.585690 deg, deltaT: 4.441090 s, approachRate: 0.783590 m/s, LOS rate: 0.386768 deg/s, posRepo size: 4 2021-02-18T03:36:29.159Z,1613619389.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:36:29.928Z,1613619389.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:36:30.333Z,1613619390.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:31.156Z,1613619391.156 [Micromodem](INFO): Nmea in: $SNTTA,0.060490,,,,033629.95*4A 2021-02-18T03:36:31.210Z,1613619391.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.080009 m, bearing: 28.659491 deg, deltaT: 4.426910 s, approachRate: 0.799657 m/s, LOS rate: 0.468453 deg/s, posRepo size: 4 2021-02-18T03:36:33.579Z,1613619393.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:36:34.374Z,1613619394.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:36:34.809Z,1613619394.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:35.600Z,1613619395.600 [Micromodem](INFO): Nmea in: $SNTTA,0.062911,,,,033634.40*48 2021-02-18T03:36:35.646Z,1613619395.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.560005 m, bearing: 27.694576 deg, deltaT: 4.457355 s, approachRate: 0.780731 m/s, LOS rate: -0.216477 deg/s, posRepo size: 4 2021-02-18T03:36:38.084Z,1613619398.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:36:38.817Z,1613619398.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:36:39.239Z,1613619399.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:40.120Z,1613619400.120 [Micromodem](INFO): Nmea in: $SNTTA,0.065312,,,,033638.84*42 2021-02-18T03:36:40.184Z,1613619400.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.159996 m, bearing: 29.466928 deg, deltaT: 4.441104 s, approachRate: 0.810607 m/s, LOS rate: 0.399079 deg/s, posRepo size: 4 2021-02-18T03:36:42.169Z,1613619402.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:36:42.864Z,1613619402.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:36:43.261Z,1613619403.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:44.088Z,1613619404.088 [Micromodem](INFO): Nmea in: $SNTTA,0.067320,,,,033642.89*41 2021-02-18T03:36:44.142Z,1613619404.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.279999 m, bearing: 32.127625 deg, deltaT: 4.055812 s, approachRate: 0.769267 m/s, LOS rate: 0.656021 deg/s, posRepo size: 4 2021-02-18T03:36:46.506Z,1613619406.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:36:47.371Z,1613619407.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:36:47.705Z,1613619407.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:48.583Z,1613619408.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.760002 m, bearing: 27.986832 deg, deltaT: 4.468336 s, approachRate: 0.778814 m/s, LOS rate: -0.926697 deg/s, posRepo size: 4 2021-02-18T03:36:48.932Z,1613619408.932 [Micromodem](INFO): Nmea in: $SNTTA,0.069760,,0.084655,,033647.40*5B 2021-02-18T03:36:50.977Z,1613619410.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:36:51.750Z,1613619411.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:36:52.157Z,1613619412.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:52.992Z,1613619412.992 [Micromodem](INFO): Nmea in: $SNTTA,0.072097,,,,033651.77*49 2021-02-18T03:36:53.057Z,1613619413.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.540001 m, bearing: 57.526353 deg, deltaT: 4.411263 s, approachRate: 0.856897 m/s, LOS rate: 6.696387 deg/s, posRepo size: 4 2021-02-18T03:36:55.400Z,1613619415.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:36:56.194Z,1613619416.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:36:56.595Z,1613619416.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:36:57.427Z,1613619417.427 [Micromodem](INFO): Nmea in: $SNTTA,0.074511,,,,033656.22*43 2021-02-18T03:36:57.446Z,1613619417.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.140007 m, bearing: 77.112986 deg, deltaT: 4.497121 s, approachRate: 0.800514 m/s, LOS rate: 4.355372 deg/s, posRepo size: 4 2021-02-18T03:36:59.850Z,1613619419.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:00.637Z,1613619420.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:01.040Z,1613619421.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:01.874Z,1613619421.874 [Micromodem](INFO): Nmea in: $SNTTA,0.076821,,,,033700.66*4D 2021-02-18T03:37:01.898Z,1613619421.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.500000 m, bearing: 23.826463 deg, deltaT: 4.388246 s, approachRate: 0.765680 m/s, LOS rate: -12.143012 deg/s, posRepo size: 4 2021-02-18T03:37:04.293Z,1613619424.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:05.076Z,1613619425.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:05.488Z,1613619425.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:06.319Z,1613619426.319 [Micromodem](INFO): Nmea in: $SNTTA,0.079207,,,,033705.10*48 2021-02-18T03:37:06.343Z,1613619426.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.100006 m, bearing: 26.586921 deg, deltaT: 4.453400 s, approachRate: 0.808372 m/s, LOS rate: 0.619854 deg/s, posRepo size: 4 2021-02-18T03:37:08.728Z,1613619428.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:08.729Z,1613619428.729 [lineCaptureDepth:NeedComms] Running Loop=1 2021-02-18T03:37:08.729Z,1613619428.729 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms 2021-02-18T03:37:08.729Z,1613619428.729 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1 2021-02-18T03:37:08.729Z,1613619428.729 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-02-18T03:37:08.729Z,1613619428.729 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2021-02-18T03:37:08.730Z,1613619428.730 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2021-02-18T03:37:08.730Z,1613619428.730 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2021-02-18T03:37:08.730Z,1613619428.730 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-02-18T03:37:08.731Z,1613619428.731 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-02-18T03:37:08.731Z,1613619428.731 [lineCaptureDepth:NeedComms:A] Running Loop=1 2021-02-18T03:37:08.733Z,1613619428.733 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613614029.000000 second since 1970/01/01T00:00:00Z 2021-02-18T03:37:08.733Z,1613619428.733 [lineCaptureDepth:NeedComms:A] Stopped 2021-02-18T03:37:09.526Z,1613619429.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:09.935Z,1613619429.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:10.764Z,1613619430.764 [Micromodem](INFO): Nmea in: $SNTTA,0.081623,,,0.084141,033709.55*56 2021-02-18T03:37:10.824Z,1613619430.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.580002 m, bearing: 33.293136 deg, deltaT: 4.430160 s, approachRate: 0.785524 m/s, LOS rate: 1.513764 deg/s, posRepo size: 4 2021-02-18T03:37:13.204Z,1613619433.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:13.976Z,1613619433.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:14.378Z,1613619434.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:15.216Z,1613619435.216 [Micromodem](INFO): Nmea in: $SNTTA,0.084134,,0.086909,,033714.00*58 2021-02-18T03:37:15.240Z,1613619435.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.360008 m, bearing: 38.938686 deg, deltaT: 4.499835 s, approachRate: 0.840032 m/s, LOS rate: 1.254613 deg/s, posRepo size: 4 2021-02-18T03:37:17.618Z,1613619437.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:18.412Z,1613619438.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:18.820Z,1613619438.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:19.644Z,1613619439.644 [Micromodem](INFO): Nmea in: $SNTTA,0.086269,,,,033718.43*4A 2021-02-18T03:37:19.666Z,1613619439.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.600006 m, bearing: 51.269306 deg, deltaT: 4.392636 s, approachRate: 0.737598 m/s, LOS rate: 2.807111 deg/s, posRepo size: 4 2021-02-18T03:37:22.101Z,1613619442.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:22.857Z,1613619442.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:23.280Z,1613619443.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:24.087Z,1613619444.087 [Micromodem](INFO): Nmea in: $SNTTA,0.088594,,,,033722.88*4F 2021-02-18T03:37:24.136Z,1613619444.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.080002 m, bearing: 59.601187 deg, deltaT: 4.440857 s, approachRate: 0.783632 m/s, LOS rate: 1.876188 deg/s, posRepo size: 4 2021-02-18T03:37:26.513Z,1613619446.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:27.300Z,1613619447.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:27.705Z,1613619447.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:28.529Z,1613619448.529 [Micromodem](INFO): Nmea in: $SNTTA,0.090811,,,,033727.32*42 2021-02-18T03:37:28.587Z,1613619448.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.319992 m, bearing: 65.383789 deg, deltaT: 4.477638 s, approachRate: 0.723594 m/s, LOS rate: 1.291440 deg/s, posRepo size: 4 2021-02-18T03:37:30.985Z,1613619450.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:31.752Z,1613619451.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:32.150Z,1613619452.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:32.984Z,1613619452.984 [Micromodem](INFO): Nmea in: $SNTTA,0.093050,,,,033731.77*4A 2021-02-18T03:37:33.052Z,1613619453.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.680008 m, bearing: 66.460063 deg, deltaT: 4.403482 s, approachRate: 0.763036 m/s, LOS rate: 0.244414 deg/s, posRepo size: 4 2021-02-18T03:37:35.082Z,1613619455.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:35.801Z,1613619455.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:36.189Z,1613619456.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:37.041Z,1613619457.041 [Micromodem](INFO): Nmea in: $SNTTA,0.095077,,,,033735.82*47 2021-02-18T03:37:37.105Z,1613619457.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.740005 m, bearing: 64.374758 deg, deltaT: 4.057760 s, approachRate: 0.754110 m/s, LOS rate: -0.513905 deg/s, posRepo size: 4 2021-02-18T03:37:39.464Z,1613619459.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:40.235Z,1613619460.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:40.633Z,1613619460.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:41.460Z,1613619461.460 [Micromodem](INFO): Nmea in: $SNTTA,0.097121,,,,033740.26*4B 2021-02-18T03:37:41.499Z,1613619461.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.919998 m, bearing: 68.031778 deg, deltaT: 4.454106 s, approachRate: 0.713946 m/s, LOS rate: 0.821045 deg/s, posRepo size: 4 2021-02-18T03:37:42.293Z,1613619462.293 [lineCaptureDepth:NeedComms:C] Running Loop=1 2021-02-18T03:37:42.694Z,1613619462.694 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-18T03:37:42.694Z,1613619462.694 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T03:37:42.694Z,1613619462.694 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-18T03:37:42.694Z,1613619462.694 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-18T03:37:42.694Z,1613619462.694 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-18T03:37:42.695Z,1613619462.695 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-18T03:37:42.695Z,1613619462.695 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-18T03:37:42.951Z,1613619462.951 [Radio_Surface](INFO): Powering up 2021-02-18T03:37:43.915Z,1613619463.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:44.672Z,1613619464.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:45.080Z,1613619465.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:45.900Z,1613619465.900 [Micromodem](INFO): Nmea in: $SNTTA,0.099187,,,,033744.70*4E 2021-02-18T03:37:45.941Z,1613619465.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.040009 m, bearing: 73.977110 deg, deltaT: 4.450369 s, approachRate: 0.701068 m/s, LOS rate: 1.335919 deg/s, posRepo size: 4 2021-02-18T03:37:48.343Z,1613619468.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:49.020Z,1613619469.020 [DataOverHttps](INFO): Radio surface powered ON. 2021-02-18T03:37:49.121Z,1613619469.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:49.539Z,1613619469.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:50.348Z,1613619470.348 [Micromodem](INFO): Nmea in: $SNTTA,0.100578,,,0.192633,033749.14*56 2021-02-18T03:37:50.388Z,1613619470.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.079987 m, bearing: 26.813854 deg, deltaT: 4.433581 s, approachRate: 0.460120 m/s, LOS rate: -10.637734 deg/s, posRepo size: 4 2021-02-18T03:37:50.388Z,1613619470.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.08 m. Resuming terminal guidance. 2021-02-18T03:37:50.388Z,1613619470.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T03:37:52.772Z,1613619472.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:53.560Z,1613619473.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:53.979Z,1613619473.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:54.802Z,1613619474.802 [Micromodem](INFO): Nmea in: $SNTTA,0.101867,,,,033753.64*4A 2021-02-18T03:37:55.242Z,1613619475.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.059998 m, bearing: 21.940987 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T03:37:55.242Z,1613619475.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 21.940987deg and heading rate command to 0 deg/s. 2021-02-18T03:37:57.627Z,1613619477.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:37:58.426Z,1613619478.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:37:58.837Z,1613619478.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:37:59.335Z,1613619479.335 [BuoyancyServo](FAULT): Overload Error 2021-02-18T03:37:59.335Z,1613619479.335 [BuoyancyServo] Hardware Fault, FailCount= 1 2021-02-18T03:37:59.335Z,1613619479.335 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T03:37:59.439Z,1613619479.439 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T03:37:59.648Z,1613619479.648 [Micromodem](INFO): Nmea in: $SNTTA,0.102822,,,,033758.45*40 2021-02-18T03:37:59.670Z,1613619479.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.440002 m, bearing: 81.976053 deg, deltaT: 4.404155 s, approachRate: 0.313342 m/s, LOS rate: 13.631461 deg/s, posRepo size: 2 2021-02-18T03:37:59.670Z,1613619479.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.631461 deg/s. Setting heading cmd to target bearing of 81.976053deg and heading rate command to 0 deg/s. 2021-02-18T03:38:01.286Z,1613619481.286 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T03:38:01.286Z,1613619481.286 [BuoyancyServo](INFO): Powering down 2021-02-18T03:38:02.069Z,1613619482.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:38:02.111Z,1613619482.111 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T03:38:02.111Z,1613619482.111 [BuoyancyServo] No Fault, FailCount= 1 2021-02-18T03:38:02.531Z,1613619482.531 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T03:38:02.539Z,1613619482.539 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T03:38:02.852Z,1613619482.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:38:03.263Z,1613619483.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:38:03.673Z,1613619483.673 [NAL9602](INFO): SBD MO Status=2, MOMSN=13644, MT Status=2, MTMSN=0 2021-02-18T03:38:03.674Z,1613619483.674 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2021-02-18T03:38:04.081Z,1613619484.081 [Micromodem](INFO): Nmea in: $SNTTA,0.103517,,,,033802.88*4B 2021-02-18T03:38:04.149Z,1613619484.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.520004 m, bearing: 13.759021 deg, deltaT: 4.449039 s, approachRate: 0.242749 m/s, LOS rate: -15.332982 deg/s, posRepo size: 3 2021-02-18T03:38:04.150Z,1613619484.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.332982 deg/s. Setting heading cmd to target bearing of 13.759021deg and heading rate command to 0 deg/s. 2021-02-18T03:38:06.518Z,1613619486.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:38:07.298Z,1613619487.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:38:07.703Z,1613619487.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:38:08.524Z,1613619488.524 [Micromodem](INFO): Nmea in: $SNTTA,0.104012,,,,033807.32*48 2021-02-18T03:38:08.562Z,1613619488.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.180008 m, bearing: 354.673501 deg, deltaT: 4.446049 s, approachRate: 0.148447 m/s, LOS rate: -4.292695 deg/s, posRepo size: 4 2021-02-18T03:38:08.564Z,1613619488.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.180008 m, bearing: 354.673501 deg, approachRate: 0.148447 m/s, LOS rate: -4.292695 deg/s, cmd update: -12.000000 deg/s, cmd heading: 13.759021 deg, new cmd heading: 13.759021 deg. 2021-02-18T03:38:11.002Z,1613619491.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:38:11.740Z,1613619491.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:38:12.146Z,1613619492.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:38:12.978Z,1613619492.978 [Micromodem](INFO): Nmea in: $SNTTA,0.104423,,,0.106938,033811.81*5A 2021-02-18T03:38:13.402Z,1613619493.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.779999 m, bearing: 346.588988 deg, deltaT: 4.899702 s, approachRate: 0.122455 m/s, LOS rate: -1.650001 deg/s, posRepo size: 4 2021-02-18T03:38:13.404Z,1613619493.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.779999 m, bearing: 346.588988 deg, approachRate: 0.122455 m/s, LOS rate: -1.650001 deg/s, cmd update: -6.600003 deg/s, cmd heading: 315.080387 deg, new cmd heading: 310.866707 deg. 2021-02-18T03:38:15.844Z,1613619495.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:38:16.588Z,1613619496.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:38:17.015Z,1613619497.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:38:17.840Z,1613619497.840 [Micromodem](INFO): Nmea in: $SNTTA,0.104788,,,,033816.61*4A 2021-02-18T03:38:17.885Z,1613619497.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.319992 m, bearing: 35.630829 deg, deltaT: 4.357818 s, approachRate: 0.123914 m/s, LOS rate: 11.253760 deg/s, posRepo size: 4 2021-02-18T03:38:17.886Z,1613619497.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.319992 m, bearing: 35.630829 deg, approachRate: 0.123914 m/s, LOS rate: 11.253760 deg/s, cmd update: 12.000000 deg/s, cmd heading: 286.256516 deg, new cmd heading: 283.180585 deg. 2021-02-18T03:38:19.140Z,1613619499.140 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T03:38:20.248Z,1613619500.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:38:21.044Z,1613619501.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:38:21.199Z,1613619501.199 [BuoyancyServo](FAULT): Overload Error 2021-02-18T03:38:21.200Z,1613619501.200 [BuoyancyServo] Hardware Fault, FailCount= 2 2021-02-18T03:38:21.200Z,1613619501.200 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T03:38:21.303Z,1613619501.303 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T03:38:21.443Z,1613619501.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:38:22.268Z,1613619502.268 [Micromodem](INFO): Nmea in: $SNTTA,0.105084,,,,033821.07*44 2021-02-18T03:38:22.317Z,1613619502.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.800003 m, bearing: 22.833030 deg, deltaT: 4.495447 s, approachRate: 0.106777 m/s, LOS rate: -2.846836 deg/s, posRepo size: 4 2021-02-18T03:38:22.318Z,1613619502.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.800003 m, bearing: 22.833030 deg, approachRate: 0.106777 m/s, LOS rate: -2.846836 deg/s, cmd update: -11.387343 deg/s, cmd heading: 339.886642 deg, new cmd heading: 345.032038 deg. 2021-02-18T03:38:23.122Z,1613619503.122 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T03:38:23.122Z,1613619503.122 [BuoyancyServo](INFO): Powering down 2021-02-18T03:38:23.470Z,1613619503.470 [NAL9602](INFO): SBD MO Status=1, MOMSN=13644, MT Status=0, MTMSN=0 2021-02-18T03:38:23.470Z,1613619503.470 [NAL9602](INFO): No messages in MT queue 2021-02-18T03:38:23.989Z,1613619503.989 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T03:38:23.989Z,1613619503.989 [BuoyancyServo] No Fault, FailCount= 2 2021-02-18T03:38:24.324Z,1613619504.324 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T03:38:24.325Z,1613619504.325 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T03:38:24.676Z,1613619504.676 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,033825.00,A,4133.18047,N,07042.42742,W,0.233,130.47,180221,,,A*71 2021-02-18T03:38:24.678Z,1613619504.678 [NAL9602](INFO): GPS fix at 20210218T033825: (41.553008, -70.707124) 2021-02-18T03:38:24.693Z,1613619504.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:38:24.693Z,1613619504.693 [lineCaptureDepth:NeedComms:C] Stopped 2021-02-18T03:38:24.693Z,1613619504.693 [lineCaptureDepth:NeedComms:D] Running Loop=1 2021-02-18T03:38:25.551Z,1613619505.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:38:25.966Z,1613619505.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:38:26.804Z,1613619506.804 [Micromodem](INFO): Nmea in: $SNTTA,0.105232,,,,033825.57*4A 2021-02-18T03:38:26.882Z,1613619506.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.040009 m, bearing: 18.481821 deg, deltaT: 4.485538 s, approachRate: 0.053507 m/s, LOS rate: -0.970053 deg/s, posRepo size: 4 2021-02-18T03:38:26.885Z,1613619506.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.040009 m, bearing: 18.481821 deg, approachRate: 0.053507 m/s, LOS rate: -0.970053 deg/s, cmd update: -3.880212 deg/s, cmd heading: 288.515709 deg, new cmd heading: 283.025495 deg. 2021-02-18T03:38:30.906Z,1613619510.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:38:31.534Z,1613619511.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:38:31.952Z,1613619511.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:38:32.776Z,1613619512.776 [Micromodem](INFO): Nmea in: $SNTTA,0.105370,,,,033831.56*49 2021-02-18T03:38:32.839Z,1613619512.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.339996 m, bearing: 32.209956 deg, deltaT: 5.993962 s, approachRate: 0.050048 m/s, LOS rate: 2.290327 deg/s, posRepo size: 4 2021-02-18T03:38:32.841Z,1613619512.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.339996 m, bearing: 32.209956 deg, approachRate: 0.050048 m/s, LOS rate: 2.290327 deg/s, cmd update: 9.161310 deg/s, cmd heading: 265.254214 deg, new cmd heading: 263.600766 deg. 2021-02-18T03:38:35.219Z,1613619515.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:38:35.996Z,1613619515.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:38:36.385Z,1613619516.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:38:37.272Z,1613619517.272 [Micromodem](INFO): Nmea in: $SNTTA,0.105417,,,,033836.02*49 2021-02-18T03:38:37.345Z,1613619517.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.339996 m, bearing: 33.146205 deg, deltaT: 4.462586 s, approachRate: 0.000000 m/s, LOS rate: 0.209799 deg/s, posRepo size: 4 2021-02-18T03:38:37.351Z,1613619517.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.339996 m, bearing: 33.146205 deg, approachRate: 0.000000 m/s, LOS rate: 0.209799 deg/s, cmd update: 0.839198 deg/s, cmd heading: 306.138665 deg, new cmd heading: 310.612930 deg. 2021-02-18T03:38:39.627Z,1613619519.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:38:40.418Z,1613619520.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:38:40.837Z,1613619520.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:38:41.232Z,1613619521.232 [NAL9602](INFO): SBD MO Status=1, MOMSN=13645, MT Status=0, MTMSN=0 2021-02-18T03:38:41.287Z,1613619521.287 [NAL9602](INFO): Sent 100 bytes from file Logs/20210217T180521/Courier0093.lzma 2021-02-18T03:38:41.287Z,1613619521.287 [NAL9602](INFO): Packets left to send: 0 2021-02-18T03:38:41.648Z,1613619521.648 [Micromodem](INFO): Nmea in: $SNTTA,0.105465,,,,033840.44*4F 2021-02-18T03:38:41.973Z,1613619521.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.460007 m, bearing: 34.977488 deg, deltaT: 4.491540 s, approachRate: 0.026719 m/s, LOS rate: 0.407718 deg/s, posRepo size: 4 2021-02-18T03:38:41.975Z,1613619521.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.460007 m, bearing: 34.977488 deg, approachRate: 0.026719 m/s, LOS rate: 0.407718 deg/s, cmd update: 1.630873 deg/s, cmd heading: 309.899835 deg, new cmd heading: 310.432270 deg. 2021-02-18T03:38:44.634Z,1613619524.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:38:44.667Z,1613619524.667 [BuoyancyServo](FAULT): Overload Error 2021-02-18T03:38:44.667Z,1613619524.667 [BuoyancyServo] Hardware Fault, FailCount= 3 2021-02-18T03:38:44.668Z,1613619524.668 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T03:38:44.773Z,1613619524.773 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T03:38:45.198Z,1613619525.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:38:45.604Z,1613619525.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:38:46.424Z,1613619526.424 [Micromodem](INFO): Nmea in: $SNTTA,0.105590,,,,033845.22*41 2021-02-18T03:38:46.458Z,1613619526.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.639999 m, bearing: 38.510850 deg, deltaT: 4.728820 s, approachRate: 0.038063 m/s, LOS rate: 0.747198 deg/s, posRepo size: 4 2021-02-18T03:38:46.460Z,1613619526.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.639999 m, bearing: 38.510850 deg, approachRate: 0.038063 m/s, LOS rate: 0.747198 deg/s, cmd update: 2.988790 deg/s, cmd heading: 317.601315 deg, new cmd heading: 318.248878 deg. 2021-02-18T03:38:46.471Z,1613619526.471 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T03:38:46.471Z,1613619526.471 [BuoyancyServo](INFO): Powering down 2021-02-18T03:38:47.359Z,1613619527.359 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T03:38:47.359Z,1613619527.359 [BuoyancyServo] No Fault, FailCount= 3 2021-02-18T03:38:47.663Z,1613619527.663 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T03:38:47.664Z,1613619527.664 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T03:38:48.864Z,1613619528.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:38:49.646Z,1613619529.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:38:50.046Z,1613619530.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:38:50.872Z,1613619530.872 [Micromodem](INFO): Nmea in: $SNTTA,0.105521,,,,033849.67*46 2021-02-18T03:38:50.916Z,1613619530.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.460007 m, bearing: 350.298163 deg, deltaT: 4.421989 s, approachRate: -0.040704 m/s, LOS rate: -10.902940 deg/s, posRepo size: 4 2021-02-18T03:38:50.918Z,1613619530.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.460007 m, bearing: 350.298163 deg, approachRate: -0.040704 m/s, LOS rate: -10.902940 deg/s, cmd update: -12.000000 deg/s, cmd heading: 330.853707 deg, new cmd heading: 332.111877 deg. 2021-02-18T03:38:52.094Z,1613619532.094 [NAL9602](INFO): SBD MO Status=1, MOMSN=13646, MT Status=0, MTMSN=0 2021-02-18T03:38:52.143Z,1613619532.143 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0085.lzma 2021-02-18T03:38:52.143Z,1613619532.143 [NAL9602](INFO): Packets left to send: 7 2021-02-18T03:38:54.291Z,1613619534.291 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T03:38:55.349Z,1613619535.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:38:55.872Z,1613619535.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:38:56.278Z,1613619536.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:38:57.104Z,1613619537.104 [Micromodem](INFO): Nmea in: $SNTTA,0.105550,,,,033855.89*4D 2021-02-18T03:38:57.158Z,1613619537.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.519989 m, bearing: 36.243074 deg, deltaT: 6.203580 s, approachRate: 0.009669 m/s, LOS rate: 7.406191 deg/s, posRepo size: 4 2021-02-18T03:38:57.160Z,1613619537.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.519989 m, bearing: 36.243074 deg, approachRate: 0.009669 m/s, LOS rate: 7.406191 deg/s, cmd update: 12.000000 deg/s, cmd heading: 256.362984 deg, new cmd heading: 250.900595 deg. 2021-02-18T03:38:59.526Z,1613619539.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:00.327Z,1613619540.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:39:00.726Z,1613619540.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:39:01.552Z,1613619541.552 [Micromodem](INFO): Nmea in: $SNTTA,0.105551,,,,033900.35*4A 2021-02-18T03:39:01.600Z,1613619541.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.519989 m, bearing: 35.220345 deg, deltaT: 4.478907 s, approachRate: 0.000000 m/s, LOS rate: -0.228343 deg/s, posRepo size: 4 2021-02-18T03:39:01.601Z,1613619541.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.519989 m, bearing: 35.220345 deg, approachRate: 0.000000 m/s, LOS rate: -0.228343 deg/s, cmd update: -0.913373 deg/s, cmd heading: 310.060897 deg, new cmd heading: 315.080725 deg. 2021-02-18T03:39:01.970Z,1613619541.970 [NAL9602](INFO): SBD MO Status=1, MOMSN=13647, MT Status=0, MTMSN=0 2021-02-18T03:39:02.027Z,1613619542.027 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0085.lzma 2021-02-18T03:39:02.027Z,1613619542.027 [NAL9602](INFO): Packets left to send: 6 2021-02-18T03:39:05.249Z,1613619545.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:05.295Z,1613619545.295 [BuoyancyServo](FAULT): Overload Error 2021-02-18T03:39:05.295Z,1613619545.295 [BuoyancyServo] Hardware Fault, FailCount= 4 2021-02-18T03:39:05.295Z,1613619545.295 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T03:39:05.399Z,1613619545.399 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T03:39:05.834Z,1613619545.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:39:06.225Z,1613619546.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:39:07.056Z,1613619547.056 [Micromodem](INFO): Nmea in: $SNTTA,0.105497,,,,033905.86*4C 2021-02-18T03:39:07.122Z,1613619547.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.519989 m, bearing: 27.438212 deg, deltaT: 5.469003 s, approachRate: 0.000000 m/s, LOS rate: -1.422953 deg/s, posRepo size: 4 2021-02-18T03:39:07.125Z,1613619547.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.519989 m, bearing: 27.438212 deg, approachRate: 0.000000 m/s, LOS rate: -1.422953 deg/s, cmd update: -5.691811 deg/s, cmd heading: 305.062808 deg, new cmd heading: 304.631671 deg. 2021-02-18T03:39:07.161Z,1613619547.161 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T03:39:07.161Z,1613619547.161 [BuoyancyServo](INFO): Powering down 2021-02-18T03:39:07.996Z,1613619547.996 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T03:39:07.997Z,1613619547.997 [BuoyancyServo] No Fault, FailCount= 4 2021-02-18T03:39:08.329Z,1613619548.329 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T03:39:08.335Z,1613619548.335 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T03:39:09.154Z,1613619549.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:09.877Z,1613619549.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:39:10.478Z,1613619550.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:39:11.224Z,1613619551.224 [Micromodem](INFO): Nmea in: $SNTTA,0.105404,,,,033909.90*4D 2021-02-18T03:39:11.249Z,1613619551.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.400009 m, bearing: 20.425168 deg, deltaT: 4.221422 s, approachRate: -0.028422 m/s, LOS rate: -1.661299 deg/s, posRepo size: 4 2021-02-18T03:39:11.251Z,1613619551.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.400009 m, bearing: 20.425168 deg, approachRate: -0.028422 m/s, LOS rate: -1.661299 deg/s, cmd update: -6.645196 deg/s, cmd heading: 281.029761 deg, new cmd heading: 278.883009 deg. 2021-02-18T03:39:13.650Z,1613619553.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:14.444Z,1613619554.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:39:14.849Z,1613619554.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:39:15.676Z,1613619555.676 [Micromodem](INFO): Nmea in: $SNTTA,0.105358,,,,033914.47*45 2021-02-18T03:39:15.721Z,1613619555.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.160004 m, bearing: 332.138412 deg, deltaT: 4.506572 s, approachRate: -0.053257 m/s, LOS rate: -10.714741 deg/s, posRepo size: 4 2021-02-18T03:39:15.723Z,1613619555.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.160004 m, bearing: 332.138412 deg, approachRate: -0.053257 m/s, LOS rate: -10.714741 deg/s, cmd update: -12.000000 deg/s, cmd heading: 251.086862 deg, new cmd heading: 248.805792 deg. 2021-02-18T03:39:18.127Z,1613619558.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:18.888Z,1613619558.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:39:19.311Z,1613619559.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:39:20.116Z,1613619560.116 [Micromodem](INFO): Nmea in: $SNTTA,0.105319,,,,033918.91*47 2021-02-18T03:39:20.205Z,1613619560.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.160004 m, bearing: 24.243598 deg, deltaT: 4.357260 s, approachRate: 0.000000 m/s, LOS rate: 11.958245 deg/s, posRepo size: 4 2021-02-18T03:39:20.205Z,1613619560.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.958245 deg/s. Setting heading cmd to target bearing of 24.243598deg and heading rate command to 0 deg/s. 2021-02-18T03:39:22.563Z,1613619562.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:23.334Z,1613619563.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:39:23.743Z,1613619563.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:39:24.560Z,1613619564.560 [Micromodem](INFO): Nmea in: $SNTTA,0.105234,,,,033923.35*4F 2021-02-18T03:39:24.609Z,1613619564.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.979996 m, bearing: 334.166814 deg, deltaT: 4.473766 s, approachRate: -0.040236 m/s, LOS rate: -11.193428 deg/s, posRepo size: 4 2021-02-18T03:39:24.615Z,1613619564.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.979996 m, bearing: 334.166814 deg, approachRate: -0.040236 m/s, LOS rate: -11.193428 deg/s, cmd update: -12.000000 deg/s, cmd heading: 24.243598 deg, new cmd heading: 24.243598 deg. 2021-02-18T03:39:25.083Z,1613619565.083 [BuoyancyServo](FAULT): Overload Error 2021-02-18T03:39:25.083Z,1613619565.083 [BuoyancyServo] Hardware Fault, FailCount= 5 2021-02-18T03:39:25.083Z,1613619565.083 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T03:39:25.115Z,1613619565.115 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T03:39:26.581Z,1613619566.581 [NAL9602](INFO): SBD MO Status=1, MOMSN=13648, MT Status=0, MTMSN=0 2021-02-18T03:39:26.631Z,1613619566.631 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0085.lzma 2021-02-18T03:39:26.631Z,1613619566.631 [NAL9602](INFO): Packets left to send: 5 2021-02-18T03:39:27.309Z,1613619567.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:27.318Z,1613619567.318 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T03:39:27.318Z,1613619567.318 [BuoyancyServo](INFO): Powering down 2021-02-18T03:39:29.435Z,1613619569.435 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T03:39:29.746Z,1613619569.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:39:29.837Z,1613619569.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:29.939Z,1613619569.939 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T03:39:29.939Z,1613619569.939 [BuoyancyServo] No Fault, FailCount= 5 2021-02-18T03:39:30.168Z,1613619570.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:39:30.238Z,1613619570.238 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T03:39:30.238Z,1613619570.238 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T03:39:30.979Z,1613619570.979 [Micromodem](INFO): Nmea in: $SNTTA,0.105189,,,,033929.77*46 2021-02-18T03:39:31.003Z,1613619571.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.979996 m, bearing: 25.970148 deg, deltaT: 6.372082 s, approachRate: 0.000000 m/s, LOS rate: 8.129735 deg/s, posRepo size: 4 2021-02-18T03:39:31.005Z,1613619571.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.979996 m, bearing: 25.970148 deg, approachRate: 0.000000 m/s, LOS rate: 8.129735 deg/s, cmd update: 12.000000 deg/s, cmd heading: 307.730923 deg, new cmd heading: 302.672599 deg. 2021-02-18T03:39:33.390Z,1613619573.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:34.185Z,1613619574.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:39:34.601Z,1613619574.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:39:35.412Z,1613619575.412 [Micromodem](INFO): Nmea in: $SNTTA,0.105004,,,,033934.21*4D 2021-02-18T03:39:35.454Z,1613619575.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.619995 m, bearing: 25.255191 deg, deltaT: 4.474506 s, approachRate: -0.080456 m/s, LOS rate: -0.159785 deg/s, posRepo size: 4 2021-02-18T03:39:35.456Z,1613619575.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.619995 m, bearing: 25.255191 deg, approachRate: -0.080456 m/s, LOS rate: -0.159785 deg/s, cmd update: -0.639138 deg/s, cmd heading: 1.424973 deg, new cmd heading: 6.201910 deg. 2021-02-18T03:39:37.903Z,1613619577.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:38.632Z,1613619578.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:39:39.071Z,1613619579.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:39:39.864Z,1613619579.864 [Micromodem](INFO): Nmea in: $SNTTA,0.105077,,,,033938.66*46 2021-02-18T03:39:39.904Z,1613619579.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.740005 m, bearing: 16.619580 deg, deltaT: 4.421458 s, approachRate: 0.027143 m/s, LOS rate: -1.953114 deg/s, posRepo size: 4 2021-02-18T03:39:39.906Z,1613619579.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.740005 m, bearing: 16.619580 deg, approachRate: 0.027143 m/s, LOS rate: -1.953114 deg/s, cmd update: -7.812456 deg/s, cmd heading: 358.599124 deg, new cmd heading: 358.326701 deg. 2021-02-18T03:39:41.085Z,1613619581.085 [NAL9602](INFO): SBD MO Status=1, MOMSN=13649, MT Status=0, MTMSN=0 2021-02-18T03:39:41.135Z,1613619581.135 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0085.lzma 2021-02-18T03:39:41.135Z,1613619581.135 [NAL9602](INFO): Packets left to send: 4 2021-02-18T03:39:44.348Z,1613619584.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:44.881Z,1613619584.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:39:45.289Z,1613619585.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:39:46.094Z,1613619586.094 [Micromodem](INFO): Nmea in: $SNTTA,0.104762,,,,033944.90*46 2021-02-18T03:39:46.922Z,1613619586.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:48.517Z,1613619588.517 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:39:49.738Z,1613619589.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:50.534Z,1613619590.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:39:50.943Z,1613619590.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:39:51.770Z,1613619591.770 [Micromodem](INFO): Nmea in: $SNTTA,0.104757,,,,033950.56*4F 2021-02-18T03:39:51.840Z,1613619591.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.200012 m, bearing: 321.528177 deg, deltaT: 11.946100 s, approachRate: -0.045202 m/s, LOS rate: -4.611663 deg/s, posRepo size: 4 2021-02-18T03:39:51.842Z,1613619591.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.200012 m, bearing: 321.528177 deg, approachRate: -0.045202 m/s, LOS rate: -4.611663 deg/s, cmd update: -12.000000 deg/s, cmd heading: 265.271936 deg, new cmd heading: 262.018017 deg. 2021-02-18T03:39:53.802Z,1613619593.802 [NAL9602](INFO): SBD MO Status=1, MOMSN=13650, MT Status=0, MTMSN=0 2021-02-18T03:39:53.859Z,1613619593.859 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0085.lzma 2021-02-18T03:39:53.859Z,1613619593.859 [NAL9602](INFO): Packets left to send: 3 2021-02-18T03:39:54.436Z,1613619594.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:55.001Z,1613619595.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:39:57.097Z,1613619597.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:39:57.209Z,1613619597.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:39:57.629Z,1613619597.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.960007 m, bearing: 306.941489 deg, deltaT: 5.827752 s, approachRate: -0.041183 m/s, LOS rate: -2.502970 deg/s, posRepo size: 4 2021-02-18T03:39:57.651Z,1613619597.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.960007 m, bearing: 306.941489 deg, approachRate: -0.041183 m/s, LOS rate: -2.502970 deg/s, cmd update: -10.011880 deg/s, cmd heading: 195.338610 deg, new cmd heading: 190.802478 deg. 2021-02-18T03:40:00.064Z,1613619600.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:00.839Z,1613619600.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:40:01.246Z,1613619601.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:40:02.064Z,1613619602.064 [Micromodem](INFO): Nmea in: $SNTTA,0.104489,,,,034000.86*49 2021-02-18T03:40:02.102Z,1613619602.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.779999 m, bearing: 305.781641 deg, deltaT: 4.430992 s, approachRate: -0.040625 m/s, LOS rate: -0.261758 deg/s, posRepo size: 4 2021-02-18T03:40:02.104Z,1613619602.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.779999 m, bearing: 305.781641 deg, approachRate: -0.040625 m/s, LOS rate: -0.261758 deg/s, cmd update: -1.047032 deg/s, cmd heading: 151.015056 deg, new cmd heading: 146.766915 deg. 2021-02-18T03:40:04.471Z,1613619604.471 [NAL9602](INFO): SBD MO Status=1, MOMSN=13651, MT Status=0, MTMSN=0 2021-02-18T03:40:04.519Z,1613619604.519 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0085.lzma 2021-02-18T03:40:04.519Z,1613619604.519 [NAL9602](INFO): Packets left to send: 2 2021-02-18T03:40:04.539Z,1613619604.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:04.589Z,1613619604.589 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T03:40:05.297Z,1613619605.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:40:05.707Z,1613619605.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:40:07.849Z,1613619607.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:07.985Z,1613619607.985 [Micromodem](INFO): Nmea in: $SNTTA,0.104355,,,,034005.32*45 2021-02-18T03:40:08.443Z,1613619608.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.600006 m, bearing: 293.340915 deg, deltaT: 6.357818 s, approachRate: -0.028310 m/s, LOS rate: -1.956760 deg/s, posRepo size: 4 2021-02-18T03:40:08.445Z,1613619608.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.600006 m, bearing: 293.340915 deg, approachRate: -0.028310 m/s, LOS rate: -1.956760 deg/s, cmd update: -7.827041 deg/s, cmd heading: 144.356266 deg, new cmd heading: 143.948866 deg. 2021-02-18T03:40:10.879Z,1613619610.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:11.606Z,1613619611.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:40:12.031Z,1613619612.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:40:12.864Z,1613619612.864 [Micromodem](INFO): Nmea in: $SNTTA,0.104333,,,,034011.63*44 2021-02-18T03:40:12.928Z,1613619612.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.540009 m, bearing: 295.020978 deg, deltaT: 4.421636 s, approachRate: -0.013569 m/s, LOS rate: 0.379964 deg/s, posRepo size: 4 2021-02-18T03:40:12.929Z,1613619612.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.540009 m, bearing: 295.020978 deg, approachRate: -0.013569 m/s, LOS rate: 0.379964 deg/s, cmd update: 1.519856 deg/s, cmd heading: 109.731183 deg, new cmd heading: 106.085065 deg. 2021-02-18T03:40:14.857Z,1613619614.857 [NAL9602](INFO): SBD MO Status=1, MOMSN=13652, MT Status=0, MTMSN=0 2021-02-18T03:40:14.915Z,1613619614.915 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0085.lzma 2021-02-18T03:40:14.915Z,1613619614.915 [NAL9602](INFO): Packets left to send: 1 2021-02-18T03:40:15.519Z,1613619615.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:17.852Z,1613619617.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:40:18.217Z,1613619618.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:40:18.279Z,1613619618.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:19.428Z,1613619619.428 [Micromodem](INFO): Nmea in: $SNTTA,0.104086,,,,034017.87*45 2021-02-18T03:40:19.452Z,1613619619.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.180008 m, bearing: 301.300053 deg, deltaT: 6.631221 s, approachRate: -0.054289 m/s, LOS rate: 0.946896 deg/s, posRepo size: 4 2021-02-18T03:40:19.453Z,1613619619.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.180008 m, bearing: 301.300053 deg, approachRate: -0.054289 m/s, LOS rate: 0.946896 deg/s, cmd update: 3.787583 deg/s, cmd heading: 119.803788 deg, new cmd heading: 120.354771 deg. 2021-02-18T03:40:21.864Z,1613619621.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:22.646Z,1613619622.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:40:23.057Z,1613619623.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:40:23.872Z,1613619623.872 [Micromodem](INFO): Nmea in: $SNTTA,0.104053,,,,034022.67*45 2021-02-18T03:40:23.918Z,1613619623.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.119995 m, bearing: 285.961388 deg, deltaT: 4.412429 s, approachRate: -0.013601 m/s, LOS rate: -3.476241 deg/s, posRepo size: 4 2021-02-18T03:40:23.924Z,1613619623.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.119995 m, bearing: 285.961388 deg, approachRate: -0.013601 m/s, LOS rate: -3.476241 deg/s, cmd update: -12.000000 deg/s, cmd heading: 136.516247 deg, new cmd heading: 138.094976 deg. 2021-02-18T03:40:25.086Z,1613619625.086 [NAL9602](INFO): SBD MO Status=1, MOMSN=13653, MT Status=0, MTMSN=0 2021-02-18T03:40:25.143Z,1613619625.143 [NAL9602](INFO): Sent 7 bytes from file Logs/20210217T180521/Express0085.lzma 2021-02-18T03:40:25.143Z,1613619625.143 [NAL9602](INFO): Packets left to send: 0 2021-02-18T03:40:28.360Z,1613619628.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:28.819Z,1613619628.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:40:29.203Z,1613619629.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:40:30.028Z,1613619630.028 [Micromodem](INFO): Nmea in: $SNTTA,0.103799,,,,034028.84*44 2021-02-18T03:40:30.072Z,1613619630.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.119995 m, bearing: 288.936400 deg, deltaT: 6.122888 s, approachRate: 0.000000 m/s, LOS rate: 0.485884 deg/s, posRepo size: 4 2021-02-18T03:40:30.073Z,1613619630.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.119995 m, bearing: 288.936400 deg, approachRate: 0.000000 m/s, LOS rate: 0.485884 deg/s, cmd update: 1.943535 deg/s, cmd heading: 63.000596 deg, new cmd heading: 57.915128 deg. 2021-02-18T03:40:32.466Z,1613619632.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:33.241Z,1613619633.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:40:33.647Z,1613619633.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:40:34.468Z,1613619634.468 [Micromodem](INFO): Nmea in: $SNTTA,0.103773,,,,034033.26*42 2021-02-18T03:40:34.508Z,1613619634.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.700012 m, bearing: 293.512080 deg, deltaT: 4.499550 s, approachRate: -0.093339 m/s, LOS rate: 1.016920 deg/s, posRepo size: 4 2021-02-18T03:40:34.510Z,1613619634.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.700012 m, bearing: 293.512080 deg, approachRate: -0.093339 m/s, LOS rate: 1.016920 deg/s, cmd update: 4.067678 deg/s, cmd heading: 71.731171 deg, new cmd heading: 72.485953 deg. 2021-02-18T03:40:35.682Z,1613619635.682 [NAL9602](INFO): SBD MO Status=1, MOMSN=13654, MT Status=0, MTMSN=0 2021-02-18T03:40:35.733Z,1613619635.733 [NAL9602](INFO): Sent 172 bytes from file Logs/20210217T180521/Express0088.lzma 2021-02-18T03:40:35.734Z,1613619635.734 [NAL9602](INFO): Packets left to send: 0 2021-02-18T03:40:36.678Z,1613619636.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:39.221Z,1613619639.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:40:39.298Z,1613619639.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:39.603Z,1613619639.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:40:39.735Z,1613619639.735 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T03:40:40.429Z,1613619640.429 [Micromodem](INFO): Nmea in: $SNTTA,0.103488,,,,034039.24*4D 2021-02-18T03:40:40.479Z,1613619640.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.700012 m, bearing: 315.964169 deg, deltaT: 5.917711 s, approachRate: 0.000000 m/s, LOS rate: 3.794050 deg/s, posRepo size: 4 2021-02-18T03:40:40.481Z,1613619640.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.700012 m, bearing: 315.964169 deg, approachRate: 0.000000 m/s, LOS rate: 3.794050 deg/s, cmd update: 12.000000 deg/s, cmd heading: 95.835133 deg, new cmd heading: 97.566227 deg. 2021-02-18T03:40:42.869Z,1613619642.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:43.641Z,1613619643.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:40:44.043Z,1613619644.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:40:44.057Z,1613619644.057 [NAL9602](INFO): SBD MO Status=1, MOMSN=13655, MT Status=0, MTMSN=0 2021-02-18T03:40:44.107Z,1613619644.107 [NAL9602](INFO): Sent 166 bytes from file Logs/20210217T180521/Express0091.lzma 2021-02-18T03:40:44.107Z,1613619644.107 [NAL9602](INFO): Packets left to send: 0 2021-02-18T03:40:44.869Z,1613619644.869 [Micromodem](INFO): Nmea in: $SNTTA,0.103570,,,,034043.67*41 2021-02-18T03:40:44.892Z,1613619644.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.400009 m, bearing: 315.944989 deg, deltaT: 4.684451 s, approachRate: -0.064042 m/s, LOS rate: -0.004094 deg/s, posRepo size: 4 2021-02-18T03:40:44.894Z,1613619644.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.400009 m, bearing: 315.944989 deg, approachRate: -0.064042 m/s, LOS rate: -0.004094 deg/s, cmd update: -0.016377 deg/s, cmd heading: 152.046255 deg, new cmd heading: 153.992103 deg. 2021-02-18T03:40:47.374Z,1613619647.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:47.838Z,1613619647.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:40:48.223Z,1613619648.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:40:49.063Z,1613619649.063 [Micromodem](INFO): Nmea in: $SNTTA,0.103460,,,,034047.86*4A 2021-02-18T03:40:49.118Z,1613619649.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.400009 m, bearing: 293.388071 deg, deltaT: 3.937466 s, approachRate: 0.000000 m/s, LOS rate: -5.728790 deg/s, posRepo size: 4 2021-02-18T03:40:49.120Z,1613619649.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.400009 m, bearing: 293.388071 deg, approachRate: 0.000000 m/s, LOS rate: -5.728790 deg/s, cmd update: -12.000000 deg/s, cmd heading: 151.982037 deg, new cmd heading: 151.974393 deg. 2021-02-18T03:40:50.662Z,1613619650.662 [NAL9602](INFO): SBD MO Status=1, MOMSN=13656, MT Status=0, MTMSN=0 2021-02-18T03:40:50.711Z,1613619650.711 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0094.lzma 2021-02-18T03:40:50.711Z,1613619650.711 [NAL9602](INFO): Packets left to send: 3 2021-02-18T03:40:51.378Z,1613619651.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:51.858Z,1613619651.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:40:53.955Z,1613619653.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:54.068Z,1613619654.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:40:55.204Z,1613619655.204 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:40:56.858Z,1613619656.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:40:57.629Z,1613619657.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:40:58.043Z,1613619658.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:40:58.856Z,1613619658.856 [Micromodem](INFO): Nmea in: $SNTTA,0.103419,,,,034057.65*48 2021-02-18T03:40:58.901Z,1613619658.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.100006 m, bearing: 297.860069 deg, deltaT: 9.815796 s, approachRate: -0.030563 m/s, LOS rate: 0.455592 deg/s, posRepo size: 4 2021-02-18T03:40:58.903Z,1613619658.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.100006 m, bearing: 297.860069 deg, approachRate: -0.030563 m/s, LOS rate: 0.455592 deg/s, cmd update: 1.822368 deg/s, cmd heading: 34.050832 deg, new cmd heading: 28.980040 deg. 2021-02-18T03:41:01.274Z,1613619661.274 [NAL9602](INFO): SBD MO Status=1, MOMSN=13657, MT Status=0, MTMSN=0 2021-02-18T03:41:01.336Z,1613619661.336 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0094.lzma 2021-02-18T03:41:01.337Z,1613619661.337 [NAL9602](INFO): Packets left to send: 2 2021-02-18T03:41:01.393Z,1613619661.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:02.072Z,1613619662.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:41:02.491Z,1613619662.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:41:04.585Z,1613619664.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:04.671Z,1613619664.671 [Micromodem](INFO): Nmea in: $SNTTA,0.103457,,,,034102.10*41 2021-02-18T03:41:05.101Z,1613619665.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.220001 m, bearing: 303.625268 deg, deltaT: 6.212855 s, approachRate: 0.019314 m/s, LOS rate: 0.927947 deg/s, posRepo size: 4 2021-02-18T03:41:05.107Z,1613619665.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.220001 m, bearing: 303.625268 deg, approachRate: 0.019314 m/s, LOS rate: 0.927947 deg/s, cmd update: 3.711787 deg/s, cmd heading: 45.376586 deg, new cmd heading: 46.119143 deg. 2021-02-18T03:41:07.460Z,1613619667.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:07.858Z,1613619667.858 [NAL9602](INFO): SBD MO Status=1, MOMSN=13658, MT Status=0, MTMSN=0 2021-02-18T03:41:07.919Z,1613619667.919 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0094.lzma 2021-02-18T03:41:07.919Z,1613619667.919 [NAL9602](INFO): Packets left to send: 1 2021-02-18T03:41:08.253Z,1613619668.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:41:08.698Z,1613619668.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:41:11.292Z,1613619671.292 [Micromodem](INFO): Nmea in: $SNTTA,0.103291,,,,034108.27*43 2021-02-18T03:41:11.307Z,1613619671.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.979996 m, bearing: 318.485219 deg, deltaT: 6.475037 s, approachRate: -0.037066 m/s, LOS rate: 2.294960 deg/s, posRepo size: 4 2021-02-18T03:41:11.313Z,1613619671.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.979996 m, bearing: 318.485219 deg, approachRate: -0.037066 m/s, LOS rate: 2.294960 deg/s, cmd update: 9.179840 deg/s, cmd heading: 69.412551 deg, new cmd heading: 69.922930 deg. 2021-02-18T03:41:13.684Z,1613619673.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:14.476Z,1613619674.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:41:14.883Z,1613619674.883 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T03:41:14.884Z,1613619674.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:41:15.700Z,1613619675.700 [Micromodem](INFO): Nmea in: $SNTTA,0.103301,,,,034114.50*46 2021-02-18T03:41:15.738Z,1613619675.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.040009 m, bearing: 324.563978 deg, deltaT: 4.163842 s, approachRate: 0.014413 m/s, LOS rate: 1.459892 deg/s, posRepo size: 4 2021-02-18T03:41:15.740Z,1613619675.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.040009 m, bearing: 324.563978 deg, approachRate: 0.014413 m/s, LOS rate: 1.459892 deg/s, cmd update: 5.839568 deg/s, cmd heading: 107.652506 deg, new cmd heading: 111.356644 deg. 2021-02-18T03:41:18.167Z,1613619678.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:18.525Z,1613619678.525 [NAL9602](INFO): SBD MO Status=1, MOMSN=13659, MT Status=0, MTMSN=0 2021-02-18T03:41:18.579Z,1613619678.579 [NAL9602](INFO): Sent 171 bytes from file Logs/20210217T180521/Express0094.lzma 2021-02-18T03:41:18.579Z,1613619678.579 [NAL9602](INFO): Packets left to send: 0 2021-02-18T03:41:18.926Z,1613619678.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:41:19.523Z,1613619679.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:41:20.296Z,1613619680.296 [Micromodem](INFO): Nmea in: $SNTTA,0.103139,,,,034118.95*4A 2021-02-18T03:41:20.348Z,1613619680.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.799988 m, bearing: 311.588613 deg, deltaT: 4.594986 s, approachRate: -0.052235 m/s, LOS rate: -2.823809 deg/s, posRepo size: 4 2021-02-18T03:41:20.350Z,1613619680.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.799988 m, bearing: 311.588613 deg, approachRate: -0.052235 m/s, LOS rate: -2.823809 deg/s, cmd update: -11.295238 deg/s, cmd heading: 134.460664 deg, new cmd heading: 136.905095 deg. 2021-02-18T03:41:22.732Z,1613619682.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:23.515Z,1613619683.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:41:23.932Z,1613619683.932 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003841 2021-02-18T03:41:23.936Z,1613619683.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:41:24.024Z,1613619684.024 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T03:41:24.025Z,1613619684.025 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T03:41:24.025Z,1613619684.025 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T03:41:24.025Z,1613619684.025 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T03:41:24.025Z,1613619684.025 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T03:41:24.744Z,1613619684.744 [Micromodem](INFO): Nmea in: $SNTTA,0.103004,,0.138004,,034123.54*50 2021-02-18T03:41:24.825Z,1613619684.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.559998 m, bearing: 300.904503 deg, deltaT: 4.438478 s, approachRate: -0.054070 m/s, LOS rate: -2.407156 deg/s, posRepo size: 4 2021-02-18T03:41:24.827Z,1613619684.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.559998 m, bearing: 300.904503 deg, approachRate: -0.054070 m/s, LOS rate: -2.407156 deg/s, cmd update: -9.628624 deg/s, cmd heading: 84.276500 deg, new cmd heading: 79.175751 deg. 2021-02-18T03:41:25.195Z,1613619685.195 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T03:41:25.195Z,1613619685.195 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T03:41:25.195Z,1613619685.195 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T03:41:25.196Z,1613619685.196 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T03:41:25.196Z,1613619685.196 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T03:41:25.196Z,1613619685.196 [lineCaptureDepth:NeedComms:D] Stopped 2021-02-18T03:41:25.196Z,1613619685.196 [lineCaptureDepth:NeedComms:E] Running Loop=1 2021-02-18T03:41:26.772Z,1613619686.772 [NAL9602](INFO): SBD MO Status=0, MOMSN=13660, MT Status=0, MTMSN=0 2021-02-18T03:41:26.887Z,1613619686.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:27.555Z,1613619687.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:41:27.970Z,1613619687.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:41:27.986Z,1613619687.986 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,034128.00,A,4133.17354,N,07042.42304,W,0.292,130.47,180221,,,A*71 2021-02-18T03:41:27.988Z,1613619687.988 [NAL9602](INFO): GPS fix at 20210218T034128: (41.552892, -70.707051) 2021-02-18T03:41:28.091Z,1613619688.091 [lineCaptureDepth:NeedComms:E] Stopped 2021-02-18T03:41:28.092Z,1613619688.092 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms 2021-02-18T03:41:28.092Z,1613619688.092 [lineCaptureDepth:NeedComms] Stopped 2021-02-18T03:41:28.092Z,1613619688.092 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms 2021-02-18T03:41:28.092Z,1613619688.092 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped 2021-02-18T03:41:28.092Z,1613619688.092 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2021-02-18T03:41:28.793Z,1613619688.793 [Micromodem](INFO): Nmea in: $SNTTA,0.102877,,,,034127.58*45 2021-02-18T03:41:28.864Z,1613619688.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.380005 m, bearing: 303.965466 deg, deltaT: 4.053202 s, approachRate: -0.044408 m/s, LOS rate: 0.755196 deg/s, posRepo size: 4 2021-02-18T03:41:28.866Z,1613619688.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.380005 m, bearing: 303.965466 deg, approachRate: -0.044408 m/s, LOS rate: 0.755196 deg/s, cmd update: 3.020785 deg/s, cmd heading: 45.251801 deg, new cmd heading: 40.991028 deg. 2021-02-18T03:41:28.868Z,1613619688.868 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-18T03:41:28.868Z,1613619688.868 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T03:41:28.868Z,1613619688.868 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-18T03:41:28.868Z,1613619688.868 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-18T03:41:28.868Z,1613619688.868 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-18T03:41:28.868Z,1613619688.868 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-18T03:41:28.868Z,1613619688.868 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-18T03:41:31.273Z,1613619691.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:31.998Z,1613619691.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:41:32.416Z,1613619692.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:41:33.237Z,1613619693.237 [Micromodem](INFO): Nmea in: $SNTTA,0.102789,,,,034132.02*40 2021-02-18T03:41:33.281Z,1613619693.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.200012 m, bearing: 302.875286 deg, deltaT: 4.515284 s, approachRate: -0.039863 m/s, LOS rate: -0.241442 deg/s, posRepo size: 4 2021-02-18T03:41:33.282Z,1613619693.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.200012 m, bearing: 302.875286 deg, approachRate: -0.039863 m/s, LOS rate: -0.241442 deg/s, cmd update: -0.965769 deg/s, cmd heading: 58.840859 deg, new cmd heading: 59.930218 deg. 2021-02-18T03:41:35.672Z,1613619695.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:36.444Z,1613619696.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:41:36.859Z,1613619696.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:41:37.704Z,1613619697.704 [Micromodem](INFO): Nmea in: $SNTTA,0.102986,,0.113167,,034136.47*59 2021-02-18T03:41:37.762Z,1613619697.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.500015 m, bearing: 302.875204 deg, deltaT: 4.385248 s, approachRate: 0.068412 m/s, LOS rate: -0.000019 deg/s, posRepo size: 4 2021-02-18T03:41:37.773Z,1613619697.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.500015 m, bearing: 302.875204 deg, approachRate: 0.068412 m/s, LOS rate: -0.000019 deg/s, cmd update: -0.000075 deg/s, cmd heading: 54.598009 deg, new cmd heading: 54.164181 deg. 2021-02-18T03:41:40.178Z,1613619700.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:40.901Z,1613619700.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:41:41.290Z,1613619701.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:41:42.145Z,1613619702.145 [Micromodem](INFO): Nmea in: $SNTTA,0.103225,,,0.120562,034140.92*52 2021-02-18T03:41:42.204Z,1613619702.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.500015 m, bearing: 334.150777 deg, deltaT: 4.488920 s, approachRate: 0.000000 m/s, LOS rate: 6.967282 deg/s, posRepo size: 4 2021-02-18T03:41:42.206Z,1613619702.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.500015 m, bearing: 334.150777 deg, approachRate: 0.000000 m/s, LOS rate: 6.967282 deg/s, cmd update: 12.000000 deg/s, cmd heading: 54.597675 deg, new cmd heading: 54.597643 deg. 2021-02-18T03:41:44.561Z,1613619704.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:44.948Z,1613619704.948 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T03:41:45.328Z,1613619705.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:41:45.734Z,1613619705.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:41:46.560Z,1613619706.560 [Micromodem](INFO): Nmea in: $SNTTA,0.104288,,,,034145.35*46 2021-02-18T03:41:46.578Z,1613619706.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.659988 m, bearing: 35.059474 deg, deltaT: 4.457459 s, approachRate: 0.484575 m/s, LOS rate: 13.664443 deg/s, posRepo size: 4 2021-02-18T03:41:46.583Z,1613619706.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.664443 deg/s. Setting heading cmd to target bearing of 35.059474deg and heading rate command to 0 deg/s. 2021-02-18T03:41:49.026Z,1613619709.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:49.798Z,1613619709.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:41:50.205Z,1613619710.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:41:51.028Z,1613619711.028 [Micromodem](INFO): Nmea in: $SNTTA,0.105614,,,,034149.82*46 2021-02-18T03:41:51.058Z,1613619711.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.659988 m, bearing: 1.407923 deg, deltaT: 4.352932 s, approachRate: 0.000000 m/s, LOS rate: -7.730778 deg/s, posRepo size: 4 2021-02-18T03:41:51.088Z,1613619711.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.659988 m, bearing: 1.407923 deg, approachRate: 0.000000 m/s, LOS rate: -7.730778 deg/s, cmd update: -12.000000 deg/s, cmd heading: 35.059474 deg, new cmd heading: 35.059474 deg. 2021-02-18T03:41:53.201Z,1613619713.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:53.842Z,1613619713.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:41:54.235Z,1613619714.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:41:55.096Z,1613619715.096 [Micromodem](INFO): Nmea in: $SNTTA,0.107425,,,,034153.87*4A 2021-02-18T03:41:55.312Z,1613619715.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.659988 m, bearing: 49.538478 deg, deltaT: 4.037173 s, approachRate: 0.000000 m/s, LOS rate: 11.921846 deg/s, posRepo size: 4 2021-02-18T03:41:55.313Z,1613619715.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.921846 deg/s. Setting heading cmd to target bearing of 49.538478deg and heading rate command to 0 deg/s. 2021-02-18T03:41:57.200Z,1613619717.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:41:57.936Z,1613619717.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:41:58.342Z,1613619718.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:41:59.170Z,1613619719.170 [Micromodem](INFO): Nmea in: $SNTTA,0.109144,,,,034157.96*42 2021-02-18T03:42:00.018Z,1613619720.018 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T03:42:00.046Z,1613619720.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:01.232Z,1613619721.232 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:42:02.888Z,1613619722.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:03.653Z,1613619723.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:42:04.056Z,1613619724.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:42:04.871Z,1613619724.871 [Micromodem](INFO): Nmea in: $SNTTA,0.111731,,,,034203.68*4C 2021-02-18T03:42:05.698Z,1613619725.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:07.285Z,1613619727.285 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:42:08.540Z,1613619728.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:09.307Z,1613619729.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:42:09.717Z,1613619729.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:42:10.536Z,1613619730.536 [Micromodem](INFO): Nmea in: $SNTTA,0.114161,,,,034209.33*4E 2021-02-18T03:42:11.393Z,1613619731.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:12.958Z,1613619732.958 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:42:14.209Z,1613619734.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:14.992Z,1613619734.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:42:15.373Z,1613619735.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:42:16.212Z,1613619736.212 [Micromodem](INFO): Nmea in: $SNTTA,0.116234,,,,034215.01*43 2021-02-18T03:42:16.626Z,1613619736.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.540009 m, bearing: 32.752765 deg, deltaT: 21.603496 s, approachRate: 0.827645 m/s, LOS rate: -0.776991 deg/s, posRepo size: 4 2021-02-18T03:42:16.628Z,1613619736.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.540009 m, bearing: 32.752765 deg, approachRate: 0.827645 m/s, LOS rate: -0.776991 deg/s, cmd update: -3.107962 deg/s, cmd heading: 49.538478 deg, new cmd heading: 49.538478 deg. 2021-02-18T03:42:19.110Z,1613619739.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:19.834Z,1613619739.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:42:20.220Z,1613619740.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:42:21.063Z,1613619741.063 [Micromodem](INFO): Nmea in: $SNTTA,0.117945,,,,034219.86*4C 2021-02-18T03:42:21.477Z,1613619741.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 34.531135 deg, deltaT: 4.867763 s, approachRate: 0.517689 m/s, LOS rate: 0.365336 deg/s, posRepo size: 4 2021-02-18T03:42:21.478Z,1613619741.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.059998 m, bearing: 34.531135 deg, approachRate: 0.517689 m/s, LOS rate: 0.365336 deg/s, cmd update: 1.461344 deg/s, cmd heading: 34.442921 deg, new cmd heading: 33.330233 deg. 2021-02-18T03:42:23.885Z,1613619743.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:24.662Z,1613619744.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:42:25.069Z,1613619745.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:42:25.892Z,1613619745.892 [Micromodem](INFO): Nmea in: $SNTTA,0.119920,,,,034224.68*4F 2021-02-18T03:42:25.936Z,1613619745.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 40.522064 deg, deltaT: 4.386361 s, approachRate: 0.000000 m/s, LOS rate: 1.365809 deg/s, posRepo size: 4 2021-02-18T03:42:25.938Z,1613619745.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.059998 m, bearing: 40.522064 deg, approachRate: 0.000000 m/s, LOS rate: 1.365809 deg/s, cmd update: 5.463234 deg/s, cmd heading: 40.860279 deg, new cmd heading: 41.476876 deg. 2021-02-18T03:42:28.332Z,1613619748.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:29.103Z,1613619749.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:42:29.509Z,1613619749.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:42:30.330Z,1613619750.330 [Micromodem](INFO): Nmea in: $SNTTA,0.121613,,,,034229.13*4A 2021-02-18T03:42:30.788Z,1613619750.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.580017 m, bearing: 354.912557 deg, deltaT: 4.863551 s, approachRate: 1.134977 m/s, LOS rate: -9.377820 deg/s, posRepo size: 4 2021-02-18T03:42:30.803Z,1613619750.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.580017 m, bearing: 354.912557 deg, approachRate: 1.134977 m/s, LOS rate: -9.377820 deg/s, cmd update: -12.000000 deg/s, cmd heading: 67.439625 deg, new cmd heading: 69.661833 deg. 2021-02-18T03:42:33.202Z,1613619753.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:33.954Z,1613619753.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:42:34.363Z,1613619754.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:42:35.182Z,1613619755.182 [Micromodem](INFO): Nmea in: $SNTTA,0.123748,,,,034233.97*40 2021-02-18T03:42:35.606Z,1613619755.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.880005 m, bearing: 78.925971 deg, deltaT: 4.861130 s, approachRate: 0.678852 m/s, LOS rate: 17.282694 deg/s, posRepo size: 4 2021-02-18T03:42:35.607Z,1613619755.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.282694 deg/s. Setting heading cmd to target bearing of 78.925971deg and heading rate command to 0 deg/s. 2021-02-18T03:42:38.071Z,1613619758.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:38.831Z,1613619758.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:42:39.210Z,1613619759.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:42:40.122Z,1613619760.122 [Micromodem](INFO): Nmea in: $SNTTA,0.125789,,,,034238.85*43 2021-02-18T03:42:40.514Z,1613619760.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.879990 m, bearing: 45.444285 deg, deltaT: 5.041100 s, approachRate: 0.595105 m/s, LOS rate: -6.641742 deg/s, posRepo size: 4 2021-02-18T03:42:40.516Z,1613619760.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.879990 m, bearing: 45.444285 deg, approachRate: 0.595105 m/s, LOS rate: -6.641742 deg/s, cmd update: -12.000000 deg/s, cmd heading: 78.925971 deg, new cmd heading: 78.925971 deg. 2021-02-18T03:42:42.954Z,1613619762.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:43.720Z,1613619763.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:42:44.118Z,1613619764.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:42:44.935Z,1613619764.935 [Micromodem](INFO): Nmea in: $SNTTA,0.127854,,,,034243.74*4C 2021-02-18T03:42:45.375Z,1613619765.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.999985 m, bearing: 79.472249 deg, deltaT: 4.735420 s, approachRate: 0.658863 m/s, LOS rate: 7.185839 deg/s, posRepo size: 4 2021-02-18T03:42:45.377Z,1613619765.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.999985 m, bearing: 79.472249 deg, approachRate: 0.658863 m/s, LOS rate: 7.185839 deg/s, cmd update: 12.000000 deg/s, cmd heading: 22.168346 deg, new cmd heading: 17.611454 deg. 2021-02-18T03:42:47.819Z,1613619767.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:48.565Z,1613619768.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:42:48.969Z,1613619768.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:42:49.796Z,1613619769.796 [Micromodem](INFO): Nmea in: $SNTTA,0.129928,,,,034248.59*4C 2021-02-18T03:42:50.247Z,1613619770.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.059982 m, bearing: 9.464398 deg, deltaT: 4.853430 s, approachRate: 0.630481 m/s, LOS rate: -14.424408 deg/s, posRepo size: 4 2021-02-18T03:42:50.248Z,1613619770.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.424408 deg/s. Setting heading cmd to target bearing of 9.464398deg and heading rate command to 0 deg/s. 2021-02-18T03:42:52.654Z,1613619772.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:53.410Z,1613619773.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:42:53.835Z,1613619773.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:42:54.628Z,1613619774.628 [Micromodem](INFO): Nmea in: $SNTTA,0.131603,,,,034253.43*42 2021-02-18T03:42:55.102Z,1613619775.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.579987 m, bearing: 25.313052 deg, deltaT: 4.771801 s, approachRate: 0.528103 m/s, LOS rate: 3.321315 deg/s, posRepo size: 4 2021-02-18T03:42:55.104Z,1613619775.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.579987 m, bearing: 25.313052 deg, approachRate: 0.528103 m/s, LOS rate: 3.321315 deg/s, cmd update: 12.000000 deg/s, cmd heading: 9.464398 deg, new cmd heading: 9.464398 deg. 2021-02-18T03:42:57.468Z,1613619777.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:42:58.270Z,1613619778.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:42:58.680Z,1613619778.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:42:59.483Z,1613619779.483 [Micromodem](INFO): Nmea in: $SNTTA,0.133377,,,,034258.29*41 2021-02-18T03:42:59.926Z,1613619779.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.220001 m, bearing: 36.212553 deg, deltaT: 4.876293 s, approachRate: 0.541398 m/s, LOS rate: 2.235202 deg/s, posRepo size: 4 2021-02-18T03:42:59.928Z,1613619779.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.220001 m, bearing: 36.212553 deg, approachRate: 0.541398 m/s, LOS rate: 2.235202 deg/s, cmd update: 8.940809 deg/s, cmd heading: 67.977384 deg, new cmd heading: 72.873072 deg. 2021-02-18T03:43:02.321Z,1613619782.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:03.109Z,1613619783.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:43:03.526Z,1613619783.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:43:04.324Z,1613619784.324 [Micromodem](INFO): Nmea in: $SNTTA,0.134877,,,,034303.13*4B 2021-02-18T03:43:04.750Z,1613619784.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.499985 m, bearing: 35.363595 deg, deltaT: 4.858115 s, approachRate: 0.469314 m/s, LOS rate: -0.174751 deg/s, posRepo size: 4 2021-02-18T03:43:04.752Z,1613619784.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.499985 m, bearing: 35.363595 deg, approachRate: 0.469314 m/s, LOS rate: -0.174751 deg/s, cmd update: -0.699002 deg/s, cmd heading: 111.340182 deg, new cmd heading: 114.754918 deg. 2021-02-18T03:43:07.209Z,1613619787.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:07.957Z,1613619787.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:43:08.364Z,1613619788.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:43:09.173Z,1613619789.173 [Micromodem](INFO): Nmea in: $SNTTA,0.136977,,,,034307.98*4F 2021-02-18T03:43:09.598Z,1613619789.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.679993 m, bearing: 23.705367 deg, deltaT: 4.830795 s, approachRate: 0.658278 m/s, LOS rate: -2.413315 deg/s, posRepo size: 4 2021-02-18T03:43:09.600Z,1613619789.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.679993 m, bearing: 23.705367 deg, approachRate: 0.658278 m/s, LOS rate: -2.413315 deg/s, cmd update: -9.653258 deg/s, cmd heading: 107.957625 deg, new cmd heading: 107.684735 deg. 2021-02-18T03:43:12.053Z,1613619792.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:12.830Z,1613619792.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:43:13.211Z,1613619793.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:43:14.036Z,1613619794.036 [Micromodem](INFO): Nmea in: $SNTTA,0.138862,,,,034312.85*4C 2021-02-18T03:43:14.879Z,1613619794.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:16.440Z,1613619796.440 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:43:17.684Z,1613619797.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:18.468Z,1613619798.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:43:18.862Z,1613619798.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:43:19.680Z,1613619799.680 [Micromodem](INFO): Nmea in: $SNTTA,0.141114,,,,034318.49*40 2021-02-18T03:43:20.208Z,1613619800.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.739990 m, bearing: 79.299705 deg, deltaT: 10.487200 s, approachRate: 0.577847 m/s, LOS rate: 5.301161 deg/s, posRepo size: 4 2021-02-18T03:43:20.210Z,1613619800.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 211.739990 m, bearing: 79.299705 deg, approachRate: 0.577847 m/s, LOS rate: 5.301161 deg/s, cmd update: 12.000000 deg/s, cmd heading: 6.722275 deg, new cmd heading: 1.763184 deg. 2021-02-18T03:43:22.522Z,1613619802.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:23.306Z,1613619803.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:43:23.716Z,1613619803.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:43:24.524Z,1613619804.524 [Micromodem](INFO): Nmea in: $SNTTA,0.143141,,,,034323.33*47 2021-02-18T03:43:25.004Z,1613619805.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.799988 m, bearing: 75.833794 deg, deltaT: 4.844029 s, approachRate: 0.631705 m/s, LOS rate: -0.715502 deg/s, posRepo size: 4 2021-02-18T03:43:25.013Z,1613619805.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.799988 m, bearing: 75.833794 deg, approachRate: 0.631705 m/s, LOS rate: -0.715502 deg/s, cmd update: -2.862007 deg/s, cmd heading: 64.850900 deg, new cmd heading: 70.351928 deg. 2021-02-18T03:43:27.365Z,1613619807.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:28.160Z,1613619808.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:43:28.557Z,1613619808.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:43:29.372Z,1613619809.372 [Micromodem](INFO): Nmea in: $SNTTA,0.144927,,,,034328.18*4A 2021-02-18T03:43:30.254Z,1613619810.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:31.816Z,1613619811.816 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:43:33.138Z,1613619813.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:33.844Z,1613619813.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:43:34.235Z,1613619814.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:43:35.060Z,1613619815.060 [Micromodem](INFO): Nmea in: $SNTTA,0.147386,,,,034333.87*44 2021-02-18T03:43:35.880Z,1613619815.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:37.449Z,1613619817.449 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:43:38.697Z,1613619818.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:39.465Z,1613619819.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:43:39.871Z,1613619819.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:43:40.691Z,1613619820.691 [Micromodem](INFO): Nmea in: $SNTTA,0.149300,,,,034339.49*4C 2021-02-18T03:43:41.131Z,1613619821.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.159988 m, bearing: 23.355743 deg, deltaT: 16.176174 s, approachRate: 0.578629 m/s, LOS rate: -3.244157 deg/s, posRepo size: 4 2021-02-18T03:43:41.133Z,1613619821.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 224.159988 m, bearing: 23.355743 deg, approachRate: 0.578629 m/s, LOS rate: -3.244157 deg/s, cmd update: -12.000000 deg/s, cmd heading: 18.554626 deg, new cmd heading: 17.362955 deg. 2021-02-18T03:43:43.551Z,1613619823.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:44.314Z,1613619824.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:43:44.718Z,1613619824.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:43:45.538Z,1613619825.538 [Micromodem](INFO): Nmea in: $SNTTA,0.150594,,,,034344.33*48 2021-02-18T03:43:46.066Z,1613619826.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.159988 m, bearing: 343.037426 deg, deltaT: 4.847055 s, approachRate: 0.618933 m/s, LOS rate: -8.318107 deg/s, posRepo size: 4 2021-02-18T03:43:46.076Z,1613619826.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 227.159988 m, bearing: 343.037426 deg, approachRate: 0.618933 m/s, LOS rate: -8.318107 deg/s, cmd update: -12.000000 deg/s, cmd heading: 320.389965 deg, new cmd heading: 314.340824 deg. 2021-02-18T03:43:48.085Z,1613619828.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:48.758Z,1613619828.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:43:49.166Z,1613619829.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:43:49.981Z,1613619829.981 [Micromodem](INFO): Nmea in: $SNTTA,0.151358,,0.165996,,034348.78*56 2021-02-18T03:43:50.861Z,1613619830.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:52.397Z,1613619832.397 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:43:53.664Z,1613619833.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:54.418Z,1613619834.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:43:54.835Z,1613619834.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:43:55.633Z,1613619835.633 [Micromodem](INFO): Nmea in: $SNTTA,0.151459,,,,034354.44*48 2021-02-18T03:43:56.073Z,1613619836.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.339996 m, bearing: 336.050771 deg, deltaT: 10.086079 s, approachRate: 0.017847 m/s, LOS rate: -0.692703 deg/s, posRepo size: 4 2021-02-18T03:43:56.074Z,1613619836.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 227.339996 m, bearing: 336.050771 deg, approachRate: 0.017847 m/s, LOS rate: -0.692703 deg/s, cmd update: -2.770811 deg/s, cmd heading: 199.356761 deg, new cmd heading: 194.259929 deg. 2021-02-18T03:43:58.483Z,1613619838.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:43:59.256Z,1613619839.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:43:59.663Z,1613619839.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:44:00.474Z,1613619840.474 [Micromodem](INFO): Nmea in: $SNTTA,0.151036,,,,034359.28*42 2021-02-18T03:44:00.940Z,1613619840.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.379990 m, bearing: 232.907484 deg, deltaT: 4.874310 s, approachRate: -0.196952 m/s, LOS rate: -21.160592 deg/s, posRepo size: 4 2021-02-18T03:44:00.940Z,1613619840.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.160592 deg/s. Setting heading cmd to target bearing of 232.907484deg and heading rate command to 0 deg/s. 2021-02-18T03:44:03.333Z,1613619843.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:44:04.109Z,1613619844.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:44:04.510Z,1613619844.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:44:05.326Z,1613619845.326 [Micromodem](INFO): Nmea in: $SNTTA,0.149516,,,,034404.13*4B 2021-02-18T03:44:05.755Z,1613619845.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.159988 m, bearing: 232.822434 deg, deltaT: 4.844550 s, approachRate: -0.458247 m/s, LOS rate: -0.017556 deg/s, posRepo size: 4 2021-02-18T03:44:05.757Z,1613619845.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 224.159988 m, bearing: 232.822434 deg, approachRate: -0.458247 m/s, LOS rate: -0.017556 deg/s, cmd update: -0.070223 deg/s, cmd heading: 232.907484 deg, new cmd heading: 232.907484 deg. 2021-02-18T03:44:08.210Z,1613619848.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:44:08.958Z,1613619848.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:44:09.369Z,1613619849.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:44:10.192Z,1613619850.192 [Micromodem](INFO): Nmea in: $SNTTA,0.148044,,,,034408.98*47 2021-02-18T03:44:10.605Z,1613619850.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.819977 m, bearing: 224.648747 deg, deltaT: 4.895015 s, approachRate: -0.478040 m/s, LOS rate: -1.669798 deg/s, posRepo size: 4 2021-02-18T03:44:10.607Z,1613619850.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.819977 m, bearing: 224.648747 deg, approachRate: -0.478040 m/s, LOS rate: -1.669798 deg/s, cmd update: -6.679193 deg/s, cmd heading: 232.564846 deg, new cmd heading: 232.539592 deg. 2021-02-18T03:44:13.066Z,1613619853.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:44:13.830Z,1613619853.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:44:14.211Z,1613619854.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:44:15.041Z,1613619855.040 [Micromodem](INFO): Nmea in: $SNTTA,0.146000,,0.160063,,034413.85*53 2021-02-18T03:44:15.446Z,1613619855.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.819992 m, bearing: 229.556593 deg, deltaT: 4.836889 s, approachRate: -0.620230 m/s, LOS rate: 1.014670 deg/s, posRepo size: 4 2021-02-18T03:44:15.448Z,1613619855.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.819992 m, bearing: 229.556593 deg, approachRate: -0.620230 m/s, LOS rate: 1.014670 deg/s, cmd update: 4.058680 deg/s, cmd heading: 200.152025 deg, new cmd heading: 197.830678 deg. 2021-02-18T03:44:17.888Z,1613619857.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:44:18.648Z,1613619858.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:44:19.083Z,1613619859.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:44:19.890Z,1613619859.890 [Micromodem](INFO): Nmea in: $SNTTA,0.144109,,0.146866,0.146616,034418.67*4B 2021-02-18T03:44:20.308Z,1613619860.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.940002 m, bearing: 231.615239 deg, deltaT: 4.839657 s, approachRate: -0.595081 m/s, LOS rate: 0.425370 deg/s, posRepo size: 4 2021-02-18T03:44:20.310Z,1613619860.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.940002 m, bearing: 231.615239 deg, approachRate: -0.595081 m/s, LOS rate: 0.425370 deg/s, cmd update: 1.701481 deg/s, cmd heading: 219.716425 deg, new cmd heading: 221.293388 deg. 2021-02-18T03:44:22.725Z,1613619862.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:44:23.501Z,1613619863.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:44:23.907Z,1613619863.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:44:24.721Z,1613619864.721 [Micromodem](INFO): Nmea in: $SNTTA,0.142283,,,,034423.52*4B 2021-02-18T03:44:25.206Z,1613619865.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.239990 m, bearing: 228.883082 deg, deltaT: 4.821236 s, approachRate: -0.560025 m/s, LOS rate: -0.566692 deg/s, posRepo size: 4 2021-02-18T03:44:25.213Z,1613619865.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.239990 m, bearing: 228.883082 deg, approachRate: -0.560025 m/s, LOS rate: -0.566692 deg/s, cmd update: -2.266769 deg/s, cmd heading: 227.945666 deg, new cmd heading: 228.713165 deg. 2021-02-18T03:44:27.550Z,1613619867.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:44:28.350Z,1613619868.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:44:28.758Z,1613619868.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:44:29.565Z,1613619869.565 [Micromodem](INFO): Nmea in: $SNTTA,0.140399,,,,034428.37*4B 2021-02-18T03:44:30.015Z,1613619870.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.360001 m, bearing: 233.906549 deg, deltaT: 4.827882 s, approachRate: -0.596533 m/s, LOS rate: 1.040512 deg/s, posRepo size: 4 2021-02-18T03:44:30.017Z,1613619870.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.360001 m, bearing: 233.906549 deg, approachRate: -0.596533 m/s, LOS rate: 1.040512 deg/s, cmd update: 4.162047 deg/s, cmd heading: 217.011085 deg, new cmd heading: 216.068268 deg. 2021-02-18T03:44:32.434Z,1613619872.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:44:33.193Z,1613619873.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:44:33.600Z,1613619873.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:44:34.410Z,1613619874.410 [Micromodem](INFO): Nmea in: $SNTTA,0.138391,,,,034433.21*41 2021-02-18T03:44:34.879Z,1613619874.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.359985 m, bearing: 235.773349 deg, deltaT: 4.837613 s, approachRate: -0.620144 m/s, LOS rate: 0.385893 deg/s, posRepo size: 4 2021-02-18T03:44:34.881Z,1613619874.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.359985 m, bearing: 235.773349 deg, approachRate: -0.620144 m/s, LOS rate: 0.385893 deg/s, cmd update: 1.543571 deg/s, cmd heading: 237.177404 deg, new cmd heading: 239.067173 deg. 2021-02-18T03:44:37.322Z,1613619877.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:44:38.058Z,1613619878.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:44:38.451Z,1613619878.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:44:39.267Z,1613619879.267 [Micromodem](INFO): Nmea in: $SNTTA,0.136071,,,,034438.08*42 2021-02-18T03:44:39.694Z,1613619879.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.879990 m, bearing: 235.966534 deg, deltaT: 4.891617 s, approachRate: -0.711420 m/s, LOS rate: 0.039493 deg/s, posRepo size: 4 2021-02-18T03:44:39.696Z,1613619879.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.879990 m, bearing: 235.966534 deg, approachRate: -0.711420 m/s, LOS rate: 0.039493 deg/s, cmd update: 0.157972 deg/s, cmd heading: 244.722188 deg, new cmd heading: 245.311061 deg. 2021-02-18T03:44:42.135Z,1613619882.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:44:42.894Z,1613619882.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:44:43.298Z,1613619883.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:44:44.110Z,1613619884.110 [Micromodem](INFO): Nmea in: $SNTTA,0.134081,,,,034442.92*41 2021-02-18T03:44:44.534Z,1613619884.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.699997 m, bearing: 234.474630 deg, deltaT: 4.851268 s, approachRate: -0.655497 m/s, LOS rate: -0.307529 deg/s, posRepo size: 4 2021-02-18T03:44:44.536Z,1613619884.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.699997 m, bearing: 234.474630 deg, approachRate: -0.655497 m/s, LOS rate: -0.307529 deg/s, cmd update: -1.230115 deg/s, cmd heading: 245.488554 deg, new cmd heading: 245.547066 deg. 2021-02-18T03:44:46.957Z,1613619886.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:44:47.736Z,1613619887.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:44:48.142Z,1613619888.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:44:48.956Z,1613619888.956 [Micromodem](INFO): Nmea in: $SNTTA,0.131828,,,,034447.76*40 2021-02-18T03:44:49.397Z,1613619889.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.519989 m, bearing: 232.468521 deg, deltaT: 4.811892 s, approachRate: -0.660864 m/s, LOS rate: -0.416906 deg/s, posRepo size: 4 2021-02-18T03:44:49.399Z,1613619889.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.519989 m, bearing: 232.468521 deg, approachRate: -0.660864 m/s, LOS rate: -0.416906 deg/s, cmd update: -1.667626 deg/s, cmd heading: 239.564521 deg, new cmd heading: 239.050610 deg. 2021-02-18T03:44:51.843Z,1613619891.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:44:52.584Z,1613619892.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:44:53.017Z,1613619893.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:44:53.832Z,1613619893.832 [Micromodem](INFO): Nmea in: $SNTTA,0.129843,,,,034452.61*46 2021-02-18T03:44:54.249Z,1613619894.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.579987 m, bearing: 232.116602 deg, deltaT: 4.876806 s, approachRate: -0.602854 m/s, LOS rate: -0.072162 deg/s, posRepo size: 4 2021-02-18T03:44:54.251Z,1613619894.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.579987 m, bearing: 232.116602 deg, approachRate: -0.602854 m/s, LOS rate: -0.072162 deg/s, cmd update: -0.288647 deg/s, cmd heading: 231.431560 deg, new cmd heading: 230.776296 deg. 2021-02-18T03:44:56.655Z,1613619896.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:44:57.449Z,1613619897.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:44:57.845Z,1613619897.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:44:58.658Z,1613619898.658 [Micromodem](INFO): Nmea in: $SNTTA,0.127701,,,,034457.47*40 2021-02-18T03:44:59.135Z,1613619899.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.339981 m, bearing: 233.160173 deg, deltaT: 4.844434 s, approachRate: -0.668810 m/s, LOS rate: 0.215416 deg/s, posRepo size: 4 2021-02-18T03:44:59.153Z,1613619899.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.339981 m, bearing: 233.160173 deg, approachRate: -0.668810 m/s, LOS rate: 0.215416 deg/s, cmd update: 0.861666 deg/s, cmd heading: 230.034428 deg, new cmd heading: 229.908051 deg. 2021-02-18T03:45:01.522Z,1613619901.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:45:02.301Z,1613619902.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:45:02.686Z,1613619902.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:45:03.510Z,1613619903.510 [Micromodem](INFO): Nmea in: $SNTTA,0.125673,,,,034502.32*45 2021-02-18T03:45:03.942Z,1613619903.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.279984 m, bearing: 235.043612 deg, deltaT: 4.823679 s, approachRate: -0.634370 m/s, LOS rate: 0.390457 deg/s, posRepo size: 4 2021-02-18T03:45:03.944Z,1613619903.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.279984 m, bearing: 235.043612 deg, approachRate: -0.634370 m/s, LOS rate: 0.390457 deg/s, cmd update: 1.561827 deg/s, cmd heading: 234.193958 deg, new cmd heading: 234.554095 deg. 2021-02-18T03:45:06.354Z,1613619906.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:45:07.128Z,1613619907.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:45:07.535Z,1613619907.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:45:08.351Z,1613619908.351 [Micromodem](INFO): Nmea in: $SNTTA,0.123525,,,,034507.15*43 2021-02-18T03:45:08.829Z,1613619908.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.039993 m, bearing: 235.584399 deg, deltaT: 4.869862 s, approachRate: -0.665315 m/s, LOS rate: 0.111048 deg/s, posRepo size: 4 2021-02-18T03:45:08.837Z,1613619908.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.039993 m, bearing: 235.584399 deg, approachRate: -0.665315 m/s, LOS rate: 0.111048 deg/s, cmd update: 0.444191 deg/s, cmd heading: 241.800626 deg, new cmd heading: 242.479478 deg. 2021-02-18T03:45:11.214Z,1613619911.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:45:11.993Z,1613619911.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:45:12.403Z,1613619912.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:45:13.212Z,1613619913.212 [Micromodem](INFO): Nmea in: $SNTTA,0.121203,,,,034512.02*40 2021-02-18T03:45:13.256Z,1613619913.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.039993 m, bearing: 246.623132 deg, deltaT: 4.491868 s, approachRate: 0.000000 m/s, LOS rate: 2.457493 deg/s, posRepo size: 4 2021-02-18T03:45:13.257Z,1613619913.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.039993 m, bearing: 246.623132 deg, approachRate: 0.000000 m/s, LOS rate: 2.457493 deg/s, cmd update: 9.829971 deg/s, cmd heading: 243.791212 deg, new cmd heading: 243.959799 deg. 2021-02-18T03:45:15.646Z,1613619915.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:45:16.437Z,1613619916.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:45:16.841Z,1613619916.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:45:17.660Z,1613619917.660 [Micromodem](INFO): Nmea in: $SNTTA,0.119411,,,,034516.46*4A 2021-02-18T03:45:17.682Z,1613619917.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.039993 m, bearing: 232.915079 deg, deltaT: 4.445967 s, approachRate: 0.000000 m/s, LOS rate: -3.083256 deg/s, posRepo size: 4 2021-02-18T03:45:17.684Z,1613619917.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.039993 m, bearing: 232.915079 deg, approachRate: 0.000000 m/s, LOS rate: -3.083256 deg/s, cmd update: -12.000000 deg/s, cmd heading: 287.512582 deg, new cmd heading: 291.038533 deg. 2021-02-18T03:45:20.094Z,1613619920.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:45:20.866Z,1613619920.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:45:21.283Z,1613619921.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:45:22.096Z,1613619922.096 [Micromodem](INFO): Nmea in: $SNTTA,0.117459,,,,034520.89*4E 2021-02-18T03:45:22.140Z,1613619922.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.039993 m, bearing: 233.794998 deg, deltaT: 4.398422 s, approachRate: 0.000000 m/s, LOS rate: 0.200053 deg/s, posRepo size: 4 2021-02-18T03:45:22.142Z,1613619922.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.039993 m, bearing: 233.794998 deg, approachRate: 0.000000 m/s, LOS rate: 0.200053 deg/s, cmd update: 0.800214 deg/s, cmd heading: 234.758612 deg, new cmd heading: 229.710140 deg. 2021-02-18T03:45:24.529Z,1613619924.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:45:25.313Z,1613619925.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:45:25.715Z,1613619925.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:45:26.540Z,1613619926.540 [Micromodem](INFO): Nmea in: $SNTTA,0.115961,,,,034525.34*49 2021-02-18T03:45:26.562Z,1613619926.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.039993 m, bearing: 226.422697 deg, deltaT: 4.451847 s, approachRate: 0.000000 m/s, LOS rate: -1.656010 deg/s, posRepo size: 4 2021-02-18T03:45:26.564Z,1613619926.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.039993 m, bearing: 226.422697 deg, approachRate: 0.000000 m/s, LOS rate: -1.656010 deg/s, cmd update: -6.624038 deg/s, cmd heading: 238.316726 deg, new cmd heading: 238.633472 deg. 2021-02-18T03:45:28.971Z,1613619928.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:45:29.752Z,1613619929.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:45:30.194Z,1613619930.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:45:31.005Z,1613619931.005 [Micromodem](INFO): Nmea in: $SNTTA,0.114908,,,,034529.77*4C 2021-02-18T03:45:31.070Z,1613619931.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.039993 m, bearing: 229.281145 deg, deltaT: 4.402941 s, approachRate: 0.000000 m/s, LOS rate: 0.649213 deg/s, posRepo size: 4 2021-02-18T03:45:31.080Z,1613619931.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.039993 m, bearing: 229.281145 deg, approachRate: 0.000000 m/s, LOS rate: 0.649213 deg/s, cmd update: 2.596853 deg/s, cmd heading: 209.055726 deg, new cmd heading: 205.835588 deg. 2021-02-18T03:45:33.128Z,1613619933.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:45:33.839Z,1613619933.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:45:34.215Z,1613619934.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:45:35.079Z,1613619935.079 [Micromodem](INFO): Nmea in: $SNTTA,0.113865,,,,034533.86*44 2021-02-18T03:45:35.434Z,1613619935.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.639999 m, bearing: 226.239675 deg, deltaT: 4.612798 s, approachRate: -3.121748 m/s, LOS rate: -0.659355 deg/s, posRepo size: 4 2021-02-18T03:45:35.456Z,1613619935.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.639999 m, bearing: 226.239675 deg, approachRate: -3.121748 m/s, LOS rate: -0.659355 deg/s, cmd update: -2.637418 deg/s, cmd heading: 221.038891 deg, new cmd heading: 221.651899 deg. 2021-02-18T03:45:37.895Z,1613619937.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:45:38.642Z,1613619938.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:45:39.086Z,1613619939.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:45:39.881Z,1613619939.881 [Micromodem](INFO): Nmea in: $SNTTA,0.112431,,,,034538.66*4D 2021-02-18T03:45:39.941Z,1613619939.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.540009 m, bearing: 234.985282 deg, deltaT: 4.318878 s, approachRate: -0.486235 m/s, LOS rate: 2.024972 deg/s, posRepo size: 4 2021-02-18T03:45:39.951Z,1613619939.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.540009 m, bearing: 234.985282 deg, approachRate: -0.486235 m/s, LOS rate: 2.024972 deg/s, cmd update: 8.099887 deg/s, cmd heading: 209.722056 deg, new cmd heading: 208.529539 deg. 2021-02-18T03:45:42.401Z,1613619942.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:45:43.084Z,1613619943.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:45:43.490Z,1613619943.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:45:44.313Z,1613619944.313 [Micromodem](INFO): Nmea in: $SNTTA,0.110894,,,,034543.10*41 2021-02-18T03:45:44.381Z,1613619944.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 229.179908 deg, deltaT: 4.504108 s, approachRate: -0.559490 m/s, LOS rate: -1.288906 deg/s, posRepo size: 4 2021-02-18T03:45:44.391Z,1613619944.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.020004 m, bearing: 229.179908 deg, approachRate: -0.559490 m/s, LOS rate: -1.288906 deg/s, cmd update: -5.155626 deg/s, cmd heading: 246.079307 deg, new cmd heading: 249.347838 deg. 2021-02-18T03:45:46.744Z,1613619946.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:45:47.528Z,1613619947.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:45:47.936Z,1613619947.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:45:48.769Z,1613619948.769 [Micromodem](INFO): Nmea in: $SNTTA,0.109153,,,0.111659,034547.55*5B 2021-02-18T03:45:48.826Z,1613619948.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.500000 m, bearing: 229.191997 deg, deltaT: 4.410537 s, approachRate: -0.571360 m/s, LOS rate: 0.002741 deg/s, posRepo size: 4 2021-02-18T03:45:48.836Z,1613619948.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.500000 m, bearing: 229.191997 deg, approachRate: -0.571360 m/s, LOS rate: 0.002741 deg/s, cmd update: 0.010964 deg/s, cmd heading: 223.158065 deg, new cmd heading: 221.081843 deg. 2021-02-18T03:45:51.213Z,1613619951.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:45:51.974Z,1613619951.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:45:52.406Z,1613619952.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:45:53.269Z,1613619953.269 [Micromodem](INFO): Nmea in: $SNTTA,0.107200,,,,034551.99*42 2021-02-18T03:45:53.354Z,1613619953.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.620010 m, bearing: 229.249398 deg, deltaT: 4.542571 s, approachRate: -0.634000 m/s, LOS rate: 0.012636 deg/s, posRepo size: 4 2021-02-18T03:45:53.368Z,1613619953.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.620010 m, bearing: 229.249398 deg, approachRate: -0.634000 m/s, LOS rate: 0.012636 deg/s, cmd update: 0.050545 deg/s, cmd heading: 223.207512 deg, new cmd heading: 223.212120 deg. 2021-02-18T03:45:55.644Z,1613619955.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:45:56.430Z,1613619956.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:45:56.840Z,1613619956.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:45:57.666Z,1613619957.666 [Micromodem](INFO): Nmea in: $SNTTA,0.105439,,,,034556.45*4A 2021-02-18T03:45:57.685Z,1613619957.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.920013 m, bearing: 232.378909 deg, deltaT: 4.352122 s, approachRate: -0.620386 m/s, LOS rate: 0.719077 deg/s, posRepo size: 4 2021-02-18T03:45:57.687Z,1613619957.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.920013 m, bearing: 232.378909 deg, approachRate: -0.620386 m/s, LOS rate: 0.719077 deg/s, cmd update: 2.876308 deg/s, cmd heading: 223.429351 deg, new cmd heading: 223.447706 deg. 2021-02-18T03:46:00.117Z,1613619960.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:00.870Z,1613619960.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:01.275Z,1613619961.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:02.100Z,1613619962.100 [Micromodem](INFO): Nmea in: $SNTTA,0.103424,,,,034600.89*40 2021-02-18T03:46:02.148Z,1613619962.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.919998 m, bearing: 231.861181 deg, deltaT: 4.400811 s, approachRate: -0.681696 m/s, LOS rate: -0.117644 deg/s, posRepo size: 4 2021-02-18T03:46:02.150Z,1613619962.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.919998 m, bearing: 231.861181 deg, approachRate: -0.681696 m/s, LOS rate: -0.117644 deg/s, cmd update: -0.470575 deg/s, cmd heading: 236.098486 deg, new cmd heading: 237.310617 deg. 2021-02-18T03:46:04.535Z,1613619964.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:05.312Z,1613619965.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:05.726Z,1613619965.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:06.540Z,1613619966.540 [Micromodem](INFO): Nmea in: $SNTTA,0.101532,,,,034605.33*40 2021-02-18T03:46:06.576Z,1613619966.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.099991 m, bearing: 233.955754 deg, deltaT: 4.453170 s, approachRate: -0.633258 m/s, LOS rate: 0.470356 deg/s, posRepo size: 4 2021-02-18T03:46:06.578Z,1613619966.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.099991 m, bearing: 233.955754 deg, approachRate: -0.633258 m/s, LOS rate: 0.470356 deg/s, cmd update: 1.881422 deg/s, cmd heading: 234.002801 deg, new cmd heading: 233.816598 deg. 2021-02-18T03:46:09.004Z,1613619969.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:09.761Z,1613619969.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:10.204Z,1613619970.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:10.988Z,1613619970.988 [Micromodem](INFO): Nmea in: $SNTTA,0.099365,,,,034609.78*47 2021-02-18T03:46:11.013Z,1613619971.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.860001 m, bearing: 232.794102 deg, deltaT: 4.403073 s, approachRate: -0.735847 m/s, LOS rate: -0.263827 deg/s, posRepo size: 4 2021-02-18T03:46:11.014Z,1613619971.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.860001 m, bearing: 232.794102 deg, approachRate: -0.735847 m/s, LOS rate: -0.263827 deg/s, cmd update: -1.055310 deg/s, cmd heading: 242.286972 deg, new cmd heading: 243.094344 deg. 2021-02-18T03:46:13.429Z,1613619973.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:14.203Z,1613619974.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:14.608Z,1613619974.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:15.453Z,1613619975.453 [Micromodem](INFO): Nmea in: $SNTTA,0.097240,,,,034614.22*4C 2021-02-18T03:46:15.474Z,1613619975.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.680008 m, bearing: 230.720921 deg, deltaT: 4.485526 s, approachRate: -0.708945 m/s, LOS rate: -0.462194 deg/s, posRepo size: 4 2021-02-18T03:46:15.476Z,1613619975.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.680008 m, bearing: 230.720921 deg, approachRate: -0.708945 m/s, LOS rate: -0.462194 deg/s, cmd update: -1.848774 deg/s, cmd heading: 237.553520 deg, new cmd heading: 237.126076 deg. 2021-02-18T03:46:17.880Z,1613619977.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:18.665Z,1613619978.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:19.081Z,1613619979.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:19.890Z,1613619979.890 [Micromodem](INFO): Nmea in: $SNTTA,0.095196,,,,034618.69*45 2021-02-18T03:46:19.919Z,1613619979.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.559998 m, bearing: 230.784961 deg, deltaT: 4.427134 s, approachRate: -0.704747 m/s, LOS rate: 0.014465 deg/s, posRepo size: 4 2021-02-18T03:46:19.921Z,1613619979.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.559998 m, bearing: 230.784961 deg, approachRate: -0.704747 m/s, LOS rate: 0.014465 deg/s, cmd update: 0.057861 deg/s, cmd heading: 229.383658 deg, new cmd heading: 228.586526 deg. 2021-02-18T03:46:22.370Z,1613619982.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:23.102Z,1613619983.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:23.493Z,1613619983.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:24.324Z,1613619984.324 [Micromodem](INFO): Nmea in: $SNTTA,0.093252,,,,034623.12*4C 2021-02-18T03:46:24.364Z,1613619984.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.680008 m, bearing: 230.896621 deg, deltaT: 4.493889 s, approachRate: -0.640868 m/s, LOS rate: 0.024847 deg/s, posRepo size: 4 2021-02-18T03:46:24.366Z,1613619984.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.680008 m, bearing: 230.896621 deg, approachRate: -0.640868 m/s, LOS rate: 0.024847 deg/s, cmd update: 0.099388 deg/s, cmd heading: 229.642993 deg, new cmd heading: 229.665770 deg. 2021-02-18T03:46:26.739Z,1613619986.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:27.534Z,1613619987.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:27.944Z,1613619987.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:28.776Z,1613619988.776 [Micromodem](INFO): Nmea in: $SNTTA,0.091305,,,,034627.56*49 2021-02-18T03:46:28.837Z,1613619988.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.680008 m, bearing: 232.710528 deg, deltaT: 4.385104 s, approachRate: -0.684134 m/s, LOS rate: 0.413652 deg/s, posRepo size: 4 2021-02-18T03:46:28.838Z,1613619988.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.680008 m, bearing: 232.710528 deg, approachRate: -0.684134 m/s, LOS rate: 0.413652 deg/s, cmd update: 1.654608 deg/s, cmd heading: 230.080793 deg, new cmd heading: 230.126688 deg. 2021-02-18T03:46:31.213Z,1613619991.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:31.977Z,1613619991.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:32.398Z,1613619992.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:33.204Z,1613619993.204 [Micromodem](INFO): Nmea in: $SNTTA,0.089335,,,,034632.00*44 2021-02-18T03:46:33.252Z,1613619993.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.800003 m, bearing: 235.174751 deg, deltaT: 4.494377 s, approachRate: -0.640802 m/s, LOS rate: 0.548290 deg/s, posRepo size: 4 2021-02-18T03:46:33.254Z,1613619993.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.800003 m, bearing: 235.174751 deg, approachRate: -0.640802 m/s, LOS rate: 0.548290 deg/s, cmd update: 2.193161 deg/s, cmd heading: 237.491028 deg, new cmd heading: 238.151099 deg. 2021-02-18T03:46:35.636Z,1613619995.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:36.420Z,1613619996.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:36.839Z,1613619996.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:37.664Z,1613619997.664 [Micromodem](INFO): Nmea in: $SNTTA,0.087239,,,,034636.44*43 2021-02-18T03:46:37.691Z,1613619997.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.680008 m, bearing: 233.164026 deg, deltaT: 4.396303 s, approachRate: -0.709686 m/s, LOS rate: -0.457367 deg/s, posRepo size: 4 2021-02-18T03:46:37.694Z,1613619997.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.680008 m, bearing: 233.164026 deg, approachRate: -0.709686 m/s, LOS rate: -0.457367 deg/s, cmd update: -1.829470 deg/s, cmd heading: 247.168129 deg, new cmd heading: 248.099951 deg. 2021-02-18T03:46:40.092Z,1613620000.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:40.875Z,1613620000.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:41.275Z,1613620001.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:42.100Z,1613620002.100 [Micromodem](INFO): Nmea in: $SNTTA,0.085215,,,,034640.90*47 2021-02-18T03:46:42.144Z,1613620002.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.619995 m, bearing: 232.523163 deg, deltaT: 4.430796 s, approachRate: -0.690624 m/s, LOS rate: -0.144638 deg/s, posRepo size: 4 2021-02-18T03:46:42.146Z,1613620002.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.619995 m, bearing: 232.523163 deg, approachRate: -0.690624 m/s, LOS rate: -0.144638 deg/s, cmd update: -0.578553 deg/s, cmd heading: 239.062476 deg, new cmd heading: 238.243032 deg. 2021-02-18T03:46:42.500Z,1613620002.500 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T03:46:44.536Z,1613620004.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:45.329Z,1613620005.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:45.714Z,1613620005.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:46.554Z,1613620006.554 [Micromodem](INFO): Nmea in: $SNTTA,0.083248,,,,034645.35*43 2021-02-18T03:46:46.577Z,1613620006.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.620003 m, bearing: 231.499836 deg, deltaT: 4.508966 s, approachRate: -0.665339 m/s, LOS rate: -0.226954 deg/s, posRepo size: 4 2021-02-18T03:46:46.579Z,1613620006.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.620003 m, bearing: 231.499836 deg, approachRate: -0.665339 m/s, LOS rate: -0.226954 deg/s, cmd update: -0.907815 deg/s, cmd heading: 236.456113 deg, new cmd heading: 236.238579 deg. 2021-02-18T03:46:48.970Z,1613620008.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:49.757Z,1613620009.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:50.197Z,1613620010.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:50.984Z,1613620010.984 [Micromodem](INFO): Nmea in: $SNTTA,0.081457,,,,034649.78*4C 2021-02-18T03:46:51.029Z,1613620011.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.740005 m, bearing: 231.024974 deg, deltaT: 4.370147 s, approachRate: -0.659016 m/s, LOS rate: -0.108660 deg/s, posRepo size: 4 2021-02-18T03:46:51.030Z,1613620011.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.740005 m, bearing: 231.024974 deg, approachRate: -0.659016 m/s, LOS rate: -0.108660 deg/s, cmd update: -0.434642 deg/s, cmd heading: 232.485113 deg, new cmd heading: 232.074035 deg. 2021-02-18T03:46:53.058Z,1613620013.058 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T03:46:53.423Z,1613620013.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:54.198Z,1613620014.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:54.602Z,1613620014.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:55.424Z,1613620015.424 [Micromodem](INFO): Nmea in: $SNTTA,0.079319,,,,034654.22*45 2021-02-18T03:46:55.469Z,1613620015.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.740005 m, bearing: 233.640827 deg, deltaT: 4.522700 s, approachRate: -0.663321 m/s, LOS rate: 0.578383 deg/s, posRepo size: 4 2021-02-18T03:46:55.470Z,1613620015.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.740005 m, bearing: 233.640827 deg, approachRate: -0.663321 m/s, LOS rate: 0.578383 deg/s, cmd update: 2.313532 deg/s, cmd heading: 230.521065 deg, new cmd heading: 230.358427 deg. 2021-02-18T03:46:57.890Z,1613620017.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:46:58.648Z,1613620018.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:46:59.082Z,1613620019.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:46:59.872Z,1613620019.872 [Micromodem](INFO): Nmea in: $SNTTA,0.077450,,,,034658.67*4C 2021-02-18T03:46:59.930Z,1613620019.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.919998 m, bearing: 231.510683 deg, deltaT: 4.367350 s, approachRate: -0.645702 m/s, LOS rate: -0.487743 deg/s, posRepo size: 4 2021-02-18T03:46:59.937Z,1613620019.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.919998 m, bearing: 231.510683 deg, approachRate: -0.645702 m/s, LOS rate: -0.487743 deg/s, cmd update: -1.950972 deg/s, cmd heading: 240.634050 deg, new cmd heading: 241.706295 deg. 2021-02-18T03:47:02.319Z,1613620022.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:47:02.705Z,1613620022.705 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items 2021-02-18T03:47:03.089Z,1613620023.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:47:03.490Z,1613620023.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:47:04.320Z,1613620024.320 [Micromodem](INFO): Nmea in: $SNTTA,0.075538,,,,034703.11*4F 2021-02-18T03:47:04.359Z,1613620024.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.100006 m, bearing: 232.885108 deg, deltaT: 4.469989 s, approachRate: -0.630872 m/s, LOS rate: 0.307478 deg/s, posRepo size: 4 2021-02-18T03:47:04.361Z,1613620024.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.100006 m, bearing: 232.885108 deg, approachRate: -0.630872 m/s, LOS rate: 0.307478 deg/s, cmd update: 1.229914 deg/s, cmd heading: 231.920727 deg, new cmd heading: 231.088042 deg. 2021-02-18T03:47:06.747Z,1613620026.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:47:07.530Z,1613620027.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:47:07.935Z,1613620027.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:47:08.767Z,1613620028.767 [Micromodem](INFO): Nmea in: $SNTTA,0.073582,,0.074732,,034707.55*57 2021-02-18T03:47:08.840Z,1613620028.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.160004 m, bearing: 234.711692 deg, deltaT: 4.447455 s, approachRate: -0.661053 m/s, LOS rate: 0.410703 deg/s, posRepo size: 4 2021-02-18T03:47:08.842Z,1613620028.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.160004 m, bearing: 234.711692 deg, approachRate: -0.661053 m/s, LOS rate: 0.410703 deg/s, cmd update: 1.642813 deg/s, cmd heading: 237.390689 deg, new cmd heading: 237.931299 deg. 2021-02-18T03:47:11.205Z,1613620031.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:47:11.973Z,1613620031.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:47:12.398Z,1613620032.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:47:12.418Z,1613620032.418 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T03:47:13.200Z,1613620033.200 [Micromodem](INFO): Nmea in: $SNTTA,0.071452,,,,034711.99*45 2021-02-18T03:47:13.248Z,1613620033.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.980003 m, bearing: 234.539188 deg, deltaT: 4.465370 s, approachRate: -0.712147 m/s, LOS rate: -0.038631 deg/s, posRepo size: 4 2021-02-18T03:47:13.250Z,1613620033.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.980003 m, bearing: 234.539188 deg, approachRate: -0.712147 m/s, LOS rate: -0.038631 deg/s, cmd update: -0.154525 deg/s, cmd heading: 244.718580 deg, new cmd heading: 245.388940 deg. 2021-02-18T03:47:15.623Z,1613620035.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:47:16.417Z,1613620036.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:47:16.839Z,1613620036.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:47:17.648Z,1613620037.648 [Micromodem](INFO): Nmea in: $SNTTA,0.069452,,,,034716.44*4B 2021-02-18T03:47:17.670Z,1613620037.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.980003 m, bearing: 232.693180 deg, deltaT: 4.427106 s, approachRate: -0.677644 m/s, LOS rate: -0.416979 deg/s, posRepo size: 4 2021-02-18T03:47:17.672Z,1613620037.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.980003 m, bearing: 232.693180 deg, approachRate: -0.677644 m/s, LOS rate: -0.416979 deg/s, cmd update: -1.667915 deg/s, cmd heading: 244.033120 deg, new cmd heading: 243.972201 deg. 2021-02-18T03:47:20.109Z,1613620040.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:47:20.866Z,1613620040.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:47:21.272Z,1613620041.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:47:22.095Z,1613620042.095 [Micromodem](INFO): Nmea in: $SNTTA,0.067590,,,,034720.89*4E 2021-02-18T03:47:22.120Z,1613620042.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.980003 m, bearing: 232.629959 deg, deltaT: 4.428896 s, approachRate: -0.677370 m/s, LOS rate: -0.014274 deg/s, posRepo size: 4 2021-02-18T03:47:22.122Z,1613620042.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.980003 m, bearing: 232.629959 deg, approachRate: -0.677370 m/s, LOS rate: -0.014274 deg/s, cmd update: -0.057098 deg/s, cmd heading: 236.646063 deg, new cmd heading: 235.954281 deg. 2021-02-18T03:47:24.511Z,1613620044.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:47:25.305Z,1613620045.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:47:25.710Z,1613620045.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:47:26.536Z,1613620046.536 [Micromodem](INFO): Nmea in: $SNTTA,0.065455,,,,034725.33*40 2021-02-18T03:47:26.569Z,1613620046.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.040001 m, bearing: 230.915473 deg, deltaT: 4.473408 s, approachRate: -0.657218 m/s, LOS rate: -0.383262 deg/s, posRepo size: 4 2021-02-18T03:47:26.571Z,1613620046.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.040001 m, bearing: 230.915473 deg, approachRate: -0.657218 m/s, LOS rate: -0.383262 deg/s, cmd update: -1.533047 deg/s, cmd heading: 236.390895 deg, new cmd heading: 236.368330 deg. 2021-02-18T03:47:28.973Z,1613620048.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:47:29.751Z,1613620049.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:47:30.188Z,1613620050.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:47:31.004Z,1613620051.004 [Micromodem](INFO): Nmea in: $SNTTA,0.063581,,,,034729.77*42 2021-02-18T03:47:31.090Z,1613620051.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.160004 m, bearing: 231.471641 deg, deltaT: 4.414430 s, approachRate: -0.652405 m/s, LOS rate: 0.125989 deg/s, posRepo size: 4 2021-02-18T03:47:31.117Z,1613620051.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.160004 m, bearing: 231.471641 deg, approachRate: -0.652405 m/s, LOS rate: 0.125989 deg/s, cmd update: 0.503955 deg/s, cmd heading: 229.650415 deg, new cmd heading: 228.854596 deg. 2021-02-18T03:47:33.436Z,1613620053.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:47:34.206Z,1613620054.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:47:34.598Z,1613620054.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:47:35.433Z,1613620055.433 [Micromodem](INFO): Nmea in: $SNTTA,0.061586,,0.072955,,034734.23*58 2021-02-18T03:47:35.454Z,1613620055.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.159996 m, bearing: 229.996894 deg, deltaT: 4.526455 s, approachRate: -0.662772 m/s, LOS rate: -0.325806 deg/s, posRepo size: 4 2021-02-18T03:47:35.456Z,1613620055.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.159996 m, bearing: 229.996894 deg, approachRate: -0.662772 m/s, LOS rate: -0.325806 deg/s, cmd update: -1.303225 deg/s, cmd heading: 231.940560 deg, new cmd heading: 232.111690 deg. 2021-02-18T03:47:37.880Z,1613620057.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:47:38.649Z,1613620058.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:47:39.093Z,1613620059.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:47:39.877Z,1613620059.877 [Micromodem](INFO): Nmea in: $SNTTA,0.059694,,,,034738.67*4D 2021-02-18T03:47:39.909Z,1613620059.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.340004 m, bearing: 233.691098 deg, deltaT: 4.372423 s, approachRate: -0.644949 m/s, LOS rate: 0.844887 deg/s, posRepo size: 4 2021-02-18T03:47:39.911Z,1613620059.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.340004 m, bearing: 233.691098 deg, approachRate: -0.644949 m/s, LOS rate: 0.844887 deg/s, cmd update: 3.379548 deg/s, cmd heading: 226.243064 deg, new cmd heading: 225.692327 deg. 2021-02-18T03:47:42.320Z,1613620062.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:47:43.095Z,1613620063.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:47:43.486Z,1613620063.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:47:44.321Z,1613620064.321 [Micromodem](INFO): Nmea in: $SNTTA,0.057741,,,,034743.12*44 2021-02-18T03:47:44.353Z,1613620064.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 234.757072 deg, deltaT: 4.479384 s, approachRate: -0.669735 m/s, LOS rate: 0.237973 deg/s, posRepo size: 4 2021-02-18T03:47:44.379Z,1613620064.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.340004 m, bearing: 234.757072 deg, approachRate: -0.669735 m/s, LOS rate: 0.237973 deg/s, cmd update: 0.951893 deg/s, cmd heading: 241.250549 deg, new cmd heading: 242.689970 deg. 2021-02-18T03:47:46.749Z,1613620066.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:47:47.524Z,1613620067.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:47:47.932Z,1613620067.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:47:48.768Z,1613620068.768 [Micromodem](INFO): Nmea in: $SNTTA,0.055724,,,,034747.54*43 2021-02-18T03:47:48.845Z,1613620068.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.400002 m, bearing: 236.394650 deg, deltaT: 4.431363 s, approachRate: -0.663453 m/s, LOS rate: 0.369543 deg/s, posRepo size: 4 2021-02-18T03:47:48.846Z,1613620068.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.400002 m, bearing: 236.394650 deg, approachRate: -0.663453 m/s, LOS rate: 0.369543 deg/s, cmd update: 1.478172 deg/s, cmd heading: 245.502349 deg, new cmd heading: 245.931303 deg. 2021-02-18T03:47:51.241Z,1613620071.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:47:51.981Z,1613620071.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:47:52.460Z,1613620072.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:47:53.253Z,1613620073.253 [Micromodem](INFO): Nmea in: $SNTTA,0.053857,,,,034752.00*4B 2021-02-18T03:47:53.329Z,1613620073.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.399994 m, bearing: 232.726893 deg, deltaT: 4.650928 s, approachRate: -0.645034 m/s, LOS rate: -0.788608 deg/s, posRepo size: 4 2021-02-18T03:47:53.344Z,1613620073.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.399994 m, bearing: 232.726893 deg, approachRate: -0.645034 m/s, LOS rate: -0.788608 deg/s, cmd update: -3.154430 deg/s, cmd heading: 252.371349 deg, new cmd heading: 252.797774 deg. 2021-02-18T03:47:55.654Z,1613620075.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:47:56.448Z,1613620076.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:47:56.853Z,1613620076.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:47:57.679Z,1613620077.679 [Micromodem](INFO): Nmea in: $SNTTA,0.051848,,,,034756.47*40 2021-02-18T03:47:57.698Z,1613620077.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.460007 m, bearing: 231.574449 deg, deltaT: 4.260697 s, approachRate: -0.690025 m/s, LOS rate: -0.270483 deg/s, posRepo size: 4 2021-02-18T03:47:57.700Z,1613620077.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.460007 m, bearing: 231.574449 deg, approachRate: -0.690025 m/s, LOS rate: -0.270483 deg/s, cmd update: -1.081930 deg/s, cmd heading: 238.905629 deg, new cmd heading: 237.680183 deg. 2021-02-18T03:48:00.109Z,1613620080.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:00.892Z,1613620080.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:01.298Z,1613620081.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:02.124Z,1613620082.124 [Micromodem](INFO): Nmea in: $SNTTA,0.050124,,,,034800.92*46 2021-02-18T03:48:02.149Z,1613620082.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.120003 m, bearing: 230.895228 deg, deltaT: 4.415181 s, approachRate: -0.529990 m/s, LOS rate: -0.153838 deg/s, posRepo size: 4 2021-02-18T03:48:02.150Z,1613620082.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.120003 m, bearing: 230.895228 deg, approachRate: -0.529990 m/s, LOS rate: -0.153838 deg/s, cmd update: -0.615351 deg/s, cmd heading: 234.124385 deg, new cmd heading: 233.670434 deg. 2021-02-18T03:48:04.568Z,1613620084.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:05.341Z,1613620085.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:05.741Z,1613620085.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:06.568Z,1613620086.568 [Micromodem](INFO): Nmea in: $SNTTA,0.048651,,,,034805.36*41 2021-02-18T03:48:06.605Z,1613620086.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.840004 m, bearing: 228.616991 deg, deltaT: 4.485359 s, approachRate: -0.508320 m/s, LOS rate: -0.507927 deg/s, posRepo size: 4 2021-02-18T03:48:06.607Z,1613620086.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.840004 m, bearing: 228.616991 deg, approachRate: -0.508320 m/s, LOS rate: -0.507927 deg/s, cmd update: -2.031710 deg/s, cmd heading: 231.366791 deg, new cmd heading: 231.123716 deg. 2021-02-18T03:48:09.008Z,1613620089.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:09.792Z,1613620089.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:10.202Z,1613620090.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:11.016Z,1613620091.016 [Micromodem](INFO): Nmea in: $SNTTA,0.047195,,,,034809.81*41 2021-02-18T03:48:11.055Z,1613620091.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.680008 m, bearing: 228.421743 deg, deltaT: 4.417423 s, approachRate: -0.488972 m/s, LOS rate: -0.044199 deg/s, posRepo size: 4 2021-02-18T03:48:11.057Z,1613620091.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.680008 m, bearing: 228.421743 deg, approachRate: -0.488972 m/s, LOS rate: -0.044199 deg/s, cmd update: -0.176798 deg/s, cmd heading: 222.400008 deg, new cmd heading: 221.523837 deg. 2021-02-18T03:48:13.442Z,1613620093.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:14.224Z,1613620094.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:14.630Z,1613620094.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:15.452Z,1613620095.452 [Micromodem](INFO): Nmea in: $SNTTA,0.045787,,,,034814.24*45 2021-02-18T03:48:15.494Z,1613620095.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.400009 m, bearing: 225.554662 deg, deltaT: 4.456979 s, approachRate: -0.511557 m/s, LOS rate: -0.643279 deg/s, posRepo size: 4 2021-02-18T03:48:15.500Z,1613620095.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.400009 m, bearing: 225.554662 deg, approachRate: -0.511557 m/s, LOS rate: -0.643279 deg/s, cmd update: -2.573116 deg/s, cmd heading: 221.610598 deg, new cmd heading: 221.538938 deg. 2021-02-18T03:48:17.896Z,1613620097.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:18.668Z,1613620098.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:19.093Z,1613620099.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:19.900Z,1613620099.900 [Micromodem](INFO): Nmea in: $SNTTA,0.044002,,,,034818.69*4B 2021-02-18T03:48:19.939Z,1613620099.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.820000 m, bearing: 224.994696 deg, deltaT: 4.424309 s, approachRate: -0.583144 m/s, LOS rate: -0.126566 deg/s, posRepo size: 4 2021-02-18T03:48:19.941Z,1613620099.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.820000 m, bearing: 224.994696 deg, approachRate: -0.583144 m/s, LOS rate: -0.126566 deg/s, cmd update: -0.506263 deg/s, cmd heading: 210.226581 deg, new cmd heading: 209.131497 deg. 2021-02-18T03:48:22.375Z,1613620102.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:23.113Z,1613620103.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:23.529Z,1613620103.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:24.356Z,1613620104.356 [Micromodem](INFO): Nmea in: $SNTTA,0.042344,,,,034823.13*49 2021-02-18T03:48:24.381Z,1613620104.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.299999 m, bearing: 228.038679 deg, deltaT: 4.453179 s, approachRate: -0.565888 m/s, LOS rate: 0.683553 deg/s, posRepo size: 4 2021-02-18T03:48:24.382Z,1613620104.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.299999 m, bearing: 228.038679 deg, approachRate: -0.565888 m/s, LOS rate: 0.683553 deg/s, cmd update: 2.734211 deg/s, cmd heading: 207.972112 deg, new cmd heading: 207.762241 deg. 2021-02-18T03:48:26.817Z,1613620106.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:27.558Z,1613620107.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:27.970Z,1613620107.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:28.808Z,1613620108.808 [Micromodem](INFO): Nmea in: $SNTTA,0.040510,,,,034827.58*47 2021-02-18T03:48:28.858Z,1613620108.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.480003 m, bearing: 228.613098 deg, deltaT: 4.439587 s, approachRate: -0.635193 m/s, LOS rate: 0.129386 deg/s, posRepo size: 4 2021-02-18T03:48:28.860Z,1613620108.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.480003 m, bearing: 228.613098 deg, approachRate: -0.635193 m/s, LOS rate: 0.129386 deg/s, cmd update: 0.517543 deg/s, cmd heading: 220.111108 deg, new cmd heading: 221.347029 deg. 2021-02-18T03:48:31.213Z,1613620111.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:32.005Z,1613620112.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:32.421Z,1613620112.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:33.237Z,1613620113.237 [Micromodem](INFO): Nmea in: $SNTTA,0.039174,,,,034832.03*45 2021-02-18T03:48:33.286Z,1613620113.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.559998 m, bearing: 230.001866 deg, deltaT: 4.452450 s, approachRate: -0.431225 m/s, LOS rate: 0.311911 deg/s, posRepo size: 4 2021-02-18T03:48:33.288Z,1613620113.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.559998 m, bearing: 230.001866 deg, approachRate: -0.431225 m/s, LOS rate: 0.311911 deg/s, cmd update: 1.247645 deg/s, cmd heading: 222.414487 deg, new cmd heading: 222.636648 deg. 2021-02-18T03:48:35.674Z,1613620115.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:36.450Z,1613620116.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:36.862Z,1613620116.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:37.687Z,1613620117.687 [Micromodem](INFO): Nmea in: $SNTTA,0.037716,,,,034836.47*4D 2021-02-18T03:48:37.709Z,1613620117.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.400005 m, bearing: 233.041328 deg, deltaT: 4.435705 s, approachRate: -0.486956 m/s, LOS rate: 0.685226 deg/s, posRepo size: 4 2021-02-18T03:48:37.711Z,1613620117.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.400005 m, bearing: 233.041328 deg, approachRate: -0.486956 m/s, LOS rate: 0.685226 deg/s, cmd update: 2.740905 deg/s, cmd heading: 227.950962 deg, new cmd heading: 228.469181 deg. 2021-02-18T03:48:40.111Z,1613620120.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:40.900Z,1613620120.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:41.293Z,1613620121.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:42.124Z,1613620122.124 [Micromodem](INFO): Nmea in: $SNTTA,0.036355,,,,034840.92*46 2021-02-18T03:48:42.148Z,1613620122.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.359993 m, bearing: 236.160211 deg, deltaT: 4.463799 s, approachRate: -0.457013 m/s, LOS rate: 0.698706 deg/s, posRepo size: 4 2021-02-18T03:48:42.150Z,1613620122.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.359993 m, bearing: 236.160211 deg, approachRate: -0.457013 m/s, LOS rate: 0.698706 deg/s, cmd update: 2.794824 deg/s, cmd heading: 240.167904 deg, new cmd heading: 241.256433 deg. 2021-02-18T03:48:44.561Z,1613620124.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:45.333Z,1613620125.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:45.743Z,1613620125.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:46.564Z,1613620126.564 [Micromodem](INFO): Nmea in: $SNTTA,0.034778,,,,034845.35*47 2021-02-18T03:48:46.586Z,1613620126.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.959999 m, bearing: 237.785905 deg, deltaT: 4.434112 s, approachRate: -0.541257 m/s, LOS rate: 0.366634 deg/s, posRepo size: 4 2021-02-18T03:48:46.588Z,1613620126.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.959999 m, bearing: 237.785905 deg, approachRate: -0.541257 m/s, LOS rate: 0.366634 deg/s, cmd update: 1.466534 deg/s, cmd heading: 252.578722 deg, new cmd heading: 253.680447 deg. 2021-02-18T03:48:48.994Z,1613620128.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:49.780Z,1613620129.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:50.210Z,1613620130.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:51.004Z,1613620131.004 [Micromodem](INFO): Nmea in: $SNTTA,0.032859,,,,034849.80*4F 2021-02-18T03:48:51.045Z,1613620131.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.079998 m, bearing: 239.421053 deg, deltaT: 4.422113 s, approachRate: -0.651273 m/s, LOS rate: 0.369766 deg/s, posRepo size: 4 2021-02-18T03:48:51.047Z,1613620131.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.079998 m, bearing: 239.421053 deg, approachRate: -0.651273 m/s, LOS rate: 0.369766 deg/s, cmd update: 1.479064 deg/s, cmd heading: 259.040451 deg, new cmd heading: 259.696324 deg. 2021-02-18T03:48:53.438Z,1613620133.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:54.220Z,1613620134.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:54.626Z,1613620134.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:55.448Z,1613620135.448 [Micromodem](INFO): Nmea in: $SNTTA,0.031225,,,,034854.24*4F 2021-02-18T03:48:55.504Z,1613620135.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.500004 m, bearing: 234.620522 deg, deltaT: 4.481356 s, approachRate: -0.575717 m/s, LOS rate: -1.071223 deg/s, posRepo size: 4 2021-02-18T03:48:55.506Z,1613620135.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.500004 m, bearing: 234.620522 deg, approachRate: -0.575717 m/s, LOS rate: -1.071223 deg/s, cmd update: -4.284891 deg/s, cmd heading: 265.686360 deg, new cmd heading: 266.295076 deg. 2021-02-18T03:48:57.896Z,1613620137.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:48:58.674Z,1613620138.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:48:59.092Z,1613620139.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:48:59.900Z,1613620139.900 [Micromodem](INFO): Nmea in: $SNTTA,0.029621,,,,034858.70*4B 2021-02-18T03:48:59.996Z,1613620139.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.220001 m, bearing: 232.300034 deg, deltaT: 4.390611 s, approachRate: -0.519291 m/s, LOS rate: -0.528512 deg/s, posRepo size: 4 2021-02-18T03:48:59.997Z,1613620139.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.220001 m, bearing: 232.300034 deg, approachRate: -0.519291 m/s, LOS rate: -0.528512 deg/s, cmd update: -2.114046 deg/s, cmd heading: 246.855817 deg, new cmd heading: 244.828446 deg. 2021-02-18T03:49:02.341Z,1613620142.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:49:03.110Z,1613620143.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:49:03.513Z,1613620143.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:49:04.356Z,1613620144.356 [Micromodem](INFO): Nmea in: $SNTTA,0.028390,,,,034903.13*4F 2021-02-18T03:49:04.398Z,1613620144.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.419998 m, bearing: 230.572133 deg, deltaT: 4.457373 s, approachRate: -0.403826 m/s, LOS rate: -0.387650 deg/s, posRepo size: 4 2021-02-18T03:49:04.400Z,1613620144.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.419998 m, bearing: 230.572133 deg, approachRate: -0.403826 m/s, LOS rate: -0.387650 deg/s, cmd update: -1.550601 deg/s, cmd heading: 237.438492 deg, new cmd heading: 236.471058 deg. 2021-02-18T03:49:06.759Z,1613620146.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:49:07.558Z,1613620147.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:49:07.958Z,1613620147.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:49:08.792Z,1613620148.792 [Micromodem](INFO): Nmea in: $SNTTA,0.027000,,,,034907.58*41 2021-02-18T03:49:08.872Z,1613620148.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.319996 m, bearing: 231.014811 deg, deltaT: 4.457615 s, approachRate: -0.471104 m/s, LOS rate: 0.099308 deg/s, posRepo size: 4 2021-02-18T03:49:08.874Z,1613620148.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.319996 m, bearing: 231.014811 deg, approachRate: -0.471104 m/s, LOS rate: 0.099308 deg/s, cmd update: 0.397233 deg/s, cmd heading: 230.537422 deg, new cmd heading: 229.798832 deg. 2021-02-18T03:49:11.238Z,1613620151.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:49:12.003Z,1613620152.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:49:12.406Z,1613620152.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:49:13.228Z,1613620153.228 [Micromodem](INFO): Nmea in: $SNTTA,0.025829,,,,034912.02*4B 2021-02-18T03:49:13.267Z,1613620153.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.399998 m, bearing: 222.699192 deg, deltaT: 4.454574 s, approachRate: -0.431017 m/s, LOS rate: -1.866760 deg/s, posRepo size: 4 2021-02-18T03:49:13.267Z,1613620153.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.40 m. 2021-02-18T03:49:13.269Z,1613620153.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.399998 m, bearing: 222.699192 deg, approachRate: -0.431017 m/s, LOS rate: -1.866760 deg/s, cmd update: -7.467039 deg/s, cmd heading: 232.310790 deg, new cmd heading: 232.474105 deg. 2021-02-18T03:49:13.625Z,1613620153.625 [PowerOnly](INFO): Powering up loadControl 2021-02-18T03:49:15.679Z,1613620155.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:49:16.440Z,1613620156.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:49:16.851Z,1613620156.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:49:17.675Z,1613620157.675 [Micromodem](INFO): Nmea in: $SNTTA,0.024052,,,,034916.46*4A 2021-02-18T03:49:17.698Z,1613620157.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.880001 m, bearing: 222.507523 deg, deltaT: 4.433406 s, approachRate: -0.568411 m/s, LOS rate: -0.043233 deg/s, posRepo size: 4 2021-02-18T03:49:17.698Z,1613620157.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.88 m. 2021-02-18T03:49:17.699Z,1613620157.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.88 m. 2021-02-18T03:49:17.699Z,1613620157.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T03:49:17.701Z,1613620157.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.880001 m, bearing: 222.507523 deg, approachRate: -0.568411 m/s, LOS rate: -0.043233 deg/s, cmd update: -0.172931 deg/s, cmd heading: 199.205801 deg, new cmd heading: 196.151230 deg. 2021-02-18T03:49:20.111Z,1613620160.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:49:20.890Z,1613620160.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:49:21.290Z,1613620161.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:49:22.124Z,1613620162.124 [Micromodem](INFO): Nmea in: $SNTTA,0.022526,,,,034920.91*45 2021-02-18T03:49:22.154Z,1613620162.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.600002 m, bearing: 224.442270 deg, deltaT: 4.428628 s, approachRate: -0.514832 m/s, LOS rate: 0.436873 deg/s, posRepo size: 4 2021-02-18T03:49:22.176Z,1613620162.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.600002 m, bearing: 224.442270 deg, approachRate: -0.514832 m/s, LOS rate: 0.436873 deg/s, cmd update: 1.747491 deg/s, cmd heading: 198.439955 deg, new cmd heading: 198.364470 deg. 2021-02-18T03:49:24.548Z,1613620164.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:49:25.328Z,1613620165.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:49:25.739Z,1613620165.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:49:26.563Z,1613620166.563 [Micromodem](INFO): Nmea in: $SNTTA,0.020602,,,,034925.35*49 2021-02-18T03:49:26.582Z,1613620166.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.720001 m, bearing: 224.161686 deg, deltaT: 4.466627 s, approachRate: -0.644782 m/s, LOS rate: -0.062818 deg/s, posRepo size: 4 2021-02-18T03:49:26.584Z,1613620166.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.720001 m, bearing: 224.161686 deg, approachRate: -0.644782 m/s, LOS rate: -0.062818 deg/s, cmd update: -0.251272 deg/s, cmd heading: 206.244934 deg, new cmd heading: 206.940892 deg. 2021-02-18T03:49:29.005Z,1613620169.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:49:29.793Z,1613620169.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:49:30.200Z,1613620170.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:49:31.012Z,1613620171.012 [Micromodem](INFO): Nmea in: $SNTTA,0.019190,0.036616,,,034929.81*56 2021-02-18T03:49:31.066Z,1613620171.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.620001 m, bearing: 228.017232 deg, deltaT: 4.410393 s, approachRate: -0.476148 m/s, LOS rate: 0.874196 deg/s, posRepo size: 4 2021-02-18T03:49:31.072Z,1613620171.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.620001 m, bearing: 228.017232 deg, approachRate: -0.476148 m/s, LOS rate: 0.874196 deg/s, cmd update: 3.496782 deg/s, cmd heading: 205.136678 deg, new cmd heading: 205.018170 deg. 2021-02-18T03:49:33.118Z,1613620173.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:49:33.841Z,1613620173.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:49:34.234Z,1613620174.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:49:35.069Z,1613620175.069 [Micromodem](INFO): Nmea in: $SNTTA,0.018076,,,,034933.86*48 2021-02-18T03:49:35.164Z,1613620175.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.939999 m, bearing: 237.717849 deg, deltaT: 4.102312 s, approachRate: -0.409526 m/s, LOS rate: 2.364671 deg/s, posRepo size: 4 2021-02-18T03:49:35.165Z,1613620175.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.939999 m, bearing: 237.717849 deg, approachRate: -0.409526 m/s, LOS rate: 2.364671 deg/s, cmd update: 9.458683 deg/s, cmd heading: 219.382279 deg, new cmd heading: 221.042702 deg. 2021-02-18T03:49:37.491Z,1613620177.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:49:38.274Z,1613620178.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:49:38.678Z,1613620178.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:49:39.505Z,1613620179.505 [Micromodem](INFO): Nmea in: $SNTTA,0.016721,,,,034938.29*4D 2021-02-18T03:49:39.531Z,1613620179.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.959997 m, bearing: 240.340150 deg, deltaT: 4.528494 s, approachRate: -0.437232 m/s, LOS rate: 0.579067 deg/s, posRepo size: 4 2021-02-18T03:49:39.533Z,1613620179.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.959997 m, bearing: 240.340150 deg, approachRate: -0.437232 m/s, LOS rate: 0.579067 deg/s, cmd update: 2.316267 deg/s, cmd heading: 262.407815 deg, new cmd heading: 265.336763 deg. 2021-02-18T03:49:41.968Z,1613620181.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:49:42.720Z,1613620182.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:49:43.122Z,1613620183.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:49:43.967Z,1613620183.967 [Micromodem](INFO): Nmea in: $SNTTA,0.015168,,0.050381,,034942.74*51 2021-02-18T03:49:44.098Z,1613620184.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.499998 m, bearing: 241.491939 deg, deltaT: 4.363153 s, approachRate: -0.563812 m/s, LOS rate: 0.263981 deg/s, posRepo size: 4 2021-02-18T03:49:44.108Z,1613620184.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.499998 m, bearing: 241.491939 deg, approachRate: -0.563812 m/s, LOS rate: 0.263981 deg/s, cmd update: 1.055923 deg/s, cmd heading: 272.466857 deg, new cmd heading: 273.713600 deg. 2021-02-18T03:49:46.416Z,1613620186.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:49:47.161Z,1613620187.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:49:47.582Z,1613620187.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:49:48.392Z,1613620188.392 [Micromodem](INFO): Nmea in: $SNTTA,0.013438,,,,034947.18*49 2021-02-18T03:49:48.453Z,1613620188.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.100002 m, bearing: 255.022817 deg, deltaT: 4.485690 s, approachRate: -0.535034 m/s, LOS rate: 3.016454 deg/s, posRepo size: 4 2021-02-18T03:49:48.455Z,1613620188.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.100002 m, bearing: 255.022817 deg, approachRate: -0.535034 m/s, LOS rate: 3.016454 deg/s, cmd update: 12.000000 deg/s, cmd heading: 277.224757 deg, new cmd heading: 277.633662 deg. 2021-02-18T03:49:50.897Z,1613620190.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:49:51.605Z,1613620191.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:49:52.011Z,1613620192.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:49:52.857Z,1613620192.857 [Micromodem](INFO): Nmea in: $SNTTA,0.011880,,,,034951.63*4F 2021-02-18T03:49:52.900Z,1613620192.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.580000 m, bearing: 240.081860 deg, deltaT: 4.397990 s, approachRate: -0.572990 m/s, LOS rate: -3.397224 deg/s, posRepo size: 4 2021-02-18T03:49:52.902Z,1613620192.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.580000 m, bearing: 240.081860 deg, approachRate: -0.572990 m/s, LOS rate: -3.397224 deg/s, cmd update: -12.000000 deg/s, cmd heading: 330.027314 deg, new cmd heading: 335.228630 deg. 2021-02-18T03:49:55.278Z,1613620195.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:49:56.050Z,1613620196.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:49:56.466Z,1613620196.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:49:57.280Z,1613620197.280 [Micromodem](INFO): Nmea in: $SNTTA,0.010490,,0.029140,,034956.07*56 2021-02-18T03:49:57.322Z,1613620197.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.660002 m, bearing: 254.024352 deg, deltaT: 4.445694 s, approachRate: -0.431878 m/s, LOS rate: 3.136179 deg/s, posRepo size: 4 2021-02-18T03:49:57.324Z,1613620197.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.660002 m, bearing: 254.024352 deg, approachRate: -0.431878 m/s, LOS rate: 3.136179 deg/s, cmd update: 12.000000 deg/s, cmd heading: 276.702697 deg, new cmd heading: 271.756092 deg. 2021-02-18T03:49:59.715Z,1613620199.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:00.492Z,1613620200.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:00.903Z,1613620200.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:01.727Z,1613620201.727 [Micromodem](INFO): Nmea in: $SNTTA,0.010102,,,,035000.51*40 2021-02-18T03:50:01.751Z,1613620201.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.179998 m, bearing: 299.966745 deg, deltaT: 4.457172 s, approachRate: -0.107692 m/s, LOS rate: 10.307520 deg/s, posRepo size: 4 2021-02-18T03:50:01.753Z,1613620201.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.179998 m, bearing: 299.966745 deg, approachRate: -0.107692 m/s, LOS rate: 10.307520 deg/s, cmd update: 12.000000 deg/s, cmd heading: 330.236726 deg, new cmd heading: 334.797494 deg. 2021-02-18T03:50:04.170Z,1613620204.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:04.939Z,1613620204.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:05.343Z,1613620205.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:06.172Z,1613620206.172 [Micromodem](INFO): Nmea in: $SNTTA,0.010486,,,,035004.96*46 2021-02-18T03:50:06.207Z,1613620206.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.779997 m, bearing: 312.755018 deg, deltaT: 4.395561 s, approachRate: 0.136501 m/s, LOS rate: 2.909361 deg/s, posRepo size: 4 2021-02-18T03:50:06.209Z,1613620206.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.779997 m, bearing: 312.755018 deg, approachRate: 0.136501 m/s, LOS rate: 2.909361 deg/s, cmd update: 11.637443 deg/s, cmd heading: 23.030824 deg, new cmd heading: 28.266640 deg. 2021-02-18T03:50:08.593Z,1613620208.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:09.395Z,1613620209.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:09.803Z,1613620209.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:10.616Z,1613620210.616 [Micromodem](INFO): Nmea in: $SNTTA,0.011328,,,,035009.42*40 2021-02-18T03:50:10.638Z,1613620210.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.100002 m, bearing: 314.593322 deg, deltaT: 4.473530 s, approachRate: 0.295070 m/s, LOS rate: 0.410929 deg/s, posRepo size: 4 2021-02-18T03:50:10.660Z,1613620210.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.100002 m, bearing: 314.593322 deg, approachRate: 0.295070 m/s, LOS rate: 0.410929 deg/s, cmd update: 1.643717 deg/s, cmd heading: 74.854521 deg, new cmd heading: 79.675774 deg. 2021-02-18T03:50:13.084Z,1613620213.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:13.839Z,1613620213.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:14.236Z,1613620214.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:15.064Z,1613620215.064 [Micromodem](INFO): Nmea in: $SNTTA,0.012735,,0.059642,,035013.86*5A 2021-02-18T03:50:15.122Z,1613620215.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.379997 m, bearing: 327.443749 deg, deltaT: 4.408100 s, approachRate: 0.517228 m/s, LOS rate: 2.915185 deg/s, posRepo size: 4 2021-02-18T03:50:15.124Z,1613620215.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.379997 m, bearing: 327.443749 deg, approachRate: 0.517228 m/s, LOS rate: 2.915185 deg/s, cmd update: 11.660741 deg/s, cmd heading: 82.133348 deg, new cmd heading: 82.906245 deg. 2021-02-18T03:50:17.489Z,1613620217.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:18.274Z,1613620218.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:18.680Z,1613620218.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:19.500Z,1613620219.500 [Micromodem](INFO): Nmea in: $SNTTA,0.014638,,,,035018.29*4C 2021-02-18T03:50:19.546Z,1613620219.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.140001 m, bearing: 26.873683 deg, deltaT: 4.489259 s, approachRate: 0.614802 m/s, LOS rate: 13.238250 deg/s, posRepo size: 4 2021-02-18T03:50:19.551Z,1613620219.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.238250 deg/s. Setting heading cmd to target bearing of 26.873683deg and heading rate command to 0 deg/s. 2021-02-18T03:50:21.945Z,1613620221.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:22.712Z,1613620222.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:23.123Z,1613620223.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:23.940Z,1613620223.940 [Micromodem](INFO): Nmea in: $SNTTA,0.016316,,0.041227,,035022.73*5D 2021-02-18T03:50:24.025Z,1613620224.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.539997 m, bearing: 95.836071 deg, deltaT: 4.419777 s, approachRate: 0.543013 m/s, LOS rate: 15.603137 deg/s, posRepo size: 4 2021-02-18T03:50:24.025Z,1613620224.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 24.54 m. Rolling out. 2021-02-18T03:50:24.026Z,1613620224.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T03:50:26.389Z,1613620226.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:27.156Z,1613620227.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:27.576Z,1613620227.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:28.384Z,1613620228.384 [Micromodem](INFO): Nmea in: $SNTTA,0.018062,,,,035027.18*47 2021-02-18T03:50:28.424Z,1613620228.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.239998 m, bearing: 114.491989 deg, deltaT: 4.481063 s, approachRate: 0.602536 m/s, LOS rate: 4.163279 deg/s, posRepo size: 4 2021-02-18T03:50:30.856Z,1613620230.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:31.605Z,1613620231.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:32.023Z,1613620232.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:32.836Z,1613620232.836 [Micromodem](INFO): Nmea in: $SNTTA,0.019380,,,,035031.62*43 2021-02-18T03:50:32.878Z,1613620232.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.099998 m, bearing: 100.940319 deg, deltaT: 4.419287 s, approachRate: 0.420883 m/s, LOS rate: -3.066483 deg/s, posRepo size: 4 2021-02-18T03:50:35.282Z,1613620235.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:36.050Z,1613620236.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:36.449Z,1613620236.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:37.281Z,1613620237.281 [Micromodem](INFO): Nmea in: $SNTTA,0.020615,,,,035036.07*44 2021-02-18T03:50:37.327Z,1613620237.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.839998 m, bearing: 105.450949 deg, deltaT: 4.442590 s, approachRate: 0.391663 m/s, LOS rate: 1.015315 deg/s, posRepo size: 4 2021-02-18T03:50:39.706Z,1613620239.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:40.493Z,1613620240.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:40.911Z,1613620240.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:41.720Z,1613620241.720 [Micromodem](INFO): Nmea in: $SNTTA,0.022075,,,,035040.51*44 2021-02-18T03:50:41.760Z,1613620241.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.180000 m, bearing: 68.990334 deg, deltaT: 4.444482 s, approachRate: 0.526496 m/s, LOS rate: -8.203569 deg/s, posRepo size: 4 2021-02-18T03:50:44.168Z,1613620244.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:44.938Z,1613620244.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:45.344Z,1613620245.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:46.167Z,1613620246.167 [Micromodem](INFO): Nmea in: $SNTTA,0.023797,,,,035044.96*41 2021-02-18T03:50:46.208Z,1613620246.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.880001 m, bearing: 107.964698 deg, deltaT: 4.436322 s, approachRate: 0.608612 m/s, LOS rate: 8.785287 deg/s, posRepo size: 4 2021-02-18T03:50:48.181Z,1613620248.181 [PowerOnly](INFO): Powering down loadControl 2021-02-18T03:50:48.589Z,1613620248.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:49.376Z,1613620249.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:49.816Z,1613620249.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:50.620Z,1613620250.620 [Micromodem](INFO): Nmea in: $SNTTA,0.025693,,,,035049.40*44 2021-02-18T03:50:50.642Z,1613620250.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.760002 m, bearing: 10.830185 deg, deltaT: 4.443428 s, approachRate: 0.648148 m/s, LOS rate: -21.860265 deg/s, posRepo size: 4 2021-02-18T03:50:53.089Z,1613620253.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:53.833Z,1613620253.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:54.235Z,1613620254.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:55.064Z,1613620255.064 [Micromodem](INFO): Nmea in: $SNTTA,0.027481,,,,035053.86*46 2021-02-18T03:50:55.097Z,1613620255.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.399998 m, bearing: 348.421583 deg, deltaT: 4.429645 s, approachRate: 0.595984 m/s, LOS rate: -5.058783 deg/s, posRepo size: 4 2021-02-18T03:50:57.476Z,1613620257.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:50:58.266Z,1613620258.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:50:58.670Z,1613620258.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:50:59.493Z,1613620259.493 [Micromodem](INFO): Nmea in: $SNTTA,0.029127,,,,035058.29*4F 2021-02-18T03:50:59.540Z,1613620259.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.859997 m, bearing: 319.782955 deg, deltaT: 4.470774 s, approachRate: 0.550240 m/s, LOS rate: -6.405743 deg/s, posRepo size: 4 2021-02-18T03:51:01.938Z,1613620261.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:51:02.714Z,1613620262.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:51:03.120Z,1613620263.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:51:03.956Z,1613620263.956 [Micromodem](INFO): Nmea in: $SNTTA,0.030831,,,,035102.74*4F 2021-02-18T03:51:04.036Z,1613620264.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.380001 m, bearing: 349.558290 deg, deltaT: 4.401224 s, approachRate: 0.572569 m/s, LOS rate: 6.765240 deg/s, posRepo size: 4 2021-02-18T03:51:06.036Z,1613620266.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:51:06.748Z,1613620266.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:51:07.153Z,1613620267.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:51:07.978Z,1613620267.978 [Micromodem](INFO): Nmea in: $SNTTA,0.032460,,,,035106.77*42 2021-02-18T03:51:08.046Z,1613620268.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.900002 m, bearing: 46.525712 deg, deltaT: 4.088791 s, approachRate: 0.616319 m/s, LOS rate: 13.932585 deg/s, posRepo size: 4 2021-02-18T03:51:10.430Z,1613620270.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:51:11.201Z,1613620271.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:51:11.598Z,1613620271.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:51:12.424Z,1613620272.424 [Micromodem](INFO): Nmea in: $SNTTA,0.034544,,,,035111.22*45 2021-02-18T03:51:12.464Z,1613620272.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.079994 m, bearing: 357.666162 deg, deltaT: 4.424623 s, approachRate: 0.718704 m/s, LOS rate: -11.042649 deg/s, posRepo size: 4 2021-02-18T03:51:14.865Z,1613620274.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:51:15.636Z,1613620275.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:51:16.045Z,1613620276.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:51:16.864Z,1613620276.864 [Micromodem](INFO): Nmea in: $SNTTA,0.036187,,,,035115.66*48 2021-02-18T03:51:16.918Z,1613620276.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.480000 m, bearing: 65.235772 deg, deltaT: 4.448119 s, approachRate: 0.539555 m/s, LOS rate: 15.190602 deg/s, posRepo size: 4 2021-02-18T03:51:19.298Z,1613620279.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:51:20.085Z,1613620280.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:51:20.487Z,1613620280.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:51:21.315Z,1613620281.315 [Micromodem](INFO): Nmea in: $SNTTA,0.038085,,,,035120.11*43 2021-02-18T03:51:21.382Z,1613620281.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.299999 m, bearing: 356.803727 deg, deltaT: 4.441872 s, approachRate: 0.634867 m/s, LOS rate: -15.406125 deg/s, posRepo size: 4 2021-02-18T03:51:23.731Z,1613620283.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:51:24.524Z,1613620284.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:51:24.931Z,1613620284.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:51:25.760Z,1613620285.760 [Micromodem](INFO): Nmea in: $SNTTA,0.039846,,,,035124.55*41 2021-02-18T03:51:25.779Z,1613620285.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.940006 m, bearing: 354.138915 deg, deltaT: 4.440209 s, approachRate: 0.594568 m/s, LOS rate: -0.600155 deg/s, posRepo size: 4 2021-02-18T03:51:28.229Z,1613620288.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:51:28.968Z,1613620288.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:51:29.375Z,1613620289.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:51:30.216Z,1613620290.216 [Micromodem](INFO): Nmea in: $SNTTA,0.041665,,,,035128.99*4D 2021-02-18T03:51:30.286Z,1613620290.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.700001 m, bearing: 57.578638 deg, deltaT: 4.474530 s, approachRate: 0.616823 m/s, LOS rate: 14.177962 deg/s, posRepo size: 4 2021-02-18T03:51:32.703Z,1613620292.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:51:33.414Z,1613620293.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:51:33.845Z,1613620293.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:51:34.649Z,1613620294.649 [Micromodem](INFO): Nmea in: $SNTTA,0.043740,,,,035133.43*44 2021-02-18T03:51:34.666Z,1613620294.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.880005 m, bearing: 51.520581 deg, deltaT: 4.433786 s, approachRate: 0.717221 m/s, LOS rate: -1.366339 deg/s, posRepo size: 4 2021-02-18T03:51:37.137Z,1613620297.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:51:37.858Z,1613620297.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:51:38.264Z,1613620298.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:51:39.112Z,1613620299.112 [Micromodem](INFO): Nmea in: $SNTTA,0.045511,,,,035137.88*47 2021-02-18T03:51:39.210Z,1613620299.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.520004 m, bearing: 50.226763 deg, deltaT: 4.404982 s, approachRate: 0.599321 m/s, LOS rate: -0.293717 deg/s, posRepo size: 4 2021-02-18T03:51:41.554Z,1613620301.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:51:42.300Z,1613620302.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:51:42.707Z,1613620302.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:51:43.536Z,1613620303.536 [Micromodem](INFO): Nmea in: $SNTTA,0.047399,,,0.060055,035142.32*58 2021-02-18T03:51:43.564Z,1613620303.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.339996 m, bearing: 58.863465 deg, deltaT: 4.540194 s, approachRate: 0.621117 m/s, LOS rate: 1.902276 deg/s, posRepo size: 4 2021-02-18T03:51:46.032Z,1613620306.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:51:46.744Z,1613620306.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:51:47.150Z,1613620307.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:51:47.983Z,1613620307.983 [Micromodem](INFO): Nmea in: $SNTTA,0.049202,,,,035146.76*49 2021-02-18T03:51:48.093Z,1613620308.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.920006 m, bearing: 10.576921 deg, deltaT: 4.349907 s, approachRate: 0.593118 m/s, LOS rate: -11.100592 deg/s, posRepo size: 4 2021-02-18T03:51:49.185Z,1613620309.185 [RDI_Pathfinder](ERROR): only read 0 of 4 data items 2021-02-18T03:51:50.478Z,1613620310.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:51:51.189Z,1613620311.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:51:51.594Z,1613620311.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:51:52.425Z,1613620312.425 [Micromodem](INFO): Nmea in: $SNTTA,0.051002,,,0.053508,035151.21*53 2021-02-18T03:51:52.509Z,1613620312.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.680000 m, bearing: 4.122360 deg, deltaT: 4.479931 s, approachRate: 0.616080 m/s, LOS rate: -1.440772 deg/s, posRepo size: 4 2021-02-18T03:51:54.869Z,1613620314.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:51:55.634Z,1613620315.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:51:56.038Z,1613620316.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:51:56.868Z,1613620316.868 [Micromodem](INFO): Nmea in: $SNTTA,0.052800,,,,035155.66*48 2021-02-18T03:51:56.926Z,1613620316.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.440002 m, bearing: 351.326517 deg, deltaT: 4.396992 s, approachRate: 0.627702 m/s, LOS rate: -2.910133 deg/s, posRepo size: 4 2021-02-18T03:51:59.305Z,1613620319.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:00.076Z,1613620320.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:00.486Z,1613620320.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:01.308Z,1613620321.308 [Micromodem](INFO): Nmea in: $SNTTA,0.054619,,,,035200.10*4A 2021-02-18T03:52:01.358Z,1613620321.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.139999 m, bearing: 353.531356 deg, deltaT: 4.487348 s, approachRate: 0.601691 m/s, LOS rate: 0.491346 deg/s, posRepo size: 4 2021-02-18T03:52:03.753Z,1613620323.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:04.522Z,1613620324.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:04.926Z,1613620324.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:05.751Z,1613620325.751 [Micromodem](INFO): Nmea in: $SNTTA,0.056418,,,,035204.54*4F 2021-02-18T03:52:05.774Z,1613620325.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.840004 m, bearing: 61.727172 deg, deltaT: 4.427219 s, approachRate: 0.609865 m/s, LOS rate: 15.403760 deg/s, posRepo size: 4 2021-02-18T03:52:08.192Z,1613620328.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:08.969Z,1613620328.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:09.371Z,1613620329.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:10.212Z,1613620330.212 [Micromodem](INFO): Nmea in: $SNTTA,0.058101,,,,035208.99*41 2021-02-18T03:52:10.269Z,1613620330.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.419998 m, bearing: 51.866595 deg, deltaT: 4.466982 s, approachRate: 0.577570 m/s, LOS rate: -2.207436 deg/s, posRepo size: 4 2021-02-18T03:52:12.672Z,1613620332.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:13.408Z,1613620333.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:13.841Z,1613620333.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:14.640Z,1613620334.640 [Micromodem](INFO): Nmea in: $SNTTA,0.059789,,,,035213.43*4B 2021-02-18T03:52:14.655Z,1613620334.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.940002 m, bearing: 49.888631 deg, deltaT: 4.407033 s, approachRate: 0.571814 m/s, LOS rate: -0.448820 deg/s, posRepo size: 4 2021-02-18T03:52:17.104Z,1613620337.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:17.854Z,1613620337.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:18.263Z,1613620338.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:19.104Z,1613620339.104 [Micromodem](INFO): Nmea in: $SNTTA,0.061675,,,,035217.87*4E 2021-02-18T03:52:19.166Z,1613620339.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.759995 m, bearing: 53.076932 deg, deltaT: 4.444319 s, approachRate: 0.634516 m/s, LOS rate: 0.717388 deg/s, posRepo size: 4 2021-02-18T03:52:21.514Z,1613620341.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:22.296Z,1613620342.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:22.708Z,1613620342.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:23.528Z,1613620343.528 [Micromodem](INFO): Nmea in: $SNTTA,0.063347,,0.068909,,035222.31*53 2021-02-18T03:52:23.562Z,1613620343.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.160004 m, bearing: 11.734289 deg, deltaT: 4.466054 s, approachRate: 0.537389 m/s, LOS rate: -9.257085 deg/s, posRepo size: 4 2021-02-18T03:52:25.962Z,1613620345.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:26.742Z,1613620346.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:27.151Z,1613620347.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:27.983Z,1613620347.983 [Micromodem](INFO): Nmea in: $SNTTA,0.065128,,,,035226.76*49 2021-02-18T03:52:28.057Z,1613620348.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.919998 m, bearing: 51.382444 deg, deltaT: 4.434265 s, approachRate: 0.622424 m/s, LOS rate: 8.941314 deg/s, posRepo size: 4 2021-02-18T03:52:30.406Z,1613620350.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:31.184Z,1613620351.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:31.602Z,1613620351.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:32.412Z,1613620352.412 [Micromodem](INFO): Nmea in: $SNTTA,0.066897,,,,035231.21*43 2021-02-18T03:52:32.457Z,1613620352.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.500000 m, bearing: 10.835322 deg, deltaT: 4.462764 s, approachRate: 0.578117 m/s, LOS rate: -9.085652 deg/s, posRepo size: 4 2021-02-18T03:52:34.864Z,1613620354.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:35.634Z,1613620355.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:36.052Z,1613620356.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:36.860Z,1613620356.860 [Micromodem](INFO): Nmea in: $SNTTA,0.068750,,,,035235.65*4D 2021-02-18T03:52:36.905Z,1613620356.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.320000 m, bearing: 6.430034 deg, deltaT: 4.400503 s, approachRate: 0.640836 m/s, LOS rate: -1.001087 deg/s, posRepo size: 4 2021-02-18T03:52:39.301Z,1613620359.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:40.077Z,1613620360.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:40.478Z,1613620360.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:41.309Z,1613620361.309 [Micromodem](INFO): Nmea in: $SNTTA,0.070649,,,,035240.10*4D 2021-02-18T03:52:41.388Z,1613620361.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.199997 m, bearing: 355.419029 deg, deltaT: 4.475176 s, approachRate: 0.643550 m/s, LOS rate: -2.460460 deg/s, posRepo size: 4 2021-02-18T03:52:43.743Z,1613620363.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:44.519Z,1613620364.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:44.930Z,1613620364.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:45.748Z,1613620365.748 [Micromodem](INFO): Nmea in: $SNTTA,0.072463,,,,035244.54*41 2021-02-18T03:52:45.824Z,1613620365.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.959999 m, bearing: 354.804613 deg, deltaT: 4.438423 s, approachRate: 0.621843 m/s, LOS rate: -0.138431 deg/s, posRepo size: 4 2021-02-18T03:52:48.198Z,1613620368.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:48.960Z,1613620368.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:49.366Z,1613620369.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:50.212Z,1613620370.212 [Micromodem](INFO): Nmea in: $SNTTA,0.074237,,,,035248.98*4C 2021-02-18T03:52:50.259Z,1613620370.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.540001 m, bearing: 4.082734 deg, deltaT: 4.476456 s, approachRate: 0.576349 m/s, LOS rate: 2.072648 deg/s, posRepo size: 4 2021-02-18T03:52:52.646Z,1613620372.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:53.415Z,1613620373.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:53.834Z,1613620373.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:54.640Z,1613620374.640 [Micromodem](INFO): Nmea in: $SNTTA,0.075938,,,,035253.44*42 2021-02-18T03:52:54.688Z,1613620374.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.120003 m, bearing: 0.673955 deg, deltaT: 4.420643 s, approachRate: 0.583626 m/s, LOS rate: -0.771105 deg/s, posRepo size: 4 2021-02-18T03:52:57.094Z,1613620377.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:52:57.850Z,1613620377.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:52:58.272Z,1613620378.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:52:59.100Z,1613620379.100 [Micromodem](INFO): Nmea in: $SNTTA,0.077689,,,,035257.87*4E 2021-02-18T03:52:59.134Z,1613620379.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.760002 m, bearing: 48.174021 deg, deltaT: 4.408671 s, approachRate: 0.598820 m/s, LOS rate: 10.774237 deg/s, posRepo size: 4 2021-02-18T03:53:01.517Z,1613620381.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:53:02.297Z,1613620382.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:53:02.723Z,1613620382.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:53:03.526Z,1613620383.526 [Micromodem](INFO): Nmea in: $SNTTA,0.079322,,,,035302.32*4B 2021-02-18T03:53:03.552Z,1613620383.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.220001 m, bearing: 50.738781 deg, deltaT: 4.503995 s, approachRate: 0.546182 m/s, LOS rate: 0.569441 deg/s, posRepo size: 4 2021-02-18T03:53:05.954Z,1613620385.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:53:06.742Z,1613620386.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:53:07.147Z,1613620387.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:53:07.976Z,1613620387.976 [Micromodem](INFO): Nmea in: $SNTTA,0.081103,,,,035306.76*49 2021-02-18T03:53:08.050Z,1613620388.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.919998 m, bearing: 50.630690 deg, deltaT: 4.405051 s, approachRate: 0.612932 m/s, LOS rate: -0.024538 deg/s, posRepo size: 4 2021-02-18T03:53:10.410Z,1613620390.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:53:11.182Z,1613620391.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:53:11.587Z,1613620391.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:53:12.408Z,1613620392.408 [Micromodem](INFO): Nmea in: $SNTTA,0.082709,,,,035311.20*43 2021-02-18T03:53:12.448Z,1613620392.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.260002 m, bearing: 3.084204 deg, deltaT: 4.479070 s, approachRate: 0.522431 m/s, LOS rate: -10.615259 deg/s, posRepo size: 4 2021-02-18T03:53:14.875Z,1613620394.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:53:15.629Z,1613620395.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:53:16.039Z,1613620396.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:53:16.856Z,1613620396.856 [Micromodem](INFO): Nmea in: $SNTTA,0.084613,,,,035315.65*4A 2021-02-18T03:53:16.902Z,1613620396.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.140007 m, bearing: 2.407628 deg, deltaT: 4.417429 s, approachRate: 0.651964 m/s, LOS rate: -0.153161 deg/s, posRepo size: 4 2021-02-18T03:53:19.292Z,1613620399.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:53:20.073Z,1613620400.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:53:20.485Z,1613620400.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:53:21.300Z,1613620401.300 [Micromodem](INFO): Nmea in: $SNTTA,0.086308,,,,035320.09*4B 2021-02-18T03:53:21.381Z,1613620401.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.660004 m, bearing: 358.650228 deg, deltaT: 4.445022 s, approachRate: 0.566926 m/s, LOS rate: -0.845302 deg/s, posRepo size: 4 2021-02-18T03:53:23.734Z,1613620403.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:53:24.512Z,1613620404.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:53:24.929Z,1613620404.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:53:25.740Z,1613620405.740 [Micromodem](INFO): Nmea in: $SNTTA,0.088164,,,,035324.53*46 2021-02-18T03:53:25.783Z,1613620405.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.479996 m, bearing: 51.901887 deg, deltaT: 4.448021 s, approachRate: 0.633988 m/s, LOS rate: 11.971991 deg/s, posRepo size: 4 2021-02-18T03:53:28.192Z,1613620408.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:53:28.960Z,1613620408.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:53:29.366Z,1613620409.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:53:30.208Z,1613620410.208 [Micromodem](INFO): Nmea in: $SNTTA,0.089841,,,,035328.98*42 2021-02-18T03:53:30.255Z,1613620410.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.059998 m, bearing: 44.357373 deg, deltaT: 4.468285 s, approachRate: 0.577403 m/s, LOS rate: -1.688459 deg/s, posRepo size: 4 2021-02-18T03:53:32.659Z,1613620412.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:53:33.416Z,1613620413.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:53:33.844Z,1613620413.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:53:34.645Z,1613620414.645 [Micromodem](INFO): Nmea in: $SNTTA,0.091587,,,,035333.43*40 2021-02-18T03:53:34.682Z,1613620414.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.580002 m, bearing: 356.420964 deg, deltaT: 4.485085 s, approachRate: 0.561863 m/s, LOS rate: -10.687961 deg/s, posRepo size: 4 2021-02-18T03:53:37.125Z,1613620417.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:53:37.862Z,1613620417.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:53:38.254Z,1613620418.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:53:39.106Z,1613620419.106 [Micromodem](INFO): Nmea in: $SNTTA,0.093311,,,,035337.88*48 2021-02-18T03:53:39.192Z,1613620419.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.160004 m, bearing: 22.775939 deg, deltaT: 4.367236 s, approachRate: 0.590763 m/s, LOS rate: 6.034706 deg/s, posRepo size: 4 2021-02-18T03:53:41.549Z,1613620421.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:53:42.309Z,1613620422.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:53:42.734Z,1613620422.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:53:43.536Z,1613620423.536 [Micromodem](INFO): Nmea in: $SNTTA,0.095038,,,,035342.33*44 2021-02-18T03:53:43.554Z,1613620423.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.740005 m, bearing: 24.797731 deg, deltaT: 4.532397 s, approachRate: 0.569236 m/s, LOS rate: 0.446076 deg/s, posRepo size: 4 2021-02-18T03:53:46.040Z,1613620426.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:53:46.736Z,1613620426.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:53:47.142Z,1613620427.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:53:47.976Z,1613620427.976 [Micromodem](INFO): Nmea in: $SNTTA,0.096766,,,,035346.76*4E 2021-02-18T03:53:48.067Z,1613620428.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.320007 m, bearing: 10.552744 deg, deltaT: 4.354799 s, approachRate: 0.592450 m/s, LOS rate: -3.271101 deg/s, posRepo size: 4 2021-02-18T03:53:50.434Z,1613620430.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:53:51.192Z,1613620431.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:53:51.586Z,1613620431.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:53:52.421Z,1613620432.421 [Micromodem](INFO): Nmea in: $SNTTA,0.098450,,0.109399,,035351.21*57 2021-02-18T03:53:52.534Z,1613620432.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.960007 m, bearing: 45.983986 deg, deltaT: 4.483255 s, approachRate: 0.588858 m/s, LOS rate: 7.903017 deg/s, posRepo size: 4 2021-02-18T03:53:54.860Z,1613620434.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:53:55.625Z,1613620435.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:53:56.039Z,1613620436.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:53:56.852Z,1613620436.852 [Micromodem](INFO): Nmea in: $SNTTA,0.100241,,,,035355.64*41 2021-02-18T03:53:56.901Z,1613620436.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.600006 m, bearing: 345.530555 deg, deltaT: 4.412078 s, approachRate: 0.598357 m/s, LOS rate: -13.701803 deg/s, posRepo size: 4 2021-02-18T03:53:56.901Z,1613620436.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.60 m. Resuming terminal guidance. 2021-02-18T03:53:56.901Z,1613620436.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T03:53:59.314Z,1613620439.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:00.073Z,1613620440.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:54:00.473Z,1613620440.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:54:01.300Z,1613620441.300 [Micromodem](INFO): Nmea in: $SNTTA,0.101992,,,,035400.09*49 2021-02-18T03:54:01.378Z,1613620441.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.180008 m, bearing: 4.983292 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T03:54:01.379Z,1613620441.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 4.983292deg and heading rate command to 0 deg/s. 2021-02-18T03:54:03.725Z,1613620443.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:04.512Z,1613620444.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:54:04.924Z,1613620444.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:54:05.728Z,1613620445.728 [Micromodem](INFO): Nmea in: $SNTTA,0.103822,,,,035404.53*4A 2021-02-18T03:54:06.548Z,1613620446.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:08.152Z,1613620448.152 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T03:54:09.384Z,1613620449.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:10.198Z,1613620450.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:54:10.579Z,1613620450.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:54:10.978Z,1613620450.978 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,10,80,61,E4 A,186,80,80,47,FF 2021-02-18T03:54:11.405Z,1613620451.405 [Micromodem](INFO): Nmea in: $SNTTA,0.105859,,,0.108358,035410.22*5A 2021-02-18T03:54:12.229Z,1613620452.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:15.072Z,1613620455.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:17.900Z,1613620457.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:18.657Z,1613620458.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:54:19.091Z,1613620459.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:54:19.899Z,1613620459.899 [Micromodem](INFO): Nmea in: $SNTTA,0.108850,,,,035418.68*41 2021-02-18T03:54:19.928Z,1613620459.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.740005 m, bearing: 359.987634 deg, deltaT: 18.565812 s, approachRate: 0.568787 m/s, LOS rate: -0.269078 deg/s, posRepo size: 2 2021-02-18T03:54:19.929Z,1613620459.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.740005 m, bearing: 359.987634 deg, approachRate: 0.568787 m/s, LOS rate: -0.269078 deg/s, cmd update: -1.076311 deg/s, cmd heading: 4.983292 deg, new cmd heading: 4.983292 deg. 2021-02-18T03:54:22.313Z,1613620462.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:23.102Z,1613620463.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:54:23.513Z,1613620463.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:54:24.328Z,1613620464.328 [Micromodem](INFO): Nmea in: $SNTTA,0.110182,,0.112938,,035423.12*55 2021-02-18T03:54:24.374Z,1613620464.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.740005 m, bearing: 309.017074 deg, deltaT: 4.467535 s, approachRate: 0.000000 m/s, LOS rate: -11.409101 deg/s, posRepo size: 3 2021-02-18T03:54:24.376Z,1613620464.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.740005 m, bearing: 309.017074 deg, approachRate: 0.000000 m/s, LOS rate: -11.409101 deg/s, cmd update: -12.000000 deg/s, cmd heading: 0.175008 deg, new cmd heading: 359.738650 deg. 2021-02-18T03:54:26.764Z,1613620466.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:27.546Z,1613620467.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:54:27.957Z,1613620467.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:54:28.772Z,1613620468.772 [Micromodem](INFO): Nmea in: $SNTTA,0.111819,,,,035427.56*45 2021-02-18T03:54:28.838Z,1613620468.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.740005 m, bearing: 328.595128 deg, deltaT: 4.432931 s, approachRate: 0.000000 m/s, LOS rate: 4.416503 deg/s, posRepo size: 4 2021-02-18T03:54:28.844Z,1613620468.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.740005 m, bearing: 328.595128 deg, approachRate: 0.000000 m/s, LOS rate: 4.416503 deg/s, cmd update: 12.000000 deg/s, cmd heading: 306.928823 deg, new cmd heading: 301.747679 deg. 2021-02-18T03:54:31.222Z,1613620471.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:31.986Z,1613620471.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:54:32.390Z,1613620472.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:54:33.231Z,1613620473.231 [Micromodem](INFO): Nmea in: $SNTTA,0.113303,,,,035432.00*40 2021-02-18T03:54:33.255Z,1613620473.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.160004 m, bearing: 297.413867 deg, deltaT: 4.474517 s, approachRate: 1.434791 m/s, LOS rate: -6.968632 deg/s, posRepo size: 4 2021-02-18T03:54:33.257Z,1613620473.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.160004 m, bearing: 297.413867 deg, approachRate: 1.434791 m/s, LOS rate: -6.968632 deg/s, cmd update: -12.000000 deg/s, cmd heading: 0.428112 deg, new cmd heading: 5.118517 deg. 2021-02-18T03:54:35.640Z,1613620475.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:36.433Z,1613620476.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:54:36.846Z,1613620476.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:54:37.660Z,1613620477.660 [Micromodem](INFO): Nmea in: $SNTTA,0.114712,,,,035436.45*46 2021-02-18T03:54:37.682Z,1613620477.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.160004 m, bearing: 341.809960 deg, deltaT: 4.408264 s, approachRate: 0.000000 m/s, LOS rate: 10.071105 deg/s, posRepo size: 4 2021-02-18T03:54:37.708Z,1613620477.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.160004 m, bearing: 341.809960 deg, approachRate: 0.000000 m/s, LOS rate: 10.071105 deg/s, cmd update: 12.000000 deg/s, cmd heading: 307.383143 deg, new cmd heading: 302.612615 deg. 2021-02-18T03:54:40.102Z,1613620480.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:40.874Z,1613620480.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:54:41.278Z,1613620481.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:54:42.104Z,1613620482.104 [Micromodem](INFO): Nmea in: $SNTTA,0.115759,,,,035440.89*49 2021-02-18T03:54:42.166Z,1613620482.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.820007 m, bearing: 346.474705 deg, deltaT: 4.442209 s, approachRate: 0.823915 m/s, LOS rate: 1.050096 deg/s, posRepo size: 4 2021-02-18T03:54:42.173Z,1613620482.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.820007 m, bearing: 346.474705 deg, approachRate: 0.823915 m/s, LOS rate: 1.050096 deg/s, cmd update: 4.200384 deg/s, cmd heading: 0.737316 deg, new cmd heading: 5.888364 deg. 2021-02-18T03:54:44.528Z,1613620484.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:45.323Z,1613620485.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:54:45.721Z,1613620485.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:54:46.548Z,1613620486.548 [Micromodem](INFO): Nmea in: $SNTTA,0.116809,,,,035445.34*43 2021-02-18T03:54:46.590Z,1613620486.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.820007 m, bearing: 288.862661 deg, deltaT: 4.474740 s, approachRate: 0.000000 m/s, LOS rate: -12.874948 deg/s, posRepo size: 4 2021-02-18T03:54:46.590Z,1613620486.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.874948 deg/s. Setting heading cmd to target bearing of 288.862661deg and heading rate command to 0 deg/s. 2021-02-18T03:54:48.161Z,1613620488.161 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T03:54:48.990Z,1613620488.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:49.760Z,1613620489.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:54:50.199Z,1613620490.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:54:50.996Z,1613620490.996 [Micromodem](INFO): Nmea in: $SNTTA,0.117606,,,,035449.78*47 2021-02-18T03:54:51.036Z,1613620491.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.580002 m, bearing: 353.314293 deg, deltaT: 4.406256 s, approachRate: 0.626381 m/s, LOS rate: 14.627301 deg/s, posRepo size: 4 2021-02-18T03:54:51.037Z,1613620491.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.627301 deg/s. Setting heading cmd to target bearing of 353.314293deg and heading rate command to 0 deg/s. 2021-02-18T03:54:53.427Z,1613620493.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:54.204Z,1613620494.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:54:54.610Z,1613620494.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:54:55.432Z,1613620495.432 [Micromodem](INFO): Nmea in: $SNTTA,0.119104,,,,035454.22*4F 2021-02-18T03:54:55.474Z,1613620495.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.580002 m, bearing: 316.990172 deg, deltaT: 4.485135 s, approachRate: 0.000000 m/s, LOS rate: -8.098780 deg/s, posRepo size: 4 2021-02-18T03:54:55.480Z,1613620495.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.580002 m, bearing: 316.990172 deg, approachRate: 0.000000 m/s, LOS rate: -8.098780 deg/s, cmd update: -12.000000 deg/s, cmd heading: 353.314293 deg, new cmd heading: 353.314293 deg. 2021-02-18T03:54:57.866Z,1613620497.866 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T03:54:57.881Z,1613620497.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:54:58.648Z,1613620498.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:54:59.086Z,1613620499.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:54:59.876Z,1613620499.876 [Micromodem](INFO): Nmea in: $SNTTA,0.120713,,,,035458.67*48 2021-02-18T03:54:59.915Z,1613620499.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.580002 m, bearing: 345.298711 deg, deltaT: 4.415797 s, approachRate: 0.000000 m/s, LOS rate: 6.410743 deg/s, posRepo size: 4 2021-02-18T03:54:59.917Z,1613620499.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.580002 m, bearing: 345.298711 deg, approachRate: 0.000000 m/s, LOS rate: 6.410743 deg/s, cmd update: 12.000000 deg/s, cmd heading: 300.179203 deg, new cmd heading: 295.309387 deg. 2021-02-18T03:55:02.347Z,1613620502.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:55:03.094Z,1613620503.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:55:03.512Z,1613620503.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:55:04.311Z,1613620504.311 [Micromodem](INFO): Nmea in: $SNTTA,0.122364,,,,035503.11*40 2021-02-18T03:55:04.738Z,1613620504.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.720001 m, bearing: 341.560084 deg, deltaT: 4.846975 s, approachRate: 1.473084 m/s, LOS rate: -0.771332 deg/s, posRepo size: 4 2021-02-18T03:55:04.740Z,1613620504.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.720001 m, bearing: 341.560084 deg, approachRate: 1.473084 m/s, LOS rate: -0.771332 deg/s, cmd update: -3.085328 deg/s, cmd heading: 358.102161 deg, new cmd heading: 2.930889 deg. 2021-02-18T03:55:07.186Z,1613620507.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:55:07.979Z,1613620507.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:55:08.346Z,1613620508.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:55:09.568Z,1613620509.568 [Micromodem](INFO): Nmea in: $SNTTA,0.123950,,,,035508.03*44 2021-02-18T03:55:09.590Z,1613620509.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.119995 m, bearing: 307.118035 deg, deltaT: 4.869435 s, approachRate: 0.492869 m/s, LOS rate: -7.073110 deg/s, posRepo size: 4 2021-02-18T03:55:09.592Z,1613620509.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.119995 m, bearing: 307.118035 deg, approachRate: 0.492869 m/s, LOS rate: -7.073110 deg/s, cmd update: -12.000000 deg/s, cmd heading: 343.016440 deg, new cmd heading: 341.890517 deg. 2021-02-18T03:55:12.010Z,1613620512.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:55:12.837Z,1613620512.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:55:12.886Z,1613620512.886 [RDI_Pathfinder](ERROR): only read 1 of 4 data items 2021-02-18T03:55:13.198Z,1613620513.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:55:14.038Z,1613620514.038 [Micromodem](INFO): Nmea in: $SNTTA,0.125316,,,,035512.86*4C 2021-02-18T03:55:14.441Z,1613620514.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.220001 m, bearing: 348.714980 deg, deltaT: 4.880140 s, approachRate: 0.430317 m/s, LOS rate: 8.523719 deg/s, posRepo size: 4 2021-02-18T03:55:14.443Z,1613620514.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.220001 m, bearing: 348.714980 deg, approachRate: 0.430317 m/s, LOS rate: 8.523719 deg/s, cmd update: 12.000000 deg/s, cmd heading: 284.598531 deg, new cmd heading: 280.421343 deg. 2021-02-18T03:55:16.863Z,1613620516.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:55:17.636Z,1613620517.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:55:18.071Z,1613620518.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:55:18.854Z,1613620518.854 [Micromodem](INFO): Nmea in: $SNTTA,0.126347,,,,035517.66*40 2021-02-18T03:55:19.310Z,1613620519.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.720001 m, bearing: 333.179606 deg, deltaT: 4.793995 s, approachRate: 0.312891 m/s, LOS rate: -3.240591 deg/s, posRepo size: 4 2021-02-18T03:55:19.312Z,1613620519.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.720001 m, bearing: 333.179606 deg, approachRate: 0.312891 m/s, LOS rate: -3.240591 deg/s, cmd update: -12.000000 deg/s, cmd heading: 342.317728 deg, new cmd heading: 347.198812 deg. 2021-02-18T03:55:21.700Z,1613620521.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:55:22.484Z,1613620522.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:55:22.899Z,1613620522.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:55:23.703Z,1613620523.703 [Micromodem](INFO): Nmea in: $SNTTA,0.126904,,,,035522.51*4F 2021-02-18T03:55:24.165Z,1613620524.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.380005 m, bearing: 249.448808 deg, deltaT: 4.839262 s, approachRate: 0.136385 m/s, LOS rate: -17.302391 deg/s, posRepo size: 4 2021-02-18T03:55:24.166Z,1613620524.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.302391 deg/s. Setting heading cmd to target bearing of 249.448808deg and heading rate command to 0 deg/s. 2021-02-18T03:55:26.553Z,1613620526.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:55:27.337Z,1613620527.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:55:27.747Z,1613620527.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:55:28.554Z,1613620528.554 [Micromodem](INFO): Nmea in: $SNTTA,0.127208,,,,035527.36*4D 2021-02-18T03:55:28.983Z,1613620528.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.859985 m, bearing: 254.748817 deg, deltaT: 4.826111 s, approachRate: 0.099455 m/s, LOS rate: 1.098194 deg/s, posRepo size: 4 2021-02-18T03:55:28.985Z,1613620528.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.859985 m, bearing: 254.748817 deg, approachRate: 0.099455 m/s, LOS rate: 1.098194 deg/s, cmd update: 4.392778 deg/s, cmd heading: 249.448808 deg, new cmd heading: 249.448808 deg. 2021-02-18T03:55:31.592Z,1613620531.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:55:32.180Z,1613620532.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:55:32.588Z,1613620532.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:55:33.407Z,1613620533.407 [Micromodem](INFO): Nmea in: $SNTTA,0.127423,,,,035532.20*41 2021-02-18T03:55:33.891Z,1613620533.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.220001 m, bearing: 260.886971 deg, deltaT: 4.861409 s, approachRate: 0.074056 m/s, LOS rate: 1.262629 deg/s, posRepo size: 4 2021-02-18T03:55:33.893Z,1613620533.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.220001 m, bearing: 260.886971 deg, approachRate: 0.074056 m/s, LOS rate: 1.262629 deg/s, cmd update: 5.050515 deg/s, cmd heading: 270.803656 deg, new cmd heading: 272.826719 deg. 2021-02-18T03:55:36.296Z,1613620536.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:55:37.042Z,1613620537.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:55:37.435Z,1613620537.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:55:38.276Z,1613620538.276 [Micromodem](INFO): Nmea in: $SNTTA,0.126940,,,0.129482,035537.06*53 2021-02-18T03:55:38.314Z,1613620538.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.499985 m, bearing: 274.520712 deg, deltaT: 4.528665 s, approachRate: -0.158991 m/s, LOS rate: 3.010543 deg/s, posRepo size: 4 2021-02-18T03:55:38.357Z,1613620538.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.499985 m, bearing: 274.520712 deg, approachRate: -0.158991 m/s, LOS rate: 3.010543 deg/s, cmd update: 12.000000 deg/s, cmd heading: 293.672770 deg, new cmd heading: 295.465683 deg. 2021-02-18T03:55:40.717Z,1613620540.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:55:41.474Z,1613620541.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:55:41.880Z,1613620541.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:55:42.699Z,1613620542.699 [Micromodem](INFO): Nmea in: $SNTTA,0.126433,,,0.158957,035541.49*53 2021-02-18T03:55:43.178Z,1613620543.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.599991 m, bearing: 271.925267 deg, deltaT: 4.776889 s, approachRate: -0.188406 m/s, LOS rate: -0.543334 deg/s, posRepo size: 4 2021-02-18T03:55:43.188Z,1613620543.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.599991 m, bearing: 271.925267 deg, approachRate: -0.188406 m/s, LOS rate: -0.543334 deg/s, cmd update: -2.173335 deg/s, cmd heading: 351.003024 deg, new cmd heading: 356.315076 deg. 2021-02-18T03:55:45.536Z,1613620545.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:55:46.320Z,1613620546.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:55:46.726Z,1613620546.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:55:47.543Z,1613620547.543 [Micromodem](INFO): Nmea in: $SNTTA,0.126311,,,,035546.34*40 2021-02-18T03:55:48.003Z,1613620548.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.539993 m, bearing: 256.837953 deg, deltaT: 4.831491 s, approachRate: -0.012418 m/s, LOS rate: -3.122704 deg/s, posRepo size: 4 2021-02-18T03:55:48.037Z,1613620548.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.539993 m, bearing: 256.837953 deg, approachRate: -0.012418 m/s, LOS rate: -3.122704 deg/s, cmd update: -12.000000 deg/s, cmd heading: 340.513013 deg, new cmd heading: 339.564768 deg. 2021-02-18T03:55:50.414Z,1613620550.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:55:51.170Z,1613620551.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:55:51.574Z,1613620551.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:55:52.418Z,1613620552.418 [Micromodem](INFO): Nmea in: $SNTTA,0.126937,,0.129724,,035551.19*52 2021-02-18T03:55:52.941Z,1613620552.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.519989 m, bearing: 294.309709 deg, deltaT: 5.028027 s, approachRate: 0.393792 m/s, LOS rate: 7.452576 deg/s, posRepo size: 4 2021-02-18T03:55:52.943Z,1613620552.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.519989 m, bearing: 294.309709 deg, approachRate: 0.393792 m/s, LOS rate: 7.452576 deg/s, cmd update: 12.000000 deg/s, cmd heading: 280.271355 deg, new cmd heading: 275.970927 deg. 2021-02-18T03:55:55.238Z,1613620555.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:55:56.027Z,1613620556.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:55:56.434Z,1613620556.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:55:57.239Z,1613620557.239 [Micromodem](INFO): Nmea in: $SNTTA,0.128208,,,,035556.05*44 2021-02-18T03:55:57.666Z,1613620557.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.479996 m, bearing: 341.925144 deg, deltaT: 4.708081 s, approachRate: 0.203906 m/s, LOS rate: 10.113555 deg/s, posRepo size: 4 2021-02-18T03:55:57.668Z,1613620557.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.479996 m, bearing: 341.925144 deg, approachRate: 0.203906 m/s, LOS rate: 10.113555 deg/s, cmd update: 12.000000 deg/s, cmd heading: 336.872321 deg, new cmd heading: 341.274833 deg. 2021-02-18T03:56:00.100Z,1613620560.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:56:00.870Z,1613620560.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:56:01.270Z,1613620561.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:56:02.088Z,1613620562.088 [Micromodem](INFO): Nmea in: $SNTTA,0.129803,,,0.132314,035600.89*58 2021-02-18T03:56:02.527Z,1613620562.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.879990 m, bearing: 349.178286 deg, deltaT: 4.809612 s, approachRate: 0.498999 m/s, LOS rate: 1.508051 deg/s, posRepo size: 4 2021-02-18T03:56:02.529Z,1613620562.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.879990 m, bearing: 349.178286 deg, approachRate: 0.498999 m/s, LOS rate: 1.508051 deg/s, cmd update: 6.032205 deg/s, cmd heading: 34.634682 deg, new cmd heading: 39.607459 deg. 2021-02-18T03:56:04.947Z,1613620564.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:56:05.714Z,1613620565.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:56:06.131Z,1613620566.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:56:06.941Z,1613620566.941 [Micromodem](INFO): Nmea in: $SNTTA,0.131283,,,,035605.73*4B 2021-02-18T03:56:07.363Z,1613620567.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.039993 m, bearing: 298.969374 deg, deltaT: 4.919834 s, approachRate: 0.439040 m/s, LOS rate: -10.205407 deg/s, posRepo size: 4 2021-02-18T03:56:07.365Z,1613620567.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.039993 m, bearing: 298.969374 deg, approachRate: 0.439040 m/s, LOS rate: -10.205407 deg/s, cmd update: -12.000000 deg/s, cmd heading: 64.287985 deg, new cmd heading: 66.306071 deg. 2021-02-18T03:56:09.772Z,1613620569.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:56:10.560Z,1613620570.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:56:10.971Z,1613620570.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:56:11.783Z,1613620571.783 [Micromodem](INFO): Nmea in: $SNTTA,0.133095,,,,035610.58*41 2021-02-18T03:56:12.240Z,1613620572.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.919998 m, bearing: 350.517331 deg, deltaT: 4.820046 s, approachRate: 0.597506 m/s, LOS rate: 10.694495 deg/s, posRepo size: 4 2021-02-18T03:56:12.242Z,1613620572.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.919998 m, bearing: 350.517331 deg, approachRate: 0.597506 m/s, LOS rate: 10.694495 deg/s, cmd update: 12.000000 deg/s, cmd heading: 6.446471 deg, new cmd heading: 1.815407 deg. 2021-02-18T03:56:14.630Z,1613620574.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:56:15.413Z,1613620575.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:56:15.836Z,1613620575.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:56:16.628Z,1613620576.628 [Micromodem](INFO): Nmea in: $SNTTA,0.134771,,,,035615.43*44 2021-02-18T03:56:17.089Z,1613620577.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.380005 m, bearing: 34.681293 deg, deltaT: 4.790450 s, approachRate: 0.513523 m/s, LOS rate: 9.219168 deg/s, posRepo size: 4 2021-02-18T03:56:17.095Z,1613620577.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.380005 m, bearing: 34.681293 deg, approachRate: 0.513523 m/s, LOS rate: 9.219168 deg/s, cmd update: 12.000000 deg/s, cmd heading: 63.977485 deg, new cmd heading: 69.331717 deg. 2021-02-18T03:56:19.463Z,1613620579.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:56:20.262Z,1613620580.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:56:20.662Z,1613620580.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:56:21.478Z,1613620581.478 [Micromodem](INFO): Nmea in: $SNTTA,0.136496,,,,035620.28*47 2021-02-18T03:56:21.924Z,1613620581.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.899979 m, bearing: 51.587821 deg, deltaT: 4.859034 s, approachRate: 0.518616 m/s, LOS rate: 3.479401 deg/s, posRepo size: 4 2021-02-18T03:56:21.925Z,1613620581.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.899979 m, bearing: 51.587821 deg, approachRate: 0.518616 m/s, LOS rate: 3.479401 deg/s, cmd update: 12.000000 deg/s, cmd heading: 122.288127 deg, new cmd heading: 127.344291 deg. 2021-02-18T03:56:24.322Z,1613620584.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:56:25.104Z,1613620585.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:56:25.528Z,1613620585.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:56:26.323Z,1613620586.323 [Micromodem](INFO): Nmea in: $SNTTA,0.137812,,0.140569,,035625.12*5B 2021-02-18T03:56:26.758Z,1613620586.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.759979 m, bearing: 92.162864 deg, deltaT: 4.861582 s, approachRate: 0.382592 m/s, LOS rate: 8.346057 deg/s, posRepo size: 4 2021-02-18T03:56:26.760Z,1613620586.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 206.759979 m, bearing: 92.162864 deg, approachRate: 0.382592 m/s, LOS rate: 8.346057 deg/s, cmd update: 12.000000 deg/s, cmd heading: 180.434009 deg, new cmd heading: 185.359781 deg. 2021-02-18T03:56:29.224Z,1613620589.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:56:29.962Z,1613620589.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:56:30.358Z,1613620590.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:56:31.178Z,1613620591.178 [Micromodem](INFO): Nmea in: $SNTTA,0.138753,,,0.141268,035629.98*57 2021-02-18T03:56:31.608Z,1613620591.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.139999 m, bearing: 146.810914 deg, deltaT: 4.871454 s, approachRate: 0.283287 m/s, LOS rate: 11.218016 deg/s, posRepo size: 4 2021-02-18T03:56:31.610Z,1613620591.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.139999 m, bearing: 146.810914 deg, approachRate: 0.283287 m/s, LOS rate: 11.218016 deg/s, cmd update: 12.000000 deg/s, cmd heading: 239.034282 deg, new cmd heading: 243.558054 deg. 2021-02-18T03:56:34.072Z,1613620594.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:56:34.830Z,1613620594.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:56:35.206Z,1613620595.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:56:36.038Z,1613620596.038 [Micromodem](INFO): Nmea in: $SNTTA,0.138985,,,,035634.85*44 2021-02-18T03:56:36.458Z,1613620596.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.439987 m, bearing: 75.418225 deg, deltaT: 4.865589 s, approachRate: 0.061655 m/s, LOS rate: -14.672979 deg/s, posRepo size: 4 2021-02-18T03:56:36.458Z,1613620596.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.672979 deg/s. Setting heading cmd to target bearing of 75.418225deg and heading rate command to 0 deg/s. 2021-02-18T03:56:38.872Z,1613620598.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:56:39.654Z,1613620599.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:56:40.066Z,1613620600.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:56:40.881Z,1613620600.881 [Micromodem](INFO): Nmea in: $SNTTA,0.138392,,,,035639.67*49 2021-02-18T03:56:41.294Z,1613620601.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.599976 m, bearing: 160.343076 deg, deltaT: 4.847020 s, approachRate: -0.173305 m/s, LOS rate: 17.521044 deg/s, posRepo size: 4 2021-02-18T03:56:41.295Z,1613620601.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.521044 deg/s. Setting heading cmd to target bearing of 160.343076deg and heading rate command to 0 deg/s. 2021-02-18T03:56:43.709Z,1613620603.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:56:44.496Z,1613620604.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:56:44.904Z,1613620604.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:56:45.713Z,1613620605.713 [Micromodem](INFO): Nmea in: $SNTTA,0.137273,,,,035644.51*47 2021-02-18T03:56:46.188Z,1613620606.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.739975 m, bearing: 203.636940 deg, deltaT: 4.780272 s, approachRate: -0.389099 m/s, LOS rate: 9.056779 deg/s, posRepo size: 4 2021-02-18T03:56:46.196Z,1613620606.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.739975 m, bearing: 203.636940 deg, approachRate: -0.389099 m/s, LOS rate: 9.056779 deg/s, cmd update: 12.000000 deg/s, cmd heading: 160.343076 deg, new cmd heading: 160.343076 deg. 2021-02-18T03:56:48.551Z,1613620608.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:56:49.354Z,1613620609.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:56:49.750Z,1613620609.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:56:50.569Z,1613620610.569 [Micromodem](INFO): Nmea in: $SNTTA,0.136167,,,,035649.38*42 2021-02-18T03:56:50.996Z,1613620610.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.240005 m, bearing: 154.017023 deg, deltaT: 4.855696 s, approachRate: -0.308909 m/s, LOS rate: -10.218909 deg/s, posRepo size: 4 2021-02-18T03:56:50.998Z,1613620610.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.240005 m, bearing: 154.017023 deg, approachRate: -0.308909 m/s, LOS rate: -10.218909 deg/s, cmd update: -12.000000 deg/s, cmd heading: 218.613266 deg, new cmd heading: 223.556558 deg. 2021-02-18T03:56:53.400Z,1613620613.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:56:54.192Z,1613620614.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:56:54.600Z,1613620614.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:56:55.412Z,1613620615.412 [Micromodem](INFO): Nmea in: $SNTTA,0.135488,,,0.137994,035654.21*5E 2021-02-18T03:56:55.868Z,1613620615.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.219986 m, bearing: 82.192365 deg, deltaT: 4.869130 s, approachRate: -0.209487 m/s, LOS rate: -14.751025 deg/s, posRepo size: 4 2021-02-18T03:56:55.869Z,1613620615.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.751025 deg/s. Setting heading cmd to target bearing of 82.192365deg and heading rate command to 0 deg/s. 2021-02-18T03:56:58.266Z,1613620618.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:56:59.050Z,1613620619.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:56:59.447Z,1613620619.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:57:00.265Z,1613620620.265 [Micromodem](INFO): Nmea in: $SNTTA,0.135497,,,,035659.07*46 2021-02-18T03:57:00.686Z,1613620620.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.279999 m, bearing: 157.621081 deg, deltaT: 4.835662 s, approachRate: 0.012410 m/s, LOS rate: 15.598426 deg/s, posRepo size: 4 2021-02-18T03:57:00.687Z,1613620620.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.598426 deg/s. Setting heading cmd to target bearing of 157.621081deg and heading rate command to 0 deg/s. 2021-02-18T03:57:03.142Z,1613620623.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:57:03.894Z,1613620623.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:57:04.300Z,1613620624.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:57:05.131Z,1613620625.131 [Micromodem](INFO): Nmea in: $SNTTA,0.135858,,,,035703.91*48 2021-02-18T03:57:05.554Z,1613620625.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.819992 m, bearing: 152.180248 deg, deltaT: 4.892819 s, approachRate: 0.110364 m/s, LOS rate: -1.112004 deg/s, posRepo size: 4 2021-02-18T03:57:05.560Z,1613620625.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.819992 m, bearing: 152.180248 deg, approachRate: 0.110364 m/s, LOS rate: -1.112004 deg/s, cmd update: -4.448015 deg/s, cmd heading: 157.621081 deg, new cmd heading: 157.621081 deg. 2021-02-18T03:57:07.995Z,1613620627.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:57:08.740Z,1613620628.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:57:09.142Z,1613620629.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:57:09.970Z,1613620629.970 [Micromodem](INFO): Nmea in: $SNTTA,0.136303,,,,035708.76*4C 2021-02-18T03:57:10.390Z,1613620630.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.419998 m, bearing: 168.132510 deg, deltaT: 4.833685 s, approachRate: 0.124130 m/s, LOS rate: 3.300228 deg/s, posRepo size: 4 2021-02-18T03:57:10.392Z,1613620630.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.419998 m, bearing: 168.132510 deg, approachRate: 0.124130 m/s, LOS rate: 3.300228 deg/s, cmd update: 12.000000 deg/s, cmd heading: 136.211370 deg, new cmd heading: 134.451811 deg. 2021-02-18T03:57:12.843Z,1613620632.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:57:13.584Z,1613620633.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:57:14.021Z,1613620634.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:57:14.834Z,1613620634.834 [Micromodem](INFO): Nmea in: $SNTTA,0.136202,,,,035713.60*41 2021-02-18T03:57:15.250Z,1613620635.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.299988 m, bearing: 96.547961 deg, deltaT: 4.863070 s, approachRate: -0.024678 m/s, LOS rate: -14.720033 deg/s, posRepo size: 4 2021-02-18T03:57:15.250Z,1613620635.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.720033 deg/s. Setting heading cmd to target bearing of 96.547961deg and heading rate command to 0 deg/s. 2021-02-18T03:57:17.645Z,1613620637.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:57:18.432Z,1613620638.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:57:18.841Z,1613620638.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:57:19.650Z,1613620639.650 [Micromodem](INFO): Nmea in: $SNTTA,0.135523,,,,035718.45*4A 2021-02-18T03:57:20.108Z,1613620640.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.159988 m, bearing: 157.704956 deg, deltaT: 4.808668 s, approachRate: -0.237072 m/s, LOS rate: 12.718073 deg/s, posRepo size: 4 2021-02-18T03:57:20.109Z,1613620640.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.718073 deg/s. Setting heading cmd to target bearing of 157.704956deg and heading rate command to 0 deg/s. 2021-02-18T03:57:22.502Z,1613620642.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:57:23.286Z,1613620643.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:57:23.686Z,1613620643.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:57:24.504Z,1613620644.504 [Micromodem](INFO): Nmea in: $SNTTA,0.134033,,,0.136546,035723.31*59 2021-02-18T03:57:24.939Z,1613620644.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.880005 m, bearing: 202.658584 deg, deltaT: 4.831823 s, approachRate: -0.471868 m/s, LOS rate: 9.303658 deg/s, posRepo size: 4 2021-02-18T03:57:24.941Z,1613620644.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.880005 m, bearing: 202.658584 deg, approachRate: -0.471868 m/s, LOS rate: 9.303658 deg/s, cmd update: 12.000000 deg/s, cmd heading: 157.704956 deg, new cmd heading: 157.704956 deg. 2021-02-18T03:57:27.350Z,1613620647.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:57:28.130Z,1613620648.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:57:28.534Z,1613620648.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:57:29.359Z,1613620649.359 [Micromodem](INFO): Nmea in: $SNTTA,0.132210,,,,035728.15*4C 2021-02-18T03:57:29.778Z,1613620649.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.119980 m, bearing: 201.543241 deg, deltaT: 4.881056 s, approachRate: -0.565457 m/s, LOS rate: -0.228504 deg/s, posRepo size: 4 2021-02-18T03:57:29.780Z,1613620649.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.119980 m, bearing: 201.543241 deg, approachRate: -0.565457 m/s, LOS rate: -0.228504 deg/s, cmd update: -0.914017 deg/s, cmd heading: 216.277246 deg, new cmd heading: 220.817734 deg. 2021-02-18T03:57:32.244Z,1613620652.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:57:32.982Z,1613620652.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:57:33.382Z,1613620653.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:57:34.203Z,1613620654.203 [Micromodem](INFO): Nmea in: $SNTTA,0.130308,,,,035733.00*48 2021-02-18T03:57:34.639Z,1613620654.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.239990 m, bearing: 204.835761 deg, deltaT: 4.839739 s, approachRate: -0.595071 m/s, LOS rate: 0.680309 deg/s, posRepo size: 4 2021-02-18T03:57:34.641Z,1613620654.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.239990 m, bearing: 204.835761 deg, approachRate: -0.595071 m/s, LOS rate: 0.680309 deg/s, cmd update: 2.721238 deg/s, cmd heading: 211.853671 deg, new cmd heading: 211.492352 deg. 2021-02-18T03:57:37.142Z,1613620657.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:57:37.842Z,1613620657.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:57:38.238Z,1613620658.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:57:39.089Z,1613620659.089 [Micromodem](INFO): Nmea in: $SNTTA,0.128224,,,,035737.86*44 2021-02-18T03:57:39.484Z,1613620659.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.179993 m, bearing: 205.560198 deg, deltaT: 4.963264 s, approachRate: -0.616529 m/s, LOS rate: 0.145960 deg/s, posRepo size: 4 2021-02-18T03:57:39.486Z,1613620659.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.179993 m, bearing: 205.560198 deg, approachRate: -0.616529 m/s, LOS rate: 0.145960 deg/s, cmd update: 0.583839 deg/s, cmd heading: 225.345496 deg, new cmd heading: 226.125751 deg. 2021-02-18T03:57:41.949Z,1613620661.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:57:42.692Z,1613620662.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:57:43.084Z,1613620663.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:57:43.908Z,1613620663.908 [Micromodem](INFO): Nmea in: $SNTTA,0.126091,,,,035742.71*4C 2021-02-18T03:57:44.340Z,1613620664.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.879990 m, bearing: 203.055131 deg, deltaT: 4.836203 s, approachRate: -0.682354 m/s, LOS rate: -0.517982 deg/s, posRepo size: 4 2021-02-18T03:57:44.342Z,1613620664.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.879990 m, bearing: 203.055131 deg, approachRate: -0.682354 m/s, LOS rate: -0.517982 deg/s, cmd update: -2.071929 deg/s, cmd heading: 228.167404 deg, new cmd heading: 228.347953 deg. 2021-02-18T03:57:46.760Z,1613620666.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:57:47.521Z,1613620667.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:57:47.969Z,1613620667.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:57:48.756Z,1613620668.756 [Micromodem](INFO): Nmea in: $SNTTA,0.124164,,,,035747.54*47 2021-02-18T03:57:49.230Z,1613620669.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.119995 m, bearing: 200.236011 deg, deltaT: 4.791775 s, approachRate: -0.575986 m/s, LOS rate: -0.588325 deg/s, posRepo size: 4 2021-02-18T03:57:49.232Z,1613620669.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.119995 m, bearing: 200.236011 deg, approachRate: -0.575986 m/s, LOS rate: -0.588325 deg/s, cmd update: -2.353299 deg/s, cmd heading: 218.335779 deg, new cmd heading: 217.394900 deg. 2021-02-18T03:57:51.626Z,1613620671.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:57:52.398Z,1613620672.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:57:52.829Z,1613620672.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:57:53.645Z,1613620673.645 [Micromodem](INFO): Nmea in: $SNTTA,0.122481,,0.140481,,035752.42*5A 2021-02-18T03:57:53.707Z,1613620673.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.600006 m, bearing: 203.027346 deg, deltaT: 4.567135 s, approachRate: -0.551766 m/s, LOS rate: 0.611178 deg/s, posRepo size: 4 2021-02-18T03:57:53.709Z,1613620673.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.600006 m, bearing: 203.027346 deg, approachRate: -0.551766 m/s, LOS rate: 0.611178 deg/s, cmd update: 2.444714 deg/s, cmd heading: 207.478165 deg, new cmd heading: 206.750791 deg. 2021-02-18T03:57:56.073Z,1613620676.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:57:56.835Z,1613620676.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:57:57.220Z,1613620677.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:57:58.049Z,1613620678.049 [Micromodem](INFO): Nmea in: $SNTTA,0.121070,,,,035756.85*4A 2021-02-18T03:57:58.465Z,1613620678.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.500000 m, bearing: 198.665983 deg, deltaT: 4.709692 s, approachRate: -0.445890 m/s, LOS rate: -0.926040 deg/s, posRepo size: 4 2021-02-18T03:57:58.467Z,1613620678.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.500000 m, bearing: 198.665983 deg, approachRate: -0.445890 m/s, LOS rate: -0.926040 deg/s, cmd update: -3.704160 deg/s, cmd heading: 219.002064 deg, new cmd heading: 219.887207 deg. 2021-02-18T03:58:00.873Z,1613620680.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:01.661Z,1613620681.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:02.079Z,1613620682.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:58:02.900Z,1613620682.900 [Micromodem](INFO): Nmea in: $SNTTA,0.119283,,,,035801.68*41 2021-02-18T03:58:02.924Z,1613620682.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.500000 m, bearing: 196.648195 deg, deltaT: 4.421963 s, approachRate: 0.000000 m/s, LOS rate: -0.456310 deg/s, posRepo size: 4 2021-02-18T03:58:02.926Z,1613620682.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.500000 m, bearing: 196.648195 deg, approachRate: 0.000000 m/s, LOS rate: -0.456310 deg/s, cmd update: -1.825242 deg/s, cmd heading: 202.674902 deg, new cmd heading: 201.144821 deg. 2021-02-18T03:58:05.346Z,1613620685.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:06.102Z,1613620686.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:06.506Z,1613620686.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:58:07.328Z,1613620687.328 [Micromodem](INFO): Nmea in: $SNTTA,0.117528,,,,035806.12*43 2021-02-18T03:58:07.377Z,1613620687.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.500000 m, bearing: 199.317201 deg, deltaT: 4.436297 s, approachRate: 0.000000 m/s, LOS rate: 0.601629 deg/s, posRepo size: 4 2021-02-18T03:58:07.378Z,1613620687.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.500000 m, bearing: 199.317201 deg, approachRate: 0.000000 m/s, LOS rate: 0.601629 deg/s, cmd update: 2.406517 deg/s, cmd heading: 194.562350 deg, new cmd heading: 193.794279 deg. 2021-02-18T03:58:09.761Z,1613620689.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:10.544Z,1613620690.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:10.949Z,1613620690.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:58:11.807Z,1613620691.807 [Micromodem](INFO): Nmea in: $SNTTA,0.115635,,,,035810.56*49 2021-02-18T03:58:11.842Z,1613620691.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.220001 m, bearing: 201.998091 deg, deltaT: 4.483153 s, approachRate: -1.846914 m/s, LOS rate: 0.597992 deg/s, posRepo size: 4 2021-02-18T03:58:11.864Z,1613620691.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.220001 m, bearing: 201.998091 deg, approachRate: -1.846914 m/s, LOS rate: 0.597992 deg/s, cmd update: 2.391969 deg/s, cmd heading: 205.364782 deg, new cmd heading: 206.321202 deg. 2021-02-18T03:58:14.244Z,1613620694.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:15.021Z,1613620695.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:15.411Z,1613620695.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:58:16.236Z,1613620696.236 [Micromodem](INFO): Nmea in: $SNTTA,0.113699,,,,035815.04*4B 2021-02-18T03:58:16.285Z,1613620696.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 202.143615 deg, deltaT: 4.424384 s, approachRate: -0.664500 m/s, LOS rate: 0.032891 deg/s, posRepo size: 4 2021-02-18T03:58:16.288Z,1613620696.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.279999 m, bearing: 202.143615 deg, approachRate: -0.664500 m/s, LOS rate: 0.032891 deg/s, cmd update: 0.131565 deg/s, cmd heading: 215.957765 deg, new cmd heading: 216.941221 deg. 2021-02-18T03:58:18.649Z,1613620698.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:19.432Z,1613620699.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:19.849Z,1613620699.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:58:20.664Z,1613620700.664 [Micromodem](INFO): Nmea in: $SNTTA,0.111580,,,,035819.45*4B 2021-02-18T03:58:20.697Z,1613620700.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.159988 m, bearing: 201.740784 deg, deltaT: 4.425366 s, approachRate: -0.705029 m/s, LOS rate: -0.091028 deg/s, posRepo size: 4 2021-02-18T03:58:20.698Z,1613620700.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.159988 m, bearing: 201.740784 deg, approachRate: -0.705029 m/s, LOS rate: -0.091028 deg/s, cmd update: -0.364111 deg/s, cmd heading: 216.539432 deg, new cmd heading: 216.592347 deg. 2021-02-18T03:58:23.124Z,1613620703.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:23.886Z,1613620703.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:24.294Z,1613620704.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:58:25.120Z,1613620705.120 [Micromodem](INFO): Nmea in: $SNTTA,0.109692,,,,035823.90*43 2021-02-18T03:58:25.166Z,1613620705.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.159988 m, bearing: 199.502026 deg, deltaT: 4.426571 s, approachRate: 0.000000 m/s, LOS rate: -0.505755 deg/s, posRepo size: 4 2021-02-18T03:58:25.168Z,1613620705.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.159988 m, bearing: 199.502026 deg, approachRate: 0.000000 m/s, LOS rate: -0.505755 deg/s, cmd update: -2.023018 deg/s, cmd heading: 214.927583 deg, new cmd heading: 214.765708 deg. 2021-02-18T03:58:27.532Z,1613620707.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:28.325Z,1613620708.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:28.726Z,1613620708.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:58:29.552Z,1613620709.552 [Micromodem](INFO): Nmea in: $SNTTA,0.107735,,,,035828.34*44 2021-02-18T03:58:29.574Z,1613620709.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.280014 m, bearing: 198.461678 deg, deltaT: 4.489084 s, approachRate: -1.309838 m/s, LOS rate: -0.231750 deg/s, posRepo size: 4 2021-02-18T03:58:29.576Z,1613620709.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.280014 m, bearing: 198.461678 deg, approachRate: -1.309838 m/s, LOS rate: -0.231750 deg/s, cmd update: -0.927002 deg/s, cmd heading: 205.846161 deg, new cmd heading: 205.110143 deg. 2021-02-18T03:58:31.988Z,1613620711.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:32.764Z,1613620712.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:33.184Z,1613620713.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:58:34.003Z,1613620714.003 [Micromodem](INFO): Nmea in: $SNTTA,0.105708,,,,035832.78*4B 2021-02-18T03:58:34.046Z,1613620714.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.279999 m, bearing: 196.700746 deg, deltaT: 4.395332 s, approachRate: -0.682546 m/s, LOS rate: -0.400637 deg/s, posRepo size: 4 2021-02-18T03:58:34.048Z,1613620714.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.279999 m, bearing: 196.700746 deg, approachRate: -0.682546 m/s, LOS rate: -0.400637 deg/s, cmd update: -1.602547 deg/s, cmd heading: 201.771778 deg, new cmd heading: 201.363494 deg. 2021-02-18T03:58:36.441Z,1613620716.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:37.208Z,1613620717.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:37.632Z,1613620717.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:58:38.436Z,1613620718.436 [Micromodem](INFO): Nmea in: $SNTTA,0.103658,,,,035837.23*42 2021-02-18T03:58:38.486Z,1613620718.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.279999 m, bearing: 197.927162 deg, deltaT: 4.477609 s, approachRate: -0.670000 m/s, LOS rate: 0.273900 deg/s, posRepo size: 4 2021-02-18T03:58:38.494Z,1613620718.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.279999 m, bearing: 197.927162 deg, approachRate: -0.670000 m/s, LOS rate: 0.273900 deg/s, cmd update: 1.095598 deg/s, cmd heading: 194.589662 deg, new cmd heading: 193.950412 deg. 2021-02-18T03:58:40.884Z,1613620720.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:41.652Z,1613620721.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:42.057Z,1613620722.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:58:42.884Z,1613620722.884 [Micromodem](INFO): Nmea in: $SNTTA,0.101755,,,,035841.67*4D 2021-02-18T03:58:42.908Z,1613620722.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.460007 m, bearing: 199.559044 deg, deltaT: 4.423472 s, approachRate: -0.637506 m/s, LOS rate: 0.368914 deg/s, posRepo size: 4 2021-02-18T03:58:42.910Z,1613620722.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.460007 m, bearing: 199.559044 deg, approachRate: -0.637506 m/s, LOS rate: 0.368914 deg/s, cmd update: 1.475658 deg/s, cmd heading: 199.431718 deg, new cmd heading: 199.871455 deg. 2021-02-18T03:58:45.324Z,1613620725.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:46.098Z,1613620726.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:46.510Z,1613620726.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:58:47.337Z,1613620727.337 [Micromodem](INFO): Nmea in: $SNTTA,0.099793,,,,035846.12*42 2021-02-18T03:58:47.365Z,1613620727.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.460007 m, bearing: 200.693771 deg, deltaT: 4.442032 s, approachRate: -0.675367 m/s, LOS rate: 0.255452 deg/s, posRepo size: 4 2021-02-18T03:58:47.367Z,1613620727.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.460007 m, bearing: 200.693771 deg, approachRate: -0.675367 m/s, LOS rate: 0.255452 deg/s, cmd update: 1.021809 deg/s, cmd heading: 205.992502 deg, new cmd heading: 206.601327 deg. 2021-02-18T03:58:49.772Z,1613620729.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:50.551Z,1613620730.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:50.960Z,1613620730.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:58:51.779Z,1613620731.779 [Micromodem](INFO): Nmea in: $SNTTA,0.097805,,,,035850.57*4A 2021-02-18T03:58:51.846Z,1613620731.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.460007 m, bearing: 201.973202 deg, deltaT: 4.451060 s, approachRate: -0.673997 m/s, LOS rate: 0.287444 deg/s, posRepo size: 4 2021-02-18T03:58:51.852Z,1613620731.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.460007 m, bearing: 201.973202 deg, approachRate: -0.673997 m/s, LOS rate: 0.287444 deg/s, cmd update: 1.149777 deg/s, cmd heading: 210.540646 deg, new cmd heading: 210.992358 deg. 2021-02-18T03:58:53.053Z,1613620733.053 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T03:58:54.226Z,1613620734.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:55.007Z,1613620735.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:55.390Z,1613620735.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:58:56.220Z,1613620736.220 [Micromodem](INFO): Nmea in: $SNTTA,0.095763,,,,035855.03*43 2021-02-18T03:58:56.258Z,1613620736.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.460007 m, bearing: 201.877716 deg, deltaT: 4.446231 s, approachRate: -0.674729 m/s, LOS rate: -0.021476 deg/s, posRepo size: 4 2021-02-18T03:58:56.261Z,1613620736.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.460007 m, bearing: 201.877716 deg, approachRate: -0.674729 m/s, LOS rate: -0.021476 deg/s, cmd update: -0.085903 deg/s, cmd heading: 215.652821 deg, new cmd heading: 216.122393 deg. 2021-02-18T03:58:58.650Z,1613620738.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:58:59.429Z,1613620739.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:58:59.846Z,1613620739.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:00.667Z,1613620740.667 [Micromodem](INFO): Nmea in: $SNTTA,0.093639,,,,035859.45*45 2021-02-18T03:59:00.686Z,1613620740.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.279999 m, bearing: 200.270531 deg, deltaT: 4.426916 s, approachRate: -0.718335 m/s, LOS rate: -0.363048 deg/s, posRepo size: 4 2021-02-18T03:59:00.688Z,1613620740.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.279999 m, bearing: 200.270531 deg, approachRate: -0.718335 m/s, LOS rate: -0.363048 deg/s, cmd update: -1.452193 deg/s, cmd heading: 215.272536 deg, new cmd heading: 215.237390 deg. 2021-02-18T03:59:03.117Z,1613620743.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:59:03.874Z,1613620743.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:59:04.278Z,1613620744.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:05.104Z,1613620745.104 [Micromodem](INFO): Nmea in: $SNTTA,0.091619,,,,035903.89*4B 2021-02-18T03:59:05.174Z,1613620745.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.160004 m, bearing: 196.163620 deg, deltaT: 4.442429 s, approachRate: -0.702317 m/s, LOS rate: -0.924474 deg/s, posRepo size: 4 2021-02-18T03:59:05.180Z,1613620745.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.160004 m, bearing: 196.163620 deg, approachRate: -0.702317 m/s, LOS rate: -0.924474 deg/s, cmd update: -3.697896 deg/s, cmd heading: 208.844503 deg, new cmd heading: 208.160858 deg. 2021-02-18T03:59:07.523Z,1613620747.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:59:08.329Z,1613620748.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:59:08.722Z,1613620748.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:09.556Z,1613620749.556 [Micromodem](INFO): Nmea in: $SNTTA,0.089745,,,0.092252,035908.35*56 2021-02-18T03:59:09.588Z,1613620749.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.339996 m, bearing: 195.784886 deg, deltaT: 4.461143 s, approachRate: -0.632127 m/s, LOS rate: -0.084896 deg/s, posRepo size: 4 2021-02-18T03:59:09.590Z,1613620749.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.339996 m, bearing: 195.784886 deg, approachRate: -0.632127 m/s, LOS rate: -0.084896 deg/s, cmd update: -0.339585 deg/s, cmd heading: 192.288517 deg, new cmd heading: 190.781872 deg. 2021-02-18T03:59:11.985Z,1613620751.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:59:12.760Z,1613620752.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:59:13.172Z,1613620753.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:14.008Z,1613620754.008 [Micromodem](INFO): Nmea in: $SNTTA,0.087949,,,,035912.78*48 2021-02-18T03:59:14.071Z,1613620754.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.639999 m, bearing: 195.159391 deg, deltaT: 4.427767 s, approachRate: -0.609788 m/s, LOS rate: -0.141266 deg/s, posRepo size: 4 2021-02-18T03:59:14.073Z,1613620754.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.639999 m, bearing: 195.159391 deg, approachRate: -0.609788 m/s, LOS rate: -0.141266 deg/s, cmd update: -0.565066 deg/s, cmd heading: 190.784986 deg, new cmd heading: 190.627935 deg. 2021-02-18T03:59:16.413Z,1613620756.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:59:17.209Z,1613620757.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:59:17.610Z,1613620757.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:18.440Z,1613620758.440 [Micromodem](INFO): Nmea in: $SNTTA,0.085905,,,,035917.23*49 2021-02-18T03:59:18.462Z,1613620758.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.640015 m, bearing: 195.906395 deg, deltaT: 4.510370 s, approachRate: -0.665130 m/s, LOS rate: 0.165619 deg/s, posRepo size: 4 2021-02-18T03:59:18.464Z,1613620758.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.640015 m, bearing: 195.906395 deg, approachRate: -0.665130 m/s, LOS rate: 0.165619 deg/s, cmd update: 0.662477 deg/s, cmd heading: 188.236396 deg, new cmd heading: 188.042166 deg. 2021-02-18T03:59:19.259Z,1613620759.259 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T03:59:20.868Z,1613620760.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:59:21.648Z,1613620761.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:59:22.066Z,1613620762.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:22.877Z,1613620762.877 [Micromodem](INFO): Nmea in: $SNTTA,0.083997,,,,035921.67*41 2021-02-18T03:59:22.916Z,1613620762.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.820000 m, bearing: 198.271868 deg, deltaT: 4.393676 s, approachRate: -0.641835 m/s, LOS rate: 0.538381 deg/s, posRepo size: 4 2021-02-18T03:59:22.917Z,1613620762.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.820000 m, bearing: 198.271868 deg, approachRate: -0.641835 m/s, LOS rate: 0.538381 deg/s, cmd update: 2.153524 deg/s, cmd heading: 191.144648 deg, new cmd heading: 191.414316 deg. 2021-02-18T03:59:23.285Z,1613620763.285 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T03:59:25.332Z,1613620765.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:59:26.094Z,1613620766.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:59:26.500Z,1613620766.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:27.345Z,1613620767.345 [Micromodem](INFO): Nmea in: $SNTTA,0.081988,,,,035926.11*4B 2021-02-18T03:59:27.374Z,1613620767.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.760002 m, bearing: 198.930148 deg, deltaT: 4.431050 s, approachRate: -0.690581 m/s, LOS rate: 0.148561 deg/s, posRepo size: 4 2021-02-18T03:59:27.376Z,1613620767.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.760002 m, bearing: 198.930148 deg, approachRate: -0.690581 m/s, LOS rate: 0.148561 deg/s, cmd update: 0.594243 deg/s, cmd heading: 200.695231 deg, new cmd heading: 201.623052 deg. 2021-02-18T03:59:29.743Z,1613620769.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:59:30.547Z,1613620770.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:59:30.955Z,1613620770.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:31.852Z,1613620771.852 [Micromodem](INFO): Nmea in: $SNTTA,0.080191,,,,035930.57*4F 2021-02-18T03:59:31.950Z,1613620771.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.059998 m, bearing: 201.082012 deg, deltaT: 4.538886 s, approachRate: -0.594861 m/s, LOS rate: 0.474095 deg/s, posRepo size: 4 2021-02-18T03:59:31.960Z,1613620771.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.059998 m, bearing: 201.082012 deg, approachRate: -0.594861 m/s, LOS rate: 0.474095 deg/s, cmd update: 1.896381 deg/s, cmd heading: 203.380641 deg, new cmd heading: 203.670445 deg. 2021-02-18T03:59:34.255Z,1613620774.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:59:35.026Z,1613620775.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:59:35.396Z,1613620775.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:36.253Z,1613620776.253 [Micromodem](INFO): Nmea in: $SNTTA,0.078148,,,,035935.04*4F 2021-02-18T03:59:36.281Z,1613620776.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.060005 m, bearing: 202.523701 deg, deltaT: 4.413570 s, approachRate: -0.679720 m/s, LOS rate: 0.326649 deg/s, posRepo size: 4 2021-02-18T03:59:36.282Z,1613620776.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.060005 m, bearing: 202.523701 deg, approachRate: -0.679720 m/s, LOS rate: 0.326649 deg/s, cmd update: 1.306597 deg/s, cmd heading: 211.787905 deg, new cmd heading: 212.518374 deg. 2021-02-18T03:59:38.665Z,1613620778.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:59:39.437Z,1613620779.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:59:39.841Z,1613620779.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:40.668Z,1613620780.668 [Micromodem](INFO): Nmea in: $SNTTA,0.076052,,,,035939.46*41 2021-02-18T03:59:40.686Z,1613620780.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.879997 m, bearing: 199.288350 deg, deltaT: 4.450585 s, approachRate: -0.714515 m/s, LOS rate: -0.726950 deg/s, posRepo size: 4 2021-02-18T03:59:40.720Z,1613620780.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.879997 m, bearing: 199.288350 deg, approachRate: -0.714515 m/s, LOS rate: -0.726950 deg/s, cmd update: -2.907799 deg/s, cmd heading: 217.592496 deg, new cmd heading: 218.047395 deg. 2021-02-18T03:59:43.149Z,1613620783.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:59:43.882Z,1613620783.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:59:44.298Z,1613620784.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:45.117Z,1613620785.117 [Micromodem](INFO): Nmea in: $SNTTA,0.074155,,,,035943.90*43 2021-02-18T03:59:45.215Z,1613620785.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.060005 m, bearing: 196.504652 deg, deltaT: 4.386434 s, approachRate: -0.642889 m/s, LOS rate: -0.634615 deg/s, posRepo size: 4 2021-02-18T03:59:45.217Z,1613620785.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.060005 m, bearing: 196.504652 deg, approachRate: -0.642889 m/s, LOS rate: -0.634615 deg/s, cmd update: -2.538461 deg/s, cmd heading: 204.872098 deg, new cmd heading: 203.481306 deg. 2021-02-18T03:59:47.546Z,1613620787.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:59:48.335Z,1613620788.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:59:48.731Z,1613620788.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:49.566Z,1613620789.566 [Micromodem](INFO): Nmea in: $SNTTA,0.072259,,,,035948.36*4D 2021-02-18T03:59:49.645Z,1613620789.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.180008 m, bearing: 193.671626 deg, deltaT: 4.493759 s, approachRate: -0.640888 m/s, LOS rate: -0.630436 deg/s, posRepo size: 4 2021-02-18T03:59:49.648Z,1613620789.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.180008 m, bearing: 193.671626 deg, approachRate: -0.640888 m/s, LOS rate: -0.630436 deg/s, cmd update: -2.521743 deg/s, cmd heading: 193.437317 deg, new cmd heading: 192.350436 deg. 2021-02-18T03:59:52.022Z,1613620792.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:59:52.847Z,1613620792.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:59:53.313Z,1613620793.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:54.117Z,1613620794.117 [Micromodem](INFO): Nmea in: $SNTTA,0.070510,,,,035952.87*44 2021-02-18T03:59:54.225Z,1613620794.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.480003 m, bearing: 191.752643 deg, deltaT: 4.519362 s, approachRate: -0.597430 m/s, LOS rate: -0.424614 deg/s, posRepo size: 4 2021-02-18T03:59:54.247Z,1613620794.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.480003 m, bearing: 191.752643 deg, approachRate: -0.597430 m/s, LOS rate: -0.424614 deg/s, cmd update: -1.698454 deg/s, cmd heading: 182.037848 deg, new cmd heading: 180.809182 deg. 2021-02-18T03:59:56.532Z,1613620796.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T03:59:57.320Z,1613620797.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T03:59:57.726Z,1613620797.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T03:59:58.548Z,1613620798.548 [Micromodem](INFO): Nmea in: $SNTTA,0.068541,,,,035957.34*44 2021-02-18T03:59:58.570Z,1613620798.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.600006 m, bearing: 193.747496 deg, deltaT: 4.424761 s, approachRate: -0.650882 m/s, LOS rate: 0.450838 deg/s, posRepo size: 4 2021-02-18T03:59:58.572Z,1613620798.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.600006 m, bearing: 193.747496 deg, approachRate: -0.650882 m/s, LOS rate: 0.450838 deg/s, cmd update: 1.803354 deg/s, cmd heading: 174.508553 deg, new cmd heading: 173.829895 deg. 2021-02-18T04:00:01.018Z,1613620801.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:01.767Z,1613620801.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:02.170Z,1613620802.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:00:03.009Z,1613620803.009 [Micromodem](INFO): Nmea in: $SNTTA,0.066554,,,0.078543,040001.79*5C 2021-02-18T04:00:03.107Z,1613620803.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.599998 m, bearing: 197.292623 deg, deltaT: 4.426608 s, approachRate: -0.677722 m/s, LOS rate: 0.800868 deg/s, posRepo size: 4 2021-02-18T04:00:03.109Z,1613620803.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.599998 m, bearing: 197.292623 deg, approachRate: -0.677722 m/s, LOS rate: 0.800868 deg/s, cmd update: 3.203471 deg/s, cmd heading: 182.491284 deg, new cmd heading: 183.409586 deg. 2021-02-18T04:00:05.415Z,1613620805.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:06.208Z,1613620806.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:06.616Z,1613620806.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:00:07.440Z,1613620807.440 [Micromodem](INFO): Nmea in: $SNTTA,0.064727,,,,040006.23*43 2021-02-18T04:00:07.458Z,1613620807.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.899994 m, bearing: 197.219267 deg, deltaT: 4.464857 s, approachRate: -0.604724 m/s, LOS rate: -0.016430 deg/s, posRepo size: 4 2021-02-18T04:00:07.460Z,1613620807.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.899994 m, bearing: 197.219267 deg, approachRate: -0.604724 m/s, LOS rate: -0.016430 deg/s, cmd update: -0.065719 deg/s, cmd heading: 196.794277 deg, new cmd heading: 198.062598 deg. 2021-02-18T04:00:09.890Z,1613620809.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:10.658Z,1613620810.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:11.075Z,1613620811.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:00:11.884Z,1613620811.884 [Micromodem](INFO): Nmea in: $SNTTA,0.062893,,,,040010.68*4D 2021-02-18T04:00:11.928Z,1613620811.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.140007 m, bearing: 199.605940 deg, deltaT: 4.441538 s, approachRate: -0.621403 m/s, LOS rate: 0.537353 deg/s, posRepo size: 4 2021-02-18T04:00:11.930Z,1613620811.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.140007 m, bearing: 199.605940 deg, approachRate: -0.621403 m/s, LOS rate: 0.537353 deg/s, cmd update: 2.149411 deg/s, cmd heading: 196.502644 deg, new cmd heading: 196.474474 deg. 2021-02-18T04:00:14.325Z,1613620814.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:15.099Z,1613620815.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:15.510Z,1613620815.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:00:16.328Z,1613620816.328 [Micromodem](INFO): Nmea in: $SNTTA,0.060942,,,,040015.12*4A 2021-02-18T04:00:16.369Z,1613620816.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.200005 m, bearing: 201.693628 deg, deltaT: 4.441992 s, approachRate: -0.661866 m/s, LOS rate: 0.469989 deg/s, posRepo size: 4 2021-02-18T04:00:16.370Z,1613620816.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.200005 m, bearing: 201.693628 deg, approachRate: -0.661866 m/s, LOS rate: 0.469989 deg/s, cmd update: 1.879957 deg/s, cmd heading: 206.058881 deg, new cmd heading: 206.967906 deg. 2021-02-18T04:00:18.748Z,1613620818.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:19.540Z,1613620819.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:19.956Z,1613620819.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:00:20.772Z,1613620820.772 [Micromodem](INFO): Nmea in: $SNTTA,0.058927,,,,040019.56*4E 2021-02-18T04:00:20.844Z,1613620820.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.200005 m, bearing: 199.386650 deg, deltaT: 4.450048 s, approachRate: -0.674150 m/s, LOS rate: -0.518417 deg/s, posRepo size: 4 2021-02-18T04:00:20.846Z,1613620820.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.200005 m, bearing: 199.386650 deg, approachRate: -0.674150 m/s, LOS rate: -0.518417 deg/s, cmd update: -2.073666 deg/s, cmd heading: 214.424742 deg, new cmd heading: 215.259930 deg. 2021-02-18T04:00:23.228Z,1613620823.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:24.008Z,1613620824.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:24.389Z,1613620824.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:00:24.857Z,1613620824.857 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T04:00:25.225Z,1613620825.225 [Micromodem](INFO): Nmea in: $SNTTA,0.056959,,,,040024.03*47 2021-02-18T04:00:25.273Z,1613620825.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.199997 m, bearing: 198.615563 deg, deltaT: 4.497534 s, approachRate: -0.667034 m/s, LOS rate: -0.171447 deg/s, posRepo size: 4 2021-02-18T04:00:25.274Z,1613620825.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.199997 m, bearing: 198.615563 deg, approachRate: -0.667034 m/s, LOS rate: -0.171447 deg/s, cmd update: -0.685787 deg/s, cmd heading: 205.131589 deg, new cmd heading: 204.311667 deg. 2021-02-18T04:00:27.651Z,1613620827.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:28.430Z,1613620828.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:28.844Z,1613620828.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:00:29.656Z,1613620829.656 [Micromodem](INFO): Nmea in: $SNTTA,0.054996,,,,040028.45*48 2021-02-18T04:00:29.695Z,1613620829.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.200005 m, bearing: 194.781777 deg, deltaT: 4.384478 s, approachRate: -0.684230 m/s, LOS rate: -0.874399 deg/s, posRepo size: 4 2021-02-18T04:00:29.697Z,1613620829.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.200005 m, bearing: 194.781777 deg, approachRate: -0.684230 m/s, LOS rate: -0.874399 deg/s, cmd update: -3.497598 deg/s, cmd heading: 202.113771 deg, new cmd heading: 201.827575 deg. 2021-02-18T04:00:32.106Z,1613620832.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:32.872Z,1613620832.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:33.278Z,1613620833.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:00:34.105Z,1613620834.105 [Micromodem](INFO): Nmea in: $SNTTA,0.053207,,,,040032.89*47 2021-02-18T04:00:34.160Z,1613620834.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.620003 m, bearing: 193.438143 deg, deltaT: 4.416401 s, approachRate: -0.584186 m/s, LOS rate: -0.304238 deg/s, posRepo size: 4 2021-02-18T04:00:34.162Z,1613620834.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.620003 m, bearing: 193.438143 deg, approachRate: -0.584186 m/s, LOS rate: -0.304238 deg/s, cmd update: -1.216950 deg/s, cmd heading: 186.667043 deg, new cmd heading: 185.036068 deg. 2021-02-18T04:00:36.522Z,1613620836.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:37.322Z,1613620837.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:37.722Z,1613620837.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:00:38.548Z,1613620838.548 [Micromodem](INFO): Nmea in: $SNTTA,0.051431,,,,040037.34*45 2021-02-18T04:00:38.590Z,1613620838.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.860008 m, bearing: 191.235243 deg, deltaT: 4.500225 s, approachRate: -0.613301 m/s, LOS rate: -0.489509 deg/s, posRepo size: 4 2021-02-18T04:00:38.596Z,1613620838.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.860008 m, bearing: 191.235243 deg, approachRate: -0.613301 m/s, LOS rate: -0.489509 deg/s, cmd update: -1.958035 deg/s, cmd heading: 181.195341 deg, new cmd heading: 180.708717 deg. 2021-02-18T04:00:40.994Z,1613620840.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:41.778Z,1613620841.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:42.183Z,1613620842.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:00:43.004Z,1613620843.004 [Micromodem](INFO): Nmea in: $SNTTA,0.049521,,,,040041.80*42 2021-02-18T04:00:43.116Z,1613620843.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.100006 m, bearing: 194.803525 deg, deltaT: 4.428784 s, approachRate: -0.623196 m/s, LOS rate: 0.805702 deg/s, posRepo size: 4 2021-02-18T04:00:43.118Z,1613620843.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.100006 m, bearing: 194.803525 deg, approachRate: -0.623196 m/s, LOS rate: 0.805702 deg/s, cmd update: 3.222810 deg/s, cmd heading: 172.515882 deg, new cmd heading: 171.549983 deg. 2021-02-18T04:00:45.411Z,1613620845.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:46.211Z,1613620846.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:46.610Z,1613620846.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:00:47.440Z,1613620847.440 [Micromodem](INFO): Nmea in: $SNTTA,0.047710,,0.054357,,040046.23*5C 2021-02-18T04:00:47.477Z,1613620847.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.339996 m, bearing: 196.494256 deg, deltaT: 4.450118 s, approachRate: -0.620210 m/s, LOS rate: 0.379930 deg/s, posRepo size: 4 2021-02-18T04:00:47.478Z,1613620847.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.339996 m, bearing: 196.494256 deg, approachRate: -0.620210 m/s, LOS rate: 0.379930 deg/s, cmd update: 1.519718 deg/s, cmd heading: 186.857662 deg, new cmd heading: 188.157673 deg. 2021-02-18T04:00:49.886Z,1613620849.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:50.654Z,1613620850.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:51.074Z,1613620851.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:00:51.880Z,1613620851.880 [Micromodem](INFO): Nmea in: $SNTTA,0.045875,,0.097850,,040050.67*56 2021-02-18T04:00:51.925Z,1613620851.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.580002 m, bearing: 196.375247 deg, deltaT: 4.422248 s, approachRate: -0.624116 m/s, LOS rate: -0.026911 deg/s, posRepo size: 4 2021-02-18T04:00:51.926Z,1613620851.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.580002 m, bearing: 196.375247 deg, approachRate: -0.624116 m/s, LOS rate: -0.026911 deg/s, cmd update: -0.107646 deg/s, cmd heading: 193.572237 deg, new cmd heading: 194.230579 deg. 2021-02-18T04:00:54.324Z,1613620854.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:55.115Z,1613620855.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:55.515Z,1613620855.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:00:56.341Z,1613620856.341 [Micromodem](INFO): Nmea in: $SNTTA,0.044212,,,,040055.14*40 2021-02-18T04:00:56.416Z,1613620856.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.120003 m, bearing: 198.061279 deg, deltaT: 4.433214 s, approachRate: -0.554902 m/s, LOS rate: 0.380318 deg/s, posRepo size: 4 2021-02-18T04:00:56.417Z,1613620856.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.120003 m, bearing: 198.061279 deg, approachRate: -0.554902 m/s, LOS rate: 0.380318 deg/s, cmd update: 1.521273 deg/s, cmd heading: 193.094584 deg, new cmd heading: 193.042596 deg. 2021-02-18T04:00:58.771Z,1613620858.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:00:59.545Z,1613620859.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:00:59.948Z,1613620859.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:01:00.772Z,1613620860.772 [Micromodem](INFO): Nmea in: $SNTTA,0.042398,,,,040059.56*4F 2021-02-18T04:01:00.831Z,1613620860.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.360001 m, bearing: 201.537121 deg, deltaT: 4.438859 s, approachRate: -0.621782 m/s, LOS rate: 0.783049 deg/s, posRepo size: 4 2021-02-18T04:01:00.837Z,1613620860.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.360001 m, bearing: 201.537121 deg, approachRate: -0.621782 m/s, LOS rate: 0.783049 deg/s, cmd update: 3.132194 deg/s, cmd heading: 199.847293 deg, new cmd heading: 200.551600 deg. 2021-02-18T04:01:03.206Z,1613620863.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:04.013Z,1613620864.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:01:04.386Z,1613620864.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:01:05.224Z,1613620865.224 [Micromodem](INFO): Nmea in: $SNTTA,0.040623,,,,040104.03*41 2021-02-18T04:01:05.276Z,1613620865.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.720005 m, bearing: 202.683364 deg, deltaT: 4.504155 s, approachRate: -0.586124 m/s, LOS rate: 0.254486 deg/s, posRepo size: 4 2021-02-18T04:01:05.278Z,1613620865.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.720005 m, bearing: 202.683364 deg, approachRate: -0.586124 m/s, LOS rate: 0.254486 deg/s, cmd update: 1.017942 deg/s, cmd heading: 213.950618 deg, new cmd heading: 215.219363 deg. 2021-02-18T04:01:07.636Z,1613620867.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:08.424Z,1613620868.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:01:08.840Z,1613620868.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:01:09.652Z,1613620869.652 [Micromodem](INFO): Nmea in: $SNTTA,0.041587,,,,040108.44*42 2021-02-18T04:01:09.686Z,1613620869.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.840004 m, bearing: 197.877410 deg, deltaT: 4.398972 s, approachRate: -0.654699 m/s, LOS rate: -1.092517 deg/s, posRepo size: 4 2021-02-18T04:01:09.688Z,1613620869.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.840004 m, bearing: 197.877410 deg, approachRate: -0.654699 m/s, LOS rate: -1.092517 deg/s, cmd update: -4.370069 deg/s, cmd heading: 218.429864 deg, new cmd heading: 218.852404 deg. 2021-02-18T04:01:12.110Z,1613620872.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:12.873Z,1613620872.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:01:13.274Z,1613620873.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:01:14.104Z,1613620874.104 [Micromodem](INFO): Nmea in: $SNTTA,0.037100,,,,040112.89*42 2021-02-18T04:01:14.152Z,1613620874.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.379993 m, bearing: 196.575795 deg, deltaT: 4.419698 s, approachRate: -0.556602 m/s, LOS rate: -0.294503 deg/s, posRepo size: 4 2021-02-18T04:01:14.154Z,1613620874.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.379993 m, bearing: 196.575795 deg, approachRate: -0.556602 m/s, LOS rate: -0.294503 deg/s, cmd update: -1.178013 deg/s, cmd heading: 199.114983 deg, new cmd heading: 197.097789 deg. 2021-02-18T04:01:16.534Z,1613620876.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:17.312Z,1613620877.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:01:17.719Z,1613620877.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:01:18.544Z,1613620878.544 [Micromodem](INFO): Nmea in: $SNTTA,0.035424,,,,040117.33*47 2021-02-18T04:01:18.559Z,1613620878.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.919994 m, bearing: 209.384913 deg, deltaT: 4.516726 s, approachRate: -0.544642 m/s, LOS rate: 2.835930 deg/s, posRepo size: 4 2021-02-18T04:01:18.561Z,1613620878.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.919994 m, bearing: 209.384913 deg, approachRate: -0.544642 m/s, LOS rate: 2.835930 deg/s, cmd update: 11.343720 deg/s, cmd heading: 193.798930 deg, new cmd heading: 193.380313 deg. 2021-02-18T04:01:20.986Z,1613620880.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:21.762Z,1613620881.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:01:22.162Z,1613620882.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:01:22.989Z,1613620882.989 [Micromodem](INFO): Nmea in: $SNTTA,0.033693,,,,040121.78*45 2021-02-18T04:01:23.092Z,1613620883.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.279999 m, bearing: 203.965363 deg, deltaT: 4.396332 s, approachRate: -0.600500 m/s, LOS rate: -1.232744 deg/s, posRepo size: 4 2021-02-18T04:01:23.094Z,1613620883.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.279999 m, bearing: 203.965363 deg, approachRate: -0.600500 m/s, LOS rate: -1.232744 deg/s, cmd update: -4.930974 deg/s, cmd heading: 243.533848 deg, new cmd heading: 249.262120 deg. 2021-02-18T04:01:25.412Z,1613620885.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:26.219Z,1613620886.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:01:26.606Z,1613620886.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:01:27.440Z,1613620887.440 [Micromodem](INFO): Nmea in: $SNTTA,0.031942,,,,040126.24*4A 2021-02-18T04:01:27.486Z,1613620887.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.520004 m, bearing: 197.589982 deg, deltaT: 4.510338 s, approachRate: -0.611926 m/s, LOS rate: -1.413504 deg/s, posRepo size: 4 2021-02-18T04:01:27.488Z,1613620887.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.520004 m, bearing: 197.589982 deg, approachRate: -0.611926 m/s, LOS rate: -1.413504 deg/s, cmd update: -5.654016 deg/s, cmd heading: 221.304424 deg, new cmd heading: 219.380855 deg. 2021-02-18T04:01:29.889Z,1613620889.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:30.652Z,1613620890.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:01:31.066Z,1613620891.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:01:31.876Z,1613620891.876 [Micromodem](INFO): Nmea in: $SNTTA,0.030403,,,,040130.67*43 2021-02-18T04:01:31.916Z,1613620891.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.299999 m, bearing: 194.331367 deg, deltaT: 4.372877 s, approachRate: -0.507676 m/s, LOS rate: -0.745188 deg/s, posRepo size: 4 2021-02-18T04:01:31.918Z,1613620891.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.299999 m, bearing: 194.331367 deg, approachRate: -0.507676 m/s, LOS rate: -0.745188 deg/s, cmd update: -2.980752 deg/s, cmd heading: 196.567698 deg, new cmd heading: 194.051135 deg. 2021-02-18T04:01:34.314Z,1613620894.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:35.105Z,1613620895.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:01:35.501Z,1613620895.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:01:36.344Z,1613620896.344 [Micromodem](INFO): Nmea in: $SNTTA,0.028802,,,,040135.12*40 2021-02-18T04:01:36.368Z,1613620896.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.599998 m, bearing: 202.574832 deg, deltaT: 4.451309 s, approachRate: -0.606563 m/s, LOS rate: 1.851919 deg/s, posRepo size: 4 2021-02-18T04:01:36.370Z,1613620896.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.599998 m, bearing: 202.574832 deg, approachRate: -0.606563 m/s, LOS rate: 1.851919 deg/s, cmd update: 7.407677 deg/s, cmd heading: 183.251709 deg, new cmd heading: 181.969980 deg. 2021-02-18T04:01:38.793Z,1613620898.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:39.553Z,1613620899.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:01:39.938Z,1613620899.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:01:40.800Z,1613620900.800 [Micromodem](INFO): Nmea in: $SNTTA,0.026888,,,,040139.57*41 2021-02-18T04:01:40.836Z,1613620900.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.139999 m, bearing: 205.564379 deg, deltaT: 4.445624 s, approachRate: -0.553353 m/s, LOS rate: 0.672469 deg/s, posRepo size: 4 2021-02-18T04:01:40.838Z,1613620900.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.139999 m, bearing: 205.564379 deg, approachRate: -0.553353 m/s, LOS rate: 0.672469 deg/s, cmd update: 2.689878 deg/s, cmd heading: 216.150060 deg, new cmd heading: 219.537398 deg. 2021-02-18T04:01:43.215Z,1613620903.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:43.978Z,1613620903.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:01:44.426Z,1613620904.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:01:45.251Z,1613620905.251 [Micromodem](INFO): Nmea in: $SNTTA,0.025446,,,,040144.00*44 2021-02-18T04:01:45.276Z,1613620905.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.859997 m, bearing: 199.882522 deg, deltaT: 4.473367 s, approachRate: -0.509684 m/s, LOS rate: -1.270152 deg/s, posRepo size: 4 2021-02-18T04:01:45.276Z,1613620905.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.86 m. 2021-02-18T04:01:45.278Z,1613620905.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.859997 m, bearing: 199.882522 deg, approachRate: -0.509684 m/s, LOS rate: -1.270152 deg/s, cmd update: -5.080608 deg/s, cmd heading: 228.193671 deg, new cmd heading: 229.320878 deg. 2021-02-18T04:01:45.652Z,1613620905.652 [PowerOnly](INFO): Powering up loadControl 2021-02-18T04:01:47.668Z,1613620907.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:48.462Z,1613620908.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:01:48.865Z,1613620908.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:01:49.692Z,1613620909.692 [Micromodem](INFO): Nmea in: $SNTTA,0.024097,,,,040148.48*4D 2021-02-18T04:01:49.742Z,1613620909.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.480000 m, bearing: 197.269005 deg, deltaT: 4.459172 s, approachRate: -0.309474 m/s, LOS rate: -0.586099 deg/s, posRepo size: 4 2021-02-18T04:01:49.748Z,1613620909.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.48 m. 2021-02-18T04:01:49.749Z,1613620909.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.48 m. 2021-02-18T04:01:49.750Z,1613620909.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T04:01:49.764Z,1613620909.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.480000 m, bearing: 197.269005 deg, approachRate: -0.309474 m/s, LOS rate: -0.586099 deg/s, cmd update: -2.344397 deg/s, cmd heading: 205.579959 deg, new cmd heading: 203.376555 deg. 2021-02-18T04:01:50.096Z,1613620910.096 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.255451 2021-02-18T04:01:50.146Z,1613620910.146 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T04:01:50.146Z,1613620910.146 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T04:01:50.146Z,1613620910.146 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T04:01:50.146Z,1613620910.146 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T04:01:50.147Z,1613620910.147 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T04:01:50.682Z,1613620910.682 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60600000005D00000400610000000000000000151D80030C5669BF92F9E551DC6F3373E9A42669FB424C19F6C52208E03F9EB6D434C9300662027E4FF2 2021-02-18T04:01:50.682Z,1613620910.682 [Micromodem](INFO): Outgoing frame #2, 35 bytes: 2383DCAB404B7DC38C1B42500891AFFDA95C319BCD9F40B996DBE47A0E629D01EA4AE0 2021-02-18T04:01:50.686Z,1613620910.686 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T04:01:51.066Z,1613620911.066 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T04:01:51.436Z,1613620911.436 [Micromodem](INFO): Nmea in: $CADRQ,040150,1,10,0,64,1*76 2021-02-18T04:01:51.437Z,1613620911.437 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60600000005D00000400610000000000000000151D80030C5669BF92F9E551DC6F3373E9A42669FB424C19F6C52208E03F9EB6D434C9300662027E4FF2*3C 2021-02-18T04:01:51.831Z,1613620911.831 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T04:01:51.875Z,1613620911.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:52.233Z,1613620912.233 [Micromodem](INFO): Nmea in: $CADRQ,040151,1,10,0,64,2*74 2021-02-18T04:01:52.235Z,1613620912.235 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,2383DCAB404B7DC38C1B42500891AFFDA95C319BCD9F40B996DBE47A0E629D01EA4AE0*4F 2021-02-18T04:01:52.633Z,1613620912.633 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,35*4D 2021-02-18T04:01:52.634Z,1613620912.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:01:53.056Z,1613620913.056 [Micromodem](INFO): Nmea in: $CATXP,99*72 2021-02-18T04:01:53.057Z,1613620913.057 [Micromodem](ERROR): Response from modem unexpected: $CATXP,99*72 2021-02-18T04:01:54.694Z,1613620914.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:55.459Z,1613620915.459 [Micromodem](INFO): Nmea in: $CATXF,99*64 2021-02-18T04:01:55.460Z,1613620915.460 [Micromodem](ERROR): Response from modem unexpected: $CATXF,99*64 2021-02-18T04:01:55.867Z,1613620915.867 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,040152.260859,3,0,200,4000,14500,1,1,10,1,2,2,3,99*4B 2021-02-18T04:01:55.867Z,1613620915.867 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,040152.260859,3,0,200,4000,14500,1,1,10,1,2,2,3,99*4B 2021-02-18T04:01:57.542Z,1613620917.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:01:57.907Z,1613620917.907 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T04:01:58.300Z,1613620918.300 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-18T04:01:58.301Z,1613620918.301 [Micromodem](INFO): Sent 91 bytes from file Logs/20210217T180521/Courier0096.lzma.parts 2021-02-18T04:01:58.301Z,1613620918.301 [Micromodem](INFO): Packets left to send: 0 2021-02-18T04:01:58.694Z,1613620918.694 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218040156.917218,06,7558,38,0226,0150,07,00,00,00,02,1,010,001,0,4,1,0,150,17.5,4.00,12,-1.00,-01,1.22,36,14500,4000*57 2021-02-18T04:01:58.694Z,1613620918.694 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218040156.917218,06,7558,38,0226,0150,07,00,00,00,02,1,010,001,0,4,1,0,150,17.5,4.00,12,-1.00,-01,1.22,36,14500,4000*57 2021-02-18T04:01:58.857Z,1613620918.857 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T04:01:58.857Z,1613620918.857 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T04:01:58.857Z,1613620918.857 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T04:01:58.857Z,1613620918.857 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T04:01:58.857Z,1613620918.857 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T04:02:00.334Z,1613620920.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:03.229Z,1613620923.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:03.945Z,1613620923.945 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:02:04.346Z,1613620924.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:02:05.177Z,1613620925.177 [Micromodem](INFO): Nmea in: $SNTTA,0.017134,,0.033140,,040203.96*51 2021-02-18T04:02:05.243Z,1613620925.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.440001 m, bearing: 203.980745 deg, deltaT: 15.505158 s, approachRate: -0.712021 m/s, LOS rate: 0.432871 deg/s, posRepo size: 4 2021-02-18T04:02:05.246Z,1613620925.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.440001 m, bearing: 203.980745 deg, approachRate: -0.712021 m/s, LOS rate: 0.432871 deg/s, cmd update: 1.731486 deg/s, cmd heading: 169.218905 deg, new cmd heading: 168.235482 deg. 2021-02-18T04:02:07.604Z,1613620927.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:08.386Z,1613620928.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:02:08.806Z,1613620928.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:02:09.620Z,1613620929.620 [Micromodem](INFO): Nmea in: $SNTTA,0.015651,0.030670,,,040208.40*50 2021-02-18T04:02:09.642Z,1613620929.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.280001 m, bearing: 212.369077 deg, deltaT: 4.408469 s, approachRate: -0.489966 m/s, LOS rate: 1.902777 deg/s, posRepo size: 4 2021-02-18T04:02:09.664Z,1613620929.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.280001 m, bearing: 212.369077 deg, approachRate: -0.489966 m/s, LOS rate: 1.902777 deg/s, cmd update: 7.611108 deg/s, cmd heading: 176.858995 deg, new cmd heading: 177.573091 deg. 2021-02-18T04:02:11.806Z,1613620931.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:12.503Z,1613620932.503 [Radio_Surface](INFO): Powering down 2021-02-18T04:02:12.540Z,1613620932.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:02:12.954Z,1613620932.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:02:13.828Z,1613620933.828 [Micromodem](INFO): Nmea in: $SNTTA,0.014378,,,,040212.56*4F 2021-02-18T04:02:13.853Z,1613620933.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.359999 m, bearing: 219.073659 deg, deltaT: 4.160759 s, approachRate: -0.461455 m/s, LOS rate: 1.611384 deg/s, posRepo size: 4 2021-02-18T04:02:13.855Z,1613620933.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.359999 m, bearing: 219.073659 deg, approachRate: -0.461455 m/s, LOS rate: 1.611384 deg/s, cmd update: 6.445537 deg/s, cmd heading: 208.527551 deg, new cmd heading: 212.048100 deg. 2021-02-18T04:02:16.231Z,1613620936.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:16.997Z,1613620936.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:02:17.427Z,1613620937.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:02:18.236Z,1613620938.236 [Micromodem](INFO): Nmea in: $SNTTA,0.013124,,,,040217.01*44 2021-02-18T04:02:18.277Z,1613620938.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.440001 m, bearing: 217.873349 deg, deltaT: 4.468383 s, approachRate: -0.429685 m/s, LOS rate: -0.268623 deg/s, posRepo size: 4 2021-02-18T04:02:18.283Z,1613620938.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.440001 m, bearing: 217.873349 deg, approachRate: -0.429685 m/s, LOS rate: -0.268623 deg/s, cmd update: -1.074492 deg/s, cmd heading: 237.328571 deg, new cmd heading: 240.023869 deg. 2021-02-18T04:02:20.673Z,1613620940.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:21.456Z,1613620941.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:02:21.864Z,1613620941.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:02:22.691Z,1613620942.691 [Micromodem](INFO): Nmea in: $SNTTA,0.011672,,,,040221.48*4A 2021-02-18T04:02:22.714Z,1613620942.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.219997 m, bearing: 220.490391 deg, deltaT: 4.447097 s, approachRate: -0.499203 m/s, LOS rate: 0.588483 deg/s, posRepo size: 4 2021-02-18T04:02:22.716Z,1613620942.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.219997 m, bearing: 220.490391 deg, approachRate: -0.499203 m/s, LOS rate: 0.588483 deg/s, cmd update: 2.353932 deg/s, cmd heading: 232.550875 deg, new cmd heading: 232.111614 deg. 2021-02-18T04:02:25.133Z,1613620945.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:25.900Z,1613620945.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:02:26.240Z,1613620946.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T04:02:26.302Z,1613620946.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:02:27.132Z,1613620947.132 [Micromodem](INFO): Nmea in: $SNTTA,0.010069,,0.016719,,040225.92*52 2021-02-18T04:02:27.184Z,1613620947.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.820001 m, bearing: 224.378599 deg, deltaT: 4.484320 s, approachRate: -0.535197 m/s, LOS rate: 0.867067 deg/s, posRepo size: 4 2021-02-18T04:02:27.186Z,1613620947.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.820001 m, bearing: 224.378599 deg, approachRate: -0.535197 m/s, LOS rate: 0.867067 deg/s, cmd update: 3.468270 deg/s, cmd heading: 243.062446 deg, new cmd heading: 244.034064 deg. 2021-02-18T04:02:27.244Z,1613620947.244 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2021-02-18T04:02:29.532Z,1613620949.532 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T04:02:29.575Z,1613620949.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:30.340Z,1613620950.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:02:30.792Z,1613620950.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:02:31.568Z,1613620951.568 [Micromodem](INFO): Nmea in: $SNTTA,0.009410,,,,040230.36*4C 2021-02-18T04:02:31.590Z,1613620951.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.919997 m, bearing: 230.655270 deg, deltaT: 4.397777 s, approachRate: -0.204650 m/s, LOS rate: 1.427237 deg/s, posRepo size: 4 2021-02-18T04:02:31.592Z,1613620951.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.919997 m, bearing: 230.655270 deg, approachRate: -0.204650 m/s, LOS rate: 1.427237 deg/s, cmd update: 5.708949 deg/s, cmd heading: 258.325053 deg, new cmd heading: 259.776722 deg. 2021-02-18T04:02:34.058Z,1613620954.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:34.801Z,1613620954.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:02:35.190Z,1613620955.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:02:36.056Z,1613620956.056 [Micromodem](INFO): Nmea in: $SNTTA,0.006799,0.017068,,,040234.82*5C 2021-02-18T04:02:36.113Z,1613620956.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.019998 m, bearing: 228.253147 deg, deltaT: 4.418484 s, approachRate: -0.882656 m/s, LOS rate: -0.543653 deg/s, posRepo size: 4 2021-02-18T04:02:36.115Z,1613620956.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.019998 m, bearing: 228.253147 deg, approachRate: -0.882656 m/s, LOS rate: -0.543653 deg/s, cmd update: -2.174613 deg/s, cmd heading: 283.644412 deg, new cmd heading: 286.536263 deg. 2021-02-18T04:02:38.451Z,1613620958.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:39.234Z,1613620959.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:02:39.643Z,1613620959.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:02:40.465Z,1613620960.465 [Micromodem](INFO): Nmea in: $SNTTA,0.005636,,,,040239.25*4D 2021-02-18T04:02:40.480Z,1613620960.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.339999 m, bearing: 227.305581 deg, deltaT: 4.516235 s, approachRate: -0.371991 m/s, LOS rate: -0.209813 deg/s, posRepo size: 4 2021-02-18T04:02:40.482Z,1613620960.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.339999 m, bearing: 227.305581 deg, approachRate: -0.371991 m/s, LOS rate: -0.209813 deg/s, cmd update: -0.839253 deg/s, cmd heading: 273.823359 deg, new cmd heading: 273.047461 deg. 2021-02-18T04:02:42.910Z,1613620962.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:43.678Z,1613620963.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:02:44.078Z,1613620964.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:02:44.912Z,1613620964.912 [Micromodem](INFO): Nmea in: $SNTTA,0.006550,,,,040243.70*40 2021-02-18T04:02:44.954Z,1613620964.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.899997 m, bearing: 255.574996 deg, deltaT: 4.407799 s, approachRate: 0.353918 m/s, LOS rate: 6.413499 deg/s, posRepo size: 4 2021-02-18T04:02:44.956Z,1613620964.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.899997 m, bearing: 255.574996 deg, approachRate: 0.353918 m/s, LOS rate: 6.413499 deg/s, cmd update: 12.000000 deg/s, cmd heading: 270.127462 deg, new cmd heading: 269.770786 deg. 2021-02-18T04:02:47.340Z,1613620967.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:48.117Z,1613620968.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:02:48.522Z,1613620968.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:02:49.348Z,1613620969.348 [Micromodem](INFO): Nmea in: $SNTTA,0.005721,,,,040248.13*49 2021-02-18T04:02:49.402Z,1613620969.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.520000 m, bearing: 301.155171 deg, deltaT: 4.433748 s, approachRate: -0.311248 m/s, LOS rate: 10.280281 deg/s, posRepo size: 4 2021-02-18T04:02:49.408Z,1613620969.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.520000 m, bearing: 301.155171 deg, approachRate: -0.311248 m/s, LOS rate: 10.280281 deg/s, cmd update: 12.000000 deg/s, cmd heading: 323.189316 deg, new cmd heading: 328.636044 deg. 2021-02-18T04:02:51.819Z,1613620971.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:52.561Z,1613620972.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:02:52.976Z,1613620972.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:02:53.816Z,1613620973.816 [Micromodem](INFO): Nmea in: $SNTTA,0.006460,,,,040252.58*48 2021-02-18T04:02:53.846Z,1613620973.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.780002 m, bearing: 303.026124 deg, deltaT: 4.438066 s, approachRate: 0.283908 m/s, LOS rate: 0.421569 deg/s, posRepo size: 4 2021-02-18T04:02:53.864Z,1613620973.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.780002 m, bearing: 303.026124 deg, approachRate: 0.283908 m/s, LOS rate: 0.421569 deg/s, cmd update: 1.686278 deg/s, cmd heading: 16.589150 deg, new cmd heading: 21.961874 deg. 2021-02-18T04:02:56.317Z,1613620976.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:02:57.039Z,1613620977.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:02:57.416Z,1613620977.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:02:58.290Z,1613620978.290 [Micromodem](INFO): Nmea in: $SNTTA,0.008056,,0.020698,,040257.06*52 2021-02-18T04:02:58.329Z,1613620978.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.240001 m, bearing: 282.760898 deg, deltaT: 4.441257 s, approachRate: 0.553897 m/s, LOS rate: -4.562948 deg/s, posRepo size: 4 2021-02-18T04:02:58.331Z,1613620978.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.240001 m, bearing: 282.760898 deg, approachRate: 0.553897 m/s, LOS rate: -4.562948 deg/s, cmd update: -12.000000 deg/s, cmd heading: 24.085093 deg, new cmd heading: 24.903253 deg. 2021-02-18T04:03:00.671Z,1613620980.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:01.454Z,1613620981.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:01.854Z,1613620981.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:03:02.684Z,1613620982.684 [Micromodem](INFO): Nmea in: $SNTTA,0.010679,,,,040301.47*4C 2021-02-18T04:03:02.726Z,1613620982.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.079996 m, bearing: 316.914603 deg, deltaT: 4.452491 s, approachRate: 0.862438 m/s, LOS rate: 7.670696 deg/s, posRepo size: 4 2021-02-18T04:03:02.732Z,1613620982.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.079996 m, bearing: 316.914603 deg, approachRate: 0.862438 m/s, LOS rate: 7.670696 deg/s, cmd update: 12.000000 deg/s, cmd heading: 330.848388 deg, new cmd heading: 325.497240 deg. 2021-02-18T04:03:05.134Z,1613620985.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:05.899Z,1613620985.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:06.297Z,1613620986.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:03:07.128Z,1613620987.128 [Micromodem](INFO): Nmea in: $SNTTA,0.012309,,,,040305.92*40 2021-02-18T04:03:07.179Z,1613620987.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.440001 m, bearing: 342.853011 deg, deltaT: 4.452270 s, approachRate: 0.754672 m/s, LOS rate: 5.825884 deg/s, posRepo size: 4 2021-02-18T04:03:07.180Z,1613620987.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.44 m. Rolling out. 2021-02-18T04:03:07.180Z,1613620987.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T04:03:09.561Z,1613620989.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:10.336Z,1613620990.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:10.746Z,1613620990.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:03:11.568Z,1613620991.568 [Micromodem](INFO): Nmea in: $SNTTA,0.014432,,0.025870,,040310.35*56 2021-02-18T04:03:11.590Z,1613620991.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 314.977206 deg, deltaT: 4.456349 s, approachRate: 0.336598 m/s, LOS rate: -6.255301 deg/s, posRepo size: 4 2021-02-18T04:03:14.070Z,1613620994.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:14.804Z,1613620994.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:15.208Z,1613620995.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:03:16.039Z,1613620996.039 [Micromodem](INFO): Nmea in: $SNTTA,0.014725,,0.023231,,040314.82*52 2021-02-18T04:03:16.093Z,1613620996.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.140001 m, bearing: 32.024175 deg, deltaT: 4.397842 s, approachRate: 0.272862 m/s, LOS rate: 17.519264 deg/s, posRepo size: 4 2021-02-18T04:03:18.115Z,1613620998.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:18.826Z,1613620998.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:19.226Z,1613620999.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:03:20.068Z,1613621000.068 [Micromodem](INFO): Nmea in: $SNTTA,0.016330,,,,040318.84*45 2021-02-18T04:03:20.101Z,1613621000.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.539997 m, bearing: 46.952841 deg, deltaT: 4.060478 s, approachRate: 0.591062 m/s, LOS rate: 3.676579 deg/s, posRepo size: 4 2021-02-18T04:03:20.465Z,1613621000.465 [PowerOnly](INFO): Powering down loadControl 2021-02-18T04:03:22.482Z,1613621002.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:23.264Z,1613621003.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:23.672Z,1613621003.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:03:24.506Z,1613621004.506 [Micromodem](INFO): Nmea in: $SNTTA,0.017265,,,,040323.32*40 2021-02-18T04:03:24.521Z,1613621004.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.979996 m, bearing: 86.845657 deg, deltaT: 4.460079 s, approachRate: 0.322864 m/s, LOS rate: 8.944420 deg/s, posRepo size: 4 2021-02-18T04:03:26.961Z,1613621006.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:27.708Z,1613621007.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:28.131Z,1613621008.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:03:28.940Z,1613621008.940 [Micromodem](INFO): Nmea in: $SNTTA,0.019153,,,,040327.73*49 2021-02-18T04:03:28.964Z,1613621008.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.979998 m, bearing: 18.705537 deg, deltaT: 4.409040 s, approachRate: 0.680421 m/s, LOS rate: -15.454638 deg/s, posRepo size: 4 2021-02-18T04:03:31.394Z,1613621011.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:32.158Z,1613621012.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:32.562Z,1613621012.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:03:33.388Z,1613621013.388 [Micromodem](INFO): Nmea in: $SNTTA,0.021154,,,,040332.18*4C 2021-02-18T04:03:33.426Z,1613621013.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.620001 m, bearing: 41.043853 deg, deltaT: 4.509620 s, approachRate: 0.585416 m/s, LOS rate: 4.953481 deg/s, posRepo size: 4 2021-02-18T04:03:35.839Z,1613621015.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:36.600Z,1613621016.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:37.037Z,1613621017.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:03:37.832Z,1613621017.832 [Micromodem](INFO): Nmea in: $SNTTA,0.022883,,,,040336.62*45 2021-02-18T04:03:37.871Z,1613621017.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.379997 m, bearing: 4.481283 deg, deltaT: 4.380177 s, approachRate: 0.630111 m/s, LOS rate: -8.347281 deg/s, posRepo size: 4 2021-02-18T04:03:40.280Z,1613621020.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:41.053Z,1613621021.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:41.449Z,1613621021.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:03:42.280Z,1613621022.280 [Micromodem](INFO): Nmea in: $SNTTA,0.024618,,0.069877,,040341.07*55 2021-02-18T04:03:42.326Z,1613621022.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.080002 m, bearing: 67.933553 deg, deltaT: 4.474151 s, approachRate: 0.603467 m/s, LOS rate: 14.181969 deg/s, posRepo size: 4 2021-02-18T04:03:44.710Z,1613621024.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:45.490Z,1613621025.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:45.904Z,1613621025.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:03:46.716Z,1613621026.716 [Micromodem](INFO): Nmea in: $SNTTA,0.026729,,,,040345.51*4A 2021-02-18T04:03:46.761Z,1613621026.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.599998 m, bearing: 66.970756 deg, deltaT: 4.449001 s, approachRate: 0.566419 m/s, LOS rate: -0.216407 deg/s, posRepo size: 4 2021-02-18T04:03:49.217Z,1613621029.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:49.932Z,1613621029.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:50.338Z,1613621030.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:03:51.164Z,1613621031.164 [Micromodem](INFO): Nmea in: $SNTTA,0.028745,,0.060601,,040349.95*55 2021-02-18T04:03:51.222Z,1613621031.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.719997 m, bearing: 69.831007 deg, deltaT: 4.413090 s, approachRate: 0.706987 m/s, LOS rate: 0.648129 deg/s, posRepo size: 4 2021-02-18T04:03:53.603Z,1613621033.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:54.382Z,1613621034.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:54.819Z,1613621034.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:03:55.616Z,1613621035.616 [Micromodem](INFO): Nmea in: $SNTTA,0.030889,,,,040354.40*48 2021-02-18T04:03:55.646Z,1613621035.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.139999 m, bearing: 63.688249 deg, deltaT: 4.481490 s, approachRate: 0.763139 m/s, LOS rate: -1.370695 deg/s, posRepo size: 4 2021-02-18T04:03:58.100Z,1613621038.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:03:58.846Z,1613621038.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:03:59.231Z,1613621039.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:00.068Z,1613621040.068 [Micromodem](INFO): Nmea in: $SNTTA,0.032762,,,,040358.86*46 2021-02-18T04:04:00.126Z,1613621040.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.439995 m, bearing: 78.813703 deg, deltaT: 4.404936 s, approachRate: 0.749159 m/s, LOS rate: 3.433751 deg/s, posRepo size: 4 2021-02-18T04:04:02.470Z,1613621042.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:03.288Z,1613621043.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:04:03.670Z,1613621043.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:04.504Z,1613621044.504 [Micromodem](INFO): Nmea in: $SNTTA,0.034961,,,,040403.31*48 2021-02-18T04:04:04.548Z,1613621044.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.440002 m, bearing: 21.866202 deg, deltaT: 4.480249 s, approachRate: 0.669607 m/s, LOS rate: -12.710789 deg/s, posRepo size: 4 2021-02-18T04:04:06.940Z,1613621046.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:07.708Z,1613621047.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:04:08.114Z,1613621048.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:08.936Z,1613621048.936 [Micromodem](INFO): Nmea in: $SNTTA,0.037161,,,,040407.73*41 2021-02-18T04:04:08.982Z,1613621048.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.980003 m, bearing: 30.055373 deg, deltaT: 4.405110 s, approachRate: 0.803612 m/s, LOS rate: 1.859016 deg/s, posRepo size: 4 2021-02-18T04:04:11.379Z,1613621051.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:12.152Z,1613621052.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:04:12.565Z,1613621052.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:13.380Z,1613621053.380 [Micromodem](INFO): Nmea in: $SNTTA,0.052960,,,,040412.17*4D 2021-02-18T04:04:13.420Z,1613621053.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.860004 m, bearing: 14.293052 deg, deltaT: 4.509521 s, approachRate: 0.638649 m/s, LOS rate: -3.495343 deg/s, posRepo size: 4 2021-02-18T04:04:15.855Z,1613621055.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:16.596Z,1613621056.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:04:17.039Z,1613621057.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:17.847Z,1613621057.847 [Micromodem](INFO): Nmea in: $SNTTA,0.041477,,,,040416.61*41 2021-02-18T04:04:17.872Z,1613621057.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.400005 m, bearing: 66.213486 deg, deltaT: 4.394639 s, approachRate: 0.805527 m/s, LOS rate: 11.814493 deg/s, posRepo size: 4 2021-02-18T04:04:20.270Z,1613621060.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:21.047Z,1613621061.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:04:21.455Z,1613621061.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:22.280Z,1613621062.280 [Micromodem](INFO): Nmea in: $SNTTA,0.043797,,,,040421.06*4B 2021-02-18T04:04:22.306Z,1613621062.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.580002 m, bearing: 66.298406 deg, deltaT: 4.452756 s, approachRate: 0.714164 m/s, LOS rate: 0.019071 deg/s, posRepo size: 4 2021-02-18T04:04:24.693Z,1613621064.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:25.484Z,1613621065.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:04:25.890Z,1613621065.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:26.722Z,1613621066.722 [Micromodem](INFO): Nmea in: $SNTTA,0.045603,,0.052235,,040425.50*5B 2021-02-18T04:04:26.742Z,1613621066.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.580002 m, bearing: 19.311492 deg, deltaT: 4.472394 s, approachRate: 0.670782 m/s, LOS rate: -10.505987 deg/s, posRepo size: 4 2021-02-18T04:04:29.185Z,1613621069.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:29.930Z,1613621069.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:04:30.339Z,1613621070.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:31.160Z,1613621071.160 [Micromodem](INFO): Nmea in: $SNTTA,0.047731,0.064592,,,040429.95*53 2021-02-18T04:04:31.214Z,1613621071.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.820000 m, bearing: 21.482806 deg, deltaT: 4.395081 s, approachRate: 0.737187 m/s, LOS rate: 0.494033 deg/s, posRepo size: 4 2021-02-18T04:04:33.590Z,1613621073.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:34.372Z,1613621074.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:04:34.812Z,1613621074.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:35.600Z,1613621075.600 [Micromodem](INFO): Nmea in: $SNTTA,0.049901,,0.070881,,040434.39*50 2021-02-18T04:04:35.634Z,1613621075.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.059998 m, bearing: 19.197300 deg, deltaT: 4.468910 s, approachRate: 0.725009 m/s, LOS rate: -0.511424 deg/s, posRepo size: 4 2021-02-18T04:04:38.084Z,1613621078.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:38.820Z,1613621078.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:04:39.222Z,1613621079.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:40.065Z,1613621080.065 [Micromodem](INFO): Nmea in: $SNTTA,0.052037,,,,040438.84*44 2021-02-18T04:04:40.128Z,1613621080.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.240005 m, bearing: 20.129071 deg, deltaT: 4.414829 s, approachRate: 0.720302 m/s, LOS rate: 0.211055 deg/s, posRepo size: 4 2021-02-18T04:04:42.069Z,1613621082.069 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T04:04:42.483Z,1613621082.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:43.265Z,1613621083.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:04:43.668Z,1613621083.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:44.492Z,1613621084.492 [Micromodem](INFO): Nmea in: $SNTTA,0.054197,,,,040443.29*42 2021-02-18T04:04:45.304Z,1613621085.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:46.894Z,1613621086.894 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:04:48.154Z,1613621088.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:48.923Z,1613621088.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:04:49.339Z,1613621089.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:50.164Z,1613621090.164 [Micromodem](INFO): Nmea in: $SNTTA,0.056994,,,,040448.94*46 2021-02-18T04:04:50.204Z,1613621090.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.559998 m, bearing: 22.252806 deg, deltaT: 10.115839 s, approachRate: 0.723617 m/s, LOS rate: 0.209942 deg/s, posRepo size: 4 2021-02-18T04:04:52.575Z,1613621092.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:53.366Z,1613621093.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:04:53.803Z,1613621093.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:54.592Z,1613621094.592 [Micromodem](INFO): Nmea in: $SNTTA,0.059229,,,,040453.38*48 2021-02-18T04:04:54.638Z,1613621094.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.839996 m, bearing: 10.513595 deg, deltaT: 4.462764 s, approachRate: 1.855352 m/s, LOS rate: -2.630480 deg/s, posRepo size: 4 2021-02-18T04:04:57.094Z,1613621097.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:04:57.813Z,1613621097.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:04:58.210Z,1613621098.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:04:59.064Z,1613621099.064 [Micromodem](INFO): Nmea in: $SNTTA,0.061468,,,,040457.83*44 2021-02-18T04:04:59.121Z,1613621099.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.580002 m, bearing: 31.418788 deg, deltaT: 4.409384 s, approachRate: -0.285753 m/s, LOS rate: 4.741069 deg/s, posRepo size: 4 2021-02-18T04:05:01.476Z,1613621101.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:02.248Z,1613621102.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:05:02.670Z,1613621102.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:05:03.470Z,1613621103.470 [Micromodem](INFO): Nmea in: $SNTTA,0.063773,,0.110704,,040502.27*5D 2021-02-18T04:05:04.301Z,1613621104.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:05.882Z,1613621105.882 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:05:07.132Z,1613621107.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:07.910Z,1613621107.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:05:08.330Z,1613621108.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:05:09.126Z,1613621109.126 [Micromodem](INFO): Nmea in: $SNTTA,0.066729,,,,040507.93*40 2021-02-18T04:05:10.049Z,1613621110.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:11.538Z,1613621111.538 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:05:12.819Z,1613621112.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:13.561Z,1613621113.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:05:13.977Z,1613621113.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:05:14.810Z,1613621114.810 [Micromodem](INFO): Nmea in: $SNTTA,0.069666,,,,040513.58*47 2021-02-18T04:05:15.603Z,1613621115.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:17.202Z,1613621117.202 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:05:18.425Z,1613621118.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:19.216Z,1613621119.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:05:19.642Z,1613621119.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:05:20.452Z,1613621120.452 [Micromodem](INFO): Nmea in: $SNTTA,0.072576,,,,040519.23*49 2021-02-18T04:05:20.494Z,1613621120.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.079994 m, bearing: 42.548421 deg, deltaT: 21.467048 s, approachRate: 0.768620 m/s, LOS rate: 0.518452 deg/s, posRepo size: 4 2021-02-18T04:05:22.900Z,1613621122.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:23.667Z,1613621123.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:05:24.066Z,1613621124.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:05:24.900Z,1613621124.900 [Micromodem](INFO): Nmea in: $SNTTA,0.074984,,,,040523.69*49 2021-02-18T04:05:24.939Z,1613621124.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.680000 m, bearing: 45.697428 deg, deltaT: 4.388745 s, approachRate: 0.820281 m/s, LOS rate: 0.717519 deg/s, posRepo size: 4 2021-02-18T04:05:27.330Z,1613621127.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:28.110Z,1613621128.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:05:28.517Z,1613621128.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:05:29.356Z,1613621129.356 [Micromodem](INFO): Nmea in: $SNTTA,0.077374,,,,040528.13*49 2021-02-18T04:05:29.380Z,1613621129.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.340004 m, bearing: 56.017701 deg, deltaT: 4.482237 s, approachRate: 0.816557 m/s, LOS rate: 2.302483 deg/s, posRepo size: 4 2021-02-18T04:05:31.799Z,1613621131.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:32.568Z,1613621132.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:05:32.954Z,1613621132.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:05:33.800Z,1613621133.800 [Micromodem](INFO): Nmea in: $SNTTA,0.079707,,,,040532.59*42 2021-02-18T04:05:34.583Z,1613621134.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:36.200Z,1613621136.200 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:05:37.428Z,1613621137.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:38.206Z,1613621138.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:05:38.610Z,1613621138.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:05:39.440Z,1613621139.440 [Micromodem](INFO): Nmea in: $SNTTA,0.082617,,,,040538.22*40 2021-02-18T04:05:39.481Z,1613621139.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.260002 m, bearing: 34.590130 deg, deltaT: 10.113057 s, approachRate: 0.783146 m/s, LOS rate: -2.118803 deg/s, posRepo size: 4 2021-02-18T04:05:41.878Z,1613621141.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:42.653Z,1613621142.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:05:43.054Z,1613621143.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:05:43.884Z,1613621143.884 [Micromodem](INFO): Nmea in: $SNTTA,0.084779,,,,040542.67*43 2021-02-18T04:05:43.973Z,1613621143.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.380005 m, bearing: 35.248298 deg, deltaT: 4.414496 s, approachRate: 0.706763 m/s, LOS rate: 0.149092 deg/s, posRepo size: 4 2021-02-18T04:05:46.318Z,1613621146.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:47.094Z,1613621147.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:05:47.497Z,1613621147.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:05:48.327Z,1613621148.327 [Micromodem](INFO): Nmea in: $SNTTA,0.087139,,,,040547.11*46 2021-02-18T04:05:48.386Z,1613621148.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.860001 m, bearing: 37.049623 deg, deltaT: 4.474469 s, approachRate: 0.777745 m/s, LOS rate: 0.402579 deg/s, posRepo size: 4 2021-02-18T04:05:50.776Z,1613621150.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:51.536Z,1613621151.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:05:51.945Z,1613621151.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:05:52.784Z,1613621152.784 [Micromodem](INFO): Nmea in: $SNTTA,0.089416,,,,040551.55*47 2021-02-18T04:05:52.834Z,1613621152.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.279999 m, bearing: 34.633570 deg, deltaT: 4.420373 s, approachRate: 0.773690 m/s, LOS rate: -0.546572 deg/s, posRepo size: 4 2021-02-18T04:05:55.200Z,1613621155.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:05:55.984Z,1613621155.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:05:56.397Z,1613621156.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:05:57.223Z,1613621157.223 [Micromodem](INFO): Nmea in: $SNTTA,0.092362,,,,040556.00*4E 2021-02-18T04:05:57.248Z,1613621157.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.720001 m, bearing: 38.126905 deg, deltaT: 4.444741 s, approachRate: 0.998934 m/s, LOS rate: 0.785948 deg/s, posRepo size: 4 2021-02-18T04:05:59.637Z,1613621159.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:00.424Z,1613621160.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:06:00.847Z,1613621160.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:06:01.643Z,1613621161.643 [Micromodem](INFO): Nmea in: $SNTTA,,,,,040600.44*5C 2021-02-18T04:06:02.459Z,1613621162.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:04.064Z,1613621164.064 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:06:05.314Z,1613621165.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:06.094Z,1613621166.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:06:06.486Z,1613621166.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:06:07.309Z,1613621167.309 [Micromodem](INFO): Nmea in: $SNTTA,0.096940,,,,040606.11*46 2021-02-18T04:06:08.162Z,1613621168.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:09.714Z,1613621169.714 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:06:10.970Z,1613621170.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:11.743Z,1613621171.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:06:12.146Z,1613621172.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:06:12.957Z,1613621172.957 [Micromodem](INFO): Nmea in: $SNTTA,0.099809,,,,040611.76*42 2021-02-18T04:06:13.829Z,1613621173.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:15.372Z,1613621175.372 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:06:16.599Z,1613621176.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:17.397Z,1613621177.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:06:17.818Z,1613621177.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:06:18.615Z,1613621178.615 [Micromodem](INFO): Nmea in: $SNTTA,0.102941,,,,040617.41*4E 2021-02-18T04:06:19.442Z,1613621179.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:21.049Z,1613621181.049 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:06:22.286Z,1613621182.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:23.057Z,1613621183.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:06:23.454Z,1613621183.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:06:24.275Z,1613621184.275 [Micromodem](INFO): Nmea in: $SNTTA,0.105782,,,,040623.07*4D 2021-02-18T04:06:25.118Z,1613621185.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:26.682Z,1613621186.682 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:06:27.921Z,1613621187.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:28.710Z,1613621188.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:06:29.127Z,1613621189.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:06:29.925Z,1613621189.925 [Micromodem](INFO): Nmea in: $SNTTA,0.108709,,,,040628.73*4B 2021-02-18T04:06:30.738Z,1613621190.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:32.339Z,1613621192.339 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:06:33.580Z,1613621193.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:34.360Z,1613621194.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:06:34.797Z,1613621194.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:06:35.593Z,1613621195.593 [Micromodem](INFO): Nmea in: $SNTTA,0.111721,,,,040634.38*4B 2021-02-18T04:06:35.640Z,1613621195.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.639999 m, bearing: 29.493313 deg, deltaT: 38.404055 s, approachRate: 0.753045 m/s, LOS rate: -0.224809 deg/s, posRepo size: 4 2021-02-18T04:06:35.640Z,1613621195.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 167.64 m. Resuming terminal guidance. 2021-02-18T04:06:35.640Z,1613621195.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T04:06:38.087Z,1613621198.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:38.820Z,1613621198.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:06:39.210Z,1613621199.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:06:40.068Z,1613621200.068 [Micromodem](INFO): Nmea in: $SNTTA,0.114367,,,,040638.84*43 2021-02-18T04:06:40.117Z,1613621200.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.639999 m, bearing: 42.814867 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T04:06:40.118Z,1613621200.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 42.814867deg and heading rate command to 0 deg/s. 2021-02-18T04:06:42.455Z,1613621202.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:43.248Z,1613621203.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:06:43.674Z,1613621203.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:06:44.469Z,1613621204.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,040643.26*5F 2021-02-18T04:06:45.305Z,1613621205.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:46.894Z,1613621206.894 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:06:48.135Z,1613621208.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:48.904Z,1613621208.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:06:49.311Z,1613621209.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:06:49.713Z,1613621209.713 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,18280,61,E4 B,186,80,80,AA,FF 2021-02-18T04:06:50.118Z,1613621210.118 [Micromodem](INFO): Nmea in: $SNTTA,,,,,040648.92*5B 2021-02-18T04:06:50.954Z,1613621210.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:53.812Z,1613621213.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:56.594Z,1613621216.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:06:57.390Z,1613621217.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:06:57.814Z,1613621217.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:06:58.604Z,1613621218.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,040657.41*5B 2021-02-18T04:06:59.087Z,1613621219.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.739990 m, bearing: 24.757115 deg, deltaT: 18.984135 s, approachRate: 0.900752 m/s, LOS rate: -0.951202 deg/s, posRepo size: 2 2021-02-18T04:06:59.089Z,1613621219.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.739990 m, bearing: 24.757115 deg, approachRate: 0.900752 m/s, LOS rate: -0.951202 deg/s, cmd update: -3.804809 deg/s, cmd heading: 42.814867 deg, new cmd heading: 42.814867 deg. 2021-02-18T04:07:01.126Z,1613621221.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:07:01.834Z,1613621221.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:07:02.238Z,1613621222.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:07:03.053Z,1613621223.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,040701.85*51 2021-02-18T04:07:03.490Z,1613621223.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.919983 m, bearing: 30.214701 deg, deltaT: 4.505891 s, approachRate: 0.705741 m/s, LOS rate: 1.211211 deg/s, posRepo size: 3 2021-02-18T04:07:03.492Z,1613621223.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.919983 m, bearing: 30.214701 deg, approachRate: 0.705741 m/s, LOS rate: 1.211211 deg/s, cmd update: 4.844845 deg/s, cmd heading: 25.709869 deg, new cmd heading: 24.280657 deg. 2021-02-18T04:07:05.906Z,1613621225.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:07:06.682Z,1613621226.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:07:07.091Z,1613621227.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:07:07.900Z,1613621227.900 [Micromodem](INFO): Nmea in: $SNTTA,0.127690,,,,040706.70*49 2021-02-18T04:07:08.352Z,1613621228.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.599991 m, bearing: 37.901321 deg, deltaT: 4.799891 s, approachRate: 0.975024 m/s, LOS rate: 1.601415 deg/s, posRepo size: 4 2021-02-18T04:07:08.353Z,1613621228.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.599991 m, bearing: 37.901321 deg, approachRate: 0.975024 m/s, LOS rate: 1.601415 deg/s, cmd update: 6.405662 deg/s, cmd heading: 49.013500 deg, new cmd heading: 51.061304 deg. 2021-02-18T04:07:10.744Z,1613621230.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:07:11.528Z,1613621231.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:07:11.934Z,1613621231.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:07:12.753Z,1613621232.753 [Micromodem](INFO): Nmea in: $SNTTA,0.130321,,,,040711.55*41 2021-02-18T04:07:13.193Z,1613621233.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.239990 m, bearing: 31.186005 deg, deltaT: 4.889582 s, approachRate: 0.539923 m/s, LOS rate: -1.373393 deg/s, posRepo size: 4 2021-02-18T04:07:13.194Z,1613621233.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.239990 m, bearing: 31.186005 deg, approachRate: 0.539923 m/s, LOS rate: -1.373393 deg/s, cmd update: -5.493570 deg/s, cmd heading: 80.299847 deg, new cmd heading: 82.759890 deg. 2021-02-18T04:07:15.586Z,1613621235.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:07:16.382Z,1613621236.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:07:16.823Z,1613621236.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:07:17.598Z,1613621237.598 [Micromodem](INFO): Nmea in: $SNTTA,0.132193,,,,040716.40*4B 2021-02-18T04:07:18.087Z,1613621238.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.299988 m, bearing: 76.526191 deg, deltaT: 4.804071 s, approachRate: 0.636959 m/s, LOS rate: 9.437867 deg/s, posRepo size: 4 2021-02-18T04:07:18.089Z,1613621238.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.299988 m, bearing: 76.526191 deg, approachRate: 0.636959 m/s, LOS rate: 9.437867 deg/s, cmd update: 12.000000 deg/s, cmd heading: 53.877757 deg, new cmd heading: 51.304530 deg. 2021-02-18T04:07:20.146Z,1613621240.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:07:20.821Z,1613621240.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:07:21.229Z,1613621241.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:07:22.055Z,1613621242.055 [Micromodem](INFO): Nmea in: $SNTTA,0.134550,,,,040720.84*4B 2021-02-18T04:07:22.474Z,1613621242.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.419998 m, bearing: 87.077815 deg, deltaT: 4.498200 s, approachRate: 0.693613 m/s, LOS rate: 2.345744 deg/s, posRepo size: 4 2021-02-18T04:07:22.480Z,1613621242.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.419998 m, bearing: 87.077815 deg, approachRate: 0.693613 m/s, LOS rate: 2.345744 deg/s, cmd update: 9.382975 deg/s, cmd heading: 107.809443 deg, new cmd heading: 112.142943 deg. 2021-02-18T04:07:24.887Z,1613621244.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:07:25.673Z,1613621245.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:07:26.074Z,1613621246.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:07:26.892Z,1613621246.892 [Micromodem](INFO): Nmea in: $SNTTA,0.135969,,,,040725.69*4A 2021-02-18T04:07:27.323Z,1613621247.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.119995 m, bearing: 91.032925 deg, deltaT: 4.819825 s, approachRate: 0.560186 m/s, LOS rate: 0.820592 deg/s, posRepo size: 4 2021-02-18T04:07:27.325Z,1613621247.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.119995 m, bearing: 91.032925 deg, approachRate: 0.560186 m/s, LOS rate: 0.820592 deg/s, cmd update: 3.282368 deg/s, cmd heading: 152.992352 deg, new cmd heading: 156.699499 deg. 2021-02-18T04:07:29.725Z,1613621249.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:07:30.516Z,1613621250.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:07:30.935Z,1613621250.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:07:31.733Z,1613621251.733 [Micromodem](INFO): Nmea in: $SNTTA,0.137962,,,,040730.53*4E 2021-02-18T04:07:32.197Z,1613621252.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.939987 m, bearing: 130.570336 deg, deltaT: 4.858221 s, approachRate: 0.580458 m/s, LOS rate: 8.138249 deg/s, posRepo size: 4 2021-02-18T04:07:32.199Z,1613621252.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 206.939987 m, bearing: 130.570336 deg, approachRate: 0.580458 m/s, LOS rate: 8.138249 deg/s, cmd update: 12.000000 deg/s, cmd heading: 168.835902 deg, new cmd heading: 170.288416 deg. 2021-02-18T04:07:34.571Z,1613621254.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:07:35.369Z,1613621255.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:07:35.801Z,1613621255.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:07:36.584Z,1613621256.584 [Micromodem](INFO): Nmea in: $SNTTA,0.138424,,,,040735.39*47 2021-02-18T04:07:37.101Z,1613621257.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.660004 m, bearing: 171.356906 deg, deltaT: 4.803734 s, approachRate: 0.149887 m/s, LOS rate: 8.490597 deg/s, posRepo size: 4 2021-02-18T04:07:37.108Z,1613621257.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.660004 m, bearing: 171.356906 deg, approachRate: 0.149887 m/s, LOS rate: 8.490597 deg/s, cmd update: 12.000000 deg/s, cmd heading: 226.956812 deg, new cmd heading: 232.928348 deg. 2021-02-18T04:07:39.435Z,1613621259.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:07:40.213Z,1613621260.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:07:40.629Z,1613621260.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:07:41.456Z,1613621261.456 [Micromodem](INFO): Nmea in: $SNTTA,0.138578,,,,040740.23*46 2021-02-18T04:07:41.880Z,1613621261.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.899994 m, bearing: 102.603477 deg, deltaT: 4.871977 s, approachRate: 0.049259 m/s, LOS rate: -14.112019 deg/s, posRepo size: 4 2021-02-18T04:07:41.881Z,1613621261.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.112019 deg/s. Setting heading cmd to target bearing of 102.603477deg and heading rate command to 0 deg/s. 2021-02-18T04:07:44.291Z,1613621264.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:07:45.060Z,1613621265.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:07:45.471Z,1613621265.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:07:46.283Z,1613621266.283 [Micromodem](INFO): Nmea in: $SNTTA,0.138398,,,,040745.08*42 2021-02-18T04:07:46.714Z,1613621266.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.359985 m, bearing: 202.413148 deg, deltaT: 4.876288 s, approachRate: -0.110742 m/s, LOS rate: 20.468371 deg/s, posRepo size: 4 2021-02-18T04:07:46.731Z,1613621266.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.468371 deg/s. Setting heading cmd to target bearing of 202.413148deg and heading rate command to 0 deg/s. 2021-02-18T04:07:49.159Z,1613621269.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:07:49.913Z,1613621269.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:07:50.338Z,1613621270.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:07:51.150Z,1613621271.150 [Micromodem](INFO): Nmea in: $SNTTA,0.137632,,,,040749.93*46 2021-02-18T04:07:51.598Z,1613621271.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.399979 m, bearing: 170.473940 deg, deltaT: 4.856728 s, approachRate: -0.197665 m/s, LOS rate: -6.576281 deg/s, posRepo size: 4 2021-02-18T04:07:51.602Z,1613621271.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 206.399979 m, bearing: 170.473940 deg, approachRate: -0.197665 m/s, LOS rate: -6.576281 deg/s, cmd update: -12.000000 deg/s, cmd heading: 202.413148 deg, new cmd heading: 202.413148 deg. 2021-02-18T04:07:54.070Z,1613621274.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:07:54.805Z,1613621274.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:07:55.182Z,1613621275.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:07:56.025Z,1613621276.025 [Micromodem](INFO): Nmea in: $SNTTA,0.137140,,,,040754.82*48 2021-02-18T04:07:56.430Z,1613621276.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.619995 m, bearing: 90.563889 deg, deltaT: 4.881613 s, approachRate: -0.159780 m/s, LOS rate: -16.369600 deg/s, posRepo size: 4 2021-02-18T04:07:56.431Z,1613621276.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.369600 deg/s. Setting heading cmd to target bearing of 90.563889deg and heading rate command to 0 deg/s. 2021-02-18T04:07:58.841Z,1613621278.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:07:59.624Z,1613621279.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:08:00.047Z,1613621280.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:08:00.842Z,1613621280.842 [Micromodem](INFO): Nmea in: $SNTTA,0.137081,,,,040759.64*41 2021-02-18T04:08:01.292Z,1613621281.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.079987 m, bearing: 207.310626 deg, deltaT: 4.801105 s, approachRate: -0.112476 m/s, LOS rate: 24.316638 deg/s, posRepo size: 4 2021-02-18T04:08:01.292Z,1613621281.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.316638 deg/s. Setting heading cmd to target bearing of 207.310626deg and heading rate command to 0 deg/s. 2021-02-18T04:08:03.693Z,1613621283.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:08:04.472Z,1613621284.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:08:04.877Z,1613621284.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:08:05.694Z,1613621285.694 [Micromodem](INFO): Nmea in: $SNTTA,0.136094,,,,040804.49*4C 2021-02-18T04:08:06.133Z,1613621286.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.299988 m, bearing: 223.418370 deg, deltaT: 4.844491 s, approachRate: -0.161007 m/s, LOS rate: 3.324961 deg/s, posRepo size: 4 2021-02-18T04:08:06.135Z,1613621286.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.299988 m, bearing: 223.418370 deg, approachRate: -0.161007 m/s, LOS rate: 3.324961 deg/s, cmd update: 12.000000 deg/s, cmd heading: 207.310626 deg, new cmd heading: 207.310626 deg. 2021-02-18T04:08:08.536Z,1613621288.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:08:09.325Z,1613621289.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:08:09.731Z,1613621289.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:08:10.547Z,1613621290.547 [Micromodem](INFO): Nmea in: $SNTTA,0.134381,,,,040809.34*4E 2021-02-18T04:08:11.034Z,1613621291.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.360001 m, bearing: 208.628060 deg, deltaT: 4.852833 s, approachRate: -0.605829 m/s, LOS rate: -3.047768 deg/s, posRepo size: 4 2021-02-18T04:08:11.040Z,1613621291.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.360001 m, bearing: 208.628060 deg, approachRate: -0.605829 m/s, LOS rate: -3.047768 deg/s, cmd update: -12.000000 deg/s, cmd heading: 265.740523 deg, new cmd heading: 271.062391 deg. 2021-02-18T04:08:13.403Z,1613621293.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:08:14.188Z,1613621294.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:08:14.579Z,1613621294.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:08:15.404Z,1613621295.404 [Micromodem](INFO): Nmea in: $SNTTA,0.132558,,,,040814.21*42 2021-02-18T04:08:15.426Z,1613621295.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.360001 m, bearing: 205.329557 deg, deltaT: 4.519964 s, approachRate: 0.000000 m/s, LOS rate: -0.729763 deg/s, posRepo size: 4 2021-02-18T04:08:15.428Z,1613621295.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.360001 m, bearing: 205.329557 deg, approachRate: 0.000000 m/s, LOS rate: -0.729763 deg/s, cmd update: -2.919053 deg/s, cmd heading: 211.573086 deg, new cmd heading: 207.625338 deg. 2021-02-18T04:08:17.844Z,1613621297.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:08:18.615Z,1613621298.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:08:19.044Z,1613621299.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:08:19.834Z,1613621299.834 [Micromodem](INFO): Nmea in: $SNTTA,0.131169,,,,040818.63*4D 2021-02-18T04:08:20.267Z,1613621300.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.139999 m, bearing: 206.047136 deg, deltaT: 4.790076 s, approachRate: -1.089753 m/s, LOS rate: 0.149805 deg/s, posRepo size: 4 2021-02-18T04:08:20.269Z,1613621300.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.139999 m, bearing: 206.047136 deg, approachRate: -1.089753 m/s, LOS rate: 0.149805 deg/s, cmd update: 0.599222 deg/s, cmd heading: 197.603944 deg, new cmd heading: 196.481796 deg. 2021-02-18T04:08:21.065Z,1613621301.065 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T04:08:22.684Z,1613621302.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:08:23.488Z,1613621303.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:08:23.866Z,1613621303.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:08:24.696Z,1613621304.696 [Micromodem](INFO): Nmea in: $SNTTA,0.129115,,,,040823.51*46 2021-02-18T04:08:25.148Z,1613621305.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.779999 m, bearing: 202.215332 deg, deltaT: 4.841652 s, approachRate: -0.693978 m/s, LOS rate: -0.791425 deg/s, posRepo size: 4 2021-02-18T04:08:25.150Z,1613621305.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.779999 m, bearing: 202.215332 deg, approachRate: -0.693978 m/s, LOS rate: -0.791425 deg/s, cmd update: -3.165700 deg/s, cmd heading: 200.511526 deg, new cmd heading: 200.758638 deg. 2021-02-18T04:08:27.521Z,1613621307.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:08:28.308Z,1613621308.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:08:28.714Z,1613621308.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:08:29.543Z,1613621309.543 [Micromodem](INFO): Nmea in: $SNTTA,0.126513,,,,040828.32*45 2021-02-18T04:08:30.113Z,1613621310.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.659988 m, bearing: 205.598734 deg, deltaT: 4.822312 s, approachRate: -0.646995 m/s, LOS rate: 0.701614 deg/s, posRepo size: 4 2021-02-18T04:08:30.118Z,1613621310.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.659988 m, bearing: 205.598734 deg, approachRate: -0.646995 m/s, LOS rate: 0.701614 deg/s, cmd update: 2.806457 deg/s, cmd heading: 185.245580 deg, new cmd heading: 183.519555 deg. 2021-02-18T04:08:32.386Z,1613621312.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:08:33.156Z,1613621313.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:08:33.563Z,1613621313.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:08:34.396Z,1613621314.396 [Micromodem](INFO): Nmea in: $SNTTA,0.124580,,,,040833.17*40 2021-02-18T04:08:34.420Z,1613621314.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.659988 m, bearing: 197.190853 deg, deltaT: 4.488666 s, approachRate: 0.000000 m/s, LOS rate: -1.873136 deg/s, posRepo size: 4 2021-02-18T04:08:34.422Z,1613621314.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.659988 m, bearing: 197.190853 deg, approachRate: 0.000000 m/s, LOS rate: -1.873136 deg/s, cmd update: -7.492543 deg/s, cmd heading: 197.831609 deg, new cmd heading: 198.892037 deg. 2021-02-18T04:08:36.861Z,1613621316.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:08:37.606Z,1613621317.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:08:38.045Z,1613621318.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:08:38.829Z,1613621318.829 [Micromodem](INFO): Nmea in: $SNTTA,0.122615,,,,040837.62*4F 2021-02-18T04:08:39.259Z,1613621319.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.720001 m, bearing: 205.874223 deg, deltaT: 4.807714 s, approachRate: -1.235512 m/s, LOS rate: 1.806133 deg/s, posRepo size: 4 2021-02-18T04:08:39.261Z,1613621319.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.720001 m, bearing: 205.874223 deg, approachRate: -1.235512 m/s, LOS rate: 1.806133 deg/s, cmd update: 7.224531 deg/s, cmd heading: 161.779544 deg, new cmd heading: 158.742367 deg. 2021-02-18T04:08:41.671Z,1613621321.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:08:42.458Z,1613621322.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:08:42.859Z,1613621322.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:08:43.674Z,1613621323.674 [Micromodem](INFO): Nmea in: $SNTTA,0.120834,,,,040842.47*45 2021-02-18T04:08:44.112Z,1613621324.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.080017 m, bearing: 203.114472 deg, deltaT: 4.834797 s, approachRate: -0.546038 m/s, LOS rate: -0.570810 deg/s, posRepo size: 4 2021-02-18T04:08:44.114Z,1613621324.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.080017 m, bearing: 203.114472 deg, approachRate: -0.546038 m/s, LOS rate: -0.570810 deg/s, cmd update: -2.283241 deg/s, cmd heading: 196.708613 deg, new cmd heading: 199.767219 deg. 2021-02-18T04:08:46.515Z,1613621326.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:08:47.310Z,1613621327.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:08:47.709Z,1613621327.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:08:48.540Z,1613621328.540 [Micromodem](INFO): Nmea in: $SNTTA,0.119099,,,,040847.33*46 2021-02-18T04:08:48.948Z,1613621328.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.500000 m, bearing: 209.513321 deg, deltaT: 4.886531 s, approachRate: -0.527985 m/s, LOS rate: 1.309487 deg/s, posRepo size: 4 2021-02-18T04:08:48.950Z,1613621328.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.500000 m, bearing: 209.513321 deg, approachRate: -0.527985 m/s, LOS rate: 1.309487 deg/s, cmd update: 5.237948 deg/s, cmd heading: 185.569656 deg, new cmd heading: 184.701026 deg. 2021-02-18T04:08:51.385Z,1613621331.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:08:52.147Z,1613621332.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:08:52.550Z,1613621332.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:08:53.374Z,1613621333.374 [Micromodem](INFO): Nmea in: $SNTTA,0.117265,,,,040852.16*4A 2021-02-18T04:08:53.434Z,1613621333.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.500000 m, bearing: 210.779569 deg, deltaT: 4.468437 s, approachRate: 0.000000 m/s, LOS rate: 0.283376 deg/s, posRepo size: 4 2021-02-18T04:08:53.436Z,1613621333.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.500000 m, bearing: 210.779569 deg, approachRate: 0.000000 m/s, LOS rate: 0.283376 deg/s, cmd update: 1.133505 deg/s, cmd heading: 208.995850 deg, new cmd heading: 211.058848 deg. 2021-02-18T04:08:55.854Z,1613621335.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:08:56.594Z,1613621336.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:08:57.042Z,1613621337.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:08:57.828Z,1613621337.828 [Micromodem](INFO): Nmea in: $SNTTA,0.115614,,,,040856.61*4E 2021-02-18T04:08:57.853Z,1613621337.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.500000 m, bearing: 210.256104 deg, deltaT: 4.394926 s, approachRate: 0.000000 m/s, LOS rate: -0.119107 deg/s, posRepo size: 4 2021-02-18T04:08:57.854Z,1613621337.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.500000 m, bearing: 210.256104 deg, approachRate: 0.000000 m/s, LOS rate: -0.119107 deg/s, cmd update: -0.476427 deg/s, cmd heading: 213.980956 deg, new cmd heading: 214.451510 deg. 2021-02-18T04:09:00.262Z,1613621340.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:01.053Z,1613621341.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:01.447Z,1613621341.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:09:02.284Z,1613621342.284 [Micromodem](INFO): Nmea in: $SNTTA,0.113235,,,,040901.07*4C 2021-02-18T04:09:02.308Z,1613621342.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.500000 m, bearing: 218.803908 deg, deltaT: 4.475741 s, approachRate: 0.000000 m/s, LOS rate: 1.909808 deg/s, posRepo size: 4 2021-02-18T04:09:02.310Z,1613621342.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.500000 m, bearing: 218.803908 deg, approachRate: 0.000000 m/s, LOS rate: 1.909808 deg/s, cmd update: 7.639230 deg/s, cmd heading: 211.854976 deg, new cmd heading: 211.660448 deg. 2021-02-18T04:09:04.700Z,1613621344.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:05.489Z,1613621345.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:05.882Z,1613621345.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:09:06.712Z,1613621346.712 [Micromodem](INFO): Nmea in: $SNTTA,0.111208,,,,040905.51*47 2021-02-18T04:09:06.754Z,1613621346.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.500000 m, bearing: 210.492961 deg, deltaT: 4.429083 s, approachRate: 0.000000 m/s, LOS rate: -1.876449 deg/s, posRepo size: 4 2021-02-18T04:09:06.756Z,1613621346.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.500000 m, bearing: 210.492961 deg, approachRate: 0.000000 m/s, LOS rate: -1.876449 deg/s, cmd update: -7.505795 deg/s, cmd heading: 245.768872 deg, new cmd heading: 248.934310 deg. 2021-02-18T04:09:09.166Z,1613621349.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:09.921Z,1613621349.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:10.346Z,1613621350.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:09:11.148Z,1613621351.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,040909.94*57 2021-02-18T04:09:11.214Z,1613621351.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.320007 m, bearing: 207.365199 deg, deltaT: 4.461294 s, approachRate: -3.402599 m/s, LOS rate: -0.701089 deg/s, posRepo size: 4 2021-02-18T04:09:11.220Z,1613621351.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.320007 m, bearing: 207.365199 deg, approachRate: -3.402599 m/s, LOS rate: -0.701089 deg/s, cmd update: -2.804354 deg/s, cmd heading: 212.445102 deg, new cmd heading: 209.178355 deg. 2021-02-18T04:09:13.596Z,1613621353.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:14.365Z,1613621354.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:14.808Z,1613621354.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:09:15.592Z,1613621355.592 [Micromodem](INFO): Nmea in: $SNTTA,0.107376,,,,040914.38*47 2021-02-18T04:09:15.638Z,1613621355.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.559998 m, bearing: 204.865841 deg, deltaT: 4.421617 s, approachRate: -0.624208 m/s, LOS rate: -0.565259 deg/s, posRepo size: 4 2021-02-18T04:09:15.645Z,1613621355.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.559998 m, bearing: 204.865841 deg, approachRate: -0.624208 m/s, LOS rate: -0.565259 deg/s, cmd update: -2.261035 deg/s, cmd heading: 199.973710 deg, new cmd heading: 198.820935 deg. 2021-02-18T04:09:18.080Z,1613621358.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:18.825Z,1613621358.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:19.214Z,1613621359.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:09:20.060Z,1613621360.060 [Micromodem](INFO): Nmea in: $SNTTA,0.105151,,,,040918.84*49 2021-02-18T04:09:20.103Z,1613621360.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.559998 m, bearing: 209.031560 deg, deltaT: 4.428072 s, approachRate: 0.000000 m/s, LOS rate: 0.940752 deg/s, posRepo size: 4 2021-02-18T04:09:20.105Z,1613621360.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.559998 m, bearing: 209.031560 deg, approachRate: 0.000000 m/s, LOS rate: 0.940752 deg/s, cmd update: 3.763009 deg/s, cmd heading: 189.999356 deg, new cmd heading: 188.946460 deg. 2021-02-18T04:09:22.459Z,1613621362.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:23.258Z,1613621363.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:23.672Z,1613621363.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:09:24.488Z,1613621364.488 [Micromodem](INFO): Nmea in: $SNTTA,0.103537,,,,040923.27*4A 2021-02-18T04:09:24.530Z,1613621364.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.159988 m, bearing: 210.156943 deg, deltaT: 4.484375 s, approachRate: -1.204183 m/s, LOS rate: 0.250956 deg/s, posRepo size: 4 2021-02-18T04:09:24.536Z,1613621364.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.159988 m, bearing: 210.156943 deg, approachRate: -1.204183 m/s, LOS rate: 0.250956 deg/s, cmd update: 1.003826 deg/s, cmd heading: 206.895180 deg, new cmd heading: 208.410735 deg. 2021-02-18T04:09:26.933Z,1613621366.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:27.698Z,1613621367.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:28.119Z,1613621368.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:09:28.924Z,1613621368.924 [Micromodem](INFO): Nmea in: $SNTTA,0.101376,,,,040927.71*4C 2021-02-18T04:09:28.968Z,1613621368.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.860001 m, bearing: 210.533109 deg, deltaT: 4.433051 s, approachRate: -0.744406 m/s, LOS rate: 0.084855 deg/s, posRepo size: 4 2021-02-18T04:09:28.970Z,1613621368.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.860001 m, bearing: 210.533109 deg, approachRate: -0.744406 m/s, LOS rate: 0.084855 deg/s, cmd update: 0.339419 deg/s, cmd heading: 211.347766 deg, new cmd heading: 211.748897 deg. 2021-02-18T04:09:31.398Z,1613621371.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:32.164Z,1613621372.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:32.546Z,1613621372.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:09:33.388Z,1613621373.388 [Micromodem](INFO): Nmea in: $SNTTA,0.099398,,,,040932.18*47 2021-02-18T04:09:33.433Z,1613621373.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.919998 m, bearing: 210.415985 deg, deltaT: 4.463937 s, approachRate: -0.658612 m/s, LOS rate: -0.026238 deg/s, posRepo size: 4 2021-02-18T04:09:33.435Z,1613621373.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.919998 m, bearing: 210.415985 deg, approachRate: -0.658612 m/s, LOS rate: -0.026238 deg/s, cmd update: -0.104951 deg/s, cmd heading: 212.858724 deg, new cmd heading: 213.000634 deg. 2021-02-18T04:09:35.853Z,1613621375.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:36.584Z,1613621376.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:37.018Z,1613621377.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:09:37.824Z,1613621377.824 [Micromodem](INFO): Nmea in: $SNTTA,0.097272,,,,040936.60*47 2021-02-18T04:09:37.849Z,1613621377.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.680008 m, bearing: 210.137955 deg, deltaT: 4.376738 s, approachRate: -0.740275 m/s, LOS rate: -0.063524 deg/s, posRepo size: 4 2021-02-18T04:09:37.850Z,1613621377.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.680008 m, bearing: 210.137955 deg, approachRate: -0.740275 m/s, LOS rate: -0.063524 deg/s, cmd update: -0.254098 deg/s, cmd heading: 212.397211 deg, new cmd heading: 212.351407 deg. 2021-02-18T04:09:40.250Z,1613621380.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:41.047Z,1613621381.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:41.439Z,1613621381.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:09:42.272Z,1613621382.272 [Micromodem](INFO): Nmea in: $SNTTA,0.095187,,,,040941.06*4C 2021-02-18T04:09:42.310Z,1613621382.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.620010 m, bearing: 210.536360 deg, deltaT: 4.473352 s, approachRate: -0.684050 m/s, LOS rate: 0.089062 deg/s, posRepo size: 4 2021-02-18T04:09:42.313Z,1613621382.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.620010 m, bearing: 210.536360 deg, approachRate: -0.684050 m/s, LOS rate: 0.089062 deg/s, cmd update: 0.356247 deg/s, cmd heading: 211.265569 deg, new cmd heading: 211.152539 deg. 2021-02-18T04:09:44.679Z,1613621384.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:45.472Z,1613621385.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:45.881Z,1613621385.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:09:46.707Z,1613621386.707 [Micromodem](INFO): Nmea in: $SNTTA,0.093152,,,,040945.49*4D 2021-02-18T04:09:46.726Z,1613621386.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.440002 m, bearing: 210.280351 deg, deltaT: 4.433619 s, approachRate: -0.717249 m/s, LOS rate: -0.057743 deg/s, posRepo size: 4 2021-02-18T04:09:46.728Z,1613621386.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.440002 m, bearing: 210.280351 deg, approachRate: -0.717249 m/s, LOS rate: -0.057743 deg/s, cmd update: -0.230971 deg/s, cmd heading: 212.852107 deg, new cmd heading: 212.997083 deg. 2021-02-18T04:09:49.145Z,1613621389.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:49.916Z,1613621389.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:50.322Z,1613621390.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:09:51.144Z,1613621391.144 [Micromodem](INFO): Nmea in: $SNTTA,0.091105,,,,040949.93*46 2021-02-18T04:09:51.178Z,1613621391.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.440002 m, bearing: 209.769863 deg, deltaT: 4.430914 s, approachRate: -0.677061 m/s, LOS rate: -0.115211 deg/s, posRepo size: 4 2021-02-18T04:09:51.180Z,1613621391.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.440002 m, bearing: 209.769863 deg, approachRate: -0.677061 m/s, LOS rate: -0.115211 deg/s, cmd update: -0.460842 deg/s, cmd heading: 211.828711 deg, new cmd heading: 211.729893 deg. 2021-02-18T04:09:53.578Z,1613621393.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:54.360Z,1613621394.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:54.788Z,1613621394.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:09:55.588Z,1613621395.588 [Micromodem](INFO): Nmea in: $SNTTA,0.089109,,,,040954.38*4E 2021-02-18T04:09:55.622Z,1613621395.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.440002 m, bearing: 209.572593 deg, deltaT: 4.470040 s, approachRate: -0.671135 m/s, LOS rate: -0.044131 deg/s, posRepo size: 4 2021-02-18T04:09:55.624Z,1613621395.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.440002 m, bearing: 209.572593 deg, approachRate: -0.671135 m/s, LOS rate: -0.044131 deg/s, cmd update: -0.176526 deg/s, cmd heading: 209.772412 deg, new cmd heading: 209.583335 deg. 2021-02-18T04:09:58.090Z,1613621398.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:09:58.814Z,1613621398.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:09:59.216Z,1613621399.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:00.056Z,1613621400.056 [Micromodem](INFO): Nmea in: $SNTTA,0.086977,,,,040958.83*4C 2021-02-18T04:10:00.116Z,1613621400.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.199997 m, bearing: 209.775354 deg, deltaT: 4.427246 s, approachRate: -0.731833 m/s, LOS rate: 0.045798 deg/s, posRepo size: 4 2021-02-18T04:10:00.117Z,1613621400.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.199997 m, bearing: 209.775354 deg, approachRate: -0.731833 m/s, LOS rate: 0.045798 deg/s, cmd update: 0.183194 deg/s, cmd heading: 208.989443 deg, new cmd heading: 208.906888 deg. 2021-02-18T04:10:02.457Z,1613621402.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:10:03.265Z,1613621403.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:10:03.675Z,1613621403.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:04.496Z,1613621404.496 [Micromodem](INFO): Nmea in: $SNTTA,0.084974,,,,041003.28*4A 2021-02-18T04:10:04.519Z,1613621404.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.260002 m, bearing: 211.294839 deg, deltaT: 4.484826 s, approachRate: -0.655543 m/s, LOS rate: 0.338806 deg/s, posRepo size: 4 2021-02-18T04:10:04.541Z,1613621404.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.260002 m, bearing: 211.294839 deg, approachRate: -0.655543 m/s, LOS rate: 0.338806 deg/s, cmd update: 1.355223 deg/s, cmd heading: 209.810996 deg, new cmd heading: 209.881795 deg. 2021-02-18T04:10:06.937Z,1613621406.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:10:07.698Z,1613621407.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:10:08.105Z,1613621408.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:08.932Z,1613621408.932 [Micromodem](INFO): Nmea in: $SNTTA,0.082927,,,,041007.71*42 2021-02-18T04:10:08.957Z,1613621408.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.139999 m, bearing: 210.505324 deg, deltaT: 4.443467 s, approachRate: -0.702155 m/s, LOS rate: -0.177680 deg/s, posRepo size: 4 2021-02-18T04:10:08.958Z,1613621408.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.139999 m, bearing: 210.505324 deg, approachRate: -0.702155 m/s, LOS rate: -0.177680 deg/s, cmd update: -0.710720 deg/s, cmd heading: 215.811494 deg, new cmd heading: 216.349340 deg. 2021-02-18T04:10:11.354Z,1613621411.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:10:12.136Z,1613621412.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:10:12.544Z,1613621412.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:13.368Z,1613621413.368 [Micromodem](INFO): Nmea in: $SNTTA,0.080993,,,,041012.15*49 2021-02-18T04:10:13.392Z,1613621413.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.380005 m, bearing: 212.412722 deg, deltaT: 4.402381 s, approachRate: -0.626932 m/s, LOS rate: 0.433265 deg/s, posRepo size: 4 2021-02-18T04:10:13.394Z,1613621413.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.380005 m, bearing: 212.412722 deg, approachRate: -0.626932 m/s, LOS rate: 0.433265 deg/s, cmd update: 1.733061 deg/s, cmd heading: 212.673084 deg, new cmd heading: 212.376805 deg. 2021-02-18T04:10:15.827Z,1613621415.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:10:16.585Z,1613621416.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:10:16.994Z,1613621416.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:17.816Z,1613621417.816 [Micromodem](INFO): Nmea in: $SNTTA,0.078825,,,,041016.60*44 2021-02-18T04:10:17.856Z,1613621417.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.080002 m, bearing: 212.227979 deg, deltaT: 4.424325 s, approachRate: -0.745877 m/s, LOS rate: -0.041756 deg/s, posRepo size: 4 2021-02-18T04:10:17.858Z,1613621417.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.080002 m, bearing: 212.227979 deg, approachRate: -0.745877 m/s, LOS rate: -0.041756 deg/s, cmd update: -0.167025 deg/s, cmd heading: 220.344851 deg, new cmd heading: 221.130759 deg. 2021-02-18T04:10:20.261Z,1613621420.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:10:21.046Z,1613621421.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:10:21.449Z,1613621421.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:22.264Z,1613621422.264 [Micromodem](INFO): Nmea in: $SNTTA,0.076820,,,,041021.06*4B 2021-02-18T04:10:22.303Z,1613621422.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.080002 m, bearing: 212.214155 deg, deltaT: 4.477785 s, approachRate: -0.669974 m/s, LOS rate: -0.003087 deg/s, posRepo size: 4 2021-02-18T04:10:22.305Z,1613621422.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.080002 m, bearing: 212.214155 deg, approachRate: -0.669974 m/s, LOS rate: -0.003087 deg/s, cmd update: -0.012349 deg/s, cmd heading: 219.598303 deg, new cmd heading: 219.526326 deg. 2021-02-18T04:10:24.695Z,1613621424.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:10:25.469Z,1613621425.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:10:25.882Z,1613621425.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:26.701Z,1613621426.701 [Micromodem](INFO): Nmea in: $SNTTA,0.074668,,,,041025.49*44 2021-02-18T04:10:26.742Z,1613621426.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.840004 m, bearing: 211.700306 deg, deltaT: 4.434462 s, approachRate: -0.730641 m/s, LOS rate: -0.115876 deg/s, posRepo size: 4 2021-02-18T04:10:26.744Z,1613621426.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.840004 m, bearing: 211.700306 deg, approachRate: -0.730641 m/s, LOS rate: -0.115876 deg/s, cmd update: -0.463505 deg/s, cmd heading: 219.543439 deg, new cmd heading: 219.538158 deg. 2021-02-18T04:10:29.146Z,1613621429.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:10:29.916Z,1613621429.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:10:30.320Z,1613621430.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:31.145Z,1613621431.145 [Micromodem](INFO): Nmea in: $SNTTA,0.072605,0.074617,,,041029.93*5F 2021-02-18T04:10:31.178Z,1613621431.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.780006 m, bearing: 210.984202 deg, deltaT: 4.431690 s, approachRate: -0.690481 m/s, LOS rate: -0.161587 deg/s, posRepo size: 4 2021-02-18T04:10:31.180Z,1613621431.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.780006 m, bearing: 210.984202 deg, approachRate: -0.690481 m/s, LOS rate: -0.161587 deg/s, cmd update: -0.646349 deg/s, cmd heading: 217.489327 deg, new cmd heading: 217.289109 deg. 2021-02-18T04:10:33.605Z,1613621433.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:10:34.364Z,1613621434.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:10:34.799Z,1613621434.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:35.592Z,1613621435.592 [Micromodem](INFO): Nmea in: $SNTTA,0.070485,,,,041034.38*47 2021-02-18T04:10:35.629Z,1613621435.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.480003 m, bearing: 211.090097 deg, deltaT: 4.481345 s, approachRate: -0.736387 m/s, LOS rate: 0.023630 deg/s, posRepo size: 4 2021-02-18T04:10:35.630Z,1613621435.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.480003 m, bearing: 211.090097 deg, approachRate: -0.736387 m/s, LOS rate: 0.023630 deg/s, cmd update: 0.094521 deg/s, cmd heading: 214.595537 deg, new cmd heading: 214.333754 deg. 2021-02-18T04:10:38.074Z,1613621438.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:10:38.812Z,1613621438.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:10:39.206Z,1613621439.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:40.056Z,1613621440.056 [Micromodem](INFO): Nmea in: $SNTTA,0.068380,,,,041038.83*40 2021-02-18T04:10:40.104Z,1613621440.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.420006 m, bearing: 211.558689 deg, deltaT: 4.400404 s, approachRate: -0.695390 m/s, LOS rate: 0.106488 deg/s, posRepo size: 4 2021-02-18T04:10:40.106Z,1613621440.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.420006 m, bearing: 211.558689 deg, approachRate: -0.695390 m/s, LOS rate: 0.106488 deg/s, cmd update: 0.425954 deg/s, cmd heading: 215.011846 deg, new cmd heading: 215.056796 deg. 2021-02-18T04:10:42.456Z,1613621442.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:10:43.256Z,1613621443.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:10:43.657Z,1613621443.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:44.480Z,1613621444.480 [Micromodem](INFO): Nmea in: $SNTTA,0.066286,,,,041043.27*4B 2021-02-18T04:10:44.526Z,1613621444.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.239998 m, bearing: 211.742968 deg, deltaT: 4.480763 s, approachRate: -0.709702 m/s, LOS rate: 0.041127 deg/s, posRepo size: 4 2021-02-18T04:10:44.528Z,1613621444.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.239998 m, bearing: 211.742968 deg, approachRate: -0.709702 m/s, LOS rate: 0.041127 deg/s, cmd update: 0.164506 deg/s, cmd heading: 216.918846 deg, new cmd heading: 217.098221 deg. 2021-02-18T04:10:46.918Z,1613621446.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:10:47.688Z,1613621447.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:10:48.094Z,1613621448.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:48.929Z,1613621448.929 [Micromodem](INFO): Nmea in: $SNTTA,0.064354,,,,041047.70*41 2021-02-18T04:10:48.987Z,1613621448.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.299995 m, bearing: 213.172253 deg, deltaT: 4.402829 s, approachRate: -0.667753 m/s, LOS rate: 0.324629 deg/s, posRepo size: 4 2021-02-18T04:10:48.989Z,1613621448.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.299995 m, bearing: 213.172253 deg, approachRate: -0.667753 m/s, LOS rate: 0.324629 deg/s, cmd update: 1.298515 deg/s, cmd heading: 217.643795 deg, new cmd heading: 217.720553 deg. 2021-02-18T04:10:51.351Z,1613621451.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:10:52.139Z,1613621452.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:10:52.541Z,1613621452.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:53.365Z,1613621453.365 [Micromodem](INFO): Nmea in: $SNTTA,0.062106,,,,041052.16*46 2021-02-18T04:10:53.389Z,1613621453.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.060005 m, bearing: 213.676936 deg, deltaT: 4.457648 s, approachRate: -0.726839 m/s, LOS rate: 0.113217 deg/s, posRepo size: 4 2021-02-18T04:10:53.391Z,1613621453.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.060005 m, bearing: 213.676936 deg, approachRate: -0.726839 m/s, LOS rate: 0.113217 deg/s, cmd update: 0.452869 deg/s, cmd heading: 223.432128 deg, new cmd heading: 223.977158 deg. 2021-02-18T04:10:55.849Z,1613621455.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:10:56.581Z,1613621456.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:10:56.993Z,1613621456.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:10:57.832Z,1613621457.832 [Micromodem](INFO): Nmea in: $SNTTA,0.060061,,,,041056.60*41 2021-02-18T04:10:57.856Z,1613621457.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.000000 m, bearing: 212.548315 deg, deltaT: 4.457308 s, approachRate: -0.686514 m/s, LOS rate: -0.253207 deg/s, posRepo size: 4 2021-02-18T04:10:57.858Z,1613621457.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.000000 m, bearing: 212.548315 deg, approachRate: -0.686514 m/s, LOS rate: -0.253207 deg/s, cmd update: -1.012827 deg/s, cmd heading: 225.448148 deg, new cmd heading: 225.645266 deg. 2021-02-18T04:11:00.250Z,1613621460.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:01.051Z,1613621461.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:01.426Z,1613621461.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:11:02.264Z,1613621462.264 [Micromodem](INFO): Nmea in: $SNTTA,0.058007,,,,041101.07*48 2021-02-18T04:11:02.303Z,1613621462.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.880005 m, bearing: 211.355723 deg, deltaT: 4.455245 s, approachRate: -0.700297 m/s, LOS rate: -0.267683 deg/s, posRepo size: 4 2021-02-18T04:11:02.305Z,1613621462.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.880005 m, bearing: 211.355723 deg, approachRate: -0.700297 m/s, LOS rate: -0.267683 deg/s, cmd update: -1.070731 deg/s, cmd heading: 220.934153 deg, new cmd heading: 220.504094 deg. 2021-02-18T04:11:04.671Z,1613621464.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:05.469Z,1613621465.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:05.874Z,1613621465.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:11:06.696Z,1613621466.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,041105.49*52 2021-02-18T04:11:06.748Z,1613621466.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.699997 m, bearing: 210.980828 deg, deltaT: 4.433672 s, approachRate: -0.717240 m/s, LOS rate: -0.084556 deg/s, posRepo size: 4 2021-02-18T04:11:06.750Z,1613621466.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.699997 m, bearing: 210.980828 deg, approachRate: -0.717240 m/s, LOS rate: -0.084556 deg/s, cmd update: -0.338226 deg/s, cmd heading: 216.186940 deg, new cmd heading: 215.725620 deg. 2021-02-18T04:11:09.167Z,1613621469.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:09.920Z,1613621469.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:10.337Z,1613621470.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:11:11.144Z,1613621471.144 [Micromodem](INFO): Nmea in: $SNTTA,0.053892,,,,041109.94*45 2021-02-18T04:11:11.218Z,1613621471.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.580009 m, bearing: 211.776436 deg, deltaT: 4.418745 s, approachRate: -0.706080 m/s, LOS rate: 0.180053 deg/s, posRepo size: 4 2021-02-18T04:11:11.221Z,1613621471.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.580009 m, bearing: 211.776436 deg, approachRate: -0.706080 m/s, LOS rate: 0.180053 deg/s, cmd update: 0.720212 deg/s, cmd heading: 214.691029 deg, new cmd heading: 214.527837 deg. 2021-02-18T04:11:13.569Z,1613621473.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:14.356Z,1613621474.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:14.786Z,1613621474.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:11:15.596Z,1613621475.596 [Micromodem](INFO): Nmea in: $SNTTA,0.051946,,,,041114.37*4A 2021-02-18T04:11:15.624Z,1613621475.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.880005 m, bearing: 213.354073 deg, deltaT: 4.474456 s, approachRate: -0.603426 m/s, LOS rate: 0.352587 deg/s, posRepo size: 4 2021-02-18T04:11:15.626Z,1613621475.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.880005 m, bearing: 213.354073 deg, approachRate: -0.603426 m/s, LOS rate: 0.352587 deg/s, cmd update: 1.410350 deg/s, cmd heading: 217.913635 deg, new cmd heading: 218.212636 deg. 2021-02-18T04:11:18.075Z,1613621478.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:18.813Z,1613621478.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:19.206Z,1613621479.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:11:20.064Z,1613621480.064 [Micromodem](INFO): Nmea in: $SNTTA,0.049943,,0.065814,,041118.83*55 2021-02-18T04:11:20.118Z,1613621480.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.820000 m, bearing: 213.949419 deg, deltaT: 4.413193 s, approachRate: -0.693377 m/s, LOS rate: 0.134902 deg/s, posRepo size: 4 2021-02-18T04:11:20.124Z,1613621480.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.820000 m, bearing: 213.949419 deg, approachRate: -0.693377 m/s, LOS rate: 0.134902 deg/s, cmd update: 0.539606 deg/s, cmd heading: 224.137724 deg, new cmd heading: 224.837235 deg. 2021-02-18T04:11:22.463Z,1613621482.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:23.244Z,1613621483.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:23.659Z,1613621483.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:11:24.074Z,1613621484.074 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T04:11:24.479Z,1613621484.479 [Micromodem](INFO): Nmea in: $SNTTA,0.047633,,,,041123.26*44 2021-02-18T04:11:24.499Z,1613621484.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.280006 m, bearing: 212.227706 deg, deltaT: 4.474850 s, approachRate: -0.791086 m/s, LOS rate: -0.384753 deg/s, posRepo size: 4 2021-02-18T04:11:24.501Z,1613621484.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.280006 m, bearing: 212.227706 deg, approachRate: -0.791086 m/s, LOS rate: -0.384753 deg/s, cmd update: -1.539013 deg/s, cmd heading: 226.552289 deg, new cmd heading: 226.769260 deg. 2021-02-18T04:11:26.912Z,1613621486.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:27.693Z,1613621487.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:28.093Z,1613621488.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:11:28.924Z,1613621488.924 [Micromodem](INFO): Nmea in: $SNTTA,0.045669,,,,041127.71*4F 2021-02-18T04:11:28.948Z,1613621488.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.340004 m, bearing: 211.577745 deg, deltaT: 4.420124 s, approachRate: -0.665140 m/s, LOS rate: -0.147046 deg/s, posRepo size: 4 2021-02-18T04:11:28.950Z,1613621488.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.340004 m, bearing: 211.577745 deg, approachRate: -0.665140 m/s, LOS rate: -0.147046 deg/s, cmd update: -0.588183 deg/s, cmd heading: 219.749392 deg, new cmd heading: 219.085508 deg. 2021-02-18T04:11:31.366Z,1613621491.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:32.132Z,1613621492.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:32.546Z,1613621492.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:11:33.360Z,1613621493.360 [Micromodem](INFO): Nmea in: $SNTTA,0.043698,,,,041132.15*41 2021-02-18T04:11:33.400Z,1613621493.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.400002 m, bearing: 213.605888 deg, deltaT: 4.475336 s, approachRate: -0.656934 m/s, LOS rate: 0.453182 deg/s, posRepo size: 4 2021-02-18T04:11:33.402Z,1613621493.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.400002 m, bearing: 213.605888 deg, approachRate: -0.656934 m/s, LOS rate: 0.453182 deg/s, cmd update: 1.812729 deg/s, cmd heading: 217.126682 deg, new cmd heading: 216.877523 deg. 2021-02-18T04:11:35.843Z,1613621495.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:36.581Z,1613621496.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:36.986Z,1613621496.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:11:37.828Z,1613621497.828 [Micromodem](INFO): Nmea in: $SNTTA,0.041454,,,,041136.60*47 2021-02-18T04:11:37.852Z,1613621497.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.220009 m, bearing: 214.482229 deg, deltaT: 4.407310 s, approachRate: -0.721527 m/s, LOS rate: 0.198838 deg/s, posRepo size: 4 2021-02-18T04:11:37.854Z,1613621497.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.220009 m, bearing: 214.482229 deg, approachRate: -0.721527 m/s, LOS rate: 0.198838 deg/s, cmd update: 0.795352 deg/s, cmd heading: 225.145511 deg, new cmd heading: 225.966333 deg. 2021-02-18T04:11:40.268Z,1613621500.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:41.045Z,1613621501.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:41.431Z,1613621501.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:11:42.264Z,1613621502.264 [Micromodem](INFO): Nmea in: $SNTTA,0.039427,,,,041141.06*4C 2021-02-18T04:11:42.308Z,1613621502.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.920006 m, bearing: 211.624273 deg, deltaT: 4.452994 s, approachRate: -0.741075 m/s, LOS rate: -0.641806 deg/s, posRepo size: 4 2021-02-18T04:11:42.310Z,1613621502.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.920006 m, bearing: 211.624273 deg, approachRate: -0.741075 m/s, LOS rate: -0.641806 deg/s, cmd update: -2.567222 deg/s, cmd heading: 228.687222 deg, new cmd heading: 229.049466 deg. 2021-02-18T04:11:44.671Z,1613621504.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:45.466Z,1613621505.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:45.870Z,1613621505.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:11:46.696Z,1613621506.696 [Micromodem](INFO): Nmea in: $SNTTA,0.037359,,,,041145.48*42 2021-02-18T04:11:46.749Z,1613621506.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.039997 m, bearing: 210.594225 deg, deltaT: 4.462187 s, approachRate: -0.645425 m/s, LOS rate: -0.230839 deg/s, posRepo size: 4 2021-02-18T04:11:46.755Z,1613621506.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.039997 m, bearing: 210.594225 deg, approachRate: -0.645425 m/s, LOS rate: -0.230839 deg/s, cmd update: -0.923356 deg/s, cmd heading: 217.246340 deg, new cmd heading: 216.116860 deg. 2021-02-18T04:11:49.159Z,1613621509.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:49.918Z,1613621509.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:50.320Z,1613621510.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:11:51.144Z,1613621511.144 [Micromodem](INFO): Nmea in: $SNTTA,0.035400,,,,041149.94*46 2021-02-18T04:11:51.200Z,1613621511.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.919994 m, bearing: 211.736493 deg, deltaT: 4.420088 s, approachRate: -0.705869 m/s, LOS rate: 0.258426 deg/s, posRepo size: 4 2021-02-18T04:11:51.202Z,1613621511.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.919994 m, bearing: 211.736493 deg, approachRate: -0.705869 m/s, LOS rate: 0.258426 deg/s, cmd update: 1.033705 deg/s, cmd heading: 213.159803 deg, new cmd heading: 212.730615 deg. 2021-02-18T04:11:53.558Z,1613621513.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:54.352Z,1613621514.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:54.788Z,1613621514.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:11:55.589Z,1613621515.589 [Micromodem](INFO): Nmea in: $SNTTA,0.033352,0.039914,,,041154.37*5D 2021-02-18T04:11:55.610Z,1613621515.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.800003 m, bearing: 213.386502 deg, deltaT: 4.462442 s, approachRate: -0.699167 m/s, LOS rate: 0.369755 deg/s, posRepo size: 4 2021-02-18T04:11:55.612Z,1613621515.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.800003 m, bearing: 213.386502 deg, approachRate: -0.699167 m/s, LOS rate: 0.369755 deg/s, cmd update: 1.479020 deg/s, cmd heading: 217.772670 deg, new cmd heading: 218.199372 deg. 2021-02-18T04:11:58.072Z,1613621518.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:11:58.811Z,1613621518.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:11:59.202Z,1613621519.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:00.052Z,1613621520.052 [Micromodem](INFO): Nmea in: $SNTTA,0.031315,,,,041158.83*47 2021-02-18T04:12:00.086Z,1613621520.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.800003 m, bearing: 212.037800 deg, deltaT: 4.420594 s, approachRate: -0.678642 m/s, LOS rate: -0.305095 deg/s, posRepo size: 4 2021-02-18T04:12:00.088Z,1613621520.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.800003 m, bearing: 212.037800 deg, approachRate: -0.678642 m/s, LOS rate: -0.305095 deg/s, cmd update: -1.220381 deg/s, cmd heading: 224.310801 deg, new cmd heading: 225.003166 deg. 2021-02-18T04:12:02.458Z,1613621522.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:12:03.245Z,1613621523.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:12:03.668Z,1613621523.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:04.472Z,1613621524.472 [Micromodem](INFO): Nmea in: $SNTTA,0.029272,,,,041203.26*4C 2021-02-18T04:12:04.509Z,1613621524.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.100002 m, bearing: 212.426724 deg, deltaT: 4.480889 s, approachRate: -0.602559 m/s, LOS rate: 0.086796 deg/s, posRepo size: 4 2021-02-18T04:12:04.511Z,1613621524.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.100002 m, bearing: 212.426724 deg, approachRate: -0.602559 m/s, LOS rate: 0.086796 deg/s, cmd update: 0.347185 deg/s, cmd heading: 218.842402 deg, new cmd heading: 218.341382 deg. 2021-02-18T04:12:06.909Z,1613621526.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:12:07.693Z,1613621527.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:12:08.091Z,1613621528.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:08.924Z,1613621528.924 [Micromodem](INFO): Nmea in: $SNTTA,0.027185,,,,041207.71*4F 2021-02-18T04:12:08.949Z,1613621528.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.559998 m, bearing: 212.198992 deg, deltaT: 4.436212 s, approachRate: -0.797979 m/s, LOS rate: -0.051335 deg/s, posRepo size: 4 2021-02-18T04:12:08.950Z,1613621528.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.559998 m, bearing: 212.198992 deg, approachRate: -0.797979 m/s, LOS rate: -0.051335 deg/s, cmd update: -0.205339 deg/s, cmd heading: 220.382524 deg, new cmd heading: 220.526182 deg. 2021-02-18T04:12:11.360Z,1613621531.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:12:12.128Z,1613621532.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:12:12.534Z,1613621532.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:13.356Z,1613621533.356 [Micromodem](INFO): Nmea in: $SNTTA,0.025306,,,,041212.14*43 2021-02-18T04:12:13.380Z,1613621533.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.859997 m, bearing: 211.595176 deg, deltaT: 4.491006 s, approachRate: -0.601202 m/s, LOS rate: -0.134450 deg/s, posRepo size: 4 2021-02-18T04:12:13.381Z,1613621533.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.86 m. 2021-02-18T04:12:13.382Z,1613621533.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.859997 m, bearing: 211.595176 deg, approachRate: -0.601202 m/s, LOS rate: -0.134450 deg/s, cmd update: -0.537800 deg/s, cmd heading: 219.466300 deg, new cmd heading: 219.387546 deg. 2021-02-18T04:12:13.790Z,1613621533.790 [PowerOnly](INFO): Powering up loadControl 2021-02-18T04:12:15.842Z,1613621535.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:12:16.573Z,1613621536.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:12:17.005Z,1613621537.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:17.820Z,1613621537.820 [Micromodem](INFO): Nmea in: $SNTTA,0.023059,,,,041216.59*41 2021-02-18T04:12:17.845Z,1613621537.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.379997 m, bearing: 213.953067 deg, deltaT: 4.384529 s, approachRate: -0.793700 m/s, LOS rate: 0.537775 deg/s, posRepo size: 4 2021-02-18T04:12:17.845Z,1613621537.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.38 m. 2021-02-18T04:12:17.846Z,1613621537.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.38 m. 2021-02-18T04:12:17.846Z,1613621537.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T04:12:17.848Z,1613621537.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.379997 m, bearing: 213.953067 deg, approachRate: -0.793700 m/s, LOS rate: 0.537775 deg/s, cmd update: 2.151100 deg/s, cmd heading: 217.101214 deg, new cmd heading: 216.859037 deg. 2021-02-18T04:12:20.238Z,1613621540.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:12:21.046Z,1613621541.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:12:21.423Z,1613621541.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:22.265Z,1613621542.265 [Micromodem](INFO): Nmea in: $SNTTA,0.020943,,,,041221.06*4E 2021-02-18T04:12:22.315Z,1613621542.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.139997 m, bearing: 214.031696 deg, deltaT: 4.448378 s, approachRate: -0.728355 m/s, LOS rate: 0.017676 deg/s, posRepo size: 4 2021-02-18T04:12:22.317Z,1613621542.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.139997 m, bearing: 214.031696 deg, approachRate: -0.728355 m/s, LOS rate: 0.017676 deg/s, cmd update: 0.070704 deg/s, cmd heading: 226.704567 deg, new cmd heading: 227.677161 deg. 2021-02-18T04:12:24.677Z,1613621544.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:12:25.482Z,1613621545.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:12:25.866Z,1613621545.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:26.704Z,1613621546.704 [Micromodem](INFO): Nmea in: $SNTTA,0.018954,,,,041225.50*44 2021-02-18T04:12:26.749Z,1613621546.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.020000 m, bearing: 211.686523 deg, deltaT: 4.432547 s, approachRate: -0.703884 m/s, LOS rate: -0.529080 deg/s, posRepo size: 4 2021-02-18T04:12:26.750Z,1613621546.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.020000 m, bearing: 211.686523 deg, approachRate: -0.703884 m/s, LOS rate: -0.529080 deg/s, cmd update: -2.116321 deg/s, cmd heading: 227.017963 deg, new cmd heading: 227.050243 deg. 2021-02-18T04:12:29.156Z,1613621549.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:12:29.909Z,1613621549.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:12:30.309Z,1613621550.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:31.136Z,1613621551.136 [Micromodem](INFO): Nmea in: $SNTTA,0.017235,,,,041229.93*44 2021-02-18T04:12:31.257Z,1613621551.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.959997 m, bearing: 209.269305 deg, deltaT: 4.464174 s, approachRate: -0.685458 m/s, LOS rate: -0.541470 deg/s, posRepo size: 4 2021-02-18T04:12:31.259Z,1613621551.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.959997 m, bearing: 209.269305 deg, approachRate: -0.685458 m/s, LOS rate: -0.541470 deg/s, cmd update: -2.165881 deg/s, cmd heading: 217.571836 deg, new cmd heading: 216.509032 deg. 2021-02-18T04:12:33.557Z,1613621553.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:12:34.348Z,1613621554.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:12:34.759Z,1613621554.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:35.580Z,1613621555.580 [Micromodem](INFO): Nmea in: $SNTTA,0.015086,,,0.056160,041234.37*54 2021-02-18T04:12:35.617Z,1613621555.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.099997 m, bearing: 216.691658 deg, deltaT: 4.462757 s, approachRate: -0.416783 m/s, LOS rate: 1.663177 deg/s, posRepo size: 4 2021-02-18T04:12:35.619Z,1613621555.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.099997 m, bearing: 216.691658 deg, approachRate: -0.416783 m/s, LOS rate: 1.663177 deg/s, cmd update: 6.652706 deg/s, cmd heading: 207.904512 deg, new cmd heading: 207.040622 deg. 2021-02-18T04:12:38.068Z,1613621558.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:12:38.820Z,1613621558.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:12:39.221Z,1613621559.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:40.052Z,1613621560.052 [Micromodem](INFO): Nmea in: $SNTTA,0.012572,,,,041238.84*43 2021-02-18T04:12:40.104Z,1613621560.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.659996 m, bearing: 216.656838 deg, deltaT: 4.405773 s, approachRate: -1.007769 m/s, LOS rate: -0.007903 deg/s, posRepo size: 4 2021-02-18T04:12:40.106Z,1613621560.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.659996 m, bearing: 216.656838 deg, approachRate: -1.007769 m/s, LOS rate: -0.007903 deg/s, cmd update: -0.031613 deg/s, cmd heading: 237.213542 deg, new cmd heading: 240.402170 deg. 2021-02-18T04:12:42.453Z,1613621562.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:12:43.241Z,1613621563.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:12:43.649Z,1613621563.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:44.469Z,1613621564.469 [Micromodem](INFO): Nmea in: $SNTTA,0.010463,,,,041243.26*44 2021-02-18T04:12:44.514Z,1613621564.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.479998 m, bearing: 213.174261 deg, deltaT: 4.474866 s, approachRate: -0.710635 m/s, LOS rate: -0.778253 deg/s, posRepo size: 4 2021-02-18T04:12:44.517Z,1613621564.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.479998 m, bearing: 213.174261 deg, approachRate: -0.710635 m/s, LOS rate: -0.778253 deg/s, cmd update: -3.113011 deg/s, cmd heading: 237.072070 deg, new cmd heading: 237.058970 deg. 2021-02-18T04:12:46.906Z,1613621566.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:12:47.691Z,1613621567.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:12:48.095Z,1613621568.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:48.924Z,1613621568.924 [Micromodem](INFO): Nmea in: $SNTTA,0.009295,,,0.011818,041247.71*5A 2021-02-18T04:12:48.989Z,1613621568.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.660002 m, bearing: 211.327979 deg, deltaT: 4.413451 s, approachRate: -0.638955 m/s, LOS rate: -0.418331 deg/s, posRepo size: 4 2021-02-18T04:12:49.013Z,1613621569.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.660002 m, bearing: 211.327979 deg, approachRate: -0.638955 m/s, LOS rate: -0.418331 deg/s, cmd update: -1.673323 deg/s, cmd heading: 223.332923 deg, new cmd heading: 221.848754 deg. 2021-02-18T04:12:51.347Z,1613621571.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:12:52.128Z,1613621572.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:12:52.539Z,1613621572.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:53.363Z,1613621573.363 [Micromodem](INFO): Nmea in: $SNTTA,0.007704,,,,041252.14*41 2021-02-18T04:12:53.389Z,1613621573.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.019998 m, bearing: 208.215325 deg, deltaT: 4.469272 s, approachRate: -0.590701 m/s, LOS rate: -0.696457 deg/s, posRepo size: 4 2021-02-18T04:12:53.395Z,1613621573.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.019998 m, bearing: 208.215325 deg, approachRate: -0.590701 m/s, LOS rate: -0.696457 deg/s, cmd update: -2.785826 deg/s, cmd heading: 215.864642 deg, new cmd heading: 215.174733 deg. 2021-02-18T04:12:55.842Z,1613621575.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:12:56.574Z,1613621576.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:12:56.991Z,1613621576.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:12:57.824Z,1613621577.824 [Micromodem](INFO): Nmea in: $SNTTA,0.006341,,,,041256.59*48 2021-02-18T04:12:57.849Z,1613621577.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.380000 m, bearing: 211.822949 deg, deltaT: 4.434645 s, approachRate: -0.595312 m/s, LOS rate: 0.813509 deg/s, posRepo size: 4 2021-02-18T04:12:57.851Z,1613621577.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.380000 m, bearing: 211.822949 deg, approachRate: -0.595312 m/s, LOS rate: 0.813509 deg/s, cmd update: 3.254036 deg/s, cmd heading: 203.504513 deg, new cmd heading: 202.288951 deg. 2021-02-18T04:13:00.253Z,1613621580.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:01.044Z,1613621581.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:01.427Z,1613621581.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:13:02.260Z,1613621582.260 [Micromodem](INFO): Nmea in: $SNTTA,0.003674,,,,041301.06*47 2021-02-18T04:13:02.300Z,1613621582.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.220001 m, bearing: 212.583231 deg, deltaT: 4.448298 s, approachRate: -0.485579 m/s, LOS rate: 0.170915 deg/s, posRepo size: 4 2021-02-18T04:13:02.302Z,1613621582.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.220001 m, bearing: 212.583231 deg, approachRate: -0.485579 m/s, LOS rate: 0.170915 deg/s, cmd update: 0.683661 deg/s, cmd heading: 217.940512 deg, new cmd heading: 219.407796 deg. 2021-02-18T04:13:04.694Z,1613621584.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:05.466Z,1613621585.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:05.866Z,1613621585.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:13:06.692Z,1613621586.692 [Micromodem](INFO): Nmea in: $SNTTA,0.002575,,0.031338,,041305.48*5E 2021-02-18T04:13:06.738Z,1613621586.738 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T04:13:06.738Z,1613621586.738 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T04:13:06.738Z,1613621586.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T04:13:06.738Z,1613621586.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:13:06.738Z,1613621586.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T04:13:06.744Z,1613621586.744 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.720000 m 2021-02-18T04:13:06.745Z,1613621586.745 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T04:13:06.745Z,1613621586.745 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T04:13:06.745Z,1613621586.745 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T04:13:06.754Z,1613621586.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.720000 m, bearing: 222.860699 deg, deltaT: 4.447029 s, approachRate: -0.337304 m/s, LOS rate: 2.311086 deg/s, posRepo size: 4 2021-02-18T04:13:06.768Z,1613621586.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.720000 m, bearing: 222.860699 deg, approachRate: -0.337304 m/s, LOS rate: 2.311086 deg/s, cmd update: 9.244345 deg/s, cmd heading: 220.977982 deg, new cmd heading: 221.293417 deg. 2021-02-18T04:13:07.140Z,1613621587.140 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T041307: (41.552319, -70.708603) 2021-02-18T04:13:07.140Z,1613621587.140 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T04:13:07.140Z,1613621587.140 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T04:13:07.141Z,1613621587.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:13:07.141Z,1613621587.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T04:13:07.141Z,1613621587.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:13:07.141Z,1613621587.141 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T04:13:07.141Z,1613621587.141 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T04:13:07.141Z,1613621587.141 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T04:13:07.508Z,1613621587.508 [UniversalFixResidualReporter](INFO): Fix residual: 4.1 %DT, over the last 1174.1 m. Residual distance 48.5 m at bearing 127.1 degrees. Fix at (41.5529, -70.7071) with 144.1 m made good. 2021-02-18T04:13:09.152Z,1613621589.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:09.909Z,1613621589.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:10.321Z,1613621590.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:13:11.140Z,1613621591.140 [Micromodem](INFO): Nmea in: $SNTTA,0.003023,,,,041309.93*47 2021-02-18T04:13:11.188Z,1613621591.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 220.570673 deg, deltaT: 4.432960 s, approachRate: 0.175955 m/s, LOS rate: -0.516591 deg/s, posRepo size: 4 2021-02-18T04:13:11.190Z,1613621591.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.500001 m, bearing: 220.570673 deg, approachRate: 0.175955 m/s, LOS rate: -0.516591 deg/s, cmd update: -2.066363 deg/s, cmd heading: 261.971485 deg, new cmd heading: 266.237741 deg. 2021-02-18T04:13:13.574Z,1613621593.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:14.373Z,1613621594.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:14.764Z,1613621594.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:13:15.592Z,1613621595.592 [Micromodem](INFO): Nmea in: $SNTTA,0.004543,,,,041314.39*4F 2021-02-18T04:13:15.613Z,1613621595.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.900000 m, bearing: 202.066106 deg, deltaT: 4.461050 s, approachRate: 0.537990 m/s, LOS rate: -4.148029 deg/s, posRepo size: 4 2021-02-18T04:13:15.615Z,1613621595.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.900000 m, bearing: 202.066106 deg, approachRate: 0.537990 m/s, LOS rate: -4.148029 deg/s, cmd update: -12.000000 deg/s, cmd heading: 252.715010 deg, new cmd heading: 251.873298 deg. 2021-02-18T04:13:18.076Z,1613621598.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:18.812Z,1613621598.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:19.203Z,1613621599.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:13:20.052Z,1613621600.052 [Micromodem](INFO): Nmea in: $SNTTA,0.006114,,,,041318.83*46 2021-02-18T04:13:20.102Z,1613621600.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.619997 m, bearing: 266.730471 deg, deltaT: 4.408396 s, approachRate: 0.843844 m/s, LOS rate: 14.668456 deg/s, posRepo size: 4 2021-02-18T04:13:20.103Z,1613621600.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.668456 deg/s. Setting heading cmd to target bearing of 266.730471deg and heading rate command to 0 deg/s. 2021-02-18T04:13:22.468Z,1613621602.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:23.237Z,1613621603.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:23.641Z,1613621603.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:13:24.469Z,1613621604.469 [Micromodem](INFO): Nmea in: $SNTTA,0.012496,,0.032115,,041323.25*52 2021-02-18T04:13:24.490Z,1613621604.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.120000 m, bearing: 258.026215 deg, deltaT: 4.504803 s, approachRate: 0.332979 m/s, LOS rate: -1.932217 deg/s, posRepo size: 4 2021-02-18T04:13:24.512Z,1613621604.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.120000 m, bearing: 258.026215 deg, approachRate: 0.332979 m/s, LOS rate: -1.932217 deg/s, cmd update: -7.728868 deg/s, cmd heading: 266.730471 deg, new cmd heading: 266.730471 deg. 2021-02-18T04:13:26.926Z,1613621606.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:27.689Z,1613621607.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:28.091Z,1613621608.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:13:28.912Z,1613621608.912 [Micromodem](INFO): Nmea in: $SNTTA,0.009960,,,,041327.71*43 2021-02-18T04:13:28.959Z,1613621608.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.059998 m, bearing: 231.188134 deg, deltaT: 4.383969 s, approachRate: 0.670625 m/s, LOS rate: -6.121868 deg/s, posRepo size: 4 2021-02-18T04:13:28.960Z,1613621608.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.06 m. Rolling out. 2021-02-18T04:13:28.960Z,1613621608.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T04:13:31.369Z,1613621611.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:32.130Z,1613621612.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:32.536Z,1613621612.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:13:33.368Z,1613621613.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,041332.15*5D 2021-02-18T04:13:33.418Z,1613621613.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.779997 m, bearing: 235.165599 deg, deltaT: 4.459078 s, approachRate: 0.834253 m/s, LOS rate: 0.891993 deg/s, posRepo size: 4 2021-02-18T04:13:35.832Z,1613621615.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:36.568Z,1613621616.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:36.983Z,1613621616.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:13:37.820Z,1613621617.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.045852,041336.58*40 2021-02-18T04:13:37.845Z,1613621617.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.759998 m, bearing: 235.602430 deg, deltaT: 4.443910 s, approachRate: 0.445554 m/s, LOS rate: 0.098299 deg/s, posRepo size: 4 2021-02-18T04:13:40.238Z,1613621620.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:41.042Z,1613621621.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:41.418Z,1613621621.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:13:42.256Z,1613621622.256 [Micromodem](INFO): Nmea in: $SNTTA,0.015982,,0.049963,,041341.06*5D 2021-02-18T04:13:42.301Z,1613621622.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.000002 m, bearing: 232.893004 deg, deltaT: 4.445255 s, approachRate: 0.728868 m/s, LOS rate: -0.609510 deg/s, posRepo size: 4 2021-02-18T04:13:44.663Z,1613621624.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:45.464Z,1613621625.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:45.862Z,1613621625.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:13:46.688Z,1613621626.688 [Micromodem](INFO): Nmea in: $SNTTA,0.018009,,,,041345.48*4B 2021-02-18T04:13:46.710Z,1613621626.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.119997 m, bearing: 239.251281 deg, deltaT: 4.438477 s, approachRate: 0.702943 m/s, LOS rate: 1.432536 deg/s, posRepo size: 4 2021-02-18T04:13:48.296Z,1613621628.296 [PowerOnly](INFO): Powering down loadControl 2021-02-18T04:13:49.157Z,1613621629.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:49.907Z,1613621629.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:50.306Z,1613621630.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:13:51.136Z,1613621631.136 [Micromodem](INFO): Nmea in: $SNTTA,0.020000,,,,041349.92*42 2021-02-18T04:13:51.185Z,1613621631.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.119997 m, bearing: 231.431152 deg, deltaT: 4.432912 s, approachRate: 0.676756 m/s, LOS rate: -1.764107 deg/s, posRepo size: 4 2021-02-18T04:13:53.570Z,1613621633.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:54.344Z,1613621634.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:54.770Z,1613621634.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:13:55.576Z,1613621635.576 [Micromodem](INFO): Nmea in: $SNTTA,0.022160,,,,041354.36*45 2021-02-18T04:13:55.609Z,1613621635.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.300003 m, bearing: 233.671591 deg, deltaT: 4.480496 s, approachRate: 0.709744 m/s, LOS rate: 0.500043 deg/s, posRepo size: 4 2021-02-18T04:13:58.060Z,1613621638.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:13:58.819Z,1613621638.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:13:59.200Z,1613621639.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:00.048Z,1613621640.048 [Micromodem](INFO): Nmea in: $SNTTA,0.024173,,,,041358.83*43 2021-02-18T04:14:00.101Z,1613621640.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.719997 m, bearing: 231.631987 deg, deltaT: 4.408561 s, approachRate: 0.775762 m/s, LOS rate: -0.462646 deg/s, posRepo size: 4 2021-02-18T04:14:02.122Z,1613621642.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:14:02.831Z,1613621642.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:14:03.233Z,1613621643.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:04.066Z,1613621644.066 [Micromodem](INFO): Nmea in: $SNTTA,0.025943,,,,041402.85*47 2021-02-18T04:14:04.126Z,1613621644.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.360001 m, bearing: 231.835117 deg, deltaT: 4.038265 s, approachRate: 0.653747 m/s, LOS rate: 0.050301 deg/s, posRepo size: 4 2021-02-18T04:14:06.161Z,1613621646.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:14:06.873Z,1613621646.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:14:07.284Z,1613621647.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:08.100Z,1613621648.100 [Micromodem](INFO): Nmea in: $SNTTA,0.027911,,0.059435,,041406.89*5A 2021-02-18T04:14:08.149Z,1613621648.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.000000 m, bearing: 242.027863 deg, deltaT: 4.060407 s, approachRate: 0.650181 m/s, LOS rate: 2.510277 deg/s, posRepo size: 4 2021-02-18T04:14:10.521Z,1613621650.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:14:11.312Z,1613621651.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:14:11.718Z,1613621651.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:12.544Z,1613621652.544 [Micromodem](INFO): Nmea in: $SNTTA,0.030036,,,,041411.33*47 2021-02-18T04:14:12.589Z,1613621652.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.419998 m, bearing: 234.290925 deg, deltaT: 4.462149 s, approachRate: 0.766446 m/s, LOS rate: -1.733904 deg/s, posRepo size: 4 2021-02-18T04:14:13.810Z,1613621653.810 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T04:14:14.978Z,1613621654.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:14:15.764Z,1613621655.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:14:16.162Z,1613621656.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:16.988Z,1613621656.988 [Micromodem](INFO): Nmea in: $SNTTA,0.032135,,,,041415.78*4C 2021-02-18T04:14:17.061Z,1613621657.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.419998 m, bearing: 242.513598 deg, deltaT: 4.410947 s, approachRate: 0.680126 m/s, LOS rate: 1.864152 deg/s, posRepo size: 4 2021-02-18T04:14:19.407Z,1613621659.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:14:20.201Z,1613621660.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:14:20.606Z,1613621660.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:21.428Z,1613621661.428 [Micromodem](INFO): Nmea in: $SNTTA,0.034292,,,,041420.22*4D 2021-02-18T04:14:21.474Z,1613621661.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.779999 m, bearing: 235.489159 deg, deltaT: 4.518456 s, approachRate: 0.743617 m/s, LOS rate: -1.554611 deg/s, posRepo size: 4 2021-02-18T04:14:23.868Z,1613621663.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:14:24.644Z,1613621664.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:14:25.058Z,1613621665.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:25.872Z,1613621665.872 [Micromodem](INFO): Nmea in: $SNTTA,0.036350,,,,041424.66*44 2021-02-18T04:14:25.896Z,1613621665.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.960007 m, bearing: 242.014776 deg, deltaT: 4.364083 s, approachRate: 0.728677 m/s, LOS rate: 1.495301 deg/s, posRepo size: 4 2021-02-18T04:14:28.324Z,1613621668.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:14:29.088Z,1613621669.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:14:29.127Z,1613621669.127 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T04:14:29.505Z,1613621669.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:30.325Z,1613621670.325 [Micromodem](INFO): Nmea in: $SNTTA,0.038463,0.071556,,,041429.11*5E 2021-02-18T04:14:30.349Z,1613621670.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.080006 m, bearing: 240.662043 deg, deltaT: 4.468115 s, approachRate: 0.698281 m/s, LOS rate: -0.302752 deg/s, posRepo size: 4 2021-02-18T04:14:32.749Z,1613621672.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:14:33.532Z,1613621673.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:14:33.951Z,1613621673.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:34.784Z,1613621674.784 [Micromodem](INFO): Nmea in: $SNTTA,0.040610,,,,041433.55*42 2021-02-18T04:14:34.833Z,1613621674.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.320004 m, bearing: 239.119705 deg, deltaT: 4.444526 s, approachRate: 0.728986 m/s, LOS rate: -0.347020 deg/s, posRepo size: 4 2021-02-18T04:14:37.223Z,1613621677.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:14:37.979Z,1613621677.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:14:38.382Z,1613621678.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:38.840Z,1613621678.840 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T04:14:39.220Z,1613621679.220 [Micromodem](INFO): Nmea in: $SNTTA,0.042687,,0.070231,,041438.00*5C 2021-02-18T04:14:39.269Z,1613621679.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.380005 m, bearing: 242.396556 deg, deltaT: 4.474368 s, approachRate: 0.683896 m/s, LOS rate: 0.732361 deg/s, posRepo size: 4 2021-02-18T04:14:41.628Z,1613621681.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:14:42.426Z,1613621682.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:14:42.844Z,1613621682.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:43.652Z,1613621683.652 [Micromodem](INFO): Nmea in: $SNTTA,0.044766,,,,041442.44*40 2021-02-18T04:14:43.684Z,1613621683.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.440002 m, bearing: 235.357800 deg, deltaT: 4.427251 s, approachRate: 0.691173 m/s, LOS rate: -1.589870 deg/s, posRepo size: 4 2021-02-18T04:14:46.113Z,1613621686.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:14:46.869Z,1613621686.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:14:47.278Z,1613621687.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:48.096Z,1613621688.096 [Micromodem](INFO): Nmea in: $SNTTA,0.046767,,,,041446.88*47 2021-02-18T04:14:48.145Z,1613621688.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.440002 m, bearing: 246.825087 deg, deltaT: 4.418275 s, approachRate: 0.678998 m/s, LOS rate: 2.595422 deg/s, posRepo size: 4 2021-02-18T04:14:48.905Z,1613621688.905 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T04:14:50.525Z,1613621690.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:14:51.313Z,1613621691.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:14:51.741Z,1613621691.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:52.540Z,1613621692.540 [Micromodem](INFO): Nmea in: $SNTTA,0.049008,,,,041451.33*40 2021-02-18T04:14:52.581Z,1613621692.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.620003 m, bearing: 251.506744 deg, deltaT: 4.478812 s, approachRate: 0.710010 m/s, LOS rate: 1.045290 deg/s, posRepo size: 4 2021-02-18T04:14:54.977Z,1613621694.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:14:55.765Z,1613621695.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:14:56.161Z,1613621696.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:14:56.989Z,1613621696.989 [Micromodem](INFO): Nmea in: $SNTTA,0.050973,,,,041455.78*46 2021-02-18T04:14:57.088Z,1613621697.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.800003 m, bearing: 241.174499 deg, deltaT: 4.402039 s, approachRate: 0.722393 m/s, LOS rate: -2.347150 deg/s, posRepo size: 4 2021-02-18T04:14:59.044Z,1613621699.044 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T04:14:59.403Z,1613621699.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:00.211Z,1613621700.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:00.601Z,1613621700.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:15:01.436Z,1613621701.436 [Micromodem](INFO): Nmea in: $SNTTA,0.053173,,,,041500.23*42 2021-02-18T04:15:01.482Z,1613621701.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.040001 m, bearing: 229.334256 deg, deltaT: 4.515137 s, approachRate: 0.717586 m/s, LOS rate: -2.622344 deg/s, posRepo size: 4 2021-02-18T04:15:03.876Z,1613621703.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:04.646Z,1613621704.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:05.058Z,1613621705.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:15:05.876Z,1613621705.876 [Micromodem](INFO): Nmea in: $SNTTA,0.055224,,,,041504.66*40 2021-02-18T04:15:05.917Z,1613621705.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.040009 m, bearing: 241.711980 deg, deltaT: 4.406183 s, approachRate: 0.680863 m/s, LOS rate: 2.809171 deg/s, posRepo size: 4 2021-02-18T04:15:08.310Z,1613621708.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:09.090Z,1613621709.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:09.137Z,1613621709.137 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T04:15:09.514Z,1613621709.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:15:10.320Z,1613621710.320 [Micromodem](INFO): Nmea in: $SNTTA,0.057431,,,,041509.11*4D 2021-02-18T04:15:10.372Z,1613621710.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 242.567475 deg, deltaT: 4.439684 s, approachRate: 0.743295 m/s, LOS rate: 0.192693 deg/s, posRepo size: 4 2021-02-18T04:15:12.773Z,1613621712.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:13.540Z,1613621713.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:13.958Z,1613621713.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:15:13.988Z,1613621713.988 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T04:15:14.792Z,1613621714.792 [Micromodem](INFO): Nmea in: $SNTTA,0.059542,,,,041513.56*4E 2021-02-18T04:15:14.846Z,1613621714.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.580002 m, bearing: 234.370237 deg, deltaT: 4.456392 s, approachRate: 0.727045 m/s, LOS rate: -1.839434 deg/s, posRepo size: 4 2021-02-18T04:15:17.204Z,1613621717.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:17.976Z,1613621717.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:18.383Z,1613621718.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:15:19.224Z,1613621719.224 [Micromodem](INFO): Nmea in: $SNTTA,0.061524,,,,041517.99*42 2021-02-18T04:15:19.273Z,1613621719.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.580002 m, bearing: 237.128950 deg, deltaT: 4.476791 s, approachRate: 0.670123 m/s, LOS rate: 0.616226 deg/s, posRepo size: 4 2021-02-18T04:15:21.629Z,1613621721.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:22.420Z,1613621722.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:22.835Z,1613621722.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:15:23.659Z,1613621723.659 [Micromodem](INFO): Nmea in: $SNTTA,,,,,041522.44*5E 2021-02-18T04:15:23.678Z,1613621723.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.820007 m, bearing: 244.008071 deg, deltaT: 4.391519 s, approachRate: 0.737787 m/s, LOS rate: 1.566456 deg/s, posRepo size: 4 2021-02-18T04:15:26.096Z,1613621726.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:26.864Z,1613621726.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:27.270Z,1613621727.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:15:28.104Z,1613621728.104 [Micromodem](INFO): Nmea in: $SNTTA,0.065835,,,,041526.88*49 2021-02-18T04:15:28.148Z,1613621728.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.940010 m, bearing: 248.241477 deg, deltaT: 4.421096 s, approachRate: 0.705708 m/s, LOS rate: 0.957547 deg/s, posRepo size: 4 2021-02-18T04:15:30.531Z,1613621730.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:31.316Z,1613621731.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:31.723Z,1613621731.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:15:32.544Z,1613621732.544 [Micromodem](INFO): Nmea in: $SNTTA,0.068011,,,,041531.33*4C 2021-02-18T04:15:32.578Z,1613621732.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.240005 m, bearing: 242.028136 deg, deltaT: 4.490138 s, approachRate: 0.734943 m/s, LOS rate: -1.383775 deg/s, posRepo size: 4 2021-02-18T04:15:34.984Z,1613621734.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:35.772Z,1613621735.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:36.166Z,1613621736.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:15:36.986Z,1613621736.986 [Micromodem](INFO): Nmea in: $SNTTA,0.070115,,,,041535.79*4A 2021-02-18T04:15:37.833Z,1613621737.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:39.409Z,1613621739.409 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:15:40.624Z,1613621740.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:41.435Z,1613621741.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:41.825Z,1613621741.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:15:42.656Z,1613621742.656 [Micromodem](INFO): Nmea in: $SNTTA,0.072854,,0.081559,,041541.45*56 2021-02-18T04:15:42.678Z,1613621742.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.500000 m, bearing: 232.995429 deg, deltaT: 10.073119 s, approachRate: 0.720730 m/s, LOS rate: -0.896714 deg/s, posRepo size: 4 2021-02-18T04:15:45.115Z,1613621745.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:45.881Z,1613621745.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:46.266Z,1613621746.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:15:47.108Z,1613621747.108 [Micromodem](INFO): Nmea in: $SNTTA,0.074854,,,,041545.90*42 2021-02-18T04:15:47.156Z,1613621747.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.440002 m, bearing: 240.568852 deg, deltaT: 4.437380 s, approachRate: 0.662554 m/s, LOS rate: 1.706733 deg/s, posRepo size: 4 2021-02-18T04:15:49.510Z,1613621749.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:50.304Z,1613621750.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:50.710Z,1613621750.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:15:51.532Z,1613621751.532 [Micromodem](INFO): Nmea in: $SNTTA,0.076927,,,,041550.32*49 2021-02-18T04:15:51.578Z,1613621751.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.500000 m, bearing: 240.401676 deg, deltaT: 4.490875 s, approachRate: 0.681381 m/s, LOS rate: -0.037226 deg/s, posRepo size: 4 2021-02-18T04:15:53.975Z,1613621753.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:54.752Z,1613621754.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:55.153Z,1613621755.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:15:55.983Z,1613621755.983 [Micromodem](INFO): Nmea in: $SNTTA,0.078946,,,,041554.77*45 2021-02-18T04:15:56.054Z,1613621756.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.559998 m, bearing: 242.850682 deg, deltaT: 4.392497 s, approachRate: 0.696642 m/s, LOS rate: 0.557543 deg/s, posRepo size: 4 2021-02-18T04:15:58.398Z,1613621758.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:15:59.194Z,1613621759.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:15:59.604Z,1613621759.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:16:00.420Z,1613621760.420 [Micromodem](INFO): Nmea in: $SNTTA,0.081026,,,,041559.21*42 2021-02-18T04:16:00.454Z,1613621760.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.680000 m, bearing: 241.292606 deg, deltaT: 4.570385 s, approachRate: 0.682656 m/s, LOS rate: -0.340907 deg/s, posRepo size: 4 2021-02-18T04:16:02.860Z,1613621762.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:03.636Z,1613621763.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:16:04.071Z,1613621764.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:16:04.874Z,1613621764.874 [Micromodem](INFO): Nmea in: $SNTTA,0.083219,,,,041603.65*42 2021-02-18T04:16:04.904Z,1613621764.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.979996 m, bearing: 246.839977 deg, deltaT: 4.334978 s, approachRate: 0.761248 m/s, LOS rate: 1.279677 deg/s, posRepo size: 4 2021-02-18T04:16:07.334Z,1613621767.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:08.084Z,1613621768.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:16:08.486Z,1613621768.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:16:09.328Z,1613621769.328 [Micromodem](INFO): Nmea in: $SNTTA,0.085225,,0.096146,,041608.10*50 2021-02-18T04:16:09.378Z,1613621769.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.919998 m, bearing: 245.062106 deg, deltaT: 4.443025 s, approachRate: 0.661712 m/s, LOS rate: -0.400149 deg/s, posRepo size: 4 2021-02-18T04:16:11.732Z,1613621771.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:12.524Z,1613621772.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:16:12.929Z,1613621772.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:16:13.756Z,1613621773.756 [Micromodem](INFO): Nmea in: $SNTTA,0.087436,,,,041612.54*4F 2021-02-18T04:16:13.818Z,1613621773.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.279999 m, bearing: 242.752245 deg, deltaT: 4.475371 s, approachRate: 0.750776 m/s, LOS rate: -0.516127 deg/s, posRepo size: 4 2021-02-18T04:16:16.209Z,1613621776.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:16.968Z,1613621776.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:16:17.374Z,1613621777.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:16:18.220Z,1613621778.220 [Micromodem](INFO): Nmea in: $SNTTA,0.089591,,,,041616.99*48 2021-02-18T04:16:18.262Z,1613621778.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.580002 m, bearing: 241.955654 deg, deltaT: 4.453577 s, approachRate: 0.740978 m/s, LOS rate: -0.178866 deg/s, posRepo size: 4 2021-02-18T04:16:20.643Z,1613621780.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:21.429Z,1613621781.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:16:21.835Z,1613621781.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:16:22.652Z,1613621782.652 [Micromodem](INFO): Nmea in: $SNTTA,0.091838,,,,041621.44*4B 2021-02-18T04:16:22.686Z,1613621782.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.940002 m, bearing: 253.397915 deg, deltaT: 4.418276 s, approachRate: 0.760478 m/s, LOS rate: 2.589757 deg/s, posRepo size: 4 2021-02-18T04:16:25.093Z,1613621785.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:25.856Z,1613621785.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:16:26.262Z,1613621786.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:16:27.072Z,1613621787.072 [Micromodem](INFO): Nmea in: $SNTTA,0.094029,,,,041625.87*4D 2021-02-18T04:16:27.918Z,1613621787.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:29.490Z,1613621789.490 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:16:30.720Z,1613621790.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:31.512Z,1613621791.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:16:31.918Z,1613621791.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:16:32.733Z,1613621792.733 [Micromodem](INFO): Nmea in: $SNTTA,0.096615,,,,041631.53*4A 2021-02-18T04:16:33.560Z,1613621793.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:35.148Z,1613621795.148 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:16:36.389Z,1613621796.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:37.168Z,1613621797.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:16:37.574Z,1613621797.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:16:38.396Z,1613621798.396 [Micromodem](INFO): Nmea in: $SNTTA,0.099154,,,,041637.18*4E 2021-02-18T04:16:38.420Z,1613621798.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.160004 m, bearing: 239.848814 deg, deltaT: 15.784980 s, approachRate: 0.710802 m/s, LOS rate: -0.858354 deg/s, posRepo size: 4 2021-02-18T04:16:40.858Z,1613621800.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:41.620Z,1613621801.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:16:42.072Z,1613621802.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:16:42.844Z,1613621802.844 [Micromodem](INFO): Nmea in: $SNTTA,0.101218,,,,041641.64*4F 2021-02-18T04:16:42.889Z,1613621802.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.880005 m, bearing: 243.378683 deg, deltaT: 4.390253 s, approachRate: 0.847332 m/s, LOS rate: 0.804024 deg/s, posRepo size: 4 2021-02-18T04:16:42.890Z,1613621802.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.88 m. Resuming terminal guidance. 2021-02-18T04:16:42.890Z,1613621802.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T04:16:45.287Z,1613621805.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:46.058Z,1613621806.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:16:46.462Z,1613621806.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:16:47.289Z,1613621807.289 [Micromodem](INFO): Nmea in: $SNTTA,0.103399,,,,041646.07*47 2021-02-18T04:16:47.329Z,1613621807.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.340012 m, bearing: 243.635006 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T04:16:47.330Z,1613621807.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 243.635006deg and heading rate command to 0 deg/s. 2021-02-18T04:16:49.723Z,1613621809.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:50.506Z,1613621810.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:16:50.906Z,1613621810.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:16:51.743Z,1613621811.743 [Micromodem](INFO): Nmea in: $SNTTA,0.105500,,,,041650.52*40 2021-02-18T04:16:52.570Z,1613621812.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:54.134Z,1613621814.134 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:16:55.377Z,1613621815.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:16:56.161Z,1613621816.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:16:56.566Z,1613621816.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:16:57.388Z,1613621817.388 [Micromodem](INFO): Nmea in: $SNTTA,0.108019,,,,041656.18*48 2021-02-18T04:16:57.432Z,1613621817.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.180008 m, bearing: 243.657027 deg, deltaT: 10.144770 s, approachRate: 0.674239 m/s, LOS rate: 0.002171 deg/s, posRepo size: 2 2021-02-18T04:16:57.434Z,1613621817.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.180008 m, bearing: 243.657027 deg, approachRate: 0.674239 m/s, LOS rate: 0.002171 deg/s, cmd update: 0.008683 deg/s, cmd heading: 243.635006 deg, new cmd heading: 243.635006 deg. 2021-02-18T04:16:59.840Z,1613621819.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:00.602Z,1613621820.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:17:01.041Z,1613621821.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:17:01.844Z,1613621821.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,041700.62*58 2021-02-18T04:17:01.868Z,1613621821.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.059998 m, bearing: 236.869895 deg, deltaT: 4.393307 s, approachRate: 0.655540 m/s, LOS rate: -1.544880 deg/s, posRepo size: 3 2021-02-18T04:17:01.870Z,1613621821.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.059998 m, bearing: 236.869895 deg, approachRate: 0.655540 m/s, LOS rate: -1.544880 deg/s, cmd update: -6.179520 deg/s, cmd heading: 243.673119 deg, new cmd heading: 243.676827 deg. 2021-02-18T04:17:04.283Z,1613621824.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:05.053Z,1613621825.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:17:05.451Z,1613621825.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:17:06.265Z,1613621826.265 [Micromodem](INFO): Nmea in: $SNTTA,0.112066,,,,041705.07*42 2021-02-18T04:17:07.108Z,1613621827.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:08.678Z,1613621828.678 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:17:09.917Z,1613621829.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:10.700Z,1613621830.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:17:11.111Z,1613621831.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:17:11.932Z,1613621831.932 [Micromodem](INFO): Nmea in: $SNTTA,0.114854,,,,041710.72*4B 2021-02-18T04:17:11.956Z,1613621831.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 188.152888 deg, deltaT: 10.118407 s, approachRate: 0.729366 m/s, LOS rate: -4.814691 deg/s, posRepo size: 4 2021-02-18T04:17:11.958Z,1613621831.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.440018 m, bearing: 188.152888 deg, approachRate: 0.729366 m/s, LOS rate: -4.814691 deg/s, cmd update: -12.000000 deg/s, cmd heading: 181.220625 deg, new cmd heading: 178.695414 deg. 2021-02-18T04:17:14.376Z,1613621834.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:15.160Z,1613621835.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:17:15.550Z,1613621835.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:17:16.371Z,1613621836.371 [Micromodem](INFO): Nmea in: $SNTTA,0.116554,,,,041715.18*4D 2021-02-18T04:17:16.833Z,1613621836.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.959991 m, bearing: 153.062777 deg, deltaT: 4.831325 s, approachRate: 0.521591 m/s, LOS rate: -7.263040 deg/s, posRepo size: 4 2021-02-18T04:17:16.836Z,1613621836.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.959991 m, bearing: 153.062777 deg, approachRate: 0.521591 m/s, LOS rate: -7.263040 deg/s, cmd update: -12.000000 deg/s, cmd heading: 123.054416 deg, new cmd heading: 117.789056 deg. 2021-02-18T04:17:19.225Z,1613621839.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:19.997Z,1613621839.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:17:20.398Z,1613621840.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:17:21.228Z,1613621841.228 [Micromodem](INFO): Nmea in: $SNTTA,0.118142,,,,041720.01*4E 2021-02-18T04:17:21.282Z,1613621841.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.959991 m, bearing: 170.696304 deg, deltaT: 4.467817 s, approachRate: 0.000000 m/s, LOS rate: 3.946788 deg/s, posRepo size: 4 2021-02-18T04:17:21.288Z,1613621841.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.959991 m, bearing: 170.696304 deg, approachRate: 0.000000 m/s, LOS rate: 3.946788 deg/s, cmd update: 12.000000 deg/s, cmd heading: 69.486522 deg, new cmd heading: 64.407162 deg. 2021-02-18T04:17:23.643Z,1613621843.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:24.442Z,1613621844.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:17:24.842Z,1613621844.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:17:25.672Z,1613621845.672 [Micromodem](INFO): Nmea in: $SNTTA,0.119071,,,,041724.46*49 2021-02-18T04:17:25.713Z,1613621845.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.959991 m, bearing: 146.993580 deg, deltaT: 4.441890 s, approachRate: 0.000000 m/s, LOS rate: -5.336180 deg/s, posRepo size: 4 2021-02-18T04:17:25.715Z,1613621845.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.959991 m, bearing: 146.993580 deg, approachRate: 0.000000 m/s, LOS rate: -5.336180 deg/s, cmd update: -12.000000 deg/s, cmd heading: 122.837419 deg, new cmd heading: 127.742815 deg. 2021-02-18T04:17:28.135Z,1613621848.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:28.880Z,1613621848.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:17:29.292Z,1613621849.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:17:30.124Z,1613621850.124 [Micromodem](INFO): Nmea in: $SNTTA,0.119804,,,,041728.90*44 2021-02-18T04:17:30.178Z,1613621850.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.959991 m, bearing: 140.447800 deg, deltaT: 4.417231 s, approachRate: 0.000000 m/s, LOS rate: -1.481874 deg/s, posRepo size: 4 2021-02-18T04:17:30.184Z,1613621850.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.959991 m, bearing: 140.447800 deg, approachRate: 0.000000 m/s, LOS rate: -1.481874 deg/s, cmd update: -5.927496 deg/s, cmd heading: 69.854081 deg, new cmd heading: 64.359053 deg. 2021-02-18T04:17:32.533Z,1613621852.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:33.324Z,1613621853.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:17:33.738Z,1613621853.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:17:34.552Z,1613621854.552 [Micromodem](INFO): Nmea in: $SNTTA,0.119733,,,,041733.34*4B 2021-02-18T04:17:34.589Z,1613621854.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.959991 m, bearing: 100.451175 deg, deltaT: 4.482910 s, approachRate: 0.000000 m/s, LOS rate: -8.922023 deg/s, posRepo size: 4 2021-02-18T04:17:34.591Z,1613621854.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.959991 m, bearing: 100.451175 deg, approachRate: 0.000000 m/s, LOS rate: -8.922023 deg/s, cmd update: -12.000000 deg/s, cmd heading: 43.293705 deg, new cmd heading: 40.990197 deg. 2021-02-18T04:17:36.991Z,1613621856.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:37.802Z,1613621857.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:17:38.186Z,1613621858.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:17:39.020Z,1613621859.020 [Micromodem](INFO): Nmea in: $SNTTA,0.119200,,,,041737.82*47 2021-02-18T04:17:39.423Z,1613621859.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.679993 m, bearing: 115.893175 deg, deltaT: 4.898174 s, approachRate: 0.759467 m/s, LOS rate: 3.152603 deg/s, posRepo size: 4 2021-02-18T04:17:39.425Z,1613621859.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.679993 m, bearing: 115.893175 deg, approachRate: 0.759467 m/s, LOS rate: 3.152603 deg/s, cmd update: 12.000000 deg/s, cmd heading: 344.467975 deg, new cmd heading: 340.624531 deg. 2021-02-18T04:17:41.841Z,1613621861.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:42.621Z,1613621862.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:17:43.050Z,1613621863.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:17:43.835Z,1613621863.835 [Micromodem](INFO): Nmea in: $SNTTA,0.117796,,,,041742.64*49 2021-02-18T04:17:44.670Z,1613621864.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:46.251Z,1613621866.251 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:17:47.480Z,1613621867.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:48.277Z,1613621868.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:17:48.683Z,1613621868.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:17:49.085Z,1613621869.085 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,28E,0,61,E4 3,185,80,80,8D,FF 2021-02-18T04:17:49.492Z,1613621869.492 [Micromodem](INFO): Nmea in: $SNTTA,0.115725,,,,041748.29*40 2021-02-18T04:17:50.327Z,1613621870.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:53.184Z,1613621873.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:55.995Z,1613621875.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:17:56.795Z,1613621876.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:17:57.162Z,1613621877.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:17:57.992Z,1613621877.992 [Micromodem](INFO): Nmea in: $SNTTA,0.111764,,,,041756.81*4C 2021-02-18T04:17:58.412Z,1613621878.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.520020 m, bearing: 45.860728 deg, deltaT: 18.989445 s, approachRate: -0.587694 m/s, LOS rate: -3.687967 deg/s, posRepo size: 4 2021-02-18T04:17:58.414Z,1613621878.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.520020 m, bearing: 45.860728 deg, approachRate: -0.587694 m/s, LOS rate: -3.687967 deg/s, cmd update: -12.000000 deg/s, cmd heading: 212.240820 deg, new cmd heading: 216.171576 deg. 2021-02-18T04:18:00.862Z,1613621880.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:01.604Z,1613621881.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:02.042Z,1613621882.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:18:02.848Z,1613621882.848 [Micromodem](INFO): Nmea in: $SNTTA,0.110577,,,,041801.62*4D 2021-02-18T04:18:02.894Z,1613621882.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.940002 m, bearing: 36.956019 deg, deltaT: 4.428523 s, approachRate: -0.582591 m/s, LOS rate: -2.010763 deg/s, posRepo size: 4 2021-02-18T04:18:02.896Z,1613621882.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.940002 m, bearing: 36.956019 deg, approachRate: -0.582591 m/s, LOS rate: -2.010763 deg/s, cmd update: -8.043051 deg/s, cmd heading: 159.121822 deg, new cmd heading: 154.524994 deg. 2021-02-18T04:18:05.294Z,1613621885.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:06.058Z,1613621886.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:06.469Z,1613621886.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:18:07.280Z,1613621887.280 [Micromodem](INFO): Nmea in: $SNTTA,0.109148,,,,041806.07*49 2021-02-18T04:18:07.318Z,1613621887.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.940002 m, bearing: 82.234801 deg, deltaT: 4.398087 s, approachRate: 0.000000 m/s, LOS rate: 10.295108 deg/s, posRepo size: 4 2021-02-18T04:18:07.320Z,1613621887.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.940002 m, bearing: 82.234801 deg, approachRate: 0.000000 m/s, LOS rate: 10.295108 deg/s, cmd update: 12.000000 deg/s, cmd heading: 123.726825 deg, new cmd heading: 120.451494 deg. 2021-02-18T04:18:09.704Z,1613621889.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:10.492Z,1613621890.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:10.898Z,1613621890.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:18:11.728Z,1613621891.728 [Micromodem](INFO): Nmea in: $SNTTA,0.108470,,,,041810.51*42 2021-02-18T04:18:11.754Z,1613621891.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.660004 m, bearing: 88.227288 deg, deltaT: 4.415378 s, approachRate: -0.516377 m/s, LOS rate: 1.357185 deg/s, posRepo size: 4 2021-02-18T04:18:11.756Z,1613621891.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.660004 m, bearing: 88.227288 deg, approachRate: -0.516377 m/s, LOS rate: 1.357185 deg/s, cmd update: 5.428742 deg/s, cmd heading: 176.802839 deg, new cmd heading: 181.846211 deg. 2021-02-18T04:18:14.208Z,1613621894.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:14.936Z,1613621894.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:15.355Z,1613621895.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:18:16.168Z,1613621896.168 [Micromodem](INFO): Nmea in: $SNTTA,0.108205,,,,041814.95*4A 2021-02-18T04:18:16.223Z,1613621896.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.360001 m, bearing: 167.616694 deg, deltaT: 4.475569 s, approachRate: -0.067031 m/s, LOS rate: 17.738394 deg/s, posRepo size: 4 2021-02-18T04:18:16.224Z,1613621896.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.738394 deg/s. Setting heading cmd to target bearing of 167.616694deg and heading rate command to 0 deg/s. 2021-02-18T04:18:18.608Z,1613621898.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:19.385Z,1613621899.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:19.813Z,1613621899.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:18:20.612Z,1613621900.612 [Micromodem](INFO): Nmea in: $SNTTA,0.108587,,,,041819.40*42 2021-02-18T04:18:20.653Z,1613621900.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 85.444171 deg, deltaT: 4.423964 s, approachRate: 0.122061 m/s, LOS rate: -18.574411 deg/s, posRepo size: 4 2021-02-18T04:18:20.653Z,1613621900.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.574411 deg/s. Setting heading cmd to target bearing of 85.444171deg and heading rate command to 0 deg/s. 2021-02-18T04:18:23.110Z,1613621903.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:23.830Z,1613621903.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:24.247Z,1613621904.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:18:24.264Z,1613621904.264 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T04:18:25.068Z,1613621905.068 [Micromodem](INFO): Nmea in: $SNTTA,0.109435,,,,041823.84*4A 2021-02-18T04:18:25.114Z,1613621905.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.820007 m, bearing: 134.367976 deg, deltaT: 4.438820 s, approachRate: 0.432550 m/s, LOS rate: 11.021805 deg/s, posRepo size: 4 2021-02-18T04:18:25.132Z,1613621905.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.820007 m, bearing: 134.367976 deg, approachRate: 0.432550 m/s, LOS rate: 11.021805 deg/s, cmd update: 12.000000 deg/s, cmd heading: 85.444171 deg, new cmd heading: 85.444171 deg. 2021-02-18T04:18:27.475Z,1613621907.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:28.285Z,1613621908.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:28.673Z,1613621908.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:18:29.508Z,1613621909.508 [Micromodem](INFO): Nmea in: $SNTTA,0.110325,,,,041828.30*40 2021-02-18T04:18:29.554Z,1613621909.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.540009 m, bearing: 124.603906 deg, deltaT: 4.476433 s, approachRate: 0.160843 m/s, LOS rate: -2.181216 deg/s, posRepo size: 4 2021-02-18T04:18:29.558Z,1613621909.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.540009 m, bearing: 124.603906 deg, approachRate: 0.160843 m/s, LOS rate: -2.181216 deg/s, cmd update: -8.724866 deg/s, cmd heading: 139.209296 deg, new cmd heading: 144.069332 deg. 2021-02-18T04:18:31.946Z,1613621911.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:32.712Z,1613621912.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:33.141Z,1613621913.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:18:33.944Z,1613621913.944 [Micromodem](INFO): Nmea in: $SNTTA,0.110694,,,,041832.73*43 2021-02-18T04:18:34.029Z,1613621914.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 118.923019 deg, deltaT: 4.396839 s, approachRate: 0.109168 m/s, LOS rate: -1.292039 deg/s, posRepo size: 4 2021-02-18T04:18:34.040Z,1613621914.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.020004 m, bearing: 118.923019 deg, approachRate: 0.109168 m/s, LOS rate: -1.292039 deg/s, cmd update: -5.168156 deg/s, cmd heading: 100.857107 deg, new cmd heading: 96.745758 deg. 2021-02-18T04:18:36.385Z,1613621916.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:37.156Z,1613621917.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:37.579Z,1613621917.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:18:38.388Z,1613621918.388 [Micromodem](INFO): Nmea in: $SNTTA,0.110803,,,,041837.17*44 2021-02-18T04:18:38.426Z,1613621918.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.619995 m, bearing: 153.809590 deg, deltaT: 4.516797 s, approachRate: 0.132835 m/s, LOS rate: 7.723741 deg/s, posRepo size: 4 2021-02-18T04:18:38.428Z,1613621918.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.619995 m, bearing: 153.809590 deg, approachRate: 0.132835 m/s, LOS rate: 7.723741 deg/s, cmd update: 12.000000 deg/s, cmd heading: 77.508382 deg, new cmd heading: 75.629489 deg. 2021-02-18T04:18:40.840Z,1613621920.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:41.600Z,1613621921.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:42.037Z,1613621922.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:18:42.852Z,1613621922.852 [Micromodem](INFO): Nmea in: $SNTTA,0.110166,,,,041841.62*4D 2021-02-18T04:18:42.886Z,1613621922.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.180008 m, bearing: 39.585984 deg, deltaT: 4.383521 s, approachRate: -0.328500 m/s, LOS rate: -26.057501 deg/s, posRepo size: 4 2021-02-18T04:18:42.886Z,1613621922.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.057501 deg/s. Setting heading cmd to target bearing of 39.585984deg and heading rate command to 0 deg/s. 2021-02-18T04:18:45.268Z,1613621925.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:46.052Z,1613621926.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:46.450Z,1613621926.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:18:47.276Z,1613621927.276 [Micromodem](INFO): Nmea in: $SNTTA,0.109030,,,,041846.07*43 2021-02-18T04:18:47.300Z,1613621927.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.380005 m, bearing: 34.182682 deg, deltaT: 4.445450 s, approachRate: -0.404909 m/s, LOS rate: -1.215468 deg/s, posRepo size: 4 2021-02-18T04:18:47.302Z,1613621927.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.380005 m, bearing: 34.182682 deg, approachRate: -0.404909 m/s, LOS rate: -1.215468 deg/s, cmd update: -4.861871 deg/s, cmd heading: 39.585984 deg, new cmd heading: 39.585984 deg. 2021-02-18T04:18:49.298Z,1613621929.298 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T04:18:49.704Z,1613621929.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:50.490Z,1613621930.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:50.894Z,1613621930.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:18:51.724Z,1613621931.724 [Micromodem](INFO): Nmea in: $SNTTA,0.108140,,,0.110665,041850.50*5A 2021-02-18T04:18:51.802Z,1613621931.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.120010 m, bearing: 33.052160 deg, deltaT: 4.463038 s, approachRate: -0.282318 m/s, LOS rate: -0.253308 deg/s, posRepo size: 4 2021-02-18T04:18:51.809Z,1613621931.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.120010 m, bearing: 33.052160 deg, approachRate: -0.282318 m/s, LOS rate: -0.253308 deg/s, cmd update: -1.013231 deg/s, cmd heading: 17.907614 deg, new cmd heading: 15.810811 deg. 2021-02-18T04:18:54.160Z,1613621934.160 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T04:18:54.175Z,1613621934.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:54.935Z,1613621934.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:55.338Z,1613621935.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:18:56.164Z,1613621936.164 [Micromodem](INFO): Nmea in: $SNTTA,0.106887,,,,041854.95*40 2021-02-18T04:18:56.222Z,1613621936.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.199997 m, bearing: 41.923404 deg, deltaT: 4.454881 s, approachRate: -0.430991 m/s, LOS rate: 1.991354 deg/s, posRepo size: 4 2021-02-18T04:18:56.228Z,1613621936.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.199997 m, bearing: 41.923404 deg, approachRate: -0.430991 m/s, LOS rate: 1.991354 deg/s, cmd update: 7.965415 deg/s, cmd heading: 13.409432 deg, new cmd heading: 12.971949 deg. 2021-02-18T04:18:58.595Z,1613621938.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:18:59.385Z,1613621939.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:18:59.816Z,1613621939.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:00.608Z,1613621940.608 [Micromodem](INFO): Nmea in: $SNTTA,0.105282,,,,041859.40*49 2021-02-18T04:19:00.644Z,1613621940.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.560013 m, bearing: 34.763125 deg, deltaT: 4.426722 s, approachRate: -0.596375 m/s, LOS rate: -1.617513 deg/s, posRepo size: 4 2021-02-18T04:19:00.646Z,1613621940.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.560013 m, bearing: 34.763125 deg, approachRate: -0.596375 m/s, LOS rate: -1.617513 deg/s, cmd update: -6.470050 deg/s, cmd heading: 48.822968 deg, new cmd heading: 52.073709 deg. 2021-02-18T04:19:03.094Z,1613621943.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:19:03.826Z,1613621943.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:19:04.231Z,1613621944.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:04.264Z,1613621944.264 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T04:19:05.065Z,1613621945.065 [Micromodem](INFO): Nmea in: $SNTTA,0.103354,,,,041903.84*43 2021-02-18T04:19:05.141Z,1613621945.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.619995 m, bearing: 33.592810 deg, deltaT: 4.413440 s, approachRate: -0.666151 m/s, LOS rate: -0.265171 deg/s, posRepo size: 4 2021-02-18T04:19:05.143Z,1613621945.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.619995 m, bearing: 33.592810 deg, approachRate: -0.666151 m/s, LOS rate: -0.265171 deg/s, cmd update: -1.060683 deg/s, cmd heading: 20.266805 deg, new cmd heading: 17.086102 deg. 2021-02-18T04:19:07.488Z,1613621947.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:19:08.275Z,1613621948.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:19:08.669Z,1613621948.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:09.500Z,1613621949.500 [Micromodem](INFO): Nmea in: $SNTTA,0.101153,,,,041908.29*48 2021-02-18T04:19:09.541Z,1613621949.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.559998 m, bearing: 34.489692 deg, deltaT: 4.490526 s, approachRate: -0.681434 m/s, LOS rate: 0.199728 deg/s, posRepo size: 4 2021-02-18T04:19:09.543Z,1613621949.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.559998 m, bearing: 34.489692 deg, approachRate: -0.681434 m/s, LOS rate: 0.199728 deg/s, cmd update: 0.798911 deg/s, cmd heading: 15.503710 deg, new cmd heading: 15.078038 deg. 2021-02-18T04:19:11.939Z,1613621951.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:19:12.715Z,1613621952.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:19:13.120Z,1613621953.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:13.944Z,1613621953.944 [Micromodem](INFO): Nmea in: $SNTTA,0.099000,,,,041912.73*4B 2021-02-18T04:19:13.969Z,1613621953.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.320007 m, bearing: 30.819203 deg, deltaT: 4.414660 s, approachRate: -0.733916 m/s, LOS rate: -0.831432 deg/s, posRepo size: 4 2021-02-18T04:19:13.970Z,1613621953.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.320007 m, bearing: 30.819203 deg, approachRate: -0.733916 m/s, LOS rate: -0.831432 deg/s, cmd update: -3.325728 deg/s, cmd heading: 19.029228 deg, new cmd heading: 19.361325 deg. 2021-02-18T04:19:14.415Z,1613621954.415 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout 2021-02-18T04:19:14.415Z,1613621954.415 [RDI_PathfinderUp] Communications Fault, FailCount= 1 2021-02-18T04:19:14.415Z,1613621954.415 [RDI_PathfinderUp](ERROR): Communications Fault 2021-02-18T04:19:14.559Z,1613621954.559 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp 2021-02-18T04:19:14.815Z,1613621954.815 [RDI_PathfinderUp](INFO): Powering down 2021-02-18T04:19:15.660Z,1613621955.660 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp 2021-02-18T04:19:15.660Z,1613621955.660 [RDI_PathfinderUp] No Fault, FailCount= 1 2021-02-18T04:19:16.369Z,1613621956.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:19:17.152Z,1613621957.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:19:17.563Z,1613621957.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:18.384Z,1613621958.384 [Micromodem](INFO): Nmea in: $SNTTA,0.096848,,,,041917.17*47 2021-02-18T04:19:18.425Z,1613621958.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.080002 m, bearing: 32.176475 deg, deltaT: 4.452259 s, approachRate: -0.727722 m/s, LOS rate: 0.304850 deg/s, posRepo size: 4 2021-02-18T04:19:18.427Z,1613621958.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.080002 m, bearing: 32.176475 deg, approachRate: -0.727722 m/s, LOS rate: 0.304850 deg/s, cmd update: 1.219400 deg/s, cmd heading: 4.216361 deg, new cmd heading: 2.825648 deg. 2021-02-18T04:19:20.851Z,1613621960.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:19:21.601Z,1613621961.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:19:22.010Z,1613621962.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:22.832Z,1613621962.832 [Micromodem](INFO): Nmea in: $SNTTA,0.094835,,,,041921.62*48 2021-02-18T04:19:22.857Z,1613621962.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.139999 m, bearing: 29.248523 deg, deltaT: 4.438428 s, approachRate: -0.662397 m/s, LOS rate: -0.659682 deg/s, posRepo size: 4 2021-02-18T04:19:22.858Z,1613621962.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.139999 m, bearing: 29.248523 deg, approachRate: -0.662397 m/s, LOS rate: -0.659682 deg/s, cmd update: -2.638729 deg/s, cmd heading: 9.623691 deg, new cmd heading: 10.130058 deg. 2021-02-18T04:19:25.266Z,1613621965.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:19:26.040Z,1613621966.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:19:26.449Z,1613621966.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:27.268Z,1613621967.268 [Micromodem](INFO): Nmea in: $SNTTA,0.092940,,,,041926.05*4B 2021-02-18T04:19:27.303Z,1613621967.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.259995 m, bearing: 31.337106 deg, deltaT: 4.441756 s, approachRate: -0.648393 m/s, LOS rate: 0.470216 deg/s, posRepo size: 4 2021-02-18T04:19:27.307Z,1613621967.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.259995 m, bearing: 31.337106 deg, approachRate: -0.648393 m/s, LOS rate: 0.470216 deg/s, cmd update: 1.880862 deg/s, cmd heading: 357.892013 deg, new cmd heading: 356.797464 deg. 2021-02-18T04:19:29.703Z,1613621969.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:19:30.491Z,1613621970.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:19:30.900Z,1613621970.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:31.719Z,1613621971.719 [Micromodem](INFO): Nmea in: $SNTTA,0.091241,,,,041930.51*44 2021-02-18T04:19:31.738Z,1613621971.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.740005 m, bearing: 29.721148 deg, deltaT: 4.436662 s, approachRate: -0.567992 m/s, LOS rate: -0.364228 deg/s, posRepo size: 4 2021-02-18T04:19:31.740Z,1613621971.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.740005 m, bearing: 29.721148 deg, approachRate: -0.567992 m/s, LOS rate: -0.364228 deg/s, cmd update: -1.456913 deg/s, cmd heading: 6.236484 deg, new cmd heading: 7.015461 deg. 2021-02-18T04:19:34.183Z,1613621974.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:19:34.930Z,1613621974.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:19:35.341Z,1613621975.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:36.156Z,1613621976.156 [Micromodem](INFO): Nmea in: $SNTTA,0.089524,,,,041934.94*44 2021-02-18T04:19:36.205Z,1613621976.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.160004 m, bearing: 32.272138 deg, deltaT: 4.520769 s, approachRate: -0.570700 m/s, LOS rate: 0.564282 deg/s, posRepo size: 4 2021-02-18T04:19:36.207Z,1613621976.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.160004 m, bearing: 32.272138 deg, approachRate: -0.570700 m/s, LOS rate: 0.564282 deg/s, cmd update: 2.257129 deg/s, cmd heading: 359.700594 deg, new cmd heading: 359.125234 deg. 2021-02-18T04:19:38.604Z,1613621978.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:19:39.377Z,1613621979.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:19:39.817Z,1613621979.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:40.604Z,1613621980.604 [Micromodem](INFO): Nmea in: $SNTTA,0.087606,,,,041939.39*43 2021-02-18T04:19:40.641Z,1613621980.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.220001 m, bearing: 32.888829 deg, deltaT: 4.366875 s, approachRate: -0.673251 m/s, LOS rate: 0.141220 deg/s, posRepo size: 4 2021-02-18T04:19:40.643Z,1613621980.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.220001 m, bearing: 32.888829 deg, approachRate: -0.673251 m/s, LOS rate: 0.141220 deg/s, cmd update: 0.564881 deg/s, cmd heading: 9.599615 deg, new cmd heading: 10.604651 deg. 2021-02-18T04:19:43.055Z,1613621983.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:19:43.854Z,1613621983.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:19:44.229Z,1613621984.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:45.065Z,1613621985.065 [Micromodem](INFO): Nmea in: $SNTTA,0.085748,,,,041943.87*42 2021-02-18T04:19:45.099Z,1613621985.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.459991 m, bearing: 34.427603 deg, deltaT: 4.452724 s, approachRate: -0.619847 m/s, LOS rate: 0.345580 deg/s, posRepo size: 4 2021-02-18T04:19:45.101Z,1613621985.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.459991 m, bearing: 34.427603 deg, approachRate: -0.619847 m/s, LOS rate: 0.345580 deg/s, cmd update: 1.382321 deg/s, cmd heading: 12.119170 deg, new cmd heading: 12.369191 deg. 2021-02-18T04:19:47.482Z,1613621987.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:19:48.260Z,1613621988.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:19:48.671Z,1613621988.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:49.496Z,1613621989.496 [Micromodem](INFO): Nmea in: $SNTTA,0.083647,,,,041948.28*44 2021-02-18T04:19:49.518Z,1613621989.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.280006 m, bearing: 35.302632 deg, deltaT: 4.451160 s, approachRate: -0.714417 m/s, LOS rate: 0.196585 deg/s, posRepo size: 4 2021-02-18T04:19:49.520Z,1613621989.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.280006 m, bearing: 35.302632 deg, approachRate: -0.714417 m/s, LOS rate: 0.196585 deg/s, cmd update: 0.786338 deg/s, cmd heading: 18.283422 deg, new cmd heading: 18.840323 deg. 2021-02-18T04:19:51.963Z,1613621991.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:19:52.704Z,1613621992.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:19:53.110Z,1613621993.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:53.936Z,1613621993.936 [Micromodem](INFO): Nmea in: $SNTTA,0.081672,,,,041952.72*44 2021-02-18T04:19:53.993Z,1613621993.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.460007 m, bearing: 38.658451 deg, deltaT: 4.410311 s, approachRate: -0.639411 m/s, LOS rate: 0.760903 deg/s, posRepo size: 4 2021-02-18T04:19:53.996Z,1613621993.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.460007 m, bearing: 38.658451 deg, approachRate: -0.639411 m/s, LOS rate: 0.760903 deg/s, cmd update: 3.043612 deg/s, cmd heading: 21.751593 deg, new cmd heading: 22.119284 deg. 2021-02-18T04:19:56.357Z,1613621996.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:19:57.148Z,1613621997.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:19:57.554Z,1613621997.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:19:58.392Z,1613621998.392 [Micromodem](INFO): Nmea in: $SNTTA,0.079686,,,,041957.16*4F 2021-02-18T04:19:58.414Z,1613621998.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.340004 m, bearing: 39.309774 deg, deltaT: 4.465304 s, approachRate: -0.698721 m/s, LOS rate: 0.145863 deg/s, posRepo size: 4 2021-02-18T04:19:58.416Z,1613621998.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.340004 m, bearing: 39.309774 deg, approachRate: -0.698721 m/s, LOS rate: 0.145863 deg/s, cmd update: 0.583453 deg/s, cmd heading: 35.342234 deg, new cmd heading: 36.628665 deg. 2021-02-18T04:20:00.887Z,1613622000.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:01.592Z,1613622001.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:02.005Z,1613622002.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:20:02.844Z,1613622002.844 [Micromodem](INFO): Nmea in: $SNTTA,0.077534,,,,042001.61*42 2021-02-18T04:20:02.904Z,1613622002.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.160004 m, bearing: 40.560706 deg, deltaT: 4.434882 s, approachRate: -0.717043 m/s, LOS rate: 0.282067 deg/s, posRepo size: 4 2021-02-18T04:20:02.906Z,1613622002.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.160004 m, bearing: 40.560706 deg, approachRate: -0.717043 m/s, LOS rate: 0.282067 deg/s, cmd update: 1.128266 deg/s, cmd heading: 37.927434 deg, new cmd heading: 38.208645 deg. 2021-02-18T04:20:05.254Z,1613622005.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:06.036Z,1613622006.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:06.445Z,1613622006.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:20:07.264Z,1613622007.264 [Micromodem](INFO): Nmea in: $SNTTA,0.075428,,,,042006.05*49 2021-02-18T04:20:07.297Z,1613622007.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.920006 m, bearing: 40.836776 deg, deltaT: 4.469431 s, approachRate: -0.724924 m/s, LOS rate: 0.061768 deg/s, posRepo size: 4 2021-02-18T04:20:07.298Z,1613622007.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.920006 m, bearing: 40.836776 deg, approachRate: -0.724924 m/s, LOS rate: 0.061768 deg/s, cmd update: 0.247073 deg/s, cmd heading: 42.974670 deg, new cmd heading: 43.427085 deg. 2021-02-18T04:20:09.693Z,1613622009.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:10.480Z,1613622010.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:10.891Z,1613622010.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:20:11.708Z,1613622011.708 [Micromodem](INFO): Nmea in: $SNTTA,0.073161,,,,042010.49*48 2021-02-18T04:20:11.753Z,1613622011.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.560005 m, bearing: 40.613428 deg, deltaT: 4.422440 s, approachRate: -0.759762 m/s, LOS rate: -0.050503 deg/s, posRepo size: 4 2021-02-18T04:20:11.755Z,1613622011.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.560005 m, bearing: 40.613428 deg, approachRate: -0.759762 m/s, LOS rate: -0.050503 deg/s, cmd update: -0.202013 deg/s, cmd heading: 44.067339 deg, new cmd heading: 44.174946 deg. 2021-02-18T04:20:14.174Z,1613622014.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:14.926Z,1613622014.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:15.342Z,1613622015.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:20:16.152Z,1613622016.152 [Micromodem](INFO): Nmea in: $SNTTA,0.070911,,,,042014.94*40 2021-02-18T04:20:16.206Z,1613622016.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.199997 m, bearing: 40.337721 deg, deltaT: 4.494579 s, approachRate: -0.747569 m/s, LOS rate: -0.061342 deg/s, posRepo size: 4 2021-02-18T04:20:16.208Z,1613622016.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.199997 m, bearing: 40.337721 deg, approachRate: -0.747569 m/s, LOS rate: -0.061342 deg/s, cmd update: -0.245369 deg/s, cmd heading: 43.166376 deg, new cmd heading: 43.079913 deg. 2021-02-18T04:20:18.574Z,1613622018.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:19.369Z,1613622019.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:19.815Z,1613622019.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:20:20.608Z,1613622020.608 [Micromodem](INFO): Nmea in: $SNTTA,0.068568,,,,042019.39*41 2021-02-18T04:20:20.642Z,1613622020.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.660011 m, bearing: 40.371715 deg, deltaT: 4.404873 s, approachRate: -0.803652 m/s, LOS rate: 0.007717 deg/s, posRepo size: 4 2021-02-18T04:20:20.644Z,1613622020.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.660011 m, bearing: 40.371715 deg, approachRate: -0.803652 m/s, LOS rate: 0.007717 deg/s, cmd update: 0.030869 deg/s, cmd heading: 42.077056 deg, new cmd heading: 41.972835 deg. 2021-02-18T04:20:23.046Z,1613622023.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:23.853Z,1613622023.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:24.219Z,1613622024.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:20:25.058Z,1613622025.058 [Micromodem](INFO): Nmea in: $SNTTA,0.066156,,,,042023.87*4A 2021-02-18T04:20:25.117Z,1613622025.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.000000 m, bearing: 39.704730 deg, deltaT: 4.439485 s, approachRate: -0.824422 m/s, LOS rate: -0.150239 deg/s, posRepo size: 4 2021-02-18T04:20:25.123Z,1613622025.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.000000 m, bearing: 39.704730 deg, approachRate: -0.824422 m/s, LOS rate: -0.150239 deg/s, cmd update: -0.600957 deg/s, cmd heading: 42.214101 deg, new cmd heading: 42.228303 deg. 2021-02-18T04:20:27.465Z,1613622027.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:28.256Z,1613622028.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:28.669Z,1613622028.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:20:29.484Z,1613622029.484 [Micromodem](INFO): Nmea in: $SNTTA,0.064044,,,,042028.27*4B 2021-02-18T04:20:29.521Z,1613622029.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.820007 m, bearing: 39.540686 deg, deltaT: 4.502871 s, approachRate: -0.706214 m/s, LOS rate: -0.036431 deg/s, posRepo size: 4 2021-02-18T04:20:29.523Z,1613622029.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.820007 m, bearing: 39.540686 deg, approachRate: -0.706214 m/s, LOS rate: -0.036431 deg/s, cmd update: -0.145724 deg/s, cmd heading: 39.510503 deg, new cmd heading: 39.290886 deg. 2021-02-18T04:20:31.935Z,1613622031.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:32.700Z,1613622032.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:33.109Z,1613622033.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:20:33.932Z,1613622033.932 [Micromodem](INFO): Nmea in: $SNTTA,0.061657,,,,042032.71*42 2021-02-18T04:20:33.995Z,1613622033.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.220001 m, bearing: 40.018000 deg, deltaT: 4.363122 s, approachRate: -0.825099 m/s, LOS rate: 0.109397 deg/s, posRepo size: 4 2021-02-18T04:20:33.997Z,1613622033.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.220001 m, bearing: 40.018000 deg, approachRate: -0.825099 m/s, LOS rate: 0.109397 deg/s, cmd update: 0.437590 deg/s, cmd heading: 38.874109 deg, new cmd heading: 38.805286 deg. 2021-02-18T04:20:36.364Z,1613622036.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:37.150Z,1613622037.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:37.550Z,1613622037.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:20:38.381Z,1613622038.381 [Micromodem](INFO): Nmea in: $SNTTA,0.059551,,,,042037.16*48 2021-02-18T04:20:38.418Z,1613622038.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.099998 m, bearing: 40.704116 deg, deltaT: 4.496297 s, approachRate: -0.693905 m/s, LOS rate: 0.152596 deg/s, posRepo size: 4 2021-02-18T04:20:38.420Z,1613622038.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.099998 m, bearing: 40.704116 deg, approachRate: -0.693905 m/s, LOS rate: 0.152596 deg/s, cmd update: 0.610384 deg/s, cmd heading: 40.839894 deg, new cmd heading: 41.016363 deg. 2021-02-18T04:20:40.885Z,1613622040.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:41.592Z,1613622041.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:41.994Z,1613622041.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:20:42.856Z,1613622042.856 [Micromodem](INFO): Nmea in: $SNTTA,0.057372,,,,042041.61*40 2021-02-18T04:20:42.890Z,1613622042.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.979996 m, bearing: 41.539657 deg, deltaT: 4.390849 s, approachRate: -0.710569 m/s, LOS rate: 0.190291 deg/s, posRepo size: 4 2021-02-18T04:20:42.892Z,1613622042.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.979996 m, bearing: 41.539657 deg, approachRate: -0.710569 m/s, LOS rate: 0.190291 deg/s, cmd update: 0.761165 deg/s, cmd heading: 43.522447 deg, new cmd heading: 43.815366 deg. 2021-02-18T04:20:45.260Z,1613622045.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:46.033Z,1613622046.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:46.438Z,1613622046.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:20:47.264Z,1613622047.264 [Micromodem](INFO): Nmea in: $SNTTA,0.055265,,,,042046.05*40 2021-02-18T04:20:47.301Z,1613622047.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.800003 m, bearing: 41.339795 deg, deltaT: 4.491342 s, approachRate: -0.708027 m/s, LOS rate: -0.044499 deg/s, posRepo size: 4 2021-02-18T04:20:47.303Z,1613622047.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.800003 m, bearing: 41.339795 deg, approachRate: -0.708027 m/s, LOS rate: -0.044499 deg/s, cmd update: -0.177997 deg/s, cmd heading: 46.941114 deg, new cmd heading: 47.245544 deg. 2021-02-18T04:20:49.688Z,1613622049.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:50.476Z,1613622050.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:50.891Z,1613622050.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:20:51.704Z,1613622051.704 [Micromodem](INFO): Nmea in: $SNTTA,0.053031,,,,042050.49*4A 2021-02-18T04:20:51.754Z,1613622051.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.440002 m, bearing: 41.540548 deg, deltaT: 4.410889 s, approachRate: -0.761751 m/s, LOS rate: 0.045513 deg/s, posRepo size: 4 2021-02-18T04:20:51.756Z,1613622051.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.440002 m, bearing: 41.540548 deg, approachRate: -0.761751 m/s, LOS rate: 0.045513 deg/s, cmd update: 0.182052 deg/s, cmd heading: 46.156442 deg, new cmd heading: 46.077437 deg. 2021-02-18T04:20:54.172Z,1613622054.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:54.928Z,1613622054.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:55.340Z,1613622055.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:20:56.152Z,1613622056.152 [Micromodem](INFO): Nmea in: $SNTTA,0.050814,,,,042054.94*42 2021-02-18T04:20:56.206Z,1613622056.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.080002 m, bearing: 40.221881 deg, deltaT: 4.456098 s, approachRate: -0.754023 m/s, LOS rate: -0.295924 deg/s, posRepo size: 4 2021-02-18T04:20:56.208Z,1613622056.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.080002 m, bearing: 40.221881 deg, approachRate: -0.754023 m/s, LOS rate: -0.295924 deg/s, cmd update: -1.183697 deg/s, cmd heading: 46.966099 deg, new cmd heading: 47.047846 deg. 2021-02-18T04:20:58.596Z,1613622058.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:20:59.369Z,1613622059.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:20:59.803Z,1613622059.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:00.597Z,1613622060.597 [Micromodem](INFO): Nmea in: $SNTTA,0.048332,,,,042059.38*4F 2021-02-18T04:21:00.639Z,1613622060.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.419998 m, bearing: 44.758332 deg, deltaT: 4.434036 s, approachRate: -0.825434 m/s, LOS rate: 1.023097 deg/s, posRepo size: 4 2021-02-18T04:21:00.642Z,1613622060.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.419998 m, bearing: 44.758332 deg, approachRate: -0.825434 m/s, LOS rate: 1.023097 deg/s, cmd update: 4.092390 deg/s, cmd heading: 41.704649 deg, new cmd heading: 41.187600 deg. 2021-02-18T04:21:03.040Z,1613622063.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:21:03.849Z,1613622063.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:21:04.231Z,1613622064.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:05.068Z,1613622065.068 [Micromodem](INFO): Nmea in: $SNTTA,0.046010,,,,042103.86*49 2021-02-18T04:21:05.119Z,1613622065.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.820007 m, bearing: 40.987624 deg, deltaT: 4.441951 s, approachRate: -0.810453 m/s, LOS rate: -0.848886 deg/s, posRepo size: 4 2021-02-18T04:21:05.121Z,1613622065.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.820007 m, bearing: 40.987624 deg, approachRate: -0.810453 m/s, LOS rate: -0.848886 deg/s, cmd update: -3.395543 deg/s, cmd heading: 59.884260 deg, new cmd heading: 61.826521 deg. 2021-02-18T04:21:07.461Z,1613622067.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:21:08.252Z,1613622068.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:21:08.658Z,1613622068.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:09.489Z,1613622069.489 [Micromodem](INFO): Nmea in: $SNTTA,0.043782,,0.060620,0.069795,042108.27*46 2021-02-18T04:21:09.525Z,1613622069.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.460007 m, bearing: 38.420125 deg, deltaT: 4.534605 s, approachRate: -0.740969 m/s, LOS rate: -0.566201 deg/s, posRepo size: 4 2021-02-18T04:21:09.527Z,1613622069.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.460007 m, bearing: 38.420125 deg, approachRate: -0.740969 m/s, LOS rate: -0.566201 deg/s, cmd update: -2.264805 deg/s, cmd heading: 44.500911 deg, new cmd heading: 43.311700 deg. 2021-02-18T04:21:11.936Z,1613622071.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:21:12.696Z,1613622072.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:21:13.102Z,1613622073.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:13.924Z,1613622073.924 [Micromodem](INFO): Nmea in: $SNTTA,0.041728,,,,042112.71*4A 2021-02-18T04:21:13.978Z,1613622073.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.400005 m, bearing: 40.131227 deg, deltaT: 4.339945 s, approachRate: -0.705078 m/s, LOS rate: 0.394268 deg/s, posRepo size: 4 2021-02-18T04:21:13.984Z,1613622073.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.400005 m, bearing: 40.131227 deg, approachRate: -0.705078 m/s, LOS rate: 0.394268 deg/s, cmd update: 1.577073 deg/s, cmd heading: 34.662444 deg, new cmd heading: 33.621898 deg. 2021-02-18T04:21:16.372Z,1613622076.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:21:17.156Z,1613622077.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:21:17.546Z,1613622077.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:18.380Z,1613622078.380 [Micromodem](INFO): Nmea in: $SNTTA,0.039591,,,,042117.17*40 2021-02-18T04:21:18.402Z,1613622078.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.159996 m, bearing: 40.593047 deg, deltaT: 4.507193 s, approachRate: -0.718853 m/s, LOS rate: 0.102463 deg/s, posRepo size: 4 2021-02-18T04:21:18.404Z,1613622078.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.159996 m, bearing: 40.593047 deg, approachRate: -0.718853 m/s, LOS rate: 0.102463 deg/s, cmd update: 0.409851 deg/s, cmd heading: 41.770677 deg, new cmd heading: 42.363733 deg. 2021-02-18T04:21:20.901Z,1613622080.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:21:21.589Z,1613622081.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:21:22.001Z,1613622082.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:22.849Z,1613622082.849 [Micromodem](INFO): Nmea in: $SNTTA,0.037277,,,,042121.60*44 2021-02-18T04:21:22.924Z,1613622082.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.680000 m, bearing: 40.294237 deg, deltaT: 4.379919 s, approachRate: -0.794534 m/s, LOS rate: -0.068223 deg/s, posRepo size: 4 2021-02-18T04:21:22.926Z,1613622082.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.680000 m, bearing: 40.294237 deg, approachRate: -0.794534 m/s, LOS rate: -0.068223 deg/s, cmd update: -0.272891 deg/s, cmd heading: 43.565750 deg, new cmd heading: 43.777924 deg. 2021-02-18T04:21:25.234Z,1613622085.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:21:26.037Z,1613622086.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:21:26.434Z,1613622086.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:27.281Z,1613622087.281 [Micromodem](INFO): Nmea in: $SNTTA,0.034925,0.080375,,0.071624,042126.05*40 2021-02-18T04:21:27.310Z,1613622087.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.200001 m, bearing: 39.594139 deg, deltaT: 4.502630 s, approachRate: -0.772882 m/s, LOS rate: -0.155486 deg/s, posRepo size: 4 2021-02-18T04:21:27.312Z,1613622087.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.200001 m, bearing: 39.594139 deg, approachRate: -0.772882 m/s, LOS rate: -0.155486 deg/s, cmd update: -0.621946 deg/s, cmd heading: 42.336991 deg, new cmd heading: 42.227458 deg. 2021-02-18T04:21:29.690Z,1613622089.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:21:30.473Z,1613622090.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:21:30.884Z,1613622090.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:31.700Z,1613622091.700 [Micromodem](INFO): Nmea in: $SNTTA,0.032683,,,,042130.49*45 2021-02-18T04:21:31.738Z,1613622091.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.839996 m, bearing: 40.447168 deg, deltaT: 4.414561 s, approachRate: -0.761119 m/s, LOS rate: 0.193231 deg/s, posRepo size: 4 2021-02-18T04:21:31.740Z,1613622091.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.839996 m, bearing: 40.447168 deg, approachRate: -0.761119 m/s, LOS rate: 0.193231 deg/s, cmd update: 0.772923 deg/s, cmd heading: 39.593901 deg, new cmd heading: 39.333643 deg. 2021-02-18T04:21:34.198Z,1613622094.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:21:34.919Z,1613622094.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:21:35.323Z,1613622095.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:36.148Z,1613622096.148 [Micromodem](INFO): Nmea in: $SNTTA,0.030382,,,,042134.93*40 2021-02-18T04:21:36.205Z,1613622096.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.360001 m, bearing: 40.636603 deg, deltaT: 4.442104 s, approachRate: -0.783412 m/s, LOS rate: 0.042645 deg/s, posRepo size: 4 2021-02-18T04:21:36.211Z,1613622096.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.360001 m, bearing: 40.636603 deg, approachRate: -0.783412 m/s, LOS rate: 0.042645 deg/s, cmd update: 0.170582 deg/s, cmd heading: 43.017307 deg, new cmd heading: 43.370588 deg. 2021-02-18T04:21:38.583Z,1613622098.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:21:39.365Z,1613622099.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:21:39.802Z,1613622099.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:40.592Z,1613622100.592 [Micromodem](INFO): Nmea in: $SNTTA,0.028119,,,,042139.38*45 2021-02-18T04:21:40.629Z,1613622100.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.940002 m, bearing: 40.269142 deg, deltaT: 4.438555 s, approachRate: -0.770521 m/s, LOS rate: -0.082788 deg/s, posRepo size: 4 2021-02-18T04:21:40.631Z,1613622100.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.940002 m, bearing: 40.269142 deg, approachRate: -0.770521 m/s, LOS rate: -0.082788 deg/s, cmd update: -0.331154 deg/s, cmd heading: 43.777340 deg, new cmd heading: 43.849913 deg. 2021-02-18T04:21:43.063Z,1613622103.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:21:43.850Z,1613622103.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:21:44.213Z,1613622104.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:45.050Z,1613622105.050 [Micromodem](INFO): Nmea in: $SNTTA,0.025855,,,,042143.86*41 2021-02-18T04:21:45.116Z,1613622105.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.579998 m, bearing: 40.550495 deg, deltaT: 4.424625 s, approachRate: -0.759387 m/s, LOS rate: 0.063588 deg/s, posRepo size: 4 2021-02-18T04:21:45.117Z,1613622105.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.58 m. 2021-02-18T04:21:45.125Z,1613622105.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.579998 m, bearing: 40.550495 deg, approachRate: -0.759387 m/s, LOS rate: 0.063588 deg/s, cmd update: 0.254352 deg/s, cmd heading: 42.312101 deg, new cmd heading: 42.152280 deg. 2021-02-18T04:21:45.433Z,1613622105.433 [PowerOnly](INFO): Powering up loadControl 2021-02-18T04:21:47.461Z,1613622107.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:21:48.248Z,1613622108.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:21:48.655Z,1613622108.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:49.476Z,1613622109.476 [Micromodem](INFO): Nmea in: $SNTTA,0.023731,,,,042148.26*4B 2021-02-18T04:21:49.514Z,1613622109.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.399998 m, bearing: 39.517992 deg, deltaT: 4.462258 s, approachRate: -0.712644 m/s, LOS rate: -0.231386 deg/s, posRepo size: 4 2021-02-18T04:21:49.514Z,1613622109.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.40 m. 2021-02-18T04:21:49.514Z,1613622109.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.40 m. 2021-02-18T04:21:49.514Z,1613622109.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T04:21:49.517Z,1613622109.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.399998 m, bearing: 39.517992 deg, approachRate: -0.712644 m/s, LOS rate: -0.231386 deg/s, cmd update: -0.925543 deg/s, cmd heading: 43.447074 deg, new cmd heading: 43.554629 deg. 2021-02-18T04:21:51.934Z,1613622111.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:21:52.692Z,1613622112.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:21:53.098Z,1613622113.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:53.920Z,1613622113.920 [Micromodem](INFO): Nmea in: $SNTTA,0.021472,,,,042152.71*44 2021-02-18T04:21:53.982Z,1613622113.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.040001 m, bearing: 38.591406 deg, deltaT: 4.465518 s, approachRate: -0.752432 m/s, LOS rate: -0.207498 deg/s, posRepo size: 4 2021-02-18T04:21:53.988Z,1613622113.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.040001 m, bearing: 38.591406 deg, approachRate: -0.752432 m/s, LOS rate: -0.207498 deg/s, cmd update: -0.829993 deg/s, cmd heading: 39.336456 deg, new cmd heading: 38.919691 deg. 2021-02-18T04:21:56.343Z,1613622116.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:21:57.150Z,1613622117.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:21:57.542Z,1613622117.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:21:58.372Z,1613622118.372 [Micromodem](INFO): Nmea in: $SNTTA,0.019213,,,,042157.16*4A 2021-02-18T04:21:58.416Z,1613622118.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.620001 m, bearing: 39.913611 deg, deltaT: 4.448444 s, approachRate: -0.768808 m/s, LOS rate: 0.297229 deg/s, posRepo size: 4 2021-02-18T04:21:58.418Z,1613622118.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.620001 m, bearing: 39.913611 deg, approachRate: -0.768808 m/s, LOS rate: 0.297229 deg/s, cmd update: 1.188915 deg/s, cmd heading: 35.631402 deg, new cmd heading: 35.301034 deg. 2021-02-18T04:22:00.878Z,1613622120.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:01.597Z,1613622121.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:01.985Z,1613622121.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:22:02.847Z,1613622122.847 [Micromodem](INFO): Nmea in: $SNTTA,0.016955,,,,042201.61*4C 2021-02-18T04:22:02.907Z,1613622122.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.199999 m, bearing: 39.561098 deg, deltaT: 4.402318 s, approachRate: -0.776864 m/s, LOS rate: -0.080074 deg/s, posRepo size: 4 2021-02-18T04:22:02.909Z,1613622122.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.199999 m, bearing: 39.561098 deg, approachRate: -0.776864 m/s, LOS rate: -0.080074 deg/s, cmd update: -0.320298 deg/s, cmd heading: 40.875572 deg, new cmd heading: 41.465585 deg. 2021-02-18T04:22:05.253Z,1613622125.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:06.029Z,1613622126.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:06.430Z,1613622126.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:22:07.260Z,1613622127.260 [Micromodem](INFO): Nmea in: $SNTTA,0.014633,,,,042206.04*45 2021-02-18T04:22:07.297Z,1613622127.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.720001 m, bearing: 40.154501 deg, deltaT: 4.487065 s, approachRate: -0.775562 m/s, LOS rate: 0.132248 deg/s, posRepo size: 4 2021-02-18T04:22:07.299Z,1613622127.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.720001 m, bearing: 40.154501 deg, approachRate: -0.775562 m/s, LOS rate: 0.132248 deg/s, cmd update: 0.528990 deg/s, cmd heading: 39.438334 deg, new cmd heading: 39.309212 deg. 2021-02-18T04:22:09.688Z,1613622129.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:10.474Z,1613622130.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:10.883Z,1613622130.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:22:11.700Z,1613622131.700 [Micromodem](INFO): Nmea in: $SNTTA,0.012436,,,,042210.49*4A 2021-02-18T04:22:11.738Z,1613622131.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.420000 m, bearing: 40.253891 deg, deltaT: 4.412281 s, approachRate: -0.747913 m/s, LOS rate: 0.022526 deg/s, posRepo size: 4 2021-02-18T04:22:11.742Z,1613622131.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.420000 m, bearing: 40.253891 deg, approachRate: -0.747913 m/s, LOS rate: 0.022526 deg/s, cmd update: 0.090103 deg/s, cmd heading: 41.772316 deg, new cmd heading: 42.000767 deg. 2021-02-18T04:22:14.157Z,1613622134.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:14.913Z,1613622134.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:15.323Z,1613622135.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:22:16.148Z,1613622136.148 [Micromodem](INFO): Nmea in: $SNTTA,0.010205,,,,042214.93*4D 2021-02-18T04:22:16.185Z,1613622136.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.059998 m, bearing: 40.346242 deg, deltaT: 4.445867 s, approachRate: -0.755759 m/s, LOS rate: 0.020772 deg/s, posRepo size: 4 2021-02-18T04:22:16.187Z,1613622136.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.059998 m, bearing: 40.346242 deg, approachRate: -0.755759 m/s, LOS rate: 0.020772 deg/s, cmd update: 0.083089 deg/s, cmd heading: 42.172893 deg, new cmd heading: 42.211938 deg. 2021-02-18T04:22:18.583Z,1613622138.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:19.361Z,1613622139.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:19.806Z,1613622139.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:22:20.588Z,1613622140.588 [Micromodem](INFO): Nmea in: $SNTTA,0.008007,,,,042219.38*48 2021-02-18T04:22:20.625Z,1613622140.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.820001 m, bearing: 39.407357 deg, deltaT: 4.473327 s, approachRate: -0.724292 m/s, LOS rate: -0.209885 deg/s, posRepo size: 4 2021-02-18T04:22:20.627Z,1613622140.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.820001 m, bearing: 39.407357 deg, approachRate: -0.724292 m/s, LOS rate: -0.209885 deg/s, cmd update: -0.839540 deg/s, cmd heading: 42.544599 deg, new cmd heading: 42.577817 deg. 2021-02-18T04:22:23.028Z,1613622143.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:23.852Z,1613622143.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:24.210Z,1613622144.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:22:25.050Z,1613622145.050 [Micromodem](INFO): Nmea in: $SNTTA,0.005884,,0.013845,,042223.87*5E 2021-02-18T04:22:25.106Z,1613622145.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.579998 m, bearing: 39.405557 deg, deltaT: 4.417820 s, approachRate: -0.733394 m/s, LOS rate: -0.000407 deg/s, posRepo size: 4 2021-02-18T04:22:25.108Z,1613622145.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.579998 m, bearing: 39.405557 deg, approachRate: -0.733394 m/s, LOS rate: -0.000407 deg/s, cmd update: -0.001630 deg/s, cmd heading: 38.835687 deg, new cmd heading: 38.447361 deg. 2021-02-18T04:22:27.451Z,1613622147.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:28.244Z,1613622148.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:28.656Z,1613622148.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:22:29.476Z,1613622149.476 [Micromodem](INFO): Nmea in: $SNTTA,0.004030,,,,042228.26*4D 2021-02-18T04:22:29.511Z,1613622149.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.699999 m, bearing: 37.050699 deg, deltaT: 4.461513 s, approachRate: -0.645521 m/s, LOS rate: -0.527816 deg/s, posRepo size: 4 2021-02-18T04:22:29.513Z,1613622149.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.699999 m, bearing: 37.050699 deg, approachRate: -0.645521 m/s, LOS rate: -0.527816 deg/s, cmd update: -2.111264 deg/s, cmd heading: 38.828416 deg, new cmd heading: 38.827754 deg. 2021-02-18T04:22:31.941Z,1613622151.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:32.690Z,1613622152.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:33.094Z,1613622153.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:22:33.925Z,1613622153.925 [Micromodem](INFO): Nmea in: $SNTTA,0.002887,,,,042232.71*46 2021-02-18T04:22:33.979Z,1613622153.979 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T04:22:33.979Z,1613622153.979 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T04:22:33.979Z,1613622153.979 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T04:22:33.979Z,1613622153.979 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:22:33.979Z,1613622153.979 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T04:22:33.980Z,1613622153.980 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.899999 m 2021-02-18T04:22:33.980Z,1613622153.980 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T04:22:33.980Z,1613622153.980 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T04:22:33.980Z,1613622153.980 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T04:22:33.982Z,1613622153.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 67.074322 deg, deltaT: 4.406165 s, approachRate: -0.408519 m/s, LOS rate: 6.814003 deg/s, posRepo size: 4 2021-02-18T04:22:33.984Z,1613622153.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.899999 m, bearing: 67.074322 deg, approachRate: -0.408519 m/s, LOS rate: 6.814003 deg/s, cmd update: 12.000000 deg/s, cmd heading: 29.525858 deg, new cmd heading: 28.531022 deg. 2021-02-18T04:22:34.336Z,1613622154.336 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T042234: (41.552319, -70.708603) 2021-02-18T04:22:34.337Z,1613622154.337 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T04:22:34.337Z,1613622154.337 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T04:22:34.337Z,1613622154.337 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:22:34.337Z,1613622154.337 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T04:22:34.337Z,1613622154.337 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:22:34.337Z,1613622154.337 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T04:22:34.337Z,1613622154.337 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T04:22:34.337Z,1613622154.337 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T04:22:36.367Z,1613622156.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:37.142Z,1613622157.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:37.542Z,1613622157.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:22:38.368Z,1613622158.368 [Micromodem](INFO): Nmea in: $SNTTA,0.002794,,0.005577,,042237.16*51 2021-02-18T04:22:38.407Z,1613622158.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 25.363450 deg, deltaT: 4.491961 s, approachRate: 0.040072 m/s, LOS rate: -9.285671 deg/s, posRepo size: 4 2021-02-18T04:22:38.409Z,1613622158.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.080000 m, bearing: 25.363450 deg, approachRate: 0.040072 m/s, LOS rate: -9.285671 deg/s, cmd update: -12.000000 deg/s, cmd heading: 83.429235 deg, new cmd heading: 88.273744 deg. 2021-02-18T04:22:40.875Z,1613622160.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:41.578Z,1613622161.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:41.981Z,1613622161.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:22:42.853Z,1613622162.853 [Micromodem](INFO): Nmea in: $SNTTA,0.005236,,0.027598,,042241.59*50 2021-02-18T04:22:42.902Z,1613622162.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.919999 m, bearing: 50.264872 deg, deltaT: 4.427998 s, approachRate: 0.867209 m/s, LOS rate: 5.623630 deg/s, posRepo size: 4 2021-02-18T04:22:42.904Z,1613622162.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.919999 m, bearing: 50.264872 deg, approachRate: 0.867209 m/s, LOS rate: 5.623630 deg/s, cmd update: 12.000000 deg/s, cmd heading: 30.302522 deg, new cmd heading: 24.645530 deg. 2021-02-18T04:22:45.260Z,1613622165.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:46.026Z,1613622166.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:46.438Z,1613622166.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:22:47.252Z,1613622167.252 [Micromodem](INFO): Nmea in: $SNTTA,0.007081,,,,042246.04*4C 2021-02-18T04:22:47.285Z,1613622167.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 53.644815 deg, deltaT: 4.477167 s, approachRate: 0.924691 m/s, LOS rate: 0.754929 deg/s, posRepo size: 4 2021-02-18T04:22:47.287Z,1613622167.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.059997 m, bearing: 53.644815 deg, approachRate: 0.924691 m/s, LOS rate: 0.754929 deg/s, cmd update: 3.019716 deg/s, cmd heading: 83.841399 deg, new cmd heading: 88.562092 deg. 2021-02-18T04:22:49.687Z,1613622169.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:50.470Z,1613622170.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:50.877Z,1613622170.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:22:51.696Z,1613622171.696 [Micromodem](INFO): Nmea in: $SNTTA,0.009271,,,,042250.48*40 2021-02-18T04:22:51.749Z,1613622171.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.840000 m, bearing: 41.741885 deg, deltaT: 4.383500 s, approachRate: 0.177941 m/s, LOS rate: -2.715394 deg/s, posRepo size: 4 2021-02-18T04:22:51.755Z,1613622171.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.840000 m, bearing: 41.741885 deg, approachRate: 0.177941 m/s, LOS rate: -2.715394 deg/s, cmd update: -10.861576 deg/s, cmd heading: 97.127784 deg, new cmd heading: 98.493514 deg. 2021-02-18T04:22:54.153Z,1613622174.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:54.908Z,1613622174.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:55.315Z,1613622175.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:22:56.153Z,1613622176.153 [Micromodem](INFO): Nmea in: $SNTTA,0.010755,,,,042254.92*48 2021-02-18T04:22:56.217Z,1613622176.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.120001 m, bearing: 64.225942 deg, deltaT: 4.461432 s, approachRate: 0.511047 m/s, LOS rate: 5.039650 deg/s, posRepo size: 4 2021-02-18T04:22:56.219Z,1613622176.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.120001 m, bearing: 64.225942 deg, approachRate: 0.511047 m/s, LOS rate: 5.039650 deg/s, cmd update: 12.000000 deg/s, cmd heading: 48.669786 deg, new cmd heading: 43.628124 deg. 2021-02-18T04:22:58.575Z,1613622178.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:22:59.359Z,1613622179.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:22:59.795Z,1613622179.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:00.588Z,1613622180.588 [Micromodem](INFO): Nmea in: $SNTTA,0.012729,,,,042259.37*43 2021-02-18T04:23:00.604Z,1613622180.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.120003 m, bearing: 105.129616 deg, deltaT: 4.439842 s, approachRate: 23.649490 m/s, LOS rate: 9.212867 deg/s, posRepo size: 4 2021-02-18T04:23:00.605Z,1613622180.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.120003 m, bearing: 105.129616 deg, approachRate: 23.649490 m/s, LOS rate: 9.212867 deg/s, cmd update: 12.000000 deg/s, cmd heading: 101.948191 deg, new cmd heading: 106.870568 deg. 2021-02-18T04:23:03.034Z,1613622183.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:03.852Z,1613622183.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:23:04.228Z,1613622184.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:05.034Z,1613622185.034 [Micromodem](INFO): Nmea in: $SNTTA,0.014666,,0.061340,,042303.87*54 2021-02-18T04:23:05.104Z,1613622185.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.359999 m, bearing: 64.813414 deg, deltaT: 4.440308 s, approachRate: -22.241701 m/s, LOS rate: -9.079596 deg/s, posRepo size: 4 2021-02-18T04:23:05.105Z,1613622185.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.359999 m, bearing: 64.813414 deg, approachRate: -22.241701 m/s, LOS rate: -9.079596 deg/s, cmd update: -12.000000 deg/s, cmd heading: 155.197713 deg, new cmd heading: 160.870929 deg. 2021-02-18T04:23:07.463Z,1613622187.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:08.242Z,1613622188.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:23:08.647Z,1613622188.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:09.456Z,1613622189.456 [Micromodem](INFO): Nmea in: $SNTTA,,,,,042308.26*57 2021-02-18T04:23:10.281Z,1613622190.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:11.882Z,1613622191.882 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:23:13.161Z,1613622193.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:13.896Z,1613622193.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:23:14.316Z,1613622194.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:15.128Z,1613622195.128 [Micromodem](INFO): Nmea in: $SNTTA,0.019520,,0.031205,,042313.91*5B 2021-02-18T04:23:15.190Z,1613622195.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.679998 m, bearing: 66.756814 deg, deltaT: 10.097572 s, approachRate: 0.724927 m/s, LOS rate: 0.192462 deg/s, posRepo size: 4 2021-02-18T04:23:15.196Z,1613622195.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.679998 m, bearing: 66.756814 deg, approachRate: 0.724927 m/s, LOS rate: 0.192462 deg/s, cmd update: 0.769849 deg/s, cmd heading: 34.138651 deg, new cmd heading: 28.481395 deg. 2021-02-18T04:23:17.547Z,1613622197.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:18.342Z,1613622198.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:23:18.750Z,1613622198.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:19.576Z,1613622199.576 [Micromodem](INFO): Nmea in: $SNTTA,0.020621,,0.058445,,042318.36*58 2021-02-18T04:23:19.613Z,1613622199.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.020002 m, bearing: 70.090575 deg, deltaT: 4.508163 s, approachRate: 0.519059 m/s, LOS rate: 0.739494 deg/s, posRepo size: 4 2021-02-18T04:23:19.615Z,1613622199.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.020002 m, bearing: 70.090575 deg, approachRate: 0.519059 m/s, LOS rate: 0.739494 deg/s, cmd update: 2.957977 deg/s, cmd heading: 37.613898 deg, new cmd heading: 37.906703 deg. 2021-02-18T04:23:19.973Z,1613622199.973 [PowerOnly](INFO): Powering down loadControl 2021-02-18T04:23:22.020Z,1613622202.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:22.828Z,1613622202.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:23:23.192Z,1613622203.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:24.026Z,1613622204.026 [Micromodem](INFO): Nmea in: $SNTTA,0.022825,,,,042322.84*46 2021-02-18T04:23:24.093Z,1613622204.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.799999 m, bearing: 75.478447 deg, deltaT: 4.383767 s, approachRate: 0.862271 m/s, LOS rate: 1.229051 deg/s, posRepo size: 4 2021-02-18T04:23:24.099Z,1613622204.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.799999 m, bearing: 75.478447 deg, approachRate: 0.862271 m/s, LOS rate: 1.229051 deg/s, cmd update: 4.916203 deg/s, cmd heading: 50.598761 deg, new cmd heading: 51.991012 deg. 2021-02-18T04:23:26.447Z,1613622206.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:27.227Z,1613622207.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:23:27.633Z,1613622207.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:28.459Z,1613622208.459 [Micromodem](INFO): Nmea in: $SNTTA,0.024879,,,,042327.24*46 2021-02-18T04:23:28.478Z,1613622208.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.419998 m, bearing: 42.597841 deg, deltaT: 4.474967 s, approachRate: 4.384389 m/s, LOS rate: -7.347676 deg/s, posRepo size: 4 2021-02-18T04:23:28.478Z,1613622208.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 54.42 m. Rolling out. 2021-02-18T04:23:28.478Z,1613622208.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T04:23:30.925Z,1613622210.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:31.668Z,1613622211.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:23:32.092Z,1613622212.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:32.904Z,1613622212.904 [Micromodem](INFO): Nmea in: $SNTTA,0.027193,,,,042331.68*47 2021-02-18T04:23:32.937Z,1613622212.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.340000 m, bearing: 63.852720 deg, deltaT: 4.409958 s, approachRate: -2.966014 m/s, LOS rate: 4.819746 deg/s, posRepo size: 4 2021-02-18T04:23:35.327Z,1613622215.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:36.117Z,1613622216.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:23:36.518Z,1613622216.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:37.344Z,1613622217.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,042336.13*5C 2021-02-18T04:23:37.369Z,1613622217.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.220001 m, bearing: 85.857513 deg, deltaT: 4.475333 s, approachRate: 0.643528 m/s, LOS rate: 4.916906 deg/s, posRepo size: 4 2021-02-18T04:23:39.828Z,1613622219.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:40.564Z,1613622220.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:23:40.967Z,1613622220.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:41.828Z,1613622221.828 [Micromodem](INFO): Nmea in: $SNTTA,0.031580,,0.058049,,042340.58*5D 2021-02-18T04:23:41.889Z,1613622221.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.880001 m, bearing: 88.321354 deg, deltaT: 4.394935 s, approachRate: 0.832777 m/s, LOS rate: 0.560609 deg/s, posRepo size: 4 2021-02-18T04:23:43.918Z,1613622223.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:44.607Z,1613622224.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:23:45.006Z,1613622225.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:45.868Z,1613622225.868 [Micromodem](INFO): Nmea in: $SNTTA,0.033743,,,,042344.62*41 2021-02-18T04:23:45.925Z,1613622225.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.879997 m, bearing: 81.787506 deg, deltaT: 4.062734 s, approachRate: 0.738418 m/s, LOS rate: -1.608239 deg/s, posRepo size: 4 2021-02-18T04:23:48.263Z,1613622228.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:49.046Z,1613622229.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:23:49.446Z,1613622229.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:50.276Z,1613622230.276 [Micromodem](INFO): Nmea in: $SNTTA,0.035935,,,,042349.06*47 2021-02-18T04:23:50.318Z,1613622230.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.300003 m, bearing: 75.810810 deg, deltaT: 4.475368 s, approachRate: 0.764184 m/s, LOS rate: -1.335465 deg/s, posRepo size: 4 2021-02-18T04:23:52.703Z,1613622232.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:53.506Z,1613622233.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:23:53.898Z,1613622233.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:54.728Z,1613622234.728 [Micromodem](INFO): Nmea in: $SNTTA,0.038192,,,,042353.52*45 2021-02-18T04:23:54.752Z,1613622234.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.660007 m, bearing: 74.326501 deg, deltaT: 4.415231 s, approachRate: 0.761003 m/s, LOS rate: -0.336179 deg/s, posRepo size: 4 2021-02-18T04:23:57.161Z,1613622237.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:23:57.928Z,1613622237.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:23:58.345Z,1613622238.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:23:59.160Z,1613622239.160 [Micromodem](INFO): Nmea in: $SNTTA,0.040505,,,,042357.94*4E 2021-02-18T04:23:59.207Z,1613622239.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.140003 m, bearing: 74.801288 deg, deltaT: 4.517663 s, approachRate: 0.770309 m/s, LOS rate: 0.105096 deg/s, posRepo size: 4 2021-02-18T04:24:01.594Z,1613622241.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:02.372Z,1613622242.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:24:02.807Z,1613622242.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:24:03.600Z,1613622243.600 [Micromodem](INFO): Nmea in: $SNTTA,0.042982,,,,042402.39*4F 2021-02-18T04:24:03.637Z,1613622243.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.800003 m, bearing: 83.735114 deg, deltaT: 4.357822 s, approachRate: 0.839869 m/s, LOS rate: 2.050067 deg/s, posRepo size: 4 2021-02-18T04:24:06.048Z,1613622246.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:06.852Z,1613622246.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:24:07.229Z,1613622247.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:24:08.057Z,1613622248.057 [Micromodem](INFO): Nmea in: $SNTTA,0.045408,,,,042406.87*46 2021-02-18T04:24:08.114Z,1613622248.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.219994 m, bearing: 87.676809 deg, deltaT: 4.434068 s, approachRate: 0.771299 m/s, LOS rate: 0.888957 deg/s, posRepo size: 4 2021-02-18T04:24:10.467Z,1613622250.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:11.277Z,1613622251.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:24:11.666Z,1613622251.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:24:12.489Z,1613622252.489 [Micromodem](INFO): Nmea in: $SNTTA,0.048022,,,,042411.29*45 2021-02-18T04:24:13.320Z,1613622253.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:14.911Z,1613622254.911 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:24:16.155Z,1613622256.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:16.922Z,1613622256.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:24:17.324Z,1613622257.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:24:18.156Z,1613622258.156 [Micromodem](INFO): Nmea in: $SNTTA,0.050705,,,,042416.94*4F 2021-02-18T04:24:18.189Z,1613622258.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.320000 m, bearing: 74.046757 deg, deltaT: 10.156093 s, approachRate: 0.797551 m/s, LOS rate: -1.342057 deg/s, posRepo size: 4 2021-02-18T04:24:20.573Z,1613622260.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:21.360Z,1613622261.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:24:21.792Z,1613622261.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:24:22.588Z,1613622262.588 [Micromodem](INFO): Nmea in: $SNTTA,0.052999,,,,042421.37*4B 2021-02-18T04:24:22.610Z,1613622262.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.680000 m, bearing: 84.229094 deg, deltaT: 4.392891 s, approachRate: 0.764872 m/s, LOS rate: 2.317912 deg/s, posRepo size: 4 2021-02-18T04:24:25.058Z,1613622265.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:25.833Z,1613622265.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:24:26.210Z,1613622266.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:24:27.044Z,1613622267.044 [Micromodem](INFO): Nmea in: $SNTTA,0.055358,,,,042425.85*46 2021-02-18T04:24:27.093Z,1613622267.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.220001 m, bearing: 84.204922 deg, deltaT: 4.436146 s, approachRate: 0.797990 m/s, LOS rate: -0.005449 deg/s, posRepo size: 4 2021-02-18T04:24:29.479Z,1613622269.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:30.254Z,1613622270.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:24:30.654Z,1613622270.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:24:31.480Z,1613622271.480 [Micromodem](INFO): Nmea in: $SNTTA,0.057555,,0.083423,,042430.27*53 2021-02-18T04:24:31.517Z,1613622271.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.639999 m, bearing: 63.700987 deg, deltaT: 4.487890 s, approachRate: 0.762050 m/s, LOS rate: -4.568725 deg/s, posRepo size: 4 2021-02-18T04:24:33.932Z,1613622273.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:34.694Z,1613622274.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:24:35.138Z,1613622275.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:24:35.909Z,1613622275.909 [Micromodem](INFO): Nmea in: $SNTTA,0.059730,,,,042434.71*4B 2021-02-18T04:24:36.729Z,1613622276.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:38.332Z,1613622278.332 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:24:39.572Z,1613622279.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:40.348Z,1613622280.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:24:40.797Z,1613622280.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:24:41.580Z,1613622281.580 [Micromodem](INFO): Nmea in: $SNTTA,0.062751,,,,042440.36*44 2021-02-18T04:24:41.605Z,1613622281.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.260002 m, bearing: 81.536961 deg, deltaT: 10.063466 s, approachRate: 0.757195 m/s, LOS rate: 1.772349 deg/s, posRepo size: 4 2021-02-18T04:24:44.031Z,1613622284.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:44.827Z,1613622284.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:24:45.198Z,1613622285.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:24:46.034Z,1613622286.034 [Micromodem](INFO): Nmea in: $SNTTA,0.065135,,,,042444.84*4A 2021-02-18T04:24:46.093Z,1613622286.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.860008 m, bearing: 84.945840 deg, deltaT: 4.446918 s, approachRate: 0.809551 m/s, LOS rate: 0.766571 deg/s, posRepo size: 4 2021-02-18T04:24:48.449Z,1613622288.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:49.246Z,1613622289.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:24:49.671Z,1613622289.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:24:50.462Z,1613622290.462 [Micromodem](INFO): Nmea in: $SNTTA,0.067527,,,,042449.26*4A 2021-02-18T04:24:51.286Z,1613622291.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:52.894Z,1613622292.894 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:24:54.144Z,1613622294.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:54.921Z,1613622294.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:24:55.311Z,1613622295.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:24:56.140Z,1613622296.140 [Micromodem](INFO): Nmea in: $SNTTA,0.070454,,,,042454.94*4C 2021-02-18T04:24:56.192Z,1613622296.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.900002 m, bearing: 82.660472 deg, deltaT: 10.103875 s, approachRate: 0.795734 m/s, LOS rate: -0.226187 deg/s, posRepo size: 4 2021-02-18T04:24:58.551Z,1613622298.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:24:59.356Z,1613622299.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:24:59.771Z,1613622299.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:25:00.575Z,1613622300.575 [Micromodem](INFO): Nmea in: $SNTTA,0.072736,,,,042459.37*4D 2021-02-18T04:25:01.386Z,1613622301.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:02.980Z,1613622302.980 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:25:03.888Z,1613622303.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:04.599Z,1613622304.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:25:05.026Z,1613622305.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:25:05.852Z,1613622305.852 [Micromodem](INFO): Nmea in: $SNTTA,0.075537,,,,042504.61*43 2021-02-18T04:25:06.642Z,1613622306.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:08.240Z,1613622308.240 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:25:09.464Z,1613622309.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:10.252Z,1613622310.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:25:10.658Z,1613622310.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:25:11.488Z,1613622311.488 [Micromodem](INFO): Nmea in: $SNTTA,0.078347,0.106959,,,042510.27*54 2021-02-18T04:25:11.525Z,1613622311.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.719994 m, bearing: 79.714018 deg, deltaT: 15.378583 s, approachRate: 0.768601 m/s, LOS rate: -0.191595 deg/s, posRepo size: 4 2021-02-18T04:25:13.935Z,1613622313.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:14.696Z,1613622314.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:25:15.117Z,1613622315.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:25:15.924Z,1613622315.924 [Micromodem](INFO): Nmea in: $SNTTA,0.080847,,,,042514.71*43 2021-02-18T04:25:15.978Z,1613622315.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.439995 m, bearing: 79.748647 deg, deltaT: 4.411343 s, approachRate: 0.843281 m/s, LOS rate: 0.007850 deg/s, posRepo size: 4 2021-02-18T04:25:18.363Z,1613622318.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:19.140Z,1613622319.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:25:19.547Z,1613622319.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:25:20.382Z,1613622320.382 [Micromodem](INFO): Nmea in: $SNTTA,0.083154,,,,042519.15*44 2021-02-18T04:25:20.402Z,1613622320.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.920006 m, bearing: 81.773518 deg, deltaT: 4.478072 s, approachRate: 0.777123 m/s, LOS rate: 0.452175 deg/s, posRepo size: 4 2021-02-18T04:25:22.898Z,1613622322.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:23.585Z,1613622323.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:25:23.991Z,1613622323.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:25:24.850Z,1613622324.850 [Micromodem](INFO): Nmea in: $SNTTA,0.085568,,,,042523.60*42 2021-02-18T04:25:24.904Z,1613622324.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.520004 m, bearing: 83.533644 deg, deltaT: 4.419029 s, approachRate: 0.814658 m/s, LOS rate: 0.398306 deg/s, posRepo size: 4 2021-02-18T04:25:26.918Z,1613622326.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:27.632Z,1613622327.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:25:28.033Z,1613622328.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:25:28.876Z,1613622328.876 [Micromodem](INFO): Nmea in: $SNTTA,0.087637,,,,042527.65*48 2021-02-18T04:25:28.910Z,1613622328.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.639999 m, bearing: 85.576683 deg, deltaT: 4.049020 s, approachRate: 0.770556 m/s, LOS rate: 0.504576 deg/s, posRepo size: 4 2021-02-18T04:25:31.275Z,1613622331.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:32.078Z,1613622332.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:25:32.474Z,1613622332.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:25:33.304Z,1613622333.304 [Micromodem](INFO): Nmea in: $SNTTA,0.089904,,,,042532.09*47 2021-02-18T04:25:33.346Z,1613622333.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.000000 m, bearing: 86.088025 deg, deltaT: 4.466321 s, approachRate: 0.752297 m/s, LOS rate: 0.114488 deg/s, posRepo size: 4 2021-02-18T04:25:35.719Z,1613622335.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:36.512Z,1613622336.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:25:36.935Z,1613622336.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:25:37.748Z,1613622337.748 [Micromodem](INFO): Nmea in: $SNTTA,0.092309,,,,042536.53*41 2021-02-18T04:25:37.846Z,1613622337.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.720001 m, bearing: 82.603393 deg, deltaT: 4.414443 s, approachRate: 0.842689 m/s, LOS rate: -0.789371 deg/s, posRepo size: 4 2021-02-18T04:25:38.957Z,1613622338.957 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T04:25:39.855Z,1613622339.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:40.558Z,1613622340.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:25:40.958Z,1613622340.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:25:41.798Z,1613622341.798 [Micromodem](INFO): Nmea in: $SNTTA,0.094331,,,,042540.57*49 2021-02-18T04:25:42.620Z,1613622342.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:42.988Z,1613622342.988 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T04:25:44.192Z,1613622344.192 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:25:45.431Z,1613622345.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:46.209Z,1613622346.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:25:46.613Z,1613622346.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:25:47.436Z,1613622347.436 [Micromodem](INFO): Nmea in: $SNTTA,0.097382,,,,042546.22*46 2021-02-18T04:25:47.473Z,1613622347.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.600006 m, bearing: 79.882450 deg, deltaT: 9.740404 s, approachRate: 0.911667 m/s, LOS rate: -0.279346 deg/s, posRepo size: 4 2021-02-18T04:25:49.912Z,1613622349.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:50.652Z,1613622350.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:25:51.072Z,1613622351.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:25:51.869Z,1613622351.869 [Micromodem](INFO): Nmea in: $SNTTA,0.099753,,,,042550.67*46 2021-02-18T04:25:52.693Z,1613622352.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:54.302Z,1613622354.302 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:25:55.517Z,1613622355.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:25:56.308Z,1613622356.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:25:56.714Z,1613622356.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:25:57.548Z,1613622357.548 [Micromodem](INFO): Nmea in: $SNTTA,0.102837,,,,042556.32*4E 2021-02-18T04:25:57.573Z,1613622357.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.500015 m, bearing: 86.048984 deg, deltaT: 10.092760 s, approachRate: 0.683659 m/s, LOS rate: 0.610986 deg/s, posRepo size: 4 2021-02-18T04:25:57.573Z,1613622357.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 154.50 m. Resuming terminal guidance. 2021-02-18T04:25:57.573Z,1613622357.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T04:26:00.007Z,1613622360.007 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:00.777Z,1613622360.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:26:01.164Z,1613622361.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:26:02.004Z,1613622362.004 [Micromodem](INFO): Nmea in: $SNTTA,0.105344,,0.117213,,042600.79*50 2021-02-18T04:26:02.058Z,1613622362.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.500015 m, bearing: 79.635074 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T04:26:02.058Z,1613622362.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 79.635074deg and heading rate command to 0 deg/s. 2021-02-18T04:26:04.421Z,1613622364.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:05.197Z,1613622365.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:26:05.607Z,1613622365.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:26:06.432Z,1613622366.432 [Micromodem](INFO): Nmea in: $SNTTA,0.107466,,,,042605.21*44 2021-02-18T04:26:06.454Z,1613622366.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.699997 m, bearing: 85.269058 deg, deltaT: 4.476849 s, approachRate: 1.608270 m/s, LOS rate: 1.258471 deg/s, posRepo size: 2 2021-02-18T04:26:06.456Z,1613622366.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.699997 m, bearing: 85.269058 deg, approachRate: 1.608270 m/s, LOS rate: 1.258471 deg/s, cmd update: 5.033884 deg/s, cmd heading: 79.635074 deg, new cmd heading: 79.635074 deg. 2021-02-18T04:26:08.902Z,1613622368.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:09.640Z,1613622369.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:26:10.049Z,1613622370.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:26:10.879Z,1613622370.879 [Micromodem](INFO): Nmea in: $SNTTA,0.109912,,,,042609.66*4B 2021-02-18T04:26:10.913Z,1613622370.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.580002 m, bearing: 126.192116 deg, deltaT: 4.419203 s, approachRate: 0.651702 m/s, LOS rate: 9.260280 deg/s, posRepo size: 3 2021-02-18T04:26:10.915Z,1613622370.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.580002 m, bearing: 126.192116 deg, approachRate: 0.651702 m/s, LOS rate: 9.260280 deg/s, cmd update: 12.000000 deg/s, cmd heading: 101.860773 deg, new cmd heading: 104.012471 deg. 2021-02-18T04:26:13.291Z,1613622373.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:14.092Z,1613622374.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:26:14.490Z,1613622374.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:26:15.316Z,1613622375.316 [Micromodem](INFO): Nmea in: $SNTTA,0.111913,,,,042614.11*4F 2021-02-18T04:26:15.338Z,1613622375.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.580002 m, bearing: 81.774904 deg, deltaT: 4.484416 s, approachRate: 0.000000 m/s, LOS rate: -9.904793 deg/s, posRepo size: 4 2021-02-18T04:26:15.360Z,1613622375.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.580002 m, bearing: 81.774904 deg, approachRate: 0.000000 m/s, LOS rate: -9.904793 deg/s, cmd update: -12.000000 deg/s, cmd heading: 155.621686 deg, new cmd heading: 160.092322 deg. 2021-02-18T04:26:17.736Z,1613622377.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:18.528Z,1613622378.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:26:18.935Z,1613622378.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:26:19.780Z,1613622379.780 [Micromodem](INFO): Nmea in: $SNTTA,0.113872,,,,042618.54*46 2021-02-18T04:26:19.856Z,1613622379.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.580002 m, bearing: 117.455731 deg, deltaT: 4.437300 s, approachRate: 0.000000 m/s, LOS rate: 8.041112 deg/s, posRepo size: 4 2021-02-18T04:26:19.858Z,1613622379.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.580002 m, bearing: 117.455731 deg, approachRate: 0.000000 m/s, LOS rate: 8.041112 deg/s, cmd update: 12.000000 deg/s, cmd heading: 102.324297 deg, new cmd heading: 96.986553 deg. 2021-02-18T04:26:22.207Z,1613622382.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:22.972Z,1613622382.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:26:23.380Z,1613622383.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:26:23.825Z,1613622383.825 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FAC,000,8A,FF 187,80,80,2A,FF 2021-02-18T04:26:24.189Z,1613622384.189 [Micromodem](INFO): Nmea in: $SNTTA,0.115575,,,,042622.99*42 2021-02-18T04:26:25.059Z,1613622385.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:27.890Z,1613622387.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:30.666Z,1613622390.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:31.466Z,1613622391.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:26:31.870Z,1613622391.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:26:32.273Z,1613622392.273 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,BAC,000,8A,FF 187,80,80,2A,FF 2021-02-18T04:26:32.678Z,1613622392.678 [Micromodem](INFO): Nmea in: $SNTTA,0.118244,,,,042631.48*44 2021-02-18T04:26:33.533Z,1613622393.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:36.335Z,1613622396.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:39.190Z,1613622399.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:39.954Z,1613622399.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:26:40.362Z,1613622400.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:26:41.165Z,1613622401.165 [Micromodem](INFO): Nmea in: $SNTTA,0.119105,,,,042639.97*49 2021-02-18T04:26:41.594Z,1613622401.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.740005 m, bearing: 200.265641 deg, deltaT: 21.824558 s, approachRate: 0.648811 m/s, LOS rate: 3.794346 deg/s, posRepo size: 4 2021-02-18T04:26:41.596Z,1613622401.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.740005 m, bearing: 200.265641 deg, approachRate: 0.648811 m/s, LOS rate: 3.794346 deg/s, cmd update: 12.000000 deg/s, cmd heading: 4.221173 deg, new cmd heading: 8.566397 deg. 2021-02-18T04:26:44.052Z,1613622404.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:44.812Z,1613622404.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:26:45.199Z,1613622405.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:26:46.021Z,1613622406.021 [Micromodem](INFO): Nmea in: $SNTTA,0.118749,,,,042644.83*49 2021-02-18T04:26:46.449Z,1613622406.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.020004 m, bearing: 246.363503 deg, deltaT: 4.847453 s, approachRate: -0.148532 m/s, LOS rate: 9.509708 deg/s, posRepo size: 4 2021-02-18T04:26:46.451Z,1613622406.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.020004 m, bearing: 246.363503 deg, approachRate: -0.148532 m/s, LOS rate: 9.509708 deg/s, cmd update: 12.000000 deg/s, cmd heading: 62.390058 deg, new cmd heading: 66.831234 deg. 2021-02-18T04:26:48.910Z,1613622408.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:49.646Z,1613622409.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:26:50.055Z,1613622410.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:26:50.881Z,1613622410.881 [Micromodem](INFO): Nmea in: $SNTTA,0.118144,,,,042649.66*44 2021-02-18T04:26:50.924Z,1613622410.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.020004 m, bearing: 199.082597 deg, deltaT: 4.414353 s, approachRate: 0.000000 m/s, LOS rate: -10.710722 deg/s, posRepo size: 4 2021-02-18T04:26:50.926Z,1613622410.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.020004 m, bearing: 199.082597 deg, approachRate: 0.000000 m/s, LOS rate: -10.710722 deg/s, cmd update: -12.000000 deg/s, cmd heading: 115.392812 deg, new cmd heading: 120.522260 deg. 2021-02-18T04:26:53.307Z,1613622413.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:54.086Z,1613622414.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:26:54.490Z,1613622414.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:26:55.316Z,1613622415.316 [Micromodem](INFO): Nmea in: $SNTTA,0.118038,,,,042654.10*43 2021-02-18T04:26:55.338Z,1613622415.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.020004 m, bearing: 162.525909 deg, deltaT: 4.478780 s, approachRate: 0.000000 m/s, LOS rate: -8.162198 deg/s, posRepo size: 4 2021-02-18T04:26:55.360Z,1613622415.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.020004 m, bearing: 162.525909 deg, approachRate: 0.000000 m/s, LOS rate: -8.162198 deg/s, cmd update: -12.000000 deg/s, cmd heading: 61.733454 deg, new cmd heading: 57.291306 deg. 2021-02-18T04:26:57.736Z,1613622417.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:26:58.528Z,1613622418.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:26:58.943Z,1613622418.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:26:59.765Z,1613622419.765 [Micromodem](INFO): Nmea in: $SNTTA,0.118746,,,,042658.54*41 2021-02-18T04:26:59.862Z,1613622419.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.020004 m, bearing: 184.114525 deg, deltaT: 4.421402 s, approachRate: 0.000000 m/s, LOS rate: 4.882754 deg/s, posRepo size: 4 2021-02-18T04:26:59.864Z,1613622419.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.020004 m, bearing: 184.114525 deg, approachRate: 0.000000 m/s, LOS rate: 4.882754 deg/s, cmd update: 12.000000 deg/s, cmd heading: 8.779300 deg, new cmd heading: 3.003928 deg. 2021-02-18T04:27:02.207Z,1613622422.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:02.972Z,1613622422.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:27:03.378Z,1613622423.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:27:04.202Z,1613622424.202 [Micromodem](INFO): Nmea in: $SNTTA,0.120062,,,,042702.99*44 2021-02-18T04:27:04.256Z,1613622424.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.179993 m, bearing: 135.671217 deg, deltaT: 4.488676 s, approachRate: 0.481208 m/s, LOS rate: -10.792338 deg/s, posRepo size: 4 2021-02-18T04:27:04.260Z,1613622424.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.179993 m, bearing: 135.671217 deg, approachRate: 0.481208 m/s, LOS rate: -10.792338 deg/s, cmd update: -12.000000 deg/s, cmd heading: 62.845578 deg, new cmd heading: 67.280034 deg. 2021-02-18T04:27:06.638Z,1613622426.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:07.423Z,1613622427.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:27:07.843Z,1613622427.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:27:07.895Z,1613622427.895 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T04:27:08.644Z,1613622428.644 [Micromodem](INFO): Nmea in: $SNTTA,0.121687,,,,042707.44*4D 2021-02-18T04:27:09.097Z,1613622429.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.580017 m, bearing: 105.010593 deg, deltaT: 4.772947 s, approachRate: 0.502839 m/s, LOS rate: -6.423835 deg/s, posRepo size: 4 2021-02-18T04:27:09.098Z,1613622429.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.580017 m, bearing: 105.010593 deg, approachRate: 0.502839 m/s, LOS rate: -6.423835 deg/s, cmd update: -12.000000 deg/s, cmd heading: 5.566168 deg, new cmd heading: 0.318724 deg. 2021-02-18T04:27:11.482Z,1613622431.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:12.264Z,1613622432.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:27:12.670Z,1613622432.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:27:13.482Z,1613622433.482 [Micromodem](INFO): Nmea in: $SNTTA,0.124302,,,,042712.28*4E 2021-02-18T04:27:13.952Z,1613622433.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.300018 m, bearing: 122.992241 deg, deltaT: 4.837669 s, approachRate: 0.768966 m/s, LOS rate: 3.717006 deg/s, posRepo size: 4 2021-02-18T04:27:13.954Z,1613622433.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.300018 m, bearing: 122.992241 deg, approachRate: 0.768966 m/s, LOS rate: 3.717006 deg/s, cmd update: 12.000000 deg/s, cmd heading: 307.514811 deg, new cmd heading: 302.057474 deg. 2021-02-18T04:27:16.319Z,1613622436.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:17.124Z,1613622437.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:27:17.518Z,1613622437.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:27:18.337Z,1613622438.337 [Micromodem](INFO): Nmea in: $SNTTA,0.126499,,,,042717.14*43 2021-02-18T04:27:18.771Z,1613622438.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.080002 m, bearing: 61.612036 deg, deltaT: 4.854823 s, approachRate: 0.778604 m/s, LOS rate: -12.643139 deg/s, posRepo size: 4 2021-02-18T04:27:18.773Z,1613622438.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.643139 deg/s. Setting heading cmd to target bearing of 61.612036deg and heading rate command to 0 deg/s. 2021-02-18T04:27:20.856Z,1613622440.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:21.565Z,1613622441.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:27:21.962Z,1613622441.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:27:22.821Z,1613622442.821 [Micromodem](INFO): Nmea in: $SNTTA,0.129098,,,,042721.58*44 2021-02-18T04:27:23.202Z,1613622443.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.259995 m, bearing: 63.647685 deg, deltaT: 4.535866 s, approachRate: 0.701077 m/s, LOS rate: 0.448790 deg/s, posRepo size: 4 2021-02-18T04:27:23.204Z,1613622443.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 193.259995 m, bearing: 63.647685 deg, approachRate: 0.701077 m/s, LOS rate: 0.448790 deg/s, cmd update: 1.795158 deg/s, cmd heading: 61.612036 deg, new cmd heading: 61.612036 deg. 2021-02-18T04:27:25.624Z,1613622445.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:26.405Z,1613622446.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:27:26.844Z,1613622446.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:27:27.621Z,1613622447.621 [Micromodem](INFO): Nmea in: $SNTTA,0.130807,,,,042726.42*4E 2021-02-18T04:27:28.461Z,1613622448.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:31.269Z,1613622451.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:34.130Z,1613622454.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:34.897Z,1613622454.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:27:35.309Z,1613622455.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:27:36.142Z,1613622456.142 [Micromodem](INFO): Nmea in: $SNTTA,0.134390,,,,042734.91*42 2021-02-18T04:27:36.569Z,1613622456.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.720001 m, bearing: 79.512411 deg, deltaT: 13.293135 s, approachRate: 0.636419 m/s, LOS rate: 1.193453 deg/s, posRepo size: 4 2021-02-18T04:27:36.571Z,1613622456.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.720001 m, bearing: 79.512411 deg, approachRate: 0.636419 m/s, LOS rate: 1.193453 deg/s, cmd update: 4.773810 deg/s, cmd heading: 85.466111 deg, new cmd heading: 86.172251 deg. 2021-02-18T04:27:38.982Z,1613622458.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:39.739Z,1613622459.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:27:40.147Z,1613622460.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:27:40.960Z,1613622460.960 [Micromodem](INFO): Nmea in: $SNTTA,0.136851,,,,042739.75*41 2021-02-18T04:27:41.395Z,1613622461.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.379990 m, bearing: 95.835873 deg, deltaT: 4.837387 s, approachRate: 0.756604 m/s, LOS rate: 3.374438 deg/s, posRepo size: 4 2021-02-18T04:27:41.397Z,1613622461.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.379990 m, bearing: 95.835873 deg, approachRate: 0.756604 m/s, LOS rate: 3.374438 deg/s, cmd update: 12.000000 deg/s, cmd heading: 108.487325 deg, new cmd heading: 110.382666 deg. 2021-02-18T04:27:43.887Z,1613622463.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:44.589Z,1613622464.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:27:44.989Z,1613622464.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:27:45.836Z,1613622465.836 [Micromodem](INFO): Nmea in: $SNTTA,0.139004,,,,042744.60*48 2021-02-18T04:27:46.234Z,1613622466.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.559998 m, bearing: 149.750682 deg, deltaT: 4.901991 s, approachRate: 0.648718 m/s, LOS rate: 10.998553 deg/s, posRepo size: 4 2021-02-18T04:27:46.236Z,1613622466.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.559998 m, bearing: 149.750682 deg, approachRate: 0.648718 m/s, LOS rate: 10.998553 deg/s, cmd update: 12.000000 deg/s, cmd heading: 167.453779 deg, new cmd heading: 171.320912 deg. 2021-02-18T04:27:48.640Z,1613622468.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:49.459Z,1613622469.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:27:49.861Z,1613622469.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:27:50.670Z,1613622470.670 [Micromodem](INFO): Nmea in: $SNTTA,0.141404,,,,042749.47*4B 2021-02-18T04:27:51.105Z,1613622471.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.220001 m, bearing: 122.490140 deg, deltaT: 4.764152 s, approachRate: 0.768238 m/s, LOS rate: -5.722014 deg/s, posRepo size: 4 2021-02-18T04:27:51.107Z,1613622471.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.220001 m, bearing: 122.490140 deg, approachRate: 0.768238 m/s, LOS rate: -5.722014 deg/s, cmd update: -12.000000 deg/s, cmd heading: 224.722125 deg, new cmd heading: 229.766817 deg. 2021-02-18T04:27:53.499Z,1613622473.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:54.281Z,1613622474.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:27:54.685Z,1613622474.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:27:55.514Z,1613622475.514 [Micromodem](INFO): Nmea in: $SNTTA,0.143017,,,,042754.33*40 2021-02-18T04:27:55.941Z,1613622475.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.679993 m, bearing: 137.216793 deg, deltaT: 4.873092 s, approachRate: 0.504811 m/s, LOS rate: 3.022035 deg/s, posRepo size: 4 2021-02-18T04:27:55.943Z,1613622475.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.679993 m, bearing: 137.216793 deg, approachRate: 0.504811 m/s, LOS rate: 3.022035 deg/s, cmd update: 12.000000 deg/s, cmd heading: 166.533343 deg, new cmd heading: 161.645274 deg. 2021-02-18T04:27:58.343Z,1613622478.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:27:59.128Z,1613622479.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:27:59.539Z,1613622479.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:28:00.352Z,1613622480.352 [Micromodem](INFO): Nmea in: $SNTTA,0.144192,,,0.146698,042759.14*59 2021-02-18T04:28:00.841Z,1613622480.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.239975 m, bearing: 204.295165 deg, deltaT: 4.808572 s, approachRate: 0.324417 m/s, LOS rate: 13.949749 deg/s, posRepo size: 4 2021-02-18T04:28:00.848Z,1613622480.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.949749 deg/s. Setting heading cmd to target bearing of 204.295165deg and heading rate command to 0 deg/s. 2021-02-18T04:28:02.871Z,1613622482.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:28:03.603Z,1613622483.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:28:03.983Z,1613622483.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:28:05.200Z,1613622485.200 [Micromodem](INFO): Nmea in: $SNTTA,0.144840,,,,042803.69*4F 2021-02-18T04:28:05.222Z,1613622485.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.199982 m, bearing: 133.128324 deg, deltaT: 4.540671 s, approachRate: 0.211424 m/s, LOS rate: -15.673199 deg/s, posRepo size: 4 2021-02-18T04:28:05.223Z,1613622485.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.673199 deg/s. Setting heading cmd to target bearing of 133.128324deg and heading rate command to 0 deg/s. 2021-02-18T04:28:07.627Z,1613622487.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:28:08.420Z,1613622488.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:28:08.856Z,1613622488.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:28:09.638Z,1613622489.638 [Micromodem](INFO): Nmea in: $SNTTA,0.144731,,,,042808.43*45 2021-02-18T04:28:10.093Z,1613622490.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.019989 m, bearing: 232.389892 deg, deltaT: 4.765789 s, approachRate: -0.037768 m/s, LOS rate: 20.827940 deg/s, posRepo size: 4 2021-02-18T04:28:10.094Z,1613622490.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.827940 deg/s. Setting heading cmd to target bearing of 232.389892deg and heading rate command to 0 deg/s. 2021-02-18T04:28:12.491Z,1613622492.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:28:13.268Z,1613622493.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:28:13.682Z,1613622493.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:28:14.515Z,1613622494.515 [Micromodem](INFO): Nmea in: $SNTTA,0.144289,,,,042813.28*44 2021-02-18T04:28:14.947Z,1613622494.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.359985 m, bearing: 153.234925 deg, deltaT: 4.876767 s, approachRate: -0.135336 m/s, LOS rate: -16.231033 deg/s, posRepo size: 4 2021-02-18T04:28:14.948Z,1613622494.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.231033 deg/s. Setting heading cmd to target bearing of 153.234925deg and heading rate command to 0 deg/s. 2021-02-18T04:28:17.342Z,1613622497.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:28:18.122Z,1613622498.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:28:18.532Z,1613622498.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:28:19.343Z,1613622499.343 [Micromodem](INFO): Nmea in: $SNTTA,0.144168,,,,042818.14*4C 2021-02-18T04:28:19.826Z,1613622499.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.239975 m, bearing: 133.270009 deg, deltaT: 4.832144 s, approachRate: -0.024836 m/s, LOS rate: -4.131689 deg/s, posRepo size: 4 2021-02-18T04:28:19.841Z,1613622499.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 216.239975 m, bearing: 133.270009 deg, approachRate: -0.024836 m/s, LOS rate: -4.131689 deg/s, cmd update: -12.000000 deg/s, cmd heading: 153.234925 deg, new cmd heading: 153.234925 deg. 2021-02-18T04:28:22.206Z,1613622502.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:28:22.970Z,1613622502.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:28:23.382Z,1613622503.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:28:24.184Z,1613622504.184 [Micromodem](INFO): Nmea in: $SNTTA,0.144183,,,,042822.98*44 2021-02-18T04:28:24.614Z,1613622504.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.300003 m, bearing: 139.558004 deg, deltaT: 4.817326 s, approachRate: 0.012461 m/s, LOS rate: 1.305287 deg/s, posRepo size: 4 2021-02-18T04:28:24.616Z,1613622504.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 216.300003 m, bearing: 139.558004 deg, approachRate: 0.012461 m/s, LOS rate: 1.305287 deg/s, cmd update: 5.221150 deg/s, cmd heading: 95.139096 deg, new cmd heading: 90.152088 deg. 2021-02-18T04:28:27.053Z,1613622507.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:28:27.853Z,1613622507.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:28:28.218Z,1613622508.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:28:29.048Z,1613622509.048 [Micromodem](INFO): Nmea in: $SNTTA,0.144552,,,,042827.87*47 2021-02-18T04:28:29.482Z,1613622509.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.839996 m, bearing: 205.281745 deg, deltaT: 4.916938 s, approachRate: 0.109823 m/s, LOS rate: 13.366803 deg/s, posRepo size: 4 2021-02-18T04:28:29.482Z,1613622509.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.366803 deg/s. Setting heading cmd to target bearing of 205.281745deg and heading rate command to 0 deg/s. 2021-02-18T04:28:31.911Z,1613622511.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:28:32.665Z,1613622512.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:28:33.066Z,1613622513.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:28:33.891Z,1613622513.891 [Micromodem](INFO): Nmea in: $SNTTA,0.145732,,,,042832.68*47 2021-02-18T04:28:34.325Z,1613622514.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.579987 m, bearing: 179.574033 deg, deltaT: 4.829078 s, approachRate: 0.360315 m/s, LOS rate: -5.323524 deg/s, posRepo size: 4 2021-02-18T04:28:34.328Z,1613622514.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.579987 m, bearing: 179.574033 deg, approachRate: 0.360315 m/s, LOS rate: -5.323524 deg/s, cmd update: -12.000000 deg/s, cmd heading: 205.281745 deg, new cmd heading: 205.281745 deg. 2021-02-18T04:28:36.718Z,1613622516.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:28:37.515Z,1613622517.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:28:37.924Z,1613622517.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:28:38.729Z,1613622518.729 [Micromodem](INFO): Nmea in: $SNTTA,0.147268,,,,042837.53*42 2021-02-18T04:28:39.169Z,1613622519.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.979980 m, bearing: 179.779199 deg, deltaT: 4.816540 s, approachRate: 0.498282 m/s, LOS rate: 0.042596 deg/s, posRepo size: 4 2021-02-18T04:28:39.171Z,1613622519.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 220.979980 m, bearing: 179.779199 deg, approachRate: 0.498282 m/s, LOS rate: 0.042596 deg/s, cmd update: 0.170384 deg/s, cmd heading: 147.302183 deg, new cmd heading: 142.353191 deg. 2021-02-18T04:28:41.565Z,1613622521.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:28:42.356Z,1613622522.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:28:42.782Z,1613622522.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:28:43.579Z,1613622523.579 [Micromodem](INFO): Nmea in: $SNTTA,0.148247,,,,042842.37*40 2021-02-18T04:28:44.034Z,1613622524.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.360001 m, bearing: 210.391232 deg, deltaT: 4.860294 s, approachRate: 0.283938 m/s, LOS rate: 6.298391 deg/s, posRepo size: 4 2021-02-18T04:28:44.036Z,1613622524.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 222.360001 m, bearing: 210.391232 deg, approachRate: 0.283938 m/s, LOS rate: 6.298391 deg/s, cmd update: 12.000000 deg/s, cmd heading: 148.130449 deg, new cmd heading: 148.201451 deg. 2021-02-18T04:28:46.411Z,1613622526.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:28:47.209Z,1613622527.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:28:47.628Z,1613622527.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:28:48.425Z,1613622528.425 [Micromodem](INFO): Nmea in: $SNTTA,0.149349,,,,042847.22*4F 2021-02-18T04:28:48.904Z,1613622528.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.979980 m, bearing: 203.364033 deg, deltaT: 4.834481 s, approachRate: 0.335089 m/s, LOS rate: -1.453558 deg/s, posRepo size: 4 2021-02-18T04:28:48.906Z,1613622528.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.979980 m, bearing: 203.364033 deg, approachRate: 0.335089 m/s, LOS rate: -1.453558 deg/s, cmd update: -5.814233 deg/s, cmd heading: 205.998218 deg, new cmd heading: 211.567322 deg. 2021-02-18T04:28:51.281Z,1613622531.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:28:52.057Z,1613622532.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:28:52.468Z,1613622532.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:28:53.272Z,1613622533.272 [Micromodem](INFO): Nmea in: $SNTTA,0.150242,,,,042852.07*4E 2021-02-18T04:28:53.698Z,1613622533.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.359985 m, bearing: 230.145191 deg, deltaT: 4.854595 s, approachRate: 0.284268 m/s, LOS rate: 5.516662 deg/s, posRepo size: 4 2021-02-18T04:28:53.720Z,1613622533.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.359985 m, bearing: 230.145191 deg, approachRate: 0.284268 m/s, LOS rate: 5.516662 deg/s, cmd update: 12.000000 deg/s, cmd heading: 177.679451 deg, new cmd heading: 175.426774 deg. 2021-02-18T04:28:56.135Z,1613622536.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:28:56.902Z,1613622536.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:28:57.306Z,1613622537.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:28:58.119Z,1613622538.119 [Micromodem](INFO): Nmea in: $SNTTA,0.150571,,,,042856.91*42 2021-02-18T04:28:58.550Z,1613622538.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.719986 m, bearing: 240.139315 deg, deltaT: 4.870362 s, approachRate: 0.073917 m/s, LOS rate: 2.052029 deg/s, posRepo size: 4 2021-02-18T04:28:58.552Z,1613622538.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.719986 m, bearing: 240.139315 deg, approachRate: 0.073917 m/s, LOS rate: 2.052029 deg/s, cmd update: 8.208116 deg/s, cmd heading: 236.076122 deg, new cmd heading: 240.554378 deg. 2021-02-18T04:29:00.997Z,1613622540.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:29:01.752Z,1613622541.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:29:02.153Z,1613622542.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:29:02.974Z,1613622542.974 [Micromodem](INFO): Nmea in: $SNTTA,0.150543,,,,042901.77*48 2021-02-18T04:29:03.394Z,1613622543.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.659988 m, bearing: 235.453532 deg, deltaT: 4.865840 s, approachRate: -0.012330 m/s, LOS rate: -0.962996 deg/s, posRepo size: 4 2021-02-18T04:29:03.396Z,1613622543.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.659988 m, bearing: 235.453532 deg, approachRate: -0.012330 m/s, LOS rate: -0.962996 deg/s, cmd update: -3.851983 deg/s, cmd heading: 276.047733 deg, new cmd heading: 278.898313 deg. 2021-02-18T04:29:05.894Z,1613622545.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:29:06.604Z,1613622546.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:29:07.018Z,1613622547.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:29:07.860Z,1613622547.860 [Micromodem](INFO): Nmea in: $SNTTA,0.150074,,,,042906.62*4A 2021-02-18T04:29:08.276Z,1613622548.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.999985 m, bearing: 212.554353 deg, deltaT: 4.871298 s, approachRate: -0.135488 m/s, LOS rate: -4.700837 deg/s, posRepo size: 4 2021-02-18T04:29:08.278Z,1613622548.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 224.999985 m, bearing: 212.554353 deg, approachRate: -0.135488 m/s, LOS rate: -4.700837 deg/s, cmd update: -12.000000 deg/s, cmd heading: 257.375207 deg, new cmd heading: 255.970944 deg. 2021-02-18T04:29:10.656Z,1613622550.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:29:11.450Z,1613622551.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:29:11.870Z,1613622551.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:29:12.675Z,1613622552.675 [Micromodem](INFO): Nmea in: $SNTTA,0.148930,,,0.152749,042911.46*58 2021-02-18T04:29:13.119Z,1613622553.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.199997 m, bearing: 265.669579 deg, deltaT: 4.771455 s, approachRate: -0.377241 m/s, LOS rate: 11.131872 deg/s, posRepo size: 4 2021-02-18T04:29:13.121Z,1613622553.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.199997 m, bearing: 265.669579 deg, approachRate: -0.377241 m/s, LOS rate: 11.131872 deg/s, cmd update: 12.000000 deg/s, cmd heading: 199.829781 deg, new cmd heading: 194.678121 deg. 2021-02-18T04:29:15.514Z,1613622555.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:29:16.297Z,1613622556.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:29:16.698Z,1613622556.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:29:17.514Z,1613622557.514 [Micromodem](INFO): Nmea in: $SNTTA,0.147487,,,,042916.31*43 2021-02-18T04:29:17.959Z,1613622557.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.099991 m, bearing: 261.765962 deg, deltaT: 4.841797 s, approachRate: -0.433725 m/s, LOS rate: -0.806233 deg/s, posRepo size: 4 2021-02-18T04:29:17.961Z,1613622557.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.099991 m, bearing: 261.765962 deg, approachRate: -0.433725 m/s, LOS rate: -0.806233 deg/s, cmd update: -3.224933 deg/s, cmd heading: 257.929379 deg, new cmd heading: 263.058467 deg. 2021-02-18T04:29:20.368Z,1613622560.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:29:21.140Z,1613622561.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:29:21.546Z,1613622561.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:29:22.363Z,1613622562.363 [Micromodem](INFO): Nmea in: $SNTTA,0.146175,,,,042921.15*48 2021-02-18T04:29:22.873Z,1613622562.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.179993 m, bearing: 277.924495 deg, deltaT: 4.845881 s, approachRate: -0.396212 m/s, LOS rate: 3.334488 deg/s, posRepo size: 4 2021-02-18T04:29:22.879Z,1613622562.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 219.179993 m, bearing: 277.924495 deg, approachRate: -0.396212 m/s, LOS rate: 3.334488 deg/s, cmd update: 12.000000 deg/s, cmd heading: 242.301091 deg, new cmd heading: 240.701496 deg. 2021-02-18T04:29:24.886Z,1613622564.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:29:25.592Z,1613622565.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:29:25.994Z,1613622565.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:29:26.826Z,1613622566.826 [Micromodem](INFO): Nmea in: $SNTTA,0.144813,,,0.159501,042925.60*52 2021-02-18T04:29:27.230Z,1613622567.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.019989 m, bearing: 266.235610 deg, deltaT: 4.527403 s, approachRate: -0.477096 m/s, LOS rate: -2.581808 deg/s, posRepo size: 4 2021-02-18T04:29:27.232Z,1613622567.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.019989 m, bearing: 266.235610 deg, approachRate: -0.477096 m/s, LOS rate: -2.581808 deg/s, cmd update: -10.327232 deg/s, cmd heading: 296.629089 deg, new cmd heading: 300.538605 deg. 2021-02-18T04:29:29.648Z,1613622569.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:29:30.438Z,1613622570.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:29:30.866Z,1613622570.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:29:31.659Z,1613622571.659 [Micromodem](INFO): Nmea in: $SNTTA,0.143165,,,,042930.45*49 2021-02-18T04:29:32.097Z,1613622572.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.440002 m, bearing: 268.640711 deg, deltaT: 4.768848 s, approachRate: -0.541008 m/s, LOS rate: 0.504336 deg/s, posRepo size: 4 2021-02-18T04:29:32.099Z,1613622572.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.440002 m, bearing: 268.640711 deg, approachRate: -0.541008 m/s, LOS rate: 0.504336 deg/s, cmd update: 2.017343 deg/s, cmd heading: 247.379591 deg, new cmd heading: 243.007547 deg. 2021-02-18T04:29:34.502Z,1613622574.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:29:35.286Z,1613622575.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:29:35.691Z,1613622575.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:29:36.503Z,1613622576.503 [Micromodem](INFO): Nmea in: $SNTTA,0.141113,,,,042935.30*4D 2021-02-18T04:29:36.977Z,1613622576.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.439987 m, bearing: 266.530292 deg, deltaT: 4.844147 s, approachRate: -0.619307 m/s, LOS rate: -0.435664 deg/s, posRepo size: 4 2021-02-18T04:29:36.978Z,1613622576.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 211.439987 m, bearing: 266.530292 deg, approachRate: -0.619307 m/s, LOS rate: -0.435664 deg/s, cmd update: -1.742655 deg/s, cmd heading: 257.151883 deg, new cmd heading: 258.077748 deg. 2021-02-18T04:29:39.351Z,1613622579.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:29:40.134Z,1613622580.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:29:40.553Z,1613622580.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:29:41.350Z,1613622581.350 [Micromodem](INFO): Nmea in: $SNTTA,0.138972,,,,042940.15*49 2021-02-18T04:29:41.839Z,1613622581.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.259979 m, bearing: 264.848153 deg, deltaT: 4.847460 s, approachRate: -0.656015 m/s, LOS rate: -0.347015 deg/s, posRepo size: 4 2021-02-18T04:29:41.846Z,1613622581.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.259979 m, bearing: 264.848153 deg, approachRate: -0.656015 m/s, LOS rate: -0.347015 deg/s, cmd update: -1.388058 deg/s, cmd heading: 248.704414 deg, new cmd heading: 247.885026 deg. 2021-02-18T04:29:43.879Z,1613622583.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:29:44.580Z,1613622584.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:29:44.978Z,1613622584.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:29:45.814Z,1613622585.814 [Micromodem](INFO): Nmea in: $SNTTA,0.137079,,,,042944.59*48 2021-02-18T04:29:46.218Z,1613622586.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.379990 m, bearing: 265.048059 deg, deltaT: 4.536596 s, approachRate: -0.634835 m/s, LOS rate: 0.044065 deg/s, posRepo size: 4 2021-02-18T04:29:46.220Z,1613622586.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.379990 m, bearing: 265.048059 deg, approachRate: -0.634835 m/s, LOS rate: 0.044065 deg/s, cmd update: 0.176261 deg/s, cmd heading: 242.407354 deg, new cmd heading: 241.968526 deg. 2021-02-18T04:29:48.627Z,1613622588.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:29:49.422Z,1613622589.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:29:49.860Z,1613622589.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:29:50.647Z,1613622590.647 [Micromodem](INFO): Nmea in: $SNTTA,0.135153,,,,042949.44*42 2021-02-18T04:29:51.081Z,1613622591.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.559998 m, bearing: 264.653383 deg, deltaT: 4.767458 s, approachRate: -0.591509 m/s, LOS rate: -0.082785 deg/s, posRepo size: 4 2021-02-18T04:29:51.083Z,1613622591.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.559998 m, bearing: 264.653383 deg, approachRate: -0.591509 m/s, LOS rate: -0.082785 deg/s, cmd update: -0.331141 deg/s, cmd heading: 243.247337 deg, new cmd heading: 243.320228 deg. 2021-02-18T04:29:53.485Z,1613622593.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:29:54.268Z,1613622594.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:29:54.674Z,1613622594.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:29:55.503Z,1613622595.503 [Micromodem](INFO): Nmea in: $SNTTA,0.133225,,,,042954.28*40 2021-02-18T04:29:55.956Z,1613622595.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.680008 m, bearing: 266.179876 deg, deltaT: 4.872246 s, approachRate: -0.591101 m/s, LOS rate: 0.313304 deg/s, posRepo size: 4 2021-02-18T04:29:55.958Z,1613622595.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.680008 m, bearing: 266.179876 deg, approachRate: -0.591101 m/s, LOS rate: 0.313304 deg/s, cmd update: 1.253215 deg/s, cmd heading: 241.635992 deg, new cmd heading: 241.497814 deg. 2021-02-18T04:29:58.334Z,1613622598.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:29:59.125Z,1613622599.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:29:59.531Z,1613622599.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:00.342Z,1613622600.342 [Micromodem](INFO): Nmea in: $SNTTA,0.131444,,,,042959.14*41 2021-02-18T04:30:00.821Z,1613622600.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.979996 m, bearing: 266.787763 deg, deltaT: 4.815041 s, approachRate: -0.560745 m/s, LOS rate: 0.126247 deg/s, posRepo size: 4 2021-02-18T04:30:00.837Z,1613622600.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.979996 m, bearing: 266.787763 deg, approachRate: -0.560745 m/s, LOS rate: 0.126247 deg/s, cmd update: 0.504990 deg/s, cmd heading: 247.680430 deg, new cmd heading: 248.252278 deg. 2021-02-18T04:30:03.193Z,1613622603.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:30:03.964Z,1613622603.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:30:04.372Z,1613622604.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:05.196Z,1613622605.196 [Micromodem](INFO): Nmea in: $SNTTA,0.129546,,,,043003.98*48 2021-02-18T04:30:05.233Z,1613622605.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.979996 m, bearing: 268.399578 deg, deltaT: 4.541828 s, approachRate: 0.000000 m/s, LOS rate: 0.354883 deg/s, posRepo size: 4 2021-02-18T04:30:05.235Z,1613622605.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.979996 m, bearing: 268.399578 deg, approachRate: 0.000000 m/s, LOS rate: 0.354883 deg/s, cmd update: 1.419530 deg/s, cmd heading: 249.971971 deg, new cmd heading: 250.143121 deg. 2021-02-18T04:30:07.637Z,1613622607.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:30:08.408Z,1613622608.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:30:08.852Z,1613622608.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:09.625Z,1613622609.625 [Micromodem](INFO): Nmea in: $SNTTA,0.127835,,,,043008.42*43 2021-02-18T04:30:10.088Z,1613622610.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.580002 m, bearing: 268.995580 deg, deltaT: 4.741413 s, approachRate: -1.138900 m/s, LOS rate: 0.125701 deg/s, posRepo size: 4 2021-02-18T04:30:10.090Z,1613622610.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.580002 m, bearing: 268.995580 deg, approachRate: -1.138900 m/s, LOS rate: 0.125701 deg/s, cmd update: 0.502806 deg/s, cmd heading: 256.708237 deg, new cmd heading: 257.345080 deg. 2021-02-18T04:30:12.465Z,1613622612.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:30:13.261Z,1613622613.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:30:13.662Z,1613622613.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:14.481Z,1613622614.481 [Micromodem](INFO): Nmea in: $SNTTA,0.125745,,,,043013.27*40 2021-02-18T04:30:14.925Z,1613622614.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.339996 m, bearing: 270.294409 deg, deltaT: 4.855866 s, approachRate: -0.667235 m/s, LOS rate: 0.267476 deg/s, posRepo size: 4 2021-02-18T04:30:14.927Z,1613622614.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.339996 m, bearing: 270.294409 deg, approachRate: -0.667235 m/s, LOS rate: 0.267476 deg/s, cmd update: 1.069905 deg/s, cmd heading: 259.149758 deg, new cmd heading: 259.365609 deg. 2021-02-18T04:30:17.323Z,1613622617.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:30:18.104Z,1613622618.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:30:18.527Z,1613622618.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:19.336Z,1613622619.336 [Micromodem](INFO): Nmea in: $SNTTA,0.123648,,,,043018.12*47 2021-02-18T04:30:19.358Z,1613622619.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.339996 m, bearing: 270.458662 deg, deltaT: 4.490829 s, approachRate: 0.000000 m/s, LOS rate: 0.036575 deg/s, posRepo size: 4 2021-02-18T04:30:19.360Z,1613622619.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.339996 m, bearing: 270.458662 deg, approachRate: 0.000000 m/s, LOS rate: 0.036575 deg/s, cmd update: 0.146300 deg/s, cmd heading: 263.954579 deg, new cmd heading: 264.352428 deg. 2021-02-18T04:30:21.766Z,1613622621.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:30:22.548Z,1613622622.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:30:22.960Z,1613622622.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:23.802Z,1613622623.802 [Micromodem](INFO): Nmea in: $SNTTA,0.121695,,,,043022.57*4D 2021-02-18T04:30:24.212Z,1613622624.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.280014 m, bearing: 270.189880 deg, deltaT: 4.913807 s, approachRate: -1.233256 m/s, LOS rate: -0.054699 deg/s, posRepo size: 4 2021-02-18T04:30:24.213Z,1613622624.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.280014 m, bearing: 270.189880 deg, approachRate: -1.233256 m/s, LOS rate: -0.054699 deg/s, cmd update: -0.218797 deg/s, cmd heading: 264.673088 deg, new cmd heading: 264.718973 deg. 2021-02-18T04:30:26.611Z,1613622626.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:30:27.402Z,1613622627.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:30:27.838Z,1613622627.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:28.631Z,1613622628.631 [Micromodem](INFO): Nmea in: $SNTTA,,,,,043027.42*5A 2021-02-18T04:30:28.650Z,1613622628.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.280014 m, bearing: 270.317850 deg, deltaT: 4.340197 s, approachRate: 0.000000 m/s, LOS rate: 0.029485 deg/s, posRepo size: 4 2021-02-18T04:30:28.652Z,1613622628.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.280014 m, bearing: 270.317850 deg, approachRate: 0.000000 m/s, LOS rate: 0.029485 deg/s, cmd update: 0.117940 deg/s, cmd heading: 263.723220 deg, new cmd heading: 263.633245 deg. 2021-02-18T04:30:31.097Z,1613622631.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:30:31.885Z,1613622631.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:30:32.268Z,1613622632.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:33.085Z,1613622633.085 [Micromodem](INFO): Nmea in: $SNTTA,0.117397,,,,043031.90*46 2021-02-18T04:30:33.502Z,1613622633.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.799988 m, bearing: 270.027704 deg, deltaT: 4.912196 s, approachRate: -1.319171 m/s, LOS rate: -0.059067 deg/s, posRepo size: 4 2021-02-18T04:30:33.504Z,1613622633.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.799988 m, bearing: 270.027704 deg, approachRate: -1.319171 m/s, LOS rate: -0.059067 deg/s, cmd update: -0.236266 deg/s, cmd heading: 264.301810 deg, new cmd heading: 264.343937 deg. 2021-02-18T04:30:35.934Z,1613622635.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:30:36.688Z,1613622636.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:30:37.094Z,1613622637.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:37.916Z,1613622637.916 [Micromodem](INFO): Nmea in: $SNTTA,0.115329,,,,043036.70*48 2021-02-18T04:30:37.950Z,1613622637.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.799988 m, bearing: 270.761485 deg, deltaT: 4.368385 s, approachRate: 0.000000 m/s, LOS rate: 0.167975 deg/s, posRepo size: 4 2021-02-18T04:30:37.952Z,1613622637.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.799988 m, bearing: 270.761485 deg, approachRate: 0.000000 m/s, LOS rate: 0.167975 deg/s, cmd update: 0.671901 deg/s, cmd heading: 263.268160 deg, new cmd heading: 263.166518 deg. 2021-02-18T04:30:40.162Z,1613622640.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:30:40.730Z,1613622640.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:30:41.131Z,1613622641.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:41.956Z,1613622641.956 [Micromodem](INFO): Nmea in: $SNTTA,0.113434,,,,043040.74*40 2021-02-18T04:30:41.990Z,1613622641.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.920013 m, bearing: 270.420167 deg, deltaT: 4.047595 s, approachRate: -1.452708 m/s, LOS rate: -0.084326 deg/s, posRepo size: 4 2021-02-18T04:30:41.992Z,1613622641.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.920013 m, bearing: 270.420167 deg, approachRate: -1.452708 m/s, LOS rate: -0.084326 deg/s, cmd update: -0.337305 deg/s, cmd heading: 265.987089 deg, new cmd heading: 266.271780 deg. 2021-02-18T04:30:44.387Z,1613622644.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:30:45.168Z,1613622645.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:30:45.574Z,1613622645.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:46.396Z,1613622646.396 [Micromodem](INFO): Nmea in: $SNTTA,0.111355,,,,043045.18*4D 2021-02-18T04:30:46.438Z,1613622646.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.080002 m, bearing: 273.065963 deg, deltaT: 4.468339 s, approachRate: -0.859382 m/s, LOS rate: 0.592121 deg/s, posRepo size: 4 2021-02-18T04:30:46.444Z,1613622646.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.080002 m, bearing: 273.065963 deg, approachRate: -0.859382 m/s, LOS rate: 0.592121 deg/s, cmd update: 2.368483 deg/s, cmd heading: 264.479140 deg, new cmd heading: 264.343838 deg. 2021-02-18T04:30:48.898Z,1613622648.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:30:49.617Z,1613622649.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:30:50.026Z,1613622650.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:50.868Z,1613622650.868 [Micromodem](INFO): Nmea in: $SNTTA,0.109411,,,,043049.63*43 2021-02-18T04:30:50.915Z,1613622650.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.980011 m, bearing: 273.613034 deg, deltaT: 4.405878 s, approachRate: -0.476634 m/s, LOS rate: 0.124168 deg/s, posRepo size: 4 2021-02-18T04:30:50.917Z,1613622650.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.980011 m, bearing: 273.613034 deg, approachRate: -0.476634 m/s, LOS rate: 0.124168 deg/s, cmd update: 0.496674 deg/s, cmd heading: 274.912236 deg, new cmd heading: 276.032760 deg. 2021-02-18T04:30:53.267Z,1613622653.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:30:54.062Z,1613622654.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:30:54.472Z,1613622654.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:55.292Z,1613622655.292 [Micromodem](INFO): Nmea in: $SNTTA,0.107398,,,,043054.07*45 2021-02-18T04:30:55.345Z,1613622655.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.980011 m, bearing: 273.913153 deg, deltaT: 4.478420 s, approachRate: -0.669879 m/s, LOS rate: 0.067014 deg/s, posRepo size: 4 2021-02-18T04:30:55.351Z,1613622655.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.980011 m, bearing: 273.913153 deg, approachRate: -0.669879 m/s, LOS rate: 0.067014 deg/s, cmd update: 0.268057 deg/s, cmd heading: 277.137052 deg, new cmd heading: 277.334629 deg. 2021-02-18T04:30:57.712Z,1613622657.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:30:58.511Z,1613622658.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:30:58.911Z,1613622658.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:30:59.736Z,1613622659.736 [Micromodem](INFO): Nmea in: $SNTTA,0.105276,,,,043058.53*4B 2021-02-18T04:30:59.841Z,1613622659.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.740005 m, bearing: 273.504625 deg, deltaT: 4.424647 s, approachRate: -0.732263 m/s, LOS rate: -0.092330 deg/s, posRepo size: 4 2021-02-18T04:30:59.855Z,1613622659.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.740005 m, bearing: 273.504625 deg, approachRate: -0.732263 m/s, LOS rate: -0.092330 deg/s, cmd update: -0.369320 deg/s, cmd heading: 278.318646 deg, new cmd heading: 278.453681 deg. 2021-02-18T04:31:02.185Z,1613622662.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:02.944Z,1613622662.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:31:03.350Z,1613622663.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:31:04.191Z,1613622664.191 [Micromodem](INFO): Nmea in: $SNTTA,0.103146,,,,043102.96*4A 2021-02-18T04:31:04.220Z,1613622664.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.559998 m, bearing: 274.601144 deg, deltaT: 4.525412 s, approachRate: -0.702700 m/s, LOS rate: 0.242302 deg/s, posRepo size: 4 2021-02-18T04:31:04.222Z,1613622664.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.559998 m, bearing: 274.601144 deg, approachRate: -0.702700 m/s, LOS rate: 0.242302 deg/s, cmd update: 0.969210 deg/s, cmd heading: 276.642697 deg, new cmd heading: 276.512534 deg. 2021-02-18T04:31:06.617Z,1613622666.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:07.397Z,1613622667.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:31:07.845Z,1613622667.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:31:08.624Z,1613622668.624 [Micromodem](INFO): Nmea in: $SNTTA,0.101145,,,,043107.41*44 2021-02-18T04:31:08.661Z,1613622668.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.559998 m, bearing: 274.575872 deg, deltaT: 4.360445 s, approachRate: -0.688003 m/s, LOS rate: -0.005796 deg/s, posRepo size: 4 2021-02-18T04:31:08.663Z,1613622668.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.559998 m, bearing: 274.575872 deg, approachRate: -0.688003 m/s, LOS rate: -0.005796 deg/s, cmd update: -0.023183 deg/s, cmd heading: 280.872437 deg, new cmd heading: 281.289102 deg. 2021-02-18T04:31:11.066Z,1613622671.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:11.864Z,1613622671.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:31:12.238Z,1613622672.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:31:13.080Z,1613622673.080 [Micromodem](INFO): Nmea in: $SNTTA,0.098942,,,,043111.88*48 2021-02-18T04:31:13.142Z,1613622673.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.259995 m, bearing: 273.734557 deg, deltaT: 4.486348 s, approachRate: -0.735566 m/s, LOS rate: -0.187528 deg/s, posRepo size: 4 2021-02-18T04:31:13.148Z,1613622673.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.259995 m, bearing: 273.734557 deg, approachRate: -0.735566 m/s, LOS rate: -0.187528 deg/s, cmd update: -0.750112 deg/s, cmd heading: 280.768422 deg, new cmd heading: 280.758603 deg. 2021-02-18T04:31:15.513Z,1613622675.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:16.276Z,1613622676.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:31:16.684Z,1613622676.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:31:17.508Z,1613622677.508 [Micromodem](INFO): Nmea in: $SNTTA,0.097051,,,,043116.29*40 2021-02-18T04:31:17.530Z,1613622677.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.440002 m, bearing: 273.880040 deg, deltaT: 4.411227 s, approachRate: -0.639276 m/s, LOS rate: 0.032980 deg/s, posRepo size: 4 2021-02-18T04:31:17.532Z,1613622677.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.440002 m, bearing: 273.880040 deg, approachRate: -0.639276 m/s, LOS rate: 0.032980 deg/s, cmd update: 0.131921 deg/s, cmd heading: 277.459487 deg, new cmd heading: 277.159021 deg. 2021-02-18T04:31:19.958Z,1613622679.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:20.720Z,1613622680.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:31:21.127Z,1613622681.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:31:21.955Z,1613622681.955 [Micromodem](INFO): Nmea in: $SNTTA,0.094876,,,,043120.73*44 2021-02-18T04:31:21.989Z,1613622681.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.139999 m, bearing: 272.836933 deg, deltaT: 4.429059 s, approachRate: -0.745080 m/s, LOS rate: -0.235514 deg/s, posRepo size: 4 2021-02-18T04:31:21.991Z,1613622681.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.139999 m, bearing: 272.836933 deg, approachRate: -0.745080 m/s, LOS rate: -0.235514 deg/s, cmd update: -0.942057 deg/s, cmd heading: 278.043768 deg, new cmd heading: 278.100556 deg. 2021-02-18T04:31:24.387Z,1613622684.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:25.166Z,1613622685.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:31:25.570Z,1613622685.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:31:26.392Z,1613622686.392 [Micromodem](INFO): Nmea in: $SNTTA,0.092824,,,,043125.18*4D 2021-02-18T04:31:26.436Z,1613622686.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.020004 m, bearing: 273.725213 deg, deltaT: 4.486642 s, approachRate: -0.695396 m/s, LOS rate: 0.197983 deg/s, posRepo size: 4 2021-02-18T04:31:26.437Z,1613622686.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.020004 m, bearing: 273.725213 deg, approachRate: -0.695396 m/s, LOS rate: 0.197983 deg/s, cmd update: 0.791933 deg/s, cmd heading: 273.826412 deg, new cmd heading: 273.449442 deg. 2021-02-18T04:31:28.887Z,1613622688.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:29.632Z,1613622689.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:31:30.020Z,1613622690.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:31:30.872Z,1613622690.872 [Micromodem](INFO): Nmea in: $SNTTA,0.090723,,,,043129.64*40 2021-02-18T04:31:30.926Z,1613622690.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.899994 m, bearing: 273.711280 deg, deltaT: 4.410114 s, approachRate: -0.707467 m/s, LOS rate: -0.003159 deg/s, posRepo size: 4 2021-02-18T04:31:30.928Z,1613622690.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.899994 m, bearing: 273.711280 deg, approachRate: -0.707467 m/s, LOS rate: -0.003159 deg/s, cmd update: -0.012638 deg/s, cmd heading: 277.323591 deg, new cmd heading: 277.699401 deg. 2021-02-18T04:31:33.260Z,1613622693.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:34.058Z,1613622694.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:31:34.466Z,1613622694.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:31:35.304Z,1613622695.304 [Micromodem](INFO): Nmea in: $SNTTA,0.088699,,,,043134.07*40 2021-02-18T04:31:35.326Z,1613622695.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.779999 m, bearing: 272.691669 deg, deltaT: 4.478901 s, approachRate: -0.696598 m/s, LOS rate: -0.227648 deg/s, posRepo size: 4 2021-02-18T04:31:35.328Z,1613622695.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.779999 m, bearing: 272.691669 deg, approachRate: -0.696598 m/s, LOS rate: -0.227648 deg/s, cmd update: -0.910590 deg/s, cmd heading: 277.267090 deg, new cmd heading: 277.261983 deg. 2021-02-18T04:31:37.718Z,1613622697.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:38.496Z,1613622698.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:31:38.910Z,1613622698.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:31:39.724Z,1613622699.724 [Micromodem](INFO): Nmea in: $SNTTA,0.086546,,,,043138.51*40 2021-02-18T04:31:39.799Z,1613622699.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.600006 m, bearing: 272.763686 deg, deltaT: 4.407264 s, approachRate: -0.721534 m/s, LOS rate: 0.016341 deg/s, posRepo size: 4 2021-02-18T04:31:39.808Z,1613622699.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.600006 m, bearing: 272.763686 deg, approachRate: -0.721534 m/s, LOS rate: 0.016341 deg/s, cmd update: 0.065363 deg/s, cmd heading: 273.242959 deg, new cmd heading: 272.845167 deg. 2021-02-18T04:31:42.179Z,1613622702.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:42.945Z,1613622702.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:31:43.353Z,1613622703.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:31:44.176Z,1613622704.176 [Micromodem](INFO): Nmea in: $SNTTA,0.084477,,,,043142.96*47 2021-02-18T04:31:44.222Z,1613622704.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.480003 m, bearing: 274.382633 deg, deltaT: 4.497353 s, approachRate: -0.693742 m/s, LOS rate: 0.359978 deg/s, posRepo size: 4 2021-02-18T04:31:44.224Z,1613622704.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.480003 m, bearing: 274.382633 deg, approachRate: -0.693742 m/s, LOS rate: 0.359978 deg/s, cmd update: 1.439910 deg/s, cmd heading: 273.535135 deg, new cmd heading: 273.562015 deg. 2021-02-18T04:31:46.611Z,1613622706.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:47.384Z,1613622707.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:31:47.816Z,1613622707.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:31:48.612Z,1613622708.612 [Micromodem](INFO): Nmea in: $SNTTA,0.082404,,,,043147.40*4B 2021-02-18T04:31:48.650Z,1613622708.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.480003 m, bearing: 275.504669 deg, deltaT: 4.390902 s, approachRate: -0.683231 m/s, LOS rate: 0.255537 deg/s, posRepo size: 4 2021-02-18T04:31:48.652Z,1613622708.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.480003 m, bearing: 275.504669 deg, approachRate: -0.683231 m/s, LOS rate: 0.255537 deg/s, cmd update: 1.022146 deg/s, cmd heading: 279.891349 deg, new cmd heading: 280.503172 deg. 2021-02-18T04:31:51.072Z,1613622711.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:51.858Z,1613622711.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:31:52.233Z,1613622712.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:31:53.072Z,1613622713.072 [Micromodem](INFO): Nmea in: $SNTTA,0.080331,,,,043151.87*44 2021-02-18T04:31:53.121Z,1613622713.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.300003 m, bearing: 275.457950 deg, deltaT: 4.495597 s, approachRate: -0.707359 m/s, LOS rate: -0.010392 deg/s, posRepo size: 4 2021-02-18T04:31:53.122Z,1613622713.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.300003 m, bearing: 275.457950 deg, approachRate: -0.707359 m/s, LOS rate: -0.010392 deg/s, cmd update: -0.041568 deg/s, cmd heading: 284.490437 deg, new cmd heading: 284.894780 deg. 2021-02-18T04:31:55.479Z,1613622715.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:56.281Z,1613622716.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:31:56.682Z,1613622716.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:31:57.508Z,1613622717.508 [Micromodem](INFO): Nmea in: $SNTTA,0.078231,,,,043156.30*49 2021-02-18T04:31:57.545Z,1613622717.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.180000 m, bearing: 273.541071 deg, deltaT: 4.429036 s, approachRate: -0.704443 m/s, LOS rate: -0.432798 deg/s, posRepo size: 4 2021-02-18T04:31:57.547Z,1613622717.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.180000 m, bearing: 273.541071 deg, approachRate: -0.704443 m/s, LOS rate: -0.432798 deg/s, cmd update: -1.731193 deg/s, cmd heading: 284.306496 deg, new cmd heading: 284.290082 deg. 2021-02-18T04:31:59.168Z,1613622719.168 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T04:31:59.168Z,1613622719.168 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T04:31:59.168Z,1613622719.168 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T04:31:59.168Z,1613622719.168 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T04:31:59.168Z,1613622719.168 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T04:31:59.604Z,1613622719.604 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60630000005D000004003E0000000000000000151D80030C5669BF92F9E565FAFF727AA370ED21C7F58E8E74164918DE9FD54C6DFAC94E6950225506F7 2021-02-18T04:31:59.604Z,1613622719.604 [Micromodem](INFO): Outgoing frame #2, 18 bytes: E33D7108CAE46B3B48AF6EDA8493395B5200 2021-02-18T04:31:59.605Z,1613622719.605 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T04:31:59.714Z,1613622719.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:31:59.928Z,1613622719.928 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T04:32:00.321Z,1613622720.321 [Micromodem](INFO): Nmea in: $CADRQ,043159,1,10,0,64,1*7C 2021-02-18T04:32:00.322Z,1613622720.322 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60630000005D000004003E0000000000000000151D80030C5669BF92F9E565FAFF727AA370ED21C7F58E8E74164918DE9FD54C6DFAC94E6950225506F7*46 2021-02-18T04:32:00.719Z,1613622720.719 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T04:32:00.720Z,1613622720.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:32:01.124Z,1613622721.124 [Micromodem](INFO): Nmea in: $CADRQ,043200,1,10,0,64,2*70 2021-02-18T04:32:01.124Z,1613622721.124 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,043200,1,10,0,64,2*70 2021-02-18T04:32:01.531Z,1613622721.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:32:01.952Z,1613622721.952 [Micromodem](INFO): Nmea in: $SNTTA,0.076179,,,,043200.73*4F 2021-02-18T04:32:02.026Z,1613622722.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.120003 m, bearing: 273.814798 deg, deltaT: 4.439884 s, approachRate: -0.689207 m/s, LOS rate: 0.061652 deg/s, posRepo size: 4 2021-02-18T04:32:02.032Z,1613622722.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.120003 m, bearing: 273.814798 deg, approachRate: -0.689207 m/s, LOS rate: 0.061652 deg/s, cmd update: 0.246607 deg/s, cmd heading: 276.619920 deg, new cmd heading: 275.865958 deg. 2021-02-18T04:32:04.384Z,1613622724.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:05.166Z,1613622725.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:32:05.570Z,1613622725.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:32:06.400Z,1613622726.400 [Micromodem](INFO): Nmea in: $SNTTA,0.074195,,,,043205.18*47 2021-02-18T04:32:06.433Z,1613622726.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.119995 m, bearing: 273.323161 deg, deltaT: 4.434565 s, approachRate: -0.676506 m/s, LOS rate: -0.110865 deg/s, posRepo size: 4 2021-02-18T04:32:06.435Z,1613622726.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.119995 m, bearing: 273.323161 deg, approachRate: -0.676506 m/s, LOS rate: -0.110865 deg/s, cmd update: -0.443459 deg/s, cmd heading: 277.714473 deg, new cmd heading: 277.814275 deg. 2021-02-18T04:32:08.902Z,1613622728.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:09.621Z,1613622729.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:32:10.014Z,1613622730.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:32:10.868Z,1613622730.868 [Micromodem](INFO): Nmea in: $SNTTA,0.071902,,,,043209.64*43 2021-02-18T04:32:10.920Z,1613622730.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.700005 m, bearing: 274.087159 deg, deltaT: 4.419669 s, approachRate: -0.773811 m/s, LOS rate: 0.172863 deg/s, posRepo size: 4 2021-02-18T04:32:10.922Z,1613622730.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.700005 m, bearing: 274.087159 deg, approachRate: -0.773811 m/s, LOS rate: 0.172863 deg/s, cmd update: 0.691452 deg/s, cmd heading: 275.754484 deg, new cmd heading: 275.545460 deg. 2021-02-18T04:32:12.184Z,1613622732.184 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T04:32:13.302Z,1613622733.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:14.052Z,1613622734.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:32:14.457Z,1613622734.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:32:15.300Z,1613622735.300 [Micromodem](INFO): Nmea in: $SNTTA,0.069886,,,,043214.07*4E 2021-02-18T04:32:15.346Z,1613622735.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.580002 m, bearing: 274.021206 deg, deltaT: 4.482957 s, approachRate: -0.695970 m/s, LOS rate: -0.014712 deg/s, posRepo size: 4 2021-02-18T04:32:15.348Z,1613622735.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.580002 m, bearing: 274.021206 deg, approachRate: -0.695970 m/s, LOS rate: -0.014712 deg/s, cmd update: -0.058847 deg/s, cmd heading: 278.854109 deg, new cmd heading: 279.140942 deg. 2021-02-18T04:32:17.704Z,1613622737.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:18.498Z,1613622738.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:32:18.915Z,1613622738.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:32:19.749Z,1613622739.749 [Micromodem](INFO): Nmea in: $SNTTA,0.067744,0.130920,,,043218.51*59 2021-02-18T04:32:19.836Z,1613622739.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.400009 m, bearing: 274.256083 deg, deltaT: 4.386815 s, approachRate: -0.724898 m/s, LOS rate: 0.053541 deg/s, posRepo size: 4 2021-02-18T04:32:19.859Z,1613622739.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.400009 m, bearing: 274.256083 deg, approachRate: -0.724898 m/s, LOS rate: 0.053541 deg/s, cmd update: 0.214166 deg/s, cmd heading: 278.595955 deg, new cmd heading: 278.565731 deg. 2021-02-18T04:32:21.864Z,1613622741.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:22.536Z,1613622742.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:32:22.941Z,1613622742.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:32:23.772Z,1613622743.772 [Micromodem](INFO): Nmea in: $SNTTA,0.087581,,,,043222.55*46 2021-02-18T04:32:23.882Z,1613622743.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.639999 m, bearing: 273.126779 deg, deltaT: 4.066811 s, approachRate: -0.678667 m/s, LOS rate: -0.277688 deg/s, posRepo size: 4 2021-02-18T04:32:23.884Z,1613622743.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.639999 m, bearing: 273.126779 deg, approachRate: -0.678667 m/s, LOS rate: -0.277688 deg/s, cmd update: -1.110751 deg/s, cmd heading: 279.466114 deg, new cmd heading: 279.573320 deg. 2021-02-18T04:32:25.890Z,1613622745.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:26.576Z,1613622746.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:32:26.982Z,1613622746.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:32:27.840Z,1613622747.840 [Micromodem](INFO): Nmea in: $SNTTA,0.064186,,,,043226.59*40 2021-02-18T04:32:27.895Z,1613622747.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.060005 m, bearing: 275.574883 deg, deltaT: 4.043291 s, approachRate: -0.638093 m/s, LOS rate: 0.605473 deg/s, posRepo size: 4 2021-02-18T04:32:27.897Z,1613622747.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.060005 m, bearing: 275.574883 deg, approachRate: -0.638093 m/s, LOS rate: 0.605473 deg/s, cmd update: 2.421892 deg/s, cmd heading: 274.979738 deg, new cmd heading: 274.452122 deg. 2021-02-18T04:32:30.294Z,1613622750.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:30.626Z,1613622750.626 [Micromodem](INFO): Nmea in: $CAERR,043230,DATA_TIMEOUT,2*4B 2021-02-18T04:32:31.020Z,1613622751.020 [Micromodem](INFO): Nmea in: $CATXP,64*70 2021-02-18T04:32:31.021Z,1613622751.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:32:32.636Z,1613622752.636 [Micromodem](INFO): Nmea in: $CATXF,64*66 2021-02-18T04:32:32.636Z,1613622752.636 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66 2021-02-18T04:32:33.062Z,1613622753.062 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,043230.373696,3,0,200,4000,14500,1,1,10,1,2,1,3,64*40 2021-02-18T04:32:33.062Z,1613622753.062 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,043230.373696,3,0,200,4000,14500,1,1,10,1,2,1,3,64*40 2021-02-18T04:32:33.138Z,1613622753.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:34.680Z,1613622754.680 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T04:32:35.079Z,1613622755.079 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218043233.290057,06,9989,39,0338,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,21.1,6.00,15,-3.00,-01,1.25,27,14500,4000*58 2021-02-18T04:32:35.079Z,1613622755.079 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218043233.290057,06,9989,39,0338,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,21.1,6.00,15,-3.00,-01,1.25,27,14500,4000*58 2021-02-18T04:32:35.931Z,1613622755.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:38.726Z,1613622758.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:41.553Z,1613622761.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:42.331Z,1613622762.331 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:32:42.742Z,1613622762.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:32:43.560Z,1613622763.560 [Micromodem](INFO): Nmea in: $SNTTA,0.057192,,,,043242.34*4C 2021-02-18T04:32:43.575Z,1613622763.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.320007 m, bearing: 271.355657 deg, deltaT: 15.751105 s, approachRate: -0.681857 m/s, LOS rate: -0.267869 deg/s, posRepo size: 4 2021-02-18T04:32:43.577Z,1613622763.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.320007 m, bearing: 271.355657 deg, approachRate: -0.681857 m/s, LOS rate: -0.267869 deg/s, cmd update: -1.071474 deg/s, cmd heading: 313.147130 deg, new cmd heading: 314.105162 deg. 2021-02-18T04:32:46.041Z,1613622766.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:46.806Z,1613622766.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:32:47.191Z,1613622767.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:32:48.018Z,1613622768.018 [Micromodem](INFO): Nmea in: $SNTTA,0.055194,,,,043246.82*41 2021-02-18T04:32:48.052Z,1613622768.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.560005 m, bearing: 270.174444 deg, deltaT: 4.450842 s, approachRate: -0.620108 m/s, LOS rate: -0.265391 deg/s, posRepo size: 4 2021-02-18T04:32:48.054Z,1613622768.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.560005 m, bearing: 270.174444 deg, approachRate: -0.620108 m/s, LOS rate: -0.265391 deg/s, cmd update: -1.061564 deg/s, cmd heading: 308.378203 deg, new cmd heading: 307.926323 deg. 2021-02-18T04:32:50.460Z,1613622770.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:51.226Z,1613622771.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:32:51.625Z,1613622771.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:32:52.452Z,1613622772.452 [Micromodem](INFO): Nmea in: $SNTTA,0.053498,,0.054698,,043251.24*5C 2021-02-18T04:32:52.498Z,1613622772.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.040001 m, bearing: 269.036807 deg, deltaT: 4.476282 s, approachRate: -0.562968 m/s, LOS rate: -0.254148 deg/s, posRepo size: 4 2021-02-18T04:32:52.500Z,1613622772.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.040001 m, bearing: 269.036807 deg, approachRate: -0.562968 m/s, LOS rate: -0.254148 deg/s, cmd update: -1.016590 deg/s, cmd heading: 303.634813 deg, new cmd heading: 303.211003 deg. 2021-02-18T04:32:54.905Z,1613622774.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:32:55.664Z,1613622775.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:32:56.070Z,1613622776.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:32:56.892Z,1613622776.892 [Micromodem](INFO): Nmea in: $SNTTA,0.051805,,,,043255.68*42 2021-02-18T04:32:56.962Z,1613622776.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.220001 m, bearing: 269.045823 deg, deltaT: 4.385390 s, approachRate: -0.643044 m/s, LOS rate: 0.002056 deg/s, posRepo size: 4 2021-02-18T04:32:56.976Z,1613622776.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.220001 m, bearing: 269.045823 deg, approachRate: -0.643044 m/s, LOS rate: 0.002056 deg/s, cmd update: 0.008224 deg/s, cmd heading: 299.168513 deg, new cmd heading: 298.690692 deg. 2021-02-18T04:32:59.440Z,1613622779.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:00.116Z,1613622780.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:33:00.519Z,1613622780.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:33:01.340Z,1613622781.340 [Micromodem](INFO): Nmea in: $SNTTA,0.049846,,,,043300.13*41 2021-02-18T04:33:01.389Z,1613622781.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.520004 m, bearing: 266.261784 deg, deltaT: 4.485743 s, approachRate: -0.601906 m/s, LOS rate: -0.620642 deg/s, posRepo size: 4 2021-02-18T04:33:01.395Z,1613622781.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.520004 m, bearing: 266.261784 deg, approachRate: -0.601906 m/s, LOS rate: -0.620642 deg/s, cmd update: -2.482567 deg/s, cmd heading: 299.205368 deg, new cmd heading: 299.208788 deg. 2021-02-18T04:33:03.961Z,1613622783.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:04.552Z,1613622784.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:33:04.975Z,1613622784.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:33:04.987Z,1613622784.987 [Micromodem](ERROR): Buffer fill timout failure. 2021-02-18T04:33:05.447Z,1613622785.447 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60630000005D000004003E0000000000000000151D80030C5669BF92F9E565FAFF727AA370ED21C7F58E8E74164918DE9FD54C6DFAC94E6950225506F7 2021-02-18T04:33:05.448Z,1613622785.448 [Micromodem](INFO): Outgoing frame #2, 18 bytes: E33D7108CAE46B3B48AF6EDA8493395B5200 2021-02-18T04:33:05.448Z,1613622785.448 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T04:33:05.809Z,1613622785.809 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T04:33:05.973Z,1613622785.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.939995 m, bearing: 265.384323 deg, deltaT: 4.537004 s, approachRate: -0.568659 m/s, LOS rate: -0.193401 deg/s, posRepo size: 4 2021-02-18T04:33:05.980Z,1613622785.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.939995 m, bearing: 265.384323 deg, approachRate: -0.568659 m/s, LOS rate: -0.193401 deg/s, cmd update: -0.773604 deg/s, cmd heading: 287.941627 deg, new cmd heading: 286.792397 deg. 2021-02-18T04:33:06.188Z,1613622786.188 [Micromodem](INFO): Nmea in: $CADRQ,043305,1,10,0,64,1*77 2021-02-18T04:33:06.189Z,1613622786.189 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60630000005D000004003E0000000000000000151D80030C5669BF92F9E565FAFF727AA370ED21C7F58E8E74164918DE9FD54C6DFAC94E6950225506F7*46 2021-02-18T04:33:06.584Z,1613622786.584 [Micromodem](INFO): Nmea in: $SNTTA,0.048283,,,,043304.56*46 2021-02-18T04:33:06.585Z,1613622786.585 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.048283,,,,043304.56*46 2021-02-18T04:33:07.827Z,1613622787.827 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T04:33:08.193Z,1613622788.193 [Micromodem](INFO): Nmea in: $CADRQ,043306,1,10,0,64,2*77 2021-02-18T04:33:08.194Z,1613622788.194 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E33D7108CAE46B3B48AF6EDA8493395B5200*31 2021-02-18T04:33:08.253Z,1613622788.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:08.602Z,1613622788.602 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,18*42 2021-02-18T04:33:08.996Z,1613622788.996 [Micromodem](INFO): Nmea in: $CATXP,82*78 2021-02-18T04:33:08.997Z,1613622788.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:33:11.095Z,1613622791.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:11.425Z,1613622791.425 [Micromodem](INFO): Nmea in: $CATXF,82*6E 2021-02-18T04:33:11.425Z,1613622791.425 [Micromodem](ERROR): Response from modem unexpected: $CATXF,82*6E 2021-02-18T04:33:11.864Z,1613622791.864 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,043308.191931,3,0,200,4000,14500,1,1,10,1,2,2,3,82*4D 2021-02-18T04:33:11.864Z,1613622791.864 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,043308.191931,3,0,200,4000,14500,1,1,10,1,2,2,3,82*4D 2021-02-18T04:33:13.875Z,1613622793.875 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T04:33:13.979Z,1613622793.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:14.259Z,1613622794.259 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-18T04:33:14.260Z,1613622794.260 [Micromodem](INFO): Sent 74 bytes from file Logs/20210217T180521/Courier0099.lzma.parts 2021-02-18T04:33:14.260Z,1613622794.260 [Micromodem](INFO): Packets left to send: 0 2021-02-18T04:33:14.670Z,1613622794.670 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218043312.878805,06,5705,37,0178,0150,14,02,02,00,02,1,010,001,0,4,1,0,150,17.8,5.00,13,-2.00,-01,1.35,32,14500,4000*59 2021-02-18T04:33:14.671Z,1613622794.671 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218043312.878805,06,5705,37,0178,0150,14,02,02,00,02,1,010,001,0,4,1,0,150,17.8,5.00,13,-2.00,-01,1.35,32,14500,4000*59 2021-02-18T04:33:14.892Z,1613622794.892 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T04:33:14.892Z,1613622794.892 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T04:33:14.892Z,1613622794.892 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T04:33:14.892Z,1613622794.892 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T04:33:14.892Z,1613622794.892 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T04:33:16.961Z,1613622796.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:19.598Z,1613622799.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:20.361Z,1613622800.361 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:33:20.734Z,1613622800.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:33:21.576Z,1613622801.576 [Micromodem](INFO): Nmea in: $SNTTA,0.040742,,,,043320.37*47 2021-02-18T04:33:21.626Z,1613622801.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.960007 m, bearing: 264.669065 deg, deltaT: 15.683955 s, approachRate: -0.700078 m/s, LOS rate: -0.045604 deg/s, posRepo size: 4 2021-02-18T04:33:21.629Z,1613622801.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.960007 m, bearing: 264.669065 deg, approachRate: -0.700078 m/s, LOS rate: -0.045604 deg/s, cmd update: -0.182418 deg/s, cmd heading: 275.808535 deg, new cmd heading: 275.475234 deg. 2021-02-18T04:33:24.019Z,1613622804.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:24.807Z,1613622804.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:33:25.184Z,1613622805.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:33:26.015Z,1613622806.015 [Micromodem](INFO): Nmea in: $SNTTA,0.038778,,,,043324.82*4B 2021-02-18T04:33:26.050Z,1613622806.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.959999 m, bearing: 264.522380 deg, deltaT: 4.410314 s, approachRate: -0.680225 m/s, LOS rate: -0.033260 deg/s, posRepo size: 4 2021-02-18T04:33:26.052Z,1613622806.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.959999 m, bearing: 264.522380 deg, approachRate: -0.680225 m/s, LOS rate: -0.033260 deg/s, cmd update: -0.133038 deg/s, cmd heading: 275.003259 deg, new cmd heading: 274.922827 deg. 2021-02-18T04:33:28.444Z,1613622808.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:29.218Z,1613622809.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:33:29.630Z,1613622809.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:33:30.448Z,1613622810.448 [Micromodem](INFO): Nmea in: $SNTTA,0.036819,,0.049575,,043329.23*5F 2021-02-18T04:33:30.482Z,1613622810.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.080002 m, bearing: 266.106929 deg, deltaT: 4.474947 s, approachRate: -0.643582 m/s, LOS rate: 0.354093 deg/s, posRepo size: 4 2021-02-18T04:33:30.484Z,1613622810.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.080002 m, bearing: 266.106929 deg, approachRate: -0.643582 m/s, LOS rate: 0.354093 deg/s, cmd update: 1.416374 deg/s, cmd heading: 274.408240 deg, new cmd heading: 274.354894 deg. 2021-02-18T04:33:32.604Z,1613622812.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:33.286Z,1613622813.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:33:33.691Z,1613622813.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:33:34.496Z,1613622814.496 [Micromodem](INFO): Nmea in: $SNTTA,0.035044,,,,043333.30*41 2021-02-18T04:33:34.533Z,1613622814.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.020000 m, bearing: 265.277854 deg, deltaT: 4.046220 s, approachRate: -0.756262 m/s, LOS rate: -0.204901 deg/s, posRepo size: 4 2021-02-18T04:33:34.535Z,1613622814.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.020000 m, bearing: 265.277854 deg, approachRate: -0.756262 m/s, LOS rate: -0.204901 deg/s, cmd update: -0.819605 deg/s, cmd heading: 280.136758 deg, new cmd heading: 280.713685 deg. 2021-02-18T04:33:36.940Z,1613622816.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:37.701Z,1613622817.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:33:38.112Z,1613622818.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:33:38.936Z,1613622818.936 [Micromodem](INFO): Nmea in: $SNTTA,0.032909,,,,043337.71*47 2021-02-18T04:33:38.990Z,1613622818.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.140003 m, bearing: 263.201668 deg, deltaT: 4.393667 s, approachRate: -0.655488 m/s, LOS rate: -0.472541 deg/s, posRepo size: 4 2021-02-18T04:33:38.996Z,1613622818.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.140003 m, bearing: 263.201668 deg, approachRate: -0.655488 m/s, LOS rate: -0.472541 deg/s, cmd update: -1.890163 deg/s, cmd heading: 276.532305 deg, new cmd heading: 276.150270 deg. 2021-02-18T04:33:41.352Z,1613622821.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:42.154Z,1613622822.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:33:42.550Z,1613622822.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:33:43.376Z,1613622823.376 [Micromodem](INFO): Nmea in: $SNTTA,0.030936,,,,043342.17*4B 2021-02-18T04:33:43.417Z,1613622823.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.899998 m, bearing: 262.089822 deg, deltaT: 4.480437 s, approachRate: -0.723145 m/s, LOS rate: -0.248156 deg/s, posRepo size: 4 2021-02-18T04:33:43.420Z,1613622823.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.899998 m, bearing: 262.089822 deg, approachRate: -0.723145 m/s, LOS rate: -0.248156 deg/s, cmd update: -0.992622 deg/s, cmd heading: 268.063956 deg, new cmd heading: 267.282259 deg. 2021-02-18T04:33:45.949Z,1613622825.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:46.629Z,1613622826.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:33:47.036Z,1613622827.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:33:47.415Z,1613622827.415 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T04:33:47.854Z,1613622827.854 [Micromodem](INFO): Nmea in: $SNTTA,0.028825,,,,043346.64*41 2021-02-18T04:33:47.905Z,1613622827.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.019997 m, bearing: 263.705326 deg, deltaT: 4.430042 s, approachRate: -0.650107 m/s, LOS rate: 0.364670 deg/s, posRepo size: 4 2021-02-18T04:33:47.927Z,1613622827.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.019997 m, bearing: 263.705326 deg, approachRate: -0.650107 m/s, LOS rate: 0.364670 deg/s, cmd update: 1.458680 deg/s, cmd heading: 263.666392 deg, new cmd heading: 263.198814 deg. 2021-02-18T04:33:50.371Z,1613622830.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:51.038Z,1613622831.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:33:51.446Z,1613622831.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:33:52.264Z,1613622832.264 [Micromodem](INFO): Nmea in: $SNTTA,0.026602,,,,043351.05*45 2021-02-18T04:33:52.305Z,1613622832.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.660000 m, bearing: 263.540090 deg, deltaT: 4.489478 s, approachRate: -0.748416 m/s, LOS rate: -0.036805 deg/s, posRepo size: 4 2021-02-18T04:33:52.306Z,1613622832.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.66 m. 2021-02-18T04:33:52.307Z,1613622832.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.660000 m, bearing: 263.540090 deg, approachRate: -0.748416 m/s, LOS rate: -0.036805 deg/s, cmd update: -0.147221 deg/s, cmd heading: 270.185883 deg, new cmd heading: 270.771540 deg. 2021-02-18T04:33:52.669Z,1613622832.669 [PowerOnly](INFO): Powering up loadControl 2021-02-18T04:33:54.707Z,1613622834.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:55.477Z,1613622835.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:33:55.892Z,1613622835.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:33:56.720Z,1613622836.720 [Micromodem](INFO): Nmea in: $SNTTA,0.024374,,,,043355.49*4F 2021-02-18T04:33:56.747Z,1613622836.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.419998 m, bearing: 263.808270 deg, deltaT: 4.380182 s, approachRate: -0.739696 m/s, LOS rate: 0.061226 deg/s, posRepo size: 4 2021-02-18T04:33:56.765Z,1613622836.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.42 m. 2021-02-18T04:33:56.766Z,1613622836.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.42 m. 2021-02-18T04:33:56.766Z,1613622836.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T04:33:56.781Z,1613622836.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.419998 m, bearing: 263.808270 deg, approachRate: -0.739696 m/s, LOS rate: 0.061226 deg/s, cmd update: 0.244904 deg/s, cmd heading: 269.538083 deg, new cmd heading: 269.473031 deg. 2021-02-18T04:33:58.829Z,1613622838.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:33:59.645Z,1613622839.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:00.049Z,1613622840.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:00.079Z,1613622840.079 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T04:34:00.912Z,1613622840.912 [Micromodem](INFO): Nmea in: $SNTTA,0.022448,,,,043359.66*40 2021-02-18T04:34:00.964Z,1613622840.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.539997 m, bearing: 264.225895 deg, deltaT: 4.193943 s, approachRate: -0.686705 m/s, LOS rate: 0.099578 deg/s, posRepo size: 4 2021-02-18T04:34:00.966Z,1613622840.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.539997 m, bearing: 264.225895 deg, approachRate: -0.686705 m/s, LOS rate: 0.099578 deg/s, cmd update: 0.398313 deg/s, cmd heading: 270.565204 deg, new cmd heading: 270.679225 deg. 2021-02-18T04:34:03.332Z,1613622843.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:34:04.076Z,1613622844.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:04.483Z,1613622844.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:05.304Z,1613622845.304 [Micromodem](INFO): Nmea in: $SNTTA,0.020350,,,,043404.09*4A 2021-02-18T04:34:05.350Z,1613622845.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.359999 m, bearing: 264.399300 deg, deltaT: 4.441401 s, approachRate: -0.715990 m/s, LOS rate: 0.039043 deg/s, posRepo size: 4 2021-02-18T04:34:05.356Z,1613622845.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.359999 m, bearing: 264.399300 deg, approachRate: -0.715990 m/s, LOS rate: 0.039043 deg/s, cmd update: 0.156171 deg/s, cmd heading: 272.334260 deg, new cmd heading: 272.498008 deg. 2021-02-18T04:34:07.724Z,1613622847.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:34:08.517Z,1613622848.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:08.923Z,1613622848.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:09.780Z,1613622849.780 [Micromodem](INFO): Nmea in: $SNTTA,0.018722,,,,043408.53*43 2021-02-18T04:34:09.893Z,1613622849.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.180000 m, bearing: 263.123476 deg, deltaT: 4.417901 s, approachRate: -0.719798 m/s, LOS rate: -0.288785 deg/s, posRepo size: 4 2021-02-18T04:34:09.896Z,1613622849.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.180000 m, bearing: 263.123476 deg, approachRate: -0.719798 m/s, LOS rate: -0.288785 deg/s, cmd update: -1.155141 deg/s, cmd heading: 273.023891 deg, new cmd heading: 273.107929 deg. 2021-02-18T04:34:11.863Z,1613622851.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:34:12.557Z,1613622852.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:13.027Z,1613622853.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:13.872Z,1613622853.872 [Micromodem](INFO): Nmea in: $SNTTA,0.016470,,,,043412.57*46 2021-02-18T04:34:13.932Z,1613622853.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.420002 m, bearing: 261.967234 deg, deltaT: 4.140359 s, approachRate: -0.666608 m/s, LOS rate: -0.279261 deg/s, posRepo size: 4 2021-02-18T04:34:13.933Z,1613622853.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.420002 m, bearing: 261.967234 deg, approachRate: -0.666608 m/s, LOS rate: -0.279261 deg/s, cmd update: -1.117045 deg/s, cmd heading: 268.243496 deg, new cmd heading: 267.737680 deg. 2021-02-18T04:34:14.999Z,1613622854.999 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T04:34:16.217Z,1613622856.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:34:17.006Z,1613622857.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:17.408Z,1613622857.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:17.898Z,1613622857.898 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T04:34:18.249Z,1613622858.249 [Micromodem](INFO): Nmea in: $SNTTA,0.014351,,,,043417.02*45 2021-02-18T04:34:18.271Z,1613622858.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.299999 m, bearing: 263.907554 deg, deltaT: 4.412374 s, approachRate: -0.707103 m/s, LOS rate: 0.439745 deg/s, posRepo size: 4 2021-02-18T04:34:18.273Z,1613622858.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.299999 m, bearing: 263.907554 deg, approachRate: -0.707103 m/s, LOS rate: 0.439745 deg/s, cmd update: 1.758981 deg/s, cmd heading: 263.310186 deg, new cmd heading: 262.907052 deg. 2021-02-18T04:34:20.659Z,1613622860.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:34:21.451Z,1613622861.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:21.869Z,1613622861.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:22.688Z,1613622862.688 [Micromodem](INFO): Nmea in: $SNTTA,0.012748,,,0.055431,043421.47*53 2021-02-18T04:34:22.710Z,1613622862.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 264.871840 deg, deltaT: 4.386852 s, approachRate: -0.533412 m/s, LOS rate: 0.219813 deg/s, posRepo size: 4 2021-02-18T04:34:22.712Z,1613622862.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.960001 m, bearing: 264.871840 deg, approachRate: -0.533412 m/s, LOS rate: 0.219813 deg/s, cmd update: 0.879251 deg/s, cmd heading: 271.019444 deg, new cmd heading: 271.753801 deg. 2021-02-18T04:34:25.144Z,1613622865.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:34:25.900Z,1613622865.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:26.372Z,1613622866.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:27.196Z,1613622867.196 [Micromodem](INFO): Nmea in: $SNTTA,0.010245,,,,043425.91*4E 2021-02-18T04:34:27.241Z,1613622867.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.059998 m, bearing: 262.211700 deg, deltaT: 4.421627 s, approachRate: -0.882029 m/s, LOS rate: -0.601620 deg/s, posRepo size: 4 2021-02-18T04:34:27.243Z,1613622867.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.059998 m, bearing: 262.211700 deg, approachRate: -0.882029 m/s, LOS rate: -0.601620 deg/s, cmd update: -2.406481 deg/s, cmd heading: 274.910699 deg, new cmd heading: 275.370449 deg. 2021-02-18T04:34:29.541Z,1613622869.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:34:30.337Z,1613622870.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:30.739Z,1613622870.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:31.572Z,1613622871.572 [Micromodem](INFO): Nmea in: $SNTTA,0.008336,,,,043430.35*48 2021-02-18T04:34:31.600Z,1613622871.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.179997 m, bearing: 261.917592 deg, deltaT: 4.471135 s, approachRate: -0.644132 m/s, LOS rate: -0.065779 deg/s, posRepo size: 4 2021-02-18T04:34:31.603Z,1613622871.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.179997 m, bearing: 261.917592 deg, approachRate: -0.644132 m/s, LOS rate: -0.065779 deg/s, cmd update: -0.263117 deg/s, cmd heading: 264.151276 deg, new cmd heading: 263.164558 deg. 2021-02-18T04:34:34.014Z,1613622874.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:34:34.852Z,1613622874.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:35.228Z,1613622875.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:36.087Z,1613622876.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.359999 m, bearing: 264.757585 deg, deltaT: 4.409987 s, approachRate: -0.639457 m/s, LOS rate: 0.643991 deg/s, posRepo size: 4 2021-02-18T04:34:36.093Z,1613622876.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.359999 m, bearing: 264.757585 deg, approachRate: -0.639457 m/s, LOS rate: 0.643991 deg/s, cmd update: 2.575965 deg/s, cmd heading: 262.990959 deg, new cmd heading: 262.862697 deg. 2021-02-18T04:34:36.416Z,1613622876.416 [Micromodem](INFO): Nmea in: $SNTTA,0.006410,,,,043434.86*49 2021-02-18T04:34:38.429Z,1613622878.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:34:39.229Z,1613622879.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:39.692Z,1613622879.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:40.532Z,1613622880.532 [Micromodem](INFO): Nmea in: $SNTTA,0.004594,,,,043439.24*43 2021-02-18T04:34:40.558Z,1613622880.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.600000 m, bearing: 262.103920 deg, deltaT: 4.510150 s, approachRate: -0.611953 m/s, LOS rate: -0.588376 deg/s, posRepo size: 4 2021-02-18T04:34:40.560Z,1613622880.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.600000 m, bearing: 262.103920 deg, approachRate: -0.611953 m/s, LOS rate: -0.588376 deg/s, cmd update: -2.353505 deg/s, cmd heading: 274.598943 deg, new cmd heading: 275.764686 deg. 2021-02-18T04:34:42.916Z,1613622882.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:34:43.669Z,1613622883.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:44.088Z,1613622884.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:44.897Z,1613622884.897 [Micromodem](INFO): Nmea in: $SNTTA,0.003062,,,,043443.68*4D 2021-02-18T04:34:44.944Z,1613622884.944 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T04:34:44.944Z,1613622884.944 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T04:34:44.944Z,1613622884.944 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T04:34:44.944Z,1613622884.944 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:34:44.944Z,1613622884.944 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T04:34:44.945Z,1613622884.945 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.319999 m 2021-02-18T04:34:44.945Z,1613622884.945 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T04:34:44.945Z,1613622884.945 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T04:34:44.945Z,1613622884.945 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T04:34:44.948Z,1613622884.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 256.794513 deg, deltaT: 4.411551 s, approachRate: -0.516825 m/s, LOS rate: -1.203524 deg/s, posRepo size: 4 2021-02-18T04:34:44.949Z,1613622884.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.319999 m, bearing: 256.794513 deg, approachRate: -0.516825 m/s, LOS rate: -1.203524 deg/s, cmd update: -4.814095 deg/s, cmd heading: 264.216421 deg, new cmd heading: 263.203724 deg. 2021-02-18T04:34:45.313Z,1613622885.313 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T043445: (41.552319, -70.708603) 2021-02-18T04:34:45.313Z,1613622885.313 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T04:34:45.313Z,1613622885.313 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T04:34:45.313Z,1613622885.313 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:34:45.313Z,1613622885.313 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T04:34:45.314Z,1613622885.314 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:34:45.314Z,1613622885.314 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T04:34:45.314Z,1613622885.314 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T04:34:45.314Z,1613622885.314 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T04:34:47.336Z,1613622887.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:34:48.122Z,1613622888.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:48.525Z,1613622888.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:49.351Z,1613622889.351 [Micromodem](INFO): Nmea in: $SNTTA,0.002533,,,,043448.14*4D 2021-02-18T04:34:49.374Z,1613622889.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 255.557839 deg, deltaT: 4.449573 s, approachRate: -0.121360 m/s, LOS rate: -0.277931 deg/s, posRepo size: 4 2021-02-18T04:34:49.376Z,1613622889.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.779998 m, bearing: 255.557839 deg, approachRate: -0.121360 m/s, LOS rate: -0.277931 deg/s, cmd update: -1.111724 deg/s, cmd heading: 242.778590 deg, new cmd heading: 240.833879 deg. 2021-02-18T04:34:51.848Z,1613622891.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:34:52.553Z,1613622892.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:52.967Z,1613622892.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:53.848Z,1613622893.848 [Micromodem](INFO): Nmea in: $SNTTA,0.003523,,,,043452.57*41 2021-02-18T04:34:53.937Z,1613622893.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.460000 m, bearing: 241.546553 deg, deltaT: 4.475812 s, approachRate: 0.375351 m/s, LOS rate: -3.130446 deg/s, posRepo size: 4 2021-02-18T04:34:53.943Z,1613622893.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.460000 m, bearing: 241.546553 deg, approachRate: 0.375351 m/s, LOS rate: -3.130446 deg/s, cmd update: -12.000000 deg/s, cmd heading: 237.802071 deg, new cmd heading: 237.256687 deg. 2021-02-18T04:34:55.018Z,1613622895.018 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T04:34:56.230Z,1613622896.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:34:56.999Z,1613622896.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:34:57.402Z,1613622897.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:34:58.229Z,1613622898.229 [Micromodem](INFO): Nmea in: $SNTTA,0.005107,,0.043163,0.034037,043457.01*43 2021-02-18T04:34:58.266Z,1613622898.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.740000 m, bearing: 232.220093 deg, deltaT: 4.457641 s, approachRate: 0.511481 m/s, LOS rate: -2.092241 deg/s, posRepo size: 4 2021-02-18T04:34:58.267Z,1613622898.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.740000 m, bearing: 232.220093 deg, approachRate: 0.511481 m/s, LOS rate: -2.092241 deg/s, cmd update: -8.368964 deg/s, cmd heading: 184.312849 deg, new cmd heading: 179.974297 deg. 2021-02-18T04:34:59.899Z,1613622899.899 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T04:35:00.662Z,1613622900.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:01.446Z,1613622901.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:01.888Z,1613622901.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:35:02.672Z,1613622902.672 [Micromodem](INFO): Nmea in: $SNTTA,0.006625,,,,043501.46*46 2021-02-18T04:35:02.708Z,1613622902.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.080001 m, bearing: 182.784496 deg, deltaT: 4.374861 s, approachRate: 0.534874 m/s, LOS rate: -11.299924 deg/s, posRepo size: 4 2021-02-18T04:35:02.710Z,1613622902.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.080001 m, bearing: 182.784496 deg, approachRate: 0.534874 m/s, LOS rate: -11.299924 deg/s, cmd update: -12.000000 deg/s, cmd heading: 147.698748 deg, new cmd heading: 144.108939 deg. 2021-02-18T04:35:05.121Z,1613622905.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:05.890Z,1613622905.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:06.298Z,1613622906.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:35:07.136Z,1613622907.136 [Micromodem](INFO): Nmea in: $SNTTA,0.008050,,,,043505.90*43 2021-02-18T04:35:07.216Z,1613622907.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.179997 m, bearing: 214.428953 deg, deltaT: 4.573968 s, approachRate: 0.459119 m/s, LOS rate: 6.918382 deg/s, posRepo size: 4 2021-02-18T04:35:07.217Z,1613622907.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.18 m. Rolling out. 2021-02-18T04:35:07.217Z,1613622907.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T04:35:09.556Z,1613622909.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:09.960Z,1613622909.960 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T04:35:10.328Z,1613622910.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:10.746Z,1613622910.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:35:11.556Z,1613622911.556 [Micromodem](INFO): Nmea in: $SNTTA,0.009416,,,,043510.34*4E 2021-02-18T04:35:11.593Z,1613622911.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.220002 m, bearing: 199.497176 deg, deltaT: 4.349798 s, approachRate: 0.468988 m/s, LOS rate: -3.432752 deg/s, posRepo size: 4 2021-02-18T04:35:14.041Z,1613622914.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:14.864Z,1613622914.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:15.178Z,1613622915.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:35:16.074Z,1613622916.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.079996 m, bearing: 152.867352 deg, deltaT: 4.392217 s, approachRate: 0.423475 m/s, LOS rate: -10.616466 deg/s, posRepo size: 4 2021-02-18T04:35:16.404Z,1613622916.404 [Micromodem](INFO): Nmea in: $SNTTA,0.010660,,,0.088578,043514.88*52 2021-02-18T04:35:18.440Z,1613622918.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:19.219Z,1613622919.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:19.622Z,1613622919.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:35:20.452Z,1613622920.452 [Micromodem](INFO): Nmea in: $SNTTA,0.011655,,,,043519.23*4D 2021-02-18T04:35:20.518Z,1613622920.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.520002 m, bearing: 117.640911 deg, deltaT: 4.541252 s, approachRate: 0.317095 m/s, LOS rate: -7.756989 deg/s, posRepo size: 4 2021-02-18T04:35:22.928Z,1613622922.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:23.660Z,1613622923.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:24.077Z,1613622924.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:35:24.913Z,1613622924.913 [Micromodem](INFO): Nmea in: $SNTTA,0.012520,,,,043523.67*46 2021-02-18T04:35:24.968Z,1613622924.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.840000 m, bearing: 104.128140 deg, deltaT: 4.363895 s, approachRate: 0.302482 m/s, LOS rate: -3.096493 deg/s, posRepo size: 4 2021-02-18T04:35:27.299Z,1613622927.299 [PowerOnly](INFO): Powering down loadControl 2021-02-18T04:35:27.315Z,1613622927.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:28.110Z,1613622928.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:28.512Z,1613622928.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:35:29.348Z,1613622929.348 [Micromodem](INFO): Nmea in: $SNTTA,0.013114,,,,043528.13*4C 2021-02-18T04:35:29.370Z,1613622929.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.799997 m, bearing: 145.406217 deg, deltaT: 4.458404 s, approachRate: 0.215323 m/s, LOS rate: 9.258487 deg/s, posRepo size: 4 2021-02-18T04:35:31.781Z,1613622931.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:32.549Z,1613622932.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:32.955Z,1613622932.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:35:33.832Z,1613622933.832 [Micromodem](INFO): Nmea in: $SNTTA,0.013506,,,,043532.56*41 2021-02-18T04:35:33.914Z,1613622933.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.339998 m, bearing: 82.477109 deg, deltaT: 4.478664 s, approachRate: 0.120572 m/s, LOS rate: -14.050866 deg/s, posRepo size: 4 2021-02-18T04:35:35.026Z,1613622935.026 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T04:35:36.201Z,1613622936.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:36.994Z,1613622936.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:37.406Z,1613622937.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:35:38.220Z,1613622938.220 [Micromodem](INFO): Nmea in: $SNTTA,0.014005,,,,043537.01*47 2021-02-18T04:35:38.257Z,1613622938.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.059998 m, bearing: 25.998435 deg, deltaT: 4.459767 s, approachRate: 0.161443 m/s, LOS rate: -12.664042 deg/s, posRepo size: 4 2021-02-18T04:35:39.899Z,1613622939.899 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items 2021-02-18T04:35:40.644Z,1613622940.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:41.436Z,1613622941.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:41.863Z,1613622941.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:35:42.672Z,1613622942.672 [Micromodem](INFO): Nmea in: $SNTTA,0.014424,,,,043541.45*41 2021-02-18T04:35:42.694Z,1613622942.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.659998 m, bearing: 42.498079 deg, deltaT: 4.371376 s, approachRate: 0.137257 m/s, LOS rate: 3.774474 deg/s, posRepo size: 4 2021-02-18T04:35:45.114Z,1613622945.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:45.881Z,1613622945.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:46.293Z,1613622946.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:35:47.177Z,1613622947.177 [Micromodem](INFO): Nmea in: $SNTTA,0.015096,,0.155153,,043545.89*51 2021-02-18T04:35:47.210Z,1613622947.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.679996 m, bearing: 58.985548 deg, deltaT: 4.454389 s, approachRate: 0.228987 m/s, LOS rate: 3.701399 deg/s, posRepo size: 4 2021-02-18T04:35:49.553Z,1613622949.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:49.966Z,1613622949.966 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T04:35:50.329Z,1613622950.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:50.730Z,1613622950.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:35:51.556Z,1613622951.556 [Micromodem](INFO): Nmea in: $SNTTA,0.016132,,0.035270,,043550.34*5A 2021-02-18T04:35:51.592Z,1613622951.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.239998 m, bearing: 72.004469 deg, deltaT: 4.465949 s, approachRate: 0.349310 m/s, LOS rate: 2.915152 deg/s, posRepo size: 4 2021-02-18T04:35:54.009Z,1613622954.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:54.792Z,1613622954.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:55.175Z,1613622955.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:35:56.009Z,1613622956.009 [Micromodem](INFO): Nmea in: $SNTTA,0.017470,,0.018671,,043554.81*58 2021-02-18T04:35:56.056Z,1613622956.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.000002 m, bearing: 126.987191 deg, deltaT: 4.402323 s, approachRate: 0.626943 m/s, LOS rate: 12.489479 deg/s, posRepo size: 4 2021-02-18T04:35:58.436Z,1613622958.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:35:59.214Z,1613622959.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:35:59.626Z,1613622959.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:00.512Z,1613622960.512 [Micromodem](INFO): Nmea in: $SNTTA,0.019082,,,,043559.23*4D 2021-02-18T04:36:00.534Z,1613622960.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.740002 m, bearing: 80.946143 deg, deltaT: 4.486269 s, approachRate: 0.387850 m/s, LOS rate: -10.262659 deg/s, posRepo size: 4 2021-02-18T04:36:02.932Z,1613622962.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:36:03.662Z,1613622963.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:36:04.067Z,1613622964.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:04.928Z,1613622964.928 [Micromodem](INFO): Nmea in: $SNTTA,0.020718,,,,043603.68*40 2021-02-18T04:36:04.952Z,1613622964.952 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T04:36:04.994Z,1613622964.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.679998 m, bearing: 99.702361 deg, deltaT: 4.405833 s, approachRate: 0.667296 m/s, LOS rate: 4.257134 deg/s, posRepo size: 4 2021-02-18T04:36:07.333Z,1613622967.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:36:08.104Z,1613622968.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:36:08.506Z,1613622968.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:09.332Z,1613622969.332 [Micromodem](INFO): Nmea in: $SNTTA,0.022665,,,,043608.12*4F 2021-02-18T04:36:09.369Z,1613622969.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.139996 m, bearing: 105.371774 deg, deltaT: 4.477422 s, approachRate: 0.549423 m/s, LOS rate: 1.266222 deg/s, posRepo size: 4 2021-02-18T04:36:11.774Z,1613622971.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:36:12.545Z,1613622972.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:36:12.950Z,1613622972.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:13.784Z,1613622973.784 [Micromodem](INFO): Nmea in: $SNTTA,0.024275,,,,043612.56*47 2021-02-18T04:36:13.887Z,1613622973.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.539997 m, bearing: 99.802519 deg, deltaT: 4.442403 s, approachRate: 0.540249 m/s, LOS rate: -1.253658 deg/s, posRepo size: 4 2021-02-18T04:36:15.909Z,1613622975.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:36:16.585Z,1613622976.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:36:16.993Z,1613622976.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:17.836Z,1613622977.836 [Micromodem](INFO): Nmea in: $SNTTA,0.025989,,,,043616.60*4F 2021-02-18T04:36:17.893Z,1613622977.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.119999 m, bearing: 96.906314 deg, deltaT: 4.027684 s, approachRate: 0.640567 m/s, LOS rate: -0.719075 deg/s, posRepo size: 4 2021-02-18T04:36:20.237Z,1613622980.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:36:21.034Z,1613622981.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:36:21.434Z,1613622981.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:22.260Z,1613622982.260 [Micromodem](INFO): Nmea in: $SNTTA,0.027985,,,,043621.05*46 2021-02-18T04:36:22.282Z,1613622982.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.119999 m, bearing: 45.962713 deg, deltaT: 4.488816 s, approachRate: 0.668328 m/s, LOS rate: -11.349006 deg/s, posRepo size: 4 2021-02-18T04:36:24.680Z,1613622984.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:36:25.473Z,1613622985.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:36:25.878Z,1613622985.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:26.704Z,1613622986.704 [Micromodem](INFO): Nmea in: $SNTTA,0.029927,,,,043625.49*4C 2021-02-18T04:36:26.726Z,1613622986.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.000000 m, bearing: 53.999486 deg, deltaT: 4.375313 s, approachRate: 0.658239 m/s, LOS rate: 1.836845 deg/s, posRepo size: 4 2021-02-18T04:36:28.886Z,1613622988.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:36:29.534Z,1613622989.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:36:29.944Z,1613622989.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:30.752Z,1613622990.752 [Micromodem](INFO): Nmea in: $SNTTA,0.031692,,,,043629.55*45 2021-02-18T04:36:30.786Z,1613622990.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.999996 m, bearing: 42.917367 deg, deltaT: 4.056652 s, approachRate: 0.739525 m/s, LOS rate: -2.731839 deg/s, posRepo size: 4 2021-02-18T04:36:33.208Z,1613622993.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:36:33.957Z,1613622993.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:36:34.364Z,1613622994.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:35.209Z,1613622995.209 [Micromodem](INFO): Nmea in: $SNTTA,0.033861,,0.043436,,043633.97*58 2021-02-18T04:36:35.230Z,1613622995.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.240005 m, bearing: 48.296011 deg, deltaT: 4.506970 s, approachRate: 0.718889 m/s, LOS rate: 1.193406 deg/s, posRepo size: 4 2021-02-18T04:36:37.618Z,1613622997.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:36:38.405Z,1613622998.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:36:38.852Z,1613622998.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:39.632Z,1613622999.632 [Micromodem](INFO): Nmea in: $SNTTA,0.036090,,,,043638.42*40 2021-02-18T04:36:39.666Z,1613622999.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.480000 m, bearing: 54.357408 deg, deltaT: 4.376705 s, approachRate: 0.740282 m/s, LOS rate: 1.384922 deg/s, posRepo size: 4 2021-02-18T04:36:42.155Z,1613623002.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:36:42.890Z,1613623002.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:36:43.272Z,1613623003.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:44.086Z,1613623004.086 [Micromodem](INFO): Nmea in: $SNTTA,0.038001,,,,043642.90*44 2021-02-18T04:36:44.156Z,1613623004.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.119999 m, bearing: 76.775493 deg, deltaT: 4.440122 s, approachRate: 0.594578 m/s, LOS rate: 5.048980 deg/s, posRepo size: 4 2021-02-18T04:36:46.510Z,1613623006.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:36:47.295Z,1613623007.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:36:47.694Z,1613623007.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:48.520Z,1613623008.520 [Micromodem](INFO): Nmea in: $SNTTA,0.040553,,,,043647.31*47 2021-02-18T04:36:48.558Z,1613623008.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.140003 m, bearing: 105.828310 deg, deltaT: 4.487323 s, approachRate: 0.895858 m/s, LOS rate: 6.474421 deg/s, posRepo size: 4 2021-02-18T04:36:50.973Z,1613623010.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:36:51.733Z,1613623011.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:36:52.141Z,1613623012.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:52.971Z,1613623012.971 [Micromodem](INFO): Nmea in: $SNTTA,0.042636,,,,043651.74*43 2021-02-18T04:36:53.005Z,1613623013.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.380005 m, bearing: 106.388311 deg, deltaT: 4.430585 s, approachRate: 0.731281 m/s, LOS rate: 0.126394 deg/s, posRepo size: 4 2021-02-18T04:36:55.477Z,1613623015.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:36:56.194Z,1613623016.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:36:56.599Z,1613623016.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:36:57.416Z,1613623017.416 [Micromodem](INFO): Nmea in: $SNTTA,0.044983,,,,043656.21*43 2021-02-18T04:36:57.462Z,1613623017.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.740005 m, bearing: 50.713154 deg, deltaT: 4.449511 s, approachRate: 0.755139 m/s, LOS rate: -12.512646 deg/s, posRepo size: 4 2021-02-18T04:36:59.938Z,1613623019.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:00.622Z,1613623020.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:01.026Z,1613623021.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:01.868Z,1613623021.868 [Micromodem](INFO): Nmea in: $SNTTA,0.047110,,,,043700.63*46 2021-02-18T04:37:01.902Z,1613623021.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.040001 m, bearing: 52.580200 deg, deltaT: 4.411914 s, approachRate: 0.747974 m/s, LOS rate: 0.423183 deg/s, posRepo size: 4 2021-02-18T04:37:04.285Z,1613623024.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:05.065Z,1613623025.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:05.478Z,1613623025.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:06.292Z,1613623026.292 [Micromodem](INFO): Nmea in: $SNTTA,0.049255,,,,043705.08*42 2021-02-18T04:37:06.324Z,1613623026.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.279999 m, bearing: 56.229293 deg, deltaT: 4.474390 s, approachRate: 0.724121 m/s, LOS rate: 0.815551 deg/s, posRepo size: 4 2021-02-18T04:37:08.923Z,1613623028.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:09.547Z,1613623029.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:09.962Z,1613623029.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:10.756Z,1613623030.756 [Micromodem](INFO): Nmea in: $SNTTA,0.051530,,,,043709.56*48 2021-02-18T04:37:10.831Z,1613623030.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.460007 m, bearing: 50.237493 deg, deltaT: 4.420478 s, approachRate: 0.719381 m/s, LOS rate: -1.355464 deg/s, posRepo size: 4 2021-02-18T04:37:12.858Z,1613623032.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:13.558Z,1613623033.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:13.954Z,1613623033.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:14.808Z,1613623034.808 [Micromodem](INFO): Nmea in: $SNTTA,0.053604,,,,043713.57*44 2021-02-18T04:37:14.894Z,1613623034.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.639999 m, bearing: 53.996119 deg, deltaT: 4.021633 s, approachRate: 0.790722 m/s, LOS rate: 0.934602 deg/s, posRepo size: 4 2021-02-18T04:37:16.898Z,1613623036.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:17.589Z,1613623037.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:18.005Z,1613623038.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:18.837Z,1613623038.837 [Micromodem](INFO): Nmea in: $SNTTA,0.055640,,,,043717.60*42 2021-02-18T04:37:18.898Z,1613623038.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.699997 m, bearing: 50.216627 deg, deltaT: 4.055589 s, approachRate: 0.754514 m/s, LOS rate: -0.931922 deg/s, posRepo size: 4 2021-02-18T04:37:21.250Z,1613623041.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:22.040Z,1613623042.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:22.517Z,1613623042.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:23.284Z,1613623043.284 [Micromodem](INFO): Nmea in: $SNTTA,0.057895,,,,043722.05*43 2021-02-18T04:37:23.336Z,1613623043.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.059998 m, bearing: 60.926660 deg, deltaT: 4.536827 s, approachRate: 0.740606 m/s, LOS rate: 2.360688 deg/s, posRepo size: 4 2021-02-18T04:37:25.689Z,1613623045.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:26.481Z,1613623046.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:26.882Z,1613623046.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:27.708Z,1613623047.708 [Micromodem](INFO): Nmea in: $SNTTA,0.060055,,,,043726.49*4F 2021-02-18T04:37:27.753Z,1613623047.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.240005 m, bearing: 58.175201 deg, deltaT: 4.350882 s, approachRate: 0.730888 m/s, LOS rate: -0.632391 deg/s, posRepo size: 4 2021-02-18T04:37:30.161Z,1613623050.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:30.922Z,1613623050.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:31.335Z,1613623051.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:32.148Z,1613623052.148 [Micromodem](INFO): Nmea in: $SNTTA,0.062253,,,,043730.93*49 2021-02-18T04:37:32.197Z,1613623052.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.540009 m, bearing: 92.211201 deg, deltaT: 4.467405 s, approachRate: 0.738685 m/s, LOS rate: 7.618740 deg/s, posRepo size: 4 2021-02-18T04:37:34.574Z,1613623054.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:35.429Z,1613623055.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:35.858Z,1613623055.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:36.636Z,1613623056.636 [Micromodem](INFO): Nmea in: $SNTTA,0.064489,,,,043735.44*41 2021-02-18T04:37:36.666Z,1613623056.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.080009 m, bearing: 105.223770 deg, deltaT: 4.486557 s, approachRate: 0.789024 m/s, LOS rate: 2.900346 deg/s, posRepo size: 4 2021-02-18T04:37:39.060Z,1613623059.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:39.852Z,1613623059.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:40.214Z,1613623060.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:41.050Z,1613623061.050 [Micromodem](INFO): Nmea in: $SNTTA,0.066731,,,,043739.86*41 2021-02-18T04:37:41.128Z,1613623061.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.260002 m, bearing: 56.886149 deg, deltaT: 4.363248 s, approachRate: 0.728813 m/s, LOS rate: -11.078358 deg/s, posRepo size: 4 2021-02-18T04:37:43.497Z,1613623063.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:44.255Z,1613623064.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:44.658Z,1613623064.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:45.492Z,1613623065.492 [Micromodem](INFO): Nmea in: $SNTTA,0.069000,,,,043744.27*4A 2021-02-18T04:37:45.525Z,1613623065.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.800003 m, bearing: 69.975998 deg, deltaT: 4.495642 s, approachRate: 0.787429 m/s, LOS rate: 2.911675 deg/s, posRepo size: 4 2021-02-18T04:37:47.934Z,1613623067.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:48.801Z,1613623068.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:49.114Z,1613623069.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:49.998Z,1613623069.998 [Micromodem](INFO): Nmea in: $CAREV,043749,AUV,2.0.32731*16 2021-02-18T04:37:50.086Z,1613623070.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.160004 m, bearing: 68.942092 deg, deltaT: 4.471447 s, approachRate: 0.751435 m/s, LOS rate: -0.231224 deg/s, posRepo size: 4 2021-02-18T04:37:52.352Z,1613623072.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:53.141Z,1613623073.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:53.552Z,1613623073.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:54.376Z,1613623074.376 [Micromodem](INFO): Nmea in: $SNTTA,0.073565,,,,043753.15*40 2021-02-18T04:37:54.398Z,1613623074.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.519997 m, bearing: 75.268248 deg, deltaT: 4.398934 s, approachRate: 0.763820 m/s, LOS rate: 1.438111 deg/s, posRepo size: 4 2021-02-18T04:37:56.878Z,1613623076.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:37:57.587Z,1613623077.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:37:57.990Z,1613623077.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:37:58.848Z,1613623078.848 [Micromodem](INFO): Nmea in: $SNTTA,0.075936,,,,043757.60*4A 2021-02-18T04:37:58.903Z,1613623078.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.059998 m, bearing: 70.455204 deg, deltaT: 4.409247 s, approachRate: 0.802858 m/s, LOS rate: -1.091579 deg/s, posRepo size: 4 2021-02-18T04:38:01.246Z,1613623081.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:02.093Z,1613623082.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:38:02.441Z,1613623082.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,*6B 2021-02-18T04:38:02.442Z,1613623082.442 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,*6B expected 6A 2021-02-18T04:38:02.442Z,1613623082.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:38:02.446Z,1613623082.446 [Micromodem](INFO): Nmea in: $CATXP,400*46 2021-02-18T04:38:02.447Z,1613623082.447 [Micromodem](ERROR): Response from modem unexpected: $CATXP,400*46 2021-02-18T04:38:02.887Z,1613623082.887 [Micromodem](INFO): Nmea in: $CATXF,400*50 2021-02-18T04:38:02.887Z,1613623082.887 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50 2021-02-18T04:38:02.889Z,1613623082.889 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,043802.109549,3,0,40,4000,14500,1,0,0,0,2,0,3,0*71 2021-02-18T04:38:02.890Z,1613623082.890 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,043802.109549,3,0,40,4000,14500,1,0,0,0,2,0,3,0*71 2021-02-18T04:38:03.349Z,1613623083.349 [Micromodem](INFO): Nmea in: $CAERR,043802,NI ,29,Busy completing a previous request*76 2021-02-18T04:38:03.350Z,1613623083.350 [Micromodem](ERROR): Got error from modem: $CAERR,043802,NI ,29,Busy completing a previous request*76 2021-02-18T04:38:03.351Z,1613623083.351 [Micromodem](INFO): Nmea in: $SNTTA,0.078253,,,,043802.10*47 2021-02-18T04:38:03.351Z,1613623083.351 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.078253,,,,043802.10*47 2021-02-18T04:38:03.370Z,1613623083.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.540001 m, bearing: 74.079822 deg, deltaT: 4.552369 s, approachRate: 0.764438 m/s, LOS rate: 0.796205 deg/s, posRepo size: 4 2021-02-18T04:38:05.693Z,1613623085.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:08.510Z,1613623088.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:11.336Z,1613623091.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:13.749Z,1613623093.749 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:38:13.858Z,1613623093.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:14.171Z,1613623094.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:38:14.570Z,1613623094.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:38:14.990Z,1613623094.990 [Micromodem](INFO): Nmea in: $CAERR,043814,NI ,29,Busy completing a previous request*71 2021-02-18T04:38:14.990Z,1613623094.990 [Micromodem](ERROR): Got error from modem: $CAERR,043814,NI ,29,Busy completing a previous request*71 2021-02-18T04:38:14.992Z,1613623094.992 [Micromodem](INFO): Nmea in: $SNTTA,0.084155,,,,043813.76*41 2021-02-18T04:38:14.992Z,1613623094.992 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.084155,,,,043813.76*41 2021-02-18T04:38:16.604Z,1613623096.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:19.423Z,1613623099.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:22.243Z,1613623102.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:25.103Z,1613623105.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:25.876Z,1613623105.876 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:38:26.270Z,1613623106.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:38:27.100Z,1613623107.100 [Micromodem](INFO): Nmea in: $SNTTA,0.090439,,,0.098014,043825.89*54 2021-02-18T04:38:27.148Z,1613623107.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.899994 m, bearing: 82.640399 deg, deltaT: 23.751335 s, approachRate: 0.773009 m/s, LOS rate: 0.360425 deg/s, posRepo size: 4 2021-02-18T04:38:29.580Z,1613623109.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:30.388Z,1613623110.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:38:30.732Z,1613623110.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:38:31.564Z,1613623111.564 [Micromodem](INFO): Nmea in: $SNTTA,0.092912,,,0.095442,043830.40*59 2021-02-18T04:38:31.597Z,1613623111.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.899994 m, bearing: 82.561783 deg, deltaT: 4.502304 s, approachRate: 0.000000 m/s, LOS rate: -0.017461 deg/s, posRepo size: 4 2021-02-18T04:38:33.989Z,1613623113.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:34.756Z,1613623114.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:38:35.160Z,1613623115.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:38:35.987Z,1613623115.987 [Micromodem](INFO): Nmea in: $SNTTA,0.095023,,,0.097536,043834.77*55 2021-02-18T04:38:36.021Z,1613623116.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.679993 m, bearing: 78.306200 deg, deltaT: 4.372944 s, approachRate: 1.550443 m/s, LOS rate: -0.973162 deg/s, posRepo size: 4 2021-02-18T04:38:38.405Z,1613623118.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:39.196Z,1613623119.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:38:39.603Z,1613623119.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:38:40.424Z,1613623120.424 [Micromodem](INFO): Nmea in: $SNTTA,0.097406,,,,043839.21*4A 2021-02-18T04:38:40.458Z,1613623120.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.279999 m, bearing: 77.749969 deg, deltaT: 4.492578 s, approachRate: 0.801323 m/s, LOS rate: -0.123811 deg/s, posRepo size: 4 2021-02-18T04:38:42.909Z,1613623122.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:43.690Z,1613623123.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:38:44.079Z,1613623124.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:38:44.901Z,1613623124.901 [Micromodem](INFO): Nmea in: $SNTTA,0.099700,,0.113194,,043843.70*59 2021-02-18T04:38:44.969Z,1613623124.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.820007 m, bearing: 80.022326 deg, deltaT: 4.442041 s, approachRate: 0.796933 m/s, LOS rate: 0.511557 deg/s, posRepo size: 4 2021-02-18T04:38:47.293Z,1613623127.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:48.084Z,1613623128.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:38:48.490Z,1613623128.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:38:49.312Z,1613623129.312 [Micromodem](INFO): Nmea in: $SNTTA,0.102058,,,,043848.10*4C 2021-02-18T04:38:49.354Z,1613623129.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.300018 m, bearing: 70.964136 deg, deltaT: 4.422348 s, approachRate: 0.786915 m/s, LOS rate: -2.048276 deg/s, posRepo size: 4 2021-02-18T04:38:49.354Z,1613623129.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.30 m. Resuming terminal guidance. 2021-02-18T04:38:49.354Z,1613623129.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T04:38:51.752Z,1613623131.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:52.534Z,1613623132.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:38:52.950Z,1613623132.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:38:53.779Z,1613623133.779 [Micromodem](INFO): Nmea in: $SNTTA,0.104343,,,,043852.55*49 2021-02-18T04:38:53.863Z,1613623133.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.659988 m, bearing: 72.629786 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T04:38:53.864Z,1613623133.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 72.629786deg and heading rate command to 0 deg/s. 2021-02-18T04:38:56.197Z,1613623136.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:38:57.064Z,1613623137.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:38:57.403Z,1613623137.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:38:58.263Z,1613623138.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.659988 m, bearing: 67.342052 deg, deltaT: 4.540054 s, approachRate: 0.000000 m/s, LOS rate: -1.164685 deg/s, posRepo size: 2 2021-02-18T04:38:58.267Z,1613623138.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.659988 m, bearing: 67.342052 deg, approachRate: 0.000000 m/s, LOS rate: -1.164685 deg/s, cmd update: -4.658741 deg/s, cmd heading: 72.629786 deg, new cmd heading: 72.629786 deg. 2021-02-18T04:38:58.600Z,1613623138.600 [Micromodem](INFO): Nmea in: $SNTTA,0.106703,,,,043857.08*46 2021-02-18T04:39:00.639Z,1613623140.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:01.417Z,1613623141.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:39:01.854Z,1613623141.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:39:02.633Z,1613623142.633 [Micromodem](INFO): Nmea in: $SNTTA,0.108835,,,,043901.43*4F 2021-02-18T04:39:03.454Z,1613623143.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:05.051Z,1613623145.051 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:39:06.280Z,1613623146.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:07.078Z,1613623147.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:39:07.487Z,1613623147.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:39:07.883Z,1613623147.883 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,08C,000,0E4 4,186,80,80,71,FF 2021-02-18T04:39:08.296Z,1613623148.296 [Micromodem](INFO): Nmea in: $SNTTA,0.111189,,,,043907.09*41 2021-02-18T04:39:09.129Z,1613623149.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:11.979Z,1613623151.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:14.812Z,1613623154.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:15.556Z,1613623155.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:39:15.980Z,1613623155.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:39:16.366Z,1613623156.366 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,E10,000,0E4 4,186,80,80,71,FF 2021-02-18T04:39:16.808Z,1613623156.808 [Micromodem](INFO): Nmea in: $SNTTA,0.113391,,,,043915.57*40 2021-02-18T04:39:17.596Z,1613623157.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:20.097Z,1613623160.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:22.910Z,1613623162.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:23.649Z,1613623163.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:39:24.089Z,1613623164.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:39:24.880Z,1613623164.880 [Micromodem](INFO): Nmea in: $SNTTA,0.113478,,,,043923.66*47 2021-02-18T04:39:24.938Z,1613623164.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.160004 m, bearing: 343.797681 deg, deltaT: 26.589529 s, approachRate: 0.507719 m/s, LOS rate: -3.142003 deg/s, posRepo size: 3 2021-02-18T04:39:24.944Z,1613623164.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.160004 m, bearing: 343.797681 deg, approachRate: 0.507719 m/s, LOS rate: -3.142003 deg/s, cmd update: -12.000000 deg/s, cmd heading: 308.789655 deg, new cmd heading: 306.740116 deg. 2021-02-18T04:39:27.297Z,1613623167.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:28.085Z,1613623168.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:39:28.492Z,1613623168.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:39:29.312Z,1613623169.312 [Micromodem](INFO): Nmea in: $SNTTA,0.112792,,,,043928.10*4B 2021-02-18T04:39:29.334Z,1613623169.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.160004 m, bearing: 261.758667 deg, deltaT: 4.446471 s, approachRate: 0.000000 m/s, LOS rate: -18.450366 deg/s, posRepo size: 4 2021-02-18T04:39:29.335Z,1613623169.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.450366 deg/s. Setting heading cmd to target bearing of 261.758667deg and heading rate command to 0 deg/s. 2021-02-18T04:39:31.732Z,1613623171.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:32.524Z,1613623172.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:39:32.936Z,1613623172.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:39:33.764Z,1613623173.764 [Micromodem](INFO): Nmea in: $SNTTA,0.111483,,,,043932.54*40 2021-02-18T04:39:33.831Z,1613623173.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.160004 m, bearing: 267.420894 deg, deltaT: 4.404162 s, approachRate: 0.000000 m/s, LOS rate: 1.285654 deg/s, posRepo size: 4 2021-02-18T04:39:33.842Z,1613623173.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.160004 m, bearing: 267.420894 deg, approachRate: 0.000000 m/s, LOS rate: 1.285654 deg/s, cmd update: 5.142615 deg/s, cmd heading: 261.758667 deg, new cmd heading: 261.758667 deg. 2021-02-18T04:39:35.925Z,1613623175.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:36.164Z,1613623176.164 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-02-18T04:39:36.166Z,1613623176.166 [BPC1](INFO): Received data from all battery sticks. 2021-02-18T04:39:36.564Z,1613623176.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:39:36.976Z,1613623176.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:39:37.840Z,1613623177.840 [Micromodem](INFO): Nmea in: $SNTTA,0.110431,,,,043936.58*40 2021-02-18T04:39:37.901Z,1613623177.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.360001 m, bearing: 260.126361 deg, deltaT: 4.028603 s, approachRate: -1.191481 m/s, LOS rate: -1.810685 deg/s, posRepo size: 4 2021-02-18T04:39:37.903Z,1613623177.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.360001 m, bearing: 260.126361 deg, approachRate: -1.191481 m/s, LOS rate: -1.810685 deg/s, cmd update: -7.242742 deg/s, cmd heading: 282.473515 deg, new cmd heading: 285.090082 deg. 2021-02-18T04:39:40.244Z,1613623180.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:41.013Z,1613623181.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:39:41.419Z,1613623181.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:39:42.244Z,1613623182.244 [Micromodem](INFO): Nmea in: $SNTTA,0.108236,,,,043941.03*46 2021-02-18T04:39:42.262Z,1613623182.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.180008 m, bearing: 259.727451 deg, deltaT: 4.527724 s, approachRate: -0.702338 m/s, LOS rate: -0.088104 deg/s, posRepo size: 4 2021-02-18T04:39:42.284Z,1613623182.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.180008 m, bearing: 259.727451 deg, approachRate: -0.702338 m/s, LOS rate: -0.088104 deg/s, cmd update: -0.352416 deg/s, cmd heading: 249.698543 deg, new cmd heading: 247.200456 deg. 2021-02-18T04:39:44.659Z,1613623184.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:45.452Z,1613623185.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:39:45.870Z,1613623185.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:39:46.684Z,1613623186.684 [Micromodem](INFO): Nmea in: $SNTTA,0.106419,,,,043945.46*46 2021-02-18T04:39:46.706Z,1613623186.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.479996 m, bearing: 260.442271 deg, deltaT: 4.361653 s, approachRate: -0.619034 m/s, LOS rate: 0.163887 deg/s, posRepo size: 4 2021-02-18T04:39:46.708Z,1613623186.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.479996 m, bearing: 260.442271 deg, approachRate: -0.619034 m/s, LOS rate: 0.163887 deg/s, cmd update: 0.655550 deg/s, cmd heading: 248.160001 deg, new cmd heading: 248.010907 deg. 2021-02-18T04:39:49.128Z,1613623189.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:49.914Z,1613623189.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:39:50.434Z,1613623190.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:39:51.268Z,1613623191.268 [Micromodem](INFO): Nmea in: $SNTTA,0.104464,,,,043949.92*4B 2021-02-18T04:39:51.298Z,1613623191.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.479996 m, bearing: 260.079916 deg, deltaT: 4.616495 s, approachRate: -0.649844 m/s, LOS rate: -0.078491 deg/s, posRepo size: 4 2021-02-18T04:39:51.300Z,1613623191.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.479996 m, bearing: 260.079916 deg, approachRate: -0.649844 m/s, LOS rate: -0.078491 deg/s, cmd update: -0.313966 deg/s, cmd heading: 251.186326 deg, new cmd heading: 251.447580 deg. 2021-02-18T04:39:53.708Z,1613623193.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:54.477Z,1613623194.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:39:54.878Z,1613623194.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:39:55.707Z,1613623195.707 [Micromodem](INFO): Nmea in: $SNTTA,0.102532,,,,043954.49*45 2021-02-18T04:39:55.726Z,1613623195.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.599991 m, bearing: 261.170561 deg, deltaT: 4.418251 s, approachRate: -0.651843 m/s, LOS rate: 0.246850 deg/s, posRepo size: 4 2021-02-18T04:39:55.728Z,1613623195.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.599991 m, bearing: 261.170561 deg, approachRate: -0.651843 m/s, LOS rate: 0.246850 deg/s, cmd update: 0.987399 deg/s, cmd heading: 249.799152 deg, new cmd heading: 249.670907 deg. 2021-02-18T04:39:58.161Z,1613623198.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:39:58.917Z,1613623198.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:39:59.322Z,1613623199.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:00.148Z,1613623200.148 [Micromodem](INFO): Nmea in: $SNTTA,0.100479,,,,043958.93*42 2021-02-18T04:40:00.203Z,1613623200.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.480011 m, bearing: 261.750826 deg, deltaT: 4.502019 s, approachRate: -0.693018 m/s, LOS rate: 0.128890 deg/s, posRepo size: 4 2021-02-18T04:40:00.206Z,1613623200.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.480011 m, bearing: 261.750826 deg, approachRate: -0.693018 m/s, LOS rate: 0.128890 deg/s, cmd update: 0.515560 deg/s, cmd heading: 254.228360 deg, new cmd heading: 254.622323 deg. 2021-02-18T04:40:02.575Z,1613623202.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:40:03.360Z,1613623203.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:40:03.786Z,1613623203.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:04.595Z,1613623204.595 [Micromodem](INFO): Nmea in: $SNTTA,0.098496,,,,044003.37*4D 2021-02-18T04:40:04.618Z,1613623204.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.479996 m, bearing: 263.042633 deg, deltaT: 4.377540 s, approachRate: -0.685320 m/s, LOS rate: 0.295099 deg/s, posRepo size: 4 2021-02-18T04:40:04.620Z,1613623204.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.479996 m, bearing: 263.042633 deg, approachRate: -0.685320 m/s, LOS rate: 0.295099 deg/s, cmd update: 1.180396 deg/s, cmd heading: 256.493650 deg, new cmd heading: 256.710751 deg. 2021-02-18T04:40:07.044Z,1613623207.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:40:07.825Z,1613623207.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:40:08.213Z,1613623208.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:09.044Z,1613623209.044 [Micromodem](INFO): Nmea in: $SNTTA,0.096499,,,,044007.84*40 2021-02-18T04:40:09.098Z,1613623209.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.539993 m, bearing: 262.717380 deg, deltaT: 4.442138 s, approachRate: -0.661844 m/s, LOS rate: -0.073220 deg/s, posRepo size: 4 2021-02-18T04:40:09.100Z,1613623209.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.539993 m, bearing: 262.717380 deg, approachRate: -0.661844 m/s, LOS rate: -0.073220 deg/s, cmd update: -0.292880 deg/s, cmd heading: 261.737003 deg, new cmd heading: 262.278231 deg. 2021-02-18T04:40:11.458Z,1613623211.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:40:12.263Z,1613623212.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:40:12.658Z,1613623212.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:13.488Z,1613623213.488 [Micromodem](INFO): Nmea in: $SNTTA,0.094347,,,,044012.27*4B 2021-02-18T04:40:13.533Z,1613623213.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.360001 m, bearing: 263.121372 deg, deltaT: 4.491162 s, approachRate: -0.708056 m/s, LOS rate: 0.089953 deg/s, posRepo size: 4 2021-02-18T04:40:13.539Z,1613623213.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.360001 m, bearing: 263.121372 deg, approachRate: -0.708056 m/s, LOS rate: 0.089953 deg/s, cmd update: 0.359811 deg/s, cmd heading: 260.421596 deg, new cmd heading: 260.303643 deg. 2021-02-18T04:40:15.947Z,1613623215.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:40:16.704Z,1613623216.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:40:17.123Z,1613623217.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:17.928Z,1613623217.928 [Micromodem](INFO): Nmea in: $SNTTA,0.092346,,,,044016.71*4B 2021-02-18T04:40:17.982Z,1613623217.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.360001 m, bearing: 262.934798 deg, deltaT: 4.429020 s, approachRate: -0.677351 m/s, LOS rate: -0.042125 deg/s, posRepo size: 4 2021-02-18T04:40:17.995Z,1613623217.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.360001 m, bearing: 262.934798 deg, approachRate: -0.677351 m/s, LOS rate: -0.042125 deg/s, cmd update: -0.168501 deg/s, cmd heading: 262.013755 deg, new cmd heading: 262.167236 deg. 2021-02-18T04:40:20.374Z,1613623220.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:40:21.141Z,1613623221.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:40:21.545Z,1613623221.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:22.368Z,1613623222.368 [Micromodem](INFO): Nmea in: $SNTTA,0.090183,,,,044021.15*44 2021-02-18T04:40:22.410Z,1613623222.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.059998 m, bearing: 263.514763 deg, deltaT: 4.456140 s, approachRate: -0.740552 m/s, LOS rate: 0.130150 deg/s, posRepo size: 4 2021-02-18T04:40:22.412Z,1613623222.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.059998 m, bearing: 263.514763 deg, approachRate: -0.740552 m/s, LOS rate: 0.130150 deg/s, cmd update: 0.520599 deg/s, cmd heading: 261.262889 deg, new cmd heading: 261.195833 deg. 2021-02-18T04:40:24.886Z,1613623224.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:40:25.590Z,1613623225.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:40:26.002Z,1613623226.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:26.844Z,1613623226.844 [Micromodem](INFO): Nmea in: $SNTTA,0.088195,,0.104002,,044025.60*55 2021-02-18T04:40:26.909Z,1613623226.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.120010 m, bearing: 264.123688 deg, deltaT: 4.412531 s, approachRate: -0.666281 m/s, LOS rate: 0.137999 deg/s, posRepo size: 4 2021-02-18T04:40:26.910Z,1613623226.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.120010 m, bearing: 264.123688 deg, approachRate: -0.666281 m/s, LOS rate: 0.137999 deg/s, cmd update: 0.551996 deg/s, cmd heading: 263.551607 deg, new cmd heading: 263.812288 deg. 2021-02-18T04:40:29.251Z,1613623229.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:40:30.107Z,1613623230.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:40:30.439Z,1613623230.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:31.283Z,1613623231.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.240005 m, bearing: 264.130846 deg, deltaT: 4.492032 s, approachRate: -0.641136 m/s, LOS rate: 0.001593 deg/s, posRepo size: 4 2021-02-18T04:40:31.286Z,1613623231.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.240005 m, bearing: 264.130846 deg, approachRate: -0.641136 m/s, LOS rate: 0.001593 deg/s, cmd update: 0.006374 deg/s, cmd heading: 266.042244 deg, new cmd heading: 266.241508 deg. 2021-02-18T04:40:31.656Z,1613623231.656 [Micromodem](INFO): Nmea in: $SNTTA,0.086015,,,,044030.12*4A 2021-02-18T04:40:33.685Z,1613623233.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:40:34.472Z,1613623234.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:40:34.879Z,1613623234.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:35.700Z,1613623235.700 [Micromodem](INFO): Nmea in: $SNTTA,0.083988,,,,044034.48*49 2021-02-18T04:40:35.737Z,1613623235.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.820000 m, bearing: 264.604097 deg, deltaT: 4.389977 s, approachRate: -0.779049 m/s, LOS rate: 0.107802 deg/s, posRepo size: 4 2021-02-18T04:40:35.738Z,1613623235.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.820000 m, bearing: 264.604097 deg, approachRate: -0.779049 m/s, LOS rate: 0.107802 deg/s, cmd update: 0.431210 deg/s, cmd heading: 266.070228 deg, new cmd heading: 266.072945 deg. 2021-02-18T04:40:38.156Z,1613623238.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:40:38.916Z,1613623238.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:40:39.330Z,1613623239.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:40.156Z,1613623240.156 [Micromodem](INFO): Nmea in: $SNTTA,0.081922,,,,044038.93*41 2021-02-18T04:40:40.206Z,1613623240.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.699997 m, bearing: 262.497448 deg, deltaT: 4.483000 s, approachRate: -0.695963 m/s, LOS rate: -0.469919 deg/s, posRepo size: 4 2021-02-18T04:40:40.208Z,1613623240.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.699997 m, bearing: 262.497448 deg, approachRate: -0.695963 m/s, LOS rate: -0.469919 deg/s, cmd update: -1.879678 deg/s, cmd heading: 267.991414 deg, new cmd heading: 268.181103 deg. 2021-02-18T04:40:42.583Z,1613623242.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:40:43.361Z,1613623243.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:40:43.802Z,1613623243.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:44.588Z,1613623244.588 [Micromodem](INFO): Nmea in: $SNTTA,0.079760,,,,044043.37*4C 2021-02-18T04:40:44.630Z,1613623244.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.400002 m, bearing: 263.444303 deg, deltaT: 4.388430 s, approachRate: -0.751976 m/s, LOS rate: 0.215762 deg/s, posRepo size: 4 2021-02-18T04:40:44.636Z,1613623244.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.400002 m, bearing: 263.444303 deg, approachRate: -0.751976 m/s, LOS rate: 0.215762 deg/s, cmd update: 0.863047 deg/s, cmd heading: 259.690852 deg, new cmd heading: 258.847972 deg. 2021-02-18T04:40:47.039Z,1613623247.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:40:47.822Z,1613623247.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:40:48.209Z,1613623248.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:49.040Z,1613623249.040 [Micromodem](INFO): Nmea in: $SNTTA,0.077664,,,,044047.83*4C 2021-02-18T04:40:49.087Z,1613623249.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.580002 m, bearing: 264.412469 deg, deltaT: 4.460798 s, approachRate: -0.632174 m/s, LOS rate: 0.217039 deg/s, posRepo size: 4 2021-02-18T04:40:49.089Z,1613623249.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.580002 m, bearing: 264.412469 deg, approachRate: -0.632174 m/s, LOS rate: 0.217039 deg/s, cmd update: 0.868155 deg/s, cmd heading: 263.526869 deg, new cmd heading: 263.924237 deg. 2021-02-18T04:40:51.455Z,1613623251.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:40:52.250Z,1613623252.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:40:52.654Z,1613623252.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:53.476Z,1613623253.476 [Micromodem](INFO): Nmea in: $SNTTA,0.075492,,,,044052.26*4E 2021-02-18T04:40:53.512Z,1613623253.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.100006 m, bearing: 264.960168 deg, deltaT: 4.466719 s, approachRate: -0.779094 m/s, LOS rate: 0.122618 deg/s, posRepo size: 4 2021-02-18T04:40:53.514Z,1613623253.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.100006 m, bearing: 264.960168 deg, approachRate: -0.779094 m/s, LOS rate: 0.122618 deg/s, cmd update: 0.490471 deg/s, cmd heading: 267.418459 deg, new cmd heading: 267.768108 deg. 2021-02-18T04:40:55.934Z,1613623255.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:40:56.698Z,1613623256.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:40:57.106Z,1613623257.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:40:57.924Z,1613623257.924 [Micromodem](INFO): Nmea in: $SNTTA,0.073349,,,,044056.71*4F 2021-02-18T04:40:57.974Z,1613623257.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.919998 m, bearing: 265.243293 deg, deltaT: 4.430234 s, approachRate: -0.717797 m/s, LOS rate: 0.063907 deg/s, posRepo size: 4 2021-02-18T04:40:57.976Z,1613623257.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.919998 m, bearing: 265.243293 deg, approachRate: -0.717797 m/s, LOS rate: 0.063907 deg/s, cmd update: 0.255630 deg/s, cmd heading: 269.589383 deg, new cmd heading: 269.804701 deg. 2021-02-18T04:41:00.345Z,1613623260.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:01.137Z,1613623261.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:01.541Z,1613623261.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:02.364Z,1613623262.364 [Micromodem](INFO): Nmea in: $SNTTA,0.071251,,,,044101.15*44 2021-02-18T04:41:02.402Z,1613623262.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.740005 m, bearing: 265.334654 deg, deltaT: 4.470999 s, approachRate: -0.711249 m/s, LOS rate: 0.020434 deg/s, posRepo size: 4 2021-02-18T04:41:02.408Z,1613623262.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.740005 m, bearing: 265.334654 deg, approachRate: -0.711249 m/s, LOS rate: 0.020434 deg/s, cmd update: 0.081736 deg/s, cmd heading: 270.732272 deg, new cmd heading: 270.833588 deg. 2021-02-18T04:41:04.891Z,1613623264.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:05.580Z,1613623265.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:05.989Z,1613623265.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:06.845Z,1613623266.845 [Micromodem](INFO): Nmea in: $SNTTA,0.069113,,,0.080638,044105.59*5F 2021-02-18T04:41:06.893Z,1613623266.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.559998 m, bearing: 264.454543 deg, deltaT: 4.406666 s, approachRate: -0.721636 m/s, LOS rate: -0.199723 deg/s, posRepo size: 4 2021-02-18T04:41:06.895Z,1613623266.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.559998 m, bearing: 264.454543 deg, approachRate: -0.721636 m/s, LOS rate: -0.199723 deg/s, cmd update: -0.798890 deg/s, cmd heading: 271.092805 deg, new cmd heading: 271.131718 deg. 2021-02-18T04:41:09.231Z,1613623269.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:10.030Z,1613623270.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:10.430Z,1613623270.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:11.261Z,1613623271.261 [Micromodem](INFO): Nmea in: $SNTTA,0.067030,,,,044110.04*46 2021-02-18T04:41:11.304Z,1613623271.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.080002 m, bearing: 263.252047 deg, deltaT: 4.491343 s, approachRate: -0.774823 m/s, LOS rate: -0.267736 deg/s, posRepo size: 4 2021-02-18T04:41:11.305Z,1613623271.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.080002 m, bearing: 263.252047 deg, approachRate: -0.774823 m/s, LOS rate: -0.267736 deg/s, cmd update: -1.070945 deg/s, cmd heading: 267.505093 deg, new cmd heading: 267.205108 deg. 2021-02-18T04:41:13.677Z,1613623273.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:14.469Z,1613623274.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:14.876Z,1613623274.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:15.700Z,1613623275.700 [Micromodem](INFO): Nmea in: $SNTTA,0.064794,,,,044114.48*40 2021-02-18T04:41:15.715Z,1613623275.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.959999 m, bearing: 264.327501 deg, deltaT: 4.389986 s, approachRate: -0.710709 m/s, LOS rate: 0.244979 deg/s, posRepo size: 4 2021-02-18T04:41:15.717Z,1613623275.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.959999 m, bearing: 264.327501 deg, approachRate: -0.710709 m/s, LOS rate: 0.244979 deg/s, cmd update: 0.979916 deg/s, cmd heading: 262.803055 deg, new cmd heading: 262.357388 deg. 2021-02-18T04:41:18.153Z,1613623278.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:18.918Z,1613623278.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:19.318Z,1613623279.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:20.172Z,1613623280.172 [Micromodem](INFO): Nmea in: $SNTTA,0.062637,,0.063774,,044118.93*5B 2021-02-18T04:41:20.223Z,1613623280.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.839996 m, bearing: 266.113159 deg, deltaT: 4.502013 s, approachRate: -0.693024 m/s, LOS rate: 0.396635 deg/s, posRepo size: 4 2021-02-18T04:41:20.225Z,1613623280.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.839996 m, bearing: 266.113159 deg, approachRate: -0.693024 m/s, LOS rate: 0.396635 deg/s, cmd update: 1.586541 deg/s, cmd heading: 267.182910 deg, new cmd heading: 267.628581 deg. 2021-02-18T04:41:22.576Z,1613623282.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:23.356Z,1613623283.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:23.795Z,1613623283.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:24.584Z,1613623284.584 [Micromodem](INFO): Nmea in: $SNTTA,0.060608,,,,044123.37*4C 2021-02-18T04:41:24.624Z,1613623284.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.840004 m, bearing: 264.542406 deg, deltaT: 4.397367 s, approachRate: -0.682225 m/s, LOS rate: -0.357203 deg/s, posRepo size: 4 2021-02-18T04:41:24.625Z,1613623284.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.840004 m, bearing: 264.542406 deg, approachRate: -0.682225 m/s, LOS rate: -0.357203 deg/s, cmd update: -1.428812 deg/s, cmd heading: 274.204567 deg, new cmd heading: 274.886063 deg. 2021-02-18T04:41:27.028Z,1613623287.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:27.818Z,1613623287.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:28.225Z,1613623288.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:29.036Z,1613623289.036 [Micromodem](INFO): Nmea in: $SNTTA,0.058644,,,,044127.83*44 2021-02-18T04:41:29.089Z,1613623289.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.480003 m, bearing: 263.797424 deg, deltaT: 4.424465 s, approachRate: -0.759414 m/s, LOS rate: -0.168378 deg/s, posRepo size: 4 2021-02-18T04:41:29.090Z,1613623289.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.480003 m, bearing: 263.797424 deg, approachRate: -0.759414 m/s, LOS rate: -0.168378 deg/s, cmd update: -0.673512 deg/s, cmd heading: 267.877186 deg, new cmd heading: 267.210804 deg. 2021-02-18T04:41:31.128Z,1613623291.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:31.867Z,1613623291.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:32.261Z,1613623292.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:33.084Z,1613623293.084 [Micromodem](INFO): Nmea in: $SNTTA,0.056590,,,,044131.88*4C 2021-02-18T04:41:33.134Z,1613623293.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.599998 m, bearing: 263.643553 deg, deltaT: 4.044411 s, approachRate: -0.712095 m/s, LOS rate: -0.038045 deg/s, posRepo size: 4 2021-02-18T04:41:33.136Z,1613623293.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.599998 m, bearing: 263.643553 deg, approachRate: -0.712095 m/s, LOS rate: -0.038045 deg/s, cmd update: -0.152181 deg/s, cmd heading: 265.153221 deg, new cmd heading: 264.838672 deg. 2021-02-18T04:41:35.491Z,1613623295.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:36.284Z,1613623296.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:36.698Z,1613623296.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:37.516Z,1613623297.516 [Micromodem](INFO): Nmea in: $SNTTA,0.054580,,,,044136.29*43 2021-02-18T04:41:37.537Z,1613623297.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.600006 m, bearing: 265.255806 deg, deltaT: 4.484221 s, approachRate: -0.669011 m/s, LOS rate: 0.359539 deg/s, posRepo size: 4 2021-02-18T04:41:37.539Z,1613623297.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.600006 m, bearing: 265.255806 deg, approachRate: -0.669011 m/s, LOS rate: 0.359539 deg/s, cmd update: 1.438156 deg/s, cmd heading: 264.472026 deg, new cmd heading: 264.412009 deg. 2021-02-18T04:41:39.974Z,1613623299.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:40.734Z,1613623300.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:41.134Z,1613623301.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:41.969Z,1613623301.969 [Micromodem](INFO): Nmea in: $SNTTA,0.052281,,0.075501,,044140.75*53 2021-02-18T04:41:42.043Z,1613623302.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.240005 m, bearing: 266.073106 deg, deltaT: 4.405491 s, approachRate: -0.762685 m/s, LOS rate: 0.185519 deg/s, posRepo size: 4 2021-02-18T04:41:42.045Z,1613623302.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.240005 m, bearing: 266.073106 deg, approachRate: -0.762685 m/s, LOS rate: 0.185519 deg/s, cmd update: 0.742074 deg/s, cmd heading: 270.818976 deg, new cmd heading: 271.513468 deg. 2021-02-18T04:41:44.379Z,1613623304.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:45.197Z,1613623305.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:45.577Z,1613623305.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:46.412Z,1613623306.412 [Micromodem](INFO): Nmea in: $SNTTA,0.050119,,,,044145.21*4F 2021-02-18T04:41:46.454Z,1613623306.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.000008 m, bearing: 264.124153 deg, deltaT: 4.482214 s, approachRate: -0.722857 m/s, LOS rate: -0.434819 deg/s, posRepo size: 4 2021-02-18T04:41:46.460Z,1613623306.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.000008 m, bearing: 264.124153 deg, approachRate: -0.722857 m/s, LOS rate: -0.434819 deg/s, cmd update: -1.739277 deg/s, cmd heading: 274.142306 deg, new cmd heading: 274.453760 deg. 2021-02-18T04:41:48.897Z,1613623308.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:49.617Z,1613623309.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:50.021Z,1613623310.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:50.872Z,1613623310.872 [Micromodem](INFO): Nmea in: $SNTTA,0.048119,,,,044149.63*4C 2021-02-18T04:41:50.906Z,1613623310.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.939995 m, bearing: 265.557345 deg, deltaT: 4.426786 s, approachRate: -0.691249 m/s, LOS rate: 0.323755 deg/s, posRepo size: 4 2021-02-18T04:41:50.908Z,1613623310.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.939995 m, bearing: 265.557345 deg, approachRate: -0.691249 m/s, LOS rate: 0.323755 deg/s, cmd update: 1.295018 deg/s, cmd heading: 266.475891 deg, new cmd heading: 265.669969 deg. 2021-02-18T04:41:53.284Z,1613623313.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:54.066Z,1613623314.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:54.477Z,1613623314.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:55.292Z,1613623315.292 [Micromodem](INFO): Nmea in: $SNTTA,0.045812,,,,044154.08*42 2021-02-18T04:41:55.324Z,1613623315.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.459999 m, bearing: 263.826138 deg, deltaT: 4.456101 s, approachRate: -0.780951 m/s, LOS rate: -0.388503 deg/s, posRepo size: 4 2021-02-18T04:41:55.326Z,1613623315.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.459999 m, bearing: 263.826138 deg, approachRate: -0.780951 m/s, LOS rate: -0.388503 deg/s, cmd update: -1.554011 deg/s, cmd heading: 272.276430 deg, new cmd heading: 272.797665 deg. 2021-02-18T04:41:57.727Z,1613623317.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:41:58.505Z,1613623318.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:41:58.910Z,1613623318.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:41:59.732Z,1613623319.732 [Micromodem](INFO): Nmea in: $SNTTA,0.043860,,,,044158.52*42 2021-02-18T04:41:59.816Z,1613623319.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.580002 m, bearing: 265.293208 deg, deltaT: 4.404210 s, approachRate: -0.653919 m/s, LOS rate: 0.333106 deg/s, posRepo size: 4 2021-02-18T04:41:59.818Z,1613623319.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.580002 m, bearing: 265.293208 deg, approachRate: -0.653919 m/s, LOS rate: 0.333106 deg/s, cmd update: 1.332425 deg/s, cmd heading: 265.432244 deg, new cmd heading: 264.670591 deg. 2021-02-18T04:42:02.201Z,1613623322.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:42:02.949Z,1613623322.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:42:03.360Z,1613623323.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:42:04.178Z,1613623324.178 [Micromodem](INFO): Nmea in: $SNTTA,0.041552,,0.065396,,044202.96*59 2021-02-18T04:42:04.229Z,1613623324.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.100002 m, bearing: 265.521910 deg, deltaT: 4.537809 s, approachRate: -0.766890 m/s, LOS rate: 0.050399 deg/s, posRepo size: 4 2021-02-18T04:42:04.232Z,1613623324.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.100002 m, bearing: 265.521910 deg, approachRate: -0.766890 m/s, LOS rate: 0.050399 deg/s, cmd update: 0.201597 deg/s, cmd heading: 271.472815 deg, new cmd heading: 271.965268 deg. 2021-02-18T04:42:06.623Z,1613623326.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:42:07.405Z,1613623327.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:42:07.815Z,1613623327.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:42:08.644Z,1613623328.644 [Micromodem](INFO): Nmea in: $SNTTA,0.039694,,,,044207.42*42 2021-02-18T04:42:08.666Z,1613623328.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.980000 m, bearing: 264.689556 deg, deltaT: 4.371560 s, approachRate: -0.713705 m/s, LOS rate: -0.190402 deg/s, posRepo size: 4 2021-02-18T04:42:08.668Z,1613623328.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.980000 m, bearing: 264.689556 deg, approachRate: -0.713705 m/s, LOS rate: -0.190402 deg/s, cmd update: -0.761608 deg/s, cmd heading: 272.351740 deg, new cmd heading: 272.441833 deg. 2021-02-18T04:42:11.074Z,1613623331.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:42:11.872Z,1613623331.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:42:12.248Z,1613623332.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:42:13.092Z,1613623333.092 [Micromodem](INFO): Nmea in: $SNTTA,0.037376,,,,044211.89*45 2021-02-18T04:42:13.147Z,1613623333.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.859997 m, bearing: 264.752722 deg, deltaT: 4.435946 s, approachRate: -0.703346 m/s, LOS rate: 0.014239 deg/s, posRepo size: 4 2021-02-18T04:42:13.149Z,1613623333.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.859997 m, bearing: 264.752722 deg, approachRate: -0.703346 m/s, LOS rate: 0.014239 deg/s, cmd update: 0.056958 deg/s, cmd heading: 268.961190 deg, new cmd heading: 268.601671 deg. 2021-02-18T04:42:15.488Z,1613623335.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:42:16.285Z,1613623336.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:42:16.687Z,1613623336.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:42:17.512Z,1613623337.512 [Micromodem](INFO): Nmea in: $SNTTA,0.035346,,,,044216.30*41 2021-02-18T04:42:17.549Z,1613623337.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.799999 m, bearing: 264.276685 deg, deltaT: 4.480081 s, approachRate: -0.683023 m/s, LOS rate: -0.106256 deg/s, posRepo size: 4 2021-02-18T04:42:17.551Z,1613623337.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.799999 m, bearing: 264.276685 deg, approachRate: -0.683023 m/s, LOS rate: -0.106256 deg/s, cmd update: -0.425025 deg/s, cmd heading: 269.216146 deg, new cmd heading: 269.239061 deg. 2021-02-18T04:42:19.964Z,1613623339.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:42:20.730Z,1613623340.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:42:21.130Z,1613623341.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:42:21.960Z,1613623341.960 [Micromodem](INFO): Nmea in: $SNTTA,0.033239,,,,044220.74*4B 2021-02-18T04:42:22.014Z,1613623342.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.679996 m, bearing: 266.200913 deg, deltaT: 4.401340 s, approachRate: -0.708876 m/s, LOS rate: 0.437191 deg/s, posRepo size: 4 2021-02-18T04:42:22.020Z,1613623342.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.679996 m, bearing: 266.200913 deg, approachRate: -0.708876 m/s, LOS rate: 0.437191 deg/s, cmd update: 1.748766 deg/s, cmd heading: 267.343773 deg, new cmd heading: 267.147683 deg. 2021-02-18T04:42:24.386Z,1613623344.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:42:25.200Z,1613623345.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:42:25.573Z,1613623345.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:42:26.408Z,1613623346.408 [Micromodem](INFO): Nmea in: $SNTTA,0.031104,,,,044225.21*41 2021-02-18T04:42:26.457Z,1613623346.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.439999 m, bearing: 265.361810 deg, deltaT: 4.476278 s, approachRate: -0.723815 m/s, LOS rate: -0.187455 deg/s, posRepo size: 4 2021-02-18T04:42:26.459Z,1613623346.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.439999 m, bearing: 265.361810 deg, approachRate: -0.723815 m/s, LOS rate: -0.187455 deg/s, cmd update: -0.749822 deg/s, cmd heading: 275.164911 deg, new cmd heading: 275.921637 deg. 2021-02-18T04:42:28.900Z,1613623348.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:42:29.614Z,1613623349.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:42:30.023Z,1613623350.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:42:30.868Z,1613623350.868 [Micromodem](INFO): Nmea in: $SNTTA,0.029108,,,,044229.62*4F 2021-02-18T04:42:30.914Z,1613623350.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.500000 m, bearing: 263.768136 deg, deltaT: 4.405387 s, approachRate: -0.667364 m/s, LOS rate: -0.361756 deg/s, posRepo size: 4 2021-02-18T04:42:30.916Z,1613623350.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.500000 m, bearing: 263.768136 deg, approachRate: -0.667364 m/s, LOS rate: -0.361756 deg/s, cmd update: -1.447023 deg/s, cmd heading: 271.858780 deg, new cmd heading: 271.498902 deg. 2021-02-18T04:42:33.264Z,1613623353.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:42:34.062Z,1613623354.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:42:34.462Z,1613623354.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:42:35.288Z,1613623355.288 [Micromodem](INFO): Nmea in: $SNTTA,0.027286,,,,044234.07*4B 2021-02-18T04:42:35.310Z,1613623355.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.259998 m, bearing: 263.998095 deg, deltaT: 4.490207 s, approachRate: -0.721571 m/s, LOS rate: 0.051213 deg/s, posRepo size: 4 2021-02-18T04:42:35.312Z,1613623355.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.259998 m, bearing: 263.998095 deg, approachRate: -0.721571 m/s, LOS rate: 0.051213 deg/s, cmd update: 0.204854 deg/s, cmd heading: 265.384624 deg, new cmd heading: 264.803090 deg. 2021-02-18T04:42:37.713Z,1613623357.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:42:38.518Z,1613623358.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:42:38.911Z,1613623358.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:42:39.741Z,1613623359.741 [Micromodem](INFO): Nmea in: $SNTTA,0.025272,,,,044238.53*4F 2021-02-18T04:42:39.828Z,1613623359.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.200001 m, bearing: 264.647318 deg, deltaT: 4.397616 s, approachRate: -0.695831 m/s, LOS rate: 0.147631 deg/s, posRepo size: 4 2021-02-18T04:42:39.829Z,1613623359.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.20 m. 2021-02-18T04:42:39.844Z,1613623359.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.200001 m, bearing: 264.647318 deg, approachRate: -0.695831 m/s, LOS rate: 0.147631 deg/s, cmd update: 0.590523 deg/s, cmd heading: 266.288809 deg, new cmd heading: 266.390025 deg. 2021-02-18T04:42:40.140Z,1613623360.140 [PowerOnly](INFO): Powering up loadControl 2021-02-18T04:42:42.217Z,1613623362.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:42:42.945Z,1613623362.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:42:43.349Z,1613623363.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:42:44.172Z,1613623364.172 [Micromodem](INFO): Nmea in: $SNTTA,0.022916,,,,044242.96*45 2021-02-18T04:42:44.236Z,1613623364.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.139996 m, bearing: 265.684551 deg, deltaT: 4.523812 s, approachRate: -0.676422 m/s, LOS rate: 0.229283 deg/s, posRepo size: 4 2021-02-18T04:42:44.236Z,1613623364.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.14 m. 2021-02-18T04:42:44.237Z,1613623364.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.14 m. 2021-02-18T04:42:44.237Z,1613623364.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T04:42:44.239Z,1613623364.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.139996 m, bearing: 265.684551 deg, approachRate: -0.676422 m/s, LOS rate: 0.229283 deg/s, cmd update: 0.917131 deg/s, cmd heading: 268.943591 deg, new cmd heading: 269.190524 deg. 2021-02-18T04:42:46.607Z,1613623366.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:42:47.389Z,1613623367.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:42:47.821Z,1613623367.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:42:48.623Z,1613623368.623 [Micromodem](INFO): Nmea in: $SNTTA,0.020799,,,,044247.40*40 2021-02-18T04:42:48.638Z,1613623368.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.020002 m, bearing: 265.911258 deg, deltaT: 4.376609 s, approachRate: -0.712879 m/s, LOS rate: 0.051800 deg/s, posRepo size: 4 2021-02-18T04:42:48.640Z,1613623368.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.020002 m, bearing: 265.911258 deg, approachRate: -0.712879 m/s, LOS rate: 0.051800 deg/s, cmd update: 0.207199 deg/s, cmd heading: 272.983347 deg, new cmd heading: 273.364973 deg. 2021-02-18T04:42:51.074Z,1613623371.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:42:51.863Z,1613623371.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:42:52.237Z,1613623372.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:42:53.073Z,1613623373.073 [Micromodem](INFO): Nmea in: $SNTTA,0.018615,,0.047740,,044251.88*53 2021-02-18T04:42:53.132Z,1613623373.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.720001 m, bearing: 264.448942 deg, deltaT: 4.431671 s, approachRate: -0.744640 m/s, LOS rate: -0.329969 deg/s, posRepo size: 4 2021-02-18T04:42:53.134Z,1613623373.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.720001 m, bearing: 264.448942 deg, approachRate: -0.744640 m/s, LOS rate: -0.329969 deg/s, cmd update: -1.319878 deg/s, cmd heading: 273.901561 deg, new cmd heading: 274.000569 deg. 2021-02-18T04:42:55.484Z,1613623375.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:42:56.276Z,1613623376.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:42:56.683Z,1613623376.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:42:57.515Z,1613623377.515 [Micromodem](INFO): Nmea in: $SNTTA,0.016676,,,,044256.29*4A 2021-02-18T04:42:57.534Z,1613623377.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.379997 m, bearing: 267.071270 deg, deltaT: 4.476024 s, approachRate: -0.522786 m/s, LOS rate: 0.585861 deg/s, posRepo size: 4 2021-02-18T04:42:57.536Z,1613623377.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.379997 m, bearing: 267.071270 deg, approachRate: -0.522786 m/s, LOS rate: 0.585861 deg/s, cmd update: 2.343444 deg/s, cmd heading: 267.993615 deg, new cmd heading: 267.460257 deg. 2021-02-18T04:42:59.966Z,1613623379.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:00.731Z,1613623380.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:01.131Z,1613623381.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:01.956Z,1613623381.956 [Micromodem](INFO): Nmea in: $SNTTA,0.014577,,,,044300.74*40 2021-02-18T04:43:02.009Z,1613623382.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.720001 m, bearing: 266.520702 deg, deltaT: 4.416249 s, approachRate: -0.828757 m/s, LOS rate: -0.124669 deg/s, posRepo size: 4 2021-02-18T04:43:02.011Z,1613623382.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.720001 m, bearing: 266.520702 deg, approachRate: -0.828757 m/s, LOS rate: -0.124669 deg/s, cmd update: -0.498675 deg/s, cmd heading: 278.342715 deg, new cmd heading: 279.428299 deg. 2021-02-18T04:43:04.380Z,1613623384.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:05.164Z,1613623385.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:05.571Z,1613623385.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:06.396Z,1613623386.396 [Micromodem](INFO): Nmea in: $SNTTA,0.012707,,,,044305.17*43 2021-02-18T04:43:06.412Z,1613623386.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.779997 m, bearing: 259.484788 deg, deltaT: 4.466911 s, approachRate: -0.658174 m/s, LOS rate: -1.575119 deg/s, posRepo size: 4 2021-02-18T04:43:06.414Z,1613623386.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.779997 m, bearing: 259.484788 deg, approachRate: -0.658174 m/s, LOS rate: -1.575119 deg/s, cmd update: -6.300474 deg/s, cmd heading: 276.115198 deg, new cmd heading: 275.916246 deg. 2021-02-18T04:43:08.918Z,1613623388.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:09.609Z,1613623389.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:10.037Z,1613623390.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:10.865Z,1613623390.865 [Micromodem](INFO): Nmea in: $SNTTA,0.011263,,,,044309.62*49 2021-02-18T04:43:10.932Z,1613623390.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.840000 m, bearing: 261.337818 deg, deltaT: 4.433604 s, approachRate: -0.663117 m/s, LOS rate: 0.417951 deg/s, posRepo size: 4 2021-02-18T04:43:10.934Z,1613623390.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.840000 m, bearing: 261.337818 deg, approachRate: -0.663117 m/s, LOS rate: 0.417951 deg/s, cmd update: 1.671805 deg/s, cmd heading: 248.180886 deg, new cmd heading: 245.151870 deg. 2021-02-18T04:43:13.261Z,1613623393.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:14.052Z,1613623394.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:14.466Z,1613623394.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:15.297Z,1613623395.297 [Micromodem](INFO): Nmea in: $SNTTA,0.008794,,,,044314.06*42 2021-02-18T04:43:15.324Z,1613623395.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.899998 m, bearing: 261.767273 deg, deltaT: 4.464926 s, approachRate: -0.658466 m/s, LOS rate: 0.096184 deg/s, posRepo size: 4 2021-02-18T04:43:15.326Z,1613623395.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.899998 m, bearing: 261.767273 deg, approachRate: -0.658466 m/s, LOS rate: 0.096184 deg/s, cmd update: 0.384736 deg/s, cmd heading: 255.645350 deg, new cmd heading: 256.334416 deg. 2021-02-18T04:43:17.706Z,1613623397.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:18.502Z,1613623398.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:18.910Z,1613623398.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:19.728Z,1613623399.728 [Micromodem](INFO): Nmea in: $SNTTA,0.006890,,,,044318.51*49 2021-02-18T04:43:19.798Z,1613623399.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.019998 m, bearing: 266.234599 deg, deltaT: 4.422242 s, approachRate: -0.651253 m/s, LOS rate: 1.010195 deg/s, posRepo size: 4 2021-02-18T04:43:19.806Z,1613623399.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.019998 m, bearing: 266.234599 deg, approachRate: -0.651253 m/s, LOS rate: 1.010195 deg/s, cmd update: 4.040780 deg/s, cmd heading: 257.345218 deg, new cmd heading: 257.518971 deg. 2021-02-18T04:43:22.204Z,1613623402.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:22.948Z,1613623402.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:23.345Z,1613623403.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:24.176Z,1613623404.176 [Micromodem](INFO): Nmea in: $SNTTA,0.005000,,0.019863,,044322.96*52 2021-02-18T04:43:24.230Z,1613623404.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.259999 m, bearing: 269.146254 deg, deltaT: 4.516134 s, approachRate: -0.611142 m/s, LOS rate: 0.644723 deg/s, posRepo size: 4 2021-02-18T04:43:24.232Z,1613623404.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.259999 m, bearing: 269.146254 deg, approachRate: -0.611142 m/s, LOS rate: 0.644723 deg/s, cmd update: 2.578892 deg/s, cmd heading: 275.501216 deg, new cmd heading: 277.143991 deg. 2021-02-18T04:43:26.613Z,1613623406.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:27.390Z,1613623407.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:27.818Z,1613623407.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:28.616Z,1613623408.616 [Micromodem](INFO): Nmea in: $SNTTA,0.004901,,,,044327.40*4E 2021-02-18T04:43:28.638Z,1613623408.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.020000 m, bearing: 272.764042 deg, deltaT: 4.356727 s, approachRate: -0.055087 m/s, LOS rate: 0.830391 deg/s, posRepo size: 4 2021-02-18T04:43:28.660Z,1613623408.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.020000 m, bearing: 272.764042 deg, approachRate: -0.055087 m/s, LOS rate: 0.830391 deg/s, cmd update: 3.321564 deg/s, cmd heading: 286.805680 deg, new cmd heading: 287.918585 deg. 2021-02-18T04:43:31.063Z,1613623411.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:31.865Z,1613623411.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:32.242Z,1613623412.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:33.073Z,1613623413.073 [Micromodem](INFO): Nmea in: $SNTTA,0.002480,,,,044331.88*4F 2021-02-18T04:43:33.125Z,1613623413.125 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T04:43:33.125Z,1613623413.125 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T04:43:33.125Z,1613623413.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T04:43:33.126Z,1613623413.126 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:43:33.126Z,1613623413.126 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T04:43:33.126Z,1613623413.126 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.539999 m 2021-02-18T04:43:33.126Z,1613623413.126 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T04:43:33.126Z,1613623413.126 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T04:43:33.126Z,1613623413.126 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T04:43:33.129Z,1613623413.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.539999 m, bearing: 272.031736 deg, deltaT: 4.448857 s, approachRate: -0.782224 m/s, LOS rate: -0.164605 deg/s, posRepo size: 4 2021-02-18T04:43:33.131Z,1613623413.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.539999 m, bearing: 272.031736 deg, approachRate: -0.782224 m/s, LOS rate: -0.164605 deg/s, cmd update: -0.658421 deg/s, cmd heading: 301.583555 deg, new cmd heading: 303.155435 deg. 2021-02-18T04:43:33.485Z,1613623413.485 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T044333: (41.552319, -70.708603) 2021-02-18T04:43:33.485Z,1613623413.485 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T04:43:33.485Z,1613623413.485 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T04:43:33.485Z,1613623413.485 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:43:33.486Z,1613623413.486 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T04:43:33.486Z,1613623413.486 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:43:33.486Z,1613623413.486 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T04:43:33.486Z,1613623413.486 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T04:43:33.486Z,1613623413.486 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T04:43:35.513Z,1613623415.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:36.272Z,1613623416.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:36.677Z,1613623416.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:37.506Z,1613623417.506 [Micromodem](INFO): Nmea in: $SNTTA,0.004599,,,0.032412,044336.28*55 2021-02-18T04:43:37.532Z,1613623417.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 294.335828 deg, deltaT: 4.503402 s, approachRate: 0.239819 m/s, LOS rate: 4.952720 deg/s, posRepo size: 4 2021-02-18T04:43:37.534Z,1613623417.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.619999 m, bearing: 294.335828 deg, approachRate: 0.239819 m/s, LOS rate: 4.952720 deg/s, cmd update: 12.000000 deg/s, cmd heading: 298.621059 deg, new cmd heading: 298.373591 deg. 2021-02-18T04:43:39.958Z,1613623419.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:40.730Z,1613623420.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:41.122Z,1613623421.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:41.956Z,1613623421.956 [Micromodem](INFO): Nmea in: $SNTTA,0.005954,,,0.027140,044340.74*57 2021-02-18T04:43:42.010Z,1613623422.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.199999 m, bearing: 305.966247 deg, deltaT: 4.385893 s, approachRate: 0.588250 m/s, LOS rate: 2.651779 deg/s, posRepo size: 4 2021-02-18T04:43:42.023Z,1613623422.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.199999 m, bearing: 305.966247 deg, approachRate: 0.588250 m/s, LOS rate: 2.651779 deg/s, cmd update: 10.607116 deg/s, cmd heading: 351.298444 deg, new cmd heading: 356.883341 deg. 2021-02-18T04:43:44.368Z,1613623424.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:45.160Z,1613623425.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:45.566Z,1613623425.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:46.404Z,1613623426.404 [Micromodem](INFO): Nmea in: $SNTTA,0.008402,,,,044345.17*4A 2021-02-18T04:43:46.430Z,1613623426.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.339997 m, bearing: 319.973490 deg, deltaT: 4.500365 s, approachRate: 0.919925 m/s, LOS rate: 3.112468 deg/s, posRepo size: 4 2021-02-18T04:43:46.448Z,1613623426.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.339997 m, bearing: 319.973490 deg, approachRate: 0.919925 m/s, LOS rate: 3.112468 deg/s, cmd update: 12.000000 deg/s, cmd heading: 38.914062 deg, new cmd heading: 43.113875 deg. 2021-02-18T04:43:48.893Z,1613623428.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:49.610Z,1613623429.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:50.014Z,1613623430.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:50.872Z,1613623430.872 [Micromodem](INFO): Nmea in: $SNTTA,0.009916,,,,044349.62*4D 2021-02-18T04:43:50.930Z,1613623430.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.860000 m, bearing: 351.840666 deg, deltaT: 4.385722 s, approachRate: 0.574592 m/s, LOS rate: 7.266118 deg/s, posRepo size: 4 2021-02-18T04:43:50.930Z,1613623430.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.86 m. Rolling out. 2021-02-18T04:43:50.930Z,1613623430.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T04:43:53.271Z,1613623433.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:54.048Z,1613623434.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:54.462Z,1613623434.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:55.308Z,1613623435.308 [Micromodem](INFO): Nmea in: $SNTTA,0.010133,,,,044354.06*44 2021-02-18T04:43:55.330Z,1613623435.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.240002 m, bearing: 334.643397 deg, deltaT: 4.478436 s, approachRate: 0.308144 m/s, LOS rate: -3.840017 deg/s, posRepo size: 4 2021-02-18T04:43:57.715Z,1613623437.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:43:58.492Z,1613623438.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:43:58.899Z,1613623438.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:43:59.720Z,1613623439.720 [Micromodem](INFO): Nmea in: $SNTTA,0.011648,,,,044358.50*41 2021-02-18T04:43:59.758Z,1613623439.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.520002 m, bearing: 44.694402 deg, deltaT: 4.416717 s, approachRate: 0.516221 m/s, LOS rate: 15.860425 deg/s, posRepo size: 4 2021-02-18T04:44:02.164Z,1613623442.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:44:02.936Z,1613623442.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:44:03.347Z,1613623443.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:44:04.164Z,1613623444.164 [Micromodem](INFO): Nmea in: $SNTTA,0.012853,,,,044402.95*47 2021-02-18T04:44:04.219Z,1613623444.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.320000 m, bearing: 49.884806 deg, deltaT: 4.507822 s, approachRate: 0.399305 m/s, LOS rate: 1.151422 deg/s, posRepo size: 4 2021-02-18T04:44:06.588Z,1613623446.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:44:07.380Z,1613623447.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:44:07.814Z,1613623447.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:44:08.608Z,1613623448.608 [Micromodem](INFO): Nmea in: $SNTTA,0.013912,,,,044407.39*41 2021-02-18T04:44:08.641Z,1613623448.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.879999 m, bearing: 56.201153 deg, deltaT: 4.384867 s, approachRate: 0.355769 m/s, LOS rate: 1.440488 deg/s, posRepo size: 4 2021-02-18T04:44:11.060Z,1613623451.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:44:11.841Z,1613623451.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:44:12.229Z,1613623452.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:44:13.060Z,1613623453.060 [Micromodem](INFO): Nmea in: $SNTTA,0.014662,,,,044411.85*4E 2021-02-18T04:44:13.117Z,1613623453.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.900000 m, bearing: 111.728890 deg, deltaT: 4.427464 s, approachRate: 0.230380 m/s, LOS rate: 12.541657 deg/s, posRepo size: 4 2021-02-18T04:44:14.669Z,1613623454.669 [PowerOnly](INFO): Powering down loadControl 2021-02-18T04:44:15.499Z,1613623455.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:44:16.269Z,1613623456.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:44:16.687Z,1613623456.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:44:17.496Z,1613623457.496 [Micromodem](INFO): Nmea in: $SNTTA,0.015033,,,,044416.28*4D 2021-02-18T04:44:17.532Z,1613623457.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 62.971489 deg, deltaT: 4.487892 s, approachRate: 0.147063 m/s, LOS rate: -10.864210 deg/s, posRepo size: 4 2021-02-18T04:44:19.977Z,1613623459.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:44:20.729Z,1613623460.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:44:21.118Z,1613623461.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:44:21.948Z,1613623461.948 [Micromodem](INFO): Nmea in: $SNTTA,0.015118,,,,044420.74*49 2021-02-18T04:44:21.997Z,1613623461.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.679996 m, bearing: 64.362997 deg, deltaT: 4.400519 s, approachRate: 0.027268 m/s, LOS rate: 0.316214 deg/s, posRepo size: 4 2021-02-18T04:44:24.369Z,1613623464.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:44:25.164Z,1613623465.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:44:25.561Z,1613623465.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:44:26.388Z,1613623466.388 [Micromodem](INFO): Nmea in: $SNTTA,0.015330,,,,044425.18*4E 2021-02-18T04:44:26.410Z,1613623466.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.980001 m, bearing: 151.742174 deg, deltaT: 4.481931 s, approachRate: 0.066937 m/s, LOS rate: 19.495877 deg/s, posRepo size: 4 2021-02-18T04:44:28.896Z,1613623468.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:44:29.601Z,1613623469.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:44:30.017Z,1613623470.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:44:30.848Z,1613623470.848 [Micromodem](INFO): Nmea in: $SNTTA,0.016293,,,,044429.61*47 2021-02-18T04:44:30.923Z,1613623470.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.420002 m, bearing: 147.093725 deg, deltaT: 4.426784 s, approachRate: 0.325293 m/s, LOS rate: -1.050074 deg/s, posRepo size: 4 2021-02-18T04:44:33.266Z,1613623473.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:44:34.050Z,1613623474.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:44:34.458Z,1613623474.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:44:35.276Z,1613623475.276 [Micromodem](INFO): Nmea in: $SNTTA,0.016623,,,,044434.06*45 2021-02-18T04:44:35.330Z,1613623475.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.959997 m, bearing: 138.335892 deg, deltaT: 4.460065 s, approachRate: 0.121073 m/s, LOS rate: -1.963611 deg/s, posRepo size: 4 2021-02-18T04:44:37.697Z,1613623477.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:44:38.488Z,1613623478.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:44:38.903Z,1613623478.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:44:39.720Z,1613623479.720 [Micromodem](INFO): Nmea in: $SNTTA,0.018235,,,,044438.50*47 2021-02-18T04:44:39.758Z,1613623479.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.359999 m, bearing: 94.597997 deg, deltaT: 4.422306 s, approachRate: 0.542704 m/s, LOS rate: -9.890292 deg/s, posRepo size: 4 2021-02-18T04:44:42.193Z,1613623482.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:44:42.937Z,1613623482.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:44:43.338Z,1613623483.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:44:44.164Z,1613623484.164 [Micromodem](INFO): Nmea in: $SNTTA,0.019293,,,,044442.95*4E 2021-02-18T04:44:44.222Z,1613623484.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.040001 m, bearing: 89.268223 deg, deltaT: 4.455216 s, approachRate: 0.377087 m/s, LOS rate: -1.196300 deg/s, posRepo size: 4 2021-02-18T04:44:46.591Z,1613623486.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:44:47.376Z,1613623487.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:44:47.812Z,1613623487.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:44:48.615Z,1613623488.615 [Micromodem](INFO): Nmea in: $SNTTA,0.021309,,,,044447.39*44 2021-02-18T04:44:48.634Z,1613623488.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.040001 m, bearing: 103.510048 deg, deltaT: 4.436972 s, approachRate: 0.676137 m/s, LOS rate: 3.209807 deg/s, posRepo size: 4 2021-02-18T04:44:51.049Z,1613623491.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:44:51.855Z,1613623491.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:44:52.226Z,1613623492.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:44:53.064Z,1613623493.064 [Micromodem](INFO): Nmea in: $SNTTA,0.022562,,,,044451.87*4E 2021-02-18T04:44:53.131Z,1613623493.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.900002 m, bearing: 98.989378 deg, deltaT: 4.429184 s, approachRate: 0.419942 m/s, LOS rate: -1.020655 deg/s, posRepo size: 4 2021-02-18T04:44:55.472Z,1613623495.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:44:56.275Z,1613623496.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:44:56.669Z,1613623496.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:44:57.504Z,1613623497.504 [Micromodem](INFO): Nmea in: $SNTTA,0.024554,,,0.040123,044456.29*54 2021-02-18T04:44:57.545Z,1613623497.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.600002 m, bearing: 117.112582 deg, deltaT: 4.508003 s, approachRate: 0.598935 m/s, LOS rate: 4.020229 deg/s, posRepo size: 4 2021-02-18T04:44:59.948Z,1613623499.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:00.714Z,1613623500.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:01.115Z,1613623501.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:01.943Z,1613623501.943 [Micromodem](INFO): Nmea in: $SNTTA,0.026594,,,,044500.73*4D 2021-02-18T04:45:01.978Z,1613623501.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.900002 m, bearing: 73.718040 deg, deltaT: 4.406639 s, approachRate: 0.748870 m/s, LOS rate: -9.847537 deg/s, posRepo size: 4 2021-02-18T04:45:04.364Z,1613623504.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:05.152Z,1613623505.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:05.570Z,1613623505.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:06.380Z,1613623506.380 [Micromodem](INFO): Nmea in: $SNTTA,0.028321,,,,044505.16*4D 2021-02-18T04:45:06.418Z,1613623506.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.240002 m, bearing: 122.024075 deg, deltaT: 4.449507 s, approachRate: 0.525901 m/s, LOS rate: 10.856492 deg/s, posRepo size: 4 2021-02-18T04:45:08.903Z,1613623508.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:09.596Z,1613623509.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:10.007Z,1613623510.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:10.849Z,1613623510.849 [Micromodem](INFO): Nmea in: $SNTTA,0.030405,,,,044509.61*49 2021-02-18T04:45:10.902Z,1613623510.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.479996 m, bearing: 118.879675 deg, deltaT: 4.407180 s, approachRate: 0.735163 m/s, LOS rate: -0.713472 deg/s, posRepo size: 4 2021-02-18T04:45:13.276Z,1613623513.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:14.045Z,1613623514.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:14.456Z,1613623514.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:15.272Z,1613623515.272 [Micromodem](INFO): Nmea in: $SNTTA,0.032050,,0.056119,,044514.06*56 2021-02-18T04:45:15.309Z,1613623515.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.239998 m, bearing: 77.138749 deg, deltaT: 4.484951 s, approachRate: 0.615392 m/s, LOS rate: -9.306886 deg/s, posRepo size: 4 2021-02-18T04:45:17.702Z,1613623517.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:18.490Z,1613623518.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:18.898Z,1613623518.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:19.716Z,1613623519.716 [Micromodem](INFO): Nmea in: $SNTTA,0.034141,,0.051472,,044518.50*51 2021-02-18T04:45:19.754Z,1613623519.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.299995 m, bearing: 76.195002 deg, deltaT: 4.435239 s, approachRate: 0.689928 m/s, LOS rate: -0.212784 deg/s, posRepo size: 4 2021-02-18T04:45:22.169Z,1613623522.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:22.929Z,1613623522.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:23.345Z,1613623523.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:24.156Z,1613623524.156 [Micromodem](INFO): Nmea in: $SNTTA,0.036251,,,,044522.94*4B 2021-02-18T04:45:24.209Z,1613623524.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.540005 m, bearing: 78.898391 deg, deltaT: 4.469599 s, approachRate: 0.724899 m/s, LOS rate: 0.604839 deg/s, posRepo size: 4 2021-02-18T04:45:26.645Z,1613623526.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:27.436Z,1613623527.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:27.877Z,1613623527.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:28.681Z,1613623528.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,044527.49*53 2021-02-18T04:45:28.698Z,1613623528.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.780003 m, bearing: 74.500316 deg, deltaT: 4.449402 s, approachRate: 0.728187 m/s, LOS rate: -0.988464 deg/s, posRepo size: 4 2021-02-18T04:45:31.128Z,1613623531.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:31.882Z,1613623531.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:32.287Z,1613623532.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:33.113Z,1613623533.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,044531.89*58 2021-02-18T04:45:33.189Z,1613623533.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.720005 m, bearing: 75.807812 deg, deltaT: 4.440004 s, approachRate: 0.662162 m/s, LOS rate: 0.294481 deg/s, posRepo size: 4 2021-02-18T04:45:35.557Z,1613623535.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:36.321Z,1613623536.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:36.747Z,1613623536.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:37.548Z,1613623537.548 [Micromodem](INFO): Nmea in: $SNTTA,,,,,044536.33*5E 2021-02-18T04:45:37.582Z,1613623537.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.020004 m, bearing: 141.070823 deg, deltaT: 4.477948 s, approachRate: 0.736944 m/s, LOS rate: 14.574312 deg/s, posRepo size: 4 2021-02-18T04:45:39.992Z,1613623539.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:40.779Z,1613623540.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:41.172Z,1613623541.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:42.000Z,1613623542.000 [Micromodem](INFO): Nmea in: $SNTTA,0.045260,,,,044540.79*4A 2021-02-18T04:45:42.034Z,1613623542.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.619995 m, bearing: 43.038275 deg, deltaT: 4.429860 s, approachRate: 0.812665 m/s, LOS rate: -22.129941 deg/s, posRepo size: 4 2021-02-18T04:45:44.417Z,1613623544.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:45.208Z,1613623545.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:45.613Z,1613623545.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:46.034Z,1613623546.034 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items 2021-02-18T04:45:46.456Z,1613623546.456 [Micromodem](INFO): Nmea in: $SNTTA,0.047131,,,,044545.22*44 2021-02-18T04:45:46.478Z,1613623546.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.559998 m, bearing: 84.881957 deg, deltaT: 4.440643 s, approachRate: 0.662067 m/s, LOS rate: 9.422888 deg/s, posRepo size: 4 2021-02-18T04:45:48.920Z,1613623548.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:49.652Z,1613623549.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:50.067Z,1613623550.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:50.888Z,1613623550.888 [Micromodem](INFO): Nmea in: $SNTTA,0.049522,,,,044549.66*40 2021-02-18T04:45:50.921Z,1613623550.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.040001 m, bearing: 132.295218 deg, deltaT: 4.449305 s, approachRate: 0.782145 m/s, LOS rate: 10.656330 deg/s, posRepo size: 4 2021-02-18T04:45:53.303Z,1613623553.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:54.102Z,1613623554.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:54.507Z,1613623554.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:55.333Z,1613623555.333 [Micromodem](INFO): Nmea in: $SNTTA,0.051394,,,,044554.11*4E 2021-02-18T04:45:55.402Z,1613623555.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.800003 m, bearing: 88.558539 deg, deltaT: 4.489909 s, approachRate: 0.614712 m/s, LOS rate: -9.741106 deg/s, posRepo size: 4 2021-02-18T04:45:57.808Z,1613623557.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:45:58.549Z,1613623558.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:45:58.967Z,1613623558.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:45:59.775Z,1613623559.775 [Micromodem](INFO): Nmea in: $SNTTA,,,,,044558.56*55 2021-02-18T04:45:59.882Z,1613623559.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.279999 m, bearing: 90.481743 deg, deltaT: 4.399026 s, approachRate: 0.791083 m/s, LOS rate: 0.437189 deg/s, posRepo size: 4 2021-02-18T04:46:02.216Z,1613623562.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:46:02.984Z,1613623562.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:46:03.012Z,1613623563.012 [RDI_Pathfinder](ERROR): only read 0 of 4 data items 2021-02-18T04:46:03.391Z,1613623563.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:46:04.212Z,1613623564.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,044602.99*5A 2021-02-18T04:46:04.244Z,1613623564.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.519997 m, bearing: 93.085117 deg, deltaT: 4.511089 s, approachRate: 0.718230 m/s, LOS rate: 0.577106 deg/s, posRepo size: 4 2021-02-18T04:46:06.636Z,1613623566.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:46:07.428Z,1613623567.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:46:07.865Z,1613623567.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:46:08.663Z,1613623568.663 [Micromodem](INFO): Nmea in: $SNTTA,0.057906,,,,044607.44*4C 2021-02-18T04:46:08.682Z,1613623568.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.180008 m, bearing: 133.237620 deg, deltaT: 4.369563 s, approachRate: 0.837615 m/s, LOS rate: 9.189135 deg/s, posRepo size: 4 2021-02-18T04:46:11.101Z,1613623571.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:46:11.882Z,1613623571.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:46:12.284Z,1613623572.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:46:13.111Z,1613623573.111 [Micromodem](INFO): Nmea in: $SNTTA,,,,,044611.89*59 2021-02-18T04:46:13.145Z,1613623573.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.299995 m, bearing: 143.696880 deg, deltaT: 4.447501 s, approachRate: 0.701515 m/s, LOS rate: 2.351716 deg/s, posRepo size: 4 2021-02-18T04:46:15.534Z,1613623575.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:46:16.316Z,1613623576.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:46:16.727Z,1613623576.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:46:17.544Z,1613623577.544 [Micromodem](INFO): Nmea in: $SNTTA,,,0.094109,,044616.33*44 2021-02-18T04:46:17.587Z,1613623577.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 91.801246 deg, deltaT: 4.458408 s, approachRate: 0.713261 m/s, LOS rate: -11.639947 deg/s, posRepo size: 4 2021-02-18T04:46:19.988Z,1613623579.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:46:20.804Z,1613623580.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:46:21.172Z,1613623581.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:46:22.002Z,1613623582.002 [Micromodem](INFO): Nmea in: $SNTTA,0.064584,,,,044620.81*46 2021-02-18T04:46:22.064Z,1613623582.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.380005 m, bearing: 128.762139 deg, deltaT: 4.426747 s, approachRate: 0.881008 m/s, LOS rate: 8.349448 deg/s, posRepo size: 4 2021-02-18T04:46:24.412Z,1613623584.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:46:25.204Z,1613623585.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:46:25.621Z,1613623585.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:46:26.436Z,1613623586.436 [Micromodem](INFO): Nmea in: $SNTTA,0.066853,,,,044625.21*4C 2021-02-18T04:46:26.477Z,1613623586.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.500000 m, bearing: 86.346664 deg, deltaT: 4.492394 s, approachRate: 0.694506 m/s, LOS rate: -9.441620 deg/s, posRepo size: 4 2021-02-18T04:46:28.931Z,1613623588.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:46:29.648Z,1613623589.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:46:30.053Z,1613623590.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:46:30.884Z,1613623590.884 [Micromodem](INFO): Nmea in: $SNTTA,0.069169,,,,044629.66*4C 2021-02-18T04:46:30.937Z,1613623590.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.040001 m, bearing: 137.878788 deg, deltaT: 4.405438 s, approachRate: 0.803553 m/s, LOS rate: 11.697390 deg/s, posRepo size: 4 2021-02-18T04:46:33.302Z,1613623593.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:46:34.098Z,1613623594.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:46:34.516Z,1613623594.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:46:35.342Z,1613623595.342 [Micromodem](INFO): Nmea in: $SNTTA,0.071327,,0.099952,,044634.16*56 2021-02-18T04:46:35.408Z,1613623595.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.160004 m, bearing: 93.912062 deg, deltaT: 4.448074 s, approachRate: 0.701428 m/s, LOS rate: -9.884441 deg/s, posRepo size: 4 2021-02-18T04:46:37.783Z,1613623597.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:46:38.542Z,1613623598.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:46:38.947Z,1613623598.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:46:39.772Z,1613623599.772 [Micromodem](INFO): Nmea in: $SNTTA,0.073539,,,,044638.55*46 2021-02-18T04:46:39.871Z,1613623599.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.460007 m, bearing: 138.599811 deg, deltaT: 4.416428 s, approachRate: 0.747211 m/s, LOS rate: 10.118527 deg/s, posRepo size: 4 2021-02-18T04:46:41.880Z,1613623601.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:46:42.579Z,1613623602.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:46:42.981Z,1613623602.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:46:43.837Z,1613623603.837 [Micromodem](INFO): Nmea in: $SNTTA,0.075719,,,,044642.59*41 2021-02-18T04:46:43.900Z,1613623603.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.700005 m, bearing: 88.080788 deg, deltaT: 4.037799 s, approachRate: 0.802417 m/s, LOS rate: -12.511525 deg/s, posRepo size: 4 2021-02-18T04:46:46.256Z,1613623606.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:46:47.020Z,1613623607.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:46:47.428Z,1613623607.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:46:48.252Z,1613623608.252 [Micromodem](INFO): Nmea in: $SNTTA,0.078010,,,0.081897,044647.03*59 2021-02-18T04:46:48.290Z,1613623608.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.180000 m, bearing: 139.667000 deg, deltaT: 4.518580 s, approachRate: 0.770153 m/s, LOS rate: 11.416466 deg/s, posRepo size: 4 2021-02-18T04:46:50.687Z,1613623610.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:46:51.465Z,1613623611.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:46:51.881Z,1613623611.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:46:52.692Z,1613623612.692 [Micromodem](INFO): Nmea in: $SNTTA,0.080307,,,,044651.48*42 2021-02-18T04:46:52.728Z,1613623612.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.600006 m, bearing: 144.636113 deg, deltaT: 4.386090 s, approachRate: 0.779739 m/s, LOS rate: 1.132925 deg/s, posRepo size: 4 2021-02-18T04:46:55.147Z,1613623615.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:46:55.909Z,1613623615.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:46:56.325Z,1613623616.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:46:57.152Z,1613623617.152 [Micromodem](INFO): Nmea in: $SNTTA,0.082521,,,,044655.92*41 2021-02-18T04:46:57.196Z,1613623617.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.959999 m, bearing: 137.758659 deg, deltaT: 4.447601 s, approachRate: 0.755462 m/s, LOS rate: -1.546329 deg/s, posRepo size: 4 2021-02-18T04:46:59.575Z,1613623619.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:00.358Z,1613623620.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:47:00.790Z,1613623620.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:47:01.600Z,1613623621.600 [Micromodem](INFO): Nmea in: $SNTTA,0.084723,,,,044700.37*49 2021-02-18T04:47:01.622Z,1613623621.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.500000 m, bearing: 130.862791 deg, deltaT: 4.457972 s, approachRate: 0.794083 m/s, LOS rate: -1.546862 deg/s, posRepo size: 4 2021-02-18T04:47:04.031Z,1613623624.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:04.814Z,1613623624.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:47:05.201Z,1613623625.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:47:06.032Z,1613623626.032 [Micromodem](INFO): Nmea in: $SNTTA,0.094804,,,,044704.83*49 2021-02-18T04:47:06.085Z,1613623626.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.800003 m, bearing: 134.665676 deg, deltaT: 4.429552 s, approachRate: 0.744997 m/s, LOS rate: 0.858526 deg/s, posRepo size: 4 2021-02-18T04:47:08.462Z,1613623628.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:09.292Z,1613623629.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:47:09.651Z,1613623629.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:47:10.482Z,1613623630.482 [Micromodem](INFO): Nmea in: $SNTTA,0.089316,,,,044709.30*48 2021-02-18T04:47:10.518Z,1613623630.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.279999 m, bearing: 82.046514 deg, deltaT: 4.460961 s, approachRate: 0.780100 m/s, LOS rate: -11.795477 deg/s, posRepo size: 4 2021-02-18T04:47:12.928Z,1613623632.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:13.684Z,1613623633.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:47:14.089Z,1613623634.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:47:14.912Z,1613623634.912 [Micromodem](INFO): Nmea in: $SNTTA,0.091571,,,,044713.69*41 2021-02-18T04:47:14.970Z,1613623634.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.759995 m, bearing: 120.637137 deg, deltaT: 4.410323 s, approachRate: 0.789057 m/s, LOS rate: 8.750067 deg/s, posRepo size: 4 2021-02-18T04:47:17.355Z,1613623637.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:18.128Z,1613623638.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:47:18.541Z,1613623638.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:47:19.356Z,1613623639.356 [Micromodem](INFO): Nmea in: $SNTTA,0.093940,,,,044718.14*4C 2021-02-18T04:47:19.393Z,1613623639.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.059998 m, bearing: 89.451053 deg, deltaT: 4.481727 s, approachRate: 0.736324 m/s, LOS rate: -6.958497 deg/s, posRepo size: 4 2021-02-18T04:47:21.846Z,1613623641.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:22.578Z,1613623642.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:47:22.979Z,1613623642.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:47:23.827Z,1613623643.827 [Micromodem](INFO): Nmea in: $SNTTA,0.096156,,,,044722.59*46 2021-02-18T04:47:23.894Z,1613623643.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.360001 m, bearing: 87.249356 deg, deltaT: 4.421641 s, approachRate: 0.746330 m/s, LOS rate: -0.497937 deg/s, posRepo size: 4 2021-02-18T04:47:26.224Z,1613623646.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:27.016Z,1613623647.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:47:27.433Z,1613623647.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:47:28.244Z,1613623648.244 [Micromodem](INFO): Nmea in: $SNTTA,0.098503,,,,044727.03*46 2021-02-18T04:47:28.286Z,1613623648.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.899994 m, bearing: 90.022125 deg, deltaT: 4.505347 s, approachRate: 0.785732 m/s, LOS rate: 0.615440 deg/s, posRepo size: 4 2021-02-18T04:47:30.678Z,1613623650.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:31.460Z,1613623651.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:47:31.876Z,1613623651.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:47:32.688Z,1613623652.688 [Micromodem](INFO): Nmea in: $SNTTA,0.100751,,,,044731.47*44 2021-02-18T04:47:32.732Z,1613623652.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.440018 m, bearing: 120.167124 deg, deltaT: 4.390600 s, approachRate: 0.806273 m/s, LOS rate: 6.865804 deg/s, posRepo size: 4 2021-02-18T04:47:32.732Z,1613623652.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.44 m. Resuming terminal guidance. 2021-02-18T04:47:32.732Z,1613623652.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T04:47:35.138Z,1613623655.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:35.904Z,1613623655.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:47:36.310Z,1613623656.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:47:37.124Z,1613623657.124 [Micromodem](INFO): Nmea in: $SNTTA,0.102999,,,,044735.91*43 2021-02-18T04:47:37.966Z,1613623657.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:39.538Z,1613623659.538 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:47:40.817Z,1613623660.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:41.560Z,1613623661.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:47:41.967Z,1613623661.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:47:42.846Z,1613623662.846 [Micromodem](INFO): Nmea in: $SNTTA,0.105909,,,,044741.57*44 2021-02-18T04:47:42.907Z,1613623662.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.000000 m, bearing: 88.991457 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T04:47:42.912Z,1613623662.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 88.991457deg and heading rate command to 0 deg/s. 2021-02-18T04:47:44.912Z,1613623664.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:45.610Z,1613623665.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:47:46.011Z,1613623666.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:47:46.839Z,1613623666.839 [Micromodem](INFO): Nmea in: $SNTTA,0.107929,,,,044745.62*46 2021-02-18T04:47:47.650Z,1613623667.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:49.234Z,1613623669.234 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:47:50.507Z,1613623670.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:51.256Z,1613623671.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:47:51.671Z,1613623671.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:47:52.484Z,1613623672.484 [Micromodem](INFO): Nmea in: $SNTTA,0.110854,,,,044751.27*4F 2021-02-18T04:47:52.519Z,1613623672.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.580002 m, bearing: 104.953411 deg, deltaT: 9.712565 s, approachRate: 0.883392 m/s, LOS rate: 1.643433 deg/s, posRepo size: 2 2021-02-18T04:47:52.520Z,1613623672.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.580002 m, bearing: 104.953411 deg, approachRate: 0.883392 m/s, LOS rate: 1.643433 deg/s, cmd update: 6.573734 deg/s, cmd heading: 88.991457 deg, new cmd heading: 88.991457 deg. 2021-02-18T04:47:54.934Z,1613623674.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:55.706Z,1613623675.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:47:56.105Z,1613623676.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:47:56.921Z,1613623676.921 [Micromodem](INFO): Nmea in: $SNTTA,0.113126,,,,044755.72*44 2021-02-18T04:47:57.759Z,1613623677.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:47:59.334Z,1613623679.334 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:48:00.588Z,1613623680.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:01.357Z,1613623681.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:48:01.794Z,1613623681.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:48:02.165Z,1613623682.165 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,0C9,0,61,E4 A,184,80,80,9A,FF 2021-02-18T04:48:02.578Z,1613623682.578 [Micromodem](INFO): Nmea in: $SNTTA,0.115927,,,,044801.37*44 2021-02-18T04:48:03.406Z,1613623683.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:06.275Z,1613623686.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:09.095Z,1613623689.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:09.870Z,1613623689.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:48:10.246Z,1613623690.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:48:11.072Z,1613623691.072 [Micromodem](INFO): Nmea in: $SNTTA,,,,,044809.88*5F 2021-02-18T04:48:11.486Z,1613623691.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.860016 m, bearing: 147.199483 deg, deltaT: 19.029985 s, approachRate: 0.592749 m/s, LOS rate: 2.219974 deg/s, posRepo size: 3 2021-02-18T04:48:11.488Z,1613623691.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.860016 m, bearing: 147.199483 deg, approachRate: 0.592749 m/s, LOS rate: 2.219974 deg/s, cmd update: 8.879896 deg/s, cmd heading: 214.064022 deg, new cmd heading: 216.302707 deg. 2021-02-18T04:48:13.944Z,1613623693.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:14.688Z,1613623694.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:48:15.094Z,1613623695.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:48:15.920Z,1613623695.920 [Micromodem](INFO): Nmea in: $SNTTA,0.120080,,,,044814.70*41 2021-02-18T04:48:15.954Z,1613623695.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.860016 m, bearing: 221.234567 deg, deltaT: 4.378629 s, approachRate: 0.000000 m/s, LOS rate: 16.908280 deg/s, posRepo size: 4 2021-02-18T04:48:15.955Z,1613623695.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.908280 deg/s. Setting heading cmd to target bearing of 221.234567deg and heading rate command to 0 deg/s. 2021-02-18T04:48:18.344Z,1613623698.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:19.132Z,1613623699.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:48:19.548Z,1613623699.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:48:20.347Z,1613623700.347 [Micromodem](INFO): Nmea in: $SNTTA,,,,,044819.14*5B 2021-02-18T04:48:20.817Z,1613623700.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.720016 m, bearing: 137.708321 deg, deltaT: 4.860928 s, approachRate: 0.382643 m/s, LOS rate: -17.183190 deg/s, posRepo size: 4 2021-02-18T04:48:20.818Z,1613623700.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.183190 deg/s. Setting heading cmd to target bearing of 137.708321deg and heading rate command to 0 deg/s. 2021-02-18T04:48:23.206Z,1613623703.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:23.980Z,1613623703.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:48:24.386Z,1613623704.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:48:25.212Z,1613623705.212 [Micromodem](INFO): Nmea in: $SNTTA,0.120409,,,,044823.99*47 2021-02-18T04:48:25.258Z,1613623705.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.420013 m, bearing: 240.946726 deg, deltaT: 4.507134 s, approachRate: -0.066562 m/s, LOS rate: 22.905555 deg/s, posRepo size: 4 2021-02-18T04:48:25.260Z,1613623705.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.905555 deg/s. Setting heading cmd to target bearing of 240.946726deg and heading rate command to 0 deg/s. 2021-02-18T04:48:27.647Z,1613623707.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:28.431Z,1613623708.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:48:28.865Z,1613623708.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:48:29.656Z,1613623709.656 [Micromodem](INFO): Nmea in: $SNTTA,,,,,044828.44*5C 2021-02-18T04:48:29.678Z,1613623709.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.420013 m, bearing: 171.778930 deg, deltaT: 4.392469 s, approachRate: 0.000000 m/s, LOS rate: -15.746906 deg/s, posRepo size: 4 2021-02-18T04:48:29.679Z,1613623709.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.746906 deg/s. Setting heading cmd to target bearing of 171.778930deg and heading rate command to 0 deg/s. 2021-02-18T04:48:32.107Z,1613623712.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:32.876Z,1613623712.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:48:33.293Z,1613623713.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:48:34.088Z,1613623714.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,044832.89*56 2021-02-18T04:48:34.544Z,1613623714.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.639999 m, bearing: 243.281202 deg, deltaT: 4.876333 s, approachRate: -0.159959 m/s, LOS rate: 14.663124 deg/s, posRepo size: 4 2021-02-18T04:48:34.544Z,1613623714.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.663124 deg/s. Setting heading cmd to target bearing of 243.281202deg and heading rate command to 0 deg/s. 2021-02-18T04:48:36.968Z,1613623716.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:37.727Z,1613623717.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:48:38.122Z,1613623718.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:48:38.942Z,1613623718.942 [Micromodem](INFO): Nmea in: $SNTTA,0.119735,,,,044837.74*47 2021-02-18T04:48:39.370Z,1613623719.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.519989 m, bearing: 148.404807 deg, deltaT: 4.843071 s, approachRate: -0.024780 m/s, LOS rate: -19.590132 deg/s, posRepo size: 4 2021-02-18T04:48:39.371Z,1613623719.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.590132 deg/s. Setting heading cmd to target bearing of 148.404807deg and heading rate command to 0 deg/s. 2021-02-18T04:48:41.863Z,1613623721.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:42.577Z,1613623722.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:48:42.970Z,1613623722.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:48:43.811Z,1613623723.811 [Micromodem](INFO): Nmea in: $SNTTA,0.119602,,,,044842.59*4F 2021-02-18T04:48:44.600Z,1613623724.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:46.216Z,1613623726.216 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:48:47.447Z,1613623727.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:48.220Z,1613623728.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:48:48.632Z,1613623728.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:48:49.029Z,1613623729.029 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,D1,80,61,E4 1,189,80,80,7C,FF 2021-02-18T04:48:49.446Z,1613623729.446 [Micromodem](INFO): Nmea in: $SNTTA,0.118864,,,0.121352,044848.23*5F 2021-02-18T04:48:50.292Z,1613623730.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:53.123Z,1613623733.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:55.937Z,1613623735.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:48:56.704Z,1613623736.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:48:57.110Z,1613623737.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:48:57.521Z,1613623737.521 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,B1E,0061,E4 1,189,80,80,7C,FF 2021-02-18T04:48:57.941Z,1613623737.941 [Micromodem](INFO): Nmea in: $SNTTA,0.118469,,,,044856.71*4E 2021-02-18T04:48:58.809Z,1613623738.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:01.579Z,1613623741.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:04.401Z,1613623744.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:05.188Z,1613623745.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:49:05.606Z,1613623745.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:49:05.997Z,1613623745.997 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,05E,0061,E4 1,189,80,80,7C,FF 2021-02-18T04:49:06.404Z,1613623746.404 [Micromodem](INFO): Nmea in: $SNTTA,0.120451,,,,044905.20*4D 2021-02-18T04:49:07.245Z,1613623747.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:10.076Z,1613623750.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:12.920Z,1613623752.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:13.674Z,1613623753.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:49:14.077Z,1613623754.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:49:14.497Z,1613623754.497 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FEF,000,0E4 1,189,80,80,7C,FF 2021-02-18T04:49:14.891Z,1613623754.891 [Micromodem](INFO): Nmea in: $SNTTA,0.123309,,,,044913.68*4F 2021-02-18T04:49:15.746Z,1613623755.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:18.551Z,1613623758.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:21.370Z,1613623761.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:22.156Z,1613623762.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:49:22.573Z,1613623762.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:49:23.373Z,1613623763.373 [Micromodem](INFO): Nmea in: $SNTTA,0.126158,,,,044922.17*46 2021-02-18T04:49:23.891Z,1613623763.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.299988 m, bearing: 138.715746 deg, deltaT: 44.405059 s, approachRate: 0.220245 m/s, LOS rate: -0.218197 deg/s, posRepo size: 4 2021-02-18T04:49:23.893Z,1613623763.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.299988 m, bearing: 138.715746 deg, approachRate: 0.220245 m/s, LOS rate: -0.218197 deg/s, cmd update: -0.872789 deg/s, cmd heading: 148.404807 deg, new cmd heading: 148.404807 deg. 2021-02-18T04:49:26.216Z,1613623766.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:27.005Z,1613623767.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:49:27.411Z,1613623767.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:49:28.243Z,1613623768.243 [Micromodem](INFO): Nmea in: $SNTTA,0.127872,,,,044927.01*44 2021-02-18T04:49:28.650Z,1613623768.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.879974 m, bearing: 160.196090 deg, deltaT: 4.864815 s, approachRate: 0.530336 m/s, LOS rate: 4.415449 deg/s, posRepo size: 4 2021-02-18T04:49:28.652Z,1613623768.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.879974 m, bearing: 160.196090 deg, approachRate: 0.530336 m/s, LOS rate: 4.415449 deg/s, cmd update: 12.000000 deg/s, cmd heading: 144.154719 deg, new cmd heading: 143.812525 deg. 2021-02-18T04:49:31.103Z,1613623771.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:31.871Z,1613623771.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:49:32.258Z,1613623772.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:49:33.081Z,1613623773.081 [Micromodem](INFO): Nmea in: $SNTTA,0.129664,,,,044931.88*45 2021-02-18T04:49:33.506Z,1613623773.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.519989 m, bearing: 162.018002 deg, deltaT: 4.860655 s, approachRate: 0.543140 m/s, LOS rate: 0.374828 deg/s, posRepo size: 4 2021-02-18T04:49:33.508Z,1613623773.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.519989 m, bearing: 162.018002 deg, approachRate: 0.543140 m/s, LOS rate: 0.374828 deg/s, cmd update: 1.499314 deg/s, cmd heading: 202.674472 deg, new cmd heading: 207.130888 deg. 2021-02-18T04:49:35.935Z,1613623775.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:36.706Z,1613623776.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:49:37.112Z,1613623777.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:49:37.920Z,1613623777.920 [Micromodem](INFO): Nmea in: $SNTTA,0.131161,,,,044936.71*4F 2021-02-18T04:49:38.365Z,1613623778.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.800003 m, bearing: 185.796691 deg, deltaT: 4.877554 s, approachRate: 0.467450 m/s, LOS rate: 4.875126 deg/s, posRepo size: 4 2021-02-18T04:49:38.371Z,1613623778.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.800003 m, bearing: 185.796691 deg, approachRate: 0.467450 m/s, LOS rate: 4.875126 deg/s, cmd update: 12.000000 deg/s, cmd heading: 209.981206 deg, new cmd heading: 210.517016 deg. 2021-02-18T04:49:40.810Z,1613623780.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:41.550Z,1613623781.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:49:41.954Z,1613623781.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:49:42.790Z,1613623782.790 [Micromodem](INFO): Nmea in: $SNTTA,0.132183,,,,044941.56*45 2021-02-18T04:49:43.202Z,1613623783.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.239990 m, bearing: 243.389010 deg, deltaT: 4.873655 s, approachRate: 0.295464 m/s, LOS rate: 11.817069 deg/s, posRepo size: 4 2021-02-18T04:49:43.203Z,1613623783.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.817069 deg/s. Setting heading cmd to target bearing of 243.389010deg and heading rate command to 0 deg/s. 2021-02-18T04:49:45.607Z,1613623785.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:46.396Z,1613623786.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:49:46.819Z,1613623786.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:49:47.615Z,1613623787.615 [Micromodem](INFO): Nmea in: $SNTTA,0.132453,,,,044946.41*4C 2021-02-18T04:49:48.060Z,1613623788.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.660004 m, bearing: 173.521516 deg, deltaT: 4.740065 s, approachRate: 0.088609 m/s, LOS rate: -14.739775 deg/s, posRepo size: 4 2021-02-18T04:49:48.061Z,1613623788.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.739775 deg/s. Setting heading cmd to target bearing of 173.521516deg and heading rate command to 0 deg/s. 2021-02-18T04:49:50.457Z,1613623790.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:51.256Z,1613623791.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:49:51.655Z,1613623791.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:49:52.479Z,1613623792.479 [Micromodem](INFO): Nmea in: $SNTTA,0.132194,,,,044951.27*44 2021-02-18T04:49:52.924Z,1613623792.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.119980 m, bearing: 276.566025 deg, deltaT: 4.864370 s, approachRate: -0.111016 m/s, LOS rate: 21.183526 deg/s, posRepo size: 4 2021-02-18T04:49:52.925Z,1613623792.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.183526 deg/s. Setting heading cmd to target bearing of 276.566025deg and heading rate command to 0 deg/s. 2021-02-18T04:49:55.302Z,1613623795.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:49:56.110Z,1613623796.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:49:56.498Z,1613623796.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:49:57.318Z,1613623797.318 [Micromodem](INFO): Nmea in: $SNTTA,0.131458,,,,044956.12*43 2021-02-18T04:49:57.746Z,1613623797.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.099991 m, bearing: 242.802788 deg, deltaT: 4.870011 s, approachRate: -0.209443 m/s, LOS rate: -6.932887 deg/s, posRepo size: 4 2021-02-18T04:49:57.773Z,1613623797.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.099991 m, bearing: 242.802788 deg, approachRate: -0.209443 m/s, LOS rate: -6.932887 deg/s, cmd update: -12.000000 deg/s, cmd heading: 276.566025 deg, new cmd heading: 276.566025 deg. 2021-02-18T04:50:00.176Z,1613623800.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:50:00.943Z,1613623800.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:50:01.357Z,1613623801.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:50:02.188Z,1613623802.188 [Micromodem](INFO): Nmea in: $SNTTA,0.131100,,,,045000.95*4F 2021-02-18T04:50:02.586Z,1613623802.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.559982 m, bearing: 170.093895 deg, deltaT: 4.857789 s, approachRate: -0.111163 m/s, LOS rate: -14.967487 deg/s, posRepo size: 4 2021-02-18T04:50:02.587Z,1613623802.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.967487 deg/s. Setting heading cmd to target bearing of 170.093895deg and heading rate command to 0 deg/s. 2021-02-18T04:50:05.030Z,1613623805.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:50:05.811Z,1613623805.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:50:06.242Z,1613623806.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:50:07.019Z,1613623807.019 [Micromodem](INFO): Nmea in: $SNTTA,0.130599,,,,045005.82*49 2021-02-18T04:50:07.442Z,1613623807.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.719986 m, bearing: 281.537775 deg, deltaT: 4.858801 s, approachRate: -0.172881 m/s, LOS rate: 22.936498 deg/s, posRepo size: 4 2021-02-18T04:50:07.443Z,1613623807.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.936498 deg/s. Setting heading cmd to target bearing of 281.537775deg and heading rate command to 0 deg/s. 2021-02-18T04:50:09.934Z,1613623809.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:50:10.636Z,1613623810.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:50:11.041Z,1613623811.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:50:11.096Z,1613623811.096 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items 2021-02-18T04:50:11.878Z,1613623811.878 [Micromodem](INFO): Nmea in: $SNTTA,0.129800,,,,045010.65*41 2021-02-18T04:50:12.290Z,1613623812.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.639999 m, bearing: 246.657447 deg, deltaT: 4.891252 s, approachRate: -0.220800 m/s, LOS rate: -7.131166 deg/s, posRepo size: 4 2021-02-18T04:50:12.292Z,1613623812.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.639999 m, bearing: 246.657447 deg, approachRate: -0.220800 m/s, LOS rate: -7.131166 deg/s, cmd update: -12.000000 deg/s, cmd heading: 281.537775 deg, new cmd heading: 281.537775 deg. 2021-02-18T04:50:14.701Z,1613623814.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:50:15.490Z,1613623815.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:50:15.895Z,1613623815.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:50:16.706Z,1613623816.706 [Micromodem](INFO): Nmea in: $SNTTA,0.129572,,,,045015.50*4A 2021-02-18T04:50:17.162Z,1613623817.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.279999 m, bearing: 168.966750 deg, deltaT: 4.749786 s, approachRate: -0.075793 m/s, LOS rate: -16.356672 deg/s, posRepo size: 4 2021-02-18T04:50:17.163Z,1613623817.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.356672 deg/s. Setting heading cmd to target bearing of 168.966750deg and heading rate command to 0 deg/s. 2021-02-18T04:50:19.549Z,1613623819.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:50:20.341Z,1613623820.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:50:20.739Z,1613623820.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:50:21.554Z,1613623821.554 [Micromodem](INFO): Nmea in: $SNTTA,0.129098,,,,045020.35*4E 2021-02-18T04:50:22.010Z,1613623822.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.440002 m, bearing: 282.230629 deg, deltaT: 4.871797 s, approachRate: -0.172420 m/s, LOS rate: 23.248892 deg/s, posRepo size: 4 2021-02-18T04:50:22.011Z,1613623822.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.248892 deg/s. Setting heading cmd to target bearing of 282.230629deg and heading rate command to 0 deg/s. 2021-02-18T04:50:24.399Z,1613623824.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:50:25.181Z,1613623825.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:50:25.612Z,1613623825.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:50:26.398Z,1613623826.398 [Micromodem](INFO): Nmea in: $SNTTA,0.128455,,,,045025.19*41 2021-02-18T04:50:26.916Z,1613623826.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.539978 m, bearing: 250.730207 deg, deltaT: 4.818952 s, approachRate: -0.186768 m/s, LOS rate: -6.536779 deg/s, posRepo size: 4 2021-02-18T04:50:26.918Z,1613623826.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.539978 m, bearing: 250.730207 deg, approachRate: -0.186768 m/s, LOS rate: -6.536779 deg/s, cmd update: -12.000000 deg/s, cmd heading: 282.230629 deg, new cmd heading: 282.230629 deg. 2021-02-18T04:50:28.917Z,1613623828.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:50:29.630Z,1613623829.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:50:30.035Z,1613623830.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:50:30.874Z,1613623830.874 [Micromodem](INFO): Nmea in: $SNTTA,0.128162,,,,045029.64*46 2021-02-18T04:50:31.281Z,1613623831.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.179993 m, bearing: 168.937503 deg, deltaT: 4.513035 s, approachRate: -0.079766 m/s, LOS rate: -18.123658 deg/s, posRepo size: 4 2021-02-18T04:50:31.282Z,1613623831.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.123658 deg/s. Setting heading cmd to target bearing of 168.937503deg and heading rate command to 0 deg/s. 2021-02-18T04:50:33.684Z,1613623833.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:50:34.477Z,1613623834.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:50:34.884Z,1613623834.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:50:35.691Z,1613623835.691 [Micromodem](INFO): Nmea in: $SNTTA,0.127838,,,,045034.49*4C 2021-02-18T04:50:36.161Z,1613623836.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.639984 m, bearing: 280.255338 deg, deltaT: 4.796245 s, approachRate: -0.112590 m/s, LOS rate: 23.209372 deg/s, posRepo size: 4 2021-02-18T04:50:36.162Z,1613623836.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.209372 deg/s. Setting heading cmd to target bearing of 280.255338deg and heading rate command to 0 deg/s. 2021-02-18T04:50:38.548Z,1613623838.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:50:39.326Z,1613623839.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:50:39.731Z,1613623839.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:50:40.546Z,1613623840.546 [Micromodem](INFO): Nmea in: $SNTTA,0.127311,,,,045039.34*4B 2021-02-18T04:50:41.009Z,1613623841.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.919998 m, bearing: 247.143702 deg, deltaT: 4.838720 s, approachRate: -0.148797 m/s, LOS rate: -6.843057 deg/s, posRepo size: 4 2021-02-18T04:50:41.016Z,1613623841.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.919998 m, bearing: 247.143702 deg, approachRate: -0.148797 m/s, LOS rate: -6.843057 deg/s, cmd update: -12.000000 deg/s, cmd heading: 280.255338 deg, new cmd heading: 280.255338 deg. 2021-02-18T04:50:43.381Z,1613623843.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:50:44.168Z,1613623844.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:50:44.574Z,1613623844.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:50:45.408Z,1613623845.408 [Micromodem](INFO): Nmea in: $SNTTA,0.127132,,,,045044.18*4C 2021-02-18T04:50:45.430Z,1613623845.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.919998 m, bearing: 175.369697 deg, deltaT: 4.492150 s, approachRate: 0.000000 m/s, LOS rate: -15.977651 deg/s, posRepo size: 4 2021-02-18T04:50:45.431Z,1613623845.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.977651 deg/s. Setting heading cmd to target bearing of 175.369697deg and heading rate command to 0 deg/s. 2021-02-18T04:50:47.910Z,1613623847.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:50:48.612Z,1613623848.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:50:49.027Z,1613623849.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:50:49.861Z,1613623849.861 [Micromodem](INFO): Nmea in: $SNTTA,0.126864,,,,045048.62*46 2021-02-18T04:50:50.261Z,1613623850.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.199997 m, bearing: 283.301903 deg, deltaT: 4.866531 s, approachRate: -0.147950 m/s, LOS rate: 22.178469 deg/s, posRepo size: 4 2021-02-18T04:50:50.262Z,1613623850.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.178469 deg/s. Setting heading cmd to target bearing of 283.301903deg and heading rate command to 0 deg/s. 2021-02-18T04:50:52.672Z,1613623852.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:50:53.460Z,1613623853.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:50:53.875Z,1613623853.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:50:54.679Z,1613623854.679 [Micromodem](INFO): Nmea in: $SNTTA,0.126198,,,,045053.47*41 2021-02-18T04:50:55.128Z,1613623855.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.360001 m, bearing: 255.181987 deg, deltaT: 4.774959 s, approachRate: -0.175917 m/s, LOS rate: -5.889038 deg/s, posRepo size: 4 2021-02-18T04:50:55.130Z,1613623855.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 189.360001 m, bearing: 255.181987 deg, approachRate: -0.175917 m/s, LOS rate: -5.889038 deg/s, cmd update: -12.000000 deg/s, cmd heading: 283.301903 deg, new cmd heading: 283.301903 deg. 2021-02-18T04:50:57.535Z,1613623857.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:50:58.314Z,1613623858.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:50:58.722Z,1613623858.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:50:59.526Z,1613623859.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,045058.32*53 2021-02-18T04:50:59.989Z,1613623859.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.759995 m, bearing: 181.865384 deg, deltaT: 4.870549 s, approachRate: -0.123191 m/s, LOS rate: -15.053047 deg/s, posRepo size: 4 2021-02-18T04:50:59.990Z,1613623859.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.053047 deg/s. Setting heading cmd to target bearing of 181.865384deg and heading rate command to 0 deg/s. 2021-02-18T04:51:02.362Z,1613623862.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:03.157Z,1613623863.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:51:03.562Z,1613623863.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:51:04.374Z,1613623864.374 [Micromodem](INFO): Nmea in: $SNTTA,0.125350,,,,045103.17*45 2021-02-18T04:51:04.899Z,1613623864.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:06.819Z,1613623866.819 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:51:07.670Z,1613623867.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:08.413Z,1613623868.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:51:08.862Z,1613623868.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:51:09.630Z,1613623869.630 [Micromodem](INFO): Nmea in: $SNTTA,0.124604,,,,045108.42*4B 2021-02-18T04:51:10.069Z,1613623870.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.840012 m, bearing: 237.976905 deg, deltaT: 10.078982 s, approachRate: -0.190494 m/s, LOS rate: 5.567181 deg/s, posRepo size: 4 2021-02-18T04:51:10.087Z,1613623870.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.840012 m, bearing: 237.976905 deg, approachRate: -0.190494 m/s, LOS rate: 5.567181 deg/s, cmd update: 12.000000 deg/s, cmd heading: 181.865384 deg, new cmd heading: 181.865384 deg. 2021-02-18T04:51:12.470Z,1613623872.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:13.266Z,1613623873.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:51:13.661Z,1613623873.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:51:14.481Z,1613623874.481 [Micromodem](INFO): Nmea in: $SNTTA,0.124702,,,,045113.27*45 2021-02-18T04:51:15.340Z,1613623875.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:18.157Z,1613623878.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:20.978Z,1613623880.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:21.740Z,1613623881.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:51:22.147Z,1613623882.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:51:22.959Z,1613623882.959 [Micromodem](INFO): Nmea in: $SNTTA,0.125359,,,,045121.75*48 2021-02-18T04:51:23.410Z,1613623883.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.979980 m, bearing: 194.188015 deg, deltaT: 13.374918 s, approachRate: 0.085232 m/s, LOS rate: -3.273956 deg/s, posRepo size: 4 2021-02-18T04:51:23.412Z,1613623883.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.979980 m, bearing: 194.188015 deg, approachRate: 0.085232 m/s, LOS rate: -3.273956 deg/s, cmd update: -12.000000 deg/s, cmd heading: 342.364980 deg, new cmd heading: 347.055936 deg. 2021-02-18T04:51:25.882Z,1613623885.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:26.588Z,1613623886.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:51:26.999Z,1613623886.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:51:27.817Z,1613623887.817 [Micromodem](INFO): Nmea in: $SNTTA,0.124802,,0.130807,,045126.60*5C 2021-02-18T04:51:28.624Z,1613623888.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:30.224Z,1613623890.224 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T04:51:31.452Z,1613623891.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:32.246Z,1613623892.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:51:32.652Z,1613623892.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:51:33.069Z,1613623893.069 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,CCD,0,61,E4 E,188,80,80,5E,FF 2021-02-18T04:51:33.462Z,1613623893.462 [Micromodem](INFO): Nmea in: $SNTTA,0.123542,,,,045132.25*45 2021-02-18T04:51:34.285Z,1613623894.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:37.159Z,1613623897.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:39.981Z,1613623899.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:40.728Z,1613623900.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:51:41.144Z,1613623901.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:51:41.955Z,1613623901.955 [Micromodem](INFO): Nmea in: $SNTTA,0.120876,,,,045140.74*4D 2021-02-18T04:51:42.382Z,1613623902.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.199997 m, bearing: 310.564030 deg, deltaT: 19.026266 s, approachRate: -0.356349 m/s, LOS rate: 6.116597 deg/s, posRepo size: 4 2021-02-18T04:51:42.384Z,1613623902.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.199997 m, bearing: 310.564030 deg, approachRate: -0.356349 m/s, LOS rate: 6.116597 deg/s, cmd update: 12.000000 deg/s, cmd heading: 114.244350 deg, new cmd heading: 110.005110 deg. 2021-02-18T04:51:44.884Z,1613623904.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:45.576Z,1613623905.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:51:45.990Z,1613623905.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:51:46.829Z,1613623906.829 [Micromodem](INFO): Nmea in: $SNTTA,0.119832,,0.121027,,045145.58*55 2021-02-18T04:51:46.900Z,1613623906.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.199997 m, bearing: 293.169587 deg, deltaT: 4.388361 s, approachRate: 0.000000 m/s, LOS rate: -3.963768 deg/s, posRepo size: 4 2021-02-18T04:51:46.902Z,1613623906.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.199997 m, bearing: 293.169587 deg, approachRate: 0.000000 m/s, LOS rate: -3.963768 deg/s, cmd update: -12.000000 deg/s, cmd heading: 167.043163 deg, new cmd heading: 172.704715 deg. 2021-02-18T04:51:49.230Z,1613623909.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:50.026Z,1613623910.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:51:50.426Z,1613623910.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:51:51.252Z,1613623911.252 [Micromodem](INFO): Nmea in: $SNTTA,0.119601,,,,045150.04*4F 2021-02-18T04:51:51.291Z,1613623911.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.199997 m, bearing: 239.607298 deg, deltaT: 4.481768 s, approachRate: 0.000000 m/s, LOS rate: -11.951152 deg/s, posRepo size: 4 2021-02-18T04:51:51.292Z,1613623911.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.951152 deg/s. Setting heading cmd to target bearing of 239.607298deg and heading rate command to 0 deg/s. 2021-02-18T04:51:53.688Z,1613623913.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:54.464Z,1613623914.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:51:54.900Z,1613623914.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:51:55.697Z,1613623915.697 [Micromodem](INFO): Nmea in: $SNTTA,0.119878,,,,045154.47*4C 2021-02-18T04:51:56.129Z,1613623916.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.880005 m, bearing: 249.935828 deg, deltaT: 4.796634 s, approachRate: -0.275191 m/s, LOS rate: 2.153287 deg/s, posRepo size: 4 2021-02-18T04:51:56.131Z,1613623916.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.880005 m, bearing: 249.935828 deg, approachRate: -0.275191 m/s, LOS rate: 2.153287 deg/s, cmd update: 8.613149 deg/s, cmd heading: 239.607298 deg, new cmd heading: 239.607298 deg. 2021-02-18T04:51:58.544Z,1613623918.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:51:59.312Z,1613623919.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:51:59.726Z,1613623919.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:52:00.531Z,1613623920.531 [Micromodem](INFO): Nmea in: $SNTTA,0.121035,,,,045159.32*49 2021-02-18T04:52:00.990Z,1613623920.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.679993 m, bearing: 211.144192 deg, deltaT: 4.849505 s, approachRate: 0.371169 m/s, LOS rate: -7.999092 deg/s, posRepo size: 4 2021-02-18T04:52:00.992Z,1613623920.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.679993 m, bearing: 211.144192 deg, approachRate: 0.371169 m/s, LOS rate: -7.999092 deg/s, cmd update: -12.000000 deg/s, cmd heading: 281.237823 deg, new cmd heading: 285.071088 deg. 2021-02-18T04:52:03.368Z,1613623923.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:52:04.160Z,1613623924.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:52:04.572Z,1613623924.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:52:05.379Z,1613623925.379 [Micromodem](INFO): Nmea in: $SNTTA,0.122426,,,,045204.17*40 2021-02-18T04:52:05.883Z,1613623925.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.720001 m, bearing: 199.600490 deg, deltaT: 4.855981 s, approachRate: 0.420102 m/s, LOS rate: -2.377213 deg/s, posRepo size: 4 2021-02-18T04:52:05.885Z,1613623925.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.720001 m, bearing: 199.600490 deg, approachRate: 0.420102 m/s, LOS rate: -2.377213 deg/s, cmd update: -9.508854 deg/s, cmd heading: 222.820910 deg, new cmd heading: 217.182565 deg. 2021-02-18T04:52:08.229Z,1613623928.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:52:09.009Z,1613623929.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:52:09.415Z,1613623929.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:52:10.231Z,1613623930.231 [Micromodem](INFO): Nmea in: $SNTTA,0.123376,,,0.125888,045209.02*5A 2021-02-18T04:52:10.702Z,1613623930.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.039993 m, bearing: 244.334773 deg, deltaT: 4.853317 s, approachRate: 0.271977 m/s, LOS rate: 9.217260 deg/s, posRepo size: 4 2021-02-18T04:52:10.708Z,1613623930.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.039993 m, bearing: 244.334773 deg, approachRate: 0.271977 m/s, LOS rate: 9.217260 deg/s, cmd update: 12.000000 deg/s, cmd heading: 176.639013 deg, new cmd heading: 172.533946 deg. 2021-02-18T04:52:13.095Z,1613623933.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:52:13.873Z,1613623933.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:52:14.273Z,1613623934.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:52:15.086Z,1613623935.086 [Micromodem](INFO): Nmea in: $SNTTA,0.123938,,,,045213.88*43 2021-02-18T04:52:15.509Z,1613623935.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.939987 m, bearing: 265.106361 deg, deltaT: 4.868463 s, approachRate: 0.184862 m/s, LOS rate: 4.266560 deg/s, posRepo size: 4 2021-02-18T04:52:15.511Z,1613623935.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.939987 m, bearing: 265.106361 deg, approachRate: 0.184862 m/s, LOS rate: 4.266560 deg/s, cmd update: 12.000000 deg/s, cmd heading: 235.067579 deg, new cmd heading: 239.509787 deg. 2021-02-18T04:52:17.964Z,1613623937.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:52:18.715Z,1613623938.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:52:19.117Z,1613623939.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:52:19.930Z,1613623939.930 [Micromodem](INFO): Nmea in: $SNTTA,0.124962,,,,045218.72*45 2021-02-18T04:52:20.362Z,1613623940.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.440002 m, bearing: 246.181301 deg, deltaT: 4.840275 s, approachRate: 0.309903 m/s, LOS rate: -3.909914 deg/s, posRepo size: 4 2021-02-18T04:52:20.364Z,1613623940.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.440002 m, bearing: 246.181301 deg, approachRate: 0.309903 m/s, LOS rate: -3.909914 deg/s, cmd update: -12.000000 deg/s, cmd heading: 292.957501 deg, new cmd heading: 297.745945 deg. 2021-02-18T04:52:22.800Z,1613623942.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:52:23.552Z,1613623943.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:52:23.963Z,1613623943.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:52:24.804Z,1613623944.804 [Micromodem](INFO): Nmea in: $SNTTA,0.125708,,,,045223.56*48 2021-02-18T04:52:25.224Z,1613623945.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.520004 m, bearing: 280.248754 deg, deltaT: 4.898920 s, approachRate: 0.220457 m/s, LOS rate: 6.954074 deg/s, posRepo size: 4 2021-02-18T04:52:25.225Z,1613623945.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.520004 m, bearing: 280.248754 deg, approachRate: 0.220457 m/s, LOS rate: 6.954074 deg/s, cmd update: 12.000000 deg/s, cmd heading: 234.026831 deg, new cmd heading: 229.883915 deg. 2021-02-18T04:52:27.634Z,1613623947.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:52:28.400Z,1613623948.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:52:28.827Z,1613623948.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:52:29.619Z,1613623949.619 [Micromodem](INFO): Nmea in: $SNTTA,0.125904,,,,045228.41*47 2021-02-18T04:52:30.105Z,1613623950.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.819977 m, bearing: 207.289753 deg, deltaT: 4.774626 s, approachRate: 0.062826 m/s, LOS rate: -15.280569 deg/s, posRepo size: 4 2021-02-18T04:52:30.106Z,1613623950.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.280569 deg/s. Setting heading cmd to target bearing of 207.289753deg and heading rate command to 0 deg/s. 2021-02-18T04:52:32.457Z,1613623952.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:52:33.248Z,1613623953.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:52:33.653Z,1613623953.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:52:34.468Z,1613623954.468 [Micromodem](INFO): Nmea in: $SNTTA,0.125431,,,,045233.26*47 2021-02-18T04:52:34.942Z,1613623954.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.979980 m, bearing: 313.643653 deg, deltaT: 4.829881 s, approachRate: -0.173917 m/s, LOS rate: 22.019983 deg/s, posRepo size: 4 2021-02-18T04:52:34.942Z,1613623954.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.019983 deg/s. Setting heading cmd to target bearing of 313.643653deg and heading rate command to 0 deg/s. 2021-02-18T04:52:37.312Z,1613623957.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:52:38.097Z,1613623958.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:52:38.507Z,1613623958.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:52:39.315Z,1613623959.315 [Micromodem](INFO): Nmea in: $SNTTA,0.124551,,,,045238.11*4E 2021-02-18T04:52:39.788Z,1613623959.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.779999 m, bearing: 261.343118 deg, deltaT: 4.866735 s, approachRate: -0.246568 m/s, LOS rate: -10.746534 deg/s, posRepo size: 4 2021-02-18T04:52:39.798Z,1613623959.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.779999 m, bearing: 261.343118 deg, approachRate: -0.246568 m/s, LOS rate: -10.746534 deg/s, cmd update: -12.000000 deg/s, cmd heading: 313.643653 deg, new cmd heading: 313.643653 deg. 2021-02-18T04:52:42.185Z,1613623962.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:52:42.944Z,1613623962.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:52:43.361Z,1613623963.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:52:44.163Z,1613623964.163 [Micromodem](INFO): Nmea in: $SNTTA,0.123741,,,,045242.95*4B 2021-02-18T04:52:44.618Z,1613623964.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.520004 m, bearing: 287.112903 deg, deltaT: 4.882001 s, approachRate: -0.258090 m/s, LOS rate: 5.278529 deg/s, posRepo size: 4 2021-02-18T04:52:44.620Z,1613623964.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.520004 m, bearing: 287.112903 deg, approachRate: -0.258090 m/s, LOS rate: 5.278529 deg/s, cmd update: 12.000000 deg/s, cmd heading: 255.086555 deg, new cmd heading: 250.373603 deg. 2021-02-18T04:52:47.041Z,1613623967.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:52:47.819Z,1613623967.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:52:48.203Z,1613623968.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:52:49.035Z,1613623969.035 [Micromodem](INFO): Nmea in: $SNTTA,0.122877,,,,045247.83*42 2021-02-18T04:52:49.447Z,1613623969.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.140015 m, bearing: 327.082077 deg, deltaT: 4.857055 s, approachRate: -0.284121 m/s, LOS rate: 8.229096 deg/s, posRepo size: 4 2021-02-18T04:52:49.449Z,1613623969.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.140015 m, bearing: 327.082077 deg, approachRate: -0.284121 m/s, LOS rate: 8.229096 deg/s, cmd update: 12.000000 deg/s, cmd heading: 313.444669 deg, new cmd heading: 317.743921 deg. 2021-02-18T04:52:51.907Z,1613623971.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:52:52.640Z,1613623972.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:52:53.054Z,1613623973.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:52:53.888Z,1613623973.888 [Micromodem](INFO): Nmea in: $SNTTA,0.121551,,,,045252.65*44 2021-02-18T04:52:53.941Z,1613623973.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.140015 m, bearing: 317.778321 deg, deltaT: 4.392801 s, approachRate: 0.000000 m/s, LOS rate: -2.117955 deg/s, posRepo size: 4 2021-02-18T04:52:53.948Z,1613623973.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.140015 m, bearing: 317.778321 deg, approachRate: 0.000000 m/s, LOS rate: -2.117955 deg/s, cmd update: -8.471821 deg/s, cmd heading: 6.146126 deg, new cmd heading: 11.681307 deg. 2021-02-18T04:52:56.292Z,1613623976.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:52:57.084Z,1613623977.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:52:57.491Z,1613623977.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:52:58.319Z,1613623978.319 [Micromodem](INFO): Nmea in: $SNTTA,0.119937,,,,045257.09*4C 2021-02-18T04:52:58.340Z,1613623978.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.700012 m, bearing: 316.127410 deg, deltaT: 4.492806 s, approachRate: -0.988247 m/s, LOS rate: -0.367457 deg/s, posRepo size: 4 2021-02-18T04:52:58.343Z,1613623978.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.700012 m, bearing: 316.127410 deg, approachRate: -0.988247 m/s, LOS rate: -0.367457 deg/s, cmd update: -1.469827 deg/s, cmd heading: 328.076280 deg, new cmd heading: 324.984497 deg. 2021-02-18T04:53:00.837Z,1613623980.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:01.534Z,1613623981.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:01.934Z,1613623981.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:53:02.784Z,1613623982.784 [Micromodem](INFO): Nmea in: $SNTTA,0.118102,,,,045301.54*49 2021-02-18T04:53:02.868Z,1613623982.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.700012 m, bearing: 335.533617 deg, deltaT: 4.397679 s, approachRate: 0.000000 m/s, LOS rate: 4.412829 deg/s, posRepo size: 4 2021-02-18T04:53:02.870Z,1613623982.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.700012 m, bearing: 335.533617 deg, approachRate: 0.000000 m/s, LOS rate: 4.412829 deg/s, cmd update: 12.000000 deg/s, cmd heading: 321.613354 deg, new cmd heading: 320.882800 deg. 2021-02-18T04:53:05.209Z,1613623985.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:05.974Z,1613623985.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:06.378Z,1613623986.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:53:07.200Z,1613623987.200 [Micromodem](INFO): Nmea in: $SNTTA,0.116102,,,,045305.98*43 2021-02-18T04:53:07.242Z,1613623987.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.939987 m, bearing: 319.592256 deg, deltaT: 4.518235 s, approachRate: -1.274840 m/s, LOS rate: -3.528227 deg/s, posRepo size: 4 2021-02-18T04:53:07.244Z,1613623987.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.939987 m, bearing: 319.592256 deg, approachRate: -1.274840 m/s, LOS rate: -3.528227 deg/s, cmd update: -12.000000 deg/s, cmd heading: 15.839724 deg, new cmd heading: 20.069076 deg. 2021-02-18T04:53:09.632Z,1613623989.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:10.416Z,1613623990.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:10.850Z,1613623990.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:53:11.644Z,1613623991.644 [Micromodem](INFO): Nmea in: $SNTTA,0.114169,,,,045310.42*4F 2021-02-18T04:53:11.690Z,1613623991.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.939987 m, bearing: 320.079740 deg, deltaT: 4.378402 s, approachRate: 0.000000 m/s, LOS rate: 0.111338 deg/s, posRepo size: 4 2021-02-18T04:53:11.696Z,1613623991.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.939987 m, bearing: 320.079740 deg, approachRate: 0.000000 m/s, LOS rate: 0.111338 deg/s, cmd update: 0.445354 deg/s, cmd heading: 323.336878 deg, new cmd heading: 318.234118 deg. 2021-02-18T04:53:14.104Z,1613623994.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:14.878Z,1613623994.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:15.274Z,1613623995.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:53:16.107Z,1613623996.107 [Micromodem](INFO): Nmea in: $SNTTA,0.112459,,,,045314.89*4C 2021-02-18T04:53:16.514Z,1613623996.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 319.446773 deg, deltaT: 4.900721 s, approachRate: -1.138608 m/s, LOS rate: -0.129158 deg/s, posRepo size: 4 2021-02-18T04:53:16.516Z,1613623996.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.359985 m, bearing: 319.446773 deg, approachRate: -1.138608 m/s, LOS rate: -0.129158 deg/s, cmd update: -0.516632 deg/s, cmd heading: 325.518352 deg, new cmd heading: 325.674532 deg. 2021-02-18T04:53:18.976Z,1613623998.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:19.708Z,1613623999.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:20.114Z,1613624000.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:53:20.944Z,1613624000.944 [Micromodem](INFO): Nmea in: $SNTTA,0.110458,,,,045319.72*46 2021-02-18T04:53:21.008Z,1613624001.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.240005 m, bearing: 320.212929 deg, deltaT: 4.369187 s, approachRate: -0.714087 m/s, LOS rate: 0.175354 deg/s, posRepo size: 4 2021-02-18T04:53:21.010Z,1613624001.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.240005 m, bearing: 320.212929 deg, approachRate: -0.714087 m/s, LOS rate: 0.175354 deg/s, cmd update: 0.701417 deg/s, cmd heading: 323.258815 deg, new cmd heading: 323.015647 deg. 2021-02-18T04:53:23.364Z,1613624003.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:24.170Z,1613624004.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:24.564Z,1613624004.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:53:25.392Z,1613624005.392 [Micromodem](INFO): Nmea in: $SNTTA,0.108398,,,,045324.18*46 2021-02-18T04:53:25.429Z,1613624005.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.360001 m, bearing: 318.350008 deg, deltaT: 4.492211 s, approachRate: -0.641111 m/s, LOS rate: -0.414700 deg/s, posRepo size: 4 2021-02-18T04:53:25.431Z,1613624005.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.360001 m, bearing: 318.350008 deg, approachRate: -0.641111 m/s, LOS rate: -0.414700 deg/s, cmd update: -1.658800 deg/s, cmd heading: 326.410791 deg, new cmd heading: 326.690492 deg. 2021-02-18T04:53:27.885Z,1613624007.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:28.596Z,1613624008.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:29.010Z,1613624009.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:53:29.851Z,1613624009.851 [Micromodem](INFO): Nmea in: $SNTTA,0.106353,,,,045328.60*4C 2021-02-18T04:53:29.908Z,1613624009.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.360001 m, bearing: 319.503217 deg, deltaT: 4.412825 s, approachRate: -0.679837 m/s, LOS rate: 0.261331 deg/s, posRepo size: 4 2021-02-18T04:53:29.909Z,1613624009.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.360001 m, bearing: 319.503217 deg, approachRate: -0.679837 m/s, LOS rate: 0.261331 deg/s, cmd update: 1.045325 deg/s, cmd heading: 319.097843 deg, new cmd heading: 318.321156 deg. 2021-02-18T04:53:32.277Z,1613624012.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:33.042Z,1613624013.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:33.446Z,1613624013.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:53:34.268Z,1613624014.268 [Micromodem](INFO): Nmea in: $SNTTA,0.104127,,,,045333.05*46 2021-02-18T04:53:34.314Z,1613624014.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.060013 m, bearing: 319.486169 deg, deltaT: 4.468378 s, approachRate: -0.738520 m/s, LOS rate: -0.003815 deg/s, posRepo size: 4 2021-02-18T04:53:34.316Z,1613624014.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.060013 m, bearing: 319.486169 deg, approachRate: -0.738520 m/s, LOS rate: -0.003815 deg/s, cmd update: -0.015261 deg/s, cmd heading: 323.772811 deg, new cmd heading: 324.193236 deg. 2021-02-18T04:53:36.708Z,1613624016.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:37.485Z,1613624017.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:37.890Z,1613624017.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:53:38.712Z,1613624018.712 [Micromodem](INFO): Nmea in: $SNTTA,0.102081,,,,045337.50*49 2021-02-18T04:53:38.752Z,1613624018.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.880005 m, bearing: 319.699490 deg, deltaT: 4.424674 s, approachRate: -0.718699 m/s, LOS rate: 0.048212 deg/s, posRepo size: 4 2021-02-18T04:53:38.754Z,1613624018.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.880005 m, bearing: 319.699490 deg, approachRate: -0.718699 m/s, LOS rate: 0.048212 deg/s, cmd update: 0.192846 deg/s, cmd heading: 323.705341 deg, new cmd heading: 323.698937 deg. 2021-02-18T04:53:40.864Z,1613624020.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:41.524Z,1613624021.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:41.929Z,1613624021.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:53:42.752Z,1613624022.752 [Micromodem](INFO): Nmea in: $SNTTA,0.100141,,,,045341.53*44 2021-02-18T04:53:42.864Z,1613624022.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.000000 m, bearing: 318.502813 deg, deltaT: 4.022388 s, approachRate: -0.715994 m/s, LOS rate: -0.297504 deg/s, posRepo size: 4 2021-02-18T04:53:42.872Z,1613624022.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.000000 m, bearing: 318.502813 deg, approachRate: -0.715994 m/s, LOS rate: -0.297504 deg/s, cmd update: -1.190016 deg/s, cmd heading: 324.481744 deg, new cmd heading: 324.578292 deg. 2021-02-18T04:53:45.210Z,1613624025.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:45.974Z,1613624025.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:46.374Z,1613624026.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:53:47.220Z,1613624027.220 [Micromodem](INFO): Nmea in: $SNTTA,0.098031,,,,045345.98*41 2021-02-18T04:53:47.252Z,1613624027.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.880005 m, bearing: 319.406557 deg, deltaT: 4.528923 s, approachRate: -0.688904 m/s, LOS rate: 0.199549 deg/s, posRepo size: 4 2021-02-18T04:53:47.254Z,1613624027.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.880005 m, bearing: 319.406557 deg, approachRate: -0.688904 m/s, LOS rate: 0.199549 deg/s, cmd update: 0.798197 deg/s, cmd heading: 319.091825 deg, new cmd heading: 318.658419 deg. 2021-02-18T04:53:49.618Z,1613624029.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:50.413Z,1613624030.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:50.861Z,1613624030.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:53:51.640Z,1613624031.640 [Micromodem](INFO): Nmea in: $SNTTA,0.095933,,,,045350.42*44 2021-02-18T04:53:51.682Z,1613624031.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.759995 m, bearing: 319.713669 deg, deltaT: 4.366179 s, approachRate: -0.714586 m/s, LOS rate: 0.070339 deg/s, posRepo size: 4 2021-02-18T04:53:51.688Z,1613624031.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.759995 m, bearing: 319.713669 deg, approachRate: -0.714586 m/s, LOS rate: 0.070339 deg/s, cmd update: 0.281356 deg/s, cmd heading: 322.564025 deg, new cmd heading: 322.918513 deg. 2021-02-18T04:53:54.091Z,1613624034.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:54.869Z,1613624034.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:55.262Z,1613624035.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:53:56.096Z,1613624036.096 [Micromodem](INFO): Nmea in: $SNTTA,0.093758,,,,045354.88*43 2021-02-18T04:53:56.163Z,1613624036.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.460007 m, bearing: 318.639690 deg, deltaT: 4.450911 s, approachRate: -0.741418 m/s, LOS rate: -0.241294 deg/s, posRepo size: 4 2021-02-18T04:53:56.165Z,1613624036.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.460007 m, bearing: 318.639690 deg, approachRate: -0.741418 m/s, LOS rate: -0.241294 deg/s, cmd update: -0.965177 deg/s, cmd heading: 323.819675 deg, new cmd heading: 323.948642 deg. 2021-02-18T04:53:58.529Z,1613624038.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:53:59.306Z,1613624039.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:53:59.708Z,1613624039.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:00.532Z,1613624040.532 [Micromodem](INFO): Nmea in: $SNTTA,0.091671,,,,045359.31*44 2021-02-18T04:54:00.550Z,1613624040.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.339996 m, bearing: 317.511261 deg, deltaT: 4.478457 s, approachRate: -0.696671 m/s, LOS rate: -0.251968 deg/s, posRepo size: 4 2021-02-18T04:54:00.552Z,1613624040.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.339996 m, bearing: 317.511261 deg, approachRate: -0.696671 m/s, LOS rate: -0.251968 deg/s, cmd update: -1.007873 deg/s, cmd heading: 319.496997 deg, new cmd heading: 319.139054 deg. 2021-02-18T04:54:00.932Z,1613624040.932 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T04:54:02.982Z,1613624042.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:54:03.748Z,1613624043.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:54:04.150Z,1613624044.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:04.976Z,1613624044.976 [Micromodem](INFO): Nmea in: $SNTTA,0.089540,,,,045403.76*47 2021-02-18T04:54:05.010Z,1613624045.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.100006 m, bearing: 317.155135 deg, deltaT: 4.386315 s, approachRate: -0.738659 m/s, LOS rate: -0.081190 deg/s, posRepo size: 4 2021-02-18T04:54:05.012Z,1613624045.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.100006 m, bearing: 317.155135 deg, approachRate: -0.738659 m/s, LOS rate: -0.081190 deg/s, cmd update: -0.324761 deg/s, cmd heading: 315.072278 deg, new cmd heading: 314.628030 deg. 2021-02-18T04:54:07.410Z,1613624047.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:54:08.194Z,1613624048.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:54:08.594Z,1613624048.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:09.420Z,1613624049.420 [Micromodem](INFO): Nmea in: $SNTTA,0.087378,,,,045408.20*4C 2021-02-18T04:54:09.461Z,1613624049.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.800003 m, bearing: 316.896817 deg, deltaT: 4.478051 s, approachRate: -0.736928 m/s, LOS rate: -0.057685 deg/s, posRepo size: 4 2021-02-18T04:54:09.464Z,1613624049.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.800003 m, bearing: 316.896817 deg, approachRate: -0.736928 m/s, LOS rate: -0.057685 deg/s, cmd update: -0.230741 deg/s, cmd heading: 313.617971 deg, new cmd heading: 313.483531 deg. 2021-02-18T04:54:11.909Z,1613624051.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:54:12.632Z,1613624052.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:54:13.045Z,1613624053.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:13.888Z,1613624053.888 [Micromodem](INFO): Nmea in: $SNTTA,0.085219,,,,045412.64*43 2021-02-18T04:54:13.942Z,1613624053.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.619995 m, bearing: 317.849820 deg, deltaT: 4.422701 s, approachRate: -0.719019 m/s, LOS rate: 0.215480 deg/s, posRepo size: 4 2021-02-18T04:54:13.944Z,1613624053.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.619995 m, bearing: 317.849820 deg, approachRate: -0.719019 m/s, LOS rate: 0.215480 deg/s, cmd update: 0.861919 deg/s, cmd heading: 312.597446 deg, new cmd heading: 312.488724 deg. 2021-02-18T04:54:15.893Z,1613624055.893 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T04:54:16.284Z,1613624056.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:54:17.078Z,1613624057.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:54:17.490Z,1613624057.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:18.304Z,1613624058.304 [Micromodem](INFO): Nmea in: $SNTTA,0.083161,,,,045417.09*47 2021-02-18T04:54:18.341Z,1613624058.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.559998 m, bearing: 318.701353 deg, deltaT: 4.467726 s, approachRate: -0.684912 m/s, LOS rate: 0.190597 deg/s, posRepo size: 4 2021-02-18T04:54:18.343Z,1613624058.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.559998 m, bearing: 318.701353 deg, approachRate: -0.684912 m/s, LOS rate: 0.190597 deg/s, cmd update: 0.762386 deg/s, cmd heading: 316.448272 deg, new cmd heading: 316.795874 deg. 2021-02-18T04:54:20.730Z,1613624060.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:54:21.138Z,1613624061.138 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T04:54:21.520Z,1613624061.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:54:21.927Z,1613624061.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:22.748Z,1613624062.748 [Micromodem](INFO): Nmea in: $SNTTA,0.081013,,,,045421.53*4B 2021-02-18T04:54:22.825Z,1613624062.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.320000 m, bearing: 319.155916 deg, deltaT: 4.423852 s, approachRate: -0.732393 m/s, LOS rate: 0.102753 deg/s, posRepo size: 4 2021-02-18T04:54:22.832Z,1613624062.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.320000 m, bearing: 319.155916 deg, approachRate: -0.732393 m/s, LOS rate: 0.102753 deg/s, cmd update: 0.411011 deg/s, cmd heading: 319.817908 deg, new cmd heading: 320.171871 deg. 2021-02-18T04:54:25.197Z,1613624065.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:54:25.969Z,1613624065.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:54:26.369Z,1613624066.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:27.196Z,1613624067.196 [Micromodem](INFO): Nmea in: $SNTTA,0.078994,,,,045425.98*48 2021-02-18T04:54:27.233Z,1613624067.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.379997 m, bearing: 319.374782 deg, deltaT: 4.515487 s, approachRate: -0.651093 m/s, LOS rate: 0.048470 deg/s, posRepo size: 4 2021-02-18T04:54:27.240Z,1613624067.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.379997 m, bearing: 319.374782 deg, approachRate: -0.651093 m/s, LOS rate: 0.048470 deg/s, cmd update: 0.193881 deg/s, cmd heading: 321.673832 deg, new cmd heading: 321.821782 deg. 2021-02-18T04:54:29.615Z,1613624069.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:54:30.414Z,1613624070.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:54:30.847Z,1613624070.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:31.656Z,1613624071.656 [Micromodem](INFO): Nmea in: $SNTTA,0.076931,,,,045430.42*4A 2021-02-18T04:54:31.678Z,1613624071.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.259995 m, bearing: 318.809543 deg, deltaT: 4.364790 s, approachRate: -0.714812 m/s, LOS rate: -0.129500 deg/s, posRepo size: 4 2021-02-18T04:54:31.680Z,1613624071.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.259995 m, bearing: 318.809543 deg, approachRate: -0.714812 m/s, LOS rate: -0.129500 deg/s, cmd update: -0.517999 deg/s, cmd heading: 322.520855 deg, new cmd heading: 322.605386 deg. 2021-02-18T04:54:34.093Z,1613624074.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:54:34.873Z,1613624074.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:54:35.299Z,1613624075.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:36.116Z,1613624076.116 [Micromodem](INFO): Nmea in: $SNTTA,0.074772,,,,045434.88*43 2021-02-18T04:54:36.125Z,1613624076.125 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T04:54:36.178Z,1613624076.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.959999 m, bearing: 318.207449 deg, deltaT: 4.493361 s, approachRate: -0.734416 m/s, LOS rate: -0.133997 deg/s, posRepo size: 4 2021-02-18T04:54:36.184Z,1613624076.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.959999 m, bearing: 318.207449 deg, approachRate: -0.734416 m/s, LOS rate: -0.133997 deg/s, cmd update: -0.535986 deg/s, cmd heading: 320.201634 deg, new cmd heading: 319.964018 deg. 2021-02-18T04:54:38.555Z,1613624078.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:54:39.336Z,1613624079.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:54:39.753Z,1613624079.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:40.564Z,1613624080.564 [Micromodem](INFO): Nmea in: $SNTTA,0.072605,,,,045439.34*4E 2021-02-18T04:54:40.601Z,1613624080.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.720001 m, bearing: 319.297328 deg, deltaT: 4.467701 s, approachRate: -0.725205 m/s, LOS rate: 0.243946 deg/s, posRepo size: 4 2021-02-18T04:54:40.603Z,1613624080.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.720001 m, bearing: 319.297328 deg, approachRate: -0.725205 m/s, LOS rate: 0.243946 deg/s, cmd update: 0.975786 deg/s, cmd heading: 317.798401 deg, new cmd heading: 317.584941 deg. 2021-02-18T04:54:43.047Z,1613624083.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:54:43.803Z,1613624083.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:54:44.186Z,1613624084.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:45.024Z,1613624085.024 [Micromodem](INFO): Nmea in: $SNTTA,0.070556,,,,045443.81*4A 2021-02-18T04:54:45.074Z,1613624085.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.660004 m, bearing: 319.320961 deg, deltaT: 4.404905 s, approachRate: -0.694680 m/s, LOS rate: 0.005365 deg/s, posRepo size: 4 2021-02-18T04:54:45.080Z,1613624085.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.660004 m, bearing: 319.320961 deg, approachRate: -0.694680 m/s, LOS rate: 0.005365 deg/s, cmd update: 0.021460 deg/s, cmd heading: 322.096485 deg, new cmd heading: 322.551097 deg. 2021-02-18T04:54:47.437Z,1613624087.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:54:48.226Z,1613624088.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:54:48.630Z,1613624088.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:49.456Z,1613624089.456 [Micromodem](INFO): Nmea in: $SNTTA,0.068457,,,0.070963,045448.24*52 2021-02-18T04:54:49.478Z,1613624089.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.540001 m, bearing: 319.019285 deg, deltaT: 4.458462 s, approachRate: -0.699794 m/s, LOS rate: -0.067664 deg/s, posRepo size: 4 2021-02-18T04:54:49.480Z,1613624089.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.540001 m, bearing: 319.019285 deg, approachRate: -0.699794 m/s, LOS rate: -0.067664 deg/s, cmd update: -0.270655 deg/s, cmd heading: 322.192168 deg, new cmd heading: 322.200994 deg. 2021-02-18T04:54:51.932Z,1613624091.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:54:52.668Z,1613624092.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:54:53.089Z,1613624093.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:53.904Z,1613624093.904 [Micromodem](INFO): Nmea in: $SNTTA,0.066511,,,,045452.68*49 2021-02-18T04:54:53.952Z,1613624093.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.660004 m, bearing: 318.711462 deg, deltaT: 4.424002 s, approachRate: -0.650994 m/s, LOS rate: -0.069580 deg/s, posRepo size: 4 2021-02-18T04:54:53.954Z,1613624093.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.660004 m, bearing: 318.711462 deg, approachRate: -0.650994 m/s, LOS rate: -0.069580 deg/s, cmd update: -0.278321 deg/s, cmd heading: 320.994833 deg, new cmd heading: 320.869977 deg. 2021-02-18T04:54:56.335Z,1613624096.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:54:57.113Z,1613624097.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:54:57.526Z,1613624097.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:54:58.340Z,1613624098.340 [Micromodem](INFO): Nmea in: $SNTTA,0.064323,,,,045457.12*44 2021-02-18T04:54:58.380Z,1613624098.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 317.483230 deg, deltaT: 4.478388 s, approachRate: -0.763667 m/s, LOS rate: -0.274258 deg/s, posRepo size: 4 2021-02-18T04:54:58.384Z,1613624098.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.240005 m, bearing: 317.483230 deg, approachRate: -0.763667 m/s, LOS rate: -0.274258 deg/s, cmd update: -1.097030 deg/s, cmd heading: 319.748366 deg, new cmd heading: 319.634695 deg. 2021-02-18T04:55:00.871Z,1613624100.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:01.578Z,1613624101.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:01.968Z,1613624101.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:55:02.842Z,1613624102.842 [Micromodem](INFO): Nmea in: $SNTTA,0.062178,,,,045501.59*43 2021-02-18T04:55:02.917Z,1613624102.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.120003 m, bearing: 319.497289 deg, deltaT: 4.428912 s, approachRate: -0.704463 m/s, LOS rate: 0.454753 deg/s, posRepo size: 4 2021-02-18T04:55:02.923Z,1613624102.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.120003 m, bearing: 319.497289 deg, approachRate: -0.704463 m/s, LOS rate: 0.454753 deg/s, cmd update: 1.819010 deg/s, cmd heading: 314.889686 deg, new cmd heading: 314.320105 deg. 2021-02-18T04:55:05.218Z,1613624105.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:06.005Z,1613624106.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:06.411Z,1613624106.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:55:07.239Z,1613624107.239 [Micromodem](INFO): Nmea in: $SNTTA,0.060290,,,,045506.01*4E 2021-02-18T04:55:07.258Z,1613624107.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.180000 m, bearing: 317.834083 deg, deltaT: 4.502207 s, approachRate: -0.653014 m/s, LOS rate: -0.369420 deg/s, posRepo size: 4 2021-02-18T04:55:07.260Z,1613624107.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.180000 m, bearing: 317.834083 deg, approachRate: -0.653014 m/s, LOS rate: -0.369420 deg/s, cmd update: -1.477680 deg/s, cmd heading: 323.078855 deg, new cmd heading: 323.730408 deg. 2021-02-18T04:55:09.652Z,1613624109.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:10.445Z,1613624110.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:10.892Z,1613624110.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:55:11.672Z,1613624111.672 [Micromodem](INFO): Nmea in: $SNTTA,0.058072,,,,045510.45*4C 2021-02-18T04:55:11.687Z,1613624111.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.239998 m, bearing: 316.747892 deg, deltaT: 4.368088 s, approachRate: -0.673064 m/s, LOS rate: -0.248665 deg/s, posRepo size: 4 2021-02-18T04:55:11.689Z,1613624111.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.239998 m, bearing: 316.747892 deg, approachRate: -0.673064 m/s, LOS rate: -0.248665 deg/s, cmd update: -0.994661 deg/s, cmd heading: 316.624526 deg, new cmd heading: 316.005352 deg. 2021-02-18T04:55:14.116Z,1613624114.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:14.888Z,1613624114.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:15.300Z,1613624115.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:55:16.131Z,1613624116.131 [Micromodem](INFO): Nmea in: $SNTTA,0.055990,,,,045514.90*48 2021-02-18T04:55:16.152Z,1613624116.152 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T04:55:16.168Z,1613624116.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.820007 m, bearing: 318.475930 deg, deltaT: 4.458984 s, approachRate: -0.766989 m/s, LOS rate: 0.387541 deg/s, posRepo size: 4 2021-02-18T04:55:16.170Z,1613624116.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.820007 m, bearing: 318.475930 deg, approachRate: -0.766989 m/s, LOS rate: 0.387541 deg/s, cmd update: 1.550163 deg/s, cmd heading: 312.189064 deg, new cmd heading: 311.750197 deg. 2021-02-18T04:55:18.545Z,1613624118.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:19.346Z,1613624119.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:19.739Z,1613624119.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:55:20.568Z,1613624120.568 [Micromodem](INFO): Nmea in: $SNTTA,0.053760,,,,045519.35*4D 2021-02-18T04:55:20.590Z,1613624120.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.399994 m, bearing: 318.568820 deg, deltaT: 4.454166 s, approachRate: -0.767824 m/s, LOS rate: 0.020855 deg/s, posRepo size: 4 2021-02-18T04:55:20.592Z,1613624120.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.399994 m, bearing: 318.568820 deg, approachRate: -0.767824 m/s, LOS rate: 0.020855 deg/s, cmd update: 0.083419 deg/s, cmd heading: 319.093936 deg, new cmd heading: 319.727486 deg. 2021-02-18T04:55:20.992Z,1613624120.992 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T04:55:23.027Z,1613624123.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:23.803Z,1613624123.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:24.184Z,1613624124.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:55:25.050Z,1613624125.050 [Micromodem](INFO): Nmea in: $SNTTA,0.051517,,,,045523.81*4B 2021-02-18T04:55:25.084Z,1613624125.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.040009 m, bearing: 317.002685 deg, deltaT: 4.433225 s, approachRate: -0.757910 m/s, LOS rate: -0.353272 deg/s, posRepo size: 4 2021-02-18T04:55:25.086Z,1613624125.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.040009 m, bearing: 317.002685 deg, approachRate: -0.757910 m/s, LOS rate: -0.353272 deg/s, cmd update: -1.413089 deg/s, cmd heading: 319.463580 deg, new cmd heading: 319.502888 deg. 2021-02-18T04:55:25.893Z,1613624125.893 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T04:55:27.445Z,1613624127.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:28.226Z,1613624128.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:28.633Z,1613624128.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:55:29.452Z,1613624129.452 [Micromodem](INFO): Nmea in: $SNTTA,0.049444,,,,045528.23*46 2021-02-18T04:55:29.490Z,1613624129.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.980011 m, bearing: 317.368128 deg, deltaT: 4.464471 s, approachRate: -0.685411 m/s, LOS rate: 0.081856 deg/s, posRepo size: 4 2021-02-18T04:55:29.492Z,1613624129.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.980011 m, bearing: 317.368128 deg, approachRate: -0.685411 m/s, LOS rate: 0.081856 deg/s, cmd update: 0.327423 deg/s, cmd heading: 313.152008 deg, new cmd heading: 312.571244 deg. 2021-02-18T04:55:31.089Z,1613624131.089 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T04:55:31.913Z,1613624131.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:32.664Z,1613624132.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:33.077Z,1613624133.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:55:33.892Z,1613624133.892 [Micromodem](INFO): Nmea in: $SNTTA,0.047359,,,,045532.67*48 2021-02-18T04:55:33.944Z,1613624133.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.100006 m, bearing: 320.438735 deg, deltaT: 4.429052 s, approachRate: -0.650253 m/s, LOS rate: 0.693288 deg/s, posRepo size: 4 2021-02-18T04:55:33.946Z,1613624133.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.100006 m, bearing: 320.438735 deg, approachRate: -0.650253 m/s, LOS rate: 0.693288 deg/s, cmd update: 2.773151 deg/s, cmd heading: 314.602077 deg, new cmd heading: 314.745025 deg. 2021-02-18T04:55:36.342Z,1613624136.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:37.115Z,1613624137.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:37.528Z,1613624137.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:55:38.340Z,1613624138.340 [Micromodem](INFO): Nmea in: $SNTTA,0.045238,,,,045537.12*4B 2021-02-18T04:55:38.393Z,1613624138.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.619995 m, bearing: 319.093324 deg, deltaT: 4.481855 s, approachRate: -0.776467 m/s, LOS rate: -0.300191 deg/s, posRepo size: 4 2021-02-18T04:55:38.400Z,1613624138.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.619995 m, bearing: 319.093324 deg, approachRate: -0.776467 m/s, LOS rate: -0.300191 deg/s, cmd update: -1.200762 deg/s, cmd heading: 327.020745 deg, new cmd heading: 328.135840 deg. 2021-02-18T04:55:40.803Z,1613624140.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:41.561Z,1613624141.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:41.963Z,1613624141.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:55:42.813Z,1613624142.813 [Micromodem](INFO): Nmea in: $SNTTA,0.043209,,,,045541.57*4F 2021-02-18T04:55:42.888Z,1613624142.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.680008 m, bearing: 319.116765 deg, deltaT: 4.383828 s, approachRate: -0.670644 m/s, LOS rate: 0.005347 deg/s, posRepo size: 4 2021-02-18T04:55:42.890Z,1613624142.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.680008 m, bearing: 319.116765 deg, approachRate: -0.670644 m/s, LOS rate: 0.005347 deg/s, cmd update: 0.021389 deg/s, cmd heading: 321.752007 deg, new cmd heading: 321.139613 deg. 2021-02-18T04:55:44.909Z,1613624144.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:45.594Z,1613624145.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:46.009Z,1613624146.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:55:46.852Z,1613624146.852 [Micromodem](INFO): Nmea in: $SNTTA,0.041314,,,,045545.60*40 2021-02-18T04:55:46.919Z,1613624146.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.740002 m, bearing: 317.710429 deg, deltaT: 4.059927 s, approachRate: -0.724153 m/s, LOS rate: -0.346394 deg/s, posRepo size: 4 2021-02-18T04:55:46.921Z,1613624146.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.740002 m, bearing: 317.710429 deg, approachRate: -0.724153 m/s, LOS rate: -0.346394 deg/s, cmd update: -1.385578 deg/s, cmd heading: 321.838840 deg, new cmd heading: 321.849222 deg. 2021-02-18T04:55:49.245Z,1613624149.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:50.047Z,1613624150.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:50.443Z,1613624150.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:55:51.272Z,1613624151.272 [Micromodem](INFO): Nmea in: $SNTTA,0.039278,,,,045550.06*40 2021-02-18T04:55:51.318Z,1613624151.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.680004 m, bearing: 317.802992 deg, deltaT: 4.513409 s, approachRate: -0.677979 m/s, LOS rate: 0.020508 deg/s, posRepo size: 4 2021-02-18T04:55:51.324Z,1613624151.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.680004 m, bearing: 317.802992 deg, approachRate: -0.677979 m/s, LOS rate: 0.020508 deg/s, cmd update: 0.082034 deg/s, cmd heading: 315.590517 deg, new cmd heading: 315.070986 deg. 2021-02-18T04:55:53.688Z,1613624153.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:54.480Z,1613624154.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:54.887Z,1613624154.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:55:55.711Z,1613624155.711 [Micromodem](INFO): Nmea in: $SNTTA,0.037196,,,,045554.49*42 2021-02-18T04:55:55.730Z,1613624155.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.560005 m, bearing: 318.539095 deg, deltaT: 4.362963 s, approachRate: -0.715110 m/s, LOS rate: 0.168716 deg/s, posRepo size: 4 2021-02-18T04:55:55.732Z,1613624155.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.560005 m, bearing: 318.539095 deg, approachRate: -0.715110 m/s, LOS rate: 0.168716 deg/s, cmd update: 0.674865 deg/s, cmd heading: 315.948759 deg, new cmd heading: 315.983196 deg. 2021-02-18T04:55:58.164Z,1613624158.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:55:58.924Z,1613624158.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:55:59.335Z,1613624159.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:00.176Z,1613624160.176 [Micromodem](INFO): Nmea in: $SNTTA,0.035003,,0.036153,,045558.93*5A 2021-02-18T04:56:00.210Z,1613624160.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.319996 m, bearing: 318.863256 deg, deltaT: 4.502648 s, approachRate: -0.719579 m/s, LOS rate: 0.071993 deg/s, posRepo size: 4 2021-02-18T04:56:00.236Z,1613624160.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.319996 m, bearing: 318.863256 deg, approachRate: -0.719579 m/s, LOS rate: 0.071993 deg/s, cmd update: 0.287973 deg/s, cmd heading: 318.979887 deg, new cmd heading: 319.255420 deg. 2021-02-18T04:56:02.585Z,1613624162.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:56:03.370Z,1613624163.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:56:03.810Z,1613624163.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:04.596Z,1613624164.596 [Micromodem](INFO): Nmea in: $SNTTA,0.032853,,,,045603.38*40 2021-02-18T04:56:04.637Z,1613624164.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.079998 m, bearing: 318.900248 deg, deltaT: 4.398121 s, approachRate: -0.736678 m/s, LOS rate: 0.008411 deg/s, posRepo size: 4 2021-02-18T04:56:04.639Z,1613624164.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.079998 m, bearing: 318.900248 deg, approachRate: -0.736678 m/s, LOS rate: 0.008411 deg/s, cmd update: 0.033644 deg/s, cmd heading: 320.249650 deg, new cmd heading: 320.372412 deg. 2021-02-18T04:56:05.902Z,1613624165.902 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T04:56:07.096Z,1613624167.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:56:07.824Z,1613624167.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:56:08.218Z,1613624168.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:09.049Z,1613624169.049 [Micromodem](INFO): Nmea in: $SNTTA,0.030796,,,,045607.83*40 2021-02-18T04:56:09.101Z,1613624169.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.019997 m, bearing: 318.501584 deg, deltaT: 4.446810 s, approachRate: -0.688134 m/s, LOS rate: -0.089652 deg/s, posRepo size: 4 2021-02-18T04:56:09.102Z,1613624169.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.019997 m, bearing: 318.501584 deg, approachRate: -0.688134 m/s, LOS rate: -0.089652 deg/s, cmd update: -0.358607 deg/s, cmd heading: 320.398474 deg, new cmd heading: 320.414159 deg. 2021-02-18T04:56:11.478Z,1613624171.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:56:12.266Z,1613624172.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:56:12.665Z,1613624172.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:13.492Z,1613624173.492 [Micromodem](INFO): Nmea in: $SNTTA,0.028760,,,0.086516,045612.27*58 2021-02-18T04:56:13.531Z,1613624173.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.899998 m, bearing: 317.670240 deg, deltaT: 4.468454 s, approachRate: -0.698228 m/s, LOS rate: -0.186047 deg/s, posRepo size: 4 2021-02-18T04:56:13.533Z,1613624173.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.899998 m, bearing: 317.670240 deg, approachRate: -0.698228 m/s, LOS rate: -0.186047 deg/s, cmd update: -0.744189 deg/s, cmd heading: 318.789145 deg, new cmd heading: 318.643928 deg. 2021-02-18T04:56:15.961Z,1613624175.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:56:16.700Z,1613624176.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:56:17.111Z,1613624177.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:17.932Z,1613624177.932 [Micromodem](INFO): Nmea in: $SNTTA,0.026600,,0.038787,,045616.71*59 2021-02-18T04:56:17.991Z,1613624177.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.660000 m, bearing: 317.608632 deg, deltaT: 4.395845 s, approachRate: -0.737059 m/s, LOS rate: -0.014015 deg/s, posRepo size: 4 2021-02-18T04:56:17.992Z,1613624177.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.66 m. 2021-02-18T04:56:17.994Z,1613624177.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.660000 m, bearing: 317.608632 deg, approachRate: -0.737059 m/s, LOS rate: -0.014015 deg/s, cmd update: -0.056060 deg/s, cmd heading: 315.514806 deg, new cmd heading: 315.168616 deg. 2021-02-18T04:56:18.337Z,1613624178.337 [PowerOnly](INFO): Powering up loadControl 2021-02-18T04:56:20.352Z,1613624180.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:56:21.152Z,1613624181.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:56:21.550Z,1613624181.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:22.376Z,1613624182.376 [Micromodem](INFO): Nmea in: $SNTTA,0.024583,,,,045621.16*4B 2021-02-18T04:56:22.422Z,1613624182.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.660000 m, bearing: 318.486448 deg, deltaT: 4.489450 s, approachRate: -0.668233 m/s, LOS rate: 0.195529 deg/s, posRepo size: 4 2021-02-18T04:56:22.427Z,1613624182.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.66 m. 2021-02-18T04:56:22.428Z,1613624182.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.66 m. 2021-02-18T04:56:22.428Z,1613624182.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T04:56:22.429Z,1613624182.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.660000 m, bearing: 318.486448 deg, approachRate: -0.668233 m/s, LOS rate: 0.195529 deg/s, cmd update: 0.782114 deg/s, cmd heading: 315.263134 deg, new cmd heading: 315.240086 deg. 2021-02-18T04:56:24.878Z,1613624184.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:56:25.594Z,1613624185.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:56:25.994Z,1613624185.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:26.832Z,1613624186.832 [Micromodem](INFO): Nmea in: $SNTTA,0.022476,,,,045625.60*43 2021-02-18T04:56:26.909Z,1613624186.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.480000 m, bearing: 319.331534 deg, deltaT: 4.401236 s, approachRate: -0.722524 m/s, LOS rate: 0.192011 deg/s, posRepo size: 4 2021-02-18T04:56:26.911Z,1613624186.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.480000 m, bearing: 319.331534 deg, approachRate: -0.722524 m/s, LOS rate: 0.192011 deg/s, cmd update: 0.768044 deg/s, cmd heading: 318.705528 deg, new cmd heading: 319.093796 deg. 2021-02-18T04:56:29.240Z,1613624189.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:56:30.034Z,1613624190.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:56:30.438Z,1613624190.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:31.264Z,1613624191.264 [Micromodem](INFO): Nmea in: $SNTTA,0.020396,,,,045630.04*4E 2021-02-18T04:56:31.306Z,1613624191.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.359999 m, bearing: 319.952343 deg, deltaT: 4.538422 s, approachRate: -0.687464 m/s, LOS rate: 0.136790 deg/s, posRepo size: 4 2021-02-18T04:56:31.312Z,1613624191.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.359999 m, bearing: 319.952343 deg, approachRate: -0.687464 m/s, LOS rate: 0.136790 deg/s, cmd update: 0.547159 deg/s, cmd heading: 322.188115 deg, new cmd heading: 322.463874 deg. 2021-02-18T04:56:33.700Z,1613624193.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:56:34.477Z,1613624194.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:56:34.889Z,1613624194.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:35.704Z,1613624195.704 [Micromodem](INFO): Nmea in: $SNTTA,0.018178,,,,045634.49*4A 2021-02-18T04:56:35.742Z,1613624195.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.059999 m, bearing: 318.080489 deg, deltaT: 4.363744 s, approachRate: -0.756231 m/s, LOS rate: -0.428956 deg/s, posRepo size: 4 2021-02-18T04:56:35.748Z,1613624195.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.059999 m, bearing: 318.080489 deg, approachRate: -0.756231 m/s, LOS rate: -0.428956 deg/s, cmd update: -1.715824 deg/s, cmd heading: 324.577870 deg, new cmd heading: 324.811273 deg. 2021-02-18T04:56:38.162Z,1613624198.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:56:38.947Z,1613624198.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:56:39.341Z,1613624199.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:40.228Z,1613624200.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.700001 m, bearing: 316.400017 deg, deltaT: 4.456888 s, approachRate: -0.753889 m/s, LOS rate: -0.377051 deg/s, posRepo size: 4 2021-02-18T04:56:40.230Z,1613624200.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.700001 m, bearing: 316.400017 deg, approachRate: -0.753889 m/s, LOS rate: -0.377051 deg/s, cmd update: -1.508203 deg/s, cmd heading: 316.962444 deg, new cmd heading: 316.157776 deg. 2021-02-18T04:56:40.555Z,1613624200.555 [Micromodem](INFO): Nmea in: $SNTTA,0.015941,,,,045639.03*46 2021-02-18T04:56:42.572Z,1613624202.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:56:43.372Z,1613624203.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:56:43.805Z,1613624203.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:44.600Z,1613624204.600 [Micromodem](INFO): Nmea in: $SNTTA,0.013907,,,,045643.38*47 2021-02-18T04:56:44.641Z,1613624204.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.639997 m, bearing: 318.416288 deg, deltaT: 4.419164 s, approachRate: -0.692439 m/s, LOS rate: 0.456256 deg/s, posRepo size: 4 2021-02-18T04:56:44.643Z,1613624204.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.639997 m, bearing: 318.416288 deg, approachRate: -0.692439 m/s, LOS rate: 0.456256 deg/s, cmd update: 1.825026 deg/s, cmd heading: 310.272661 deg, new cmd heading: 309.590495 deg. 2021-02-18T04:56:47.048Z,1613624207.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:56:47.819Z,1613624207.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:56:48.214Z,1613624208.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:49.045Z,1613624209.045 [Micromodem](INFO): Nmea in: $SNTTA,0.011900,,,0.014480,045647.83*51 2021-02-18T04:56:49.094Z,1613624209.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 319.500294 deg, deltaT: 4.439637 s, approachRate: -0.675731 m/s, LOS rate: 0.244165 deg/s, posRepo size: 4 2021-02-18T04:56:49.096Z,1613624209.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.639997 m, bearing: 319.500294 deg, approachRate: -0.675731 m/s, LOS rate: 0.244165 deg/s, cmd update: 0.976662 deg/s, cmd heading: 318.379303 deg, new cmd heading: 319.224352 deg. 2021-02-18T04:56:51.459Z,1613624211.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:56:52.254Z,1613624212.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:56:52.658Z,1613624212.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:53.484Z,1613624213.484 [Micromodem](INFO): Nmea in: $SNTTA,0.009913,,0.019582,,045652.26*5F 2021-02-18T04:56:53.528Z,1613624213.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.639997 m, bearing: 318.065080 deg, deltaT: 4.501176 s, approachRate: -0.666493 m/s, LOS rate: -0.318853 deg/s, posRepo size: 4 2021-02-18T04:56:53.529Z,1613624213.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.639997 m, bearing: 318.065080 deg, approachRate: -0.666493 m/s, LOS rate: -0.318853 deg/s, cmd update: -1.275412 deg/s, cmd heading: 322.771515 deg, new cmd heading: 323.161920 deg. 2021-02-18T04:56:55.962Z,1613624215.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:56:56.698Z,1613624216.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:56:57.102Z,1613624217.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:56:57.933Z,1613624217.933 [Micromodem](INFO): Nmea in: $SNTTA,0.007956,,,,045656.71*4F 2021-02-18T04:56:57.000Z,1613624218.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.640002 m, bearing: 319.204000 deg, deltaT: 4.386286 s, approachRate: -0.683949 m/s, LOS rate: 0.259655 deg/s, posRepo size: 4 2021-02-18T04:56:58.002Z,1613624218.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.640002 m, bearing: 319.204000 deg, approachRate: -0.683949 m/s, LOS rate: 0.259655 deg/s, cmd update: 1.038619 deg/s, cmd heading: 317.172095 deg, new cmd heading: 316.562807 deg. 2021-02-18T04:57:00.348Z,1613624220.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:01.147Z,1613624221.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:01.545Z,1613624221.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:57:02.372Z,1613624222.372 [Micromodem](INFO): Nmea in: $SNTTA,0.006033,,,,045701.16*46 2021-02-18T04:57:02.414Z,1613624222.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.820000 m, bearing: 320.384858 deg, deltaT: 4.495380 s, approachRate: -0.627311 m/s, LOS rate: 0.262683 deg/s, posRepo size: 4 2021-02-18T04:57:02.420Z,1613624222.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.820000 m, bearing: 320.384858 deg, approachRate: -0.627311 m/s, LOS rate: 0.262683 deg/s, cmd update: 1.050730 deg/s, cmd heading: 321.836984 deg, new cmd heading: 322.257224 deg. 2021-02-18T04:57:04.885Z,1613624224.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:05.584Z,1613624225.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:05.996Z,1613624225.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:57:06.832Z,1613624226.832 [Micromodem](INFO): Nmea in: $SNTTA,0.004068,,,,045705.59*45 2021-02-18T04:57:06.900Z,1613624226.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.880000 m, bearing: 315.505234 deg, deltaT: 4.422800 s, approachRate: -0.664737 m/s, LOS rate: -1.103288 deg/s, posRepo size: 4 2021-02-18T04:57:06.902Z,1613624226.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.880000 m, bearing: 315.505234 deg, approachRate: -0.664737 m/s, LOS rate: -1.103288 deg/s, cmd update: -4.413153 deg/s, cmd heading: 326.487972 deg, new cmd heading: 326.975489 deg. 2021-02-18T04:57:09.241Z,1613624229.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:10.034Z,1613624230.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:10.451Z,1613624230.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:57:11.260Z,1613624231.260 [Micromodem](INFO): Nmea in: $SNTTA,0.002710,,,,045710.04*47 2021-02-18T04:57:11.280Z,1613624231.280 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T04:57:11.280Z,1613624231.280 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T04:57:11.280Z,1613624231.280 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T04:57:11.280Z,1613624231.280 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:57:11.281Z,1613624231.281 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T04:57:11.281Z,1613624231.281 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.899999 m 2021-02-18T04:57:11.281Z,1613624231.281 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T04:57:11.281Z,1613624231.281 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T04:57:11.281Z,1613624231.281 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T04:57:11.284Z,1613624231.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 315.217000 deg, deltaT: 4.520397 s, approachRate: -0.438015 m/s, LOS rate: -0.063763 deg/s, posRepo size: 4 2021-02-18T04:57:11.285Z,1613624231.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.899999 m, bearing: 315.217000 deg, approachRate: -0.438015 m/s, LOS rate: -0.063763 deg/s, cmd update: -0.255052 deg/s, cmd heading: 306.554875 deg, new cmd heading: 305.094549 deg. 2021-02-18T04:57:11.693Z,1613624231.693 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T045711: (41.552319, -70.708603) 2021-02-18T04:57:11.693Z,1613624231.693 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T04:57:11.693Z,1613624231.693 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T04:57:11.693Z,1613624231.693 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:57:11.694Z,1613624231.694 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T04:57:11.694Z,1613624231.694 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T04:57:11.694Z,1613624231.694 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T04:57:11.694Z,1613624231.694 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T04:57:11.695Z,1613624231.695 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T04:57:12.094Z,1613624232.094 [UniversalFixResidualReporter](INFO): Fix residual: 3.5 %DT, over the last 561.2 m. Residual distance 19.4 m at bearing 155.9 degrees. Fix at (41.5529, -70.7071) with 0.0 m made good. 2021-02-18T04:57:13.698Z,1613624233.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:14.472Z,1613624234.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:14.892Z,1613624234.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:57:15.704Z,1613624235.704 [Micromodem](INFO): Nmea in: $SNTTA,0.002691,,,,045714.48*43 2021-02-18T04:57:15.719Z,1613624235.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 311.029849 deg, deltaT: 4.353265 s, approachRate: 0.027566 m/s, LOS rate: -0.961842 deg/s, posRepo size: 4 2021-02-18T04:57:15.721Z,1613624235.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.020000 m, bearing: 311.029849 deg, approachRate: 0.027566 m/s, LOS rate: -0.961842 deg/s, cmd update: -3.847367 deg/s, cmd heading: 305.443547 deg, new cmd heading: 305.339226 deg. 2021-02-18T04:57:18.179Z,1613624238.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:18.917Z,1613624238.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:19.331Z,1613624239.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:57:20.153Z,1613624240.153 [Micromodem](INFO): Nmea in: $SNTTA,0.003952,,,,045718.93*48 2021-02-18T04:57:20.247Z,1613624240.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.999998 m, bearing: 303.068389 deg, deltaT: 4.478975 s, approachRate: 0.442065 m/s, LOS rate: -1.777518 deg/s, posRepo size: 4 2021-02-18T04:57:20.249Z,1613624240.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.999998 m, bearing: 303.068389 deg, approachRate: 0.442065 m/s, LOS rate: -1.777518 deg/s, cmd update: -7.110073 deg/s, cmd heading: 288.322452 deg, new cmd heading: 286.450158 deg. 2021-02-18T04:57:22.568Z,1613624242.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:23.375Z,1613624243.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:23.782Z,1613624243.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:57:24.600Z,1613624244.600 [Micromodem](INFO): Nmea in: $SNTTA,0.005583,,,,045723.38*47 2021-02-18T04:57:24.638Z,1613624244.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.460000 m, bearing: 290.841203 deg, deltaT: 4.402785 s, approachRate: 0.558738 m/s, LOS rate: -2.777148 deg/s, posRepo size: 4 2021-02-18T04:57:24.644Z,1613624244.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.460000 m, bearing: 290.841203 deg, approachRate: 0.558738 m/s, LOS rate: -2.777148 deg/s, cmd update: -11.108592 deg/s, cmd heading: 256.814236 deg, new cmd heading: 253.638785 deg. 2021-02-18T04:57:27.047Z,1613624247.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:27.821Z,1613624247.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:28.210Z,1613624248.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:57:29.045Z,1613624249.045 [Micromodem](INFO): Nmea in: $SNTTA,0.007451,,,0.019634,045727.83*58 2021-02-18T04:57:29.093Z,1613624249.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.280000 m, bearing: 296.333030 deg, deltaT: 4.467026 s, approachRate: 0.631292 m/s, LOS rate: 1.229415 deg/s, posRepo size: 4 2021-02-18T04:57:29.095Z,1613624249.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.280000 m, bearing: 296.333030 deg, approachRate: 0.631292 m/s, LOS rate: 1.229415 deg/s, cmd update: 4.917659 deg/s, cmd heading: 207.310960 deg, new cmd heading: 202.364759 deg. 2021-02-18T04:57:31.475Z,1613624251.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:32.254Z,1613624252.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:32.654Z,1613624252.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:57:33.480Z,1613624253.480 [Micromodem](INFO): Nmea in: $SNTTA,0.008982,,,0.153182,045732.26*5A 2021-02-18T04:57:33.517Z,1613624253.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.559999 m, bearing: 284.626468 deg, deltaT: 4.455895 s, approachRate: 0.511682 m/s, LOS rate: -2.627208 deg/s, posRepo size: 4 2021-02-18T04:57:33.518Z,1613624253.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.56 m. Rolling out. 2021-02-18T04:57:33.518Z,1613624253.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T04:57:35.938Z,1613624255.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:36.692Z,1613624256.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:37.109Z,1613624257.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:57:37.924Z,1613624257.924 [Micromodem](INFO): Nmea in: $SNTTA,0.010298,,,,045736.70*46 2021-02-18T04:57:37.987Z,1613624257.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.540001 m, bearing: 256.383609 deg, deltaT: 4.404955 s, approachRate: 0.449494 m/s, LOS rate: -6.411611 deg/s, posRepo size: 4 2021-02-18T04:57:40.367Z,1613624260.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:41.154Z,1613624261.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:41.554Z,1613624261.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:57:42.372Z,1613624262.372 [Micromodem](INFO): Nmea in: $SNTTA,0.011665,,,,045741.16*41 2021-02-18T04:57:42.415Z,1613624262.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.580000 m, bearing: 247.058953 deg, deltaT: 4.483632 s, approachRate: 0.454988 m/s, LOS rate: -2.079710 deg/s, posRepo size: 4 2021-02-18T04:57:44.871Z,1613624264.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:45.585Z,1613624265.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:46.010Z,1613624266.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:57:46.820Z,1613624266.820 [Micromodem](INFO): Nmea in: $SNTTA,0.013086,,,,045745.59*47 2021-02-18T04:57:46.936Z,1613624266.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.799997 m, bearing: 244.013480 deg, deltaT: 4.405291 s, approachRate: 0.503939 m/s, LOS rate: -0.691321 deg/s, posRepo size: 4 2021-02-18T04:57:49.255Z,1613624269.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:50.030Z,1613624270.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:50.443Z,1613624270.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:57:51.256Z,1613624271.256 [Micromodem](INFO): Nmea in: $SNTTA,0.014716,,,,045750.04*42 2021-02-18T04:57:51.296Z,1613624271.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.199999 m, bearing: 249.029763 deg, deltaT: 4.530584 s, approachRate: 0.529733 m/s, LOS rate: 1.107204 deg/s, posRepo size: 4 2021-02-18T04:57:52.888Z,1613624272.888 [PowerOnly](INFO): Powering down loadControl 2021-02-18T04:57:53.688Z,1613624273.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:54.473Z,1613624274.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:54.885Z,1613624274.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:57:55.700Z,1613624275.700 [Micromodem](INFO): Nmea in: $SNTTA,0.016561,,,,045754.48*4E 2021-02-18T04:57:55.722Z,1613624275.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.020000 m, bearing: 189.963612 deg, deltaT: 4.359516 s, approachRate: 0.646861 m/s, LOS rate: -13.548787 deg/s, posRepo size: 4 2021-02-18T04:57:58.157Z,1613624278.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:57:58.914Z,1613624278.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:57:59.318Z,1613624279.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:00.148Z,1613624280.148 [Micromodem](INFO): Nmea in: $SNTTA,0.018514,,,,045758.92*49 2021-02-18T04:58:00.196Z,1613624280.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.959997 m, bearing: 192.765164 deg, deltaT: 4.435818 s, approachRate: 0.662786 m/s, LOS rate: 0.631575 deg/s, posRepo size: 4 2021-02-18T04:58:02.596Z,1613624282.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:58:03.362Z,1613624283.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:58:03.783Z,1613624283.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:04.595Z,1613624284.595 [Micromodem](INFO): Nmea in: $SNTTA,0.020773,,,,045803.37*4F 2021-02-18T04:58:04.618Z,1613624284.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.799999 m, bearing: 209.454663 deg, deltaT: 4.466227 s, approachRate: 0.859787 m/s, LOS rate: 3.736823 deg/s, posRepo size: 4 2021-02-18T04:58:07.032Z,1613624287.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:58:07.816Z,1613624287.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:58:08.211Z,1613624288.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:09.040Z,1613624289.040 [Micromodem](INFO): Nmea in: $SNTTA,0.022496,,,,045807.82*4F 2021-02-18T04:58:09.090Z,1613624289.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.900002 m, bearing: 195.322715 deg, deltaT: 4.424300 s, approachRate: 0.474652 m/s, LOS rate: -3.194166 deg/s, posRepo size: 4 2021-02-18T04:58:11.484Z,1613624291.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:58:12.245Z,1613624292.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:58:12.656Z,1613624292.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:13.476Z,1613624293.476 [Micromodem](INFO): Nmea in: $SNTTA,0.024413,,,,045812.25*4D 2021-02-18T04:58:13.491Z,1613624293.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.779999 m, bearing: 200.453485 deg, deltaT: 4.484786 s, approachRate: 0.642170 m/s, LOS rate: 1.144039 deg/s, posRepo size: 4 2021-02-18T04:58:15.929Z,1613624295.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:58:16.690Z,1613624296.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:58:17.094Z,1613624297.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:17.920Z,1613624297.920 [Micromodem](INFO): Nmea in: $SNTTA,0.026637,,0.086842,,045816.70*51 2021-02-18T04:58:17.979Z,1613624297.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.080002 m, bearing: 196.361013 deg, deltaT: 4.417465 s, approachRate: 0.747035 m/s, LOS rate: -0.926430 deg/s, posRepo size: 4 2021-02-18T04:58:20.053Z,1613624300.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:58:20.729Z,1613624300.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:58:21.151Z,1613624301.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:21.964Z,1613624301.964 [Micromodem](INFO): Nmea in: $SNTTA,0.028446,,0.041741,,045820.74*5D 2021-02-18T04:58:22.018Z,1613624302.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.139999 m, bearing: 208.527697 deg, deltaT: 4.023505 s, approachRate: 0.760530 m/s, LOS rate: 3.023902 deg/s, posRepo size: 4 2021-02-18T04:58:24.393Z,1613624304.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:58:25.178Z,1613624305.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:58:25.578Z,1613624305.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:26.420Z,1613624306.420 [Micromodem](INFO): Nmea in: $SNTTA,0.030528,,,,045825.19*4A 2021-02-18T04:58:26.457Z,1613624306.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.259998 m, bearing: 214.644254 deg, deltaT: 4.500569 s, approachRate: 0.693245 m/s, LOS rate: 1.359063 deg/s, posRepo size: 4 2021-02-18T04:58:28.903Z,1613624308.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:58:29.617Z,1613624309.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:58:30.042Z,1613624310.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:30.870Z,1613624310.870 [Micromodem](INFO): Nmea in: $SNTTA,0.032557,,,,045829.63*41 2021-02-18T04:58:30.904Z,1613624310.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.320000 m, bearing: 212.274712 deg, deltaT: 4.412336 s, approachRate: 0.693511 m/s, LOS rate: -0.537027 deg/s, posRepo size: 4 2021-02-18T04:58:33.277Z,1613624313.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:58:34.066Z,1613624314.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:58:34.466Z,1613624314.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:35.292Z,1613624315.292 [Micromodem](INFO): Nmea in: $SNTTA,0.034625,,,,045834.07*4F 2021-02-18T04:58:35.330Z,1613624315.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.440002 m, bearing: 224.921176 deg, deltaT: 4.462229 s, approachRate: 0.699203 m/s, LOS rate: 2.834114 deg/s, posRepo size: 4 2021-02-18T04:58:37.722Z,1613624317.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:58:38.504Z,1613624318.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:58:38.910Z,1613624318.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:39.732Z,1613624319.732 [Micromodem](INFO): Nmea in: $SNTTA,0.036918,,0.045775,,045838.51*59 2021-02-18T04:58:39.820Z,1613624319.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.799995 m, bearing: 237.653044 deg, deltaT: 4.419977 s, approachRate: 0.760183 m/s, LOS rate: 2.880528 deg/s, posRepo size: 4 2021-02-18T04:58:42.182Z,1613624322.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:58:42.948Z,1613624322.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:58:43.356Z,1613624323.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:44.176Z,1613624324.176 [Micromodem](INFO): Nmea in: $SNTTA,0.039160,,,,045842.96*4D 2021-02-18T04:58:44.221Z,1613624324.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.159996 m, bearing: 223.079074 deg, deltaT: 4.516390 s, approachRate: 0.743957 m/s, LOS rate: -3.226907 deg/s, posRepo size: 4 2021-02-18T04:58:46.605Z,1613624326.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:58:47.392Z,1613624327.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:58:47.824Z,1613624327.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:48.620Z,1613624328.620 [Micromodem](INFO): Nmea in: $SNTTA,0.041280,,,,045847.40*41 2021-02-18T04:58:48.657Z,1613624328.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.100002 m, bearing: 217.901353 deg, deltaT: 4.372660 s, approachRate: 0.672361 m/s, LOS rate: -1.184112 deg/s, posRepo size: 4 2021-02-18T04:58:51.089Z,1613624331.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:58:51.869Z,1613624331.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:58:52.241Z,1613624332.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:53.080Z,1613624333.080 [Micromodem](INFO): Nmea in: $SNTTA,0.043563,,,,045851.88*4A 2021-02-18T04:58:53.146Z,1613624333.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 224.754751 deg, deltaT: 4.428616 s, approachRate: 0.812896 m/s, LOS rate: 1.547526 deg/s, posRepo size: 4 2021-02-18T04:58:55.488Z,1613624335.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:58:56.297Z,1613624336.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:58:56.708Z,1613624336.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:58:57.524Z,1613624337.524 [Micromodem](INFO): Nmea in: $SNTTA,0.045679,,,,045856.31*41 2021-02-18T04:58:57.575Z,1613624337.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.879997 m, bearing: 223.502887 deg, deltaT: 4.463285 s, approachRate: 0.712478 m/s, LOS rate: -0.280480 deg/s, posRepo size: 4 2021-02-18T04:58:59.974Z,1613624339.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:00.724Z,1613624340.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:01.140Z,1613624341.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:01.964Z,1613624341.964 [Micromodem](INFO): Nmea in: $SNTTA,0.047836,,,,045900.73*42 2021-02-18T04:59:02.022Z,1613624342.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.120010 m, bearing: 230.100221 deg, deltaT: 4.429184 s, approachRate: 0.731515 m/s, LOS rate: 1.489515 deg/s, posRepo size: 4 2021-02-18T04:59:04.375Z,1613624344.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:05.168Z,1613624345.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:05.579Z,1613624345.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:06.396Z,1613624346.396 [Micromodem](INFO): Nmea in: $SNTTA,0.050007,,,,045905.18*46 2021-02-18T04:59:06.418Z,1613624346.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.239998 m, bearing: 224.133436 deg, deltaT: 4.504401 s, approachRate: 0.692653 m/s, LOS rate: -1.324657 deg/s, posRepo size: 4 2021-02-18T04:59:08.920Z,1613624348.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:09.613Z,1613624349.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:10.018Z,1613624350.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:10.872Z,1613624350.872 [Micromodem](INFO): Nmea in: $SNTTA,0.052082,,,,045909.62*48 2021-02-18T04:59:10.918Z,1613624350.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.300003 m, bearing: 219.611851 deg, deltaT: 4.388994 s, approachRate: 0.697200 m/s, LOS rate: -1.030210 deg/s, posRepo size: 4 2021-02-18T04:59:13.262Z,1613624353.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:14.064Z,1613624354.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:14.462Z,1613624354.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:15.288Z,1613624355.288 [Micromodem](INFO): Nmea in: $SNTTA,0.054232,,,,045914.07*48 2021-02-18T04:59:15.331Z,1613624355.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.540001 m, bearing: 215.247319 deg, deltaT: 4.474251 s, approachRate: 0.724143 m/s, LOS rate: -0.975478 deg/s, posRepo size: 4 2021-02-18T04:59:17.723Z,1613624357.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:18.510Z,1613624358.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:18.921Z,1613624358.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:19.732Z,1613624359.732 [Micromodem](INFO): Nmea in: $SNTTA,0.056398,,,,045918.52*47 2021-02-18T04:59:19.811Z,1613624359.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.840004 m, bearing: 225.663221 deg, deltaT: 4.410358 s, approachRate: 0.748239 m/s, LOS rate: 2.361691 deg/s, posRepo size: 4 2021-02-18T04:59:22.195Z,1613624362.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:22.949Z,1613624362.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:23.350Z,1613624363.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:24.181Z,1613624364.181 [Micromodem](INFO): Nmea in: $SNTTA,0.058593,,,,045922.96*45 2021-02-18T04:59:24.254Z,1613624364.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.200005 m, bearing: 229.493864 deg, deltaT: 4.530776 s, approachRate: 0.741595 m/s, LOS rate: 0.845472 deg/s, posRepo size: 4 2021-02-18T04:59:26.594Z,1613624366.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:27.397Z,1613624367.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:27.817Z,1613624367.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:28.624Z,1613624368.624 [Micromodem](INFO): Nmea in: $SNTTA,0.060847,,,,045927.41*45 2021-02-18T04:59:28.666Z,1613624368.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.500008 m, bearing: 224.171603 deg, deltaT: 4.347141 s, approachRate: 0.759120 m/s, LOS rate: -1.224313 deg/s, posRepo size: 4 2021-02-18T04:59:31.118Z,1613624371.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:31.868Z,1613624371.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:32.238Z,1613624372.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:33.082Z,1613624373.082 [Micromodem](INFO): Nmea in: $SNTTA,0.062959,,,,045931.88*4B 2021-02-18T04:59:33.148Z,1613624373.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.619995 m, bearing: 222.318573 deg, deltaT: 4.481883 s, approachRate: 0.696133 m/s, LOS rate: -0.413449 deg/s, posRepo size: 4 2021-02-18T04:59:35.501Z,1613624375.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:36.293Z,1613624376.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:36.689Z,1613624376.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:37.517Z,1613624377.517 [Micromodem](INFO): Nmea in: $SNTTA,0.064981,,0.066131,,045936.30*51 2021-02-18T04:59:37.538Z,1613624377.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.680008 m, bearing: 228.932491 deg, deltaT: 4.441637 s, approachRate: 0.688938 m/s, LOS rate: 1.489072 deg/s, posRepo size: 4 2021-02-18T04:59:39.951Z,1613624379.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:40.720Z,1613624380.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:41.130Z,1613624381.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:41.964Z,1613624381.964 [Micromodem](INFO): Nmea in: $SNTTA,0.067305,,,,045940.73*4F 2021-02-18T04:59:42.017Z,1613624382.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.160004 m, bearing: 225.607254 deg, deltaT: 4.409142 s, approachRate: 0.789268 m/s, LOS rate: -0.754169 deg/s, posRepo size: 4 2021-02-18T04:59:44.380Z,1613624384.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:45.176Z,1613624385.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:45.570Z,1613624385.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:46.400Z,1613624386.400 [Micromodem](INFO): Nmea in: $SNTTA,0.069387,,,,045945.18*43 2021-02-18T04:59:46.451Z,1613624386.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.220001 m, bearing: 224.147725 deg, deltaT: 4.526167 s, approachRate: 0.676068 m/s, LOS rate: -0.322465 deg/s, posRepo size: 4 2021-02-18T04:59:48.899Z,1613624388.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:49.615Z,1613624389.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:50.026Z,1613624390.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:50.866Z,1613624390.866 [Micromodem](INFO): Nmea in: $SNTTA,0.071558,,,,045949.62*4F 2021-02-18T04:59:50.926Z,1613624390.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.580009 m, bearing: 224.306855 deg, deltaT: 4.359705 s, approachRate: 0.770696 m/s, LOS rate: 0.036500 deg/s, posRepo size: 4 2021-02-18T04:59:53.270Z,1613624393.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:54.052Z,1613624394.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:54.458Z,1613624394.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:55.280Z,1613624395.280 [Micromodem](INFO): Nmea in: $SNTTA,0.073564,,,,045954.06*4C 2021-02-18T04:59:55.302Z,1613624395.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.460007 m, bearing: 229.204865 deg, deltaT: 4.533883 s, approachRate: 0.635216 m/s, LOS rate: 1.080313 deg/s, posRepo size: 4 2021-02-18T04:59:57.719Z,1613624397.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T04:59:58.497Z,1613624398.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T04:59:58.902Z,1613624398.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T04:59:59.728Z,1613624399.728 [Micromodem](INFO): Nmea in: $SNTTA,0.075850,,0.092869,,045958.51*5C 2021-02-18T04:59:59.812Z,1613624399.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.879997 m, bearing: 228.120204 deg, deltaT: 4.369524 s, approachRate: 0.782692 m/s, LOS rate: -0.248233 deg/s, posRepo size: 4 2021-02-18T05:00:02.182Z,1613624402.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:00:02.940Z,1613624402.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:00:03.346Z,1613624403.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:00:04.168Z,1613624404.168 [Micromodem](INFO): Nmea in: $SNTTA,0.077959,,,,050002.95*4E 2021-02-18T05:00:04.192Z,1613624404.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.119995 m, bearing: 221.927285 deg, deltaT: 4.533830 s, approachRate: 0.714627 m/s, LOS rate: -1.365935 deg/s, posRepo size: 4 2021-02-18T05:00:06.620Z,1613624406.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:00:07.384Z,1613624407.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:00:07.818Z,1613624407.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:00:08.624Z,1613624408.624 [Micromodem](INFO): Nmea in: $SNTTA,0.080044,,,,050007.40*4E 2021-02-18T05:00:08.642Z,1613624408.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.239998 m, bearing: 235.261631 deg, deltaT: 4.359256 s, approachRate: 0.715719 m/s, LOS rate: 3.058858 deg/s, posRepo size: 4 2021-02-18T05:00:11.099Z,1613624411.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:00:11.872Z,1613624411.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:00:12.234Z,1613624412.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:00:13.070Z,1613624413.070 [Micromodem](INFO): Nmea in: $SNTTA,0.082247,,,,050011.88*4E 2021-02-18T05:00:13.121Z,1613624413.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.480003 m, bearing: 232.728751 deg, deltaT: 4.428944 s, approachRate: 0.731553 m/s, LOS rate: -0.571893 deg/s, posRepo size: 4 2021-02-18T05:00:15.491Z,1613624415.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:00:16.277Z,1613624416.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:00:16.677Z,1613624416.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:00:17.504Z,1613624417.504 [Micromodem](INFO): Nmea in: $SNTTA,0.084315,,,,050016.29*42 2021-02-18T05:00:17.541Z,1613624417.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.599998 m, bearing: 225.107216 deg, deltaT: 4.476662 s, approachRate: 0.696947 m/s, LOS rate: -1.702504 deg/s, posRepo size: 4 2021-02-18T05:00:19.944Z,1613624419.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:00:20.722Z,1613624420.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:00:21.128Z,1613624421.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:00:21.964Z,1613624421.964 [Micromodem](INFO): Nmea in: $SNTTA,0.086545,,,,050020.73*49 2021-02-18T05:00:22.026Z,1613624422.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.020004 m, bearing: 228.638124 deg, deltaT: 4.413576 s, approachRate: 0.774883 m/s, LOS rate: 0.800011 deg/s, posRepo size: 4 2021-02-18T05:00:24.369Z,1613624424.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:00:25.160Z,1613624425.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:00:25.566Z,1613624425.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:00:26.400Z,1613624426.400 [Micromodem](INFO): Nmea in: $SNTTA,0.088841,,,,050025.17*49 2021-02-18T05:00:26.422Z,1613624426.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.440002 m, bearing: 229.495613 deg, deltaT: 4.457297 s, approachRate: 0.767281 m/s, LOS rate: 0.192379 deg/s, posRepo size: 4 2021-02-18T05:00:28.897Z,1613624428.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:00:29.604Z,1613624429.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:00:30.015Z,1613624430.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:00:30.843Z,1613624430.843 [Micromodem](INFO): Nmea in: $SNTTA,0.091006,,,,050029.61*47 2021-02-18T05:00:31.002Z,1613624431.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.680008 m, bearing: 227.502878 deg, deltaT: 4.460372 s, approachRate: 0.726398 m/s, LOS rate: -0.446764 deg/s, posRepo size: 4 2021-02-18T05:00:33.284Z,1613624433.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:00:34.082Z,1613624434.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:00:34.490Z,1613624434.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:00:35.308Z,1613624435.308 [Micromodem](INFO): Nmea in: $SNTTA,0.093283,,,,050034.09*48 2021-02-18T05:00:35.342Z,1613624435.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.039993 m, bearing: 234.604594 deg, deltaT: 4.472399 s, approachRate: 0.751271 m/s, LOS rate: 1.587899 deg/s, posRepo size: 4 2021-02-18T05:00:37.730Z,1613624437.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:00:38.538Z,1613624438.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:00:38.927Z,1613624438.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:00:39.780Z,1613624439.780 [Micromodem](INFO): Nmea in: $SNTTA,0.095504,0.102148,,,050038.55*53 2021-02-18T05:00:39.849Z,1613624439.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.460007 m, bearing: 234.346850 deg, deltaT: 4.430433 s, approachRate: 0.771937 m/s, LOS rate: -0.058176 deg/s, posRepo size: 4 2021-02-18T05:00:42.187Z,1613624442.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:00:42.973Z,1613624442.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:00:43.373Z,1613624443.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:00:44.200Z,1613624444.200 [Micromodem](INFO): Nmea in: $SNTTA,0.097596,,,,050042.98*46 2021-02-18T05:00:44.223Z,1613624444.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.520004 m, bearing: 231.024537 deg, deltaT: 4.508964 s, approachRate: 0.678648 m/s, LOS rate: -0.736824 deg/s, posRepo size: 4 2021-02-18T05:00:46.616Z,1613624446.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:00:47.414Z,1613624447.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:00:47.823Z,1613624447.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:00:48.640Z,1613624448.640 [Micromodem](INFO): Nmea in: $SNTTA,0.099771,,,,050047.42*41 2021-02-18T05:00:48.670Z,1613624448.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.880005 m, bearing: 240.414654 deg, deltaT: 4.380109 s, approachRate: 0.767104 m/s, LOS rate: 2.143809 deg/s, posRepo size: 4 2021-02-18T05:00:51.081Z,1613624451.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:00:51.876Z,1613624451.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:00:52.258Z,1613624452.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:00:53.092Z,1613624453.092 [Micromodem](INFO): Nmea in: $SNTTA,0.101898,,,,050051.88*48 2021-02-18T05:00:53.156Z,1613624453.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.880005 m, bearing: 242.242385 deg, deltaT: 4.427839 s, approachRate: 0.000000 m/s, LOS rate: 0.412782 deg/s, posRepo size: 4 2021-02-18T05:00:55.276Z,1613624455.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:00:55.893Z,1613624455.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:00:56.315Z,1613624456.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:00:57.120Z,1613624457.120 [Micromodem](INFO): Nmea in: $SNTTA,0.103973,,,,050055.90*43 2021-02-18T05:00:57.174Z,1613624457.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.180008 m, bearing: 232.444506 deg, deltaT: 4.059033 s, approachRate: 1.552095 m/s, LOS rate: -2.413846 deg/s, posRepo size: 4 2021-02-18T05:00:57.174Z,1613624457.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 156.18 m. Resuming terminal guidance. 2021-02-18T05:00:57.174Z,1613624457.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T05:00:59.550Z,1613624459.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:00.336Z,1613624460.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:01:00.749Z,1613624460.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:01:01.552Z,1613624461.552 [Micromodem](INFO): Nmea in: $SNTTA,0.106067,,,,050100.35*44 2021-02-18T05:01:02.380Z,1613624462.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:03.976Z,1613624463.976 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:01:05.210Z,1613624465.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:05.997Z,1613624465.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:01:06.415Z,1613624466.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:01:07.223Z,1613624467.223 [Micromodem](INFO): Nmea in: $SNTTA,0.108893,,,,050106.00*49 2021-02-18T05:01:07.242Z,1613624467.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.500000 m, bearing: 237.122175 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T05:01:07.242Z,1613624467.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 237.122175deg and heading rate command to 0 deg/s. 2021-02-18T05:01:09.648Z,1613624469.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:10.442Z,1613624470.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:01:10.872Z,1613624470.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:01:11.655Z,1613624471.655 [Micromodem](INFO): Nmea in: $SNTTA,0.110903,,,,050110.45*4E 2021-02-18T05:01:12.482Z,1613624472.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:14.088Z,1613624474.088 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:01:15.316Z,1613624475.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:16.097Z,1613624476.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:01:16.505Z,1613624476.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:01:17.314Z,1613624477.314 [Micromodem](INFO): Nmea in: $SNTTA,0.113729,,,,050116.11*4C 2021-02-18T05:01:18.152Z,1613624478.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:19.736Z,1613624479.736 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:01:20.998Z,1613624480.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:21.753Z,1613624481.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:01:22.154Z,1613624482.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:01:22.559Z,1613624482.559 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,DE280,61,E4 6,186,80,80,C4,FF 2021-02-18T05:01:22.975Z,1613624482.975 [Micromodem](INFO): Nmea in: $SNTTA,0.116389,,,,050121.76*42 2021-02-18T05:01:23.870Z,1613624483.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:26.611Z,1613624486.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:29.446Z,1613624489.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:30.238Z,1613624490.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:01:30.638Z,1613624490.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:01:31.452Z,1613624491.452 [Micromodem](INFO): Nmea in: $SNTTA,0.120408,,,,050130.25*4F 2021-02-18T05:01:32.285Z,1613624492.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:33.883Z,1613624493.883 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:01:35.121Z,1613624495.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:35.894Z,1613624495.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:01:36.302Z,1613624496.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:01:37.109Z,1613624497.109 [Micromodem](INFO): Nmea in: $SNTTA,0.123170,,,,050135.90*4D 2021-02-18T05:01:37.534Z,1613624497.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.980011 m, bearing: 256.709655 deg, deltaT: 30.265751 s, approachRate: 0.709713 m/s, LOS rate: 0.647183 deg/s, posRepo size: 2 2021-02-18T05:01:37.536Z,1613624497.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.980011 m, bearing: 256.709655 deg, approachRate: 0.709713 m/s, LOS rate: 0.647183 deg/s, cmd update: 2.588732 deg/s, cmd heading: 237.122175 deg, new cmd heading: 237.122175 deg. 2021-02-18T05:01:39.153Z,1613624499.153 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T05:01:39.977Z,1613624499.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:40.744Z,1613624500.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:01:41.166Z,1613624501.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:01:41.966Z,1613624501.966 [Micromodem](INFO): Nmea in: $SNTTA,0.125548,,,,050140.75*4D 2021-02-18T05:01:42.389Z,1613624502.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.579987 m, bearing: 270.475764 deg, deltaT: 4.854344 s, approachRate: 0.741599 m/s, LOS rate: 2.835833 deg/s, posRepo size: 3 2021-02-18T05:01:42.391Z,1613624502.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.579987 m, bearing: 270.475764 deg, approachRate: 0.741599 m/s, LOS rate: 2.835833 deg/s, cmd update: 11.343332 deg/s, cmd heading: 249.663111 deg, new cmd heading: 250.591063 deg. 2021-02-18T05:01:44.880Z,1613624504.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:45.586Z,1613624505.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:01:45.990Z,1613624505.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:01:46.817Z,1613624506.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050145.59*57 2021-02-18T05:01:47.230Z,1613624507.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.819992 m, bearing: 301.794395 deg, deltaT: 4.870474 s, approachRate: 0.665234 m/s, LOS rate: 6.430304 deg/s, posRepo size: 4 2021-02-18T05:01:47.237Z,1613624507.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.819992 m, bearing: 301.794395 deg, approachRate: 0.665234 m/s, LOS rate: 6.430304 deg/s, cmd update: 12.000000 deg/s, cmd heading: 304.995579 deg, new cmd heading: 308.636596 deg. 2021-02-18T05:01:49.645Z,1613624509.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:50.438Z,1613624510.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:01:50.870Z,1613624510.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:01:51.653Z,1613624511.653 [Micromodem](INFO): Nmea in: $SNTTA,0.129675,,,,050150.45*4E 2021-02-18T05:01:52.108Z,1613624512.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.760010 m, bearing: 287.678579 deg, deltaT: 4.777650 s, approachRate: 0.615369 m/s, LOS rate: -2.954552 deg/s, posRepo size: 4 2021-02-18T05:01:52.110Z,1613624512.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.760010 m, bearing: 287.678579 deg, approachRate: 0.615369 m/s, LOS rate: -2.954552 deg/s, cmd update: -11.818208 deg/s, cmd heading: 2.377013 deg, new cmd heading: 7.385825 deg. 2021-02-18T05:01:54.501Z,1613624514.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:01:55.282Z,1613624515.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:01:55.694Z,1613624515.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:01:56.498Z,1613624516.498 [Micromodem](INFO): Nmea in: $SNTTA,0.131243,,,,050155.29*49 2021-02-18T05:01:56.961Z,1613624516.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.919983 m, bearing: 291.877561 deg, deltaT: 4.862664 s, approachRate: 0.444195 m/s, LOS rate: 0.863515 deg/s, posRepo size: 4 2021-02-18T05:01:56.962Z,1613624516.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.919983 m, bearing: 291.877561 deg, approachRate: 0.444195 m/s, LOS rate: 0.863515 deg/s, cmd update: 3.454059 deg/s, cmd heading: 304.908234 deg, new cmd heading: 300.098342 deg. 2021-02-18T05:01:59.336Z,1613624519.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:02:00.134Z,1613624520.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:02:00.539Z,1613624520.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:02:01.350Z,1613624521.350 [Micromodem](INFO): Nmea in: $SNTTA,0.132190,,,,050200.14*4A 2021-02-18T05:02:01.818Z,1613624521.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.299988 m, bearing: 6.403332 deg, deltaT: 4.811417 s, approachRate: 0.286819 m/s, LOS rate: 15.489360 deg/s, posRepo size: 4 2021-02-18T05:02:01.824Z,1613624521.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.489360 deg/s. Setting heading cmd to target bearing of 6.403332deg and heading rate command to 0 deg/s. 2021-02-18T05:02:04.208Z,1613624524.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:02:04.995Z,1613624524.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:02:05.387Z,1613624525.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:02:06.242Z,1613624526.242 [Micromodem](INFO): Nmea in: $SNTTA,0.132785,,,,050205.00*48 2021-02-18T05:02:06.622Z,1613624526.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.139984 m, bearing: 337.340694 deg, deltaT: 4.900640 s, approachRate: 0.171405 m/s, LOS rate: -5.930376 deg/s, posRepo size: 4 2021-02-18T05:02:06.624Z,1613624526.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.139984 m, bearing: 337.340694 deg, approachRate: 0.171405 m/s, LOS rate: -5.930376 deg/s, cmd update: -12.000000 deg/s, cmd heading: 6.403332 deg, new cmd heading: 6.403332 deg. 2021-02-18T05:02:09.076Z,1613624529.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:02:09.843Z,1613624529.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:02:10.236Z,1613624530.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:02:11.054Z,1613624531.054 [Micromodem](INFO): Nmea in: $SNTTA,0.132792,,,,050209.85*4F 2021-02-18T05:02:11.482Z,1613624531.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.139984 m, bearing: 26.277905 deg, deltaT: 4.842186 s, approachRate: 0.000000 m/s, LOS rate: 10.106428 deg/s, posRepo size: 4 2021-02-18T05:02:11.484Z,1613624531.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.139984 m, bearing: 26.277905 deg, approachRate: 0.000000 m/s, LOS rate: 10.106428 deg/s, cmd update: 12.000000 deg/s, cmd heading: 308.538586 deg, new cmd heading: 303.805330 deg. 2021-02-18T05:02:13.929Z,1613624533.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:02:14.678Z,1613624534.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:02:15.083Z,1613624535.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:02:15.894Z,1613624535.894 [Micromodem](INFO): Nmea in: $SNTTA,0.132167,,,,050214.69*4D 2021-02-18T05:02:16.334Z,1613624536.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.179993 m, bearing: 314.486717 deg, deltaT: 4.866465 s, approachRate: -0.197267 m/s, LOS rate: -14.752223 deg/s, posRepo size: 4 2021-02-18T05:02:16.339Z,1613624536.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.752223 deg/s. Setting heading cmd to target bearing of 314.486717deg and heading rate command to 0 deg/s. 2021-02-18T05:02:18.748Z,1613624538.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:02:19.526Z,1613624539.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:02:19.931Z,1613624539.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:02:20.748Z,1613624540.748 [Micromodem](INFO): Nmea in: $SNTTA,0.131927,,,,050219.53*46 2021-02-18T05:02:21.243Z,1613624541.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.879990 m, bearing: 289.713101 deg, deltaT: 4.807922 s, approachRate: -0.062398 m/s, LOS rate: -5.152666 deg/s, posRepo size: 4 2021-02-18T05:02:21.246Z,1613624541.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.879990 m, bearing: 289.713101 deg, approachRate: -0.062398 m/s, LOS rate: -5.152666 deg/s, cmd update: -12.000000 deg/s, cmd heading: 314.486717 deg, new cmd heading: 314.486717 deg. 2021-02-18T05:02:23.589Z,1613624543.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:02:24.383Z,1613624544.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:02:24.820Z,1613624544.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:02:25.596Z,1613624545.596 [Micromodem](INFO): Nmea in: $SNTTA,0.131708,,,,050224.39*47 2021-02-18T05:02:26.049Z,1613624546.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.519989 m, bearing: 303.854407 deg, deltaT: 4.828178 s, approachRate: -0.074562 m/s, LOS rate: 2.928911 deg/s, posRepo size: 4 2021-02-18T05:02:26.050Z,1613624546.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.519989 m, bearing: 303.854407 deg, approachRate: -0.074562 m/s, LOS rate: 2.928911 deg/s, cmd update: 11.715646 deg/s, cmd heading: 256.399539 deg, new cmd heading: 251.136999 deg. 2021-02-18T05:02:28.423Z,1613624548.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:02:29.216Z,1613624549.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:02:29.623Z,1613624549.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:02:30.434Z,1613624550.434 [Micromodem](INFO): Nmea in: $SNTTA,0.131806,,,,050229.22*41 2021-02-18T05:02:30.904Z,1613624550.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.699997 m, bearing: 17.206384 deg, deltaT: 4.859075 s, approachRate: 0.037046 m/s, LOS rate: 15.095874 deg/s, posRepo size: 4 2021-02-18T05:02:30.904Z,1613624550.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.095874 deg/s. Setting heading cmd to target bearing of 17.206384deg and heading rate command to 0 deg/s. 2021-02-18T05:02:33.273Z,1613624553.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:02:34.066Z,1613624554.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:02:34.472Z,1613624554.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:02:35.282Z,1613624555.282 [Micromodem](INFO): Nmea in: $SNTTA,0.132534,,,,050234.07*45 2021-02-18T05:02:35.710Z,1613624555.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.839996 m, bearing: 346.597622 deg, deltaT: 4.851890 s, approachRate: 0.234960 m/s, LOS rate: -6.308629 deg/s, posRepo size: 4 2021-02-18T05:02:35.712Z,1613624555.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.839996 m, bearing: 346.597622 deg, approachRate: 0.234960 m/s, LOS rate: -6.308629 deg/s, cmd update: -12.000000 deg/s, cmd heading: 17.206384 deg, new cmd heading: 17.206384 deg. 2021-02-18T05:02:38.155Z,1613624558.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:02:38.915Z,1613624558.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:02:39.318Z,1613624559.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:02:40.132Z,1613624560.132 [Micromodem](INFO): Nmea in: $SNTTA,0.133495,,,,050238.92*4E 2021-02-18T05:02:40.558Z,1613624560.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.220001 m, bearing: 354.105092 deg, deltaT: 4.888053 s, approachRate: 0.282322 m/s, LOS rate: 1.535882 deg/s, posRepo size: 4 2021-02-18T05:02:40.560Z,1613624560.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.220001 m, bearing: 354.105092 deg, approachRate: 0.282322 m/s, LOS rate: 1.535882 deg/s, cmd update: 6.143526 deg/s, cmd heading: 318.311858 deg, new cmd heading: 314.076554 deg. 2021-02-18T05:02:43.012Z,1613624563.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:02:43.802Z,1613624563.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:02:44.171Z,1613624564.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:02:44.999Z,1613624564.999 [Micromodem](INFO): Nmea in: $SNTTA,0.134239,,,,050243.81*47 2021-02-18T05:02:45.418Z,1613624565.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.360001 m, bearing: 30.316495 deg, deltaT: 4.847174 s, approachRate: 0.235188 m/s, LOS rate: 7.470624 deg/s, posRepo size: 4 2021-02-18T05:02:45.420Z,1613624565.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 201.360001 m, bearing: 30.316495 deg, approachRate: 0.235188 m/s, LOS rate: 7.470624 deg/s, cmd update: 12.000000 deg/s, cmd heading: 348.113785 deg, new cmd heading: 350.339910 deg. 2021-02-18T05:02:47.954Z,1613624567.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:02:48.608Z,1613624568.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:02:49.019Z,1613624569.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:02:49.861Z,1613624569.861 [Micromodem](INFO): Nmea in: $SNTTA,0.134456,,,,050248.62*4E 2021-02-18T05:02:50.265Z,1613624570.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.659988 m, bearing: 317.334222 deg, deltaT: 4.882817 s, approachRate: 0.061437 m/s, LOS rate: -14.946757 deg/s, posRepo size: 4 2021-02-18T05:02:50.266Z,1613624570.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.946757 deg/s. Setting heading cmd to target bearing of 317.334222deg and heading rate command to 0 deg/s. 2021-02-18T05:02:52.669Z,1613624572.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:02:53.456Z,1613624573.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:02:53.881Z,1613624573.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:02:54.691Z,1613624574.691 [Micromodem](INFO): Nmea in: $SNTTA,0.133968,,,,050253.46*45 2021-02-18T05:02:55.157Z,1613624575.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.819977 m, bearing: 63.745759 deg, deltaT: 4.794479 s, approachRate: -0.175204 m/s, LOS rate: 22.194596 deg/s, posRepo size: 4 2021-02-18T05:02:55.158Z,1613624575.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.194596 deg/s. Setting heading cmd to target bearing of 63.745759deg and heading rate command to 0 deg/s. 2021-02-18T05:02:57.528Z,1613624577.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:02:58.323Z,1613624578.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:02:58.714Z,1613624578.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:02:59.551Z,1613624579.551 [Micromodem](INFO): Nmea in: $SNTTA,0.132879,,,,050258.33*4C 2021-02-18T05:02:59.971Z,1613624579.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.139984 m, bearing: 80.118645 deg, deltaT: 4.855825 s, approachRate: -0.345975 m/s, LOS rate: 3.371803 deg/s, posRepo size: 4 2021-02-18T05:02:59.973Z,1613624579.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 199.139984 m, bearing: 80.118645 deg, approachRate: -0.345975 m/s, LOS rate: 3.371803 deg/s, cmd update: 12.000000 deg/s, cmd heading: 63.745759 deg, new cmd heading: 63.745759 deg. 2021-02-18T05:03:02.380Z,1613624582.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:03.152Z,1613624583.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:03:03.560Z,1613624583.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:03:04.372Z,1613624584.372 [Micromodem](INFO): Nmea in: $SNTTA,0.131398,,,0.133916,050303.16*52 2021-02-18T05:03:04.873Z,1613624584.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.919983 m, bearing: 72.179219 deg, deltaT: 4.816539 s, approachRate: -0.460912 m/s, LOS rate: -1.648367 deg/s, posRepo size: 4 2021-02-18T05:03:04.879Z,1613624584.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.919983 m, bearing: 72.179219 deg, approachRate: -0.460912 m/s, LOS rate: -1.648367 deg/s, cmd update: -6.593469 deg/s, cmd heading: 121.592098 deg, new cmd heading: 127.197070 deg. 2021-02-18T05:03:06.915Z,1613624586.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:07.597Z,1613624587.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:03:08.007Z,1613624588.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:03:08.820Z,1613624588.820 [Micromodem](INFO): Nmea in: $SNTTA,0.129682,,,,050307.61*40 2021-02-18T05:03:09.242Z,1613624589.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.279999 m, bearing: 73.102757 deg, deltaT: 4.534064 s, approachRate: -0.582256 m/s, LOS rate: 0.203689 deg/s, posRepo size: 4 2021-02-18T05:03:09.260Z,1613624589.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.279999 m, bearing: 73.102757 deg, approachRate: -0.582256 m/s, LOS rate: 0.203689 deg/s, cmd update: 0.814754 deg/s, cmd heading: 91.792617 deg, new cmd heading: 89.705606 deg. 2021-02-18T05:03:11.673Z,1613624591.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:12.450Z,1613624592.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:03:12.877Z,1613624592.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:03:13.666Z,1613624593.666 [Micromodem](INFO): Nmea in: $SNTTA,0.127553,,,,050312.46*40 2021-02-18T05:03:14.129Z,1613624594.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.099991 m, bearing: 73.747895 deg, deltaT: 4.740612 s, approachRate: -0.670801 m/s, LOS rate: 0.136088 deg/s, posRepo size: 4 2021-02-18T05:03:14.130Z,1613624594.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.099991 m, bearing: 73.747895 deg, approachRate: -0.670801 m/s, LOS rate: 0.136088 deg/s, cmd update: 0.544351 deg/s, cmd heading: 95.666931 deg, new cmd heading: 96.031851 deg. 2021-02-18T05:03:14.942Z,1613624594.942 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T05:03:14.942Z,1613624594.942 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T05:03:14.942Z,1613624594.942 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T05:03:14.942Z,1613624594.942 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T05:03:14.942Z,1613624594.942 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T05:03:15.445Z,1613624595.445 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D60660000005D000004004A0000000000000000151D80030C5669BF92F9E574B062FF0DE160AC96018BB3ADCF1AF4ACD14F5C51419A3FFE785FBB924AF7 2021-02-18T05:03:15.445Z,1613624595.445 [Micromodem](INFO): Outgoing frame #2, 27 bytes: 4B2CB5F4BA4FDEDE9657B24390D7434204670F2BE3518B3AC9B400 2021-02-18T05:03:15.445Z,1613624595.445 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T05:03:15.766Z,1613624595.766 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T05:03:16.171Z,1613624596.171 [Micromodem](INFO): Nmea in: $CADRQ,050315,1,10,0,64,1*74 2021-02-18T05:03:16.172Z,1613624596.172 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60660000005D000004004A0000000000000000151D80030C5669BF92F9E574B062FF0DE160AC96018BB3ADCF1AF4ACD14F5C51419A3FFE785FBB924AF7*45 2021-02-18T05:03:16.355Z,1613624596.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:16.582Z,1613624596.582 [Micromodem](INFO): Nmea in: $49 2021-02-18T05:03:16.583Z,1613624596.583 [Micromodem](ERROR): Response from modem failed NMEA checksum: $49 expected A 2021-02-18T05:03:16.584Z,1613624596.584 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D60660000005D000004004A0000000000000000151D80030C5669BF92F9E574B062FF0DE160AC96018BB3ADCF1AF4ACD14F5C51419A3FFE785FBB924AF7*45 2021-02-18T05:03:16.960Z,1613624596.960 [Micromodem](INFO): Nmea in: $CADRQ,050316,1,10,0,64,2*74 2021-02-18T05:03:16.960Z,1613624596.960 [Micromodem](ERROR): TXD response from modem unexpected: $CADRQ,050316,1,10,0,64,2*74 2021-02-18T05:03:17.363Z,1613624597.363 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T05:03:17.364Z,1613624597.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:03:17.797Z,1613624597.797 [Micromodem](INFO): Nmea in: $CATXP,128*49 2021-02-18T05:03:17.797Z,1613624597.797 [Micromodem](ERROR): Response from modem unexpected: $CATXP,128*49 2021-02-18T05:03:19.022Z,1613624599.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:19.808Z,1613624599.808 [Micromodem](INFO): Nmea in: $CATXF,128*5F 2021-02-18T05:03:19.808Z,1613624599.808 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F 2021-02-18T05:03:20.206Z,1613624600.206 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,050316.628961,3,0,200,4000,14500,1,1,10,1,2,2,3,128*71 2021-02-18T05:03:20.207Z,1613624600.207 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,050316.628961,3,0,200,4000,14500,1,1,10,1,2,2,3,128*71 2021-02-18T05:03:21.539Z,1613624601.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:22.640Z,1613624602.640 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T05:03:23.020Z,1613624603.020 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-18T05:03:23.020Z,1613624603.020 [Micromodem](INFO): Sent 83 bytes from file Logs/20210217T180521/Courier0102.lzma.parts 2021-02-18T05:03:23.021Z,1613624603.021 [Micromodem](INFO): Packets left to send: 0 2021-02-18T05:03:23.427Z,1613624603.427 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218050321.524802,06,2106,33,0194,0150,29,03,03,00,03,1,010,001,0,4,1,0,150,11.5,8.00,18,-5.00,-01,1.22,32,14500,4000*5F 2021-02-18T05:03:23.427Z,1613624603.427 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218050321.524802,06,2106,33,0194,0150,29,03,03,00,03,1,010,001,0,4,1,0,150,11.5,8.00,18,-5.00,-01,1.22,32,14500,4000*5F 2021-02-18T05:03:23.716Z,1613624603.716 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T05:03:23.717Z,1613624603.717 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T05:03:23.717Z,1613624603.717 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T05:03:23.717Z,1613624603.717 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T05:03:23.717Z,1613624603.717 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T05:03:24.314Z,1613624604.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:27.155Z,1613624607.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:28.731Z,1613624608.731 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:03:29.149Z,1613624609.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:03:29.951Z,1613624609.951 [Micromodem](INFO): Nmea in: $SNTTA,0.120115,,,,050328.74*49 2021-02-18T05:03:30.374Z,1613624610.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.819992 m, bearing: 68.741401 deg, deltaT: 16.330317 s, approachRate: -0.690740 m/s, LOS rate: -0.306577 deg/s, posRepo size: 4 2021-02-18T05:03:30.376Z,1613624610.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.819992 m, bearing: 68.741401 deg, approachRate: -0.690740 m/s, LOS rate: -0.306577 deg/s, cmd update: -1.226307 deg/s, cmd heading: 104.556311 deg, new cmd heading: 104.753875 deg. 2021-02-18T05:03:32.872Z,1613624612.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:33.574Z,1613624613.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:03:33.978Z,1613624613.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:03:34.836Z,1613624614.836 [Micromodem](INFO): Nmea in: $SNTTA,0.117967,,,,050333.58*44 2021-02-18T05:03:34.896Z,1613624614.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.819992 m, bearing: 67.377542 deg, deltaT: 4.421031 s, approachRate: 0.000000 m/s, LOS rate: -0.308493 deg/s, posRepo size: 4 2021-02-18T05:03:34.897Z,1613624614.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.819992 m, bearing: 67.377542 deg, approachRate: 0.000000 m/s, LOS rate: -0.308493 deg/s, cmd update: -1.233974 deg/s, cmd heading: 99.135180 deg, new cmd heading: 98.566553 deg. 2021-02-18T05:03:37.229Z,1613624617.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:38.028Z,1613624618.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:03:38.441Z,1613624618.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:03:39.252Z,1613624619.252 [Micromodem](INFO): Nmea in: $SNTTA,0.115992,,,,050338.03*49 2021-02-18T05:03:39.298Z,1613624619.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.819992 m, bearing: 67.699305 deg, deltaT: 4.487157 s, approachRate: 0.000000 m/s, LOS rate: 0.071708 deg/s, posRepo size: 4 2021-02-18T05:03:39.304Z,1613624619.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.819992 m, bearing: 67.699305 deg, approachRate: 0.000000 m/s, LOS rate: 0.071708 deg/s, cmd update: 0.286831 deg/s, cmd heading: 93.602710 deg, new cmd heading: 93.130252 deg. 2021-02-18T05:03:41.669Z,1613624621.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:42.460Z,1613624622.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:03:42.883Z,1613624622.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:03:43.692Z,1613624623.692 [Micromodem](INFO): Nmea in: $SNTTA,0.114073,,,,050342.47*43 2021-02-18T05:03:43.726Z,1613624623.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.820007 m, bearing: 67.177663 deg, deltaT: 4.387941 s, approachRate: -2.051072 m/s, LOS rate: -0.118881 deg/s, posRepo size: 4 2021-02-18T05:03:43.728Z,1613624623.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.820007 m, bearing: 67.177663 deg, approachRate: -2.051072 m/s, LOS rate: -0.118881 deg/s, cmd update: -0.475523 deg/s, cmd heading: 94.862449 deg, new cmd heading: 94.982704 deg. 2021-02-18T05:03:46.144Z,1613624626.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:46.904Z,1613624626.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:03:47.321Z,1613624627.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:03:48.133Z,1613624628.133 [Micromodem](INFO): Nmea in: $SNTTA,0.111931,,,,050346.91*46 2021-02-18T05:03:48.197Z,1613624628.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.820007 m, bearing: 65.552590 deg, deltaT: 4.443834 s, approachRate: 0.000000 m/s, LOS rate: -0.365692 deg/s, posRepo size: 4 2021-02-18T05:03:48.199Z,1613624628.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.820007 m, bearing: 65.552590 deg, approachRate: 0.000000 m/s, LOS rate: -0.365692 deg/s, cmd update: -1.462766 deg/s, cmd heading: 92.749349 deg, new cmd heading: 92.537280 deg. 2021-02-18T05:03:50.571Z,1613624630.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:51.356Z,1613624631.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:03:51.762Z,1613624631.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:03:52.580Z,1613624632.580 [Micromodem](INFO): Nmea in: $SNTTA,0.109967,,,,050351.36*47 2021-02-18T05:03:52.618Z,1613624632.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.820007 m, bearing: 64.675451 deg, deltaT: 4.491756 s, approachRate: 0.000000 m/s, LOS rate: -0.195278 deg/s, posRepo size: 4 2021-02-18T05:03:52.620Z,1613624632.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.820007 m, bearing: 64.675451 deg, approachRate: 0.000000 m/s, LOS rate: -0.195278 deg/s, cmd update: -0.781111 deg/s, cmd heading: 86.184648 deg, new cmd heading: 85.629094 deg. 2021-02-18T05:03:54.192Z,1613624634.192 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T05:03:55.039Z,1613624635.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:03:55.817Z,1613624635.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:03:56.212Z,1613624636.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:03:57.032Z,1613624637.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050355.82*52 2021-02-18T05:03:57.065Z,1613624637.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.280014 m, bearing: 65.562624 deg, deltaT: 4.403457 s, approachRate: -2.166478 m/s, LOS rate: 0.201472 deg/s, posRepo size: 4 2021-02-18T05:03:57.067Z,1613624637.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.280014 m, bearing: 65.562624 deg, approachRate: -2.166478 m/s, LOS rate: 0.201472 deg/s, cmd update: 0.805888 deg/s, cmd heading: 82.744065 deg, new cmd heading: 82.414570 deg. 2021-02-18T05:03:59.469Z,1613624639.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:00.250Z,1613624640.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:00.642Z,1613624640.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:01.472Z,1613624641.472 [Micromodem](INFO): Nmea in: $SNTTA,0.105630,,,,050400.26*44 2021-02-18T05:04:01.494Z,1613624641.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.220016 m, bearing: 65.708653 deg, deltaT: 4.466201 s, approachRate: -0.685145 m/s, LOS rate: 0.032697 deg/s, posRepo size: 4 2021-02-18T05:04:01.496Z,1613624641.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.220016 m, bearing: 65.708653 deg, approachRate: -0.685145 m/s, LOS rate: 0.032697 deg/s, cmd update: 0.130786 deg/s, cmd heading: 86.342325 deg, new cmd heading: 86.653006 deg. 2021-02-18T05:04:03.934Z,1613624643.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:04.686Z,1613624644.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:05.088Z,1613624645.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:05.912Z,1613624645.912 [Micromodem](INFO): Nmea in: $SNTTA,0.108238,,,,050404.69*4A 2021-02-18T05:04:05.966Z,1613624645.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.040009 m, bearing: 66.953407 deg, deltaT: 4.396665 s, approachRate: -0.723277 m/s, LOS rate: 0.283113 deg/s, posRepo size: 4 2021-02-18T05:04:05.972Z,1613624645.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.040009 m, bearing: 66.953407 deg, approachRate: -0.723277 m/s, LOS rate: 0.283113 deg/s, cmd update: 1.132453 deg/s, cmd heading: 86.917875 deg, new cmd heading: 86.977658 deg. 2021-02-18T05:04:08.356Z,1613624648.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:09.124Z,1613624649.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:09.529Z,1613624649.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:10.352Z,1613624650.352 [Micromodem](INFO): Nmea in: $SNTTA,0.101324,,,,050409.13*4F 2021-02-18T05:04:10.374Z,1613624650.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.860001 m, bearing: 63.861900 deg, deltaT: 4.538479 s, approachRate: -0.700677 m/s, LOS rate: -0.681177 deg/s, posRepo size: 4 2021-02-18T05:04:10.376Z,1613624650.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.860001 m, bearing: 63.861900 deg, approachRate: -0.700677 m/s, LOS rate: -0.681177 deg/s, cmd update: -2.724708 deg/s, cmd heading: 92.056983 deg, new cmd heading: 92.427264 deg. 2021-02-18T05:04:12.850Z,1613624652.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:13.572Z,1613624653.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:13.981Z,1613624653.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:14.832Z,1613624654.832 [Micromodem](INFO): Nmea in: $SNTTA,0.099236,,,,050413.58*49 2021-02-18T05:04:14.902Z,1613624654.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.620010 m, bearing: 63.444978 deg, deltaT: 4.367938 s, approachRate: -0.741767 m/s, LOS rate: -0.095450 deg/s, posRepo size: 4 2021-02-18T05:04:14.904Z,1613624654.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.620010 m, bearing: 63.444978 deg, approachRate: -0.741767 m/s, LOS rate: -0.095450 deg/s, cmd update: -0.381802 deg/s, cmd heading: 80.165755 deg, new cmd heading: 78.829836 deg. 2021-02-18T05:04:17.219Z,1613624657.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:18.018Z,1613624658.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:18.418Z,1613624658.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:19.260Z,1613624659.260 [Micromodem](INFO): Nmea in: $SNTTA,0.097120,,,,050418.02*47 2021-02-18T05:04:19.299Z,1613624659.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.320007 m, bearing: 63.410090 deg, deltaT: 4.526778 s, approachRate: -0.728996 m/s, LOS rate: -0.007707 deg/s, posRepo size: 4 2021-02-18T05:04:19.301Z,1613624659.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.320007 m, bearing: 63.410090 deg, approachRate: -0.728996 m/s, LOS rate: -0.007707 deg/s, cmd update: -0.030829 deg/s, cmd heading: 78.441727 deg, new cmd heading: 78.299772 deg. 2021-02-18T05:04:21.664Z,1613624661.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:22.461Z,1613624662.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:22.880Z,1613624662.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:23.692Z,1613624663.692 [Micromodem](INFO): Nmea in: $SNTTA,0.094773,,,,050422.47*4C 2021-02-18T05:04:23.724Z,1613624663.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.020004 m, bearing: 63.588856 deg, deltaT: 4.360056 s, approachRate: -0.756872 m/s, LOS rate: 0.041001 deg/s, posRepo size: 4 2021-02-18T05:04:23.726Z,1613624663.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.020004 m, bearing: 63.588856 deg, approachRate: -0.756872 m/s, LOS rate: 0.041001 deg/s, cmd update: 0.164004 deg/s, cmd heading: 78.306837 deg, new cmd heading: 78.293842 deg. 2021-02-18T05:04:26.152Z,1613624666.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:26.901Z,1613624666.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:27.320Z,1613624667.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:28.147Z,1613624668.147 [Micromodem](INFO): Nmea in: $SNTTA,0.092497,,,,050426.91*4C 2021-02-18T05:04:28.181Z,1613624668.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.540009 m, bearing: 63.746258 deg, deltaT: 4.455228 s, approachRate: -0.781104 m/s, LOS rate: 0.035330 deg/s, posRepo size: 4 2021-02-18T05:04:28.183Z,1613624668.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.540009 m, bearing: 63.746258 deg, approachRate: -0.781104 m/s, LOS rate: 0.035330 deg/s, cmd update: 0.141319 deg/s, cmd heading: 79.037217 deg, new cmd heading: 79.106929 deg. 2021-02-18T05:04:30.598Z,1613624670.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:31.353Z,1613624671.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:31.763Z,1613624671.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:32.581Z,1613624672.581 [Micromodem](INFO): Nmea in: $SNTTA,0.090308,,0.105152,,050431.36*58 2021-02-18T05:04:32.618Z,1613624672.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.240005 m, bearing: 63.809130 deg, deltaT: 4.448701 s, approachRate: -0.741790 m/s, LOS rate: 0.014133 deg/s, posRepo size: 4 2021-02-18T05:04:32.620Z,1613624672.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.240005 m, bearing: 63.809130 deg, approachRate: -0.741790 m/s, LOS rate: 0.014133 deg/s, cmd update: 0.056531 deg/s, cmd heading: 79.666123 deg, new cmd heading: 79.724335 deg. 2021-02-18T05:04:35.030Z,1613624675.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:35.809Z,1613624675.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:36.201Z,1613624676.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:37.035Z,1613624677.035 [Micromodem](INFO): Nmea in: $SNTTA,0.088012,,,,050435.82*4E 2021-02-18T05:04:37.069Z,1613624677.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.820007 m, bearing: 62.672948 deg, deltaT: 4.428449 s, approachRate: -0.772279 m/s, LOS rate: -0.256564 deg/s, posRepo size: 4 2021-02-18T05:04:37.070Z,1613624677.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.820007 m, bearing: 62.672948 deg, approachRate: -0.772279 m/s, LOS rate: -0.256564 deg/s, cmd update: -1.026257 deg/s, cmd heading: 79.916250 deg, new cmd heading: 79.941010 deg. 2021-02-18T05:04:39.452Z,1613624679.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:40.234Z,1613624680.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:40.646Z,1613624680.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:41.460Z,1613624681.460 [Micromodem](INFO): Nmea in: $SNTTA,0.085946,,,,050440.24*45 2021-02-18T05:04:41.493Z,1613624681.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.699997 m, bearing: 62.224881 deg, deltaT: 4.459315 s, approachRate: -0.699661 m/s, LOS rate: -0.100479 deg/s, posRepo size: 4 2021-02-18T05:04:41.494Z,1613624681.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.699997 m, bearing: 62.224881 deg, approachRate: -0.699661 m/s, LOS rate: -0.100479 deg/s, cmd update: -0.401916 deg/s, cmd heading: 75.335907 deg, new cmd heading: 74.926750 deg. 2021-02-18T05:04:43.918Z,1613624683.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:44.676Z,1613624684.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:45.082Z,1613624685.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:45.908Z,1613624685.908 [Micromodem](INFO): Nmea in: $SNTTA,0.083754,,,,050444.68*42 2021-02-18T05:04:45.962Z,1613624685.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.459999 m, bearing: 61.980183 deg, deltaT: 4.404495 s, approachRate: -0.735612 m/s, LOS rate: -0.055557 deg/s, posRepo size: 4 2021-02-18T05:04:45.964Z,1613624685.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.459999 m, bearing: 61.980183 deg, approachRate: -0.735612 m/s, LOS rate: -0.055557 deg/s, cmd update: -0.222226 deg/s, cmd heading: 73.565595 deg, new cmd heading: 73.379169 deg. 2021-02-18T05:04:48.353Z,1613624688.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:49.128Z,1613624689.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:49.525Z,1613624689.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:50.352Z,1613624690.352 [Micromodem](INFO): Nmea in: $SNTTA,0.081574,,,,050449.13*41 2021-02-18T05:04:50.394Z,1613624690.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.160004 m, bearing: 62.178723 deg, deltaT: 4.479008 s, approachRate: -0.736769 m/s, LOS rate: 0.044327 deg/s, posRepo size: 4 2021-02-18T05:04:50.396Z,1613624690.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.160004 m, bearing: 62.178723 deg, approachRate: -0.736769 m/s, LOS rate: 0.044327 deg/s, cmd update: 0.177307 deg/s, cmd heading: 72.571124 deg, new cmd heading: 72.477620 deg. 2021-02-18T05:04:52.837Z,1613624692.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:53.570Z,1613624693.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:53.981Z,1613624693.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:54.816Z,1613624694.816 [Micromodem](INFO): Nmea in: $SNTTA,0.079255,,,,050453.58*46 2021-02-18T05:04:54.885Z,1613624694.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.740005 m, bearing: 62.206822 deg, deltaT: 4.432784 s, approachRate: -0.771524 m/s, LOS rate: 0.006339 deg/s, posRepo size: 4 2021-02-18T05:04:54.893Z,1613624694.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.740005 m, bearing: 62.206822 deg, approachRate: -0.771524 m/s, LOS rate: 0.006339 deg/s, cmd update: 0.025356 deg/s, cmd heading: 73.357757 deg, new cmd heading: 73.442000 deg. 2021-02-18T05:04:56.920Z,1613624696.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:04:57.610Z,1613624697.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:04:58.018Z,1613624698.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:04:58.860Z,1613624698.860 [Micromodem](INFO): Nmea in: $SNTTA,0.077315,,,,050457.62*40 2021-02-18T05:04:58.925Z,1613624698.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.800003 m, bearing: 61.429164 deg, deltaT: 4.032006 s, approachRate: -0.729166 m/s, LOS rate: -0.192871 deg/s, posRepo size: 4 2021-02-18T05:04:58.927Z,1613624698.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.800003 m, bearing: 61.429164 deg, approachRate: -0.729166 m/s, LOS rate: -0.192871 deg/s, cmd update: -0.771485 deg/s, cmd heading: 73.459592 deg, new cmd heading: 73.472240 deg. 2021-02-18T05:05:01.278Z,1613624701.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:02.054Z,1613624702.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:05:02.454Z,1613624702.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:05:03.280Z,1613624703.280 [Micromodem](INFO): Nmea in: $SNTTA,0.074919,,,,050502.06*46 2021-02-18T05:05:03.316Z,1613624703.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.199997 m, bearing: 61.260486 deg, deltaT: 4.475035 s, approachRate: -0.804464 m/s, LOS rate: -0.037693 deg/s, posRepo size: 4 2021-02-18T05:05:03.317Z,1613624703.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.199997 m, bearing: 61.260486 deg, approachRate: -0.804464 m/s, LOS rate: -0.037693 deg/s, cmd update: -0.150773 deg/s, cmd heading: 69.994847 deg, new cmd heading: 69.687846 deg. 2021-02-18T05:05:05.707Z,1613624705.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:06.492Z,1613624706.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:05:06.915Z,1613624706.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:05:07.720Z,1613624707.720 [Micromodem](INFO): Nmea in: $SNTTA,0.072576,,,,050506.50*42 2021-02-18T05:05:07.798Z,1613624707.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.659996 m, bearing: 61.114272 deg, deltaT: 4.396411 s, approachRate: -0.805202 m/s, LOS rate: -0.033258 deg/s, posRepo size: 4 2021-02-18T05:05:07.804Z,1613624707.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.659996 m, bearing: 61.114272 deg, approachRate: -0.805202 m/s, LOS rate: -0.033258 deg/s, cmd update: -0.133030 deg/s, cmd heading: 69.331980 deg, new cmd heading: 69.260138 deg. 2021-02-18T05:05:10.180Z,1613624710.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:10.937Z,1613624710.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:05:11.368Z,1613624711.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:05:12.164Z,1613624712.164 [Micromodem](INFO): Nmea in: $SNTTA,0.070328,,,,050510.94*42 2021-02-18T05:05:12.213Z,1613624712.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.360001 m, bearing: 61.580453 deg, deltaT: 4.488854 s, approachRate: -0.735153 m/s, LOS rate: 0.103853 deg/s, posRepo size: 4 2021-02-18T05:05:12.215Z,1613624712.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.360001 m, bearing: 61.580453 deg, approachRate: -0.735153 m/s, LOS rate: 0.103853 deg/s, cmd update: 0.415412 deg/s, cmd heading: 68.734885 deg, new cmd heading: 68.680204 deg. 2021-02-18T05:05:14.607Z,1613624714.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:15.381Z,1613624715.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:05:15.810Z,1613624715.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:05:16.619Z,1613624716.619 [Micromodem](INFO): Nmea in: $SNTTA,0.068179,,,,050515.39*4F 2021-02-18T05:05:16.638Z,1613624716.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.000008 m, bearing: 59.837511 deg, deltaT: 4.469869 s, approachRate: -0.751698 m/s, LOS rate: -0.389931 deg/s, posRepo size: 4 2021-02-18T05:05:16.640Z,1613624716.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.000008 m, bearing: 59.837511 deg, approachRate: -0.751698 m/s, LOS rate: -0.389931 deg/s, cmd update: -1.559725 deg/s, cmd heading: 70.591896 deg, new cmd heading: 70.743868 deg. 2021-02-18T05:05:19.068Z,1613624719.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:19.838Z,1613624719.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:05:20.236Z,1613624720.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:05:21.060Z,1613624721.060 [Micromodem](INFO): Nmea in: $SNTTA,0.065961,,,,050519.85*48 2021-02-18T05:05:21.094Z,1613624721.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.700005 m, bearing: 59.681940 deg, deltaT: 4.391584 s, approachRate: -0.751438 m/s, LOS rate: -0.035425 deg/s, posRepo size: 4 2021-02-18T05:05:21.096Z,1613624721.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.700005 m, bearing: 59.681940 deg, approachRate: -0.751438 m/s, LOS rate: -0.035425 deg/s, cmd update: -0.141699 deg/s, cmd heading: 63.745403 deg, new cmd heading: 63.071183 deg. 2021-02-18T05:05:23.493Z,1613624723.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:24.273Z,1613624724.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:05:24.688Z,1613624724.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:05:25.500Z,1613624725.500 [Micromodem](INFO): Nmea in: $SNTTA,0.063851,,,,050524.28*45 2021-02-18T05:05:25.522Z,1613624725.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.580002 m, bearing: 60.857443 deg, deltaT: 4.466257 s, approachRate: -0.698572 m/s, LOS rate: 0.263196 deg/s, posRepo size: 4 2021-02-18T05:05:25.540Z,1613624725.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.580002 m, bearing: 60.857443 deg, approachRate: -0.698572 m/s, LOS rate: 0.263196 deg/s, cmd update: 1.052786 deg/s, cmd heading: 63.112257 deg, new cmd heading: 63.056755 deg. 2021-02-18T05:05:27.948Z,1613624727.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:28.712Z,1613624728.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:05:29.119Z,1613624729.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:05:29.947Z,1613624729.947 [Micromodem](INFO): Nmea in: $SNTTA,0.061724,,,,050528.72*49 2021-02-18T05:05:29.984Z,1613624729.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.520004 m, bearing: 60.931059 deg, deltaT: 4.412377 s, approachRate: -0.693503 m/s, LOS rate: 0.016684 deg/s, posRepo size: 4 2021-02-18T05:05:29.986Z,1613624729.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.520004 m, bearing: 60.931059 deg, approachRate: -0.693503 m/s, LOS rate: 0.016684 deg/s, cmd update: 0.066736 deg/s, cmd heading: 67.757559 deg, new cmd heading: 68.221635 deg. 2021-02-18T05:05:32.373Z,1613624732.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:33.156Z,1613624733.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:05:33.562Z,1613624733.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:05:34.384Z,1613624734.384 [Micromodem](INFO): Nmea in: $SNTTA,0.059337,,,,050533.16*4C 2021-02-18T05:05:34.406Z,1613624734.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.919998 m, bearing: 59.752523 deg, deltaT: 4.481722 s, approachRate: -0.803264 m/s, LOS rate: -0.262965 deg/s, posRepo size: 4 2021-02-18T05:05:34.408Z,1613624734.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.919998 m, bearing: 59.752523 deg, approachRate: -0.803264 m/s, LOS rate: -0.262965 deg/s, cmd update: -1.051859 deg/s, cmd heading: 68.055914 deg, new cmd heading: 68.082136 deg. 2021-02-18T05:05:36.890Z,1613624736.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:37.600Z,1613624737.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:05:38.006Z,1613624738.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:05:38.844Z,1613624738.844 [Micromodem](INFO): Nmea in: $SNTTA,0.057093,,,,050537.61*4B 2021-02-18T05:05:38.920Z,1613624738.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.500008 m, bearing: 59.349132 deg, deltaT: 4.434059 s, approachRate: -0.771300 m/s, LOS rate: -0.090976 deg/s, posRepo size: 4 2021-02-18T05:05:38.922Z,1613624738.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.500008 m, bearing: 59.349132 deg, approachRate: -0.771300 m/s, LOS rate: -0.090976 deg/s, cmd update: -0.363902 deg/s, cmd heading: 63.401178 deg, new cmd heading: 62.907874 deg. 2021-02-18T05:05:41.251Z,1613624741.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:42.050Z,1613624742.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:05:42.450Z,1613624742.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:05:43.276Z,1613624743.276 [Micromodem](INFO): Nmea in: $SNTTA,0.054786,,,,050542.06*48 2021-02-18T05:05:43.298Z,1613624743.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.960007 m, bearing: 58.407475 deg, deltaT: 4.461900 s, approachRate: -0.793384 m/s, LOS rate: -0.211044 deg/s, posRepo size: 4 2021-02-18T05:05:43.316Z,1613624743.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.960007 m, bearing: 58.407475 deg, approachRate: -0.793384 m/s, LOS rate: -0.211044 deg/s, cmd update: -0.844176 deg/s, cmd heading: 61.770401 deg, new cmd heading: 61.632812 deg. 2021-02-18T05:05:45.704Z,1613624745.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:46.488Z,1613624746.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:05:46.902Z,1613624746.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:05:47.716Z,1613624747.716 [Micromodem](INFO): Nmea in: $SNTTA,0.052436,,,,050546.49*49 2021-02-18T05:05:47.788Z,1613624747.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.540001 m, bearing: 60.886417 deg, deltaT: 4.419354 s, approachRate: -0.773870 m/s, LOS rate: 0.560929 deg/s, posRepo size: 4 2021-02-18T05:05:47.798Z,1613624747.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.540001 m, bearing: 60.886417 deg, approachRate: -0.773870 m/s, LOS rate: 0.560929 deg/s, cmd update: 2.243714 deg/s, cmd heading: 58.039336 deg, new cmd heading: 57.671423 deg. 2021-02-18T05:05:50.184Z,1613624750.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:50.945Z,1613624750.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:05:51.376Z,1613624751.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:05:52.177Z,1613624752.177 [Micromodem](INFO): Nmea in: $SNTTA,0.050209,,,,050550.95*47 2021-02-18T05:05:52.257Z,1613624752.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.239998 m, bearing: 60.244017 deg, deltaT: 4.483213 s, approachRate: -0.736080 m/s, LOS rate: -0.143290 deg/s, posRepo size: 4 2021-02-18T05:05:52.258Z,1613624752.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.239998 m, bearing: 60.244017 deg, approachRate: -0.736080 m/s, LOS rate: -0.143290 deg/s, cmd update: -0.573160 deg/s, cmd heading: 68.089404 deg, new cmd heading: 69.071191 deg. 2021-02-18T05:05:54.612Z,1613624754.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:55.391Z,1613624755.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:05:55.817Z,1613624755.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:05:56.616Z,1613624756.616 [Micromodem](INFO): Nmea in: $SNTTA,0.047835,,,,050555.40*49 2021-02-18T05:05:56.638Z,1613624756.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.519997 m, bearing: 58.149676 deg, deltaT: 4.383984 s, approachRate: -0.848544 m/s, LOS rate: -0.477725 deg/s, posRepo size: 4 2021-02-18T05:05:56.640Z,1613624756.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.519997 m, bearing: 58.149676 deg, approachRate: -0.848544 m/s, LOS rate: -0.477725 deg/s, cmd update: -1.910902 deg/s, cmd heading: 65.574385 deg, new cmd heading: 65.327368 deg. 2021-02-18T05:05:59.070Z,1613624759.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:05:59.842Z,1613624759.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:00.234Z,1613624760.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:01.064Z,1613624761.064 [Micromodem](INFO): Nmea in: $SNTTA,0.045565,,,,050559.85*46 2021-02-18T05:06:01.114Z,1613624761.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.160004 m, bearing: 57.454882 deg, deltaT: 4.477832 s, approachRate: -0.750362 m/s, LOS rate: -0.155163 deg/s, posRepo size: 4 2021-02-18T05:06:01.116Z,1613624761.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.160004 m, bearing: 57.454882 deg, approachRate: -0.750362 m/s, LOS rate: -0.155163 deg/s, cmd update: -0.620652 deg/s, cmd heading: 57.037124 deg, new cmd heading: 56.198339 deg. 2021-02-18T05:06:03.480Z,1613624763.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:06:04.272Z,1613624764.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:04.684Z,1613624764.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:05.099Z,1613624765.099 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T05:06:05.507Z,1613624765.507 [Micromodem](INFO): Nmea in: $SNTTA,0.043425,,,,050604.28*49 2021-02-18T05:06:05.526Z,1613624765.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.100006 m, bearing: 59.899147 deg, deltaT: 4.436862 s, approachRate: -0.689676 m/s, LOS rate: 0.550900 deg/s, posRepo size: 4 2021-02-18T05:06:05.528Z,1613624765.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.100006 m, bearing: 59.899147 deg, approachRate: -0.689676 m/s, LOS rate: 0.550900 deg/s, cmd update: 2.203598 deg/s, cmd heading: 54.277033 deg, new cmd heading: 54.026069 deg. 2021-02-18T05:06:07.960Z,1613624767.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:06:08.717Z,1613624768.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:09.136Z,1613624769.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:09.944Z,1613624769.944 [Micromodem](INFO): Nmea in: $SNTTA,0.041263,,,,050608.72*4C 2021-02-18T05:06:09.997Z,1613624769.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.439999 m, bearing: 58.476023 deg, deltaT: 4.435432 s, approachRate: -0.825175 m/s, LOS rate: -0.320854 deg/s, posRepo size: 4 2021-02-18T05:06:09.999Z,1613624769.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.439999 m, bearing: 58.476023 deg, approachRate: -0.825175 m/s, LOS rate: -0.320854 deg/s, cmd update: -1.283415 deg/s, cmd heading: 64.027152 deg, new cmd heading: 65.021074 deg. 2021-02-18T05:06:12.399Z,1613624772.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:06:13.167Z,1613624773.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:13.575Z,1613624773.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:14.392Z,1613624774.392 [Micromodem](INFO): Nmea in: $SNTTA,0.038926,,,,050613.17*41 2021-02-18T05:06:14.414Z,1613624774.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.139999 m, bearing: 57.572669 deg, deltaT: 4.477937 s, approachRate: -0.736946 m/s, LOS rate: -0.201734 deg/s, posRepo size: 4 2021-02-18T05:06:14.440Z,1613624774.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.139999 m, bearing: 57.572669 deg, approachRate: -0.736946 m/s, LOS rate: -0.201734 deg/s, cmd update: -0.806938 deg/s, cmd heading: 58.271480 deg, new cmd heading: 57.779957 deg. 2021-02-18T05:06:16.898Z,1613624776.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:06:17.612Z,1613624777.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:18.016Z,1613624778.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:18.844Z,1613624778.844 [Micromodem](INFO): Nmea in: $SNTTA,0.036946,,,,050617.62*4F 2021-02-18T05:06:18.919Z,1613624778.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.259998 m, bearing: 58.489867 deg, deltaT: 4.391558 s, approachRate: -0.655804 m/s, LOS rate: 0.208855 deg/s, posRepo size: 4 2021-02-18T05:06:18.921Z,1613624778.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.259998 m, bearing: 58.489867 deg, approachRate: -0.655804 m/s, LOS rate: 0.208855 deg/s, cmd update: 0.835420 deg/s, cmd heading: 54.724545 deg, new cmd heading: 54.327367 deg. 2021-02-18T05:06:21.268Z,1613624781.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:06:22.054Z,1613624782.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:22.454Z,1613624782.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:23.280Z,1613624783.280 [Micromodem](INFO): Nmea in: $SNTTA,0.034378,,,,050622.06*4E 2021-02-18T05:06:23.317Z,1613624783.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.360001 m, bearing: 58.435929 deg, deltaT: 4.511231 s, approachRate: -0.864509 m/s, LOS rate: -0.011956 deg/s, posRepo size: 4 2021-02-18T05:06:23.319Z,1613624783.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.360001 m, bearing: 58.435929 deg, approachRate: -0.864509 m/s, LOS rate: -0.011956 deg/s, cmd update: -0.047826 deg/s, cmd heading: 58.479056 deg, new cmd heading: 58.810443 deg. 2021-02-18T05:06:25.712Z,1613624785.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:06:26.492Z,1613624786.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:26.898Z,1613624786.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:27.724Z,1613624787.724 [Micromodem](INFO): Nmea in: $SNTTA,0.032305,,,0.034781,050626.50*52 2021-02-18T05:06:27.804Z,1613624787.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.300003 m, bearing: 57.659672 deg, deltaT: 4.376365 s, approachRate: -0.699210 m/s, LOS rate: -0.177375 deg/s, posRepo size: 4 2021-02-18T05:06:27.806Z,1613624787.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.300003 m, bearing: 57.659672 deg, approachRate: -0.699210 m/s, LOS rate: -0.177375 deg/s, cmd update: -0.709500 deg/s, cmd heading: 58.268937 deg, new cmd heading: 58.246379 deg. 2021-02-18T05:06:30.220Z,1613624790.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:06:30.943Z,1613624790.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:31.342Z,1613624791.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:32.188Z,1613624792.188 [Micromodem](INFO): Nmea in: $SNTTA,0.029900,,,,050630.95*4E 2021-02-18T05:06:32.231Z,1613624792.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.059998 m, bearing: 59.515133 deg, deltaT: 4.507166 s, approachRate: -0.718856 m/s, LOS rate: 0.411669 deg/s, posRepo size: 4 2021-02-18T05:06:32.233Z,1613624792.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.059998 m, bearing: 59.515133 deg, approachRate: -0.718856 m/s, LOS rate: 0.411669 deg/s, cmd update: 1.646677 deg/s, cmd heading: 55.077627 deg, new cmd heading: 54.780564 deg. 2021-02-18T05:06:34.617Z,1613624794.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:06:35.386Z,1613624795.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:35.810Z,1613624795.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:36.612Z,1613624796.612 [Micromodem](INFO): Nmea in: $SNTTA,0.027634,,,,050635.39*4B 2021-02-18T05:06:36.648Z,1613624796.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.279999 m, bearing: 58.430889 deg, deltaT: 4.396883 s, approachRate: -0.859700 m/s, LOS rate: -0.246594 deg/s, posRepo size: 4 2021-02-18T05:06:36.650Z,1613624796.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.279999 m, bearing: 58.430889 deg, approachRate: -0.859700 m/s, LOS rate: -0.246594 deg/s, cmd update: -0.986376 deg/s, cmd heading: 62.333280 deg, new cmd heading: 63.041360 deg. 2021-02-18T05:06:39.065Z,1613624799.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:06:39.846Z,1613624799.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:40.231Z,1613624800.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:41.064Z,1613624801.064 [Micromodem](INFO): Nmea in: $SNTTA,0.025577,,0.067977,,050639.85*50 2021-02-18T05:06:41.102Z,1613624801.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.159996 m, bearing: 56.914040 deg, deltaT: 4.448127 s, approachRate: -0.701419 m/s, LOS rate: -0.341008 deg/s, posRepo size: 4 2021-02-18T05:06:41.103Z,1613624801.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.16 m. 2021-02-18T05:06:41.105Z,1613624801.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.159996 m, bearing: 56.914040 deg, approachRate: -0.701419 m/s, LOS rate: -0.341008 deg/s, cmd update: -1.364033 deg/s, cmd heading: 57.949869 deg, new cmd heading: 57.515985 deg. 2021-02-18T05:06:41.465Z,1613624801.465 [PowerOnly](INFO): Powering up loadControl 2021-02-18T05:06:43.482Z,1613624803.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:06:44.272Z,1613624804.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:44.679Z,1613624804.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:45.509Z,1613624805.509 [Micromodem](INFO): Nmea in: $SNTTA,0.023248,0.038979,,,050644.28*54 2021-02-18T05:06:45.530Z,1613624805.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.680000 m, bearing: 54.971814 deg, deltaT: 4.460853 s, approachRate: -0.780119 m/s, LOS rate: -0.435393 deg/s, posRepo size: 4 2021-02-18T05:06:45.530Z,1613624805.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.68 m. 2021-02-18T05:06:45.531Z,1613624805.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.68 m. 2021-02-18T05:06:45.531Z,1613624805.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T05:06:45.533Z,1613624805.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.680000 m, bearing: 54.971814 deg, approachRate: -0.780119 m/s, LOS rate: -0.435393 deg/s, cmd update: -1.741573 deg/s, cmd heading: 51.859624 deg, new cmd heading: 51.310241 deg. 2021-02-18T05:06:47.958Z,1613624807.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:06:48.716Z,1613624808.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:49.122Z,1613624809.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:49.948Z,1613624809.948 [Micromodem](INFO): Nmea in: $SNTTA,0.021027,,,,050648.72*4C 2021-02-18T05:06:50.010Z,1613624810.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.320002 m, bearing: 55.576481 deg, deltaT: 4.411731 s, approachRate: -0.761606 m/s, LOS rate: 0.137059 deg/s, posRepo size: 4 2021-02-18T05:06:50.012Z,1613624810.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.320002 m, bearing: 55.576481 deg, approachRate: -0.761606 m/s, LOS rate: 0.137059 deg/s, cmd update: 0.548235 deg/s, cmd heading: 44.176288 deg, new cmd heading: 43.356320 deg. 2021-02-18T05:06:52.384Z,1613624812.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:06:53.166Z,1613624813.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:53.566Z,1613624813.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:54.396Z,1613624814.396 [Micromodem](INFO): Nmea in: $SNTTA,0.018865,,,0.039446,050653.17*53 2021-02-18T05:06:54.418Z,1613624814.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.079998 m, bearing: 56.707820 deg, deltaT: 4.480635 s, approachRate: -0.723113 m/s, LOS rate: 0.252495 deg/s, posRepo size: 4 2021-02-18T05:06:54.420Z,1613624814.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.079998 m, bearing: 56.707820 deg, approachRate: -0.723113 m/s, LOS rate: 0.252495 deg/s, cmd update: 1.009981 deg/s, cmd heading: 46.632674 deg, new cmd heading: 46.851123 deg. 2021-02-18T05:06:56.899Z,1613624816.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:06:57.604Z,1613624817.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:06:58.017Z,1613624818.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:06:58.856Z,1613624818.856 [Micromodem](INFO): Nmea in: $SNTTA,0.016684,,,,050657.61*4B 2021-02-18T05:06:58.929Z,1613624818.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.779999 m, bearing: 58.648300 deg, deltaT: 4.441173 s, approachRate: -0.743047 m/s, LOS rate: 0.436930 deg/s, posRepo size: 4 2021-02-18T05:06:58.931Z,1613624818.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.779999 m, bearing: 58.648300 deg, approachRate: -0.743047 m/s, LOS rate: 0.436930 deg/s, cmd update: 1.747719 deg/s, cmd heading: 51.109374 deg, new cmd heading: 51.591138 deg. 2021-02-18T05:07:01.271Z,1613624821.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:02.054Z,1613624822.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:02.454Z,1613624822.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:07:03.280Z,1613624823.280 [Micromodem](INFO): Nmea in: $SNTTA,0.014610,,,,050702.06*44 2021-02-18T05:07:03.317Z,1613624823.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.659998 m, bearing: 59.809590 deg, deltaT: 4.451353 s, approachRate: -0.700911 m/s, LOS rate: 0.260885 deg/s, posRepo size: 4 2021-02-18T05:07:03.319Z,1613624823.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.659998 m, bearing: 59.809590 deg, approachRate: -0.700911 m/s, LOS rate: 0.260885 deg/s, cmd update: 1.043538 deg/s, cmd heading: 58.904016 deg, new cmd heading: 59.612578 deg. 2021-02-18T05:07:05.700Z,1613624825.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:06.498Z,1613624826.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:06.904Z,1613624826.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:07:07.724Z,1613624827.724 [Micromodem](INFO): Nmea in: $SNTTA,0.012319,,,,050706.50*49 2021-02-18T05:07:07.812Z,1613624827.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.240002 m, bearing: 59.984156 deg, deltaT: 4.422510 s, approachRate: -0.773316 m/s, LOS rate: 0.039472 deg/s, posRepo size: 4 2021-02-18T05:07:07.816Z,1613624827.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.240002 m, bearing: 59.984156 deg, approachRate: -0.773316 m/s, LOS rate: 0.039472 deg/s, cmd update: 0.157889 deg/s, cmd heading: 63.515185 deg, new cmd heading: 64.015655 deg. 2021-02-18T05:07:10.208Z,1613624830.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:10.941Z,1613624830.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:11.341Z,1613624831.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:07:12.184Z,1613624832.184 [Micromodem](INFO): Nmea in: $SNTTA,0.010154,,,,050710.95*4E 2021-02-18T05:07:12.218Z,1613624832.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.000000 m, bearing: 59.117282 deg, deltaT: 4.474898 s, approachRate: -0.724039 m/s, LOS rate: -0.193719 deg/s, posRepo size: 4 2021-02-18T05:07:12.220Z,1613624832.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.000000 m, bearing: 59.117282 deg, approachRate: -0.724039 m/s, LOS rate: -0.193719 deg/s, cmd update: -0.774877 deg/s, cmd heading: 64.221570 deg, new cmd heading: 64.286819 deg. 2021-02-18T05:07:14.587Z,1613624834.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:15.387Z,1613624835.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:15.814Z,1613624835.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:07:16.612Z,1613624836.612 [Micromodem](INFO): Nmea in: $SNTTA,0.008128,,,,050715.40*41 2021-02-18T05:07:16.658Z,1613624836.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.879998 m, bearing: 56.614612 deg, deltaT: 4.393873 s, approachRate: -0.710080 m/s, LOS rate: -0.569582 deg/s, posRepo size: 4 2021-02-18T05:07:16.664Z,1613624836.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.879998 m, bearing: 56.614612 deg, approachRate: -0.710080 m/s, LOS rate: -0.569582 deg/s, cmd update: -2.278327 deg/s, cmd heading: 60.813014 deg, new cmd heading: 60.460373 deg. 2021-02-18T05:07:19.076Z,1613624839.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:19.868Z,1613624839.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:20.236Z,1613624840.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:07:21.070Z,1613624841.070 [Micromodem](INFO): Nmea in: $SNTTA,0.005998,,,,050719.88*47 2021-02-18T05:07:21.124Z,1613624841.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.699999 m, bearing: 56.185751 deg, deltaT: 4.447928 s, approachRate: -0.714939 m/s, LOS rate: -0.096418 deg/s, posRepo size: 4 2021-02-18T05:07:21.126Z,1613624841.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.699999 m, bearing: 56.185751 deg, approachRate: -0.714939 m/s, LOS rate: -0.096418 deg/s, cmd update: -0.385672 deg/s, cmd heading: 50.679188 deg, new cmd heading: 49.602597 deg. 2021-02-18T05:07:23.489Z,1613624843.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:24.268Z,1613624844.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:24.679Z,1613624844.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:07:25.507Z,1613624845.507 [Micromodem](INFO): Nmea in: $SNTTA,0.004182,,,,050724.28*41 2021-02-18T05:07:25.529Z,1613624845.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.999998 m, bearing: 51.807166 deg, deltaT: 4.475212 s, approachRate: -0.603324 m/s, LOS rate: -0.978408 deg/s, posRepo size: 4 2021-02-18T05:07:25.531Z,1613624845.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.999998 m, bearing: 51.807166 deg, approachRate: -0.603324 m/s, LOS rate: -0.978408 deg/s, cmd update: -3.913634 deg/s, cmd heading: 48.953216 deg, new cmd heading: 48.797861 deg. 2021-02-18T05:07:27.941Z,1613624847.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:28.718Z,1613624848.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:29.118Z,1613624849.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:07:29.944Z,1613624849.944 [Micromodem](INFO): Nmea in: $SNTTA,0.002728,,,,050728.72*42 2021-02-18T05:07:29.996Z,1613624849.996 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T05:07:29.996Z,1613624849.996 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T05:07:29.996Z,1613624849.996 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T05:07:29.997Z,1613624849.997 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:07:29.997Z,1613624849.997 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T05:07:29.997Z,1613624849.997 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.020000 m 2021-02-18T05:07:29.997Z,1613624849.997 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T05:07:29.997Z,1613624849.997 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T05:07:29.997Z,1613624849.997 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T05:07:30.004Z,1613624850.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 63.099726 deg, deltaT: 4.410179 s, approachRate: -0.448961 m/s, LOS rate: 2.560567 deg/s, posRepo size: 4 2021-02-18T05:07:30.006Z,1613624850.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.020000 m, bearing: 63.099726 deg, approachRate: -0.448961 m/s, LOS rate: 2.560567 deg/s, cmd update: 10.242269 deg/s, cmd heading: 31.693419 deg, new cmd heading: 29.881704 deg. 2021-02-18T05:07:30.368Z,1613624850.368 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T050730: (41.552319, -70.708603) 2021-02-18T05:07:30.368Z,1613624850.368 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T05:07:30.368Z,1613624850.368 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T05:07:30.369Z,1613624850.369 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:07:30.369Z,1613624850.369 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T05:07:30.369Z,1613624850.369 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:07:30.369Z,1613624850.369 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T05:07:30.369Z,1613624850.369 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T05:07:30.369Z,1613624850.369 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T05:07:32.044Z,1613624852.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:32.757Z,1613624852.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:33.157Z,1613624853.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:07:33.988Z,1613624853.988 [Micromodem](INFO): Nmea in: $SNTTA,0.002691,,,,050732.77*4F 2021-02-18T05:07:34.037Z,1613624854.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 33.942833 deg, deltaT: 4.038057 s, approachRate: 0.000000 m/s, LOS rate: -7.220525 deg/s, posRepo size: 4 2021-02-18T05:07:34.039Z,1613624854.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.020000 m, bearing: 33.942833 deg, approachRate: 0.000000 m/s, LOS rate: -7.220525 deg/s, cmd update: -12.000000 deg/s, cmd heading: 73.050893 deg, new cmd heading: 77.791988 deg. 2021-02-18T05:07:36.403Z,1613624856.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:37.196Z,1613624857.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:37.607Z,1613624857.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:07:38.431Z,1613624858.431 [Micromodem](INFO): Nmea in: $SNTTA,0.004023,,,,050737.20*41 2021-02-18T05:07:38.450Z,1613624858.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.059999 m, bearing: 48.967617 deg, deltaT: 4.479471 s, approachRate: 0.455411 m/s, LOS rate: 3.354142 deg/s, posRepo size: 4 2021-02-18T05:07:38.452Z,1613624858.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.059999 m, bearing: 48.967617 deg, approachRate: 0.455411 m/s, LOS rate: 3.354142 deg/s, cmd update: 12.000000 deg/s, cmd heading: 19.296159 deg, new cmd heading: 14.548707 deg. 2021-02-18T05:07:40.914Z,1613624860.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:41.646Z,1613624861.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:42.052Z,1613624862.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:07:42.888Z,1613624862.888 [Micromodem](INFO): Nmea in: $SNTTA,0.007868,,,,050741.65*45 2021-02-18T05:07:42.939Z,1613624862.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 48.770351 deg, deltaT: 4.434754 s, approachRate: 1.271773 m/s, LOS rate: -0.044482 deg/s, posRepo size: 4 2021-02-18T05:07:42.941Z,1613624862.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.700000 m, bearing: 48.770351 deg, approachRate: 1.271773 m/s, LOS rate: -0.044482 deg/s, cmd update: -0.177927 deg/s, cmd heading: 72.322169 deg, new cmd heading: 77.909225 deg. 2021-02-18T05:07:45.297Z,1613624865.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:46.089Z,1613624866.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:46.495Z,1613624866.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:07:47.316Z,1613624867.316 [Micromodem](INFO): Nmea in: $SNTTA,0.009023,,,,050746.10*49 2021-02-18T05:07:47.338Z,1613624867.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.299998 m, bearing: 42.936919 deg, deltaT: 4.458134 s, approachRate: 0.134585 m/s, LOS rate: -1.308492 deg/s, posRepo size: 4 2021-02-18T05:07:47.340Z,1613624867.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.299998 m, bearing: 42.936919 deg, approachRate: 0.134585 m/s, LOS rate: -1.308492 deg/s, cmd update: -5.233968 deg/s, cmd heading: 71.526827 deg, new cmd heading: 71.456526 deg. 2021-02-18T05:07:49.770Z,1613624869.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:50.546Z,1613624870.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:50.949Z,1613624870.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:07:51.773Z,1613624871.773 [Micromodem](INFO): Nmea in: $SNTTA,0.010761,,,,050750.56*45 2021-02-18T05:07:51.876Z,1613624871.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.059998 m, bearing: 71.850633 deg, deltaT: 4.431003 s, approachRate: 0.622884 m/s, LOS rate: 6.525320 deg/s, posRepo size: 4 2021-02-18T05:07:51.878Z,1613624871.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.059998 m, bearing: 71.850633 deg, approachRate: 0.622884 m/s, LOS rate: 6.525320 deg/s, cmd update: 12.000000 deg/s, cmd heading: 48.335001 deg, new cmd heading: 45.709078 deg. 2021-02-18T05:07:53.882Z,1613624873.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:54.581Z,1613624874.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:54.981Z,1613624874.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:07:55.820Z,1613624875.820 [Micromodem](INFO): Nmea in: $SNTTA,0.012486,,,,050754.59*46 2021-02-18T05:07:55.918Z,1613624875.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.879999 m, bearing: 95.004865 deg, deltaT: 4.031491 s, approachRate: 0.699493 m/s, LOS rate: 5.743342 deg/s, posRepo size: 4 2021-02-18T05:07:55.924Z,1613624875.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.879999 m, bearing: 95.004865 deg, approachRate: 0.699493 m/s, LOS rate: 5.743342 deg/s, cmd update: 12.000000 deg/s, cmd heading: 96.761278 deg, new cmd heading: 102.864418 deg. 2021-02-18T05:07:58.235Z,1613624878.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:07:59.013Z,1613624879.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:07:59.427Z,1613624879.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:00.244Z,1613624880.244 [Micromodem](INFO): Nmea in: $SNTTA,0.013985,,,,050759.02*4A 2021-02-18T05:08:00.285Z,1613624880.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.219997 m, bearing: 60.616563 deg, deltaT: 4.500506 s, approachRate: 0.519941 m/s, LOS rate: -7.640986 deg/s, posRepo size: 4 2021-02-18T05:08:00.288Z,1613624880.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.219997 m, bearing: 60.616563 deg, approachRate: 0.519941 m/s, LOS rate: -7.640986 deg/s, cmd update: -12.000000 deg/s, cmd heading: 150.767135 deg, new cmd heading: 155.271239 deg. 2021-02-18T05:08:02.666Z,1613624882.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:08:03.456Z,1613624883.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:08:03.885Z,1613624883.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:04.698Z,1613624884.698 [Micromodem](INFO): Nmea in: $SNTTA,0.015994,,,,050803.46*4C 2021-02-18T05:08:04.727Z,1613624884.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.160000 m, bearing: 104.049927 deg, deltaT: 4.395792 s, approachRate: 0.668822 m/s, LOS rate: 9.880669 deg/s, posRepo size: 4 2021-02-18T05:08:04.728Z,1613624884.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 23.16 m. Rolling out. 2021-02-18T05:08:04.728Z,1613624884.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T05:08:07.151Z,1613624887.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:08:07.909Z,1613624887.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:08:08.306Z,1613624888.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:09.132Z,1613624889.132 [Micromodem](INFO): Nmea in: $SNTTA,0.018009,,,,050807.92*41 2021-02-18T05:08:09.181Z,1613624889.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.340000 m, bearing: 67.267494 deg, deltaT: 4.447894 s, approachRate: 0.714945 m/s, LOS rate: -8.269629 deg/s, posRepo size: 4 2021-02-18T05:08:11.562Z,1613624891.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:08:12.344Z,1613624892.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:08:12.784Z,1613624892.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:13.572Z,1613624893.572 [Micromodem](INFO): Nmea in: $SNTTA,0.019189,,,,050812.35*40 2021-02-18T05:08:13.609Z,1613624893.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.460001 m, bearing: 130.031420 deg, deltaT: 4.471219 s, approachRate: 0.697796 m/s, LOS rate: 14.037319 deg/s, posRepo size: 4 2021-02-18T05:08:15.988Z,1613624895.988 [PowerOnly](INFO): Powering down loadControl 2021-02-18T05:08:16.022Z,1613624896.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:08:16.810Z,1613624896.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:08:17.199Z,1613624897.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:18.032Z,1613624898.032 [Micromodem](INFO): Nmea in: $SNTTA,0.021104,,,,050816.82*46 2021-02-18T05:08:18.082Z,1613624898.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.440002 m, bearing: 70.470798 deg, deltaT: 4.392180 s, approachRate: 0.450802 m/s, LOS rate: -13.560606 deg/s, posRepo size: 4 2021-02-18T05:08:20.457Z,1613624900.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:08:21.232Z,1613624901.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:08:21.645Z,1613624901.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:22.476Z,1613624902.476 [Micromodem](INFO): Nmea in: $SNTTA,0.025588,,,,050821.24*4A 2021-02-18T05:08:22.498Z,1613624902.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.779999 m, bearing: 85.871092 deg, deltaT: 4.463345 s, approachRate: 0.524270 m/s, LOS rate: 3.450393 deg/s, posRepo size: 4 2021-02-18T05:08:24.943Z,1613624904.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:08:25.676Z,1613624905.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:08:26.087Z,1613624906.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:26.929Z,1613624906.929 [Micromodem](INFO): Nmea in: $SNTTA,0.024042,,,,050825.68*44 2021-02-18T05:08:26.000Z,1613624907.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.119999 m, bearing: 86.410383 deg, deltaT: 4.454110 s, approachRate: 0.525357 m/s, LOS rate: 0.121077 deg/s, posRepo size: 4 2021-02-18T05:08:29.360Z,1613624909.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:08:30.129Z,1613624910.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:08:30.529Z,1613624910.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:31.352Z,1613624911.352 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050830.14*55 2021-02-18T05:08:31.390Z,1613624911.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.299999 m, bearing: 87.560600 deg, deltaT: 4.444582 s, approachRate: 0.715478 m/s, LOS rate: 0.258791 deg/s, posRepo size: 4 2021-02-18T05:08:33.828Z,1613624913.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:08:34.564Z,1613624914.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:08:34.988Z,1613624914.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:35.820Z,1613624915.820 [Micromodem](INFO): Nmea in: $SNTTA,0.028011,,0.041773,,050834.57*5A 2021-02-18T05:08:35.895Z,1613624915.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.119999 m, bearing: 84.525176 deg, deltaT: 4.420514 s, approachRate: 0.637935 m/s, LOS rate: -0.686668 deg/s, posRepo size: 4 2021-02-18T05:08:38.226Z,1613624918.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:08:39.014Z,1613624919.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:08:39.421Z,1613624919.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:40.236Z,1613624920.236 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050839.02*5B 2021-02-18T05:08:40.273Z,1613624920.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.059998 m, bearing: 145.891789 deg, deltaT: 4.524923 s, approachRate: 0.649734 m/s, LOS rate: 13.561913 deg/s, posRepo size: 4 2021-02-18T05:08:42.662Z,1613624922.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:08:43.452Z,1613624923.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:08:43.882Z,1613624923.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:44.680Z,1613624924.680 [Micromodem](INFO): Nmea in: $SNTTA,0.032491,,,,050843.46*45 2021-02-18T05:08:44.714Z,1613624924.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.179996 m, bearing: 145.741934 deg, deltaT: 4.369138 s, approachRate: 0.714099 m/s, LOS rate: -0.034298 deg/s, posRepo size: 4 2021-02-18T05:08:47.165Z,1613624927.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:08:47.896Z,1613624927.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:08:48.303Z,1613624928.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:49.141Z,1613624929.141 [Micromodem](INFO): Nmea in: $SNTTA,0.034250,,,0.071687,050847.90*56 2021-02-18T05:08:49.193Z,1613624929.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.119999 m, bearing: 147.026215 deg, deltaT: 4.432561 s, approachRate: 0.663274 m/s, LOS rate: 0.289738 deg/s, posRepo size: 4 2021-02-18T05:08:51.559Z,1613624931.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:08:52.342Z,1613624932.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:08:52.756Z,1613624932.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:53.583Z,1613624933.583 [Micromodem](INFO): Nmea in: $SNTTA,0.036716,,,,050852.35*49 2021-02-18T05:08:53.602Z,1613624933.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.779995 m, bearing: 137.188871 deg, deltaT: 4.475769 s, approachRate: 0.817736 m/s, LOS rate: -2.197911 deg/s, posRepo size: 4 2021-02-18T05:08:56.016Z,1613624936.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:08:56.816Z,1613624936.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:08:57.207Z,1613624937.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:08:58.036Z,1613624938.036 [Micromodem](INFO): Nmea in: $SNTTA,0.038493,,,,050856.83*40 2021-02-18T05:08:58.100Z,1613624938.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.540001 m, bearing: 90.611188 deg, deltaT: 4.405308 s, approachRate: 0.626518 m/s, LOS rate: -10.573082 deg/s, posRepo size: 4 2021-02-18T05:09:00.437Z,1613624940.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:01.228Z,1613624941.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:09:01.645Z,1613624941.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:09:02.471Z,1613624942.471 [Micromodem](INFO): Nmea in: $SNTTA,0.040977,,,,050901.24*46 2021-02-18T05:09:02.490Z,1613624942.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.259998 m, bearing: 136.389411 deg, deltaT: 4.483997 s, approachRate: 0.829616 m/s, LOS rate: 10.209245 deg/s, posRepo size: 4 2021-02-18T05:09:04.940Z,1613624944.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:05.672Z,1613624945.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:09:06.087Z,1613624946.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:09:06.907Z,1613624946.907 [Micromodem](INFO): Nmea in: $SNTTA,0.042793,,,,050905.68*4C 2021-02-18T05:09:06.941Z,1613624946.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.320000 m, bearing: 136.101751 deg, deltaT: 4.440147 s, approachRate: 0.689167 m/s, LOS rate: -0.064786 deg/s, posRepo size: 4 2021-02-18T05:09:09.323Z,1613624949.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:10.122Z,1613624950.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:09:10.522Z,1613624950.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:09:11.344Z,1613624951.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050910.13*51 2021-02-18T05:09:11.386Z,1613624951.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.619995 m, bearing: 129.391568 deg, deltaT: 4.462958 s, approachRate: 0.739419 m/s, LOS rate: -1.503528 deg/s, posRepo size: 4 2021-02-18T05:09:13.822Z,1613624953.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:14.560Z,1613624954.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:09:14.972Z,1613624954.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:09:15.816Z,1613624955.816 [Micromodem](INFO): Nmea in: $SNTTA,0.047250,,,,050914.57*4F 2021-02-18T05:09:15.913Z,1613624955.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.040001 m, bearing: 133.432404 deg, deltaT: 4.407683 s, approachRate: 0.775919 m/s, LOS rate: 0.916771 deg/s, posRepo size: 4 2021-02-18T05:09:18.216Z,1613624958.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:19.004Z,1613624959.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:09:19.416Z,1613624959.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:09:20.243Z,1613624960.243 [Micromodem](INFO): Nmea in: $SNTTA,0.049271,,,,050919.01*4C 2021-02-18T05:09:20.262Z,1613624960.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.100006 m, bearing: 145.255243 deg, deltaT: 4.502293 s, approachRate: 0.679655 m/s, LOS rate: 2.625960 deg/s, posRepo size: 4 2021-02-18T05:09:22.656Z,1613624962.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:23.448Z,1613624963.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:09:23.891Z,1613624963.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:09:24.676Z,1613624964.676 [Micromodem](INFO): Nmea in: $SNTTA,0.051535,,,0.060320,050923.45*52 2021-02-18T05:09:24.710Z,1613624964.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.519997 m, bearing: 129.657235 deg, deltaT: 4.389452 s, approachRate: 0.779138 m/s, LOS rate: -3.553521 deg/s, posRepo size: 4 2021-02-18T05:09:27.148Z,1613624967.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:27.898Z,1613624967.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:09:28.299Z,1613624968.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:09:29.140Z,1613624969.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050927.91*5F 2021-02-18T05:09:29.203Z,1613624969.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.580009 m, bearing: 92.920708 deg, deltaT: 4.428516 s, approachRate: 0.690979 m/s, LOS rate: -8.295449 deg/s, posRepo size: 4 2021-02-18T05:09:31.582Z,1613624971.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:32.336Z,1613624972.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:09:32.761Z,1613624972.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:09:33.571Z,1613624973.571 [Micromodem](INFO): Nmea in: $SNTTA,0.055716,,,,050932.34*4A 2021-02-18T05:09:33.595Z,1613624973.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.760002 m, bearing: 97.151197 deg, deltaT: 4.471798 s, approachRate: 0.711122 m/s, LOS rate: 0.946038 deg/s, posRepo size: 4 2021-02-18T05:09:36.031Z,1613624976.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:36.815Z,1613624976.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:09:37.192Z,1613624977.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:09:38.032Z,1613624978.032 [Micromodem](INFO): Nmea in: $SNTTA,0.058041,,,,050936.82*4B 2021-02-18T05:09:38.090Z,1613624978.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.480003 m, bearing: 49.138181 deg, deltaT: 4.413959 s, approachRate: 0.842781 m/s, LOS rate: -10.877540 deg/s, posRepo size: 4 2021-02-18T05:09:40.431Z,1613624980.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:41.224Z,1613624981.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:09:41.630Z,1613624981.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:09:42.460Z,1613624982.460 [Micromodem](INFO): Nmea in: $SNTTA,0.060205,,,,050941.23*49 2021-02-18T05:09:42.482Z,1613624982.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.660004 m, bearing: 123.114829 deg, deltaT: 4.459183 s, approachRate: 0.713135 m/s, LOS rate: 16.589730 deg/s, posRepo size: 4 2021-02-18T05:09:44.919Z,1613624984.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:45.670Z,1613624985.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:09:46.074Z,1613624986.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:09:46.900Z,1613624986.900 [Micromodem](INFO): Nmea in: $SNTTA,0.062220,,,,050945.68*47 2021-02-18T05:09:46.963Z,1613624986.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.419998 m, bearing: 97.588821 deg, deltaT: 4.450685 s, approachRate: 0.620128 m/s, LOS rate: -5.735299 deg/s, posRepo size: 4 2021-02-18T05:09:49.336Z,1613624989.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:50.113Z,1613624990.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:09:50.518Z,1613624990.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:09:51.329Z,1613624991.329 [Micromodem](INFO): Nmea in: $SNTTA,0.064547,,,,050950.12*4E 2021-02-18T05:09:52.173Z,1613624992.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:53.750Z,1613624993.750 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:09:55.027Z,1613624995.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:09:55.804Z,1613624995.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:09:56.173Z,1613624996.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:09:57.010Z,1613624997.010 [Micromodem](INFO): Nmea in: $SNTTA,0.067283,,,,050955.81*4D 2021-02-18T05:09:57.088Z,1613624997.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.340004 m, bearing: 79.890633 deg, deltaT: 10.080210 s, approachRate: 0.785698 m/s, LOS rate: -1.755736 deg/s, posRepo size: 4 2021-02-18T05:09:59.418Z,1613624999.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:00.215Z,1613625000.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:10:00.619Z,1613625000.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:10:01.430Z,1613625001.430 [Micromodem](INFO): Nmea in: $SNTTA,0.069401,,,,051000.22*4E 2021-02-18T05:10:02.257Z,1613625002.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:03.894Z,1613625003.894 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:10:05.114Z,1613625005.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:05.881Z,1613625005.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:10:06.274Z,1613625006.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:10:07.093Z,1613625007.093 [Micromodem](INFO): Nmea in: $SNTTA,0.072256,,,,051005.89*44 2021-02-18T05:10:07.514Z,1613625007.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.499985 m, bearing: 132.538878 deg, deltaT: 10.556546 s, approachRate: 11.856149 m/s, LOS rate: 4.987261 deg/s, posRepo size: 4 2021-02-18T05:10:07.515Z,1613625007.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 226.50 m. Resuming terminal guidance. 2021-02-18T05:10:07.515Z,1613625007.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T05:10:09.962Z,1613625009.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:10.724Z,1613625010.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:10:11.135Z,1613625011.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:10:11.952Z,1613625011.952 [Micromodem](INFO): Nmea in: $SNTTA,0.074741,,,,051010.73*40 2021-02-18T05:10:11.986Z,1613625011.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.379997 m, bearing: 123.902432 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T05:10:11.987Z,1613625011.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 123.902432deg and heading rate command to 0 deg/s. 2021-02-18T05:10:14.369Z,1613625014.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:15.160Z,1613625015.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:10:15.571Z,1613625015.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:10:16.399Z,1613625016.399 [Micromodem](INFO): Nmea in: $SNTTA,0.076851,,,,051015.17*4B 2021-02-18T05:10:16.418Z,1613625016.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.500000 m, bearing: 132.339737 deg, deltaT: 4.454648 s, approachRate: 0.700393 m/s, LOS rate: 1.894045 deg/s, posRepo size: 2 2021-02-18T05:10:16.420Z,1613625016.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.500000 m, bearing: 132.339737 deg, approachRate: 0.700393 m/s, LOS rate: 1.894045 deg/s, cmd update: 7.576182 deg/s, cmd heading: 123.902432 deg, new cmd heading: 123.902432 deg. 2021-02-18T05:10:18.885Z,1613625018.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:19.604Z,1613625019.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:10:20.010Z,1613625020.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:10:20.844Z,1613625020.844 [Micromodem](INFO): Nmea in: $SNTTA,0.078949,,,,051019.61*40 2021-02-18T05:10:20.908Z,1613625020.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.620003 m, bearing: 156.828916 deg, deltaT: 4.422861 s, approachRate: 0.705426 m/s, LOS rate: 5.536954 deg/s, posRepo size: 3 2021-02-18T05:10:20.909Z,1613625020.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.620003 m, bearing: 156.828916 deg, approachRate: 0.705426 m/s, LOS rate: 5.536954 deg/s, cmd update: 12.000000 deg/s, cmd heading: 157.407511 deg, new cmd heading: 160.978439 deg. 2021-02-18T05:10:23.255Z,1613625023.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:24.056Z,1613625024.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:10:24.454Z,1613625024.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:10:25.280Z,1613625025.280 [Micromodem](INFO): Nmea in: $SNTTA,0.080762,,,,051024.06*4F 2021-02-18T05:10:25.325Z,1613625025.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.320000 m, bearing: 136.535441 deg, deltaT: 4.486744 s, approachRate: 0.601772 m/s, LOS rate: -4.522985 deg/s, posRepo size: 4 2021-02-18T05:10:25.327Z,1613625025.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.320000 m, bearing: 136.535441 deg, approachRate: 0.601772 m/s, LOS rate: -4.522985 deg/s, cmd update: -12.000000 deg/s, cmd heading: 211.252389 deg, new cmd heading: 216.076473 deg. 2021-02-18T05:10:27.715Z,1613625027.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:28.493Z,1613625028.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:10:28.906Z,1613625028.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:10:29.724Z,1613625029.724 [Micromodem](INFO): Nmea in: $SNTTA,0.082254,,,,051028.50*42 2021-02-18T05:10:29.773Z,1613625029.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.420006 m, bearing: 145.659467 deg, deltaT: 4.412251 s, approachRate: 0.475949 m/s, LOS rate: 2.067885 deg/s, posRepo size: 4 2021-02-18T05:10:29.796Z,1613625029.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.420006 m, bearing: 145.659467 deg, approachRate: 0.475949 m/s, LOS rate: 2.067885 deg/s, cmd update: 8.271538 deg/s, cmd heading: 158.304186 deg, new cmd heading: 153.095550 deg. 2021-02-18T05:10:32.186Z,1613625032.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:32.938Z,1613625032.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:10:33.344Z,1613625033.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:10:34.169Z,1613625034.169 [Micromodem](INFO): Nmea in: $SNTTA,0.083408,,,,051032.95*4E 2021-02-18T05:10:34.232Z,1613625034.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.159996 m, bearing: 188.232828 deg, deltaT: 4.469192 s, approachRate: 0.389330 m/s, LOS rate: 9.525964 deg/s, posRepo size: 4 2021-02-18T05:10:34.234Z,1613625034.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.159996 m, bearing: 188.232828 deg, approachRate: 0.389330 m/s, LOS rate: 9.525964 deg/s, cmd update: 12.000000 deg/s, cmd heading: 195.124576 deg, new cmd heading: 198.803880 deg. 2021-02-18T05:10:36.625Z,1613625036.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:37.388Z,1613625037.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:10:37.822Z,1613625037.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:10:38.616Z,1613625038.616 [Micromodem](INFO): Nmea in: $SNTTA,0.084055,,,,051037.39*46 2021-02-18T05:10:38.638Z,1613625038.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.060005 m, bearing: 237.863660 deg, deltaT: 4.398542 s, approachRate: 0.204615 m/s, LOS rate: 11.283473 deg/s, posRepo size: 4 2021-02-18T05:10:38.660Z,1613625038.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.060005 m, bearing: 237.863660 deg, approachRate: 0.204615 m/s, LOS rate: 11.283473 deg/s, cmd update: 12.000000 deg/s, cmd heading: 248.119901 deg, new cmd heading: 253.339350 deg. 2021-02-18T05:10:41.082Z,1613625041.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:41.840Z,1613625041.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:10:42.230Z,1613625042.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:10:43.064Z,1613625043.064 [Micromodem](INFO): Nmea in: $SNTTA,0.084144,,,,051041.85*41 2021-02-18T05:10:43.126Z,1613625043.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.300003 m, bearing: 220.103037 deg, deltaT: 4.488559 s, approachRate: 0.053469 m/s, LOS rate: -3.956865 deg/s, posRepo size: 4 2021-02-18T05:10:43.132Z,1613625043.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.300003 m, bearing: 220.103037 deg, approachRate: 0.053469 m/s, LOS rate: -3.956865 deg/s, cmd update: -12.000000 deg/s, cmd heading: 301.982371 deg, new cmd heading: 307.191907 deg. 2021-02-18T05:10:45.500Z,1613625045.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:46.271Z,1613625046.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:10:46.682Z,1613625046.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:10:47.520Z,1613625047.520 [Micromodem](INFO): Nmea in: $SNTTA,0.083764,,,,051046.28*42 2021-02-18T05:10:47.542Z,1613625047.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.880005 m, bearing: 235.637538 deg, deltaT: 4.433063 s, approachRate: -0.094742 m/s, LOS rate: 3.504236 deg/s, posRepo size: 4 2021-02-18T05:10:47.544Z,1613625047.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.880005 m, bearing: 235.637538 deg, approachRate: -0.094742 m/s, LOS rate: 3.504236 deg/s, cmd update: 12.000000 deg/s, cmd heading: 248.787678 deg, new cmd heading: 243.780018 deg. 2021-02-18T05:10:49.951Z,1613625049.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:50.718Z,1613625050.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:10:51.126Z,1613625051.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:10:51.948Z,1613625051.948 [Micromodem](INFO): Nmea in: $SNTTA,0.082950,,0.085695,,051050.72*5B 2021-02-18T05:10:52.006Z,1613625052.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.379997 m, bearing: 276.602745 deg, deltaT: 4.409868 s, approachRate: -0.340148 m/s, LOS rate: 9.289441 deg/s, posRepo size: 4 2021-02-18T05:10:52.012Z,1613625052.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.379997 m, bearing: 276.602745 deg, approachRate: -0.340148 m/s, LOS rate: 9.289441 deg/s, cmd update: 12.000000 deg/s, cmd heading: 301.706011 deg, new cmd heading: 307.369963 deg. 2021-02-18T05:10:54.383Z,1613625054.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:55.158Z,1613625055.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:10:55.563Z,1613625055.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:10:56.384Z,1613625056.384 [Micromodem](INFO): Nmea in: $SNTTA,0.081737,,,,051055.16*49 2021-02-18T05:10:56.447Z,1613625056.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.400002 m, bearing: 271.711318 deg, deltaT: 4.497082 s, approachRate: -0.440285 m/s, LOS rate: -1.087689 deg/s, posRepo size: 4 2021-02-18T05:10:56.450Z,1613625056.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.400002 m, bearing: 271.711318 deg, approachRate: -0.440285 m/s, LOS rate: -1.087689 deg/s, cmd update: -4.350756 deg/s, cmd heading: 355.664373 deg, new cmd heading: 0.611962 deg. 2021-02-18T05:10:58.896Z,1613625058.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:10:59.610Z,1613625059.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:00.006Z,1613625060.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:00.840Z,1613625060.840 [Micromodem](INFO): Nmea in: $SNTTA,0.080070,,,,051059.62*43 2021-02-18T05:11:00.921Z,1613625060.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.880005 m, bearing: 274.815393 deg, deltaT: 4.416605 s, approachRate: -0.570573 m/s, LOS rate: 0.702819 deg/s, posRepo size: 4 2021-02-18T05:11:00.923Z,1613625060.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.880005 m, bearing: 274.815393 deg, approachRate: -0.570573 m/s, LOS rate: 0.702819 deg/s, cmd update: 2.811277 deg/s, cmd heading: 336.533343 deg, new cmd heading: 334.388164 deg. 2021-02-18T05:11:03.263Z,1613625063.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:04.046Z,1613625064.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:04.458Z,1613625064.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:05.272Z,1613625065.272 [Micromodem](INFO): Nmea in: $SNTTA,0.078269,,,,051104.05*46 2021-02-18T05:11:05.313Z,1613625065.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.240005 m, bearing: 276.073460 deg, deltaT: 4.511316 s, approachRate: -0.585195 m/s, LOS rate: 0.278869 deg/s, posRepo size: 4 2021-02-18T05:11:05.315Z,1613625065.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.240005 m, bearing: 276.073460 deg, approachRate: -0.585195 m/s, LOS rate: 0.278869 deg/s, cmd update: 1.115476 deg/s, cmd heading: 349.257709 deg, new cmd heading: 350.267070 deg. 2021-02-18T05:11:07.701Z,1613625067.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:08.488Z,1613625068.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:08.895Z,1613625068.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:09.716Z,1613625069.716 [Micromodem](INFO): Nmea in: $SNTTA,0.076378,,,,051108.49*4D 2021-02-18T05:11:09.754Z,1613625069.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.360008 m, bearing: 274.672533 deg, deltaT: 4.370625 s, approachRate: -0.658944 m/s, LOS rate: -0.320532 deg/s, posRepo size: 4 2021-02-18T05:11:09.756Z,1613625069.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.360008 m, bearing: 274.672533 deg, approachRate: -0.658944 m/s, LOS rate: -0.320532 deg/s, cmd update: -1.282129 deg/s, cmd heading: 354.134233 deg, new cmd heading: 354.611998 deg. 2021-02-18T05:11:12.160Z,1613625072.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:12.938Z,1613625072.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:13.346Z,1613625073.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:14.164Z,1613625074.164 [Micromodem](INFO): Nmea in: $SNTTA,0.074536,,,,051112.94*48 2021-02-18T05:11:14.217Z,1613625074.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.540001 m, bearing: 270.679304 deg, deltaT: 4.484721 s, approachRate: -0.628803 m/s, LOS rate: -0.890407 deg/s, posRepo size: 4 2021-02-18T05:11:14.218Z,1613625074.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.540001 m, bearing: 270.679304 deg, approachRate: -0.628803 m/s, LOS rate: -0.890407 deg/s, cmd update: -3.561630 deg/s, cmd heading: 348.386131 deg, new cmd heading: 347.863703 deg. 2021-02-18T05:11:16.656Z,1613625076.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:17.376Z,1613625077.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:17.816Z,1613625077.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:18.612Z,1613625078.612 [Micromodem](INFO): Nmea in: $SNTTA,0.072926,,,,051117.38*40 2021-02-18T05:11:18.650Z,1613625078.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.260010 m, bearing: 273.471731 deg, deltaT: 4.415250 s, approachRate: -0.516390 m/s, LOS rate: 0.632451 deg/s, posRepo size: 4 2021-02-18T05:11:18.652Z,1613625078.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.260010 m, bearing: 273.471731 deg, approachRate: -0.516390 m/s, LOS rate: 0.632451 deg/s, cmd update: 2.529802 deg/s, cmd heading: 332.655327 deg, new cmd heading: 331.145449 deg. 2021-02-18T05:11:21.058Z,1613625081.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:21.824Z,1613625081.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:22.225Z,1613625082.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:23.071Z,1613625083.071 [Micromodem](INFO): Nmea in: $SNTTA,0.071642,,,,051121.83*4B 2021-02-18T05:11:23.104Z,1613625083.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.459999 m, bearing: 273.396107 deg, deltaT: 4.411977 s, approachRate: -0.407983 m/s, LOS rate: -0.017141 deg/s, posRepo size: 4 2021-02-18T05:11:23.106Z,1613625083.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.459999 m, bearing: 273.396107 deg, approachRate: -0.407983 m/s, LOS rate: -0.017141 deg/s, cmd update: -0.068562 deg/s, cmd heading: 343.827445 deg, new cmd heading: 344.996117 deg. 2021-02-18T05:11:25.482Z,1613625085.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:26.265Z,1613625086.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:26.678Z,1613625086.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:27.492Z,1613625087.492 [Micromodem](INFO): Nmea in: $SNTTA,0.070777,,,,051126.27*44 2021-02-18T05:11:27.538Z,1613625087.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.140007 m, bearing: 281.992119 deg, deltaT: 4.510175 s, approachRate: -0.292670 m/s, LOS rate: 1.905915 deg/s, posRepo size: 4 2021-02-18T05:11:27.544Z,1613625087.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.140007 m, bearing: 281.992119 deg, approachRate: -0.292670 m/s, LOS rate: 1.905915 deg/s, cmd update: 7.623662 deg/s, cmd heading: 343.519136 deg, new cmd heading: 343.491778 deg. 2021-02-18T05:11:28.332Z,1613625088.332 [lineCaptureDepth:NeedComms] Running Loop=1 2021-02-18T05:11:28.332Z,1613625088.332 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms 2021-02-18T05:11:28.332Z,1613625088.332 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1 2021-02-18T05:11:28.332Z,1613625088.332 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-02-18T05:11:28.333Z,1613625088.333 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2021-02-18T05:11:28.333Z,1613625088.333 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2021-02-18T05:11:28.333Z,1613625088.333 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2021-02-18T05:11:28.334Z,1613625088.334 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-02-18T05:11:28.334Z,1613625088.334 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-02-18T05:11:28.334Z,1613625088.334 [lineCaptureDepth:NeedComms:A] Running Loop=1 2021-02-18T05:11:28.340Z,1613625088.340 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613619688.000000 second since 1970/01/01T00:00:00Z 2021-02-18T05:11:28.340Z,1613625088.340 [lineCaptureDepth:NeedComms:A] Stopped 2021-02-18T05:11:29.935Z,1613625089.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:30.708Z,1613625090.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:31.114Z,1613625091.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:31.948Z,1613625091.948 [Micromodem](INFO): Nmea in: $SNTTA,0.069960,,,,051130.71*40 2021-02-18T05:11:32.001Z,1613625092.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.939995 m, bearing: 342.978140 deg, deltaT: 4.379017 s, approachRate: -0.274037 m/s, LOS rate: 13.926874 deg/s, posRepo size: 4 2021-02-18T05:11:32.002Z,1613625092.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.926874 deg/s. Setting heading cmd to target bearing of 342.978140deg and heading rate command to 0 deg/s. 2021-02-18T05:11:34.364Z,1613625094.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:35.169Z,1613625095.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:35.558Z,1613625095.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:36.392Z,1613625096.392 [Micromodem](INFO): Nmea in: $SNTTA,0.069869,,,,051135.17*4D 2021-02-18T05:11:36.439Z,1613625096.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.820000 m, bearing: 33.055930 deg, deltaT: 4.492531 s, approachRate: -0.026710 m/s, LOS rate: 11.146899 deg/s, posRepo size: 4 2021-02-18T05:11:36.441Z,1613625096.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.820000 m, bearing: 33.055930 deg, approachRate: -0.026710 m/s, LOS rate: 11.146899 deg/s, cmd update: 12.000000 deg/s, cmd heading: 342.978140 deg, new cmd heading: 342.978140 deg. 2021-02-18T05:11:38.899Z,1613625098.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:39.614Z,1613625099.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:40.001Z,1613625100.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:40.852Z,1613625100.852 [Micromodem](INFO): Nmea in: $SNTTA,0.070016,,,,051139.62*4B 2021-02-18T05:11:40.912Z,1613625100.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.939995 m, bearing: 304.007103 deg, deltaT: 4.402254 s, approachRate: 0.027258 m/s, LOS rate: -20.228008 deg/s, posRepo size: 4 2021-02-18T05:11:40.913Z,1613625100.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.228008 deg/s. Setting heading cmd to target bearing of 304.007103deg and heading rate command to 0 deg/s. 2021-02-18T05:11:43.258Z,1613625103.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:44.040Z,1613625104.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:44.452Z,1613625104.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:45.257Z,1613625105.257 [Micromodem](INFO): Nmea in: $SNTTA,0.069866,,,,051144.05*47 2021-02-18T05:11:46.102Z,1613625106.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:47.692Z,1613625107.692 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:11:48.923Z,1613625108.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:49.715Z,1613625109.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:50.102Z,1613625110.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:50.936Z,1613625110.936 [Micromodem](INFO): Nmea in: $SNTTA,0.070072,,,,051149.72*4F 2021-02-18T05:11:50.989Z,1613625110.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.360001 m, bearing: 27.160018 deg, deltaT: 10.111460 s, approachRate: 0.041538 m/s, LOS rate: 8.223632 deg/s, posRepo size: 4 2021-02-18T05:11:50.992Z,1613625110.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.360001 m, bearing: 27.160018 deg, approachRate: 0.041538 m/s, LOS rate: 8.223632 deg/s, cmd update: 12.000000 deg/s, cmd heading: 304.007103 deg, new cmd heading: 304.007103 deg. 2021-02-18T05:11:53.352Z,1613625113.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:54.153Z,1613625114.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:54.546Z,1613625114.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:55.376Z,1613625115.376 [Micromodem](INFO): Nmea in: $SNTTA,0.069928,,,,051154.16*4F 2021-02-18T05:11:55.398Z,1613625115.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.060005 m, bearing: 25.611331 deg, deltaT: 4.473574 s, approachRate: -0.067059 m/s, LOS rate: -0.346186 deg/s, posRepo size: 4 2021-02-18T05:11:55.400Z,1613625115.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.060005 m, bearing: 25.611331 deg, approachRate: -0.067059 m/s, LOS rate: -0.346186 deg/s, cmd update: -1.384743 deg/s, cmd heading: 357.641128 deg, new cmd heading: 2.330152 deg. 2021-02-18T05:11:57.838Z,1613625117.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:11:58.590Z,1613625118.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:11:59.001Z,1613625119.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:11:59.844Z,1613625119.844 [Micromodem](INFO): Nmea in: $SNTTA,0.069189,,,,051158.60*41 2021-02-18T05:11:59.914Z,1613625119.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.680008 m, bearing: 274.846293 deg, deltaT: 4.416518 s, approachRate: -0.312463 m/s, LOS rate: -25.079719 deg/s, posRepo size: 4 2021-02-18T05:11:59.914Z,1613625119.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -25.079719 deg/s. Setting heading cmd to target bearing of 274.846293deg and heading rate command to 0 deg/s. 2021-02-18T05:12:01.103Z,1613625121.103 [lineCaptureDepth:NeedComms:C] Running Loop=1 2021-02-18T05:12:01.449Z,1613625121.449 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-18T05:12:01.449Z,1613625121.449 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T05:12:01.449Z,1613625121.449 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-18T05:12:01.449Z,1613625121.449 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-18T05:12:01.449Z,1613625121.449 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-18T05:12:01.449Z,1613625121.449 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-18T05:12:01.449Z,1613625121.449 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-18T05:12:01.660Z,1613625121.660 [Radio_Surface](INFO): Powering up 2021-02-18T05:12:02.240Z,1613625122.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:03.028Z,1613625123.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:12:03.439Z,1613625123.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:12:04.257Z,1613625124.257 [Micromodem](INFO): Nmea in: $SNTTA,0.068836,,,,051203.03*45 2021-02-18T05:12:04.303Z,1613625124.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.380005 m, bearing: 338.046279 deg, deltaT: 4.488218 s, approachRate: -0.066842 m/s, LOS rate: 14.081309 deg/s, posRepo size: 4 2021-02-18T05:12:04.304Z,1613625124.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.081309 deg/s. Setting heading cmd to target bearing of 338.046279deg and heading rate command to 0 deg/s. 2021-02-18T05:12:06.699Z,1613625126.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:07.480Z,1613625127.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:12:07.735Z,1613625127.735 [DataOverHttps](INFO): Radio surface powered ON. 2021-02-18T05:12:07.885Z,1613625127.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:12:08.704Z,1613625128.704 [Micromodem](INFO): Nmea in: $SNTTA,0.068789,,,,051207.49*44 2021-02-18T05:12:08.736Z,1613625128.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.260010 m, bearing: 293.332118 deg, deltaT: 4.410004 s, approachRate: -0.027210 m/s, LOS rate: -10.139256 deg/s, posRepo size: 4 2021-02-18T05:12:08.738Z,1613625128.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.260010 m, bearing: 293.332118 deg, approachRate: -0.027210 m/s, LOS rate: -10.139256 deg/s, cmd update: -12.000000 deg/s, cmd heading: 338.046279 deg, new cmd heading: 338.046279 deg. 2021-02-18T05:12:11.167Z,1613625131.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:11.922Z,1613625131.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:12:12.328Z,1613625132.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:12:13.148Z,1613625133.148 [Micromodem](INFO): Nmea in: $SNTTA,0.068661,,,,051211.93*43 2021-02-18T05:12:13.206Z,1613625133.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.020004 m, bearing: 328.886422 deg, deltaT: 4.427765 s, approachRate: -0.054205 m/s, LOS rate: 8.029853 deg/s, posRepo size: 4 2021-02-18T05:12:13.212Z,1613625133.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.020004 m, bearing: 328.886422 deg, approachRate: -0.054205 m/s, LOS rate: 8.029853 deg/s, cmd update: 12.000000 deg/s, cmd heading: 284.949975 deg, new cmd heading: 279.490178 deg. 2021-02-18T05:12:15.235Z,1613625135.235 [BuoyancyServo](FAULT): Overload Error 2021-02-18T05:12:15.239Z,1613625135.239 [BuoyancyServo] Hardware Fault, FailCount= 1 2021-02-18T05:12:15.239Z,1613625135.239 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T05:12:15.343Z,1613625135.343 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T05:12:15.602Z,1613625135.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:16.367Z,1613625136.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:12:16.769Z,1613625136.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:12:17.241Z,1613625137.241 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T05:12:17.242Z,1613625137.242 [BuoyancyServo](INFO): Powering down 2021-02-18T05:12:17.592Z,1613625137.592 [Micromodem](INFO): Nmea in: $SNTTA,0.068540,,,,051216.37*4A 2021-02-18T05:12:17.614Z,1613625137.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.900002 m, bearing: 330.341198 deg, deltaT: 4.466967 s, approachRate: -0.026864 m/s, LOS rate: 0.325674 deg/s, posRepo size: 4 2021-02-18T05:12:17.636Z,1613625137.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.900002 m, bearing: 330.341198 deg, approachRate: -0.026864 m/s, LOS rate: 0.325674 deg/s, cmd update: 1.302697 deg/s, cmd heading: 338.542228 deg, new cmd heading: 343.299257 deg. 2021-02-18T05:12:18.143Z,1613625138.143 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T05:12:18.143Z,1613625138.143 [BuoyancyServo] No Fault, FailCount= 1 2021-02-18T05:12:18.431Z,1613625138.431 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T05:12:18.432Z,1613625138.432 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T05:12:20.043Z,1613625140.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:20.863Z,1613625140.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:12:21.226Z,1613625141.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:12:22.050Z,1613625142.050 [Micromodem](INFO): Nmea in: $SNTTA,0.068393,,,,051220.87*4C 2021-02-18T05:12:22.105Z,1613625142.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.600006 m, bearing: 310.879448 deg, deltaT: 4.421038 s, approachRate: -0.067856 m/s, LOS rate: -4.402077 deg/s, posRepo size: 4 2021-02-18T05:12:22.107Z,1613625142.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.600006 m, bearing: 310.879448 deg, approachRate: -0.067856 m/s, LOS rate: -4.402077 deg/s, cmd update: -12.000000 deg/s, cmd heading: 344.306669 deg, new cmd heading: 344.909857 deg. 2021-02-18T05:12:24.463Z,1613625144.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:25.266Z,1613625145.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:12:25.659Z,1613625145.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:12:26.492Z,1613625146.492 [Micromodem](INFO): Nmea in: $SNTTA,0.068370,,,,051225.27*4E 2021-02-18T05:12:26.557Z,1613625146.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.660011 m, bearing: 332.716792 deg, deltaT: 4.475666 s, approachRate: 0.013407 m/s, LOS rate: 4.879127 deg/s, posRepo size: 4 2021-02-18T05:12:26.564Z,1613625146.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.660011 m, bearing: 332.716792 deg, approachRate: 0.013407 m/s, LOS rate: 4.879127 deg/s, cmd update: 12.000000 deg/s, cmd heading: 290.646471 deg, new cmd heading: 285.332175 deg. 2021-02-18T05:12:28.094Z,1613625148.094 [NAL9602](INFO): SBD MO Status=0, MOMSN=13661, MT Status=0, MTMSN=0 2021-02-18T05:12:28.094Z,1613625148.094 [NAL9602](INFO): No messages in MT queue 2021-02-18T05:12:28.941Z,1613625148.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:29.303Z,1613625149.303 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,051229.00,A,4133.14713,N,07042.44945,W,0.272,5.24,180221,,,A*71 2021-02-18T05:12:29.305Z,1613625149.305 [NAL9602](INFO): GPS fix at 20210218T051229: (41.552452, -70.707491) 2021-02-18T05:12:29.356Z,1613625149.356 [lineCaptureDepth:NeedComms:C] Stopped 2021-02-18T05:12:29.356Z,1613625149.356 [lineCaptureDepth:NeedComms:D] Running Loop=1 2021-02-18T05:12:29.709Z,1613625149.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:12:30.193Z,1613625150.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:12:31.015Z,1613625151.015 [Micromodem](INFO): Nmea in: $SNTTA,0.068303,,,,051229.71*45 2021-02-18T05:12:31.092Z,1613625151.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.540001 m, bearing: 333.957045 deg, deltaT: 4.504153 s, approachRate: -0.026644 m/s, LOS rate: 0.275358 deg/s, posRepo size: 4 2021-02-18T05:12:31.094Z,1613625151.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.540001 m, bearing: 333.957045 deg, approachRate: -0.026644 m/s, LOS rate: 0.275358 deg/s, cmd update: 1.101431 deg/s, cmd heading: 344.744117 deg, new cmd heading: 350.381549 deg. 2021-02-18T05:12:33.232Z,1613625153.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:35.667Z,1613625155.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:12:35.771Z,1613625155.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:36.057Z,1613625156.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:12:36.515Z,1613625156.515 [BuoyancyServo](FAULT): Overload Error 2021-02-18T05:12:36.515Z,1613625156.515 [BuoyancyServo] Hardware Fault, FailCount= 2 2021-02-18T05:12:36.515Z,1613625156.515 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T05:12:36.619Z,1613625156.619 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T05:12:36.881Z,1613625156.881 [Micromodem](INFO): Nmea in: $SNTTA,0.068321,,,,051235.67*4F 2021-02-18T05:12:37.855Z,1613625157.855 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T05:12:38.510Z,1613625158.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:38.530Z,1613625158.530 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T05:12:38.530Z,1613625158.530 [BuoyancyServo](INFO): Powering down 2021-02-18T05:12:39.288Z,1613625159.288 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:12:39.375Z,1613625159.375 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T05:12:39.375Z,1613625159.375 [BuoyancyServo] No Fault, FailCount= 2 2021-02-18T05:12:39.723Z,1613625159.723 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T05:12:39.724Z,1613625159.724 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T05:12:40.095Z,1613625160.095 [NAL9602](INFO): SBD MO Status=1, MOMSN=13662, MT Status=0, MTMSN=0 2021-02-18T05:12:40.147Z,1613625160.147 [NAL9602](INFO): Sent 89 bytes from file Logs/20210217T180521/Courier0105.lzma 2021-02-18T05:12:40.147Z,1613625160.147 [NAL9602](INFO): Packets left to send: 0 2021-02-18T05:12:43.432Z,1613625163.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:43.941Z,1613625163.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:12:44.353Z,1613625164.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:12:45.173Z,1613625165.173 [Micromodem](INFO): Nmea in: $SNTTA,0.068061,,,,051243.95*44 2021-02-18T05:12:45.221Z,1613625165.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.180008 m, bearing: 310.842155 deg, deltaT: 14.158086 s, approachRate: -0.025427 m/s, LOS rate: -1.632628 deg/s, posRepo size: 4 2021-02-18T05:12:45.222Z,1613625165.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.180008 m, bearing: 310.842155 deg, approachRate: -0.025427 m/s, LOS rate: -1.632628 deg/s, cmd update: -6.530513 deg/s, cmd heading: 0.331743 deg, new cmd heading: 0.823458 deg. 2021-02-18T05:12:47.602Z,1613625167.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:48.390Z,1613625168.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:12:48.830Z,1613625168.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:12:49.616Z,1613625169.616 [Micromodem](INFO): Nmea in: $SNTTA,0.067944,,,,051248.40*46 2021-02-18T05:12:49.658Z,1613625169.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.940002 m, bearing: 312.713190 deg, deltaT: 4.471172 s, approachRate: -0.053678 m/s, LOS rate: 0.418466 deg/s, posRepo size: 4 2021-02-18T05:12:49.664Z,1613625169.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.940002 m, bearing: 312.713190 deg, approachRate: -0.053678 m/s, LOS rate: 0.418466 deg/s, cmd update: 1.673865 deg/s, cmd heading: 331.093990 deg, new cmd heading: 328.436835 deg. 2021-02-18T05:12:50.878Z,1613625170.878 [NAL9602](INFO): SBD MO Status=1, MOMSN=13663, MT Status=0, MTMSN=0 2021-02-18T05:12:50.936Z,1613625170.936 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0097.lzma 2021-02-18T05:12:50.936Z,1613625170.936 [NAL9602](INFO): Packets left to send: 6 2021-02-18T05:12:54.166Z,1613625174.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:54.700Z,1613625174.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:12:55.114Z,1613625175.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:12:55.945Z,1613625175.945 [Micromodem](INFO): Nmea in: $SNTTA,0.067666,0.072859,,,051254.71*59 2021-02-18T05:12:55.978Z,1613625175.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.580002 m, bearing: 315.582361 deg, deltaT: 6.278989 s, approachRate: -0.057334 m/s, LOS rate: 0.456948 deg/s, posRepo size: 4 2021-02-18T05:12:55.980Z,1613625175.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.580002 m, bearing: 315.582361 deg, approachRate: -0.057334 m/s, LOS rate: 0.456948 deg/s, cmd update: 1.827792 deg/s, cmd heading: 341.604384 deg, new cmd heading: 342.353678 deg. 2021-02-18T05:12:58.384Z,1613625178.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:12:59.145Z,1613625179.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:12:59.569Z,1613625179.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:13:00.071Z,1613625180.071 [BuoyancyServo](FAULT): Overload Error 2021-02-18T05:13:00.071Z,1613625180.071 [BuoyancyServo] Hardware Fault, FailCount= 3 2021-02-18T05:13:00.071Z,1613625180.071 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T05:13:00.175Z,1613625180.175 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T05:13:00.372Z,1613625180.372 [Micromodem](INFO): Nmea in: $SNTTA,0.067483,,,,051259.15*40 2021-02-18T05:13:00.394Z,1613625180.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.400009 m, bearing: 337.108932 deg, deltaT: 4.490526 s, approachRate: -0.040083 m/s, LOS rate: 4.793775 deg/s, posRepo size: 4 2021-02-18T05:13:00.396Z,1613625180.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.400009 m, bearing: 337.108932 deg, approachRate: -0.040083 m/s, LOS rate: 4.793775 deg/s, cmd update: 12.000000 deg/s, cmd heading: 349.811921 deg, new cmd heading: 350.493406 deg. 2021-02-18T05:13:02.058Z,1613625182.058 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T05:13:02.058Z,1613625182.058 [BuoyancyServo](INFO): Powering down 2021-02-18T05:13:02.390Z,1613625182.390 [NAL9602](INFO): SBD MO Status=1, MOMSN=13664, MT Status=0, MTMSN=0 2021-02-18T05:13:02.439Z,1613625182.439 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0097.lzma 2021-02-18T05:13:02.440Z,1613625182.440 [NAL9602](INFO): Packets left to send: 5 2021-02-18T05:13:03.106Z,1613625183.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:03.164Z,1613625183.164 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T05:13:03.164Z,1613625183.164 [BuoyancyServo] No Fault, FailCount= 3 2021-02-18T05:13:03.248Z,1613625183.248 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T05:13:03.249Z,1613625183.249 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T05:13:03.590Z,1613625183.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:13:05.681Z,1613625185.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:05.940Z,1613625185.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:13:06.330Z,1613625186.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.860001 m, bearing: 314.232661 deg, deltaT: 6.004233 s, approachRate: -0.089938 m/s, LOS rate: -3.810024 deg/s, posRepo size: 4 2021-02-18T05:13:06.332Z,1613625186.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.860001 m, bearing: 314.232661 deg, approachRate: -0.089938 m/s, LOS rate: -3.810024 deg/s, cmd update: -12.000000 deg/s, cmd heading: 61.815007 deg, new cmd heading: 65.516263 deg. 2021-02-18T05:13:08.726Z,1613625188.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:09.530Z,1613625189.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:13:09.926Z,1613625189.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:13:10.757Z,1613625190.757 [Micromodem](INFO): Nmea in: $SNTTA,0.066985,,0.084503,,051309.53*58 2021-02-18T05:13:10.856Z,1613625190.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.500000 m, bearing: 313.326541 deg, deltaT: 4.350908 s, approachRate: -0.082741 m/s, LOS rate: -0.208260 deg/s, posRepo size: 4 2021-02-18T05:13:10.864Z,1613625190.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.500000 m, bearing: 313.326541 deg, approachRate: -0.082741 m/s, LOS rate: -0.208260 deg/s, cmd update: -0.833040 deg/s, cmd heading: 9.604505 deg, new cmd heading: 3.945593 deg. 2021-02-18T05:13:13.015Z,1613625193.015 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T05:13:13.244Z,1613625193.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:13.965Z,1613625193.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:13:14.373Z,1613625194.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:13:15.200Z,1613625195.200 [Micromodem](INFO): Nmea in: $SNTTA,0.066960,,,,051313.97*44 2021-02-18T05:13:15.258Z,1613625195.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.500000 m, bearing: 311.132138 deg, deltaT: 4.478297 s, approachRate: 0.000000 m/s, LOS rate: -0.490008 deg/s, posRepo size: 4 2021-02-18T05:13:15.264Z,1613625195.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.500000 m, bearing: 311.132138 deg, approachRate: 0.000000 m/s, LOS rate: -0.490008 deg/s, cmd update: -1.960034 deg/s, cmd heading: 5.886567 deg, new cmd heading: 5.534091 deg. 2021-02-18T05:13:17.625Z,1613625197.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:18.413Z,1613625198.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:13:18.839Z,1613625198.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:13:19.644Z,1613625199.644 [Micromodem](INFO): Nmea in: $SNTTA,0.066714,,,,051318.42*4A 2021-02-18T05:13:19.681Z,1613625199.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.140007 m, bearing: 302.845042 deg, deltaT: 4.408472 s, approachRate: -0.081659 m/s, LOS rate: -1.879811 deg/s, posRepo size: 4 2021-02-18T05:13:19.683Z,1613625199.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.140007 m, bearing: 302.845042 deg, approachRate: -0.081659 m/s, LOS rate: -1.879811 deg/s, cmd update: -7.519245 deg/s, cmd heading: 357.208181 deg, new cmd heading: 356.388019 deg. 2021-02-18T05:13:22.090Z,1613625202.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:22.123Z,1613625202.123 [BuoyancyServo](FAULT): Overload Error 2021-02-18T05:13:22.123Z,1613625202.123 [BuoyancyServo] Hardware Fault, FailCount= 4 2021-02-18T05:13:22.123Z,1613625202.123 [BuoyancyServo](ERROR): Hardware Fault 2021-02-18T05:13:22.191Z,1613625202.191 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-02-18T05:13:22.870Z,1613625202.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:13:23.266Z,1613625203.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:13:24.099Z,1613625204.099 [Micromodem](INFO): Nmea in: $SNTTA,0.066578,,,,051322.87*42 2021-02-18T05:13:24.133Z,1613625204.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.900002 m, bearing: 309.156847 deg, deltaT: 4.428684 s, approachRate: -0.054193 m/s, LOS rate: 1.425210 deg/s, posRepo size: 4 2021-02-18T05:13:24.135Z,1613625204.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.900002 m, bearing: 309.156847 deg, approachRate: -0.054193 m/s, LOS rate: 1.425210 deg/s, cmd update: 5.700840 deg/s, cmd heading: 323.908054 deg, new cmd heading: 320.586976 deg. 2021-02-18T05:13:24.170Z,1613625204.170 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-02-18T05:13:24.170Z,1613625204.170 [BuoyancyServo](INFO): Powering down 2021-02-18T05:13:24.490Z,1613625204.490 [NAL9602](INFO): SBD MO Status=1, MOMSN=13665, MT Status=0, MTMSN=0 2021-02-18T05:13:24.539Z,1613625204.539 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0097.lzma 2021-02-18T05:13:24.539Z,1613625204.539 [NAL9602](INFO): Packets left to send: 4 2021-02-18T05:13:24.568Z,1613625204.568 [BuoyancyServo](FAULT): LCB fault: Software Overcurrent. Current Limiter Activated. 2021-02-18T05:13:25.316Z,1613625205.316 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-02-18T05:13:25.316Z,1613625205.316 [BuoyancyServo] No Fault, FailCount= 4 2021-02-18T05:13:25.406Z,1613625205.406 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-02-18T05:13:25.411Z,1613625205.411 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-02-18T05:13:27.868Z,1613625207.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:28.454Z,1613625208.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:13:28.859Z,1613625208.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:13:29.688Z,1613625209.688 [Micromodem](INFO): Nmea in: $SNTTA,0.066457,,0.080013,,051328.46*5D 2021-02-18T05:13:29.706Z,1613625209.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.019997 m, bearing: 334.611405 deg, deltaT: 5.607760 s, approachRate: 0.021398 m/s, LOS rate: 4.539167 deg/s, posRepo size: 4 2021-02-18T05:13:29.708Z,1613625209.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.019997 m, bearing: 334.611405 deg, approachRate: 0.021398 m/s, LOS rate: 4.539167 deg/s, cmd update: 12.000000 deg/s, cmd heading: 355.877102 deg, new cmd heading: 358.194419 deg. 2021-02-18T05:13:32.124Z,1613625212.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:32.892Z,1613625212.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:13:33.301Z,1613625213.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:13:34.124Z,1613625214.124 [Micromodem](INFO): Nmea in: $SNTTA,0.066205,,,,051332.90*48 2021-02-18T05:13:34.184Z,1613625214.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.360008 m, bearing: 322.945086 deg, deltaT: 4.420548 s, approachRate: -0.149300 m/s, LOS rate: -2.639111 deg/s, posRepo size: 4 2021-02-18T05:13:34.185Z,1613625214.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.360008 m, bearing: 322.945086 deg, approachRate: -0.149300 m/s, LOS rate: -2.639111 deg/s, cmd update: -10.556445 deg/s, cmd heading: 48.923727 deg, new cmd heading: 54.438795 deg. 2021-02-18T05:13:36.550Z,1613625216.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:37.336Z,1613625217.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:13:37.747Z,1613625217.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:13:38.571Z,1613625218.571 [Micromodem](INFO): Nmea in: $SNTTA,0.066029,,,,051337.34*4F 2021-02-18T05:13:38.597Z,1613625218.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.120003 m, bearing: 319.398661 deg, deltaT: 4.508446 s, approachRate: -0.053235 m/s, LOS rate: -0.786618 deg/s, posRepo size: 4 2021-02-18T05:13:38.600Z,1613625218.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 99.120003 m, bearing: 319.398661 deg, approachRate: -0.053235 m/s, LOS rate: -0.786618 deg/s, cmd update: -3.146473 deg/s, cmd heading: 1.328030 deg, new cmd heading: 357.457837 deg. 2021-02-18T05:13:41.042Z,1613625221.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:41.826Z,1613625221.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:13:42.192Z,1613625222.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:13:43.018Z,1613625223.018 [Micromodem](INFO): Nmea in: $SNTTA,0.065773,,,,051341.83*49 2021-02-18T05:13:43.086Z,1613625223.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.700005 m, bearing: 318.580431 deg, deltaT: 4.390087 s, approachRate: -0.095670 m/s, LOS rate: -0.186381 deg/s, posRepo size: 4 2021-02-18T05:13:43.092Z,1613625223.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.700005 m, bearing: 318.580431 deg, approachRate: -0.095670 m/s, LOS rate: -0.186381 deg/s, cmd update: -0.745524 deg/s, cmd heading: 347.515475 deg, new cmd heading: 346.044751 deg. 2021-02-18T05:13:44.234Z,1613625224.234 [NAL9602](INFO): SBD MO Status=1, MOMSN=13666, MT Status=0, MTMSN=0 2021-02-18T05:13:44.283Z,1613625224.283 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0097.lzma 2021-02-18T05:13:44.283Z,1613625224.283 [NAL9602](INFO): Packets left to send: 3 2021-02-18T05:13:47.482Z,1613625227.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:48.090Z,1613625228.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:13:48.161Z,1613625228.161 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T05:13:48.490Z,1613625228.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:13:48.518Z,1613625228.518 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T05:13:49.316Z,1613625229.316 [Micromodem](INFO): Nmea in: $SNTTA,0.065430,,,,051348.10*4E 2021-02-18T05:13:49.360Z,1613625229.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.100006 m, bearing: 305.105834 deg, deltaT: 6.297619 s, approachRate: -0.095274 m/s, LOS rate: -2.139634 deg/s, posRepo size: 4 2021-02-18T05:13:49.361Z,1613625229.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.100006 m, bearing: 305.105834 deg, approachRate: -0.095274 m/s, LOS rate: -2.139634 deg/s, cmd update: -8.558534 deg/s, cmd heading: 342.820448 deg, new cmd heading: 342.504736 deg. 2021-02-18T05:13:51.779Z,1613625231.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:52.528Z,1613625232.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:13:52.935Z,1613625232.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:13:53.756Z,1613625233.756 [Micromodem](INFO): Nmea in: $SNTTA,0.065184,,,,051352.53*48 2021-02-18T05:13:53.860Z,1613625233.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.980003 m, bearing: 334.924910 deg, deltaT: 4.434109 s, approachRate: -0.027064 m/s, LOS rate: 6.724931 deg/s, posRepo size: 4 2021-02-18T05:13:53.862Z,1613625233.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.980003 m, bearing: 334.924910 deg, approachRate: -0.027064 m/s, LOS rate: 6.724931 deg/s, cmd update: 12.000000 deg/s, cmd heading: 304.870820 deg, new cmd heading: 300.502330 deg. 2021-02-18T05:13:55.370Z,1613625235.370 [NAL9602](INFO): SBD MO Status=1, MOMSN=13667, MT Status=0, MTMSN=0 2021-02-18T05:13:55.427Z,1613625235.427 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0097.lzma 2021-02-18T05:13:55.427Z,1613625235.427 [NAL9602](INFO): Packets left to send: 2 2021-02-18T05:13:56.101Z,1613625236.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:56.644Z,1613625236.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:13:58.747Z,1613625238.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:13:58.901Z,1613625238.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:13:59.354Z,1613625239.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.680008 m, bearing: 301.625470 deg, deltaT: 5.621284 s, approachRate: -0.053368 m/s, LOS rate: -5.923814 deg/s, posRepo size: 4 2021-02-18T05:13:59.360Z,1613625239.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.680008 m, bearing: 301.625470 deg, approachRate: -0.053368 m/s, LOS rate: -5.923814 deg/s, cmd update: -12.000000 deg/s, cmd heading: 12.277365 deg, new cmd heading: 16.915377 deg. 2021-02-18T05:14:01.739Z,1613625241.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:02.525Z,1613625242.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:14:02.938Z,1613625242.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:14:03.756Z,1613625243.756 [Micromodem](INFO): Nmea in: $SNTTA,0.064722,,,,051402.53*41 2021-02-18T05:14:03.856Z,1613625243.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.200005 m, bearing: 350.379880 deg, deltaT: 4.399079 s, approachRate: -0.109115 m/s, LOS rate: 11.082867 deg/s, posRepo size: 4 2021-02-18T05:14:03.858Z,1613625243.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.200005 m, bearing: 350.379880 deg, approachRate: -0.109115 m/s, LOS rate: 11.082867 deg/s, cmd update: 12.000000 deg/s, cmd heading: 319.487347 deg, new cmd heading: 313.669711 deg. 2021-02-18T05:14:06.232Z,1613625246.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:06.968Z,1613625246.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:14:07.376Z,1613625247.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:14:07.390Z,1613625247.390 [NAL9602](INFO): SBD MO Status=1, MOMSN=13668, MT Status=0, MTMSN=0 2021-02-18T05:14:07.439Z,1613625247.439 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0097.lzma 2021-02-18T05:14:07.439Z,1613625247.439 [NAL9602](INFO): Packets left to send: 1 2021-02-18T05:14:08.253Z,1613625248.253 [Micromodem](INFO): Nmea in: $SNTTA,0.064701,,0.070202,,051406.97*55 2021-02-18T05:14:10.337Z,1613625250.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.139999 m, bearing: 345.779829 deg, deltaT: 4.709631 s, approachRate: -0.012741 m/s, LOS rate: -0.976733 deg/s, posRepo size: 4 2021-02-18T05:14:10.339Z,1613625250.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.139999 m, bearing: 345.779829 deg, approachRate: -0.012741 m/s, LOS rate: -0.976733 deg/s, cmd update: -3.906931 deg/s, cmd heading: 16.050489 deg, new cmd heading: 43.134105 deg. 2021-02-18T05:14:10.609Z,1613625250.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:11.378Z,1613625251.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:14:11.868Z,1613625251.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:14:12.608Z,1613625252.608 [Micromodem](INFO): Nmea in: $SNTTA,0.064534,,,,051411.38*4B 2021-02-18T05:14:12.657Z,1613625252.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.899994 m, bearing: 343.779649 deg, deltaT: 4.121111 s, approachRate: -0.058238 m/s, LOS rate: -0.485350 deg/s, posRepo size: 4 2021-02-18T05:14:12.659Z,1613625252.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.899994 m, bearing: 343.779649 deg, approachRate: -0.058238 m/s, LOS rate: -0.485350 deg/s, cmd update: -1.941399 deg/s, cmd heading: 359.949903 deg, new cmd heading: 358.167334 deg. 2021-02-18T05:14:15.084Z,1613625255.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:15.837Z,1613625255.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:14:16.218Z,1613625256.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:14:17.069Z,1613625257.069 [Micromodem](INFO): Nmea in: $SNTTA,0.064394,,,,051415.84*44 2021-02-18T05:14:17.136Z,1613625257.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.600006 m, bearing: 337.802742 deg, deltaT: 4.451989 s, approachRate: -0.067383 m/s, LOS rate: -1.342525 deg/s, posRepo size: 4 2021-02-18T05:14:17.138Z,1613625257.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.600006 m, bearing: 337.802742 deg, approachRate: -0.067383 m/s, LOS rate: -1.342525 deg/s, cmd update: -5.370100 deg/s, cmd heading: 351.337852 deg, new cmd heading: 350.378021 deg. 2021-02-18T05:14:18.250Z,1613625258.250 [NAL9602](INFO): SBD MO Status=1, MOMSN=13669, MT Status=0, MTMSN=0 2021-02-18T05:14:18.303Z,1613625258.303 [NAL9602](INFO): Sent 45 bytes from file Logs/20210217T180521/Express0097.lzma 2021-02-18T05:14:18.303Z,1613625258.303 [NAL9602](INFO): Packets left to send: 0 2021-02-18T05:14:21.563Z,1613625261.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:22.087Z,1613625262.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:14:22.484Z,1613625262.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:14:23.308Z,1613625263.308 [Micromodem](INFO): Nmea in: $SNTTA,0.064253,,,,051422.09*4F 2021-02-18T05:14:23.319Z,1613625263.319 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T05:14:23.358Z,1613625263.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.360001 m, bearing: 306.534273 deg, deltaT: 6.284295 s, approachRate: -0.038191 m/s, LOS rate: -4.975653 deg/s, posRepo size: 4 2021-02-18T05:14:23.365Z,1613625263.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.360001 m, bearing: 306.534273 deg, approachRate: -0.038191 m/s, LOS rate: -4.975653 deg/s, cmd update: -12.000000 deg/s, cmd heading: 317.525514 deg, new cmd heading: 315.244596 deg. 2021-02-18T05:14:25.490Z,1613625265.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:26.118Z,1613625266.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:14:26.519Z,1613625266.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:14:27.352Z,1613625267.352 [Micromodem](INFO): Nmea in: $SNTTA,0.064137,,0.067773,,051426.12*5C 2021-02-18T05:14:27.383Z,1613625267.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.180000 m, bearing: 308.389543 deg, deltaT: 4.032409 s, approachRate: -0.044638 m/s, LOS rate: 0.460090 deg/s, posRepo size: 4 2021-02-18T05:14:27.386Z,1613625267.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.180000 m, bearing: 308.389543 deg, approachRate: -0.044638 m/s, LOS rate: 0.460090 deg/s, cmd update: 1.840359 deg/s, cmd heading: 269.136641 deg, new cmd heading: 264.138965 deg. 2021-02-18T05:14:28.958Z,1613625268.958 [NAL9602](INFO): SBD MO Status=1, MOMSN=13670, MT Status=0, MTMSN=0 2021-02-18T05:14:29.011Z,1613625269.011 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0100.lzma 2021-02-18T05:14:29.011Z,1613625269.011 [NAL9602](INFO): Packets left to send: 1 2021-02-18T05:14:29.735Z,1613625269.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:32.076Z,1613625272.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:14:32.466Z,1613625272.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:14:32.510Z,1613625272.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:33.296Z,1613625273.296 [Micromodem](INFO): Nmea in: $SNTTA,0.064045,,,0.098898,051432.08*5C 2021-02-18T05:14:33.333Z,1613625273.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.120003 m, bearing: 320.131294 deg, deltaT: 5.965539 s, approachRate: -0.010057 m/s, LOS rate: 1.968263 deg/s, posRepo size: 4 2021-02-18T05:14:33.335Z,1613625273.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.120003 m, bearing: 320.131294 deg, approachRate: -0.010057 m/s, LOS rate: 1.968263 deg/s, cmd update: 7.873053 deg/s, cmd heading: 280.115265 deg, new cmd heading: 280.854524 deg. 2021-02-18T05:14:35.731Z,1613625275.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:36.506Z,1613625276.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:14:36.925Z,1613625276.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:14:37.736Z,1613625277.736 [Micromodem](INFO): Nmea in: $SNTTA,0.063962,,,,051436.51*49 2021-02-18T05:14:37.778Z,1613625277.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 29.204735 deg, deltaT: 4.421399 s, approachRate: 0.027141 m/s, LOS rate: 15.622531 deg/s, posRepo size: 4 2021-02-18T05:14:37.778Z,1613625277.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.622531 deg/s. Setting heading cmd to target bearing of 29.204735deg and heading rate command to 0 deg/s. 2021-02-18T05:14:40.190Z,1613625280.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:40.950Z,1613625280.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:14:40.960Z,1613625280.960 [NAL9602](INFO): SBD MO Status=1, MOMSN=13671, MT Status=0, MTMSN=0 2021-02-18T05:14:41.016Z,1613625281.016 [NAL9602](INFO): Sent 4 bytes from file Logs/20210217T180521/Express0100.lzma 2021-02-18T05:14:41.016Z,1613625281.016 [NAL9602](INFO): Packets left to send: 0 2021-02-18T05:14:41.360Z,1613625281.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:14:41.838Z,1613625281.838 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T05:14:42.176Z,1613625282.176 [Micromodem](INFO): Nmea in: $SNTTA,0.063857,,,,051440.96*44 2021-02-18T05:14:44.259Z,1613625284.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.120003 m, bearing: 341.699010 deg, deltaT: 4.524142 s, approachRate: -0.026525 m/s, LOS rate: -10.500495 deg/s, posRepo size: 4 2021-02-18T05:14:44.261Z,1613625284.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.120003 m, bearing: 341.699010 deg, approachRate: -0.026525 m/s, LOS rate: -10.500495 deg/s, cmd update: -12.000000 deg/s, cmd heading: 29.204735 deg, new cmd heading: 29.204735 deg. 2021-02-18T05:14:44.417Z,1613625284.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:45.125Z,1613625285.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:14:45.532Z,1613625285.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:14:46.352Z,1613625286.352 [Micromodem](INFO): Nmea in: $SNTTA,0.063708,,,,051445.13*49 2021-02-18T05:14:46.401Z,1613625286.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.940002 m, bearing: 38.540777 deg, deltaT: 4.150391 s, approachRate: -0.043369 m/s, LOS rate: 13.695524 deg/s, posRepo size: 4 2021-02-18T05:14:46.402Z,1613625286.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.695524 deg/s. Setting heading cmd to target bearing of 38.540777deg and heading rate command to 0 deg/s. 2021-02-18T05:14:48.806Z,1613625288.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:49.572Z,1613625289.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:14:49.970Z,1613625289.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:14:50.829Z,1613625290.829 [Micromodem](INFO): Nmea in: $SNTTA,0.063469,,,,051449.58*4E 2021-02-18T05:14:50.895Z,1613625290.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.220009 m, bearing: 325.860839 deg, deltaT: 4.355416 s, approachRate: -0.165310 m/s, LOS rate: -16.687259 deg/s, posRepo size: 4 2021-02-18T05:14:50.896Z,1613625290.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.687259 deg/s. Setting heading cmd to target bearing of 325.860839deg and heading rate command to 0 deg/s. 2021-02-18T05:14:51.610Z,1613625291.610 [NAL9602](INFO): SBD MO Status=1, MOMSN=13672, MT Status=0, MTMSN=0 2021-02-18T05:14:51.659Z,1613625291.659 [NAL9602](INFO): Sent 154 bytes from file Logs/20210217T180521/Express0103.lzma 2021-02-18T05:14:51.659Z,1613625291.659 [NAL9602](INFO): Packets left to send: 0 2021-02-18T05:14:52.252Z,1613625292.252 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T05:14:52.256Z,1613625292.256 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T05:14:54.968Z,1613625294.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:55.513Z,1613625295.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:14:55.936Z,1613625295.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:14:56.736Z,1613625296.736 [Micromodem](INFO): Nmea in: $SNTTA,0.063406,,,0.065919,051455.52*5C 2021-02-18T05:14:56.777Z,1613625296.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.160004 m, bearing: 312.892195 deg, deltaT: 5.939791 s, approachRate: -0.010102 m/s, LOS rate: -2.183350 deg/s, posRepo size: 4 2021-02-18T05:14:56.779Z,1613625296.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.160004 m, bearing: 312.892195 deg, approachRate: -0.010102 m/s, LOS rate: -2.183350 deg/s, cmd update: -8.733401 deg/s, cmd heading: 325.860839 deg, new cmd heading: 325.860839 deg. 2021-02-18T05:14:57.146Z,1613625297.146 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T05:14:58.460Z,1613625298.460 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T05:14:59.216Z,1613625299.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:14:59.948Z,1613625299.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:15:00.366Z,1613625300.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:15:01.164Z,1613625301.164 [Micromodem](INFO): Nmea in: $SNTTA,0.063432,,,,051459.95*40 2021-02-18T05:15:02.018Z,1613625302.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:03.583Z,1613625303.583 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:15:03.989Z,1613625303.989 [NAL9602](INFO): SBD MO Status=1, MOMSN=13673, MT Status=0, MTMSN=0 2021-02-18T05:15:04.039Z,1613625304.039 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0106.lzma 2021-02-18T05:15:04.039Z,1613625304.039 [NAL9602](INFO): Packets left to send: 2 2021-02-18T05:15:04.667Z,1613625304.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:05.202Z,1613625305.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:15:07.273Z,1613625307.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:07.399Z,1613625307.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:15:07.835Z,1613625307.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.099998 m, bearing: 317.729117 deg, deltaT: 11.111433 s, approachRate: -0.005400 m/s, LOS rate: 0.435310 deg/s, posRepo size: 4 2021-02-18T05:15:07.841Z,1613625307.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.099998 m, bearing: 317.729117 deg, approachRate: -0.005400 m/s, LOS rate: 0.435310 deg/s, cmd update: 1.741241 deg/s, cmd heading: 228.855130 deg, new cmd heading: 225.356277 deg. 2021-02-18T05:15:10.227Z,1613625310.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:11.006Z,1613625311.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:15:11.411Z,1613625311.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:15:12.232Z,1613625312.232 [Micromodem](INFO): Nmea in: $SNTTA,0.063086,,,,051511.01*4B 2021-02-18T05:15:12.269Z,1613625312.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.619995 m, bearing: 312.728489 deg, deltaT: 4.510510 s, approachRate: -0.106419 m/s, LOS rate: -1.108661 deg/s, posRepo size: 4 2021-02-18T05:15:12.271Z,1613625312.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.619995 m, bearing: 312.728489 deg, approachRate: -0.106419 m/s, LOS rate: -1.108661 deg/s, cmd update: -4.434645 deg/s, cmd heading: 236.716365 deg, new cmd heading: 237.274927 deg. 2021-02-18T05:15:14.671Z,1613625314.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:15.450Z,1613625315.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:15:15.866Z,1613625315.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:15:16.680Z,1613625316.680 [Micromodem](INFO): Nmea in: $SNTTA,0.062938,,,,051515.46*41 2021-02-18T05:15:16.718Z,1613625316.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.560005 m, bearing: 2.506943 deg, deltaT: 4.351349 s, approachRate: -0.013787 m/s, LOS rate: 11.439777 deg/s, posRepo size: 4 2021-02-18T05:15:16.720Z,1613625316.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.560005 m, bearing: 2.506943 deg, approachRate: -0.013787 m/s, LOS rate: 11.439777 deg/s, cmd update: 12.000000 deg/s, cmd heading: 217.438530 deg, new cmd heading: 215.567194 deg. 2021-02-18T05:15:17.885Z,1613625317.885 [NAL9602](INFO): SBD MO Status=1, MOMSN=13674, MT Status=0, MTMSN=0 2021-02-18T05:15:17.935Z,1613625317.935 [NAL9602](INFO): Sent 184 bytes from file Logs/20210217T180521/Express0106.lzma 2021-02-18T05:15:17.935Z,1613625317.935 [NAL9602](INFO): Packets left to send: 1 2021-02-18T05:15:20.808Z,1613625320.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:21.373Z,1613625321.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:15:21.788Z,1613625321.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:15:21.889Z,1613625321.889 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T05:15:22.600Z,1613625322.600 [Micromodem](INFO): Nmea in: $SNTTA,0.062818,,,,051521.38*4C 2021-02-18T05:15:22.641Z,1613625322.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.380005 m, bearing: 346.977571 deg, deltaT: 5.914651 s, approachRate: -0.030433 m/s, LOS rate: -2.625579 deg/s, posRepo size: 4 2021-02-18T05:15:22.643Z,1613625322.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.380005 m, bearing: 346.977571 deg, approachRate: -0.030433 m/s, LOS rate: -2.625579 deg/s, cmd update: -10.502315 deg/s, cmd heading: 288.414475 deg, new cmd heading: 293.581567 deg. 2021-02-18T05:15:25.051Z,1613625325.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:25.833Z,1613625325.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:15:26.227Z,1613625326.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:15:27.060Z,1613625327.060 [Micromodem](INFO): Nmea in: $SNTTA,0.062776,,,0.093908,051525.84*5D 2021-02-18T05:15:27.063Z,1613625327.063 [NAL9602](INFO): SBD MO Status=1, MOMSN=13675, MT Status=0, MTMSN=0 2021-02-18T05:15:27.111Z,1613625327.111 [NAL9602](INFO): Sent 30 bytes from file Logs/20210217T180521/Express0106.lzma 2021-02-18T05:15:27.111Z,1613625327.111 [NAL9602](INFO): Packets left to send: 0 2021-02-18T05:15:27.170Z,1613625327.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.320000 m, bearing: 350.880915 deg, deltaT: 4.430628 s, approachRate: -0.013543 m/s, LOS rate: 0.880991 deg/s, posRepo size: 4 2021-02-18T05:15:27.172Z,1613625327.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.320000 m, bearing: 350.880915 deg, approachRate: -0.013543 m/s, LOS rate: 0.880991 deg/s, cmd update: 3.523964 deg/s, cmd heading: 241.840920 deg, new cmd heading: 236.326112 deg. 2021-02-18T05:15:28.584Z,1613625328.584 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003873 2021-02-18T05:15:28.687Z,1613625328.687 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T05:15:28.688Z,1613625328.688 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T05:15:28.688Z,1613625328.688 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T05:15:28.688Z,1613625328.688 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T05:15:28.688Z,1613625328.688 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T05:15:29.482Z,1613625329.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:29.950Z,1613625329.950 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T05:15:29.950Z,1613625329.950 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T05:15:29.950Z,1613625329.950 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T05:15:29.951Z,1613625329.951 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T05:15:29.951Z,1613625329.951 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T05:15:29.951Z,1613625329.951 [lineCaptureDepth:NeedComms:D] Stopped 2021-02-18T05:15:29.952Z,1613625329.952 [lineCaptureDepth:NeedComms:E] Running Loop=1 2021-02-18T05:15:30.265Z,1613625330.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:15:30.666Z,1613625330.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:15:31.500Z,1613625331.500 [Micromodem](INFO): Nmea in: $SNTTA,0.062815,,,,051530.27*4F 2021-02-18T05:15:31.518Z,1613625331.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.380005 m, bearing: 359.333629 deg, deltaT: 4.539175 s, approachRate: 0.013219 m/s, LOS rate: 1.862170 deg/s, posRepo size: 4 2021-02-18T05:15:31.520Z,1613625331.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.380005 m, bearing: 359.333629 deg, approachRate: 0.013219 m/s, LOS rate: 1.862170 deg/s, cmd update: 7.448679 deg/s, cmd heading: 257.779522 deg, new cmd heading: 259.012944 deg. 2021-02-18T05:15:33.969Z,1613625333.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:34.704Z,1613625334.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:15:35.110Z,1613625335.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:15:35.956Z,1613625335.956 [Micromodem](INFO): Nmea in: $SNTTA,0.062819,,,,051534.71*44 2021-02-18T05:15:36.047Z,1613625336.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.200005 m, bearing: 41.716627 deg, deltaT: 4.379937 s, approachRate: -0.041097 m/s, LOS rate: 9.676625 deg/s, posRepo size: 4 2021-02-18T05:15:36.049Z,1613625336.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.200005 m, bearing: 41.716627 deg, approachRate: -0.041097 m/s, LOS rate: 9.676625 deg/s, cmd update: 12.000000 deg/s, cmd heading: 290.465539 deg, new cmd heading: 294.118744 deg. 2021-02-18T05:15:36.339Z,1613625336.339 [NAL9602](INFO): SBD MO Status=0, MOMSN=13676, MT Status=0, MTMSN=0 2021-02-18T05:15:37.546Z,1613625337.546 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,051537.00,A,4133.13093,N,07042.45429,W,0.194,215.27,180221,,,A*7C 2021-02-18T05:15:37.548Z,1613625337.548 [NAL9602](INFO): GPS fix at 20210218T051537: (41.552182, -70.707572) 2021-02-18T05:15:37.568Z,1613625337.568 [lineCaptureDepth:NeedComms:E] Stopped 2021-02-18T05:15:37.569Z,1613625337.569 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms 2021-02-18T05:15:37.569Z,1613625337.569 [lineCaptureDepth:NeedComms] Stopped 2021-02-18T05:15:37.569Z,1613625337.569 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms 2021-02-18T05:15:37.569Z,1613625337.569 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped 2021-02-18T05:15:37.569Z,1613625337.569 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2021-02-18T05:15:38.404Z,1613625338.404 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-02-18T05:15:38.404Z,1613625338.404 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T05:15:38.405Z,1613625338.405 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-02-18T05:15:38.405Z,1613625338.405 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-02-18T05:15:38.405Z,1613625338.405 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-02-18T05:15:38.405Z,1613625338.405 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-02-18T05:15:38.405Z,1613625338.405 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-02-18T05:15:38.417Z,1613625338.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:38.770Z,1613625338.770 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -9.14 mm. 2021-02-18T05:15:39.150Z,1613625339.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:15:39.602Z,1613625339.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:15:40.425Z,1613625340.425 [Micromodem](INFO): Nmea in: $SNTTA,0.062868,,0.070512,,051539.15*52 2021-02-18T05:15:40.442Z,1613625340.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.560005 m, bearing: 338.794021 deg, deltaT: 4.535806 s, approachRate: 0.079369 m/s, LOS rate: -13.872422 deg/s, posRepo size: 4 2021-02-18T05:15:40.443Z,1613625340.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.872422 deg/s. Setting heading cmd to target bearing of 338.794021deg and heading rate command to 0 deg/s. 2021-02-18T05:15:42.065Z,1613625342.065 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T05:15:42.977Z,1613625342.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:43.640Z,1613625343.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:15:44.049Z,1613625344.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:15:44.908Z,1613625344.908 [Micromodem](INFO): Nmea in: $SNTTA,0.062761,,,,051543.65*41 2021-02-18T05:15:45.221Z,1613625345.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.200005 m, bearing: 355.694614 deg, deltaT: 4.382837 s, approachRate: -0.082139 m/s, LOS rate: 3.856085 deg/s, posRepo size: 4 2021-02-18T05:15:45.222Z,1613625345.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.200005 m, bearing: 355.694614 deg, approachRate: -0.082139 m/s, LOS rate: 3.856085 deg/s, cmd update: 12.000000 deg/s, cmd heading: 338.794021 deg, new cmd heading: 338.794021 deg. 2021-02-18T05:15:47.338Z,1613625347.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:48.094Z,1613625348.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:15:48.510Z,1613625348.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:15:49.340Z,1613625349.340 [Micromodem](INFO): Nmea in: $SNTTA,0.062746,,0.080357,,051548.10*5A 2021-02-18T05:15:49.378Z,1613625349.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.200005 m, bearing: 350.807696 deg, deltaT: 4.472313 s, approachRate: 0.000000 m/s, LOS rate: -1.092705 deg/s, posRepo size: 4 2021-02-18T05:15:49.380Z,1613625349.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.200005 m, bearing: 350.807696 deg, approachRate: 0.000000 m/s, LOS rate: -1.092705 deg/s, cmd update: -4.370819 deg/s, cmd heading: 32.462763 deg, new cmd heading: 37.591359 deg. 2021-02-18T05:15:51.801Z,1613625351.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:52.536Z,1613625352.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:15:52.943Z,1613625352.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:15:53.769Z,1613625353.769 [Micromodem](INFO): Nmea in: $SNTTA,0.062690,,,,051552.54*4C 2021-02-18T05:15:53.856Z,1613625353.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.140007 m, bearing: 351.416211 deg, deltaT: 4.414129 s, approachRate: -0.013592 m/s, LOS rate: 0.137856 deg/s, posRepo size: 4 2021-02-18T05:15:53.857Z,1613625353.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.140007 m, bearing: 351.416211 deg, approachRate: -0.013592 m/s, LOS rate: 0.137856 deg/s, cmd update: 0.551425 deg/s, cmd heading: 13.151390 deg, new cmd heading: 11.069315 deg. 2021-02-18T05:15:55.888Z,1613625355.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:15:56.580Z,1613625356.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:15:56.989Z,1613625356.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:15:57.844Z,1613625357.844 [Micromodem](INFO): Nmea in: $SNTTA,0.062668,,,,051556.59*42 2021-02-18T05:15:57.869Z,1613625357.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.019997 m, bearing: 351.839983 deg, deltaT: 4.059654 s, approachRate: -0.029562 m/s, LOS rate: 0.104386 deg/s, posRepo size: 4 2021-02-18T05:15:57.871Z,1613625357.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.019997 m, bearing: 351.839983 deg, approachRate: -0.029562 m/s, LOS rate: 0.104386 deg/s, cmd update: 0.417545 deg/s, cmd heading: 15.389896 deg, new cmd heading: 15.632947 deg. 2021-02-18T05:16:00.231Z,1613625360.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:01.026Z,1613625361.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:01.430Z,1613625361.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:02.256Z,1613625362.256 [Micromodem](INFO): Nmea in: $SNTTA,0.062932,,,,051601.03*4C 2021-02-18T05:16:02.295Z,1613625362.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.439995 m, bearing: 329.278065 deg, deltaT: 4.517372 s, approachRate: 0.092974 m/s, LOS rate: -4.994479 deg/s, posRepo size: 4 2021-02-18T05:16:02.297Z,1613625362.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.439995 m, bearing: 329.278065 deg, approachRate: 0.092974 m/s, LOS rate: -4.994479 deg/s, cmd update: -12.000000 deg/s, cmd heading: 17.276188 deg, new cmd heading: 17.421900 deg. 2021-02-18T05:16:04.697Z,1613625364.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:05.469Z,1613625365.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:05.892Z,1613625365.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:06.696Z,1613625366.696 [Micromodem](INFO): Nmea in: $SNTTA,0.063355,,,,051605.47*42 2021-02-18T05:16:06.732Z,1613625366.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.040001 m, bearing: 317.882550 deg, deltaT: 4.374464 s, approachRate: 0.137161 m/s, LOS rate: -2.605008 deg/s, posRepo size: 4 2021-02-18T05:16:06.734Z,1613625366.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.040001 m, bearing: 317.882550 deg, approachRate: 0.137161 m/s, LOS rate: -2.605008 deg/s, cmd update: -10.420033 deg/s, cmd heading: 324.842186 deg, new cmd heading: 319.842746 deg. 2021-02-18T05:16:09.158Z,1613625369.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:09.920Z,1613625369.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:10.318Z,1613625370.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:10.340Z,1613625370.340 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T05:16:11.164Z,1613625371.164 [Micromodem](INFO): Nmea in: $SNTTA,0.063540,,,,051609.93*45 2021-02-18T05:16:11.209Z,1613625371.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.340004 m, bearing: 342.326896 deg, deltaT: 4.419703 s, approachRate: 0.067879 m/s, LOS rate: 5.530767 deg/s, posRepo size: 4 2021-02-18T05:16:11.211Z,1613625371.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.340004 m, bearing: 342.326896 deg, approachRate: 0.067879 m/s, LOS rate: 5.530767 deg/s, cmd update: 12.000000 deg/s, cmd heading: 278.738843 deg, new cmd heading: 273.845335 deg. 2021-02-18T05:16:13.579Z,1613625373.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:14.361Z,1613625374.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:14.762Z,1613625374.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:15.592Z,1613625375.592 [Micromodem](INFO): Nmea in: $SNTTA,0.063391,,0.082904,,051614.37*54 2021-02-18T05:16:15.614Z,1613625375.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.040001 m, bearing: 343.132776 deg, deltaT: 4.487663 s, approachRate: -0.066851 m/s, LOS rate: 0.179577 deg/s, posRepo size: 4 2021-02-18T05:16:15.616Z,1613625375.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.040001 m, bearing: 343.132776 deg, approachRate: -0.066851 m/s, LOS rate: 0.179577 deg/s, cmd update: 0.718307 deg/s, cmd heading: 332.588377 deg, new cmd heading: 337.230673 deg. 2021-02-18T05:16:17.230Z,1613625377.230 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -9.14 mm (1 active estimators). 2021-02-18T05:16:18.022Z,1613625378.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:18.830Z,1613625378.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:19.248Z,1613625379.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:20.044Z,1613625380.044 [Micromodem](INFO): Nmea in: $SNTTA,0.062567,,,,051618.84*47 2021-02-18T05:16:20.098Z,1613625380.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.720001 m, bearing: 262.705850 deg, deltaT: 4.396201 s, approachRate: -0.300259 m/s, LOS rate: -18.294643 deg/s, posRepo size: 4 2021-02-18T05:16:20.099Z,1613625380.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.294643 deg/s. Setting heading cmd to target bearing of 262.705850deg and heading rate command to 0 deg/s. 2021-02-18T05:16:22.472Z,1613625382.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:23.250Z,1613625383.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:23.654Z,1613625383.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:24.476Z,1613625384.476 [Micromodem](INFO): Nmea in: $SNTTA,0.061700,,,,051623.26*47 2021-02-18T05:16:24.519Z,1613625384.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.400002 m, bearing: 262.217000 deg, deltaT: 4.486648 s, approachRate: -0.294206 m/s, LOS rate: -0.108957 deg/s, posRepo size: 4 2021-02-18T05:16:24.521Z,1613625384.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.400002 m, bearing: 262.217000 deg, approachRate: -0.294206 m/s, LOS rate: -0.108957 deg/s, cmd update: -0.435827 deg/s, cmd heading: 262.705850 deg, new cmd heading: 262.705850 deg. 2021-02-18T05:16:26.933Z,1613625386.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:27.693Z,1613625387.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:28.093Z,1613625388.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:28.920Z,1613625388.920 [Micromodem](INFO): Nmea in: $SNTTA,0.060509,,0.063272,,051627.70*56 2021-02-18T05:16:28.961Z,1613625388.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.600006 m, bearing: 265.553957 deg, deltaT: 4.436498 s, approachRate: -0.405724 m/s, LOS rate: 0.752160 deg/s, posRepo size: 4 2021-02-18T05:16:28.962Z,1613625388.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.600006 m, bearing: 265.553957 deg, approachRate: -0.405724 m/s, LOS rate: 0.752160 deg/s, cmd update: 3.008641 deg/s, cmd heading: 260.772339 deg, new cmd heading: 260.590192 deg. 2021-02-18T05:16:31.355Z,1613625391.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:32.134Z,1613625392.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:32.555Z,1613625392.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:33.360Z,1613625393.360 [Micromodem](INFO): Nmea in: $SNTTA,0.059128,,,,051632.14*41 2021-02-18T05:16:33.398Z,1613625393.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.500000 m, bearing: 268.110169 deg, deltaT: 4.446088 s, approachRate: -0.472327 m/s, LOS rate: 0.574935 deg/s, posRepo size: 4 2021-02-18T05:16:33.400Z,1613625393.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.500000 m, bearing: 268.110169 deg, approachRate: -0.472327 m/s, LOS rate: 0.574935 deg/s, cmd update: 2.299740 deg/s, cmd heading: 274.161154 deg, new cmd heading: 275.378946 deg. 2021-02-18T05:16:35.835Z,1613625395.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:36.576Z,1613625396.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:36.986Z,1613625396.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:37.832Z,1613625397.832 [Micromodem](INFO): Nmea in: $SNTTA,0.062432,,,,051636.58*4B 2021-02-18T05:16:37.871Z,1613625397.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.800003 m, bearing: 261.208755 deg, deltaT: 4.405792 s, approachRate: -0.612829 m/s, LOS rate: -1.566441 deg/s, posRepo size: 4 2021-02-18T05:16:37.873Z,1613625397.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.800003 m, bearing: 261.208755 deg, approachRate: -0.612829 m/s, LOS rate: -1.566441 deg/s, cmd update: -6.265765 deg/s, cmd heading: 284.293299 deg, new cmd heading: 285.378969 deg. 2021-02-18T05:16:39.948Z,1613625399.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:40.672Z,1613625400.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:41.079Z,1613625401.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:41.936Z,1613625401.936 [Micromodem](INFO): Nmea in: $SNTTA,0.055505,,,,051640.68*48 2021-02-18T05:16:42.033Z,1613625402.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.919998 m, bearing: 260.065327 deg, deltaT: 4.158646 s, approachRate: -0.692534 m/s, LOS rate: -0.274952 deg/s, posRepo size: 4 2021-02-18T05:16:42.039Z,1613625402.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.919998 m, bearing: 260.065327 deg, approachRate: -0.692534 m/s, LOS rate: -0.274952 deg/s, cmd update: -1.099808 deg/s, cmd heading: 258.236244 deg, new cmd heading: 255.257888 deg. 2021-02-18T05:16:44.331Z,1613625404.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:45.134Z,1613625405.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:45.521Z,1613625405.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:46.352Z,1613625406.352 [Micromodem](INFO): Nmea in: $SNTTA,0.053367,,,,051645.14*42 2021-02-18T05:16:46.386Z,1613625406.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.620003 m, bearing: 263.342014 deg, deltaT: 4.465279 s, approachRate: -0.739035 m/s, LOS rate: 0.733815 deg/s, posRepo size: 4 2021-02-18T05:16:46.388Z,1613625406.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.620003 m, bearing: 263.342014 deg, approachRate: -0.739035 m/s, LOS rate: 0.733815 deg/s, cmd update: 2.935259 deg/s, cmd heading: 253.329671 deg, new cmd heading: 252.925457 deg. 2021-02-18T05:16:48.793Z,1613625408.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:49.560Z,1613625409.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:49.992Z,1613625409.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:50.836Z,1613625410.836 [Micromodem](INFO): Nmea in: $SNTTA,0.051392,,,,051649.56*40 2021-02-18T05:16:50.902Z,1613625410.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.800003 m, bearing: 264.090603 deg, deltaT: 4.386838 s, approachRate: -0.642832 m/s, LOS rate: 0.170644 deg/s, posRepo size: 4 2021-02-18T05:16:50.920Z,1613625410.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.800003 m, bearing: 264.090603 deg, approachRate: -0.642832 m/s, LOS rate: 0.170644 deg/s, cmd update: 0.682577 deg/s, cmd heading: 266.205922 deg, new cmd heading: 267.662435 deg. 2021-02-18T05:16:53.214Z,1613625413.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:54.043Z,1613625414.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:54.409Z,1613625414.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:55.284Z,1613625415.284 [Micromodem](INFO): Nmea in: $SNTTA,,,0.056312,,051654.08*48 2021-02-18T05:16:55.306Z,1613625415.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.379997 m, bearing: 261.041060 deg, deltaT: 4.510082 s, approachRate: -0.758302 m/s, LOS rate: -0.676161 deg/s, posRepo size: 4 2021-02-18T05:16:55.308Z,1613625415.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.379997 m, bearing: 261.041060 deg, approachRate: -0.758302 m/s, LOS rate: -0.676161 deg/s, cmd update: -2.704645 deg/s, cmd heading: 269.287188 deg, new cmd heading: 269.551144 deg. 2021-02-18T05:16:57.655Z,1613625417.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:16:58.448Z,1613625418.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:16:58.886Z,1613625418.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:16:59.684Z,1613625419.684 [Micromodem](INFO): Nmea in: $SNTTA,0.046965,,,,051658.45*46 2021-02-18T05:16:59.706Z,1613625419.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.200005 m, bearing: 260.693950 deg, deltaT: 4.351157 s, approachRate: -0.730838 m/s, LOS rate: -0.079774 deg/s, posRepo size: 4 2021-02-18T05:16:59.708Z,1613625419.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.200005 m, bearing: 260.693950 deg, approachRate: -0.730838 m/s, LOS rate: -0.079774 deg/s, cmd update: -0.319097 deg/s, cmd heading: 257.518917 deg, new cmd heading: 256.341271 deg. 2021-02-18T05:17:02.136Z,1613625422.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:17:02.892Z,1613625422.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:17:03.305Z,1613625423.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:17:04.124Z,1613625424.124 [Micromodem](INFO): Nmea in: $SNTTA,0.045085,,,,051702.90*44 2021-02-18T05:17:04.173Z,1613625424.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.500000 m, bearing: 264.425036 deg, deltaT: 4.464908 s, approachRate: -0.604717 m/s, LOS rate: 0.835647 deg/s, posRepo size: 4 2021-02-18T05:17:04.175Z,1613625424.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.500000 m, bearing: 264.425036 deg, approachRate: -0.604717 m/s, LOS rate: 0.835647 deg/s, cmd update: 3.342587 deg/s, cmd heading: 256.094168 deg, new cmd heading: 255.954483 deg. 2021-02-18T05:17:06.559Z,1613625426.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:17:07.338Z,1613625427.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:17:07.749Z,1613625427.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:17:08.568Z,1613625428.568 [Micromodem](INFO): Nmea in: $SNTTA,0.042635,,,,051707.34*45 2021-02-18T05:17:08.605Z,1613625428.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.959999 m, bearing: 262.845186 deg, deltaT: 4.471907 s, approachRate: -0.791609 m/s, LOS rate: -0.353283 deg/s, posRepo size: 4 2021-02-18T05:17:08.607Z,1613625428.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.959999 m, bearing: 262.845186 deg, approachRate: -0.791609 m/s, LOS rate: -0.353283 deg/s, cmd update: -1.413133 deg/s, cmd heading: 271.042005 deg, new cmd heading: 272.371703 deg. 2021-02-18T05:17:09.024Z,1613625429.024 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.237438 2021-02-18T05:17:11.016Z,1613625431.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:17:11.801Z,1613625431.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:17:12.186Z,1613625432.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:17:13.020Z,1613625433.020 [Micromodem](INFO): Nmea in: $SNTTA,,,0.056060,,051711.81*4F 2021-02-18T05:17:13.070Z,1613625433.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.300003 m, bearing: 259.311356 deg, deltaT: 4.394771 s, approachRate: -0.832807 m/s, LOS rate: -0.804099 deg/s, posRepo size: 4 2021-02-18T05:17:13.072Z,1613625433.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.300003 m, bearing: 259.311356 deg, approachRate: -0.832807 m/s, LOS rate: -0.804099 deg/s, cmd update: -3.216396 deg/s, cmd heading: 264.831671 deg, new cmd heading: 264.170714 deg. 2021-02-18T05:17:15.437Z,1613625435.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:17:16.224Z,1613625436.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:17:16.629Z,1613625436.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:17:17.452Z,1613625437.452 [Micromodem](INFO): Nmea in: $SNTTA,0.038268,,,,051716.23*42 2021-02-18T05:17:17.494Z,1613625437.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.180004 m, bearing: 262.529550 deg, deltaT: 4.489121 s, approachRate: -0.695013 m/s, LOS rate: 0.716887 deg/s, posRepo size: 4 2021-02-18T05:17:17.500Z,1613625437.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.180004 m, bearing: 262.529550 deg, approachRate: -0.695013 m/s, LOS rate: 0.716887 deg/s, cmd update: 2.867549 deg/s, cmd heading: 250.392782 deg, new cmd heading: 249.097298 deg. 2021-02-18T05:17:17.695Z,1613625437.695 [Radio_Surface](INFO): Powering down 2021-02-18T05:17:19.923Z,1613625439.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:17:20.669Z,1613625440.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:17:21.073Z,1613625441.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:17:21.904Z,1613625441.904 [Micromodem](INFO): Nmea in: $SNTTA,0.036096,,,,051720.67*4A 2021-02-18T05:17:21.998Z,1613625441.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.999996 m, bearing: 263.644537 deg, deltaT: 4.404796 s, approachRate: -0.721942 m/s, LOS rate: 0.253130 deg/s, posRepo size: 4 2021-02-18T05:17:22.004Z,1613625442.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.999996 m, bearing: 263.644537 deg, approachRate: -0.721942 m/s, LOS rate: 0.253130 deg/s, cmd update: 1.012521 deg/s, cmd heading: 263.023115 deg, new cmd heading: 264.462045 deg. 2021-02-18T05:17:24.325Z,1613625444.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:17:25.113Z,1613625445.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:17:25.528Z,1613625445.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:17:26.348Z,1613625446.348 [Micromodem](INFO): Nmea in: $SNTTA,0.033927,,,,051725.12*4B 2021-02-18T05:17:26.370Z,1613625446.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.760002 m, bearing: 259.955552 deg, deltaT: 4.482238 s, approachRate: -0.722852 m/s, LOS rate: -0.823023 deg/s, posRepo size: 4 2021-02-18T05:17:26.396Z,1613625446.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.760002 m, bearing: 259.955552 deg, approachRate: -0.722852 m/s, LOS rate: -0.823023 deg/s, cmd update: -3.292092 deg/s, cmd heading: 267.557504 deg, new cmd heading: 267.958220 deg. 2021-02-18T05:17:28.826Z,1613625448.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:17:29.556Z,1613625449.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:17:29.972Z,1613625449.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:17:30.817Z,1613625450.817 [Micromodem](INFO): Nmea in: $SNTTA,0.031790,,,,051729.56*47 2021-02-18T05:17:30.899Z,1613625450.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.520004 m, bearing: 260.877436 deg, deltaT: 4.428176 s, approachRate: -0.731678 m/s, LOS rate: 0.208186 deg/s, posRepo size: 4 2021-02-18T05:17:30.901Z,1613625450.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.520004 m, bearing: 260.877436 deg, approachRate: -0.731678 m/s, LOS rate: 0.208186 deg/s, cmd update: 0.832744 deg/s, cmd heading: 252.979592 deg, new cmd heading: 251.358991 deg. 2021-02-18T05:17:33.232Z,1613625453.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:17:34.006Z,1613625454.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:17:34.406Z,1613625454.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:17:35.232Z,1613625455.232 [Micromodem](INFO): Nmea in: $SNTTA,0.029658,,,,051734.01*45 2021-02-18T05:17:35.272Z,1613625455.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.279999 m, bearing: 262.309016 deg, deltaT: 4.498091 s, approachRate: -0.720307 m/s, LOS rate: 0.318264 deg/s, posRepo size: 4 2021-02-18T05:17:35.274Z,1613625455.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.279999 m, bearing: 262.309016 deg, approachRate: -0.720307 m/s, LOS rate: 0.318264 deg/s, cmd update: 1.273056 deg/s, cmd heading: 256.725472 deg, new cmd heading: 257.034286 deg. 2021-02-18T05:17:37.677Z,1613625457.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:17:38.446Z,1613625458.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:17:38.881Z,1613625458.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:17:39.672Z,1613625459.672 [Micromodem](INFO): Nmea in: $SNTTA,0.027575,,,,051738.45*4B 2021-02-18T05:17:39.706Z,1613625459.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.159996 m, bearing: 261.425709 deg, deltaT: 4.397364 s, approachRate: -0.709517 m/s, LOS rate: -0.200872 deg/s, posRepo size: 4 2021-02-18T05:17:39.708Z,1613625459.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.159996 m, bearing: 261.425709 deg, approachRate: -0.709517 m/s, LOS rate: -0.200872 deg/s, cmd update: -0.803488 deg/s, cmd heading: 262.328084 deg, new cmd heading: 262.842955 deg. 2021-02-18T05:17:42.140Z,1613625462.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:17:42.898Z,1613625462.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:17:43.300Z,1613625463.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:17:44.124Z,1613625464.124 [Micromodem](INFO): Nmea in: $SNTTA,0.025391,,,0.043866,051742.90*51 2021-02-18T05:17:44.179Z,1613625464.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.920002 m, bearing: 261.173730 deg, deltaT: 4.408356 s, approachRate: -0.734967 m/s, LOS rate: -0.057159 deg/s, posRepo size: 4 2021-02-18T05:17:44.180Z,1613625464.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.92 m. 2021-02-18T05:17:44.181Z,1613625464.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.920002 m, bearing: 261.173730 deg, approachRate: -0.734967 m/s, LOS rate: -0.057159 deg/s, cmd update: -0.228638 deg/s, cmd heading: 258.785674 deg, new cmd heading: 258.409100 deg. 2021-02-18T05:17:44.517Z,1613625464.517 [PowerOnly](INFO): Powering up loadControl 2021-02-18T05:17:45.179Z,1613625465.179 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T05:17:46.191Z,1613625466.191 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2021-02-18T05:17:46.540Z,1613625466.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:17:47.334Z,1613625467.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:17:47.768Z,1613625467.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:17:48.564Z,1613625468.564 [Micromodem](INFO): Nmea in: $SNTTA,0.023236,,,,051747.34*41 2021-02-18T05:17:48.586Z,1613625468.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.620003 m, bearing: 263.289039 deg, deltaT: 4.470053 s, approachRate: -0.738246 m/s, LOS rate: 0.473218 deg/s, posRepo size: 4 2021-02-18T05:17:48.607Z,1613625468.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.62 m. 2021-02-18T05:17:48.607Z,1613625468.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.62 m. 2021-02-18T05:17:48.608Z,1613625468.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T05:17:48.609Z,1613625468.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.620003 m, bearing: 263.289039 deg, approachRate: -0.738246 m/s, LOS rate: 0.473218 deg/s, cmd update: 1.892872 deg/s, cmd heading: 257.767009 deg, new cmd heading: 257.670841 deg. 2021-02-18T05:17:51.021Z,1613625471.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:17:51.801Z,1613625471.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:17:52.182Z,1613625472.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:17:53.022Z,1613625473.022 [Micromodem](INFO): Nmea in: $SNTTA,0.021096,0.027632,0.035220,,051751.81*46 2021-02-18T05:17:53.102Z,1613625473.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.440002 m, bearing: 263.700927 deg, deltaT: 4.418149 s, approachRate: -0.719759 m/s, LOS rate: 0.093226 deg/s, posRepo size: 4 2021-02-18T05:17:53.104Z,1613625473.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.440002 m, bearing: 263.700927 deg, approachRate: -0.719759 m/s, LOS rate: 0.093226 deg/s, cmd update: 0.372905 deg/s, cmd heading: 266.157759 deg, new cmd heading: 267.110812 deg. 2021-02-18T05:17:55.430Z,1613625475.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:17:56.226Z,1613625476.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:17:56.648Z,1613625476.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:17:57.452Z,1613625477.452 [Micromodem](INFO): Nmea in: $SNTTA,0.018955,,,,051756.23*41 2021-02-18T05:17:57.490Z,1613625477.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.199999 m, bearing: 262.802921 deg, deltaT: 4.486978 s, approachRate: -0.722090 m/s, LOS rate: -0.200136 deg/s, posRepo size: 4 2021-02-18T05:17:57.492Z,1613625477.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.199999 m, bearing: 262.802921 deg, approachRate: -0.722090 m/s, LOS rate: -0.200136 deg/s, cmd update: -0.800544 deg/s, cmd heading: 267.830962 deg, new cmd heading: 267.981778 deg. 2021-02-18T05:17:59.938Z,1613625479.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:00.670Z,1613625480.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:01.075Z,1613625481.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:01.904Z,1613625481.904 [Micromodem](INFO): Nmea in: $SNTTA,0.016864,,,,051800.67*40 2021-02-18T05:18:01.985Z,1613625481.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.079998 m, bearing: 263.262265 deg, deltaT: 4.405974 s, approachRate: -0.708130 m/s, LOS rate: 0.104255 deg/s, posRepo size: 4 2021-02-18T05:18:01.991Z,1613625481.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.079998 m, bearing: 263.262265 deg, approachRate: -0.708130 m/s, LOS rate: 0.104255 deg/s, cmd update: 0.417019 deg/s, cmd heading: 264.303728 deg, new cmd heading: 263.908593 deg. 2021-02-18T05:18:04.321Z,1613625484.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:05.109Z,1613625485.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:05.514Z,1613625485.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:06.346Z,1613625486.346 [Micromodem](INFO): Nmea in: $SNTTA,0.014599,,,,051805.17*4F 2021-02-18T05:18:06.391Z,1613625486.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.720001 m, bearing: 264.703353 deg, deltaT: 4.488208 s, approachRate: -0.748628 m/s, LOS rate: 0.321083 deg/s, posRepo size: 4 2021-02-18T05:18:06.393Z,1613625486.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.720001 m, bearing: 264.703353 deg, approachRate: -0.748628 m/s, LOS rate: 0.321083 deg/s, cmd update: 1.284333 deg/s, cmd heading: 266.173725 deg, new cmd heading: 266.346796 deg. 2021-02-18T05:18:08.828Z,1613625488.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:09.553Z,1613625489.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:09.975Z,1613625489.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:10.812Z,1613625490.812 [Micromodem](INFO): Nmea in: $SNTTA,0.012586,,,,051809.56*4E 2021-02-18T05:18:10.885Z,1613625490.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.659996 m, bearing: 263.629374 deg, deltaT: 4.416021 s, approachRate: -0.692933 m/s, LOS rate: -0.243201 deg/s, posRepo size: 4 2021-02-18T05:18:10.891Z,1613625490.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.659996 m, bearing: 263.629374 deg, approachRate: -0.692933 m/s, LOS rate: -0.243201 deg/s, cmd update: -0.972802 deg/s, cmd heading: 271.850386 deg, new cmd heading: 272.479315 deg. 2021-02-18T05:18:13.239Z,1613625493.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:13.997Z,1613625493.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:14.409Z,1613625494.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:15.224Z,1613625495.224 [Micromodem](INFO): Nmea in: $SNTTA,0.011235,,,,051814.00*4D 2021-02-18T05:18:15.264Z,1613625495.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.240002 m, bearing: 261.586355 deg, deltaT: 4.502437 s, approachRate: -0.759587 m/s, LOS rate: -0.453758 deg/s, posRepo size: 4 2021-02-18T05:18:15.265Z,1613625495.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.240002 m, bearing: 261.586355 deg, approachRate: -0.759587 m/s, LOS rate: -0.453758 deg/s, cmd update: -1.815034 deg/s, cmd heading: 267.474399 deg, new cmd heading: 267.114981 deg. 2021-02-18T05:18:17.647Z,1613625497.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:18.440Z,1613625498.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:18.877Z,1613625498.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:19.676Z,1613625499.676 [Micromodem](INFO): Nmea in: $SNTTA,0.008262,,,,051818.45*4A 2021-02-18T05:18:19.698Z,1613625499.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.179997 m, bearing: 263.495475 deg, deltaT: 4.378993 s, approachRate: -0.698792 m/s, LOS rate: 0.435972 deg/s, posRepo size: 4 2021-02-18T05:18:19.700Z,1613625499.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.179997 m, bearing: 263.495475 deg, approachRate: -0.698792 m/s, LOS rate: 0.435972 deg/s, cmd update: 1.743889 deg/s, cmd heading: 259.518718 deg, new cmd heading: 258.754886 deg. 2021-02-18T05:18:22.122Z,1613625502.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:22.894Z,1613625502.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:23.296Z,1613625503.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:24.124Z,1613625504.124 [Micromodem](INFO): Nmea in: $SNTTA,0.006142,0.044055,,,051822.90*5A 2021-02-18T05:18:24.158Z,1613625504.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.939999 m, bearing: 265.290695 deg, deltaT: 4.443182 s, approachRate: -0.729207 m/s, LOS rate: 0.404039 deg/s, posRepo size: 4 2021-02-18T05:18:24.160Z,1613625504.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.939999 m, bearing: 265.290695 deg, approachRate: -0.729207 m/s, LOS rate: 0.404039 deg/s, cmd update: 1.616157 deg/s, cmd heading: 267.266478 deg, new cmd heading: 268.029954 deg. 2021-02-18T05:18:26.537Z,1613625506.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:27.328Z,1613625507.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:27.752Z,1613625507.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:28.556Z,1613625508.556 [Micromodem](INFO): Nmea in: $SNTTA,0.004059,,,,051827.33*41 2021-02-18T05:18:28.598Z,1613625508.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.880000 m, bearing: 263.872993 deg, deltaT: 4.492953 s, approachRate: -0.681066 m/s, LOS rate: -0.315539 deg/s, posRepo size: 4 2021-02-18T05:18:28.611Z,1613625508.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.880000 m, bearing: 263.872993 deg, approachRate: -0.681066 m/s, LOS rate: -0.315539 deg/s, cmd update: -1.262156 deg/s, cmd heading: 274.512538 deg, new cmd heading: 275.150077 deg. 2021-02-18T05:18:31.012Z,1613625511.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:31.812Z,1613625511.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:32.183Z,1613625512.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:33.032Z,1613625513.032 [Micromodem](INFO): Nmea in: $SNTTA,0.002517,,,,051831.82*45 2021-02-18T05:18:33.083Z,1613625513.083 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T05:18:33.084Z,1613625513.084 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T05:18:33.084Z,1613625513.084 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T05:18:33.084Z,1613625513.084 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:18:33.084Z,1613625513.084 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T05:18:33.084Z,1613625513.084 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.599999 m 2021-02-18T05:18:33.084Z,1613625513.084 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T05:18:33.085Z,1613625513.085 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T05:18:33.085Z,1613625513.085 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T05:18:33.087Z,1613625513.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.599999 m, bearing: 261.729325 deg, deltaT: 4.419516 s, approachRate: -0.515894 m/s, LOS rate: -0.485046 deg/s, posRepo size: 4 2021-02-18T05:18:33.089Z,1613625513.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.599999 m, bearing: 261.729325 deg, approachRate: -0.515894 m/s, LOS rate: -0.485046 deg/s, cmd update: -1.940184 deg/s, cmd heading: 268.927266 deg, new cmd heading: 268.349068 deg. 2021-02-18T05:18:33.429Z,1613625513.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T051833: (41.552319, -70.708603) 2021-02-18T05:18:33.429Z,1613625513.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T05:18:33.429Z,1613625513.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T05:18:33.429Z,1613625513.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:18:33.430Z,1613625513.430 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T05:18:33.430Z,1613625513.430 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:18:33.430Z,1613625513.430 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T05:18:33.430Z,1613625513.430 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T05:18:33.430Z,1613625513.430 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T05:18:35.449Z,1613625515.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:36.221Z,1613625516.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:36.625Z,1613625516.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:37.452Z,1613625517.452 [Micromodem](INFO): Nmea in: $SNTTA,0.002494,,,,051836.23*43 2021-02-18T05:18:37.467Z,1613625517.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.720000 m, bearing: 255.907545 deg, deltaT: 4.439362 s, approachRate: 0.027031 m/s, LOS rate: -1.311400 deg/s, posRepo size: 4 2021-02-18T05:18:37.469Z,1613625517.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.720000 m, bearing: 255.907545 deg, approachRate: 0.027031 m/s, LOS rate: -1.311400 deg/s, cmd update: -5.245601 deg/s, cmd heading: 260.306640 deg, new cmd heading: 259.539750 deg. 2021-02-18T05:18:39.923Z,1613625519.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:40.660Z,1613625520.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:41.074Z,1613625521.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:41.896Z,1613625521.896 [Micromodem](INFO): Nmea in: $SNTTA,0.004183,,0.025921,,051840.66*55 2021-02-18T05:18:41.946Z,1613625521.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.359998 m, bearing: 257.993812 deg, deltaT: 4.426391 s, approachRate: 0.596422 m/s, LOS rate: 0.471325 deg/s, posRepo size: 4 2021-02-18T05:18:41.948Z,1613625521.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.359998 m, bearing: 257.993812 deg, approachRate: 0.596422 m/s, LOS rate: 0.471325 deg/s, cmd update: 1.885299 deg/s, cmd heading: 237.170751 deg, new cmd heading: 234.740878 deg. 2021-02-18T05:18:44.316Z,1613625524.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:45.109Z,1613625525.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:45.519Z,1613625525.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:46.341Z,1613625526.341 [Micromodem](INFO): Nmea in: $SNTTA,0.006118,,,,051845.12*40 2021-02-18T05:18:46.362Z,1613625526.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.299998 m, bearing: 234.841247 deg, deltaT: 4.462912 s, approachRate: 0.658763 m/s, LOS rate: -5.187771 deg/s, posRepo size: 4 2021-02-18T05:18:46.364Z,1613625526.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.299998 m, bearing: 234.841247 deg, approachRate: 0.658763 m/s, LOS rate: -5.187771 deg/s, cmd update: -12.000000 deg/s, cmd heading: 245.615108 deg, new cmd heading: 246.369757 deg. 2021-02-18T05:18:48.771Z,1613625528.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:49.553Z,1613625529.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:50.008Z,1613625530.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:50.800Z,1613625530.800 [Micromodem](INFO): Nmea in: $SNTTA,0.007957,,,,051849.56*4E 2021-02-18T05:18:50.875Z,1613625530.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.199997 m, bearing: 245.803509 deg, deltaT: 4.424066 s, approachRate: 0.881542 m/s, LOS rate: 2.477871 deg/s, posRepo size: 4 2021-02-18T05:18:50.877Z,1613625530.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.199997 m, bearing: 245.803509 deg, approachRate: 0.881542 m/s, LOS rate: 2.477871 deg/s, cmd update: 9.911482 deg/s, cmd heading: 192.525955 deg, new cmd heading: 186.653071 deg. 2021-02-18T05:18:52.898Z,1613625532.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:53.588Z,1613625533.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:53.995Z,1613625533.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:54.839Z,1613625534.839 [Micromodem](INFO): Nmea in: $SNTTA,0.009921,,,,051853.59*45 2021-02-18T05:18:54.912Z,1613625534.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.000000 m, bearing: 237.115345 deg, deltaT: 4.033616 s, approachRate: 0.446250 m/s, LOS rate: -2.153939 deg/s, posRepo size: 4 2021-02-18T05:18:54.912Z,1613625534.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.00 m. Rolling out. 2021-02-18T05:18:54.913Z,1613625534.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T05:18:56.925Z,1613625536.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:18:57.636Z,1613625537.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:18:58.036Z,1613625538.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:18:58.882Z,1613625538.882 [Micromodem](INFO): Nmea in: $SNTTA,0.011772,,0.029052,,051857.64*5C 2021-02-18T05:18:58.916Z,1613625538.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.820002 m, bearing: 187.962161 deg, deltaT: 4.031457 s, approachRate: 0.699499 m/s, LOS rate: -12.192412 deg/s, posRepo size: 4 2021-02-18T05:19:01.294Z,1613625541.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:02.076Z,1613625542.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:02.478Z,1613625542.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:19:03.300Z,1613625543.300 [Micromodem](INFO): Nmea in: $SNTTA,0.013784,,,,051902.08*4E 2021-02-18T05:19:03.352Z,1613625543.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.820002 m, bearing: 203.894971 deg, deltaT: 4.492255 s, approachRate: 0.667816 m/s, LOS rate: 3.546729 deg/s, posRepo size: 4 2021-02-18T05:19:05.749Z,1613625545.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:06.518Z,1613625546.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:06.939Z,1613625546.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:19:07.760Z,1613625547.760 [Micromodem](INFO): Nmea in: $SNTTA,0.015856,0.073644,,,051906.52*5F 2021-02-18T05:19:07.825Z,1613625547.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.480000 m, bearing: 239.578557 deg, deltaT: 4.418230 s, approachRate: 0.828386 m/s, LOS rate: 8.076443 deg/s, posRepo size: 4 2021-02-18T05:19:10.198Z,1613625550.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:10.966Z,1613625550.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:11.366Z,1613625551.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:19:12.204Z,1613625552.204 [Micromodem](INFO): Nmea in: $SNTTA,0.018135,,0.022791,,051910.97*5D 2021-02-18T05:19:12.228Z,1613625552.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.779999 m, bearing: 251.210915 deg, deltaT: 4.528905 s, approachRate: 0.728653 m/s, LOS rate: 2.568470 deg/s, posRepo size: 4 2021-02-18T05:19:14.617Z,1613625554.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:15.404Z,1613625555.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:15.824Z,1613625555.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:19:16.636Z,1613625556.636 [Micromodem](INFO): Nmea in: $SNTTA,0.020370,,0.029332,,051915.41*5D 2021-02-18T05:19:16.674Z,1613625556.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.139997 m, bearing: 243.034933 deg, deltaT: 4.356562 s, approachRate: 0.771250 m/s, LOS rate: -1.876705 deg/s, posRepo size: 4 2021-02-18T05:19:19.040Z,1613625559.040 [PowerOnly](INFO): Powering down loadControl 2021-02-18T05:19:19.092Z,1613625559.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:19.884Z,1613625559.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:20.257Z,1613625560.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:19:21.104Z,1613625561.104 [Micromodem](INFO): Nmea in: $SNTTA,0.022576,,,,051919.89*40 2021-02-18T05:19:21.162Z,1613625561.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.379997 m, bearing: 242.120535 deg, deltaT: 4.440337 s, approachRate: 0.729674 m/s, LOS rate: -0.205930 deg/s, posRepo size: 4 2021-02-18T05:19:23.504Z,1613625563.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:24.292Z,1613625564.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:24.703Z,1613625564.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:19:25.521Z,1613625565.521 [Micromodem](INFO): Nmea in: $SNTTA,0.024836,,0.058155,,051924.30*51 2021-02-18T05:19:25.535Z,1613625565.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.380001 m, bearing: 234.440205 deg, deltaT: 4.447932 s, approachRate: 0.674472 m/s, LOS rate: -1.726719 deg/s, posRepo size: 4 2021-02-18T05:19:27.996Z,1613625567.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:28.748Z,1613625568.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:29.161Z,1613625569.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:19:29.972Z,1613625569.972 [Micromodem](INFO): Nmea in: $SNTTA,0.027250,,,,051928.75*47 2021-02-18T05:19:30.026Z,1613625570.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.340000 m, bearing: 234.128394 deg, deltaT: 4.429195 s, approachRate: 0.894067 m/s, LOS rate: -0.070399 deg/s, posRepo size: 4 2021-02-18T05:19:32.079Z,1613625572.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:32.871Z,1613625572.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:33.199Z,1613625573.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:19:34.027Z,1613625574.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.619995 m, bearing: 236.231382 deg, deltaT: 4.036093 s, approachRate: 0.564901 m/s, LOS rate: 0.521045 deg/s, posRepo size: 4 2021-02-18T05:19:34.404Z,1613625574.404 [Micromodem](INFO): Nmea in: $SNTTA,0.028984,,,,051932.89*42 2021-02-18T05:19:36.429Z,1613625576.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:37.226Z,1613625577.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:37.625Z,1613625577.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:19:38.452Z,1613625578.452 [Micromodem](INFO): Nmea in: $SNTTA,0.031182,,,0.033689,051937.23*58 2021-02-18T05:19:38.490Z,1613625578.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.919994 m, bearing: 236.822002 deg, deltaT: 4.484423 s, approachRate: 0.735880 m/s, LOS rate: 0.131705 deg/s, posRepo size: 4 2021-02-18T05:19:40.951Z,1613625580.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:41.673Z,1613625581.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:42.074Z,1613625582.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:19:42.904Z,1613625582.904 [Micromodem](INFO): Nmea in: $SNTTA,0.033427,,,,051941.68*47 2021-02-18T05:19:42.966Z,1613625582.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.580002 m, bearing: 234.569596 deg, deltaT: 4.405966 s, approachRate: 0.830694 m/s, LOS rate: -0.511217 deg/s, posRepo size: 4 2021-02-18T05:19:45.331Z,1613625585.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:46.108Z,1613625586.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:46.526Z,1613625586.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:19:47.336Z,1613625587.336 [Micromodem](INFO): Nmea in: $SNTTA,0.035737,,,,051946.11*4A 2021-02-18T05:19:47.372Z,1613625587.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.759995 m, bearing: 237.985757 deg, deltaT: 4.479473 s, approachRate: 0.709903 m/s, LOS rate: 0.762625 deg/s, posRepo size: 4 2021-02-18T05:19:49.785Z,1613625589.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:50.552Z,1613625590.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:50.975Z,1613625590.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:19:51.812Z,1613625591.812 [Micromodem](INFO): Nmea in: $SNTTA,0.037980,,,,051950.56*4E 2021-02-18T05:19:51.881Z,1613625591.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.119999 m, bearing: 236.140239 deg, deltaT: 4.417411 s, approachRate: 0.760628 m/s, LOS rate: -0.417783 deg/s, posRepo size: 4 2021-02-18T05:19:53.914Z,1613625593.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:54.592Z,1613625594.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:55.001Z,1613625595.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:19:55.824Z,1613625595.824 [Micromodem](INFO): Nmea in: $SNTTA,0.040073,,,,051954.60*4A 2021-02-18T05:19:55.918Z,1613625595.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.480003 m, bearing: 240.110847 deg, deltaT: 4.027247 s, approachRate: 0.834318 m/s, LOS rate: 0.985936 deg/s, posRepo size: 4 2021-02-18T05:19:58.259Z,1613625598.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:19:59.037Z,1613625599.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:19:59.447Z,1613625599.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:00.283Z,1613625600.283 [Micromodem](INFO): Nmea in: $SNTTA,0.042189,,,,051959.04*43 2021-02-18T05:20:00.306Z,1613625600.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.660007 m, bearing: 240.761873 deg, deltaT: 4.518144 s, approachRate: 0.703830 m/s, LOS rate: 0.144092 deg/s, posRepo size: 4 2021-02-18T05:20:02.709Z,1613625602.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:20:03.482Z,1613625603.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:20:03.889Z,1613625603.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:04.716Z,1613625604.716 [Micromodem](INFO): Nmea in: $SNTTA,0.044372,,,,052003.49*4F 2021-02-18T05:20:04.731Z,1613625604.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.779999 m, bearing: 246.511663 deg, deltaT: 4.381481 s, approachRate: 0.712086 m/s, LOS rate: 1.312294 deg/s, posRepo size: 4 2021-02-18T05:20:07.154Z,1613625607.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:20:07.930Z,1613625607.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:20:08.331Z,1613625608.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:09.157Z,1613625609.157 [Micromodem](INFO): Nmea in: $SNTTA,0.046479,,0.148342,,052007.93*54 2021-02-18T05:20:09.190Z,1613625609.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.900002 m, bearing: 242.635831 deg, deltaT: 4.485358 s, approachRate: 0.695597 m/s, LOS rate: -0.864108 deg/s, posRepo size: 4 2021-02-18T05:20:11.575Z,1613625611.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:20:12.374Z,1613625612.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:20:12.822Z,1613625612.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:13.604Z,1613625613.604 [Micromodem](INFO): Nmea in: $SNTTA,0.048585,,,,052012.38*4B 2021-02-18T05:20:13.627Z,1613625613.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.080002 m, bearing: 247.535672 deg, deltaT: 4.399757 s, approachRate: 0.722767 m/s, LOS rate: 1.113662 deg/s, posRepo size: 4 2021-02-18T05:20:16.062Z,1613625616.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:20:16.827Z,1613625616.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:20:17.245Z,1613625617.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:18.048Z,1613625618.048 [Micromodem](INFO): Nmea in: $SNTTA,0.050785,,,,052016.83*44 2021-02-18T05:20:18.102Z,1613625618.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.259995 m, bearing: 240.461181 deg, deltaT: 4.439127 s, approachRate: 0.716355 m/s, LOS rate: -1.593667 deg/s, posRepo size: 4 2021-02-18T05:20:20.484Z,1613625620.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:20:21.262Z,1613625621.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:20:21.662Z,1613625621.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:22.489Z,1613625622.489 [Micromodem](INFO): Nmea in: $SNTTA,0.052961,,,,052021.27*48 2021-02-18T05:20:22.536Z,1613625622.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.740005 m, bearing: 242.519199 deg, deltaT: 4.488750 s, approachRate: 0.775274 m/s, LOS rate: 0.458484 deg/s, posRepo size: 4 2021-02-18T05:20:24.936Z,1613625624.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:20:25.712Z,1613625625.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:20:26.111Z,1613625626.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:26.943Z,1613625626.943 [Micromodem](INFO): Nmea in: $SNTTA,0.055284,,,,052025.72*4B 2021-02-18T05:20:26.977Z,1613625626.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.040009 m, bearing: 245.390556 deg, deltaT: 4.410504 s, approachRate: 0.748214 m/s, LOS rate: 0.651027 deg/s, posRepo size: 4 2021-02-18T05:20:29.360Z,1613625629.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:20:30.149Z,1613625630.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:20:30.550Z,1613625630.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:31.376Z,1613625631.376 [Micromodem](INFO): Nmea in: $SNTTA,0.057417,,,,052030.15*40 2021-02-18T05:20:31.398Z,1613625631.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.280006 m, bearing: 242.161925 deg, deltaT: 4.475437 s, approachRate: 0.723951 m/s, LOS rate: -0.721411 deg/s, posRepo size: 4 2021-02-18T05:20:33.848Z,1613625633.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:20:34.588Z,1613625634.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:20:35.065Z,1613625635.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:35.147Z,1613625635.147 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T05:20:35.824Z,1613625635.824 [Micromodem](INFO): Nmea in: $SNTTA,0.059735,,,,052034.59*41 2021-02-18T05:20:35.894Z,1613625635.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.879997 m, bearing: 243.905236 deg, deltaT: 4.400313 s, approachRate: 0.818122 m/s, LOS rate: 0.396179 deg/s, posRepo size: 4 2021-02-18T05:20:38.238Z,1613625638.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:20:39.038Z,1613625639.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:20:39.438Z,1613625639.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:40.264Z,1613625640.264 [Micromodem](INFO): Nmea in: $SNTTA,0.061904,,,,052039.04*43 2021-02-18T05:20:40.301Z,1613625640.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.000000 m, bearing: 246.689330 deg, deltaT: 4.513844 s, approachRate: 0.691207 m/s, LOS rate: 0.616790 deg/s, posRepo size: 4 2021-02-18T05:20:42.699Z,1613625642.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:20:43.481Z,1613625643.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:20:43.891Z,1613625643.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:44.708Z,1613625644.708 [Micromodem](INFO): Nmea in: $SNTTA,0.064273,,,,052043.48*48 2021-02-18T05:20:44.749Z,1613625644.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.540001 m, bearing: 252.359835 deg, deltaT: 4.386604 s, approachRate: 0.807003 m/s, LOS rate: 1.292687 deg/s, posRepo size: 4 2021-02-18T05:20:47.157Z,1613625647.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:20:47.920Z,1613625647.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:20:48.331Z,1613625648.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:49.159Z,1613625649.159 [Micromodem](INFO): Nmea in: $SNTTA,0.066354,,,,052047.92*4D 2021-02-18T05:20:49.192Z,1613625649.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.660004 m, bearing: 243.270083 deg, deltaT: 4.489707 s, approachRate: 0.694923 m/s, LOS rate: -2.024576 deg/s, posRepo size: 4 2021-02-18T05:20:51.577Z,1613625651.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:20:52.364Z,1613625652.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:20:52.808Z,1613625652.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:53.600Z,1613625653.600 [Micromodem](INFO): Nmea in: $SNTTA,0.068605,,,,052052.37*49 2021-02-18T05:20:53.622Z,1613625653.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.200005 m, bearing: 239.282673 deg, deltaT: 4.397897 s, approachRate: 0.804930 m/s, LOS rate: -0.906663 deg/s, posRepo size: 4 2021-02-18T05:20:56.065Z,1613625656.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:20:56.819Z,1613625656.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:20:57.213Z,1613625657.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:20:58.044Z,1613625658.044 [Micromodem](INFO): Nmea in: $SNTTA,0.070712,,,,052056.82*4D 2021-02-18T05:20:58.097Z,1613625658.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.199997 m, bearing: 244.442935 deg, deltaT: 4.428125 s, approachRate: 0.677486 m/s, LOS rate: 1.165338 deg/s, posRepo size: 4 2021-02-18T05:21:00.459Z,1613625660.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:01.253Z,1613625661.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:01.666Z,1613625661.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:02.480Z,1613625662.480 [Micromodem](INFO): Nmea in: $SNTTA,0.072887,,,,052101.26*41 2021-02-18T05:21:02.513Z,1613625662.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.500000 m, bearing: 243.326418 deg, deltaT: 4.538697 s, approachRate: 0.727082 m/s, LOS rate: -0.246000 deg/s, posRepo size: 4 2021-02-18T05:21:04.969Z,1613625664.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:05.696Z,1613625665.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:06.103Z,1613625666.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:06.931Z,1613625666.931 [Micromodem](INFO): Nmea in: $SNTTA,0.075123,,,,052105.70*46 2021-02-18T05:21:06.965Z,1613625666.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.040001 m, bearing: 250.153684 deg, deltaT: 4.372897 s, approachRate: 0.809532 m/s, LOS rate: 1.561268 deg/s, posRepo size: 4 2021-02-18T05:21:09.353Z,1613625669.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:10.140Z,1613625670.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:10.551Z,1613625670.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:11.375Z,1613625671.375 [Micromodem](INFO): Nmea in: $SNTTA,0.077214,,,,052110.14*45 2021-02-18T05:21:11.394Z,1613625671.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.980003 m, bearing: 243.348411 deg, deltaT: 4.453300 s, approachRate: 0.660185 m/s, LOS rate: -1.528141 deg/s, posRepo size: 4 2021-02-18T05:21:13.888Z,1613625673.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:14.584Z,1613625674.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:14.997Z,1613625674.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:15.834Z,1613625675.834 [Micromodem](INFO): Nmea in: $SNTTA,0.079416,,,,052114.59*42 2021-02-18T05:21:15.908Z,1613625675.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.400002 m, bearing: 236.019509 deg, deltaT: 4.428187 s, approachRate: 0.772325 m/s, LOS rate: -1.655057 deg/s, posRepo size: 4 2021-02-18T05:21:17.934Z,1613625677.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:18.624Z,1613625678.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:19.035Z,1613625679.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:19.868Z,1613625679.868 [Micromodem](INFO): Nmea in: $SNTTA,0.081484,,,,052118.63*4B 2021-02-18T05:21:19.928Z,1613625679.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.400002 m, bearing: 241.040272 deg, deltaT: 4.038237 s, approachRate: 0.742898 m/s, LOS rate: 1.243306 deg/s, posRepo size: 4 2021-02-18T05:21:22.276Z,1613625682.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:23.069Z,1613625683.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:23.479Z,1613625683.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:24.312Z,1613625684.312 [Micromodem](INFO): Nmea in: $SNTTA,0.083603,,,,052123.07*4E 2021-02-18T05:21:24.337Z,1613625684.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.579994 m, bearing: 244.576944 deg, deltaT: 4.483701 s, approachRate: 0.709234 m/s, LOS rate: 0.788784 deg/s, posRepo size: 4 2021-02-18T05:21:26.720Z,1613625686.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:27.512Z,1613625687.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:27.926Z,1613625687.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:28.756Z,1613625688.756 [Micromodem](INFO): Nmea in: $SNTTA,0.085981,,,,052127.52*49 2021-02-18T05:21:28.827Z,1613625688.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.119995 m, bearing: 243.528400 deg, deltaT: 4.405624 s, approachRate: 0.803519 m/s, LOS rate: -0.238001 deg/s, posRepo size: 4 2021-02-18T05:21:31.184Z,1613625691.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:31.961Z,1613625691.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:32.367Z,1613625692.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:33.191Z,1613625693.191 [Micromodem](INFO): Nmea in: $SNTTA,0.088114,,,,052131.96*4F 2021-02-18T05:21:33.216Z,1613625693.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.360001 m, bearing: 252.340683 deg, deltaT: 4.512065 s, approachRate: 0.718076 m/s, LOS rate: 1.953049 deg/s, posRepo size: 4 2021-02-18T05:21:35.608Z,1613625695.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:36.400Z,1613625696.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:36.817Z,1613625696.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:37.628Z,1613625697.628 [Micromodem](INFO): Nmea in: $SNTTA,0.090402,,,,052136.40*48 2021-02-18T05:21:37.662Z,1613625697.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.779999 m, bearing: 246.190644 deg, deltaT: 4.385917 s, approachRate: 0.779768 m/s, LOS rate: -1.402224 deg/s, posRepo size: 4 2021-02-18T05:21:40.072Z,1613625700.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:40.876Z,1613625700.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:41.267Z,1613625701.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:42.088Z,1613625702.088 [Micromodem](INFO): Nmea in: $SNTTA,0.092625,,,,052140.88*48 2021-02-18T05:21:42.166Z,1613625702.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.080002 m, bearing: 242.542148 deg, deltaT: 4.427844 s, approachRate: 0.745284 m/s, LOS rate: -0.823989 deg/s, posRepo size: 4 2021-02-18T05:21:44.495Z,1613625704.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:45.288Z,1613625705.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:45.699Z,1613625705.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:46.516Z,1613625706.516 [Micromodem](INFO): Nmea in: $SNTTA,0.094888,,,,052145.29*49 2021-02-18T05:21:46.538Z,1613625706.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.440002 m, bearing: 244.826601 deg, deltaT: 4.483544 s, approachRate: 0.749407 m/s, LOS rate: 0.509519 deg/s, posRepo size: 4 2021-02-18T05:21:48.973Z,1613625708.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:49.734Z,1613625709.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:50.137Z,1613625710.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:50.964Z,1613625710.964 [Micromodem](INFO): Nmea in: $SNTTA,0.096879,,,,052149.74*41 2021-02-18T05:21:51.012Z,1613625711.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.440002 m, bearing: 246.870931 deg, deltaT: 4.416664 s, approachRate: 0.679246 m/s, LOS rate: 0.462868 deg/s, posRepo size: 4 2021-02-18T05:21:53.400Z,1613625713.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:54.176Z,1613625714.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:54.582Z,1613625714.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:55.532Z,1613625715.532 [Micromodem](INFO): Nmea in: $SNTTA,0.099024,,,,052154.18*48 2021-02-18T05:21:55.558Z,1613625715.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.679993 m, bearing: 246.942675 deg, deltaT: 4.780336 s, approachRate: 0.677775 m/s, LOS rate: 0.015008 deg/s, posRepo size: 4 2021-02-18T05:21:57.997Z,1613625717.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:21:58.740Z,1613625718.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:21:59.146Z,1613625719.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:21:59.968Z,1613625719.968 [Micromodem](INFO): Nmea in: $SNTTA,0.101244,,,,052158.74*4A 2021-02-18T05:22:00.097Z,1613625720.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.040009 m, bearing: 248.385430 deg, deltaT: 4.211654 s, approachRate: 0.797790 m/s, LOS rate: 0.342562 deg/s, posRepo size: 4 2021-02-18T05:22:00.097Z,1613625720.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.04 m. Resuming terminal guidance. 2021-02-18T05:22:00.097Z,1613625720.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T05:22:02.397Z,1613625722.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:03.186Z,1613625723.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:22:03.602Z,1613625723.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:22:04.405Z,1613625724.405 [Micromodem](INFO): Nmea in: $SNTTA,0.103347,,,,052203.19*4C 2021-02-18T05:22:04.898Z,1613625724.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:06.824Z,1613625726.824 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:22:07.648Z,1613625727.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:08.436Z,1613625728.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:22:08.880Z,1613625728.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:22:09.658Z,1613625729.658 [Micromodem](INFO): Nmea in: $SNTTA,0.105983,,,,052208.44*4B 2021-02-18T05:22:10.472Z,1613625730.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:12.076Z,1613625732.076 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:22:13.305Z,1613625733.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:14.097Z,1613625734.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:22:14.515Z,1613625734.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:22:15.324Z,1613625735.324 [Micromodem](INFO): Nmea in: $SNTTA,0.108739,,,,052214.10*45 2021-02-18T05:22:15.361Z,1613625735.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.500000 m, bearing: 240.932683 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T05:22:15.362Z,1613625735.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 240.932683deg and heading rate command to 0 deg/s. 2021-02-18T05:22:17.767Z,1613625737.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:18.555Z,1613625738.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:22:18.942Z,1613625738.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:22:19.777Z,1613625739.777 [Micromodem](INFO): Nmea in: $SNTTA,0.110884,,,,052218.56*4B 2021-02-18T05:22:20.573Z,1613625740.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:22.216Z,1613625742.216 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:22:23.429Z,1613625743.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:24.199Z,1613625744.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:22:24.597Z,1613625744.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:22:25.414Z,1613625745.414 [Micromodem](INFO): Nmea in: $SNTTA,0.113685,,,,052224.20*49 2021-02-18T05:22:26.251Z,1613625746.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:27.830Z,1613625747.830 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:22:29.089Z,1613625749.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:29.877Z,1613625749.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:22:30.254Z,1613625750.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:22:31.080Z,1613625751.080 [Micromodem](INFO): Nmea in: $SNTTA,0.116428,,,,052229.88*46 2021-02-18T05:22:31.929Z,1613625751.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:33.484Z,1613625753.484 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:22:34.711Z,1613625754.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:35.505Z,1613625755.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:22:35.918Z,1613625755.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:22:36.723Z,1613625756.723 [Micromodem](INFO): Nmea in: $SNTTA,0.119472,,,,052235.51*4F 2021-02-18T05:22:37.233Z,1613625757.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.420013 m, bearing: 254.959159 deg, deltaT: 21.778305 s, approachRate: 0.776921 m/s, LOS rate: 0.644057 deg/s, posRepo size: 2 2021-02-18T05:22:37.239Z,1613625757.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.420013 m, bearing: 254.959159 deg, approachRate: 0.776921 m/s, LOS rate: 0.644057 deg/s, cmd update: 2.576229 deg/s, cmd heading: 240.932683 deg, new cmd heading: 240.932683 deg. 2021-02-18T05:22:39.571Z,1613625759.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:40.361Z,1613625760.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:22:40.789Z,1613625760.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:22:41.570Z,1613625761.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,052240.37*5B 2021-02-18T05:22:42.405Z,1613625762.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:43.992Z,1613625763.992 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:22:45.230Z,1613625765.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:46.014Z,1613625766.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:22:46.413Z,1613625766.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:22:46.842Z,1613625766.842 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,147,0001,E4 0,186,80,80,2E,FF 2021-02-18T05:22:47.233Z,1613625767.233 [Micromodem](INFO): Nmea in: $SNTTA,0.124416,,,,052246.02*41 2021-02-18T05:22:48.081Z,1613625768.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:50.954Z,1613625770.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:53.700Z,1613625773.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:54.492Z,1613625774.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:22:54.903Z,1613625774.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:22:55.717Z,1613625775.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,052254.50*5F 2021-02-18T05:22:56.166Z,1613625776.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.299988 m, bearing: 297.850070 deg, deltaT: 19.043469 s, approachRate: 0.623835 m/s, LOS rate: 2.252263 deg/s, posRepo size: 3 2021-02-18T05:22:56.168Z,1613625776.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.299988 m, bearing: 297.850070 deg, approachRate: 0.623835 m/s, LOS rate: 2.252263 deg/s, cmd update: 9.009054 deg/s, cmd heading: 289.962570 deg, new cmd heading: 290.983596 deg. 2021-02-18T05:22:58.556Z,1613625778.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:22:59.340Z,1613625779.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:22:59.750Z,1613625779.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:23:00.559Z,1613625780.559 [Micromodem](INFO): Nmea in: $SNTTA,0.129240,,,,052259.34*42 2021-02-18T05:23:01.004Z,1613625781.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.919998 m, bearing: 294.096526 deg, deltaT: 4.777149 s, approachRate: 0.339117 m/s, LOS rate: -0.785729 deg/s, posRepo size: 4 2021-02-18T05:23:01.006Z,1613625781.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 193.919998 m, bearing: 294.096526 deg, approachRate: 0.339117 m/s, LOS rate: -0.785729 deg/s, cmd update: -3.142916 deg/s, cmd heading: 333.250640 deg, new cmd heading: 337.118335 deg. 2021-02-18T05:23:03.405Z,1613625783.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:23:04.188Z,1613625784.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:23:04.605Z,1613625784.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:23:05.405Z,1613625785.405 [Micromodem](INFO): Nmea in: $SNTTA,0.130310,,,,052304.19*48 2021-02-18T05:23:05.911Z,1613625785.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.479996 m, bearing: 5.196391 deg, deltaT: 4.846110 s, approachRate: 0.321907 m/s, LOS rate: 14.671531 deg/s, posRepo size: 4 2021-02-18T05:23:05.911Z,1613625785.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.671531 deg/s. Setting heading cmd to target bearing of 5.196391deg and heading rate command to 0 deg/s. 2021-02-18T05:23:07.932Z,1613625787.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:23:08.632Z,1613625788.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:23:09.037Z,1613625789.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:23:09.892Z,1613625789.892 [Micromodem](INFO): Nmea in: $SNTTA,0.130801,,,,052308.64*45 2021-02-18T05:23:10.293Z,1613625790.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.199997 m, bearing: 26.905995 deg, deltaT: 4.525264 s, approachRate: 0.159107 m/s, LOS rate: 4.797423 deg/s, posRepo size: 4 2021-02-18T05:23:10.295Z,1613625790.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 196.199997 m, bearing: 26.905995 deg, approachRate: 0.159107 m/s, LOS rate: 4.797423 deg/s, cmd update: 12.000000 deg/s, cmd heading: 5.196391 deg, new cmd heading: 5.196391 deg. 2021-02-18T05:23:12.687Z,1613625792.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:23:13.487Z,1613625793.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:23:13.904Z,1613625793.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:23:14.702Z,1613625794.702 [Micromodem](INFO): Nmea in: $SNTTA,0.130682,,,,052313.49*45 2021-02-18T05:23:15.162Z,1613625795.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.019989 m, bearing: 312.473232 deg, deltaT: 4.770441 s, approachRate: -0.037734 m/s, LOS rate: -15.602911 deg/s, posRepo size: 4 2021-02-18T05:23:15.162Z,1613625795.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.602911 deg/s. Setting heading cmd to target bearing of 312.473232deg and heading rate command to 0 deg/s. 2021-02-18T05:23:17.561Z,1613625797.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:23:18.329Z,1613625798.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:23:18.744Z,1613625798.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:23:19.552Z,1613625799.552 [Micromodem](INFO): Nmea in: $SNTTA,0.130169,,,,052318.33*41 2021-02-18T05:23:20.009Z,1613625800.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.059982 m, bearing: 65.521288 deg, deltaT: 4.888448 s, approachRate: -0.196383 m/s, LOS rate: 23.125554 deg/s, posRepo size: 4 2021-02-18T05:23:20.010Z,1613625800.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.125554 deg/s. Setting heading cmd to target bearing of 65.521288deg and heading rate command to 0 deg/s. 2021-02-18T05:23:22.405Z,1613625802.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:23:23.178Z,1613625803.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:23:23.582Z,1613625803.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:23:24.394Z,1613625804.394 [Micromodem](INFO): Nmea in: $SNTTA,0.128871,,,,052323.18*49 2021-02-18T05:23:24.914Z,1613625804.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.080002 m, bearing: 70.830448 deg, deltaT: 4.804665 s, approachRate: -0.412095 m/s, LOS rate: 1.105001 deg/s, posRepo size: 4 2021-02-18T05:23:24.916Z,1613625804.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 193.080002 m, bearing: 70.830448 deg, approachRate: -0.412095 m/s, LOS rate: 1.105001 deg/s, cmd update: 4.420005 deg/s, cmd heading: 65.521288 deg, new cmd heading: 65.521288 deg. 2021-02-18T05:23:27.272Z,1613625807.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:23:28.032Z,1613625808.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:23:28.437Z,1613625808.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:23:29.260Z,1613625809.260 [Micromodem](INFO): Nmea in: $SNTTA,0.127202,,,,052328.04*4E 2021-02-18T05:23:29.294Z,1613625809.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.080002 m, bearing: 64.857557 deg, deltaT: 4.511453 s, approachRate: 0.000000 m/s, LOS rate: -1.323940 deg/s, posRepo size: 4 2021-02-18T05:23:29.296Z,1613625809.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 193.080002 m, bearing: 64.857557 deg, approachRate: 0.000000 m/s, LOS rate: -1.323940 deg/s, cmd update: -5.295758 deg/s, cmd heading: 85.461923 deg, new cmd heading: 87.112424 deg. 2021-02-18T05:23:31.687Z,1613625811.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:23:32.474Z,1613625812.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:23:32.890Z,1613625812.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:23:33.705Z,1613625813.705 [Micromodem](INFO): Nmea in: $SNTTA,0.125255,,,,052332.48*4D 2021-02-18T05:23:34.153Z,1613625814.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.679993 m, bearing: 68.193633 deg, deltaT: 4.798480 s, approachRate: -1.125358 m/s, LOS rate: 0.695236 deg/s, posRepo size: 4 2021-02-18T05:23:34.154Z,1613625814.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.679993 m, bearing: 68.193633 deg, approachRate: -1.125358 m/s, LOS rate: 0.695236 deg/s, cmd update: 2.780944 deg/s, cmd heading: 60.050466 deg, new cmd heading: 57.754549 deg. 2021-02-18T05:23:36.555Z,1613625816.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:23:37.327Z,1613625817.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:23:37.722Z,1613625817.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:23:38.541Z,1613625818.541 [Micromodem](INFO): Nmea in: $SNTTA,0.123190,,,,052337.33*48 2021-02-18T05:23:38.977Z,1613625818.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.620010 m, bearing: 66.493060 deg, deltaT: 4.836154 s, approachRate: -0.632731 m/s, LOS rate: -0.351638 deg/s, posRepo size: 4 2021-02-18T05:23:38.978Z,1613625818.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.620010 m, bearing: 66.493060 deg, approachRate: -0.632731 m/s, LOS rate: -0.351638 deg/s, cmd update: -1.406550 deg/s, cmd heading: 73.499577 deg, new cmd heading: 74.671202 deg. 2021-02-18T05:23:41.373Z,1613625821.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:23:42.164Z,1613625822.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:23:42.576Z,1613625822.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:23:43.392Z,1613625823.392 [Micromodem](INFO): Nmea in: $SNTTA,0.120853,,,,052342.17*49 2021-02-18T05:23:43.426Z,1613625823.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.620010 m, bearing: 70.119385 deg, deltaT: 4.488010 s, approachRate: 0.000000 m/s, LOS rate: 0.808003 deg/s, posRepo size: 4 2021-02-18T05:23:43.428Z,1613625823.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.620010 m, bearing: 70.119385 deg, approachRate: 0.000000 m/s, LOS rate: 0.808003 deg/s, cmd update: 3.232012 deg/s, cmd heading: 67.203768 deg, new cmd heading: 66.648627 deg. 2021-02-18T05:23:45.884Z,1613625825.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:23:46.614Z,1613625826.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:23:47.015Z,1613625827.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:23:47.859Z,1613625827.859 [Micromodem](INFO): Nmea in: $SNTTA,0.118607,,,,052346.62*4B 2021-02-18T05:23:47.916Z,1613625827.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.620010 m, bearing: 66.540311 deg, deltaT: 4.413162 s, approachRate: 0.000000 m/s, LOS rate: -0.811000 deg/s, posRepo size: 4 2021-02-18T05:23:47.917Z,1613625827.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.620010 m, bearing: 66.540311 deg, approachRate: 0.000000 m/s, LOS rate: -0.811000 deg/s, cmd update: -3.243999 deg/s, cmd heading: 81.500865 deg, new cmd heading: 82.988987 deg. 2021-02-18T05:23:50.260Z,1613625830.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:23:51.054Z,1613625831.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:23:51.457Z,1613625831.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:23:52.292Z,1613625832.292 [Micromodem](INFO): Nmea in: $SNTTA,0.116522,,,,052351.06*45 2021-02-18T05:23:52.326Z,1613625832.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.599991 m, bearing: 64.990138 deg, deltaT: 4.470326 s, approachRate: -2.241452 m/s, LOS rate: -0.346770 deg/s, posRepo size: 4 2021-02-18T05:23:52.328Z,1613625832.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.599991 m, bearing: 64.990138 deg, approachRate: -2.241452 m/s, LOS rate: -0.346770 deg/s, cmd update: -1.387078 deg/s, cmd heading: 66.994180 deg, new cmd heading: 65.698916 deg. 2021-02-18T05:23:54.718Z,1613625834.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:23:55.496Z,1613625835.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:23:55.914Z,1613625835.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:23:56.724Z,1613625836.724 [Micromodem](INFO): Nmea in: $SNTTA,0.114327,,,,052355.50*43 2021-02-18T05:23:56.768Z,1613625836.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.599991 m, bearing: 66.337215 deg, deltaT: 4.419298 s, approachRate: 0.000000 m/s, LOS rate: 0.304817 deg/s, posRepo size: 4 2021-02-18T05:23:56.775Z,1613625836.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.599991 m, bearing: 66.337215 deg, approachRate: 0.000000 m/s, LOS rate: 0.304817 deg/s, cmd update: 1.219268 deg/s, cmd heading: 60.869801 deg, new cmd heading: 60.284941 deg. 2021-02-18T05:23:59.183Z,1613625839.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:23:59.942Z,1613625839.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:00.347Z,1613625840.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:01.168Z,1613625841.168 [Micromodem](INFO): Nmea in: $SNTTA,0.112182,,,,052359.94*4C 2021-02-18T05:24:01.241Z,1613625841.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.060013 m, bearing: 67.287636 deg, deltaT: 4.473046 s, approachRate: -1.462086 m/s, LOS rate: 0.212477 deg/s, posRepo size: 4 2021-02-18T05:24:01.243Z,1613625841.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.060013 m, bearing: 67.287636 deg, approachRate: -1.462086 m/s, LOS rate: 0.212477 deg/s, cmd update: 0.849909 deg/s, cmd heading: 66.322066 deg, new cmd heading: 66.842688 deg. 2021-02-18T05:24:03.611Z,1613625843.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:24:04.393Z,1613625844.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:04.814Z,1613625844.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:05.631Z,1613625845.631 [Micromodem](INFO): Nmea in: $SNTTA,0.110018,,,,052404.40*4A 2021-02-18T05:24:05.650Z,1613625845.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.820007 m, bearing: 66.652217 deg, deltaT: 4.423193 s, approachRate: -0.732504 m/s, LOS rate: -0.143656 deg/s, posRepo size: 4 2021-02-18T05:24:05.652Z,1613625845.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.820007 m, bearing: 66.652217 deg, approachRate: -0.732504 m/s, LOS rate: -0.143656 deg/s, cmd update: -0.574625 deg/s, cmd heading: 70.085873 deg, new cmd heading: 70.432515 deg. 2021-02-18T05:24:08.078Z,1613625848.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:24:08.865Z,1613625848.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:09.242Z,1613625849.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:10.058Z,1613625850.058 [Micromodem](INFO): Nmea in: $SNTTA,0.107736,,,,052408.87*40 2021-02-18T05:24:10.502Z,1613625850.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.460007 m, bearing: 66.464421 deg, deltaT: 4.884398 s, approachRate: -0.687905 m/s, LOS rate: -0.038448 deg/s, posRepo size: 4 2021-02-18T05:24:10.504Z,1613625850.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.460007 m, bearing: 66.464421 deg, approachRate: -0.687905 m/s, LOS rate: -0.038448 deg/s, cmd update: -0.153793 deg/s, cmd heading: 67.279173 deg, new cmd heading: 67.065043 deg. 2021-02-18T05:24:12.929Z,1613625852.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:24:13.679Z,1613625853.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:14.082Z,1613625854.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:14.927Z,1613625854.927 [Micromodem](INFO): Nmea in: $SNTTA,0.105355,,,,052413.68*48 2021-02-18T05:24:14.961Z,1613625854.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.859985 m, bearing: 65.665200 deg, deltaT: 4.394799 s, approachRate: -0.819155 m/s, LOS rate: -0.181856 deg/s, posRepo size: 4 2021-02-18T05:24:14.963Z,1613625854.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.859985 m, bearing: 65.665200 deg, approachRate: -0.819155 m/s, LOS rate: -0.181856 deg/s, cmd update: -0.727424 deg/s, cmd heading: 66.605740 deg, new cmd heading: 66.535680 deg. 2021-02-18T05:24:17.327Z,1613625857.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:24:18.126Z,1613625858.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:18.526Z,1613625858.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:19.356Z,1613625859.356 [Micromodem](INFO): Nmea in: $SNTTA,0.103186,,,,052418.13*45 2021-02-18T05:24:19.381Z,1613625859.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.680008 m, bearing: 66.995256 deg, deltaT: 4.479003 s, approachRate: -0.709974 m/s, LOS rate: 0.296954 deg/s, posRepo size: 4 2021-02-18T05:24:19.383Z,1613625859.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.680008 m, bearing: 66.995256 deg, approachRate: -0.709974 m/s, LOS rate: 0.296954 deg/s, cmd update: 1.187815 deg/s, cmd heading: 63.335981 deg, new cmd heading: 63.058948 deg. 2021-02-18T05:24:21.846Z,1613625861.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:24:22.564Z,1613625862.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:22.987Z,1613625862.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:23.823Z,1613625863.823 [Micromodem](INFO): Nmea in: $SNTTA,0.100950,,,,052422.57*4C 2021-02-18T05:24:23.909Z,1613625863.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.259995 m, bearing: 66.392799 deg, deltaT: 4.417830 s, approachRate: -0.774139 m/s, LOS rate: -0.136369 deg/s, posRepo size: 4 2021-02-18T05:24:23.915Z,1613625863.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.259995 m, bearing: 66.392799 deg, approachRate: -0.774139 m/s, LOS rate: -0.136369 deg/s, cmd update: -0.545478 deg/s, cmd heading: 68.578724 deg, new cmd heading: 69.166548 deg. 2021-02-18T05:24:26.245Z,1613625866.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:24:27.011Z,1613625867.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:27.433Z,1613625867.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:28.240Z,1613625868.240 [Micromodem](INFO): Nmea in: $SNTTA,0.098718,,,,052427.02*4B 2021-02-18T05:24:28.262Z,1613625868.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.899994 m, bearing: 66.201602 deg, deltaT: 4.510482 s, approachRate: -0.744932 m/s, LOS rate: -0.042390 deg/s, posRepo size: 4 2021-02-18T05:24:28.284Z,1613625868.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.899994 m, bearing: 66.201602 deg, approachRate: -0.744932 m/s, LOS rate: -0.042390 deg/s, cmd update: -0.169558 deg/s, cmd heading: 66.121151 deg, new cmd heading: 65.934456 deg. 2021-02-18T05:24:30.664Z,1613625870.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:24:31.452Z,1613625871.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:31.881Z,1613625871.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:32.695Z,1613625872.695 [Micromodem](INFO): Nmea in: $SNTTA,0.096673,,,,052431.46*4E 2021-02-18T05:24:32.723Z,1613625872.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.839996 m, bearing: 66.279842 deg, deltaT: 4.374124 s, approachRate: -0.699568 m/s, LOS rate: 0.017887 deg/s, posRepo size: 4 2021-02-18T05:24:32.726Z,1613625872.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.839996 m, bearing: 66.279842 deg, approachRate: -0.699568 m/s, LOS rate: 0.017887 deg/s, cmd update: 0.071548 deg/s, cmd heading: 65.377962 deg, new cmd heading: 65.306886 deg. 2021-02-18T05:24:35.151Z,1613625875.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:24:35.641Z,1613625875.641 [CBIT](IMPORTANT): Beginning ground fault scan 2021-02-18T05:24:35.905Z,1613625875.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:36.302Z,1613625876.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:37.128Z,1613625877.128 [Micromodem](INFO): Nmea in: $SNTTA,0.094375,,,,052435.91*41 2021-02-18T05:24:37.185Z,1613625877.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.360001 m, bearing: 66.072081 deg, deltaT: 4.447531 s, approachRate: -0.782456 m/s, LOS rate: -0.046714 deg/s, posRepo size: 4 2021-02-18T05:24:37.187Z,1613625877.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.360001 m, bearing: 66.072081 deg, approachRate: -0.782456 m/s, LOS rate: -0.046714 deg/s, cmd update: -0.186855 deg/s, cmd heading: 65.694570 deg, new cmd heading: 65.727296 deg. 2021-02-18T05:24:39.566Z,1613625879.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:24:40.345Z,1613625880.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:40.753Z,1613625880.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:41.568Z,1613625881.568 [Micromodem](INFO): Nmea in: $SNTTA,0.092101,,,,052440.35*4A 2021-02-18T05:24:41.602Z,1613625881.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.940002 m, bearing: 65.717218 deg, deltaT: 4.488985 s, approachRate: -0.761864 m/s, LOS rate: -0.079052 deg/s, posRepo size: 4 2021-02-18T05:24:41.604Z,1613625881.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.940002 m, bearing: 65.717218 deg, approachRate: -0.761864 m/s, LOS rate: -0.079052 deg/s, cmd update: -0.316207 deg/s, cmd heading: 64.852345 deg, new cmd heading: 64.783807 deg. 2021-02-18T05:24:44.025Z,1613625884.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:24:44.807Z,1613625884.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:45.205Z,1613625885.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:46.028Z,1613625886.028 [Micromodem](INFO): Nmea in: $SNTTA,0.089777,,,,052444.81*4C 2021-02-18T05:24:46.062Z,1613625886.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.459991 m, bearing: 65.780575 deg, deltaT: 4.386343 s, approachRate: -0.793374 m/s, LOS rate: 0.014444 deg/s, posRepo size: 4 2021-02-18T05:24:46.064Z,1613625886.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.459991 m, bearing: 65.780575 deg, approachRate: -0.793374 m/s, LOS rate: 0.014444 deg/s, cmd update: 0.057776 deg/s, cmd heading: 63.464076 deg, new cmd heading: 63.325936 deg. 2021-02-18T05:24:46.962Z,1613625886.962 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.008777 CHAN A1 (24V): -0.028419 CHAN A2 (12V): -0.007754 CHAN A3 (5V): -0.002746 CHAN B0 (3.3V): 0.000147 CHAN B1 (3.15aV): 0.000146 CHAN B2 (3.15bV): 0.000214 CHAN B3 (GND): 0.001869 OPEN: 0.005835 Full Scale Calc: 4.765 mA, -1.589 mA 2021-02-18T05:24:48.456Z,1613625888.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:24:49.242Z,1613625889.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:49.655Z,1613625889.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:50.468Z,1613625890.468 [Micromodem](INFO): Nmea in: $SNTTA,0.087518,,,,052449.25*4A 2021-02-18T05:24:50.505Z,1613625890.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.040009 m, bearing: 65.390749 deg, deltaT: 4.474538 s, approachRate: -0.764321 m/s, LOS rate: -0.087121 deg/s, posRepo size: 4 2021-02-18T05:24:50.507Z,1613625890.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.040009 m, bearing: 65.390749 deg, approachRate: -0.764321 m/s, LOS rate: -0.087121 deg/s, cmd update: -0.348484 deg/s, cmd heading: 63.722585 deg, new cmd heading: 63.746014 deg. 2021-02-18T05:24:52.925Z,1613625892.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:24:53.684Z,1613625893.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:54.091Z,1613625894.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:54.915Z,1613625894.915 [Micromodem](INFO): Nmea in: $SNTTA,0.085169,,,,052453.69*49 2021-02-18T05:24:54.982Z,1613625894.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.560005 m, bearing: 65.775903 deg, deltaT: 4.414042 s, approachRate: -0.788394 m/s, LOS rate: 0.087257 deg/s, posRepo size: 4 2021-02-18T05:24:54.989Z,1613625894.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.560005 m, bearing: 65.775903 deg, approachRate: -0.788394 m/s, LOS rate: 0.087257 deg/s, cmd update: 0.349026 deg/s, cmd heading: 62.184287 deg, new cmd heading: 62.021136 deg. 2021-02-18T05:24:57.338Z,1613625897.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:24:58.149Z,1613625898.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:24:58.534Z,1613625898.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:24:59.368Z,1613625899.368 [Micromodem](INFO): Nmea in: $SNTTA,0.082906,,,,052458.15*4F 2021-02-18T05:24:59.390Z,1613625899.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.200005 m, bearing: 66.941441 deg, deltaT: 4.458944 s, approachRate: -0.753542 m/s, LOS rate: 0.261393 deg/s, posRepo size: 4 2021-02-18T05:24:59.392Z,1613625899.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.200005 m, bearing: 66.941441 deg, approachRate: -0.753542 m/s, LOS rate: 0.261393 deg/s, cmd update: 1.045573 deg/s, cmd heading: 63.740657 deg, new cmd heading: 63.886060 deg. 2021-02-18T05:25:01.878Z,1613625901.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:25:02.574Z,1613625902.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:25:02.995Z,1613625902.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:25:03.820Z,1613625903.820 [Micromodem](INFO): Nmea in: $SNTTA,0.080633,,,,052502.58*43 2021-02-18T05:25:03.899Z,1613625903.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.780006 m, bearing: 66.935123 deg, deltaT: 4.454069 s, approachRate: -0.767837 m/s, LOS rate: -0.001418 deg/s, posRepo size: 4 2021-02-18T05:25:03.901Z,1613625903.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.780006 m, bearing: 66.935123 deg, approachRate: -0.767837 m/s, LOS rate: -0.001418 deg/s, cmd update: -0.005674 deg/s, cmd heading: 68.391817 deg, new cmd heading: 68.886655 deg. 2021-02-18T05:25:06.234Z,1613625906.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:25:07.022Z,1613625907.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:25:07.422Z,1613625907.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:25:08.248Z,1613625908.248 [Micromodem](INFO): Nmea in: $SNTTA,0.078275,,,,052507.02*48 2021-02-18T05:25:08.289Z,1613625908.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.300011 m, bearing: 66.469489 deg, deltaT: 4.492853 s, approachRate: -0.774563 m/s, LOS rate: -0.103639 deg/s, posRepo size: 4 2021-02-18T05:25:08.290Z,1613625908.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.300011 m, bearing: 66.469489 deg, approachRate: -0.774563 m/s, LOS rate: -0.103639 deg/s, cmd update: -0.414556 deg/s, cmd heading: 68.366306 deg, new cmd heading: 68.364203 deg. 2021-02-18T05:25:10.668Z,1613625910.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:25:11.466Z,1613625911.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:25:11.893Z,1613625911.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:25:12.696Z,1613625912.696 [Micromodem](INFO): Nmea in: $SNTTA,0.075890,,,,052511.47*42 2021-02-18T05:25:12.737Z,1613625912.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.639999 m, bearing: 65.305495 deg, deltaT: 4.411300 s, approachRate: -0.829690 m/s, LOS rate: -0.263866 deg/s, posRepo size: 4 2021-02-18T05:25:12.740Z,1613625912.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.639999 m, bearing: 65.305495 deg, approachRate: -0.829690 m/s, LOS rate: -0.263866 deg/s, cmd update: -1.055466 deg/s, cmd heading: 66.536728 deg, new cmd heading: 66.368461 deg. 2021-02-18T05:25:15.175Z,1613625915.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:25:15.921Z,1613625915.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:25:16.317Z,1613625916.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:25:17.140Z,1613625917.140 [Micromodem](INFO): Nmea in: $SNTTA,0.073868,,,,052515.92*4F 2021-02-18T05:25:17.197Z,1613625917.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.640007 m, bearing: 65.671784 deg, deltaT: 4.413486 s, approachRate: -0.679733 m/s, LOS rate: 0.082993 deg/s, posRepo size: 4 2021-02-18T05:25:17.201Z,1613625917.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.640007 m, bearing: 65.671784 deg, approachRate: -0.679733 m/s, LOS rate: 0.082993 deg/s, cmd update: 0.331973 deg/s, cmd heading: 61.889776 deg, new cmd heading: 61.402548 deg. 2021-02-18T05:25:19.560Z,1613625919.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:25:20.348Z,1613625920.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:25:20.758Z,1613625920.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:25:21.576Z,1613625921.576 [Micromodem](INFO): Nmea in: $SNTTA,0.071567,,,,052520.35*44 2021-02-18T05:25:21.598Z,1613625921.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.160004 m, bearing: 66.499056 deg, deltaT: 4.446347 s, approachRate: -0.782666 m/s, LOS rate: 0.186057 deg/s, posRepo size: 4 2021-02-18T05:25:21.600Z,1613625921.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.160004 m, bearing: 66.499056 deg, approachRate: -0.782666 m/s, LOS rate: 0.186057 deg/s, cmd update: 0.744227 deg/s, cmd heading: 63.369482 deg, new cmd heading: 63.504502 deg. 2021-02-18T05:25:24.028Z,1613625924.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:25:24.809Z,1613625924.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:25:25.199Z,1613625925.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:25:26.044Z,1613625926.044 [Micromodem](INFO): Nmea in: $SNTTA,0.069308,,,,052524.81*49 2021-02-18T05:25:26.107Z,1613625926.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.800003 m, bearing: 67.298667 deg, deltaT: 4.440972 s, approachRate: -0.756591 m/s, LOS rate: 0.180053 deg/s, posRepo size: 4 2021-02-18T05:25:26.109Z,1613625926.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.800003 m, bearing: 67.298667 deg, approachRate: -0.756591 m/s, LOS rate: 0.180053 deg/s, cmd update: 0.720212 deg/s, cmd heading: 66.674580 deg, new cmd heading: 67.024844 deg. 2021-02-18T05:25:28.449Z,1613625928.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:25:29.241Z,1613625929.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:25:29.643Z,1613625929.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:25:30.475Z,1613625930.475 [Micromodem](INFO): Nmea in: $SNTTA,0.067243,,,,052529.24*4B 2021-02-18T05:25:30.497Z,1613625930.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.619995 m, bearing: 65.976663 deg, deltaT: 4.459352 s, approachRate: -0.713110 m/s, LOS rate: -0.296456 deg/s, posRepo size: 4 2021-02-18T05:25:30.499Z,1613625930.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.619995 m, bearing: 65.976663 deg, approachRate: -0.713110 m/s, LOS rate: -0.296456 deg/s, cmd update: -1.185826 deg/s, cmd heading: 69.886281 deg, new cmd heading: 70.178246 deg. 2021-02-18T05:25:32.934Z,1613625932.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:25:33.686Z,1613625933.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:25:34.086Z,1613625934.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:25:34.912Z,1613625934.912 [Micromodem](INFO): Nmea in: $SNTTA,0.065049,,,,052533.69*43 2021-02-18T05:25:34.946Z,1613625934.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.500008 m, bearing: 65.503065 deg, deltaT: 4.416873 s, approachRate: -0.706379 m/s, LOS rate: -0.107225 deg/s, posRepo size: 4 2021-02-18T05:25:34.948Z,1613625934.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.500008 m, bearing: 65.503065 deg, approachRate: -0.706379 m/s, LOS rate: -0.107225 deg/s, cmd update: -0.428899 deg/s, cmd heading: 64.648709 deg, new cmd heading: 64.129888 deg. 2021-02-18T05:25:37.394Z,1613625937.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:25:38.132Z,1613625938.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:25:38.530Z,1613625938.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:25:39.356Z,1613625939.356 [Micromodem](INFO): Nmea in: $SNTTA,0.062899,,,,052538.13*47 2021-02-18T05:25:39.378Z,1613625939.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.140007 m, bearing: 65.330855 deg, deltaT: 4.486153 s, approachRate: -0.748971 m/s, LOS rate: -0.038387 deg/s, posRepo size: 4 2021-02-18T05:25:39.400Z,1613625939.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.140007 m, bearing: 65.330855 deg, approachRate: -0.748971 m/s, LOS rate: -0.038387 deg/s, cmd update: -0.153548 deg/s, cmd heading: 62.726311 deg, new cmd heading: 62.560244 deg. 2021-02-18T05:25:41.871Z,1613625941.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:25:42.569Z,1613625942.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:25:42.981Z,1613625942.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:25:43.828Z,1613625943.828 [Micromodem](INFO): Nmea in: $SNTTA,0.060739,,,,052542.57*4D 2021-02-18T05:25:43.904Z,1613625943.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.959999 m, bearing: 66.347208 deg, deltaT: 4.431288 s, approachRate: -0.717626 m/s, LOS rate: 0.229358 deg/s, posRepo size: 4 2021-02-18T05:25:43.906Z,1613625943.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.959999 m, bearing: 66.347208 deg, approachRate: -0.717626 m/s, LOS rate: 0.229358 deg/s, cmd update: 0.917433 deg/s, cmd heading: 62.045914 deg, new cmd heading: 61.971878 deg. 2021-02-18T05:25:46.298Z,1613625946.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:25:47.020Z,1613625947.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:25:47.433Z,1613625947.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:25:48.244Z,1613625948.244 [Micromodem](INFO): Nmea in: $SNTTA,0.058635,,,,052547.02*4E 2021-02-18T05:25:48.286Z,1613625948.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.900002 m, bearing: 66.781328 deg, deltaT: 4.495648 s, approachRate: -0.680658 m/s, LOS rate: 0.096565 deg/s, posRepo size: 4 2021-02-18T05:25:48.288Z,1613625948.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.900002 m, bearing: 66.781328 deg, approachRate: -0.680658 m/s, LOS rate: 0.096565 deg/s, cmd update: 0.386258 deg/s, cmd heading: 66.170492 deg, new cmd heading: 66.508690 deg. 2021-02-18T05:25:50.689Z,1613625950.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:25:51.458Z,1613625951.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:25:51.892Z,1613625951.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:25:52.688Z,1613625952.688 [Micromodem](INFO): Nmea in: $SNTTA,0.056331,,,,052551.46*46 2021-02-18T05:25:52.710Z,1613625952.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.420006 m, bearing: 66.761267 deg, deltaT: 4.356413 s, approachRate: -0.798821 m/s, LOS rate: -0.004605 deg/s, posRepo size: 4 2021-02-18T05:25:52.732Z,1613625952.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.420006 m, bearing: 66.761267 deg, approachRate: -0.798821 m/s, LOS rate: -0.004605 deg/s, cmd update: -0.018419 deg/s, cmd heading: 67.854733 deg, new cmd heading: 68.021712 deg. 2021-02-18T05:25:55.143Z,1613625955.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:25:55.900Z,1613625955.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:25:56.311Z,1613625956.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:25:57.128Z,1613625957.128 [Micromodem](INFO): Nmea in: $SNTTA,0.054340,,,,052555.90*4D 2021-02-18T05:25:57.176Z,1613625957.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.239998 m, bearing: 64.591467 deg, deltaT: 4.466429 s, approachRate: -0.711980 m/s, LOS rate: -0.485802 deg/s, posRepo size: 4 2021-02-18T05:25:57.178Z,1613625957.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.239998 m, bearing: 64.591467 deg, approachRate: -0.711980 m/s, LOS rate: -0.485802 deg/s, cmd update: -1.943209 deg/s, cmd heading: 67.772650 deg, new cmd heading: 67.764513 deg. 2021-02-18T05:25:59.567Z,1613625959.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:00.353Z,1613625960.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:00.754Z,1613625960.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:01.584Z,1613625961.584 [Micromodem](INFO): Nmea in: $SNTTA,0.051994,,,,052600.36*44 2021-02-18T05:26:01.606Z,1613625961.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.760002 m, bearing: 63.525342 deg, deltaT: 4.447259 s, approachRate: -0.782503 m/s, LOS rate: -0.239726 deg/s, posRepo size: 4 2021-02-18T05:26:01.608Z,1613625961.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.760002 m, bearing: 63.525342 deg, approachRate: -0.782503 m/s, LOS rate: -0.239726 deg/s, cmd update: -0.958905 deg/s, cmd heading: 59.111423 deg, new cmd heading: 58.306307 deg. 2021-02-18T05:26:04.040Z,1613625964.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:04.813Z,1613625964.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:05.214Z,1613625965.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:06.032Z,1613625966.032 [Micromodem](INFO): Nmea in: $SNTTA,0.050004,,,,052604.82*4E 2021-02-18T05:26:06.081Z,1613625966.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.820000 m, bearing: 65.565417 deg, deltaT: 4.418335 s, approachRate: -0.665410 m/s, LOS rate: 0.461729 deg/s, posRepo size: 4 2021-02-18T05:26:06.083Z,1613625966.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.820000 m, bearing: 65.565417 deg, approachRate: -0.665410 m/s, LOS rate: 0.461729 deg/s, cmd update: 1.846918 deg/s, cmd heading: 54.874556 deg, new cmd heading: 54.422596 deg. 2021-02-18T05:26:08.452Z,1613625968.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:09.232Z,1613625969.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:09.638Z,1613625969.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:10.476Z,1613625970.476 [Micromodem](INFO): Nmea in: $SNTTA,0.047861,,,,052609.23*45 2021-02-18T05:26:10.491Z,1613625970.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.580002 m, bearing: 66.257800 deg, deltaT: 4.486482 s, approachRate: -0.722169 m/s, LOS rate: 0.154327 deg/s, posRepo size: 4 2021-02-18T05:26:10.493Z,1613625970.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.580002 m, bearing: 66.257800 deg, approachRate: -0.722169 m/s, LOS rate: 0.154327 deg/s, cmd update: 0.617306 deg/s, cmd heading: 63.159718 deg, new cmd heading: 63.889137 deg. 2021-02-18T05:26:12.920Z,1613625972.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:13.682Z,1613625973.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:14.082Z,1613625974.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:14.908Z,1613625974.908 [Micromodem](INFO): Nmea in: $SNTTA,0.045638,,,,052613.68*41 2021-02-18T05:26:14.942Z,1613625974.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.219994 m, bearing: 66.084389 deg, deltaT: 4.414958 s, approachRate: -0.761051 m/s, LOS rate: -0.039278 deg/s, posRepo size: 4 2021-02-18T05:26:14.944Z,1613625974.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.219994 m, bearing: 66.084389 deg, approachRate: -0.761051 m/s, LOS rate: -0.039278 deg/s, cmd update: -0.157113 deg/s, cmd heading: 65.885447 deg, new cmd heading: 66.151067 deg. 2021-02-18T05:26:17.333Z,1613625977.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:18.120Z,1613625978.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:18.526Z,1613625978.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:19.349Z,1613625979.349 [Micromodem](INFO): Nmea in: $SNTTA,0.043261,,,,052618.12*49 2021-02-18T05:26:19.370Z,1613625979.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.680008 m, bearing: 66.272697 deg, deltaT: 4.474691 s, approachRate: -0.791113 m/s, LOS rate: 0.042083 deg/s, posRepo size: 4 2021-02-18T05:26:19.372Z,1613625979.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.680008 m, bearing: 66.272697 deg, approachRate: -0.791113 m/s, LOS rate: 0.042083 deg/s, cmd update: 0.168332 deg/s, cmd heading: 65.183048 deg, new cmd heading: 65.122107 deg. 2021-02-18T05:26:21.829Z,1613625981.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:22.569Z,1613625982.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:22.987Z,1613625982.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:23.818Z,1613625983.818 [Micromodem](INFO): Nmea in: $SNTTA,0.041246,,0.045483,,052622.57*56 2021-02-18T05:26:23.893Z,1613625983.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.619995 m, bearing: 65.857633 deg, deltaT: 4.421262 s, approachRate: -0.692113 m/s, LOS rate: -0.093879 deg/s, posRepo size: 4 2021-02-18T05:26:23.895Z,1613625983.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.619995 m, bearing: 65.857633 deg, approachRate: -0.692113 m/s, LOS rate: -0.093879 deg/s, cmd update: -0.375516 deg/s, cmd heading: 65.925268 deg, new cmd heading: 66.009667 deg. 2021-02-18T05:26:26.232Z,1613625986.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:27.014Z,1613625987.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:27.415Z,1613625987.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:28.241Z,1613625988.241 [Micromodem](INFO): Nmea in: $SNTTA,0.039055,,,,052627.02*4C 2021-02-18T05:26:28.292Z,1613625988.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.380001 m, bearing: 66.000091 deg, deltaT: 4.489397 s, approachRate: -0.721699 m/s, LOS rate: 0.031732 deg/s, posRepo size: 4 2021-02-18T05:26:28.294Z,1613625988.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.380001 m, bearing: 66.000091 deg, approachRate: -0.721699 m/s, LOS rate: 0.031732 deg/s, cmd update: 0.126928 deg/s, cmd heading: 64.234909 deg, new cmd heading: 64.084912 deg. 2021-02-18T05:26:30.678Z,1613625990.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:31.462Z,1613625991.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:31.884Z,1613625991.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:32.684Z,1613625992.684 [Micromodem](INFO): Nmea in: $SNTTA,0.036998,,,,052631.46*4C 2021-02-18T05:26:32.725Z,1613625992.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.259998 m, bearing: 64.492962 deg, deltaT: 4.393054 s, approachRate: -0.710213 m/s, LOS rate: -0.343071 deg/s, posRepo size: 4 2021-02-18T05:26:32.727Z,1613625992.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.259998 m, bearing: 64.492962 deg, approachRate: -0.710213 m/s, LOS rate: -0.343071 deg/s, cmd update: -1.372284 deg/s, cmd heading: 64.790984 deg, new cmd heading: 64.848287 deg. 2021-02-18T05:26:35.144Z,1613625995.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:35.901Z,1613625995.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:36.301Z,1613625996.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:37.140Z,1613625997.140 [Micromodem](INFO): Nmea in: $SNTTA,0.034747,,0.051397,,052635.90*5A 2021-02-18T05:26:37.190Z,1613625997.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.899994 m, bearing: 65.769517 deg, deltaT: 4.443160 s, approachRate: -0.756220 m/s, LOS rate: 0.287308 deg/s, posRepo size: 4 2021-02-18T05:26:37.192Z,1613625997.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.899994 m, bearing: 65.769517 deg, approachRate: -0.756220 m/s, LOS rate: 0.287308 deg/s, cmd update: 1.149232 deg/s, cmd heading: 58.674178 deg, new cmd heading: 58.045256 deg. 2021-02-18T05:26:39.552Z,1613625999.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:40.337Z,1613626000.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:40.758Z,1613626000.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:41.568Z,1613626001.568 [Micromodem](INFO): Nmea in: $SNTTA,0.032614,,,,052640.34*40 2021-02-18T05:26:41.610Z,1613626001.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.779995 m, bearing: 65.582131 deg, deltaT: 4.477837 s, approachRate: -0.696765 m/s, LOS rate: -0.041847 deg/s, posRepo size: 4 2021-02-18T05:26:41.616Z,1613626001.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.779995 m, bearing: 65.582131 deg, approachRate: -0.696765 m/s, LOS rate: -0.041847 deg/s, cmd update: -0.167390 deg/s, cmd heading: 63.817643 deg, new cmd heading: 64.280814 deg. 2021-02-18T05:26:44.024Z,1613626004.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:44.808Z,1613626004.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:45.248Z,1613626005.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:46.044Z,1613626006.044 [Micromodem](INFO): Nmea in: $SNTTA,0.030395,,,,052644.81*44 2021-02-18T05:26:46.122Z,1613626006.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.419998 m, bearing: 66.140191 deg, deltaT: 4.426970 s, approachRate: -0.758983 m/s, LOS rate: 0.126059 deg/s, posRepo size: 4 2021-02-18T05:26:46.128Z,1613626006.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.419998 m, bearing: 66.140191 deg, approachRate: -0.758983 m/s, LOS rate: 0.126059 deg/s, cmd update: 0.504237 deg/s, cmd heading: 63.075941 deg, new cmd heading: 62.994937 deg. 2021-02-18T05:26:48.501Z,1613626008.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:49.262Z,1613626009.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:49.666Z,1613626009.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:50.491Z,1613626010.491 [Micromodem](INFO): Nmea in: $SNTTA,0.028205,,,,052649.27*44 2021-02-18T05:26:50.541Z,1613626010.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.119999 m, bearing: 66.225965 deg, deltaT: 4.492720 s, approachRate: -0.734521 m/s, LOS rate: 0.019092 deg/s, posRepo size: 4 2021-02-18T05:26:50.544Z,1613626010.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.119999 m, bearing: 66.225965 deg, approachRate: -0.734521 m/s, LOS rate: 0.019092 deg/s, cmd update: 0.076367 deg/s, cmd heading: 65.341346 deg, new cmd heading: 65.548266 deg. 2021-02-18T05:26:52.936Z,1613626012.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:53.710Z,1613626013.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:54.115Z,1613626014.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:54.939Z,1613626014.939 [Micromodem](INFO): Nmea in: $SNTTA,0.026111,,,,052653.72*47 2021-02-18T05:26:54.973Z,1613626014.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.939999 m, bearing: 65.613543 deg, deltaT: 4.410459 s, approachRate: -0.721013 m/s, LOS rate: -0.138857 deg/s, posRepo size: 4 2021-02-18T05:26:54.974Z,1613626014.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.94 m. 2021-02-18T05:26:54.976Z,1613626014.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.939999 m, bearing: 65.613543 deg, approachRate: -0.721013 m/s, LOS rate: -0.138857 deg/s, cmd update: -0.555427 deg/s, cmd heading: 65.678158 deg, new cmd heading: 65.711164 deg. 2021-02-18T05:26:55.333Z,1613626015.333 [PowerOnly](INFO): Powering up loadControl 2021-02-18T05:26:57.357Z,1613626017.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:26:58.148Z,1613626018.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:26:58.554Z,1613626018.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:26:59.376Z,1613626019.376 [Micromodem](INFO): Nmea in: $SNTTA,0.024250,,,,052658.15*49 2021-02-18T05:26:59.398Z,1613626019.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.180000 m, bearing: 65.283283 deg, deltaT: 4.487933 s, approachRate: -0.614982 m/s, LOS rate: -0.073588 deg/s, posRepo size: 4 2021-02-18T05:26:59.398Z,1613626019.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.18 m. 2021-02-18T05:26:59.399Z,1613626019.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.18 m. 2021-02-18T05:26:59.399Z,1613626019.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T05:26:59.401Z,1613626019.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.180000 m, bearing: 65.283283 deg, approachRate: -0.614982 m/s, LOS rate: -0.073588 deg/s, cmd update: -0.294354 deg/s, cmd heading: 63.191018 deg, new cmd heading: 62.980519 deg. 2021-02-18T05:27:01.865Z,1613626021.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:27:02.603Z,1613626022.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:27:02.997Z,1613626022.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:27:03.832Z,1613626023.832 [Micromodem](INFO): Nmea in: $SNTTA,0.021737,,,,052702.61*45 2021-02-18T05:27:03.927Z,1613626023.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.399998 m, bearing: 65.258742 deg, deltaT: 4.385650 s, approachRate: -0.861902 m/s, LOS rate: -0.005596 deg/s, posRepo size: 4 2021-02-18T05:27:03.929Z,1613626023.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.399998 m, bearing: 65.258742 deg, approachRate: -0.861902 m/s, LOS rate: -0.005596 deg/s, cmd update: -0.022383 deg/s, cmd heading: 61.897137 deg, new cmd heading: 61.746375 deg. 2021-02-18T05:27:06.245Z,1613626026.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:27:07.043Z,1613626027.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:27:07.470Z,1613626027.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:27:08.268Z,1613626028.268 [Micromodem](INFO): Nmea in: $SNTTA,0.019502,,,,052707.05*4D 2021-02-18T05:27:08.310Z,1613626028.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.040001 m, bearing: 65.556524 deg, deltaT: 4.498696 s, approachRate: -0.746882 m/s, LOS rate: 0.066193 deg/s, posRepo size: 4 2021-02-18T05:27:08.312Z,1613626028.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.040001 m, bearing: 65.556524 deg, approachRate: -0.746882 m/s, LOS rate: 0.066193 deg/s, cmd update: 0.264772 deg/s, cmd heading: 61.796442 deg, new cmd heading: 61.787558 deg. 2021-02-18T05:27:10.714Z,1613626030.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:27:11.486Z,1613626031.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:27:11.898Z,1613626031.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:27:12.712Z,1613626032.712 [Micromodem](INFO): Nmea in: $SNTTA,0.017292,,,,052711.49*42 2021-02-18T05:27:12.768Z,1613626032.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.740000 m, bearing: 65.823325 deg, deltaT: 4.405226 s, approachRate: -0.749111 m/s, LOS rate: 0.060565 deg/s, posRepo size: 4 2021-02-18T05:27:12.795Z,1613626032.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.740000 m, bearing: 65.823325 deg, approachRate: -0.749111 m/s, LOS rate: 0.060565 deg/s, cmd update: 0.242258 deg/s, cmd heading: 62.958555 deg, new cmd heading: 63.080661 deg. 2021-02-18T05:27:15.168Z,1613626035.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:27:15.924Z,1613626035.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:27:16.331Z,1613626036.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:27:17.152Z,1613626037.152 [Micromodem](INFO): Nmea in: $SNTTA,0.015153,,,,052715.93*4D 2021-02-18T05:27:17.229Z,1613626037.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 66.445105 deg, deltaT: 4.483090 s, approachRate: -0.709332 m/s, LOS rate: 0.138694 deg/s, posRepo size: 4 2021-02-18T05:27:17.235Z,1613626037.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.560001 m, bearing: 66.445105 deg, approachRate: -0.709332 m/s, LOS rate: 0.138694 deg/s, cmd update: 0.554778 deg/s, cmd heading: 64.043452 deg, new cmd heading: 64.152146 deg. 2021-02-18T05:27:19.584Z,1613626039.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:27:20.369Z,1613626040.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:27:20.805Z,1613626040.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:27:21.596Z,1613626041.596 [Micromodem](INFO): Nmea in: $SNTTA,0.013103,,,,052720.37*46 2021-02-18T05:27:21.643Z,1613626041.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.440001 m, bearing: 65.740564 deg, deltaT: 4.389307 s, approachRate: -0.710819 m/s, LOS rate: -0.160513 deg/s, posRepo size: 4 2021-02-18T05:27:21.645Z,1613626041.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.440001 m, bearing: 65.740564 deg, approachRate: -0.710819 m/s, LOS rate: -0.160513 deg/s, cmd update: -0.642052 deg/s, cmd heading: 66.490148 deg, new cmd heading: 66.740880 deg. 2021-02-18T05:27:24.051Z,1613626044.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:27:24.816Z,1613626044.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:27:25.219Z,1613626045.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:27:26.048Z,1613626046.048 [Micromodem](INFO): Nmea in: $SNTTA,0.010943,,,,052724.82*43 2021-02-18T05:27:26.083Z,1613626046.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.199997 m, bearing: 64.896004 deg, deltaT: 4.455730 s, approachRate: -0.727154 m/s, LOS rate: -0.189545 deg/s, posRepo size: 4 2021-02-18T05:27:26.085Z,1613626046.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.199997 m, bearing: 64.896004 deg, approachRate: -0.727154 m/s, LOS rate: -0.189545 deg/s, cmd update: -0.758179 deg/s, cmd heading: 63.629333 deg, new cmd heading: 63.349475 deg. 2021-02-18T05:27:28.465Z,1613626048.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:27:29.256Z,1613626049.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:27:29.663Z,1613626049.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:27:30.484Z,1613626050.484 [Micromodem](INFO): Nmea in: $SNTTA,0.008916,,,,052729.26*49 2021-02-18T05:27:30.526Z,1613626050.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.080002 m, bearing: 64.641641 deg, deltaT: 4.480660 s, approachRate: -0.696325 m/s, LOS rate: -0.056769 deg/s, posRepo size: 4 2021-02-18T05:27:30.532Z,1613626050.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.080002 m, bearing: 64.641641 deg, approachRate: -0.696325 m/s, LOS rate: -0.056769 deg/s, cmd update: -0.227076 deg/s, cmd heading: 60.235224 deg, new cmd heading: 59.930030 deg. 2021-02-18T05:27:32.965Z,1613626052.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:27:33.700Z,1613626053.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:27:34.111Z,1613626054.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:27:34.931Z,1613626054.931 [Micromodem](INFO): Nmea in: $SNTTA,0.006787,,,,052733.70*49 2021-02-18T05:27:34.966Z,1613626054.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.960000 m, bearing: 67.161421 deg, deltaT: 4.396923 s, approachRate: -0.709588 m/s, LOS rate: 0.573078 deg/s, posRepo size: 4 2021-02-18T05:27:34.968Z,1613626054.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.960000 m, bearing: 67.161421 deg, approachRate: -0.709588 m/s, LOS rate: 0.573078 deg/s, cmd update: 2.292312 deg/s, cmd heading: 59.235924 deg, new cmd heading: 59.135565 deg. 2021-02-18T05:27:37.357Z,1613626057.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:27:38.144Z,1613626058.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:27:38.550Z,1613626058.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:27:39.373Z,1613626059.373 [Micromodem](INFO): Nmea in: $SNTTA,0.004899,,0.038436,,052738.15*57 2021-02-18T05:27:39.411Z,1613626059.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.080001 m, bearing: 65.920287 deg, deltaT: 4.489795 s, approachRate: -0.641455 m/s, LOS rate: -0.276434 deg/s, posRepo size: 4 2021-02-18T05:27:39.413Z,1613626059.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.080001 m, bearing: 65.920287 deg, approachRate: -0.641455 m/s, LOS rate: -0.276434 deg/s, cmd update: -1.105738 deg/s, cmd heading: 69.519054 deg, new cmd heading: 70.438099 deg. 2021-02-18T05:27:41.882Z,1613626061.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:27:42.597Z,1613626062.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:27:43.005Z,1613626063.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:27:43.825Z,1613626063.825 [Micromodem](INFO): Nmea in: $SNTTA,0.003227,,,,052742.60*44 2021-02-18T05:27:43.904Z,1613626063.904 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T05:27:43.904Z,1613626063.904 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T05:27:43.904Z,1613626063.904 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T05:27:43.904Z,1613626063.904 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:27:43.904Z,1613626063.904 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T05:27:43.905Z,1613626063.905 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 2021-02-18T05:27:43.905Z,1613626063.905 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T05:27:43.905Z,1613626063.905 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T05:27:43.905Z,1613626063.905 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T05:27:43.908Z,1613626063.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 61.826585 deg, deltaT: 4.412832 s, approachRate: -0.557466 m/s, LOS rate: -0.927681 deg/s, posRepo size: 4 2021-02-18T05:27:43.909Z,1613626063.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.619999 m, bearing: 61.826585 deg, approachRate: -0.557466 m/s, LOS rate: -0.927681 deg/s, cmd update: -3.710725 deg/s, cmd heading: 64.652805 deg, new cmd heading: 64.103883 deg. 2021-02-18T05:27:44.245Z,1613626064.245 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T052744: (41.552319, -70.708603) 2021-02-18T05:27:44.245Z,1613626064.245 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T05:27:44.245Z,1613626064.245 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T05:27:44.245Z,1613626064.245 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:27:44.245Z,1613626064.245 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T05:27:44.245Z,1613626064.245 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:27:44.246Z,1613626064.246 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T05:27:44.246Z,1613626064.246 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T05:27:44.246Z,1613626064.246 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T05:27:46.262Z,1613626066.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:27:47.038Z,1613626067.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:27:47.472Z,1613626067.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:27:48.264Z,1613626068.264 [Micromodem](INFO): Nmea in: $SNTTA,0.002550,,,,052747.04*45 2021-02-18T05:27:48.302Z,1613626068.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.479999 m, bearing: 61.227660 deg, deltaT: 4.498686 s, approachRate: -0.253407 m/s, LOS rate: -0.133133 deg/s, posRepo size: 4 2021-02-18T05:27:48.304Z,1613626068.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.479999 m, bearing: 61.227660 deg, approachRate: -0.253407 m/s, LOS rate: -0.133133 deg/s, cmd update: -0.532534 deg/s, cmd heading: 47.899922 deg, new cmd heading: 46.502081 deg. 2021-02-18T05:27:50.684Z,1613626070.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:27:51.482Z,1613626071.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:27:51.892Z,1613626071.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:27:52.708Z,1613626072.708 [Micromodem](INFO): Nmea in: $SNTTA,0.003337,,,,052751.48*4C 2021-02-18T05:27:52.750Z,1613626072.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.100000 m, bearing: 42.565630 deg, deltaT: 4.384867 s, approachRate: 0.369453 m/s, LOS rate: -4.256008 deg/s, posRepo size: 4 2021-02-18T05:27:52.752Z,1613626072.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.100000 m, bearing: 42.565630 deg, approachRate: 0.369453 m/s, LOS rate: -4.256008 deg/s, cmd update: -12.000000 deg/s, cmd heading: 45.571250 deg, new cmd heading: 45.331031 deg. 2021-02-18T05:27:55.188Z,1613626075.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:27:55.920Z,1613626075.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:27:56.333Z,1613626076.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:27:57.148Z,1613626077.148 [Micromodem](INFO): Nmea in: $SNTTA,0.006219,,,,052755.92*47 2021-02-18T05:27:57.214Z,1613626077.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.359999 m, bearing: 42.072258 deg, deltaT: 4.474429 s, approachRate: 0.952076 m/s, LOS rate: -0.110265 deg/s, posRepo size: 4 2021-02-18T05:27:57.217Z,1613626077.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.359999 m, bearing: 42.072258 deg, approachRate: 0.952076 m/s, LOS rate: -0.110265 deg/s, cmd update: -0.441059 deg/s, cmd heading: 351.859885 deg, new cmd heading: 346.585501 deg. 2021-02-18T05:27:59.592Z,1613626079.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:00.372Z,1613626080.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:00.804Z,1613626080.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:01.621Z,1613626081.621 [Micromodem](INFO): Nmea in: $SNTTA,0.007000,,,,052800.42*4E 2021-02-18T05:28:01.642Z,1613626081.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.619997 m, bearing: 14.623997 deg, deltaT: 4.422732 s, approachRate: 0.284891 m/s, LOS rate: -6.206178 deg/s, posRepo size: 4 2021-02-18T05:28:01.644Z,1613626081.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.619997 m, bearing: 14.623997 deg, approachRate: 0.284891 m/s, LOS rate: -6.206178 deg/s, cmd update: -12.000000 deg/s, cmd heading: 349.911664 deg, new cmd heading: 349.713177 deg. 2021-02-18T05:28:04.051Z,1613626084.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:04.816Z,1613626084.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:05.215Z,1613626085.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:06.047Z,1613626086.047 [Micromodem](INFO): Nmea in: $SNTTA,0.008589,0.041308,,,052804.82*5D 2021-02-18T05:28:06.082Z,1613626086.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.100001 m, bearing: 39.350636 deg, deltaT: 4.442442 s, approachRate: 0.783354 m/s, LOS rate: 5.566001 deg/s, posRepo size: 4 2021-02-18T05:28:06.082Z,1613626086.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.10 m. Rolling out. 2021-02-18T05:28:06.082Z,1613626086.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T05:28:08.461Z,1613626088.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:09.252Z,1613626089.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:09.663Z,1613626089.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:10.488Z,1613626090.488 [Micromodem](INFO): Nmea in: $SNTTA,0.010085,,0.033229,0.037586,052809.26*48 2021-02-18T05:28:10.510Z,1613626090.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.199997 m, bearing: 335.614131 deg, deltaT: 4.461741 s, approachRate: 0.470667 m/s, LOS rate: -14.285119 deg/s, posRepo size: 4 2021-02-18T05:28:12.946Z,1613626092.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:13.696Z,1613626093.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:14.102Z,1613626094.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:14.924Z,1613626094.924 [Micromodem](INFO): Nmea in: $SNTTA,0.011602,,,,052813.70*4E 2021-02-18T05:28:14.978Z,1613626094.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.520002 m, bearing: 353.109497 deg, deltaT: 4.414064 s, approachRate: 0.299045 m/s, LOS rate: 3.963551 deg/s, posRepo size: 4 2021-02-18T05:28:17.363Z,1613626097.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:18.142Z,1613626098.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:18.567Z,1613626098.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:19.372Z,1613626099.372 [Micromodem](INFO): Nmea in: $SNTTA,0.012875,,,,052818.14*4A 2021-02-18T05:28:19.410Z,1613626099.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.320000 m, bearing: 289.217831 deg, deltaT: 4.479900 s, approachRate: 0.401794 m/s, LOS rate: -14.261851 deg/s, posRepo size: 4 2021-02-18T05:28:21.878Z,1613626101.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:22.589Z,1613626102.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:22.989Z,1613626102.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:23.838Z,1613626103.838 [Micromodem](INFO): Nmea in: $SNTTA,0.013648,,,,052822.59*4B 2021-02-18T05:28:23.911Z,1613626103.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.519997 m, bearing: 274.901891 deg, deltaT: 4.416997 s, approachRate: 0.271677 m/s, LOS rate: -3.241103 deg/s, posRepo size: 4 2021-02-18T05:28:25.932Z,1613626105.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:26.630Z,1613626106.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:27.031Z,1613626107.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:27.860Z,1613626107.860 [Micromodem](INFO): Nmea in: $SNTTA,0.014432,,,,052826.63*4E 2021-02-18T05:28:27.942Z,1613626107.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 321.968069 deg, deltaT: 4.023567 s, approachRate: 0.507014 m/s, LOS rate: 11.697625 deg/s, posRepo size: 4 2021-02-18T05:28:29.900Z,1613626109.900 [PowerOnly](INFO): Powering down loadControl 2021-02-18T05:28:29.953Z,1613626109.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:30.664Z,1613626110.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:31.070Z,1613626111.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:31.907Z,1613626111.907 [Micromodem](INFO): Nmea in: $SNTTA,0.015265,,0.040145,,052830.67*52 2021-02-18T05:28:31.958Z,1613626111.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.919998 m, bearing: 283.135192 deg, deltaT: 4.040189 s, approachRate: 0.089104 m/s, LOS rate: -9.611649 deg/s, posRepo size: 4 2021-02-18T05:28:34.340Z,1613626114.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:35.179Z,1613626115.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:35.517Z,1613626115.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:36.394Z,1613626116.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.020000 m, bearing: 291.380460 deg, deltaT: 4.463962 s, approachRate: 0.470435 m/s, LOS rate: 1.847074 deg/s, posRepo size: 4 2021-02-18T05:28:36.736Z,1613626116.736 [Micromodem](INFO): Nmea in: $SNTTA,0.016582,,,,052835.18*48 2021-02-18T05:28:38.805Z,1613626118.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:39.552Z,1613626119.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:39.960Z,1613626119.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:40.812Z,1613626120.812 [Micromodem](INFO): Nmea in: $SNTTA,0.017962,,,,052839.56*4D 2021-02-18T05:28:40.896Z,1613626120.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.779999 m, bearing: 308.514590 deg, deltaT: 4.436157 s, approachRate: 0.622160 m/s, LOS rate: 3.862381 deg/s, posRepo size: 4 2021-02-18T05:28:42.890Z,1613626122.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:43.592Z,1613626123.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:43.999Z,1613626123.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:44.831Z,1613626124.831 [Micromodem](INFO): Nmea in: $SNTTA,0.019416,,0.020560,0.021941,052843.59*41 2021-02-18T05:28:44.910Z,1613626124.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.280003 m, bearing: 295.673999 deg, deltaT: 4.034926 s, approachRate: 0.371755 m/s, LOS rate: -3.182361 deg/s, posRepo size: 4 2021-02-18T05:28:47.244Z,1613626127.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:48.042Z,1613626128.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:48.443Z,1613626128.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:49.273Z,1613626129.273 [Micromodem](INFO): Nmea in: $SNTTA,0.021066,,,,052848.05*45 2021-02-18T05:28:49.289Z,1613626129.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.220001 m, bearing: 317.090385 deg, deltaT: 4.504789 s, approachRate: 0.652638 m/s, LOS rate: 4.754137 deg/s, posRepo size: 4 2021-02-18T05:28:51.693Z,1613626131.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:52.480Z,1613626132.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:52.896Z,1613626132.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:53.715Z,1613626133.715 [Micromodem](INFO): Nmea in: $SNTTA,0.022864,,,,052852.49*4F 2021-02-18T05:28:53.734Z,1613626133.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.500000 m, bearing: 246.251542 deg, deltaT: 4.399989 s, approachRate: 0.518183 m/s, LOS rate: -16.099777 deg/s, posRepo size: 4 2021-02-18T05:28:56.152Z,1613626136.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:28:56.924Z,1613626136.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:28:57.336Z,1613626137.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:28:58.152Z,1613626138.152 [Micromodem](INFO): Nmea in: $SNTTA,0.024689,,,,052856.93*47 2021-02-18T05:28:58.202Z,1613626138.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.559998 m, bearing: 257.219433 deg, deltaT: 4.481858 s, approachRate: 0.682752 m/s, LOS rate: 2.447175 deg/s, posRepo size: 4 2021-02-18T05:29:00.577Z,1613626140.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:01.368Z,1613626141.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:29:01.805Z,1613626141.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:29:02.596Z,1613626142.596 [Micromodem](INFO): Nmea in: $SNTTA,0.026717,,,,052901.37*4E 2021-02-18T05:29:02.633Z,1613626142.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.620003 m, bearing: 253.151618 deg, deltaT: 4.412413 s, approachRate: 0.693499 m/s, LOS rate: -0.921903 deg/s, posRepo size: 4 2021-02-18T05:29:05.080Z,1613626145.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:05.851Z,1613626145.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:29:06.225Z,1613626146.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:29:07.057Z,1613626147.057 [Micromodem](INFO): Nmea in: $SNTTA,0.028486,,,,052905.85*46 2021-02-18T05:29:07.114Z,1613626147.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.200001 m, bearing: 309.524284 deg, deltaT: 4.420582 s, approachRate: 0.583633 m/s, LOS rate: 12.752317 deg/s, posRepo size: 4 2021-02-18T05:29:09.516Z,1613626149.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:10.264Z,1613626150.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:29:10.667Z,1613626150.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:29:11.493Z,1613626151.493 [Micromodem](INFO): Nmea in: $SNTTA,0.030474,,,,052910.27*4E 2021-02-18T05:29:11.544Z,1613626151.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.259998 m, bearing: 265.065353 deg, deltaT: 4.479772 s, approachRate: 0.683070 m/s, LOS rate: -9.924373 deg/s, posRepo size: 4 2021-02-18T05:29:13.956Z,1613626153.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:14.709Z,1613626154.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:29:15.106Z,1613626155.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:29:15.932Z,1613626155.932 [Micromodem](INFO): Nmea in: $SNTTA,0.032508,,,,052914.71*41 2021-02-18T05:29:15.994Z,1613626155.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.259998 m, bearing: 265.286351 deg, deltaT: 4.401313 s, approachRate: 0.681615 m/s, LOS rate: 0.050212 deg/s, posRepo size: 4 2021-02-18T05:29:18.380Z,1613626158.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:19.147Z,1613626159.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:29:19.550Z,1613626159.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:29:20.376Z,1613626160.376 [Micromodem](INFO): Nmea in: $SNTTA,0.034779,,,,052919.15*4C 2021-02-18T05:29:20.413Z,1613626160.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.739998 m, bearing: 292.943398 deg, deltaT: 4.516017 s, approachRate: 0.770590 m/s, LOS rate: 6.124213 deg/s, posRepo size: 4 2021-02-18T05:29:22.877Z,1613626162.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:23.594Z,1613626163.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:29:24.002Z,1613626164.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:29:24.022Z,1613626164.022 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T05:29:24.832Z,1613626164.832 [Micromodem](INFO): Nmea in: $SNTTA,0.036707,,,,052923.60*4C 2021-02-18T05:29:24.917Z,1613626164.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.500000 m, bearing: 266.977451 deg, deltaT: 4.393791 s, approachRate: 0.628160 m/s, LOS rate: -5.909691 deg/s, posRepo size: 4 2021-02-18T05:29:27.257Z,1613626167.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:28.037Z,1613626168.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:29:28.452Z,1613626168.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:29:29.252Z,1613626169.252 [Micromodem](INFO): Nmea in: $SNTTA,0.038806,,,,052928.04*45 2021-02-18T05:29:30.095Z,1613626170.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:31.675Z,1613626171.675 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:29:32.924Z,1613626172.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:33.688Z,1613626173.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:29:34.115Z,1613626174.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:29:34.924Z,1613626174.924 [Micromodem](INFO): Nmea in: $SNTTA,0.041521,,,,052933.69*42 2021-02-18T05:29:34.965Z,1613626174.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.760002 m, bearing: 268.118775 deg, deltaT: 10.085975 s, approachRate: 0.719812 m/s, LOS rate: 0.113160 deg/s, posRepo size: 4 2021-02-18T05:29:37.340Z,1613626177.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:38.132Z,1613626178.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:29:38.546Z,1613626178.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:29:39.360Z,1613626179.360 [Micromodem](INFO): Nmea in: $SNTTA,0.043844,,,,052938.13*48 2021-02-18T05:29:39.402Z,1613626179.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.940010 m, bearing: 270.218485 deg, deltaT: 4.477345 s, approachRate: 0.710244 m/s, LOS rate: 0.468963 deg/s, posRepo size: 4 2021-02-18T05:29:41.883Z,1613626181.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:42.592Z,1613626182.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:29:42.988Z,1613626182.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:29:43.825Z,1613626183.825 [Micromodem](INFO): Nmea in: $SNTTA,0.045690,,,,052942.59*4A 2021-02-18T05:29:43.894Z,1613626183.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.879997 m, bearing: 274.335395 deg, deltaT: 4.410114 s, approachRate: 0.666647 m/s, LOS rate: 0.933516 deg/s, posRepo size: 4 2021-02-18T05:29:46.227Z,1613626186.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:47.022Z,1613626187.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:29:47.427Z,1613626187.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:29:48.251Z,1613626188.251 [Micromodem](INFO): Nmea in: $SNTTA,0.047853,,,,052947.03*43 2021-02-18T05:29:48.270Z,1613626188.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.120010 m, bearing: 277.988699 deg, deltaT: 4.511123 s, approachRate: 0.718228 m/s, LOS rate: 0.809844 deg/s, posRepo size: 4 2021-02-18T05:29:50.672Z,1613626190.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:51.464Z,1613626191.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:29:51.888Z,1613626191.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:29:52.692Z,1613626192.692 [Micromodem](INFO): Nmea in: $SNTTA,0.049976,,,,052951.47*4C 2021-02-18T05:29:52.726Z,1613626192.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.300003 m, bearing: 280.470298 deg, deltaT: 4.389214 s, approachRate: 0.724502 m/s, LOS rate: 0.565386 deg/s, posRepo size: 4 2021-02-18T05:29:55.136Z,1613626195.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:29:55.908Z,1613626195.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:29:56.315Z,1613626196.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:29:57.144Z,1613626197.144 [Micromodem](INFO): Nmea in: $SNTTA,0.052091,,,,052955.91*49 2021-02-18T05:29:57.178Z,1613626197.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.540001 m, bearing: 273.441323 deg, deltaT: 4.436053 s, approachRate: 0.730379 m/s, LOS rate: -1.584511 deg/s, posRepo size: 4 2021-02-18T05:29:59.564Z,1613626199.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:00.352Z,1613626200.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:00.777Z,1613626200.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:30:01.584Z,1613626201.584 [Micromodem](INFO): Nmea in: $SNTTA,0.054453,,,,053000.35*43 2021-02-18T05:30:01.618Z,1613626201.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.780006 m, bearing: 275.912759 deg, deltaT: 4.456462 s, approachRate: 0.727035 m/s, LOS rate: 0.554573 deg/s, posRepo size: 4 2021-02-18T05:30:04.028Z,1613626204.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:04.811Z,1613626204.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:05.202Z,1613626205.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:30:06.032Z,1613626206.032 [Micromodem](INFO): Nmea in: $SNTTA,0.056407,,,,053004.81*4B 2021-02-18T05:30:06.090Z,1613626206.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.840004 m, bearing: 284.830227 deg, deltaT: 4.426022 s, approachRate: 0.691365 m/s, LOS rate: 2.014782 deg/s, posRepo size: 4 2021-02-18T05:30:08.468Z,1613626208.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:09.241Z,1613626209.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:09.653Z,1613626209.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:30:10.457Z,1613626210.457 [Micromodem](INFO): Nmea in: $SNTTA,0.058598,,,,053009.24*40 2021-02-18T05:30:11.278Z,1613626211.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:12.886Z,1613626212.886 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:30:14.155Z,1613626214.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:14.909Z,1613626214.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:15.302Z,1613626215.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:30:16.136Z,1613626216.136 [Micromodem](INFO): Nmea in: $SNTTA,0.061433,,,,053014.91*48 2021-02-18T05:30:16.220Z,1613626216.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.280006 m, bearing: 279.313756 deg, deltaT: 10.120668 s, approachRate: 0.735130 m/s, LOS rate: -0.545070 deg/s, posRepo size: 4 2021-02-18T05:30:18.547Z,1613626218.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:19.350Z,1613626219.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:19.763Z,1613626219.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:30:20.592Z,1613626220.592 [Micromodem](INFO): Nmea in: $SNTTA,0.063626,,,,053019.36*4C 2021-02-18T05:30:20.614Z,1613626220.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.640007 m, bearing: 287.640767 deg, deltaT: 4.468258 s, approachRate: 0.751971 m/s, LOS rate: 1.863592 deg/s, posRepo size: 4 2021-02-18T05:30:23.021Z,1613626223.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:23.803Z,1613626223.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:24.195Z,1613626224.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:30:25.020Z,1613626225.020 [Micromodem](INFO): Nmea in: $SNTTA,0.065736,,,,053023.81*4F 2021-02-18T05:30:25.054Z,1613626225.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.820000 m, bearing: 289.381018 deg, deltaT: 4.408887 s, approachRate: 0.721269 m/s, LOS rate: 0.394714 deg/s, posRepo size: 4 2021-02-18T05:30:27.440Z,1613626227.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:28.228Z,1613626228.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:28.635Z,1613626228.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:30:29.456Z,1613626229.456 [Micromodem](INFO): Nmea in: $SNTTA,0.067851,,,,053028.23*40 2021-02-18T05:30:29.490Z,1613626229.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.940002 m, bearing: 281.987666 deg, deltaT: 4.467292 s, approachRate: 0.698410 m/s, LOS rate: -1.654996 deg/s, posRepo size: 4 2021-02-18T05:30:31.934Z,1613626231.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:32.678Z,1613626232.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:33.080Z,1613626233.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:30:33.908Z,1613626233.908 [Micromodem](INFO): Nmea in: $SNTTA,0.069855,,,,053032.68*4E 2021-02-18T05:30:33.942Z,1613626233.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.240005 m, bearing: 287.837777 deg, deltaT: 4.425253 s, approachRate: 0.745721 m/s, LOS rate: 1.321984 deg/s, posRepo size: 4 2021-02-18T05:30:36.341Z,1613626236.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:37.116Z,1613626237.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:37.539Z,1613626237.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:30:38.344Z,1613626238.344 [Micromodem](INFO): Nmea in: $SNTTA,0.072065,,,,053037.12*47 2021-02-18T05:30:38.378Z,1613626238.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.360001 m, bearing: 287.174921 deg, deltaT: 4.460309 s, approachRate: 0.699502 m/s, LOS rate: -0.148612 deg/s, posRepo size: 4 2021-02-18T05:30:40.813Z,1613626240.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:41.560Z,1613626241.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:41.968Z,1613626241.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:30:42.816Z,1613626242.816 [Micromodem](INFO): Nmea in: $SNTTA,0.074228,,0.082115,,053041.56*5A 2021-02-18T05:30:42.888Z,1613626242.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.419998 m, bearing: 285.427704 deg, deltaT: 4.422798 s, approachRate: 0.691869 m/s, LOS rate: -0.395048 deg/s, posRepo size: 4 2021-02-18T05:30:44.909Z,1613626244.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:45.600Z,1613626245.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:46.011Z,1613626246.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:30:46.836Z,1613626246.836 [Micromodem](INFO): Nmea in: $SNTTA,0.076363,,,,053045.60*46 2021-02-18T05:30:46.944Z,1613626246.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.720001 m, bearing: 289.414294 deg, deltaT: 4.037550 s, approachRate: 0.817328 m/s, LOS rate: 0.987379 deg/s, posRepo size: 4 2021-02-18T05:30:49.256Z,1613626249.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:50.046Z,1613626250.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:50.454Z,1613626250.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:30:51.296Z,1613626251.296 [Micromodem](INFO): Nmea in: $SNTTA,0.078532,,,0.081032,053050.05*5B 2021-02-18T05:30:51.325Z,1613626251.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.080002 m, bearing: 294.664142 deg, deltaT: 4.497313 s, approachRate: 0.747113 m/s, LOS rate: 1.167330 deg/s, posRepo size: 4 2021-02-18T05:30:53.701Z,1613626253.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:54.500Z,1613626254.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:54.898Z,1613626254.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:30:55.724Z,1613626255.724 [Micromodem](INFO): Nmea in: $SNTTA,0.080680,,,,053054.50*44 2021-02-18T05:30:55.804Z,1613626255.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.380005 m, bearing: 292.457007 deg, deltaT: 4.414660 s, approachRate: 0.747510 m/s, LOS rate: -0.499956 deg/s, posRepo size: 4 2021-02-18T05:30:58.174Z,1613626258.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:30:58.974Z,1613626258.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:30:59.338Z,1613626259.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:00.174Z,1613626260.174 [Micromodem](INFO): Nmea in: $SNTTA,0.082830,,,,053058.98*4B 2021-02-18T05:31:00.229Z,1613626260.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.379997 m, bearing: 287.579241 deg, deltaT: 4.457440 s, approachRate: 0.673030 m/s, LOS rate: -1.094298 deg/s, posRepo size: 4 2021-02-18T05:31:02.582Z,1613626262.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:31:03.382Z,1613626263.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:31:03.809Z,1613626263.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:04.608Z,1613626264.608 [Micromodem](INFO): Nmea in: $SNTTA,0.085030,,,,053103.38*41 2021-02-18T05:31:04.630Z,1613626264.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.680000 m, bearing: 290.605124 deg, deltaT: 4.428278 s, approachRate: 0.745211 m/s, LOS rate: 0.683309 deg/s, posRepo size: 4 2021-02-18T05:31:07.092Z,1613626267.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:31:07.838Z,1613626267.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:31:08.243Z,1613626268.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:09.063Z,1613626269.063 [Micromodem](INFO): Nmea in: $SNTTA,0.087115,,,,053107.84*46 2021-02-18T05:31:09.097Z,1613626269.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.860001 m, bearing: 281.834970 deg, deltaT: 4.435931 s, approachRate: 0.716873 m/s, LOS rate: -1.977072 deg/s, posRepo size: 4 2021-02-18T05:31:11.473Z,1613626271.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:31:12.264Z,1613626272.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:31:12.681Z,1613626272.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:13.496Z,1613626273.496 [Micromodem](INFO): Nmea in: $SNTTA,0.089353,,,0.099984,053112.27*5E 2021-02-18T05:31:13.530Z,1613626273.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.160004 m, bearing: 282.057771 deg, deltaT: 4.450453 s, approachRate: 0.741498 m/s, LOS rate: 0.050062 deg/s, posRepo size: 4 2021-02-18T05:31:15.943Z,1613626275.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:31:16.708Z,1613626276.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:31:17.114Z,1613626277.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:17.944Z,1613626277.944 [Micromodem](INFO): Nmea in: $SNTTA,0.091516,,,,053116.71*4C 2021-02-18T05:31:17.977Z,1613626277.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.399994 m, bearing: 286.400323 deg, deltaT: 4.419256 s, approachRate: 0.733153 m/s, LOS rate: 0.982643 deg/s, posRepo size: 4 2021-02-18T05:31:20.369Z,1613626280.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:31:21.153Z,1613626281.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:31:21.559Z,1613626281.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:22.380Z,1613626282.380 [Micromodem](INFO): Nmea in: $SNTTA,0.093782,,,,053121.16*44 2021-02-18T05:31:22.421Z,1613626282.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.820007 m, bearing: 282.405509 deg, deltaT: 4.489930 s, approachRate: 0.761708 m/s, LOS rate: -0.889727 deg/s, posRepo size: 4 2021-02-18T05:31:24.885Z,1613626284.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:31:25.601Z,1613626285.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:31:26.007Z,1613626286.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:26.836Z,1613626286.836 [Micromodem](INFO): Nmea in: $SNTTA,0.095875,,,,053125.60*40 2021-02-18T05:31:26.916Z,1613626286.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.059998 m, bearing: 291.512173 deg, deltaT: 4.412994 s, approachRate: 0.734193 m/s, LOS rate: 2.063602 deg/s, posRepo size: 4 2021-02-18T05:31:29.248Z,1613626289.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:31:30.046Z,1613626290.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:31:30.446Z,1613626290.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:31.272Z,1613626291.272 [Micromodem](INFO): Nmea in: $SNTTA,0.098160,,,,053130.05*47 2021-02-18T05:31:31.309Z,1613626291.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.360001 m, bearing: 292.308956 deg, deltaT: 4.493294 s, approachRate: 0.734428 m/s, LOS rate: 0.177327 deg/s, posRepo size: 4 2021-02-18T05:31:33.700Z,1613626293.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:31:34.490Z,1613626294.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:31:34.906Z,1613626294.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:35.720Z,1613626295.720 [Micromodem](INFO): Nmea in: $SNTTA,0.100316,,,,053134.49*48 2021-02-18T05:31:35.780Z,1613626295.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.780014 m, bearing: 300.610231 deg, deltaT: 4.376844 s, approachRate: 0.781388 m/s, LOS rate: 1.896635 deg/s, posRepo size: 4 2021-02-18T05:31:35.781Z,1613626295.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.78 m. Resuming terminal guidance. 2021-02-18T05:31:35.781Z,1613626295.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T05:31:38.170Z,1613626298.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:31:38.928Z,1613626298.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:31:39.339Z,1613626299.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:40.167Z,1613626300.167 [Micromodem](INFO): Nmea in: $SNTTA,0.102543,,,,053138.93*47 2021-02-18T05:31:40.201Z,1613626300.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.959991 m, bearing: 306.585089 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T05:31:40.201Z,1613626300.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 306.585089deg and heading rate command to 0 deg/s. 2021-02-18T05:31:42.581Z,1613626302.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:31:43.372Z,1613626303.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:31:43.809Z,1613626303.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:44.604Z,1613626304.604 [Micromodem](INFO): Nmea in: $SNTTA,0.105630,,,,053143.37*45 2021-02-18T05:31:44.641Z,1613626304.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.380005 m, bearing: 302.709640 deg, deltaT: 4.408841 s, approachRate: 0.775717 m/s, LOS rate: -0.879018 deg/s, posRepo size: 2 2021-02-18T05:31:44.643Z,1613626304.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.380005 m, bearing: 302.709640 deg, approachRate: 0.775717 m/s, LOS rate: -0.879018 deg/s, cmd update: -3.516071 deg/s, cmd heading: 306.585089 deg, new cmd heading: 306.585089 deg. 2021-02-18T05:31:47.048Z,1613626307.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:31:47.834Z,1613626307.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:31:48.233Z,1613626308.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:49.052Z,1613626309.052 [Micromodem](INFO): Nmea in: $SNTTA,0.107807,,,,053147.84*41 2021-02-18T05:31:49.102Z,1613626309.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.380005 m, bearing: 321.036622 deg, deltaT: 4.447071 s, approachRate: 0.000000 m/s, LOS rate: 4.121136 deg/s, posRepo size: 3 2021-02-18T05:31:49.104Z,1613626309.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.380005 m, bearing: 321.036622 deg, approachRate: 0.000000 m/s, LOS rate: 4.121136 deg/s, cmd update: 12.000000 deg/s, cmd heading: 290.966629 deg, new cmd heading: 289.427782 deg. 2021-02-18T05:31:51.473Z,1613626311.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:31:52.260Z,1613626312.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:31:52.707Z,1613626312.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:53.488Z,1613626313.488 [Micromodem](INFO): Nmea in: $SNTTA,0.109280,,,,053152.26*46 2021-02-18T05:31:53.503Z,1613626313.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.919998 m, bearing: 296.928103 deg, deltaT: 4.440950 s, approachRate: 1.472656 m/s, LOS rate: -5.428685 deg/s, posRepo size: 4 2021-02-18T05:31:53.505Z,1613626313.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.919998 m, bearing: 296.928103 deg, approachRate: 1.472656 m/s, LOS rate: -5.428685 deg/s, cmd update: -12.000000 deg/s, cmd heading: 344.319674 deg, new cmd heading: 349.027010 deg. 2021-02-18T05:31:55.948Z,1613626315.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:31:56.704Z,1613626316.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:31:57.118Z,1613626317.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:31:57.941Z,1613626317.941 [Micromodem](INFO): Nmea in: $SNTTA,0.111283,,,,053156.71*4A 2021-02-18T05:31:58.019Z,1613626318.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.760010 m, bearing: 316.267292 deg, deltaT: 4.441250 s, approachRate: 0.864624 m/s, LOS rate: 4.354447 deg/s, posRepo size: 4 2021-02-18T05:31:58.021Z,1613626318.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.760010 m, bearing: 316.267292 deg, approachRate: 0.864624 m/s, LOS rate: 4.354447 deg/s, cmd update: 12.000000 deg/s, cmd heading: 291.030325 deg, new cmd heading: 285.466813 deg. 2021-02-18T05:32:00.357Z,1613626320.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:01.154Z,1613626321.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:32:01.554Z,1613626321.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:32:02.375Z,1613626322.375 [Micromodem](INFO): Nmea in: $SNTTA,,,,,053201.16*5C 2021-02-18T05:32:03.282Z,1613626323.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:04.806Z,1613626324.806 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:32:06.045Z,1613626326.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:06.818Z,1613626326.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:32:07.215Z,1613626327.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:32:07.617Z,1613626327.617 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F0,80,61,E4 D,183,80,80,62,FF 2021-02-18T05:32:08.027Z,1613626328.027 [Micromodem](INFO): Nmea in: $SNTTA,,,,,053206.82*56 2021-02-18T05:32:08.914Z,1613626328.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:11.674Z,1613626331.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:14.495Z,1613626334.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:15.299Z,1613626335.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:32:15.693Z,1613626335.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:32:16.512Z,1613626336.512 [Micromodem](INFO): Nmea in: $SNTTA,0.119272,,,,053215.30*4D 2021-02-18T05:32:16.949Z,1613626336.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.040009 m, bearing: 11.278705 deg, deltaT: 18.975115 s, approachRate: 0.594463 m/s, LOS rate: 2.899134 deg/s, posRepo size: 4 2021-02-18T05:32:16.951Z,1613626336.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.040009 m, bearing: 11.278705 deg, approachRate: 0.594463 m/s, LOS rate: 2.899134 deg/s, cmd update: 11.596536 deg/s, cmd heading: 158.737183 deg, new cmd heading: 163.805551 deg. 2021-02-18T05:32:19.355Z,1613626339.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:20.137Z,1613626340.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:32:20.541Z,1613626340.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:32:21.356Z,1613626341.356 [Micromodem](INFO): Nmea in: $SNTTA,0.120424,,,,053220.14*42 2021-02-18T05:32:21.824Z,1613626341.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.660004 m, bearing: 53.343887 deg, deltaT: 4.843098 s, approachRate: 0.334496 m/s, LOS rate: 8.685594 deg/s, posRepo size: 4 2021-02-18T05:32:21.826Z,1613626341.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 180.660004 m, bearing: 53.343887 deg, approachRate: 0.334496 m/s, LOS rate: 8.685594 deg/s, cmd update: 12.000000 deg/s, cmd heading: 214.900493 deg, new cmd heading: 220.152043 deg. 2021-02-18T05:32:23.900Z,1613626343.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:24.586Z,1613626344.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:32:25.005Z,1613626345.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:32:25.848Z,1613626345.848 [Micromodem](INFO): Nmea in: $SNTTA,0.121266,,,,053224.59*4E 2021-02-18T05:32:26.238Z,1613626346.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.860001 m, bearing: 69.175719 deg, deltaT: 4.549881 s, approachRate: 0.263742 m/s, LOS rate: 3.479614 deg/s, posRepo size: 4 2021-02-18T05:32:26.240Z,1613626346.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.860001 m, bearing: 69.175719 deg, approachRate: 0.263742 m/s, LOS rate: 3.479614 deg/s, cmd update: 12.000000 deg/s, cmd heading: 269.499355 deg, new cmd heading: 273.316555 deg. 2021-02-18T05:32:28.640Z,1613626348.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:29.428Z,1613626349.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:32:29.848Z,1613626349.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:32:30.645Z,1613626350.645 [Micromodem](INFO): Nmea in: $SNTTA,0.122141,,,,053229.43*4D 2021-02-18T05:32:31.104Z,1613626351.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.239990 m, bearing: 54.145495 deg, deltaT: 4.775131 s, approachRate: 0.288995 m/s, LOS rate: -3.147605 deg/s, posRepo size: 4 2021-02-18T05:32:31.106Z,1613626351.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 183.239990 m, bearing: 54.145495 deg, approachRate: 0.288995 m/s, LOS rate: -3.147605 deg/s, cmd update: -12.000000 deg/s, cmd heading: 326.748428 deg, new cmd heading: 331.707632 deg. 2021-02-18T05:32:33.489Z,1613626353.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:34.279Z,1613626354.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:32:34.688Z,1613626354.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:32:35.496Z,1613626355.496 [Micromodem](INFO): Nmea in: $SNTTA,0.123547,,,,053234.28*4F 2021-02-18T05:32:35.953Z,1613626355.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 356.314003 deg, deltaT: 4.843786 s, approachRate: 0.445933 m/s, LOS rate: -11.939318 deg/s, posRepo size: 4 2021-02-18T05:32:35.954Z,1613626355.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.939318 deg/s. Setting heading cmd to target bearing of 356.314003deg and heading rate command to 0 deg/s. 2021-02-18T05:32:38.333Z,1613626358.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:39.124Z,1613626359.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:32:39.540Z,1613626359.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:32:40.346Z,1613626360.346 [Micromodem](INFO): Nmea in: $SNTTA,,,,,053239.13*52 2021-02-18T05:32:40.810Z,1613626360.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.279984 m, bearing: 322.904187 deg, deltaT: 4.842815 s, approachRate: 0.594693 m/s, LOS rate: -6.898842 deg/s, posRepo size: 4 2021-02-18T05:32:40.816Z,1613626360.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 188.279984 m, bearing: 322.904187 deg, approachRate: 0.594693 m/s, LOS rate: -6.898842 deg/s, cmd update: -12.000000 deg/s, cmd heading: 356.314003 deg, new cmd heading: 356.314003 deg. 2021-02-18T05:32:43.214Z,1613626363.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:43.984Z,1613626363.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:32:44.383Z,1613626364.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:32:45.196Z,1613626365.196 [Micromodem](INFO): Nmea in: $SNTTA,0.127640,,,,053243.99*45 2021-02-18T05:32:46.056Z,1613626366.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:47.612Z,1613626367.612 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:32:48.916Z,1613626368.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:49.634Z,1613626369.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:32:50.033Z,1613626370.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:32:50.870Z,1613626370.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,053249.64*55 2021-02-18T05:32:51.274Z,1613626371.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.419983 m, bearing: 308.885087 deg, deltaT: 10.596389 s, approachRate: 0.673814 m/s, LOS rate: -1.323007 deg/s, posRepo size: 4 2021-02-18T05:32:51.276Z,1613626371.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.419983 m, bearing: 308.885087 deg, approachRate: 0.673814 m/s, LOS rate: -1.323007 deg/s, cmd update: -5.292029 deg/s, cmd heading: 229.216455 deg, new cmd heading: 225.602571 deg. 2021-02-18T05:32:53.705Z,1613626373.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:54.478Z,1613626374.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:32:54.895Z,1613626374.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:32:55.694Z,1613626375.694 [Micromodem](INFO): Nmea in: $SNTTA,0.132317,,,,053254.48*4C 2021-02-18T05:32:56.161Z,1613626376.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.599991 m, bearing: 324.758010 deg, deltaT: 4.731690 s, approachRate: 0.672066 m/s, LOS rate: 3.354599 deg/s, posRepo size: 4 2021-02-18T05:32:56.162Z,1613626376.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.599991 m, bearing: 324.758010 deg, approachRate: 0.672066 m/s, LOS rate: 3.354599 deg/s, cmd update: 12.000000 deg/s, cmd heading: 204.151076 deg, new cmd heading: 201.763138 deg. 2021-02-18T05:32:58.553Z,1613626378.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:32:59.325Z,1613626379.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:32:59.750Z,1613626379.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:33:00.559Z,1613626380.559 [Micromodem](INFO): Nmea in: $SNTTA,0.134563,,,,053259.33*4E 2021-02-18T05:33:00.990Z,1613626380.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.019989 m, bearing: 256.486745 deg, deltaT: 4.888610 s, approachRate: 0.699585 m/s, LOS rate: -13.965374 deg/s, posRepo size: 4 2021-02-18T05:33:00.990Z,1613626380.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.965374 deg/s. Setting heading cmd to target bearing of 256.486745deg and heading rate command to 0 deg/s. 2021-02-18T05:33:02.984Z,1613626382.984 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T05:33:03.385Z,1613626383.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:04.174Z,1613626384.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:33:04.578Z,1613626384.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:33:05.390Z,1613626385.390 [Micromodem](INFO): Nmea in: $SNTTA,0.136491,,,,053304.18*40 2021-02-18T05:33:05.908Z,1613626385.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.899979 m, bearing: 280.959039 deg, deltaT: 4.812222 s, approachRate: 0.598474 m/s, LOS rate: 5.085446 deg/s, posRepo size: 4 2021-02-18T05:33:05.909Z,1613626385.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.899979 m, bearing: 280.959039 deg, approachRate: 0.598474 m/s, LOS rate: 5.085446 deg/s, cmd update: 12.000000 deg/s, cmd heading: 256.486745 deg, new cmd heading: 256.486745 deg. 2021-02-18T05:33:07.918Z,1613626387.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:08.621Z,1613626388.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:33:09.022Z,1613626389.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:33:09.840Z,1613626389.840 [Micromodem](INFO): Nmea in: $SNTTA,0.138025,,,,053308.62*44 2021-02-18T05:33:10.262Z,1613626390.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.119995 m, bearing: 248.315735 deg, deltaT: 4.528483 s, approachRate: 0.490234 m/s, LOS rate: -7.208442 deg/s, posRepo size: 4 2021-02-18T05:33:10.264Z,1613626390.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.119995 m, bearing: 248.315735 deg, approachRate: 0.490234 m/s, LOS rate: -7.208442 deg/s, cmd update: -12.000000 deg/s, cmd heading: 310.781514 deg, new cmd heading: 314.707170 deg. 2021-02-18T05:33:12.677Z,1613626392.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:13.076Z,1613626393.076 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T05:33:13.464Z,1613626393.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:33:13.891Z,1613626393.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:33:14.681Z,1613626394.681 [Micromodem](INFO): Nmea in: $SNTTA,0.139624,,,,053313.47*4F 2021-02-18T05:33:15.138Z,1613626395.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.639984 m, bearing: 272.595172 deg, deltaT: 4.769378 s, approachRate: 0.528368 m/s, LOS rate: 5.090693 deg/s, posRepo size: 4 2021-02-18T05:33:15.140Z,1613626395.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 209.639984 m, bearing: 272.595172 deg, approachRate: 0.528368 m/s, LOS rate: 5.090693 deg/s, cmd update: 12.000000 deg/s, cmd heading: 253.550872 deg, new cmd heading: 248.338828 deg. 2021-02-18T05:33:17.535Z,1613626397.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:18.314Z,1613626398.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:33:18.717Z,1613626398.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:33:19.542Z,1613626399.542 [Micromodem](INFO): Nmea in: $SNTTA,0.141601,,,,053318.32*4E 2021-02-18T05:33:20.007Z,1613626400.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.519974 m, bearing: 261.255009 deg, deltaT: 4.885513 s, approachRate: 0.589496 m/s, LOS rate: -2.321182 deg/s, posRepo size: 4 2021-02-18T05:33:20.009Z,1613626400.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.519974 m, bearing: 261.255009 deg, approachRate: 0.589496 m/s, LOS rate: -2.321182 deg/s, cmd update: -9.284727 deg/s, cmd heading: 312.094302 deg, new cmd heading: 317.134278 deg. 2021-02-18T05:33:22.382Z,1613626402.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:23.160Z,1613626403.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:33:23.565Z,1613626403.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:33:23.612Z,1613626403.612 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T05:33:23.612Z,1613626403.612 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T05:33:23.612Z,1613626403.612 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T05:33:23.612Z,1613626403.612 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T05:33:23.612Z,1613626403.612 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T05:33:24.193Z,1613626404.193 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D606C0000005D00000400610000000000000000151D80030C5669BF92F9E553F2078534DE80BCE85D2236307D2D47700F6493F83A6C3EEB987554468E1C 2021-02-18T05:33:24.194Z,1613626404.194 [Micromodem](INFO): Outgoing frame #2, 38 bytes: EE0B23E19E64A050C7D345D787B8943B73AFB8EB364996E7D17E572ED41E426E65B9B45D0000 2021-02-18T05:33:24.194Z,1613626404.194 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T05:33:24.512Z,1613626404.512 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T05:33:24.543Z,1613626404.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.580002 m, bearing: 258.630522 deg, deltaT: 4.674919 s, approachRate: 0.654563 m/s, LOS rate: -0.561397 deg/s, posRepo size: 4 2021-02-18T05:33:24.549Z,1613626404.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.580002 m, bearing: 258.630522 deg, approachRate: 0.654563 m/s, LOS rate: -0.561397 deg/s, cmd update: -2.245589 deg/s, cmd heading: 268.585653 deg, new cmd heading: 266.042334 deg. 2021-02-18T05:33:24.916Z,1613626404.916 [Micromodem](INFO): Nmea in: $CADRQ,053324,1,10,0,64,1*75 2021-02-18T05:33:24.917Z,1613626404.917 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D606C0000005D00000400610000000000000000151D80030C5669BF92F9E553F2078534DE80BCE85D2236307D2D47700F6493F83A6C3EEB987554468E1C*3E 2021-02-18T05:33:25.316Z,1613626405.316 [Micromodem](INFO): Nmea in: $SNTTA,0.143642,,,,053323.16*45 2021-02-18T05:33:25.317Z,1613626405.317 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.143642,,,,053323.16*45 2021-02-18T05:33:26.531Z,1613626406.531 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T05:33:26.926Z,1613626406.926 [Micromodem](INFO): Nmea in: $CADRQ,053324,1,10,0,64,2*76 2021-02-18T05:33:26.926Z,1613626406.926 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,EE0B23E19E64A050C7D345D787B8943B73AFB8EB364996E7D17E572ED41E426E65B9B45D0000*4B 2021-02-18T05:33:27.062Z,1613626407.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:27.334Z,1613626407.334 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,38*40 2021-02-18T05:33:27.770Z,1613626407.770 [Micromodem](INFO): Nmea in: $CATXP,102*41 2021-02-18T05:33:27.789Z,1613626407.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:33:28.965Z,1613626408.965 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T05:33:29.866Z,1613626409.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:30.167Z,1613626410.167 [Micromodem](INFO): Nmea in: $CATXF,102*57 2021-02-18T05:33:30.168Z,1613626410.168 [Micromodem](ERROR): Response from modem unexpected: $CATXF,102*57 2021-02-18T05:33:30.572Z,1613626410.572 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,053326.938592,3,0,200,4000,14500,1,1,10,1,2,2,3,102*77 2021-02-18T05:33:30.572Z,1613626410.572 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,053326.938592,3,0,200,4000,14500,1,1,10,1,2,2,3,102*77 2021-02-18T05:33:32.591Z,1613626412.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:32.985Z,1613626412.985 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T05:33:33.400Z,1613626413.400 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-18T05:33:33.401Z,1613626413.401 [Micromodem](INFO): Sent 94 bytes from file Logs/20210217T180521/Courier0108.lzma.parts 2021-02-18T05:33:33.402Z,1613626413.402 [Micromodem](INFO): Packets left to send: 0 2021-02-18T05:33:33.816Z,1613626413.816 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218053331.846751,06,4605,30,0301,0150,29,01,01,01,03,1,010,001,0,4,1,0,150,17.5,10.00,18,-7.00,-01,-1.06,28,14500,4000*4E 2021-02-18T05:33:33.816Z,1613626413.816 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218053331.846751,06,4605,30,0301,0150,29,01,01,01,03,1,010,001,0,4,1,0,150,17.5,10.00,18,-7.00,-01,-1.06,28,14500,4000*4E 2021-02-18T05:33:33.993Z,1613626413.993 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T05:33:33.993Z,1613626413.993 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T05:33:33.993Z,1613626413.993 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T05:33:33.993Z,1613626413.993 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T05:33:33.993Z,1613626413.993 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T05:33:35.419Z,1613626415.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:38.261Z,1613626418.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:39.047Z,1613626419.047 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:33:39.461Z,1613626419.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:33:40.266Z,1613626420.266 [Micromodem](INFO): Nmea in: $SNTTA,0.150045,,,,053339.05*4F 2021-02-18T05:33:40.694Z,1613626420.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.119995 m, bearing: 238.357073 deg, deltaT: 16.035324 s, approachRate: 0.594936 m/s, LOS rate: -1.264299 deg/s, posRepo size: 4 2021-02-18T05:33:40.696Z,1613626420.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.119995 m, bearing: 238.357073 deg, approachRate: 0.594936 m/s, LOS rate: -1.264299 deg/s, cmd update: -5.057197 deg/s, cmd heading: 232.631212 deg, new cmd heading: 231.700795 deg. 2021-02-18T05:33:42.808Z,1613626422.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:43.492Z,1613626423.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:33:43.898Z,1613626423.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:33:44.711Z,1613626424.711 [Micromodem](INFO): Nmea in: $SNTTA,0.150988,,,,053343.49*42 2021-02-18T05:33:45.156Z,1613626425.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.499985 m, bearing: 203.649412 deg, deltaT: 4.421834 s, approachRate: 0.312085 m/s, LOS rate: -7.849155 deg/s, posRepo size: 4 2021-02-18T05:33:45.158Z,1613626425.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 226.499985 m, bearing: 203.649412 deg, approachRate: 0.312085 m/s, LOS rate: -7.849155 deg/s, cmd update: -12.000000 deg/s, cmd heading: 210.146873 deg, new cmd heading: 207.974149 deg. 2021-02-18T05:33:47.552Z,1613626427.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:48.340Z,1613626428.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:33:48.750Z,1613626428.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:33:49.561Z,1613626429.561 [Micromodem](INFO): Nmea in: $SNTTA,0.151639,,,,053348.34*47 2021-02-18T05:33:50.008Z,1613626430.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.459991 m, bearing: 193.964245 deg, deltaT: 4.849826 s, approachRate: 0.197947 m/s, LOS rate: -1.997013 deg/s, posRepo size: 4 2021-02-18T05:33:50.010Z,1613626430.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 227.459991 m, bearing: 193.964245 deg, approachRate: 0.197947 m/s, LOS rate: -1.997013 deg/s, cmd update: -7.988053 deg/s, cmd heading: 151.949104 deg, new cmd heading: 146.766508 deg. 2021-02-18T05:33:52.404Z,1613626432.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:53.189Z,1613626433.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:33:53.595Z,1613626433.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:33:54.432Z,1613626434.432 [Micromodem](INFO): Nmea in: $SNTTA,0.151471,,,,053353.22*44 2021-02-18T05:33:54.901Z,1613626434.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.399979 m, bearing: 217.520283 deg, deltaT: 4.871514 s, approachRate: -0.012319 m/s, LOS rate: 4.835466 deg/s, posRepo size: 4 2021-02-18T05:33:54.903Z,1613626434.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 227.399979 m, bearing: 217.520283 deg, approachRate: -0.012319 m/s, LOS rate: 4.835466 deg/s, cmd update: 12.000000 deg/s, cmd heading: 113.035319 deg, new cmd heading: 109.410700 deg. 2021-02-18T05:33:57.251Z,1613626437.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:33:58.042Z,1613626438.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:33:58.064Z,1613626438.064 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T05:33:58.442Z,1613626438.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:33:59.258Z,1613626439.258 [Micromodem](INFO): Nmea in: $SNTTA,0.150730,,,,053358.04*4C 2021-02-18T05:33:59.682Z,1613626439.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.959991 m, bearing: 112.637128 deg, deltaT: 4.825564 s, approachRate: -0.298408 m/s, LOS rate: -21.734902 deg/s, posRepo size: 4 2021-02-18T05:33:59.683Z,1613626439.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.734902 deg/s. Setting heading cmd to target bearing of 112.637128deg and heading rate command to 0 deg/s. 2021-02-18T05:34:01.822Z,1613626441.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:34:02.560Z,1613626442.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:34:02.973Z,1613626442.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:34:03.808Z,1613626443.808 [Micromodem](INFO): Nmea in: $SNTTA,0.149380,,,,053402.56*44 2021-02-18T05:34:04.361Z,1613626444.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.919998 m, bearing: 118.643787 deg, deltaT: 4.626477 s, approachRate: -0.440939 m/s, LOS rate: 1.298323 deg/s, posRepo size: 4 2021-02-18T05:34:04.363Z,1613626444.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.919998 m, bearing: 118.643787 deg, approachRate: -0.440939 m/s, LOS rate: 1.298323 deg/s, cmd update: 5.193290 deg/s, cmd heading: 112.637128 deg, new cmd heading: 112.637128 deg. 2021-02-18T05:34:06.618Z,1613626446.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:34:07.408Z,1613626447.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:34:07.411Z,1613626447.411 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T05:34:07.833Z,1613626447.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:34:07.881Z,1613626447.881 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T05:34:08.638Z,1613626448.638 [Micromodem](INFO): Nmea in: $SNTTA,0.147670,,,,053407.41*43 2021-02-18T05:34:09.078Z,1613626449.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.279984 m, bearing: 115.080368 deg, deltaT: 4.753806 s, approachRate: -0.555348 m/s, LOS rate: -0.749593 deg/s, posRepo size: 4 2021-02-18T05:34:09.080Z,1613626449.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.279984 m, bearing: 115.080368 deg, approachRate: -0.555348 m/s, LOS rate: -0.749593 deg/s, cmd update: -2.998371 deg/s, cmd heading: 137.345920 deg, new cmd heading: 139.552466 deg. 2021-02-18T05:34:11.489Z,1613626451.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:34:12.256Z,1613626452.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:34:12.662Z,1613626452.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:34:13.086Z,1613626453.086 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T05:34:13.473Z,1613626453.473 [Micromodem](INFO): Nmea in: $SNTTA,0.145473,,,,053412.26*45 2021-02-18T05:34:13.941Z,1613626453.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.979996 m, bearing: 116.851436 deg, deltaT: 4.860850 s, approachRate: -0.678891 m/s, LOS rate: 0.364354 deg/s, posRepo size: 4 2021-02-18T05:34:13.942Z,1613626453.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.979996 m, bearing: 116.851436 deg, approachRate: -0.678891 m/s, LOS rate: 0.364354 deg/s, cmd update: 1.457414 deg/s, cmd heading: 122.771884 deg, new cmd heading: 121.492083 deg. 2021-02-18T05:34:16.322Z,1613626456.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:34:17.106Z,1613626457.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:34:17.516Z,1613626457.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:34:18.337Z,1613626458.337 [Micromodem](INFO): Nmea in: $SNTTA,0.143185,,,,053417.11*4E 2021-02-18T05:34:18.786Z,1613626458.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.619995 m, bearing: 119.231170 deg, deltaT: 4.838175 s, approachRate: -0.694477 m/s, LOS rate: 0.491866 deg/s, posRepo size: 4 2021-02-18T05:34:18.801Z,1613626458.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.619995 m, bearing: 119.231170 deg, approachRate: -0.694477 m/s, LOS rate: 0.491866 deg/s, cmd update: 1.967464 deg/s, cmd heading: 129.823154 deg, new cmd heading: 130.445132 deg. 2021-02-18T05:34:21.205Z,1613626461.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:34:21.962Z,1613626461.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:34:22.364Z,1613626462.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:34:23.211Z,1613626463.211 [Micromodem](INFO): Nmea in: $SNTTA,0.140761,,0.141911,,053421.97*59 2021-02-18T05:34:23.237Z,1613626463.237 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T05:34:23.618Z,1613626463.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.959991 m, bearing: 118.638077 deg, deltaT: 4.932772 s, approachRate: -0.741977 m/s, LOS rate: -0.120235 deg/s, posRepo size: 4 2021-02-18T05:34:23.620Z,1613626463.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.959991 m, bearing: 118.638077 deg, approachRate: -0.741977 m/s, LOS rate: -0.120235 deg/s, cmd update: -0.480941 deg/s, cmd heading: 139.490124 deg, new cmd heading: 140.183439 deg. 2021-02-18T05:34:26.031Z,1613626466.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:34:26.812Z,1613626466.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:34:27.206Z,1613626467.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:34:28.031Z,1613626468.031 [Micromodem](INFO): Nmea in: $SNTTA,0.138480,,,0.140954,053426.82*59 2021-02-18T05:34:28.481Z,1613626468.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.539993 m, bearing: 117.402223 deg, deltaT: 4.806614 s, approachRate: -0.711519 m/s, LOS rate: -0.257115 deg/s, posRepo size: 4 2021-02-18T05:34:28.488Z,1613626468.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.539993 m, bearing: 117.402223 deg, approachRate: -0.711519 m/s, LOS rate: -0.257115 deg/s, cmd update: -1.028462 deg/s, cmd heading: 137.178686 deg, new cmd heading: 136.981902 deg. 2021-02-18T05:34:30.926Z,1613626470.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:34:31.661Z,1613626471.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:34:32.059Z,1613626472.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:34:32.889Z,1613626472.889 [Micromodem](INFO): Nmea in: $SNTTA,0.136362,,,,053431.66*43 2021-02-18T05:34:33.302Z,1613626473.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.119995 m, bearing: 115.345407 deg, deltaT: 4.865979 s, approachRate: -0.702839 m/s, LOS rate: -0.422693 deg/s, posRepo size: 4 2021-02-18T05:34:33.306Z,1613626473.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.119995 m, bearing: 115.345407 deg, approachRate: -0.702839 m/s, LOS rate: -0.422693 deg/s, cmd update: -1.690772 deg/s, cmd heading: 132.157878 deg, new cmd heading: 131.799117 deg. 2021-02-18T05:34:35.715Z,1613626475.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:34:36.498Z,1613626476.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:34:36.902Z,1613626476.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:34:37.714Z,1613626477.714 [Micromodem](INFO): Nmea in: $SNTTA,0.133916,,,,053436.50*4D 2021-02-18T05:34:38.167Z,1613626478.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.699997 m, bearing: 116.067044 deg, deltaT: 4.771680 s, approachRate: -0.716728 m/s, LOS rate: 0.151233 deg/s, posRepo size: 4 2021-02-18T05:34:38.169Z,1613626478.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.699997 m, bearing: 116.067044 deg, approachRate: -0.716728 m/s, LOS rate: 0.151233 deg/s, cmd update: 0.604933 deg/s, cmd heading: 124.083019 deg, new cmd heading: 123.343308 deg. 2021-02-18T05:34:40.561Z,1613626480.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:34:41.344Z,1613626481.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:34:41.754Z,1613626481.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:34:42.563Z,1613626482.563 [Micromodem](INFO): Nmea in: $SNTTA,0.131512,,,,053441.35*44 2021-02-18T05:34:43.016Z,1613626483.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.039993 m, bearing: 117.538512 deg, deltaT: 4.848981 s, approachRate: -0.754799 m/s, LOS rate: 0.303459 deg/s, posRepo size: 4 2021-02-18T05:34:43.017Z,1613626483.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.039993 m, bearing: 117.538512 deg, approachRate: -0.754799 m/s, LOS rate: 0.303459 deg/s, cmd update: 1.213837 deg/s, cmd heading: 127.016219 deg, new cmd heading: 127.280912 deg. 2021-02-18T05:34:45.415Z,1613626485.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:34:46.198Z,1613626486.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:34:46.605Z,1613626486.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:34:47.413Z,1613626487.413 [Micromodem](INFO): Nmea in: $SNTTA,0.129123,,,,053446.20*48 2021-02-18T05:34:47.919Z,1613626487.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.440002 m, bearing: 117.784713 deg, deltaT: 4.877712 s, approachRate: -0.738049 m/s, LOS rate: 0.050475 deg/s, posRepo size: 4 2021-02-18T05:34:47.921Z,1613626487.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 193.440002 m, bearing: 117.784713 deg, approachRate: -0.738049 m/s, LOS rate: 0.050475 deg/s, cmd update: 0.201899 deg/s, cmd heading: 132.903528 deg, new cmd heading: 133.499672 deg. 2021-02-18T05:34:50.247Z,1613626490.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:34:51.048Z,1613626491.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:34:51.446Z,1613626491.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:34:52.291Z,1613626492.291 [Micromodem](INFO): Nmea in: $SNTTA,0.126691,,,,053451.05*48 2021-02-18T05:34:52.310Z,1613626492.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.080002 m, bearing: 116.429249 deg, deltaT: 4.488797 s, approachRate: -3.421852 m/s, LOS rate: -0.301966 deg/s, posRepo size: 4 2021-02-18T05:34:52.312Z,1613626492.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.080002 m, bearing: 116.429249 deg, approachRate: -3.421852 m/s, LOS rate: -0.301966 deg/s, cmd update: -1.207865 deg/s, cmd heading: 133.814588 deg, new cmd heading: 133.889180 deg. 2021-02-18T05:34:54.710Z,1613626494.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:34:55.484Z,1613626495.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:34:55.913Z,1613626495.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:34:56.704Z,1613626496.704 [Micromodem](INFO): Nmea in: $SNTTA,0.124472,,,,053455.49*49 2021-02-18T05:34:57.158Z,1613626497.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.540009 m, bearing: 114.407301 deg, deltaT: 4.773999 s, approachRate: 1.772101 m/s, LOS rate: -0.423533 deg/s, posRepo size: 4 2021-02-18T05:34:57.160Z,1613626497.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.540009 m, bearing: 114.407301 deg, approachRate: 1.772101 m/s, LOS rate: -0.423533 deg/s, cmd update: -1.694133 deg/s, cmd heading: 128.043524 deg, new cmd heading: 127.512709 deg. 2021-02-18T05:34:59.548Z,1613626499.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:00.332Z,1613626500.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:35:00.738Z,1613626500.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:35:01.552Z,1613626501.552 [Micromodem](INFO): Nmea in: $SNTTA,0.122072,,,,053500.34*40 2021-02-18T05:35:02.032Z,1613626502.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.940002 m, bearing: 115.574751 deg, deltaT: 4.847758 s, approachRate: -0.742613 m/s, LOS rate: 0.240823 deg/s, posRepo size: 4 2021-02-18T05:35:02.034Z,1613626502.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.940002 m, bearing: 115.574751 deg, approachRate: -0.742613 m/s, LOS rate: 0.240823 deg/s, cmd update: 0.963291 deg/s, cmd heading: 119.830475 deg, new cmd heading: 119.041839 deg. 2021-02-18T05:35:04.392Z,1613626504.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:05.199Z,1613626505.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:35:05.598Z,1613626505.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:35:06.419Z,1613626506.419 [Micromodem](INFO): Nmea in: $SNTTA,0.119724,,,,053505.20*4C 2021-02-18T05:35:06.908Z,1613626506.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.400009 m, bearing: 116.557451 deg, deltaT: 4.866892 s, approachRate: -0.727362 m/s, LOS rate: 0.201915 deg/s, posRepo size: 4 2021-02-18T05:35:06.909Z,1613626506.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.400009 m, bearing: 116.557451 deg, approachRate: -0.727362 m/s, LOS rate: 0.201915 deg/s, cmd update: 0.807661 deg/s, cmd heading: 124.518730 deg, new cmd heading: 124.971296 deg. 2021-02-18T05:35:09.243Z,1613626509.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:10.030Z,1613626510.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:35:10.434Z,1613626510.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:35:11.260Z,1613626511.260 [Micromodem](INFO): Nmea in: $SNTTA,0.117317,,,,053510.03*43 2021-02-18T05:35:11.282Z,1613626511.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.740005 m, bearing: 117.605776 deg, deltaT: 4.504292 s, approachRate: -0.812559 m/s, LOS rate: 0.232739 deg/s, posRepo size: 4 2021-02-18T05:35:11.284Z,1613626511.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.740005 m, bearing: 117.605776 deg, approachRate: -0.812559 m/s, LOS rate: 0.232739 deg/s, cmd update: 0.930956 deg/s, cmd heading: 128.156645 deg, new cmd heading: 128.434805 deg. 2021-02-18T05:35:13.679Z,1613626513.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:14.483Z,1613626514.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:35:14.892Z,1613626514.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:35:15.708Z,1613626515.708 [Micromodem](INFO): Nmea in: $SNTTA,0.115062,,,,053514.48*4B 2021-02-18T05:35:15.750Z,1613626515.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.740005 m, bearing: 115.091624 deg, deltaT: 4.364542 s, approachRate: 0.000000 m/s, LOS rate: -0.576040 deg/s, posRepo size: 4 2021-02-18T05:35:15.756Z,1613626515.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.740005 m, bearing: 115.091624 deg, approachRate: 0.000000 m/s, LOS rate: -0.576040 deg/s, cmd update: -2.304161 deg/s, cmd heading: 132.218929 deg, new cmd heading: 132.636785 deg. 2021-02-18T05:35:18.149Z,1613626518.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:18.918Z,1613626518.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:35:19.342Z,1613626519.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:35:20.144Z,1613626520.144 [Micromodem](INFO): Nmea in: $SNTTA,0.112902,,,,053518.92*48 2021-02-18T05:35:20.199Z,1613626520.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.740005 m, bearing: 115.494414 deg, deltaT: 4.492309 s, approachRate: 0.000000 m/s, LOS rate: 0.089662 deg/s, posRepo size: 4 2021-02-18T05:35:20.201Z,1613626520.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.740005 m, bearing: 115.494414 deg, approachRate: 0.000000 m/s, LOS rate: 0.089662 deg/s, cmd update: 0.358648 deg/s, cmd heading: 121.914100 deg, new cmd heading: 120.932933 deg. 2021-02-18T05:35:22.579Z,1613626522.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:23.360Z,1613626523.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:35:23.784Z,1613626523.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:35:24.588Z,1613626524.588 [Micromodem](INFO): Nmea in: $SNTTA,0.110627,,,,053523.36*44 2021-02-18T05:35:25.395Z,1613626525.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:26.994Z,1613626526.994 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:35:27.929Z,1613626527.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:28.614Z,1613626528.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:35:29.038Z,1613626529.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:35:29.846Z,1613626529.846 [Micromodem](INFO): Nmea in: $SNTTA,0.107946,,,,053528.62*40 2021-02-18T05:35:29.951Z,1613626529.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.699997 m, bearing: 115.032858 deg, deltaT: 9.647651 s, approachRate: -1.455277 m/s, LOS rate: -0.047841 deg/s, posRepo size: 4 2021-02-18T05:35:29.954Z,1613626529.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.699997 m, bearing: 115.032858 deg, approachRate: -1.455277 m/s, LOS rate: -0.047841 deg/s, cmd update: -0.191365 deg/s, cmd heading: 125.381400 deg, new cmd heading: 125.562539 deg. 2021-02-18T05:35:32.279Z,1613626532.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:33.063Z,1613626533.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:35:33.158Z,1613626533.158 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T05:35:33.462Z,1613626533.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:35:34.292Z,1613626534.292 [Micromodem](INFO): Nmea in: $SNTTA,0.105927,,,0.113172,053533.07*55 2021-02-18T05:35:34.337Z,1613626534.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.460007 m, bearing: 114.936443 deg, deltaT: 4.498861 s, approachRate: -0.720180 m/s, LOS rate: -0.021431 deg/s, posRepo size: 4 2021-02-18T05:35:34.338Z,1613626534.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.460007 m, bearing: 114.936443 deg, approachRate: -0.720180 m/s, LOS rate: -0.021431 deg/s, cmd update: -0.085724 deg/s, cmd heading: 124.520287 deg, new cmd heading: 124.444569 deg. 2021-02-18T05:35:36.708Z,1613626536.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:37.500Z,1613626537.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:35:37.909Z,1613626537.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:35:37.959Z,1613626537.959 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T05:35:38.732Z,1613626538.732 [Micromodem](INFO): Nmea in: $SNTTA,0.103619,,,,053537.50*4E 2021-02-18T05:35:38.811Z,1613626538.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.279999 m, bearing: 115.895360 deg, deltaT: 4.411249 s, approachRate: -0.720886 m/s, LOS rate: 0.217380 deg/s, posRepo size: 4 2021-02-18T05:35:38.813Z,1613626538.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.279999 m, bearing: 115.895360 deg, approachRate: -0.720886 m/s, LOS rate: 0.217380 deg/s, cmd update: 0.869520 deg/s, cmd heading: 124.142423 deg, new cmd heading: 124.103137 deg. 2021-02-18T05:35:41.183Z,1613626541.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:41.950Z,1613626541.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:35:42.350Z,1613626542.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:35:43.176Z,1613626543.176 [Micromodem](INFO): Nmea in: $SNTTA,0.101456,,,,053541.95*4D 2021-02-18T05:35:43.196Z,1613626543.196 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T05:35:43.241Z,1613626543.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.040009 m, bearing: 115.628150 deg, deltaT: 4.476384 s, approachRate: -0.723796 m/s, LOS rate: -0.059693 deg/s, posRepo size: 4 2021-02-18T05:35:43.247Z,1613626543.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.040009 m, bearing: 115.628150 deg, approachRate: -0.723796 m/s, LOS rate: -0.059693 deg/s, cmd update: -0.238774 deg/s, cmd heading: 128.030198 deg, new cmd heading: 128.396265 deg. 2021-02-18T05:35:45.611Z,1613626545.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:46.389Z,1613626546.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:35:46.808Z,1613626546.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:35:47.616Z,1613626547.616 [Micromodem](INFO): Nmea in: $SNTTA,0.099397,,,,053546.39*46 2021-02-18T05:35:47.665Z,1613626547.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.919998 m, bearing: 114.279488 deg, deltaT: 4.420332 s, approachRate: -0.705832 m/s, LOS rate: -0.305104 deg/s, posRepo size: 4 2021-02-18T05:35:47.667Z,1613626547.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.919998 m, bearing: 114.279488 deg, approachRate: -0.705832 m/s, LOS rate: -0.305104 deg/s, cmd update: -1.220417 deg/s, cmd heading: 126.973727 deg, new cmd heading: 126.873285 deg. 2021-02-18T05:35:48.042Z,1613626548.042 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T05:35:50.072Z,1613626550.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:50.836Z,1613626550.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:35:51.238Z,1613626551.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:35:52.064Z,1613626552.064 [Micromodem](INFO): Nmea in: $SNTTA,0.097198,,,,053550.84*44 2021-02-18T05:35:52.122Z,1613626552.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.560013 m, bearing: 113.482691 deg, deltaT: 4.415712 s, approachRate: -0.760916 m/s, LOS rate: -0.180446 deg/s, posRepo size: 4 2021-02-18T05:35:52.128Z,1613626552.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.560013 m, bearing: 113.482691 deg, approachRate: -0.760916 m/s, LOS rate: -0.180446 deg/s, cmd update: -0.721783 deg/s, cmd heading: 121.580090 deg, new cmd heading: 121.020951 deg. 2021-02-18T05:35:54.484Z,1613626554.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:55.276Z,1613626555.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:35:55.688Z,1613626555.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:35:56.508Z,1613626556.508 [Micromodem](INFO): Nmea in: $SNTTA,0.095002,,,,053555.28*47 2021-02-18T05:35:56.546Z,1613626556.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.319992 m, bearing: 114.981112 deg, deltaT: 4.474740 s, approachRate: -0.724069 m/s, LOS rate: 0.334862 deg/s, posRepo size: 4 2021-02-18T05:35:56.548Z,1613626556.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.319992 m, bearing: 114.981112 deg, approachRate: -0.724069 m/s, LOS rate: 0.334862 deg/s, cmd update: 1.339448 deg/s, cmd heading: 118.350007 deg, new cmd heading: 118.056262 deg. 2021-02-18T05:35:58.952Z,1613626558.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:35:59.725Z,1613626559.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:00.131Z,1613626560.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:00.955Z,1613626560.955 [Micromodem](INFO): Nmea in: $SNTTA,0.092758,,,,053559.73*4A 2021-02-18T05:36:00.989Z,1613626560.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.960007 m, bearing: 114.729474 deg, deltaT: 4.419220 s, approachRate: -0.760312 m/s, LOS rate: -0.056942 deg/s, posRepo size: 4 2021-02-18T05:36:00.991Z,1613626560.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.960007 m, bearing: 114.729474 deg, approachRate: -0.760312 m/s, LOS rate: -0.056942 deg/s, cmd update: -0.227767 deg/s, cmd heading: 124.269336 deg, new cmd heading: 124.845971 deg. 2021-02-18T05:36:02.989Z,1613626562.989 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T05:36:03.390Z,1613626563.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:36:04.178Z,1613626564.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:04.570Z,1613626564.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:05.400Z,1613626565.400 [Micromodem](INFO): Nmea in: $SNTTA,0.090525,,,,053604.18*46 2021-02-18T05:36:05.434Z,1613626565.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.540009 m, bearing: 113.866207 deg, deltaT: 4.531526 s, approachRate: -0.754712 m/s, LOS rate: -0.190503 deg/s, posRepo size: 4 2021-02-18T05:36:05.436Z,1613626565.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.540009 m, bearing: 113.866207 deg, approachRate: -0.754712 m/s, LOS rate: -0.190503 deg/s, cmd update: -0.762011 deg/s, cmd heading: 123.237268 deg, new cmd heading: 123.158864 deg. 2021-02-18T05:36:07.862Z,1613626567.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:36:08.608Z,1613626568.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:09.014Z,1613626569.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:09.864Z,1613626569.864 [Micromodem](INFO): Nmea in: $SNTTA,0.088260,,,,053608.61*4B 2021-02-18T05:36:09.924Z,1613626569.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.179993 m, bearing: 113.962601 deg, deltaT: 4.342131 s, approachRate: -0.773817 m/s, LOS rate: 0.022200 deg/s, posRepo size: 4 2021-02-18T05:36:09.926Z,1613626569.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.179993 m, bearing: 113.962601 deg, approachRate: -0.773817 m/s, LOS rate: 0.022200 deg/s, cmd update: 0.088799 deg/s, cmd heading: 119.928394 deg, new cmd heading: 119.553625 deg. 2021-02-18T05:36:11.894Z,1613626571.894 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T05:36:12.275Z,1613626572.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:36:13.053Z,1613626573.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:13.474Z,1613626573.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:14.284Z,1613626574.284 [Micromodem](INFO): Nmea in: $SNTTA,0.086141,,,,053613.06*4E 2021-02-18T05:36:14.321Z,1613626574.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.000000 m, bearing: 113.511119 deg, deltaT: 4.490452 s, approachRate: -0.708168 m/s, LOS rate: -0.100543 deg/s, posRepo size: 4 2021-02-18T05:36:14.322Z,1613626574.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.000000 m, bearing: 113.511119 deg, approachRate: -0.708168 m/s, LOS rate: -0.100543 deg/s, cmd update: -0.402171 deg/s, cmd heading: 120.327159 deg, new cmd heading: 120.362512 deg. 2021-02-18T05:36:16.719Z,1613626576.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:36:17.496Z,1613626577.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:17.924Z,1613626577.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:17.954Z,1613626577.954 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T05:36:18.729Z,1613626578.729 [Micromodem](INFO): Nmea in: $SNTTA,0.084042,,,,053617.50*49 2021-02-18T05:36:18.808Z,1613626578.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.880005 m, bearing: 113.968591 deg, deltaT: 4.411963 s, approachRate: -0.707167 m/s, LOS rate: 0.103689 deg/s, posRepo size: 4 2021-02-18T05:36:18.809Z,1613626578.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.880005 m, bearing: 113.968591 deg, approachRate: -0.707167 m/s, LOS rate: 0.103689 deg/s, cmd update: 0.414756 deg/s, cmd heading: 118.559257 deg, new cmd heading: 118.362833 deg. 2021-02-18T05:36:21.196Z,1613626581.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:36:21.944Z,1613626581.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:22.351Z,1613626582.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:23.180Z,1613626583.180 [Micromodem](INFO): Nmea in: $SNTTA,0.081782,,,,053621.95*4B 2021-02-18T05:36:23.213Z,1613626583.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.519997 m, bearing: 115.004048 deg, deltaT: 4.485754 s, approachRate: -0.749040 m/s, LOS rate: 0.230832 deg/s, posRepo size: 4 2021-02-18T05:36:23.215Z,1613626583.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.519997 m, bearing: 115.004048 deg, approachRate: -0.749040 m/s, LOS rate: 0.230832 deg/s, cmd update: 0.923329 deg/s, cmd heading: 120.422916 deg, new cmd heading: 120.589451 deg. 2021-02-18T05:36:25.601Z,1613626585.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:36:26.389Z,1613626586.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:26.811Z,1613626586.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:27.616Z,1613626587.616 [Micromodem](INFO): Nmea in: $SNTTA,0.079499,,,,053626.39*44 2021-02-18T05:36:27.653Z,1613626587.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.100006 m, bearing: 113.597241 deg, deltaT: 4.433555 s, approachRate: -0.771388 m/s, LOS rate: -0.317309 deg/s, posRepo size: 4 2021-02-18T05:36:27.654Z,1613626587.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.100006 m, bearing: 113.597241 deg, approachRate: -0.771388 m/s, LOS rate: -0.317309 deg/s, cmd update: -1.269236 deg/s, cmd heading: 124.524365 deg, new cmd heading: 124.892586 deg. 2021-02-18T05:36:30.062Z,1613626590.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:36:30.832Z,1613626590.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:31.234Z,1613626591.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:32.060Z,1613626592.060 [Micromodem](INFO): Nmea in: $SNTTA,0.077349,,,,053630.83*46 2021-02-18T05:36:32.113Z,1613626592.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.860008 m, bearing: 112.801489 deg, deltaT: 4.396821 s, approachRate: -0.736896 m/s, LOS rate: -0.180983 deg/s, posRepo size: 4 2021-02-18T05:36:32.115Z,1613626592.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.860008 m, bearing: 112.801489 deg, approachRate: -0.736896 m/s, LOS rate: -0.180983 deg/s, cmd update: -0.723933 deg/s, cmd heading: 118.943761 deg, new cmd heading: 118.356959 deg. 2021-02-18T05:36:34.500Z,1613626594.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:36:35.273Z,1613626595.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:35.686Z,1613626595.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:36.504Z,1613626596.504 [Micromodem](INFO): Nmea in: $SNTTA,0.075084,,,0.077628,053635.27*5F 2021-02-18T05:36:36.548Z,1613626596.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.500008 m, bearing: 113.869663 deg, deltaT: 4.490868 s, approachRate: -0.748185 m/s, LOS rate: 0.237855 deg/s, posRepo size: 4 2021-02-18T05:36:36.549Z,1613626596.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.500008 m, bearing: 113.869663 deg, approachRate: -0.748185 m/s, LOS rate: 0.237855 deg/s, cmd update: 0.951418 deg/s, cmd heading: 115.695814 deg, new cmd heading: 115.398984 deg. 2021-02-18T05:36:38.953Z,1613626598.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:36:39.733Z,1613626599.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:40.127Z,1613626600.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:40.953Z,1613626600.953 [Micromodem](INFO): Nmea in: $SNTTA,0.072725,,,,053639.73*4B 2021-02-18T05:36:41.035Z,1613626601.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.900002 m, bearing: 113.066931 deg, deltaT: 4.403009 s, approachRate: -0.817624 m/s, LOS rate: -0.182314 deg/s, posRepo size: 4 2021-02-18T05:36:41.037Z,1613626601.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.900002 m, bearing: 113.066931 deg, approachRate: -0.817624 m/s, LOS rate: -0.182314 deg/s, cmd update: -0.729257 deg/s, cmd heading: 119.888491 deg, new cmd heading: 120.355363 deg. 2021-02-18T05:36:43.373Z,1613626603.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:36:44.167Z,1613626604.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:44.571Z,1613626604.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:45.392Z,1613626605.392 [Micromodem](INFO): Nmea in: $SNTTA,0.070669,,,,053644.17*48 2021-02-18T05:36:45.439Z,1613626605.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.779999 m, bearing: 112.119133 deg, deltaT: 4.496729 s, approachRate: -0.693838 m/s, LOS rate: -0.210775 deg/s, posRepo size: 4 2021-02-18T05:36:45.441Z,1613626605.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.779999 m, bearing: 112.119133 deg, approachRate: -0.693838 m/s, LOS rate: -0.210775 deg/s, cmd update: -0.843100 deg/s, cmd heading: 116.611773 deg, new cmd heading: 116.321590 deg. 2021-02-18T05:36:47.905Z,1613626607.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:36:48.610Z,1613626608.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:49.014Z,1613626609.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:49.848Z,1613626609.848 [Micromodem](INFO): Nmea in: $SNTTA,0.068259,,0.091883,,053648.61*5E 2021-02-18T05:36:49.926Z,1613626609.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.120003 m, bearing: 112.369869 deg, deltaT: 4.385951 s, approachRate: -0.834482 m/s, LOS rate: 0.057168 deg/s, posRepo size: 4 2021-02-18T05:36:49.928Z,1613626609.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.120003 m, bearing: 112.369869 deg, approachRate: -0.834482 m/s, LOS rate: 0.057168 deg/s, cmd update: 0.228672 deg/s, cmd heading: 112.910538 deg, new cmd heading: 112.490396 deg. 2021-02-18T05:36:52.273Z,1613626612.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:36:53.049Z,1613626613.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:53.453Z,1613626613.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:54.280Z,1613626614.280 [Micromodem](INFO): Nmea in: $SNTTA,0.066199,,,,053653.05*42 2021-02-18T05:36:54.317Z,1613626614.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.880005 m, bearing: 113.089935 deg, deltaT: 4.514355 s, approachRate: -0.717710 m/s, LOS rate: 0.159506 deg/s, posRepo size: 4 2021-02-18T05:36:54.319Z,1613626614.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.880005 m, bearing: 113.089935 deg, approachRate: -0.717710 m/s, LOS rate: 0.159506 deg/s, cmd update: 0.638023 deg/s, cmd heading: 113.938150 deg, new cmd heading: 114.028772 deg. 2021-02-18T05:36:56.714Z,1613626616.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:36:57.498Z,1613626617.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:36:57.900Z,1613626617.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:36:58.724Z,1613626618.724 [Micromodem](INFO): Nmea in: $SNTTA,0.063939,,,,053657.50*41 2021-02-18T05:36:58.787Z,1613626618.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.760002 m, bearing: 113.756336 deg, deltaT: 4.372611 s, approachRate: -0.713533 m/s, LOS rate: 0.152403 deg/s, posRepo size: 4 2021-02-18T05:36:58.805Z,1613626618.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.760002 m, bearing: 113.756336 deg, approachRate: -0.713533 m/s, LOS rate: 0.152403 deg/s, cmd update: 0.609614 deg/s, cmd heading: 116.741073 deg, new cmd heading: 117.040037 deg. 2021-02-18T05:37:01.196Z,1613626621.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:01.936Z,1613626621.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:37:02.343Z,1613626622.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:37:03.164Z,1613626623.164 [Micromodem](INFO): Nmea in: $SNTTA,0.061621,,0.073316,,053701.94*51 2021-02-18T05:37:03.209Z,1613626623.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.340004 m, bearing: 113.881335 deg, deltaT: 4.513046 s, approachRate: -0.757803 m/s, LOS rate: 0.027697 deg/s, posRepo size: 4 2021-02-18T05:37:03.211Z,1613626623.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.340004 m, bearing: 113.881335 deg, approachRate: -0.757803 m/s, LOS rate: 0.027697 deg/s, cmd update: 0.110789 deg/s, cmd heading: 119.491716 deg, new cmd heading: 119.725121 deg. 2021-02-18T05:37:03.973Z,1613626623.973 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T05:37:05.593Z,1613626625.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:06.380Z,1613626626.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:37:06.810Z,1613626626.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:37:07.615Z,1613626627.615 [Micromodem](INFO): Nmea in: $SNTTA,0.059389,,,,053706.38*42 2021-02-18T05:37:07.637Z,1613626627.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.919998 m, bearing: 111.865603 deg, deltaT: 4.390634 s, approachRate: -0.778932 m/s, LOS rate: -0.459098 deg/s, posRepo size: 4 2021-02-18T05:37:07.639Z,1613626627.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.919998 m, bearing: 111.865603 deg, approachRate: -0.778932 m/s, LOS rate: -0.459098 deg/s, cmd update: -1.836393 deg/s, cmd heading: 119.978250 deg, new cmd heading: 120.024736 deg. 2021-02-18T05:37:10.075Z,1613626630.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:10.830Z,1613626630.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:37:11.230Z,1613626631.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:37:12.064Z,1613626632.064 [Micromodem](INFO): Nmea in: $SNTTA,0.057183,,0.106977,,053710.83*53 2021-02-18T05:37:12.122Z,1613626632.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.680008 m, bearing: 112.335752 deg, deltaT: 4.429876 s, approachRate: -0.731395 m/s, LOS rate: 0.106131 deg/s, posRepo size: 4 2021-02-18T05:37:12.124Z,1613626632.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.680008 m, bearing: 112.335752 deg, approachRate: -0.731395 m/s, LOS rate: 0.106131 deg/s, cmd update: 0.424526 deg/s, cmd heading: 111.843121 deg, new cmd heading: 110.972295 deg. 2021-02-18T05:37:14.487Z,1613626634.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:15.274Z,1613626635.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:37:15.674Z,1613626635.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:37:16.500Z,1613626636.500 [Micromodem](INFO): Nmea in: $SNTTA,0.054934,,,,053715.28*40 2021-02-18T05:37:16.553Z,1613626636.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.259995 m, bearing: 113.389050 deg, deltaT: 4.486794 s, approachRate: -0.762240 m/s, LOS rate: 0.234755 deg/s, posRepo size: 4 2021-02-18T05:37:16.554Z,1613626636.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.259995 m, bearing: 113.389050 deg, approachRate: -0.762240 m/s, LOS rate: 0.234755 deg/s, cmd update: 0.939020 deg/s, cmd heading: 113.746189 deg, new cmd heading: 113.925363 deg. 2021-02-18T05:37:18.967Z,1613626638.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:19.713Z,1613626639.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:37:20.117Z,1613626640.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:37:20.944Z,1613626640.944 [Micromodem](INFO): Nmea in: $SNTTA,0.052673,,,,053719.72*49 2021-02-18T05:37:20.998Z,1613626640.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.840004 m, bearing: 112.740687 deg, deltaT: 4.405115 s, approachRate: -0.776368 m/s, LOS rate: -0.147184 deg/s, posRepo size: 4 2021-02-18T05:37:21.004Z,1613626641.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.840004 m, bearing: 112.740687 deg, approachRate: -0.776368 m/s, LOS rate: -0.147184 deg/s, cmd update: -0.588736 deg/s, cmd heading: 117.882011 deg, new cmd heading: 118.316637 deg. 2021-02-18T05:37:23.400Z,1613626643.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:24.158Z,1613626644.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:37:24.562Z,1613626644.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:37:25.388Z,1613626645.388 [Micromodem](INFO): Nmea in: $SNTTA,0.050512,,,,053724.16*43 2021-02-18T05:37:25.430Z,1613626645.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.540001 m, bearing: 111.279245 deg, deltaT: 4.483780 s, approachRate: -0.735987 m/s, LOS rate: -0.325940 deg/s, posRepo size: 4 2021-02-18T05:37:25.436Z,1613626645.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.540001 m, bearing: 111.279245 deg, approachRate: -0.735987 m/s, LOS rate: -0.325940 deg/s, cmd update: -1.303759 deg/s, cmd heading: 115.239461 deg, new cmd heading: 115.000002 deg. 2021-02-18T05:37:27.878Z,1613626647.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:28.601Z,1613626648.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:37:29.014Z,1613626649.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:37:29.832Z,1613626649.832 [Micromodem](INFO): Nmea in: $SNTTA,0.048220,,,,053728.60*41 2021-02-18T05:37:29.914Z,1613626649.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.120010 m, bearing: 111.930517 deg, deltaT: 4.418342 s, approachRate: -0.774044 m/s, LOS rate: 0.147402 deg/s, posRepo size: 4 2021-02-18T05:37:29.916Z,1613626649.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.120010 m, bearing: 111.930517 deg, approachRate: -0.774044 m/s, LOS rate: 0.147402 deg/s, cmd update: 0.589608 deg/s, cmd heading: 109.484233 deg, new cmd heading: 108.863587 deg. 2021-02-18T05:37:32.253Z,1613626652.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:33.049Z,1613626653.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:37:33.463Z,1613626653.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:37:34.276Z,1613626654.276 [Micromodem](INFO): Nmea in: $SNTTA,0.046073,,,,053733.05*42 2021-02-18T05:37:34.312Z,1613626654.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.879997 m, bearing: 112.405120 deg, deltaT: 4.494595 s, approachRate: -0.720869 m/s, LOS rate: 0.105594 deg/s, posRepo size: 4 2021-02-18T05:37:34.314Z,1613626654.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.879997 m, bearing: 112.405120 deg, approachRate: -0.720869 m/s, LOS rate: 0.105594 deg/s, cmd update: 0.422376 deg/s, cmd heading: 112.127223 deg, new cmd heading: 112.358125 deg. 2021-02-18T05:37:36.705Z,1613626656.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:37.488Z,1613626657.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:37:37.900Z,1613626657.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:37:38.727Z,1613626658.727 [Micromodem](INFO): Nmea in: $SNTTA,0.043974,,,,053737.49*45 2021-02-18T05:37:38.751Z,1613626658.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 111.834369 deg, deltaT: 4.388229 s, approachRate: -0.724664 m/s, LOS rate: -0.130064 deg/s, posRepo size: 4 2021-02-18T05:37:38.753Z,1613626658.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.700005 m, bearing: 111.834369 deg, approachRate: -0.724664 m/s, LOS rate: -0.130064 deg/s, cmd update: -0.520256 deg/s, cmd heading: 113.987469 deg, new cmd heading: 114.167347 deg. 2021-02-18T05:37:41.172Z,1613626661.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:41.933Z,1613626661.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:37:42.346Z,1613626662.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:37:43.160Z,1613626663.160 [Micromodem](INFO): Nmea in: $SNTTA,0.041529,,,,053741.93*45 2021-02-18T05:37:43.210Z,1613626663.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.160004 m, bearing: 112.872708 deg, deltaT: 4.477874 s, approachRate: -0.790554 m/s, LOS rate: 0.231882 deg/s, posRepo size: 4 2021-02-18T05:37:43.212Z,1613626663.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.160004 m, bearing: 112.872708 deg, approachRate: -0.790554 m/s, LOS rate: 0.231882 deg/s, cmd update: 0.927529 deg/s, cmd heading: 111.658221 deg, new cmd heading: 111.445997 deg. 2021-02-18T05:37:45.609Z,1613626665.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:46.385Z,1613626666.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:37:46.809Z,1613626666.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:37:47.612Z,1613626667.612 [Micromodem](INFO): Nmea in: $SNTTA,0.039357,,,,053746.39*42 2021-02-18T05:37:47.654Z,1613626667.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.040001 m, bearing: 113.143129 deg, deltaT: 4.421524 s, approachRate: -0.705640 m/s, LOS rate: 0.061160 deg/s, posRepo size: 4 2021-02-18T05:37:47.656Z,1613626667.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.040001 m, bearing: 113.143129 deg, approachRate: -0.705640 m/s, LOS rate: 0.061160 deg/s, cmd update: 0.244640 deg/s, cmd heading: 115.744993 deg, new cmd heading: 116.158699 deg. 2021-02-18T05:37:50.055Z,1613626670.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:50.829Z,1613626670.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:37:51.226Z,1613626671.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:37:52.044Z,1613626672.044 [Micromodem](INFO): Nmea in: $SNTTA,0.037071,,,,053750.83*4D 2021-02-18T05:37:52.925Z,1613626672.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:54.454Z,1613626674.454 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:37:55.689Z,1613626675.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:37:56.483Z,1613626676.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:37:56.899Z,1613626676.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:37:57.712Z,1613626677.712 [Micromodem](INFO): Nmea in: $SNTTA,0.034291,,,,053756.48*43 2021-02-18T05:37:57.734Z,1613626677.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.240005 m, bearing: 111.315069 deg, deltaT: 10.096358 s, approachRate: -0.772555 m/s, LOS rate: -0.181061 deg/s, posRepo size: 4 2021-02-18T05:37:57.736Z,1613626677.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.240005 m, bearing: 111.315069 deg, approachRate: -0.772555 m/s, LOS rate: -0.181061 deg/s, cmd update: -0.724245 deg/s, cmd heading: 118.218473 deg, new cmd heading: 118.320081 deg. 2021-02-18T05:38:00.170Z,1613626680.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:00.922Z,1613626680.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:01.338Z,1613626681.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:02.152Z,1613626682.152 [Micromodem](INFO): Nmea in: $SNTTA,0.032079,,,,053800.92*4A 2021-02-18T05:38:02.200Z,1613626682.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.940006 m, bearing: 109.872800 deg, deltaT: 4.456914 s, approachRate: -0.740422 m/s, LOS rate: -0.323603 deg/s, posRepo size: 4 2021-02-18T05:38:02.202Z,1613626682.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.940006 m, bearing: 109.872800 deg, approachRate: -0.740422 m/s, LOS rate: -0.323603 deg/s, cmd update: -1.294411 deg/s, cmd heading: 115.012705 deg, new cmd heading: 114.683271 deg. 2021-02-18T05:38:04.585Z,1613626684.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:05.405Z,1613626685.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:05.828Z,1613626685.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:06.628Z,1613626686.628 [Micromodem](INFO): Nmea in: $SNTTA,0.029922,,,,053805.41*4C 2021-02-18T05:38:06.670Z,1613626686.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.700001 m, bearing: 109.994090 deg, deltaT: 4.468675 s, approachRate: -0.725048 m/s, LOS rate: 0.027142 deg/s, posRepo size: 4 2021-02-18T05:38:06.672Z,1613626686.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.700001 m, bearing: 109.994090 deg, approachRate: -0.725048 m/s, LOS rate: 0.027142 deg/s, cmd update: 0.108570 deg/s, cmd heading: 109.207230 deg, new cmd heading: 108.637948 deg. 2021-02-18T05:38:09.088Z,1613626689.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:09.877Z,1613626689.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:10.242Z,1613626690.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:11.097Z,1613626691.097 [Micromodem](INFO): Nmea in: $SNTTA,0.027606,,,,053809.88*42 2021-02-18T05:38:11.151Z,1613626691.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.159996 m, bearing: 110.721792 deg, deltaT: 4.417596 s, approachRate: -0.801342 m/s, LOS rate: 0.164728 deg/s, posRepo size: 4 2021-02-18T05:38:11.153Z,1613626691.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.159996 m, bearing: 110.721792 deg, approachRate: -0.801342 m/s, LOS rate: 0.164728 deg/s, cmd update: 0.658912 deg/s, cmd heading: 109.688589 deg, new cmd heading: 109.741468 deg. 2021-02-18T05:38:13.495Z,1613626693.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:14.288Z,1613626694.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:14.688Z,1613626694.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:15.512Z,1613626695.512 [Micromodem](INFO): Nmea in: $SNTTA,0.025444,,,,053814.29*43 2021-02-18T05:38:15.546Z,1613626695.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.980000 m, bearing: 110.578973 deg, deltaT: 4.478647 s, approachRate: -0.710035 m/s, LOS rate: -0.031889 deg/s, posRepo size: 4 2021-02-18T05:38:15.547Z,1613626695.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.98 m. 2021-02-18T05:38:15.549Z,1613626695.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.980000 m, bearing: 110.578973 deg, approachRate: -0.710035 m/s, LOS rate: -0.031889 deg/s, cmd update: -0.127556 deg/s, cmd heading: 112.639598 deg, new cmd heading: 112.905783 deg. 2021-02-18T05:38:15.913Z,1613626695.913 [PowerOnly](INFO): Powering up loadControl 2021-02-18T05:38:17.952Z,1613626697.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:18.724Z,1613626698.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:19.148Z,1613626699.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:19.952Z,1613626699.952 [Micromodem](INFO): Nmea in: $SNTTA,0.023267,,,,053818.73*41 2021-02-18T05:38:20.001Z,1613626700.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.680000 m, bearing: 109.221091 deg, deltaT: 4.436601 s, approachRate: -0.743813 m/s, LOS rate: -0.306064 deg/s, posRepo size: 4 2021-02-18T05:38:20.002Z,1613626700.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.68 m. 2021-02-18T05:38:20.002Z,1613626700.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.68 m. 2021-02-18T05:38:20.002Z,1613626700.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T05:38:20.004Z,1613626700.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.680000 m, bearing: 109.221091 deg, approachRate: -0.743813 m/s, LOS rate: -0.306064 deg/s, cmd update: -1.224255 deg/s, cmd heading: 112.073970 deg, new cmd heading: 112.019795 deg. 2021-02-18T05:38:22.378Z,1613626702.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:23.168Z,1613626703.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:23.574Z,1613626703.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:24.396Z,1613626704.396 [Micromodem](INFO): Nmea in: $SNTTA,0.021097,,,,053823.17*44 2021-02-18T05:38:24.442Z,1613626704.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.920000 m, bearing: 110.092438 deg, deltaT: 4.469595 s, approachRate: -0.617506 m/s, LOS rate: 0.194950 deg/s, posRepo size: 4 2021-02-18T05:38:24.448Z,1613626704.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.920000 m, bearing: 110.092438 deg, approachRate: -0.617506 m/s, LOS rate: 0.194950 deg/s, cmd update: 0.779800 deg/s, cmd heading: 106.604191 deg, new cmd heading: 106.117244 deg. 2021-02-18T05:38:26.889Z,1613626706.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:27.629Z,1613626707.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:28.054Z,1613626708.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:28.856Z,1613626708.856 [Micromodem](INFO): Nmea in: $SNTTA,0.018910,,,,053827.63*4F 2021-02-18T05:38:28.930Z,1613626708.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.140001 m, bearing: 109.020604 deg, deltaT: 4.405332 s, approachRate: -0.858051 m/s, LOS rate: -0.243304 deg/s, posRepo size: 4 2021-02-18T05:38:28.932Z,1613626708.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.140001 m, bearing: 109.020604 deg, approachRate: -0.858051 m/s, LOS rate: -0.243304 deg/s, cmd update: -0.973215 deg/s, cmd heading: 110.042606 deg, new cmd heading: 110.413700 deg. 2021-02-18T05:38:31.297Z,1613626711.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:32.062Z,1613626712.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:32.462Z,1613626712.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:33.292Z,1613626713.292 [Micromodem](INFO): Nmea in: $SNTTA,0.016708,,,,053832.06*41 2021-02-18T05:38:33.334Z,1613626713.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.840002 m, bearing: 108.521618 deg, deltaT: 4.470999 s, approachRate: -0.738090 m/s, LOS rate: -0.111605 deg/s, posRepo size: 4 2021-02-18T05:38:33.337Z,1613626713.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.840002 m, bearing: 108.521618 deg, approachRate: -0.738090 m/s, LOS rate: -0.111605 deg/s, cmd update: -0.446420 deg/s, cmd heading: 105.691354 deg, new cmd heading: 105.294127 deg. 2021-02-18T05:38:35.729Z,1613626715.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:36.509Z,1613626716.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:36.911Z,1613626716.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:37.736Z,1613626717.736 [Micromodem](INFO): Nmea in: $SNTTA,0.014574,,,,053836.51*4C 2021-02-18T05:38:37.805Z,1613626717.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.659998 m, bearing: 109.667983 deg, deltaT: 4.397862 s, approachRate: -0.723080 m/s, LOS rate: 0.260664 deg/s, posRepo size: 4 2021-02-18T05:38:37.806Z,1613626717.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.659998 m, bearing: 109.667983 deg, approachRate: -0.723080 m/s, LOS rate: 0.260664 deg/s, cmd update: 1.042657 deg/s, cmd heading: 103.728077 deg, new cmd heading: 103.512911 deg. 2021-02-18T05:38:40.201Z,1613626720.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:40.961Z,1613626720.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:41.355Z,1613626721.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:42.180Z,1613626722.180 [Micromodem](INFO): Nmea in: $SNTTA,0.012427,,,,053840.96*47 2021-02-18T05:38:42.234Z,1613626722.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.420000 m, bearing: 111.161916 deg, deltaT: 4.557518 s, approachRate: -0.710913 m/s, LOS rate: 0.327795 deg/s, posRepo size: 4 2021-02-18T05:38:42.236Z,1613626722.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.420000 m, bearing: 111.161916 deg, approachRate: -0.710913 m/s, LOS rate: 0.327795 deg/s, cmd update: 1.311181 deg/s, cmd heading: 108.444703 deg, new cmd heading: 108.848895 deg. 2021-02-18T05:38:44.612Z,1613626724.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:45.394Z,1613626725.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:45.812Z,1613626725.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:46.620Z,1613626726.620 [Micromodem](INFO): Nmea in: $SNTTA,0.010249,,,,053845.40*45 2021-02-18T05:38:46.666Z,1613626726.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.179998 m, bearing: 110.212998 deg, deltaT: 4.360323 s, approachRate: -0.743065 m/s, LOS rate: -0.217626 deg/s, posRepo size: 4 2021-02-18T05:38:46.672Z,1613626726.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.179998 m, bearing: 110.212998 deg, approachRate: -0.743065 m/s, LOS rate: -0.217626 deg/s, cmd update: -0.870503 deg/s, cmd heading: 114.201112 deg, new cmd heading: 114.764561 deg. 2021-02-18T05:38:49.091Z,1613626729.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:49.852Z,1613626729.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:50.243Z,1613626730.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:51.072Z,1613626731.072 [Micromodem](INFO): Nmea in: $SNTTA,0.008220,,,,053849.85*46 2021-02-18T05:38:51.140Z,1613626731.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.999999 m, bearing: 108.743278 deg, deltaT: 4.419146 s, approachRate: -0.719596 m/s, LOS rate: -0.332580 deg/s, posRepo size: 4 2021-02-18T05:38:51.142Z,1613626731.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.999999 m, bearing: 108.743278 deg, approachRate: -0.719596 m/s, LOS rate: -0.332580 deg/s, cmd update: -1.330320 deg/s, cmd heading: 110.350802 deg, new cmd heading: 109.936502 deg. 2021-02-18T05:38:53.528Z,1613626733.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:54.276Z,1613626734.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:54.683Z,1613626734.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:55.507Z,1613626735.507 [Micromodem](INFO): Nmea in: $SNTTA,0.006155,,,,053854.28*42 2021-02-18T05:38:55.526Z,1613626735.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.999999 m, bearing: 110.035140 deg, deltaT: 4.466152 s, approachRate: -0.671719 m/s, LOS rate: 0.289256 deg/s, posRepo size: 4 2021-02-18T05:38:55.528Z,1613626735.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.999999 m, bearing: 110.035140 deg, approachRate: -0.671719 m/s, LOS rate: 0.289256 deg/s, cmd update: 1.157025 deg/s, cmd heading: 104.409358 deg, new cmd heading: 103.876838 deg. 2021-02-18T05:38:57.977Z,1613626737.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:38:58.720Z,1613626738.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:38:59.127Z,1613626739.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:38:59.953Z,1613626739.953 [Micromodem](INFO): Nmea in: $SNTTA,0.004348,,,,053858.72*4D 2021-02-18T05:39:00.071Z,1613626740.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.240000 m, bearing: 105.472403 deg, deltaT: 4.429546 s, approachRate: -0.623088 m/s, LOS rate: -1.030069 deg/s, posRepo size: 4 2021-02-18T05:39:00.073Z,1613626740.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.240000 m, bearing: 105.472403 deg, approachRate: -0.623088 m/s, LOS rate: -1.030069 deg/s, cmd update: -4.120275 deg/s, cmd heading: 109.529555 deg, new cmd heading: 110.131133 deg. 2021-02-18T05:39:02.377Z,1613626742.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:39:03.168Z,1613626743.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:39:03.570Z,1613626743.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:39:04.400Z,1613626744.400 [Micromodem](INFO): Nmea in: $SNTTA,0.002783,,,,053903.17*44 2021-02-18T05:39:04.420Z,1613626744.420 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T05:39:04.420Z,1613626744.420 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T05:39:04.420Z,1613626744.420 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T05:39:04.420Z,1613626744.420 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:39:04.420Z,1613626744.420 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T05:39:04.421Z,1613626744.421 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.080000 m 2021-02-18T05:39:04.421Z,1613626744.421 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T05:39:04.421Z,1613626744.421 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T05:39:04.421Z,1613626744.421 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T05:39:04.424Z,1613626744.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 87.047011 deg, deltaT: 4.451698 s, approachRate: -0.485208 m/s, LOS rate: -4.138958 deg/s, posRepo size: 4 2021-02-18T05:39:04.425Z,1613626744.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.080000 m, bearing: 87.047011 deg, approachRate: -0.485208 m/s, LOS rate: -4.138958 deg/s, cmd update: -12.000000 deg/s, cmd heading: 91.170049 deg, new cmd heading: 89.454614 deg. 2021-02-18T05:39:04.891Z,1613626744.891 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T053904: (41.552319, -70.708603) 2021-02-18T05:39:04.891Z,1613626744.891 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T05:39:04.891Z,1613626744.891 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T05:39:04.891Z,1613626744.891 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:39:04.892Z,1613626744.892 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T05:39:04.892Z,1613626744.892 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:39:04.892Z,1613626744.892 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T05:39:04.892Z,1613626744.892 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T05:39:04.892Z,1613626744.892 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T05:39:06.895Z,1613626746.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:39:07.619Z,1613626747.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:39:08.019Z,1613626748.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:39:08.853Z,1613626748.853 [Micromodem](INFO): Nmea in: $SNTTA,0.002769,,0.131593,,053907.62*54 2021-02-18T05:39:08.926Z,1613626748.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 98.667547 deg, deltaT: 4.423697 s, approachRate: 0.000000 m/s, LOS rate: 2.626883 deg/s, posRepo size: 4 2021-02-18T05:39:08.932Z,1613626748.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.080000 m, bearing: 98.667547 deg, approachRate: 0.000000 m/s, LOS rate: 2.626883 deg/s, cmd update: 10.507533 deg/s, cmd heading: 38.085852 deg, new cmd heading: 32.139780 deg. 2021-02-18T05:39:11.281Z,1613626751.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:39:12.053Z,1613626752.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:39:12.458Z,1613626752.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:39:13.280Z,1613626753.280 [Micromodem](INFO): Nmea in: $SNTTA,0.004128,,,,053912.05*46 2021-02-18T05:39:13.317Z,1613626753.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.300001 m, bearing: 74.189248 deg, deltaT: 4.509636 s, approachRate: 0.492279 m/s, LOS rate: -5.427999 deg/s, posRepo size: 4 2021-02-18T05:39:13.319Z,1613626753.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.300001 m, bearing: 74.189248 deg, approachRate: 0.492279 m/s, LOS rate: -5.427999 deg/s, cmd update: -12.000000 deg/s, cmd heading: 85.303428 deg, new cmd heading: 89.432069 deg. 2021-02-18T05:39:15.720Z,1613626755.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:39:16.502Z,1613626756.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:39:16.906Z,1613626756.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:39:17.728Z,1613626757.728 [Micromodem](INFO): Nmea in: $SNTTA,0.005766,,,,053916.50*4F 2021-02-18T05:39:17.808Z,1613626757.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.759999 m, bearing: 59.485552 deg, deltaT: 4.383463 s, approachRate: 0.561200 m/s, LOS rate: -3.354356 deg/s, posRepo size: 4 2021-02-18T05:39:17.810Z,1613626757.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.759999 m, bearing: 59.485552 deg, approachRate: 0.561200 m/s, LOS rate: -3.354356 deg/s, cmd update: -12.000000 deg/s, cmd heading: 32.509990 deg, new cmd heading: 26.754382 deg. 2021-02-18T05:39:20.168Z,1613626760.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:39:20.940Z,1613626760.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:39:21.367Z,1613626761.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:39:22.177Z,1613626762.177 [Micromodem](INFO): Nmea in: $SNTTA,0.007722,,,0.046602,053920.94*58 2021-02-18T05:39:22.238Z,1613626762.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 68.467134 deg, deltaT: 4.492833 s, approachRate: 0.654376 m/s, LOS rate: 1.999091 deg/s, posRepo size: 4 2021-02-18T05:39:22.244Z,1613626762.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.700000 m, bearing: 68.467134 deg, approachRate: 0.654376 m/s, LOS rate: 1.999091 deg/s, cmd update: 7.996365 deg/s, cmd heading: 338.643693 deg, new cmd heading: 333.537189 deg. 2021-02-18T05:39:24.597Z,1613626764.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:39:25.384Z,1613626765.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:39:25.812Z,1613626765.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:39:26.620Z,1613626766.620 [Micromodem](INFO): Nmea in: $SNTTA,0.009557,,0.028006,,053925.39*5E 2021-02-18T05:39:26.642Z,1613626766.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.459998 m, bearing: 21.311860 deg, deltaT: 4.401820 s, approachRate: 0.627013 m/s, LOS rate: -10.712677 deg/s, posRepo size: 4 2021-02-18T05:39:26.642Z,1613626766.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.46 m. Rolling out. 2021-02-18T05:39:26.642Z,1613626766.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T05:39:29.056Z,1613626769.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:39:29.832Z,1613626769.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:39:30.239Z,1613626770.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:39:31.064Z,1613626771.064 [Micromodem](INFO): Nmea in: $SNTTA,0.011218,,,,053929.83*44 2021-02-18T05:39:31.123Z,1613626771.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.919998 m, bearing: 7.572003 deg, deltaT: 4.435165 s, approachRate: 0.554658 m/s, LOS rate: -3.097936 deg/s, posRepo size: 4 2021-02-18T05:39:33.523Z,1613626773.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:39:34.277Z,1613626774.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:39:34.677Z,1613626774.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:39:35.528Z,1613626775.528 [Micromodem](INFO): Nmea in: $SNTTA,0.012627,,,,053934.28*42 2021-02-18T05:39:35.561Z,1613626775.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.079998 m, bearing: 31.753973 deg, deltaT: 4.485966 s, approachRate: 0.481502 m/s, LOS rate: 5.390583 deg/s, posRepo size: 4 2021-02-18T05:39:37.976Z,1613626777.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:39:38.716Z,1613626778.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:39:39.125Z,1613626779.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:39:39.944Z,1613626779.944 [Micromodem](INFO): Nmea in: $SNTTA,0.013828,,,,053938.72*41 2021-02-18T05:39:39.978Z,1613626779.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.659998 m, bearing: 28.803099 deg, deltaT: 4.400191 s, approachRate: 0.586338 m/s, LOS rate: -0.670624 deg/s, posRepo size: 4 2021-02-18T05:39:42.367Z,1613626782.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:39:43.162Z,1613626783.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:39:43.568Z,1613626783.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:39:44.397Z,1613626784.397 [Micromodem](INFO): Nmea in: $SNTTA,0.015211,,,,053943.16*49 2021-02-18T05:39:44.444Z,1613626784.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.980001 m, bearing: 7.815955 deg, deltaT: 4.481575 s, approachRate: 0.294540 m/s, LOS rate: -4.682984 deg/s, posRepo size: 4 2021-02-18T05:39:46.860Z,1613626786.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:39:47.607Z,1613626787.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:39:48.022Z,1613626788.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:39:48.053Z,1613626788.053 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T05:39:48.837Z,1613626788.837 [Micromodem](INFO): Nmea in: $SNTTA,0.016672,,0.033542,,053947.61*52 2021-02-18T05:39:48.927Z,1613626788.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.140001 m, bearing: 22.233198 deg, deltaT: 4.405135 s, approachRate: 0.490337 m/s, LOS rate: 3.272826 deg/s, posRepo size: 4 2021-02-18T05:39:50.445Z,1613626790.445 [PowerOnly](INFO): Powering down loadControl 2021-02-18T05:39:51.263Z,1613626791.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:39:52.054Z,1613626792.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:39:52.455Z,1613626792.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:39:53.287Z,1613626793.287 [Micromodem](INFO): Nmea in: $SNTTA,0.018410,,,,053952.05*41 2021-02-18T05:39:53.306Z,1613626793.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.320000 m, bearing: 332.373698 deg, deltaT: 4.528328 s, approachRate: 0.702246 m/s, LOS rate: -11.010576 deg/s, posRepo size: 4 2021-02-18T05:39:55.701Z,1613626795.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:39:56.492Z,1613626796.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:39:56.898Z,1613626796.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:39:57.720Z,1613626797.720 [Micromodem](INFO): Nmea in: $SNTTA,0.020367,,,,053956.49*41 2021-02-18T05:39:57.774Z,1613626797.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.139997 m, bearing: 28.270669 deg, deltaT: 4.374608 s, approachRate: 0.644629 m/s, LOS rate: 12.777596 deg/s, posRepo size: 4 2021-02-18T05:40:00.174Z,1613626800.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:00.936Z,1613626800.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:01.352Z,1613626801.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:40:02.171Z,1613626802.171 [Micromodem](INFO): Nmea in: $SNTTA,0.021848,,,,054000.94*4B 2021-02-18T05:40:02.205Z,1613626802.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.360001 m, bearing: 338.362463 deg, deltaT: 4.491895 s, approachRate: 0.494224 m/s, LOS rate: -11.110725 deg/s, posRepo size: 4 2021-02-18T05:40:04.592Z,1613626804.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:05.406Z,1613626805.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:05.824Z,1613626805.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:40:06.637Z,1613626806.637 [Micromodem](INFO): Nmea in: $SNTTA,0.024134,,,,054005.41*41 2021-02-18T05:40:06.678Z,1613626806.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.360001 m, bearing: 331.170191 deg, deltaT: 4.396381 s, approachRate: 0.682379 m/s, LOS rate: -1.635953 deg/s, posRepo size: 4 2021-02-18T05:40:09.079Z,1613626809.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:09.884Z,1613626809.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:10.291Z,1613626810.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:40:11.116Z,1613626811.116 [Micromodem](INFO): Nmea in: $SNTTA,0.025682,,,,054009.88*43 2021-02-18T05:40:11.174Z,1613626811.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.180000 m, bearing: 345.826329 deg, deltaT: 4.484237 s, approachRate: 0.628869 m/s, LOS rate: 3.268368 deg/s, posRepo size: 4 2021-02-18T05:40:13.531Z,1613626813.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:14.325Z,1613626814.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:14.729Z,1613626814.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:40:15.552Z,1613626815.552 [Micromodem](INFO): Nmea in: $SNTTA,0.027729,,,,054014.33*4D 2021-02-18T05:40:15.594Z,1613626815.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.759998 m, bearing: 335.771389 deg, deltaT: 4.499419 s, approachRate: 0.573407 m/s, LOS rate: -2.234720 deg/s, posRepo size: 4 2021-02-18T05:40:18.002Z,1613626818.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:18.791Z,1613626818.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:19.176Z,1613626819.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:40:20.008Z,1613626820.008 [Micromodem](INFO): Nmea in: $SNTTA,0.029458,,,,054018.79*44 2021-02-18T05:40:20.041Z,1613626820.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.700001 m, bearing: 33.265706 deg, deltaT: 4.413457 s, approachRate: 0.666145 m/s, LOS rate: 13.027046 deg/s, posRepo size: 4 2021-02-18T05:40:22.422Z,1613626822.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:23.218Z,1613626823.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:23.628Z,1613626823.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:40:24.447Z,1613626824.447 [Micromodem](INFO): Nmea in: $SNTTA,0.031418,,,,054023.22*4F 2021-02-18T05:40:24.470Z,1613626824.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.820000 m, bearing: 358.770576 deg, deltaT: 4.450696 s, approachRate: 0.701014 m/s, LOS rate: -7.750501 deg/s, posRepo size: 4 2021-02-18T05:40:26.923Z,1613626826.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:27.656Z,1613626827.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:28.063Z,1613626828.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:40:28.905Z,1613626828.905 [Micromodem](INFO): Nmea in: $SNTTA,0.033449,,0.060267,,054027.66*56 2021-02-18T05:40:28.974Z,1613626828.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.699997 m, bearing: 343.584880 deg, deltaT: 4.421338 s, approachRate: 0.651386 m/s, LOS rate: -3.434638 deg/s, posRepo size: 4 2021-02-18T05:40:31.307Z,1613626831.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:32.111Z,1613626832.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:32.505Z,1613626832.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:40:33.336Z,1613626833.336 [Micromodem](INFO): Nmea in: $SNTTA,0.035432,,,,054032.11*43 2021-02-18T05:40:33.378Z,1613626833.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.639999 m, bearing: 339.535042 deg, deltaT: 4.482671 s, approachRate: 0.655860 m/s, LOS rate: -0.903443 deg/s, posRepo size: 4 2021-02-18T05:40:35.772Z,1613626835.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:36.545Z,1613626836.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:36.950Z,1613626836.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:40:37.820Z,1613626837.820 [Micromodem](INFO): Nmea in: $SNTTA,0.037417,,,,054036.55*42 2021-02-18T05:40:37.899Z,1613626837.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.580002 m, bearing: 351.433778 deg, deltaT: 4.441765 s, approachRate: 0.661900 m/s, LOS rate: 2.678831 deg/s, posRepo size: 4 2021-02-18T05:40:40.219Z,1613626840.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:40.991Z,1613626840.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:41.396Z,1613626841.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:40:42.220Z,1613626842.220 [Micromodem](INFO): Nmea in: $SNTTA,0.039438,,,,054040.99*40 2021-02-18T05:40:42.244Z,1613626842.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.700005 m, bearing: 349.414692 deg, deltaT: 4.474562 s, approachRate: 0.697276 m/s, LOS rate: -0.451237 deg/s, posRepo size: 4 2021-02-18T05:40:44.681Z,1613626844.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:45.433Z,1613626845.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:45.866Z,1613626845.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:40:46.663Z,1613626846.663 [Micromodem](INFO): Nmea in: $SNTTA,0.041565,,,,054045.43*44 2021-02-18T05:40:46.682Z,1613626846.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.700001 m, bearing: 348.459231 deg, deltaT: 4.376154 s, approachRate: 0.685533 m/s, LOS rate: -0.218334 deg/s, posRepo size: 4 2021-02-18T05:40:49.113Z,1613626849.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:49.894Z,1613626849.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:50.311Z,1613626850.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:40:51.132Z,1613626851.132 [Micromodem](INFO): Nmea in: $SNTTA,0.043544,,,,054049.89*4F 2021-02-18T05:40:51.210Z,1613626851.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.759995 m, bearing: 352.077318 deg, deltaT: 4.469487 s, approachRate: 0.684641 m/s, LOS rate: 0.809509 deg/s, posRepo size: 4 2021-02-18T05:40:53.556Z,1613626853.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:54.358Z,1613626854.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:54.761Z,1613626854.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:40:55.584Z,1613626855.584 [Micromodem](INFO): Nmea in: $SNTTA,0.045348,,,,054054.36*4B 2021-02-18T05:40:55.626Z,1613626855.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.400009 m, bearing: 345.902336 deg, deltaT: 4.475073 s, approachRate: 0.589938 m/s, LOS rate: -1.379862 deg/s, posRepo size: 4 2021-02-18T05:40:58.037Z,1613626858.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:40:58.810Z,1613626858.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:40:59.200Z,1613626859.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:00.036Z,1613626860.036 [Micromodem](INFO): Nmea in: $SNTTA,0.047291,,,,054058.81*4C 2021-02-18T05:41:00.070Z,1613626860.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.040001 m, bearing: 9.699557 deg, deltaT: 4.452937 s, approachRate: 0.592865 m/s, LOS rate: 5.344162 deg/s, posRepo size: 4 2021-02-18T05:41:02.454Z,1613626862.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:03.254Z,1613626863.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:03.659Z,1613626863.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:04.475Z,1613626864.475 [Micromodem](INFO): Nmea in: $SNTTA,0.049277,,,,054103.25*4B 2021-02-18T05:41:04.498Z,1613626864.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.340004 m, bearing: 358.263803 deg, deltaT: 4.435977 s, approachRate: 0.743918 m/s, LOS rate: -2.577955 deg/s, posRepo size: 4 2021-02-18T05:41:06.953Z,1613626866.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:07.681Z,1613626867.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:08.086Z,1613626868.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:08.912Z,1613626868.912 [Micromodem](INFO): Nmea in: $SNTTA,0.051257,,,,054107.68*4D 2021-02-18T05:41:08.951Z,1613626868.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.099998 m, bearing: 352.014399 deg, deltaT: 4.415405 s, approachRate: 0.625083 m/s, LOS rate: -1.415364 deg/s, posRepo size: 4 2021-02-18T05:41:11.380Z,1613626871.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:12.129Z,1613626872.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:12.534Z,1613626872.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:13.356Z,1613626873.356 [Micromodem](INFO): Nmea in: $SNTTA,0.053480,,,,054112.13*4B 2021-02-18T05:41:13.378Z,1613626873.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.580009 m, bearing: 8.466389 deg, deltaT: 4.473808 s, approachRate: 0.777863 m/s, LOS rate: 3.677405 deg/s, posRepo size: 4 2021-02-18T05:41:15.827Z,1613626875.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:16.570Z,1613626876.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:16.974Z,1613626876.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:17.823Z,1613626877.823 [Micromodem](INFO): Nmea in: $SNTTA,0.055549,,0.070249,,054116.57*5B 2021-02-18T05:41:17.894Z,1613626877.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.699997 m, bearing: 3.561447 deg, deltaT: 4.405510 s, approachRate: 0.708201 m/s, LOS rate: -1.113365 deg/s, posRepo size: 4 2021-02-18T05:41:19.902Z,1613626879.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:20.609Z,1613626880.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:21.014Z,1613626881.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:21.848Z,1613626881.848 [Micromodem](INFO): Nmea in: $SNTTA,0.057457,,,,054120.61*41 2021-02-18T05:41:21.949Z,1613626881.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.400002 m, bearing: 2.638463 deg, deltaT: 4.041224 s, approachRate: 0.668116 m/s, LOS rate: -0.228392 deg/s, posRepo size: 4 2021-02-18T05:41:23.982Z,1613626883.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:24.666Z,1613626884.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:25.077Z,1613626885.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:25.908Z,1613626885.908 [Micromodem](INFO): Nmea in: $SNTTA,0.059411,,0.081607,,054124.67*59 2021-02-18T05:41:25.962Z,1613626885.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.459999 m, bearing: 3.159079 deg, deltaT: 4.064174 s, approachRate: 0.752920 m/s, LOS rate: 0.128099 deg/s, posRepo size: 4 2021-02-18T05:41:28.319Z,1613626888.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:29.098Z,1613626889.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:29.498Z,1613626889.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:30.324Z,1613626890.324 [Micromodem](INFO): Nmea in: $SNTTA,0.061543,,,,054129.10*4F 2021-02-18T05:41:30.360Z,1613626890.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.459999 m, bearing: 356.197972 deg, deltaT: 4.479010 s, approachRate: 0.669791 m/s, LOS rate: -1.554160 deg/s, posRepo size: 4 2021-02-18T05:41:32.751Z,1613626892.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:33.537Z,1613626893.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:33.950Z,1613626893.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:34.788Z,1613626894.788 [Micromodem](INFO): Nmea in: $SNTTA,0.063533,,,,054133.54*41 2021-02-18T05:41:34.850Z,1613626894.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.580002 m, bearing: 6.480208 deg, deltaT: 4.399975 s, approachRate: 0.709096 m/s, LOS rate: 2.336886 deg/s, posRepo size: 4 2021-02-18T05:41:36.916Z,1613626896.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:37.640Z,1613626897.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:37.991Z,1613626897.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:38.852Z,1613626898.852 [Micromodem](INFO): Nmea in: $SNTTA,0.065548,,,,054137.64*4C 2021-02-18T05:41:38.934Z,1613626898.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.520004 m, bearing: 3.494190 deg, deltaT: 4.045838 s, approachRate: 0.726673 m/s, LOS rate: -0.738047 deg/s, posRepo size: 4 2021-02-18T05:41:41.238Z,1613626901.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:42.024Z,1613626902.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:42.427Z,1613626902.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:43.264Z,1613626903.264 [Micromodem](INFO): Nmea in: $SNTTA,0.067442,,,,054142.03*46 2021-02-18T05:41:43.318Z,1613626903.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.340004 m, bearing: 1.067235 deg, deltaT: 4.488055 s, approachRate: 0.628334 m/s, LOS rate: -0.540759 deg/s, posRepo size: 4 2021-02-18T05:41:45.694Z,1613626905.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:46.471Z,1613626906.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:46.896Z,1613626906.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:47.696Z,1613626907.696 [Micromodem](INFO): Nmea in: $SNTTA,0.069462,,,,054146.47*4E 2021-02-18T05:41:47.732Z,1613626907.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.400002 m, bearing: 359.581128 deg, deltaT: 4.452162 s, approachRate: 0.687306 m/s, LOS rate: -0.333793 deg/s, posRepo size: 4 2021-02-18T05:41:50.159Z,1613626910.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:50.909Z,1613626910.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:51.380Z,1613626911.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:52.152Z,1613626912.152 [Micromodem](INFO): Nmea in: $SNTTA,0.071657,,,,054150.91*4F 2021-02-18T05:41:52.187Z,1613626912.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.820000 m, bearing: 3.714775 deg, deltaT: 4.442991 s, approachRate: 0.769751 m/s, LOS rate: 0.930375 deg/s, posRepo size: 4 2021-02-18T05:41:54.574Z,1613626914.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:55.353Z,1613626915.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:55.779Z,1613626915.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:41:56.588Z,1613626916.588 [Micromodem](INFO): Nmea in: $SNTTA,0.073586,,,,054155.35*49 2021-02-18T05:41:56.610Z,1613626916.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.580002 m, bearing: 5.083913 deg, deltaT: 4.393243 s, approachRate: 0.628238 m/s, LOS rate: 0.311646 deg/s, posRepo size: 4 2021-02-18T05:41:59.067Z,1613626919.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:41:59.830Z,1613626919.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:41:59.885Z,1613626919.885 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T05:42:00.205Z,1613626920.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:42:01.037Z,1613626921.037 [Micromodem](INFO): Nmea in: $SNTTA,0.075745,,,,054159.83*43 2021-02-18T05:42:01.885Z,1613626921.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:03.452Z,1613626923.452 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:42:04.737Z,1613626924.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:05.474Z,1613626925.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:42:05.907Z,1613626925.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:42:06.692Z,1613626926.692 [Micromodem](INFO): Nmea in: $SNTTA,0.078294,,,,054205.47*45 2021-02-18T05:42:06.729Z,1613626926.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.599998 m, bearing: 0.045350 deg, deltaT: 10.078190 s, approachRate: 0.696553 m/s, LOS rate: -0.499947 deg/s, posRepo size: 4 2021-02-18T05:42:09.152Z,1613626929.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:09.899Z,1613626929.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:42:10.311Z,1613626930.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:42:11.128Z,1613626931.128 [Micromodem](INFO): Nmea in: $SNTTA,0.080354,,,,054209.90*49 2021-02-18T05:42:11.979Z,1613626931.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:13.540Z,1613626933.540 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:42:14.823Z,1613626934.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:15.569Z,1613626935.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:42:16.049Z,1613626936.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:42:16.843Z,1613626936.843 [Micromodem](INFO): Nmea in: $SNTTA,0.082990,,,,054215.57*4F 2021-02-18T05:42:16.935Z,1613626936.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.680008 m, bearing: 1.782220 deg, deltaT: 10.135810 s, approachRate: 0.698514 m/s, LOS rate: 0.171360 deg/s, posRepo size: 4 2021-02-18T05:42:18.941Z,1613626938.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:19.606Z,1613626939.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:42:20.024Z,1613626940.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:42:20.857Z,1613626940.857 [Micromodem](INFO): Nmea in: $SNTTA,0.084882,,,,054219.61*42 2021-02-18T05:42:20.924Z,1613626940.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.560005 m, bearing: 6.216383 deg, deltaT: 4.012595 s, approachRate: 0.717739 m/s, LOS rate: 1.105061 deg/s, posRepo size: 4 2021-02-18T05:42:23.277Z,1613626943.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:24.044Z,1613626944.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:42:24.466Z,1613626944.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:42:25.272Z,1613626945.272 [Micromodem](INFO): Nmea in: $SNTTA,0.086965,,,,054224.04*45 2021-02-18T05:42:25.309Z,1613626945.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.619995 m, bearing: 1.902690 deg, deltaT: 4.513261 s, approachRate: 0.678000 m/s, LOS rate: -0.955782 deg/s, posRepo size: 4 2021-02-18T05:42:27.709Z,1613626947.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:28.489Z,1613626948.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:42:28.897Z,1613626948.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:42:29.742Z,1613626949.742 [Micromodem](INFO): Nmea in: $SNTTA,0.089003,,0.093416,,054228.49*51 2021-02-18T05:42:29.808Z,1613626949.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.680008 m, bearing: 0.343712 deg, deltaT: 4.440893 s, approachRate: 0.689053 m/s, LOS rate: -0.351050 deg/s, posRepo size: 4 2021-02-18T05:42:32.226Z,1613626952.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:32.959Z,1613626952.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:42:33.361Z,1613626953.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:42:34.172Z,1613626954.172 [Micromodem](INFO): Nmea in: $SNTTA,0.091227,,,,054232.96*42 2021-02-18T05:42:34.245Z,1613626954.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.040009 m, bearing: 3.685336 deg, deltaT: 4.428037 s, approachRate: 0.758801 m/s, LOS rate: 0.754651 deg/s, posRepo size: 4 2021-02-18T05:42:36.605Z,1613626956.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:37.378Z,1613626957.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:42:37.811Z,1613626957.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:42:38.608Z,1613626958.608 [Micromodem](INFO): Nmea in: $SNTTA,0.093264,,,,054237.38*46 2021-02-18T05:42:38.630Z,1613626958.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.100006 m, bearing: 5.592913 deg, deltaT: 4.413830 s, approachRate: 0.693275 m/s, LOS rate: 0.432182 deg/s, posRepo size: 4 2021-02-18T05:42:41.060Z,1613626961.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:41.822Z,1613626961.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:42:42.227Z,1613626962.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:42:43.056Z,1613626963.056 [Micromodem](INFO): Nmea in: $SNTTA,0.095329,,,,054241.82*48 2021-02-18T05:42:43.126Z,1613626963.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.160004 m, bearing: 358.411691 deg, deltaT: 4.501340 s, approachRate: 0.679797 m/s, LOS rate: -1.595352 deg/s, posRepo size: 4 2021-02-18T05:42:45.241Z,1613626965.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:45.896Z,1613626965.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:42:46.287Z,1613626966.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:42:47.102Z,1613626967.102 [Micromodem](INFO): Nmea in: $SNTTA,0.097106,,,,054245.90*42 2021-02-18T05:42:47.136Z,1613626967.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.919998 m, bearing: 7.763711 deg, deltaT: 3.987955 s, approachRate: 0.692083 m/s, LOS rate: 2.345067 deg/s, posRepo size: 4 2021-02-18T05:42:49.525Z,1613626969.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:50.304Z,1613626970.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:42:50.710Z,1613626970.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:42:51.526Z,1613626971.526 [Micromodem](INFO): Nmea in: $SNTTA,0.099112,,,,054250.31*46 2021-02-18T05:42:52.360Z,1613626972.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:53.944Z,1613626973.944 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:42:55.236Z,1613626975.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:42:56.025Z,1613626976.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:42:56.374Z,1613626976.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:42:56.809Z,1613626976.809 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,042,000,0E4 1,184,80,80,53,FF 2021-02-18T05:42:57.200Z,1613626977.200 [Micromodem](INFO): Nmea in: $SNTTA,0.101756,,,,054256.03*47 2021-02-18T05:42:58.030Z,1613626978.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:00.899Z,1613626980.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:03.680Z,1613626983.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:04.450Z,1613626984.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:43:04.883Z,1613626984.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:43:05.666Z,1613626985.666 [Micromodem](INFO): Nmea in: $SNTTA,0.105862,,,,054304.45*4F 2021-02-18T05:43:06.485Z,1613626986.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:08.096Z,1613626988.096 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:43:09.380Z,1613626989.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:10.118Z,1613626990.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:43:10.525Z,1613626990.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:43:10.911Z,1613626990.911 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,05D,0061,E4 1,184,80,80,53,FF 2021-02-18T05:43:11.325Z,1613626991.325 [Micromodem](INFO): Nmea in: $SNTTA,0.108634,,,,054310.12*48 2021-02-18T05:43:12.197Z,1613626992.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:14.997Z,1613626994.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:17.895Z,1613626997.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:18.602Z,1613626998.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:43:18.992Z,1613626998.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:43:19.394Z,1613626999.394 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FCD,0061,E4 1,184,80,80,53,FF 2021-02-18T05:43:19.813Z,1613626999.813 [Micromodem](INFO): Nmea in: $SNTTA,0.112620,,,,054318.60*4B 2021-02-18T05:43:20.631Z,1613627000.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:23.485Z,1613627003.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:26.298Z,1613627006.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:27.083Z,1613627007.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:43:27.501Z,1613627007.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:43:28.333Z,1613627008.333 [Micromodem](INFO): Nmea in: $SNTTA,0.116686,,,,054327.09*40 2021-02-18T05:43:28.354Z,1613627008.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.259995 m, bearing: 7.468546 deg, deltaT: 41.244993 s, approachRate: 0.711359 m/s, LOS rate: -0.007156 deg/s, posRepo size: 4 2021-02-18T05:43:28.354Z,1613627008.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 175.26 m. Resuming terminal guidance. 2021-02-18T05:43:28.354Z,1613627008.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T05:43:30.747Z,1613627010.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:31.521Z,1613627011.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:43:31.918Z,1613627011.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:43:32.748Z,1613627012.748 [Micromodem](INFO): Nmea in: $SNTTA,0.118893,,,,054331.52*4D 2021-02-18T05:43:32.813Z,1613627012.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.259995 m, bearing: 10.210398 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T05:43:32.813Z,1613627012.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 10.210398deg and heading rate command to 0 deg/s. 2021-02-18T05:43:35.204Z,1613627015.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:35.962Z,1613627015.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:43:36.429Z,1613627016.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:43:37.212Z,1613627017.212 [Micromodem](INFO): Nmea in: $SNTTA,0.120839,,,,054335.96*4A 2021-02-18T05:43:37.242Z,1613627017.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.379990 m, bearing: 7.354107 deg, deltaT: 4.543610 s, approachRate: 1.346946 m/s, LOS rate: -0.628639 deg/s, posRepo size: 2 2021-02-18T05:43:37.272Z,1613627017.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.379990 m, bearing: 7.354107 deg, approachRate: 1.346946 m/s, LOS rate: -0.628639 deg/s, cmd update: -2.514557 deg/s, cmd heading: 10.210398 deg, new cmd heading: 10.210398 deg. 2021-02-18T05:43:39.624Z,1613627019.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:40.465Z,1613627020.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:43:40.832Z,1613627020.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:43:41.639Z,1613627021.639 [Micromodem](INFO): Nmea in: $SNTTA,0.123062,,,,054340.47*41 2021-02-18T05:43:42.061Z,1613627022.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.739990 m, bearing: 343.891883 deg, deltaT: 4.783294 s, approachRate: 0.702445 m/s, LOS rate: -4.905038 deg/s, posRepo size: 3 2021-02-18T05:43:42.063Z,1613627022.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.739990 m, bearing: 343.891883 deg, approachRate: 0.702445 m/s, LOS rate: -4.905038 deg/s, cmd update: -12.000000 deg/s, cmd heading: 358.175994 deg, new cmd heading: 357.244195 deg. 2021-02-18T05:43:44.457Z,1613627024.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:45.263Z,1613627025.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:43:45.654Z,1613627025.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:43:46.477Z,1613627026.477 [Micromodem](INFO): Nmea in: $SNTTA,0.125206,,,,054345.27*44 2021-02-18T05:43:46.956Z,1613627026.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.979980 m, bearing: 347.741323 deg, deltaT: 4.800421 s, approachRate: 0.674939 m/s, LOS rate: 0.801896 deg/s, posRepo size: 4 2021-02-18T05:43:46.958Z,1613627026.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.979980 m, bearing: 347.741323 deg, approachRate: 0.674939 m/s, LOS rate: 0.801896 deg/s, cmd update: 3.207585 deg/s, cmd heading: 300.554333 deg, new cmd heading: 294.994636 deg. 2021-02-18T05:43:49.312Z,1613627029.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:50.104Z,1613627030.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:43:50.520Z,1613627030.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:43:51.319Z,1613627031.319 [Micromodem](INFO): Nmea in: $SNTTA,0.127074,,,,054350.10*41 2021-02-18T05:43:51.754Z,1613627031.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.799988 m, bearing: 338.585263 deg, deltaT: 4.841259 s, approachRate: 0.582495 m/s, LOS rate: -1.891256 deg/s, posRepo size: 4 2021-02-18T05:43:51.756Z,1613627031.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.799988 m, bearing: 338.585263 deg, approachRate: 0.582495 m/s, LOS rate: -1.891256 deg/s, cmd update: -7.565024 deg/s, cmd heading: 316.083061 deg, new cmd heading: 317.429423 deg. 2021-02-18T05:43:53.910Z,1613627033.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:54.560Z,1613627034.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:43:55.050Z,1613627035.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:43:55.837Z,1613627035.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,054354.56*5E 2021-02-18T05:43:56.674Z,1613627036.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:43:57.873Z,1613627037.873 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:43:59.482Z,1613627039.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:00.272Z,1613627040.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:44:00.682Z,1613627040.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:44:01.493Z,1613627041.493 [Micromodem](INFO): Nmea in: $SNTTA,0.129504,,0.137140,,054400.27*55 2021-02-18T05:44:02.324Z,1613627042.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:03.924Z,1613627043.924 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:44:05.192Z,1613627045.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:05.929Z,1613627045.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:44:06.342Z,1613627046.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:44:07.180Z,1613627047.180 [Micromodem](INFO): Nmea in: $SNTTA,0.130223,,,,054405.93*4B 2021-02-18T05:44:07.236Z,1613627047.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.819992 m, bearing: 240.591064 deg, deltaT: 15.588058 s, approachRate: 0.257890 m/s, LOS rate: -6.286492 deg/s, posRepo size: 4 2021-02-18T05:44:07.237Z,1613627047.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.819992 m, bearing: 240.591064 deg, approachRate: 0.257890 m/s, LOS rate: -6.286492 deg/s, cmd update: -12.000000 deg/s, cmd heading: 198.159019 deg, new cmd heading: 195.818143 deg. 2021-02-18T05:44:09.581Z,1613627049.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:10.373Z,1613627050.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:44:10.803Z,1613627050.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:44:11.593Z,1613627051.593 [Micromodem](INFO): Nmea in: $SNTTA,0.129136,,,,054410.37*4E 2021-02-18T05:44:12.065Z,1613627052.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.619995 m, bearing: 184.230720 deg, deltaT: 4.685238 s, approachRate: -0.256123 m/s, LOS rate: -12.029345 deg/s, posRepo size: 4 2021-02-18T05:44:12.065Z,1613627052.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.029345 deg/s. Setting heading cmd to target bearing of 184.230720deg and heading rate command to 0 deg/s. 2021-02-18T05:44:14.430Z,1613627054.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:15.221Z,1613627055.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:44:15.626Z,1613627055.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:44:16.443Z,1613627056.443 [Micromodem](INFO): Nmea in: $SNTTA,0.127591,,,,054415.22*48 2021-02-18T05:44:16.998Z,1613627056.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.220001 m, bearing: 187.918230 deg, deltaT: 4.850435 s, approachRate: -0.494800 m/s, LOS rate: 0.760243 deg/s, posRepo size: 4 2021-02-18T05:44:17.000Z,1613627057.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 191.220001 m, bearing: 187.918230 deg, approachRate: -0.494800 m/s, LOS rate: 0.760243 deg/s, cmd update: 3.040972 deg/s, cmd heading: 184.230720 deg, new cmd heading: 184.230720 deg. 2021-02-18T05:44:18.986Z,1613627058.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:19.670Z,1613627059.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:44:20.076Z,1613627060.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:44:20.905Z,1613627060.905 [Micromodem](INFO): Nmea in: $SNTTA,0.126137,,,,054419.67*4C 2021-02-18T05:44:21.725Z,1613627061.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:23.299Z,1613627063.299 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:44:24.527Z,1613627064.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:25.330Z,1613627065.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:44:25.726Z,1613627065.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:44:26.544Z,1613627066.544 [Micromodem](INFO): Nmea in: $SNTTA,0.123463,,,,054425.33*43 2021-02-18T05:44:26.986Z,1613627066.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.919998 m, bearing: 181.036254 deg, deltaT: 10.106892 s, approachRate: -0.623337 m/s, LOS rate: -0.680919 deg/s, posRepo size: 4 2021-02-18T05:44:26.988Z,1613627066.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.919998 m, bearing: 181.036254 deg, approachRate: -0.623337 m/s, LOS rate: -0.680919 deg/s, cmd update: -2.723676 deg/s, cmd heading: 214.965555 deg, new cmd heading: 216.246346 deg. 2021-02-18T05:44:29.389Z,1613627069.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:30.172Z,1613627070.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:44:30.659Z,1613627070.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:44:31.416Z,1613627071.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,054430.17*5E 2021-02-18T05:44:31.453Z,1613627071.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.919998 m, bearing: 177.865871 deg, deltaT: 4.497212 s, approachRate: 0.000000 m/s, LOS rate: -0.704966 deg/s, posRepo size: 4 2021-02-18T05:44:31.455Z,1613627071.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.919998 m, bearing: 177.865871 deg, approachRate: 0.000000 m/s, LOS rate: -0.704966 deg/s, cmd update: -2.819865 deg/s, cmd heading: 202.727568 deg, new cmd heading: 201.650142 deg. 2021-02-18T05:44:33.902Z,1613627073.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:34.621Z,1613627074.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:44:35.045Z,1613627075.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:44:35.856Z,1613627075.856 [Micromodem](INFO): Nmea in: $SNTTA,0.119248,,,,054434.62*41 2021-02-18T05:44:35.952Z,1613627075.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.919998 m, bearing: 177.647961 deg, deltaT: 4.417592 s, approachRate: 0.000000 m/s, LOS rate: -0.049328 deg/s, posRepo size: 4 2021-02-18T05:44:35.954Z,1613627075.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.919998 m, bearing: 177.647961 deg, approachRate: 0.000000 m/s, LOS rate: -0.049328 deg/s, cmd update: -0.197311 deg/s, cmd heading: 190.259256 deg, new cmd heading: 188.927132 deg. 2021-02-18T05:44:38.263Z,1613627078.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:39.063Z,1613627079.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:44:39.469Z,1613627079.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:44:40.288Z,1613627080.288 [Micromodem](INFO): Nmea in: $SNTTA,0.116788,,,,054439.06*48 2021-02-18T05:44:40.322Z,1613627080.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.959991 m, bearing: 178.759137 deg, deltaT: 4.495191 s, approachRate: -2.215703 m/s, LOS rate: 0.247192 deg/s, posRepo size: 4 2021-02-18T05:44:40.324Z,1613627080.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.959991 m, bearing: 178.759137 deg, approachRate: -2.215703 m/s, LOS rate: 0.247192 deg/s, cmd update: 0.988769 deg/s, cmd heading: 189.377085 deg, new cmd heading: 189.303657 deg. 2021-02-18T05:44:42.721Z,1613627082.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:43.501Z,1613627083.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:44:43.972Z,1613627083.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:44:44.755Z,1613627084.755 [Micromodem](INFO): Nmea in: $SNTTA,0.114521,,,,054443.50*45 2021-02-18T05:44:44.817Z,1613627084.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.480011 m, bearing: 179.524351 deg, deltaT: 4.385286 s, approachRate: -0.793558 m/s, LOS rate: 0.174496 deg/s, posRepo size: 4 2021-02-18T05:44:44.819Z,1613627084.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.480011 m, bearing: 179.524351 deg, approachRate: -0.793558 m/s, LOS rate: 0.174496 deg/s, cmd update: 0.697983 deg/s, cmd heading: 193.731091 deg, new cmd heading: 194.189132 deg. 2021-02-18T05:44:47.238Z,1613627087.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:47.965Z,1613627087.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:44:48.394Z,1613627088.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:44:49.184Z,1613627089.184 [Micromodem](INFO): Nmea in: $SNTTA,0.112191,,,,054447.97*43 2021-02-18T05:44:49.218Z,1613627089.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.480011 m, bearing: 179.017264 deg, deltaT: 4.468924 s, approachRate: 0.000000 m/s, LOS rate: -0.113470 deg/s, posRepo size: 4 2021-02-18T05:44:49.220Z,1613627089.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.480011 m, bearing: 179.017264 deg, approachRate: 0.000000 m/s, LOS rate: -0.113470 deg/s, cmd update: -0.453878 deg/s, cmd heading: 196.848358 deg, new cmd heading: 197.126330 deg. 2021-02-18T05:44:51.611Z,1613627091.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:52.388Z,1613627092.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:44:52.814Z,1613627092.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:44:53.616Z,1613627093.616 [Micromodem](INFO): Nmea in: $SNTTA,0.109918,,,,054452.39*40 2021-02-18T05:44:53.649Z,1613627093.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.640015 m, bearing: 178.893323 deg, deltaT: 4.405984 s, approachRate: -1.552433 m/s, LOS rate: -0.028130 deg/s, posRepo size: 4 2021-02-18T05:44:53.650Z,1613627093.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.640015 m, bearing: 178.893323 deg, approachRate: -1.552433 m/s, LOS rate: -0.028130 deg/s, cmd update: -0.112520 deg/s, cmd heading: 194.844577 deg, new cmd heading: 194.656641 deg. 2021-02-18T05:44:56.110Z,1613627096.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:44:56.937Z,1613627096.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:44:57.246Z,1613627097.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:44:58.480Z,1613627098.480 [Micromodem](INFO): Nmea in: $SNTTA,0.107611,,,,054456.94*4B 2021-02-18T05:44:58.513Z,1613627098.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.100006 m, bearing: 179.230707 deg, deltaT: 4.953495 s, approachRate: -0.714649 m/s, LOS rate: 0.068110 deg/s, posRepo size: 4 2021-02-18T05:44:58.515Z,1613627098.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.100006 m, bearing: 179.230707 deg, approachRate: -0.714649 m/s, LOS rate: 0.068110 deg/s, cmd update: 0.272441 deg/s, cmd heading: 194.289148 deg, new cmd heading: 194.250624 deg. 2021-02-18T05:45:00.968Z,1613627100.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:01.702Z,1613627101.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:02.086Z,1613627102.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:45:02.925Z,1613627102.925 [Micromodem](INFO): Nmea in: $SNTTA,0.105156,,,,054501.70*44 2021-02-18T05:45:02.974Z,1613627102.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.100006 m, bearing: 179.444547 deg, deltaT: 4.345316 s, approachRate: 0.000000 m/s, LOS rate: 0.049212 deg/s, posRepo size: 4 2021-02-18T05:45:02.976Z,1613627102.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.100006 m, bearing: 179.444547 deg, approachRate: 0.000000 m/s, LOS rate: 0.049212 deg/s, cmd update: 0.196846 deg/s, cmd heading: 195.476623 deg, new cmd heading: 195.597839 deg. 2021-02-18T05:45:05.340Z,1613627105.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:06.125Z,1613627106.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:06.539Z,1613627106.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:45:07.360Z,1613627107.360 [Micromodem](INFO): Nmea in: $SNTTA,0.102774,,,,054506.12*46 2021-02-18T05:45:07.382Z,1613627107.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.899994 m, bearing: 178.733442 deg, deltaT: 4.446273 s, approachRate: -1.619336 m/s, LOS rate: -0.159933 deg/s, posRepo size: 4 2021-02-18T05:45:07.384Z,1613627107.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.899994 m, bearing: 178.733442 deg, approachRate: -1.619336 m/s, LOS rate: -0.159933 deg/s, cmd update: -0.639731 deg/s, cmd heading: 196.352636 deg, new cmd heading: 196.431827 deg. 2021-02-18T05:45:09.885Z,1613627109.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:10.633Z,1613627110.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:10.985Z,1613627110.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:45:11.866Z,1613627111.866 [Micromodem](INFO): Nmea in: $SNTTA,0.100509,,,,054510.63*4D 2021-02-18T05:45:11.932Z,1613627111.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.899994 m, bearing: 180.367797 deg, deltaT: 4.441247 s, approachRate: 0.000000 m/s, LOS rate: 0.367995 deg/s, posRepo size: 4 2021-02-18T05:45:11.934Z,1613627111.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.899994 m, bearing: 180.367797 deg, approachRate: 0.000000 m/s, LOS rate: 0.367995 deg/s, cmd update: 1.471978 deg/s, cmd heading: 193.512268 deg, new cmd heading: 193.197786 deg. 2021-02-18T05:45:14.231Z,1613627114.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:15.020Z,1613627115.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:15.437Z,1613627115.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:45:16.256Z,1613627116.256 [Micromodem](INFO): Nmea in: $SNTTA,0.098405,,,,054515.02*42 2021-02-18T05:45:16.297Z,1613627116.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.240005 m, bearing: 177.158428 deg, deltaT: 4.499318 s, approachRate: -1.480222 m/s, LOS rate: -0.713301 deg/s, posRepo size: 4 2021-02-18T05:45:16.298Z,1613627116.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.240005 m, bearing: 177.158428 deg, approachRate: -1.480222 m/s, LOS rate: -0.713301 deg/s, cmd update: -2.853205 deg/s, cmd heading: 200.136617 deg, new cmd heading: 200.691024 deg. 2021-02-18T05:45:18.680Z,1613627118.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:19.459Z,1613627119.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:19.890Z,1613627119.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:45:20.688Z,1613627120.688 [Micromodem](INFO): Nmea in: $SNTTA,0.096238,,,,054519.46*48 2021-02-18T05:45:20.732Z,1613627120.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.940002 m, bearing: 176.344105 deg, deltaT: 4.362059 s, approachRate: -0.756524 m/s, LOS rate: -0.186683 deg/s, posRepo size: 4 2021-02-18T05:45:20.734Z,1613627120.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.940002 m, bearing: 176.344105 deg, approachRate: -0.756524 m/s, LOS rate: -0.186683 deg/s, cmd update: -0.746732 deg/s, cmd heading: 187.689810 deg, new cmd heading: 186.406712 deg. 2021-02-18T05:45:23.148Z,1613627123.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:23.965Z,1613627123.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:24.314Z,1613627124.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:45:25.161Z,1613627125.161 [Micromodem](INFO): Nmea in: $SNTTA,0.093787,,,,054523.97*49 2021-02-18T05:45:25.208Z,1613627125.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.940002 m, bearing: 179.166230 deg, deltaT: 4.520227 s, approachRate: 0.000000 m/s, LOS rate: 0.624333 deg/s, posRepo size: 4 2021-02-18T05:45:25.210Z,1613627125.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.940002 m, bearing: 179.166230 deg, approachRate: 0.000000 m/s, LOS rate: 0.624333 deg/s, cmd update: 2.497330 deg/s, cmd heading: 184.328339 deg, new cmd heading: 184.011783 deg. 2021-02-18T05:45:27.572Z,1613627127.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:28.352Z,1613627128.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:28.781Z,1613627128.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:45:29.576Z,1613627129.576 [Micromodem](INFO): Nmea in: $SNTTA,0.091386,,,,054528.35*4D 2021-02-18T05:45:29.614Z,1613627129.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.860001 m, bearing: 179.927755 deg, deltaT: 4.401891 s, approachRate: -1.608400 m/s, LOS rate: 0.173000 deg/s, posRepo size: 4 2021-02-18T05:45:29.616Z,1613627129.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.860001 m, bearing: 179.927755 deg, approachRate: -1.608400 m/s, LOS rate: 0.173000 deg/s, cmd update: 0.691998 deg/s, cmd heading: 195.366991 deg, new cmd heading: 196.390182 deg. 2021-02-18T05:45:32.030Z,1613627132.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:32.810Z,1613627132.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:33.202Z,1613627133.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:45:34.040Z,1613627134.040 [Micromodem](INFO): Nmea in: $SNTTA,0.089057,,,,054532.81*4F 2021-02-18T05:45:34.094Z,1613627134.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.380005 m, bearing: 176.776934 deg, deltaT: 4.432881 s, approachRate: -0.785042 m/s, LOS rate: -0.710784 deg/s, posRepo size: 4 2021-02-18T05:45:34.101Z,1613627134.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.380005 m, bearing: 176.776934 deg, approachRate: -0.785042 m/s, LOS rate: -0.710784 deg/s, cmd update: -2.843136 deg/s, cmd heading: 198.427760 deg, new cmd heading: 198.751129 deg. 2021-02-18T05:45:36.447Z,1613627136.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:37.303Z,1613627137.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:37.650Z,1613627137.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:45:38.519Z,1613627138.519 [Micromodem](INFO): Nmea in: $SNTTA,0.086837,,,,054537.31*40 2021-02-18T05:45:38.538Z,1613627138.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.380005 m, bearing: 176.401274 deg, deltaT: 4.500258 s, approachRate: 0.000000 m/s, LOS rate: -0.083475 deg/s, posRepo size: 4 2021-02-18T05:45:38.540Z,1613627138.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.380005 m, bearing: 176.401274 deg, approachRate: 0.000000 m/s, LOS rate: -0.083475 deg/s, cmd update: -0.333901 deg/s, cmd heading: 185.617464 deg, new cmd heading: 184.465605 deg. 2021-02-18T05:45:40.938Z,1613627140.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:41.685Z,1613627141.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:42.099Z,1613627142.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:45:42.912Z,1613627142.912 [Micromodem](INFO): Nmea in: $SNTTA,0.084656,,,,054541.68*46 2021-02-18T05:45:42.971Z,1613627142.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.780006 m, bearing: 176.866492 deg, deltaT: 4.396066 s, approachRate: -1.501342 m/s, LOS rate: 0.105826 deg/s, posRepo size: 4 2021-02-18T05:45:42.977Z,1613627142.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.780006 m, bearing: 176.866492 deg, approachRate: -1.501342 m/s, LOS rate: 0.105826 deg/s, cmd update: 0.423304 deg/s, cmd heading: 184.148091 deg, new cmd heading: 184.002144 deg. 2021-02-18T05:45:45.329Z,1613627145.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:46.121Z,1613627146.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:46.531Z,1613627146.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:45:47.352Z,1613627147.352 [Micromodem](INFO): Nmea in: $SNTTA,0.082260,,,,054546.12*4B 2021-02-18T05:45:47.367Z,1613627147.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.240005 m, bearing: 177.985249 deg, deltaT: 4.465639 s, approachRate: -0.792720 m/s, LOS rate: 0.250526 deg/s, posRepo size: 4 2021-02-18T05:45:47.369Z,1613627147.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.240005 m, bearing: 177.985249 deg, approachRate: -0.792720 m/s, LOS rate: 0.250526 deg/s, cmd update: 1.002103 deg/s, cmd heading: 186.036701 deg, new cmd heading: 186.194033 deg. 2021-02-18T05:45:49.829Z,1613627149.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:50.630Z,1613627150.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:50.978Z,1613627150.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:45:51.848Z,1613627151.848 [Micromodem](INFO): Nmea in: $SNTTA,0.079983,,,,054550.63*48 2021-02-18T05:45:51.918Z,1613627151.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.820000 m, bearing: 178.466409 deg, deltaT: 4.431196 s, approachRate: -0.771802 m/s, LOS rate: 0.108585 deg/s, posRepo size: 4 2021-02-18T05:45:51.920Z,1613627151.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.820000 m, bearing: 178.466409 deg, approachRate: -0.771802 m/s, LOS rate: 0.108585 deg/s, cmd update: 0.434338 deg/s, cmd heading: 190.465194 deg, new cmd heading: 190.970260 deg. 2021-02-18T05:45:54.225Z,1613627154.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:55.034Z,1613627155.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:55.449Z,1613627155.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:45:56.274Z,1613627156.274 [Micromodem](INFO): Nmea in: $SNTTA,0.077718,,,,054555.03*49 2021-02-18T05:45:56.298Z,1613627156.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.519997 m, bearing: 177.387908 deg, deltaT: 4.457115 s, approachRate: -0.740390 m/s, LOS rate: -0.241973 deg/s, posRepo size: 4 2021-02-18T05:45:56.300Z,1613627156.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.519997 m, bearing: 177.387908 deg, approachRate: -0.740390 m/s, LOS rate: -0.241973 deg/s, cmd update: -0.967891 deg/s, cmd heading: 192.406015 deg, new cmd heading: 192.586579 deg. 2021-02-18T05:45:58.675Z,1613627158.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:45:59.461Z,1613627159.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:45:59.889Z,1613627159.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:00.689Z,1613627160.689 [Micromodem](INFO): Nmea in: $SNTTA,0.075395,,,,054559.46*47 2021-02-18T05:46:00.749Z,1613627160.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.920006 m, bearing: 176.357588 deg, deltaT: 4.387154 s, approachRate: -0.820575 m/s, LOS rate: -0.234849 deg/s, posRepo size: 4 2021-02-18T05:46:00.750Z,1613627160.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.920006 m, bearing: 176.357588 deg, approachRate: -0.820575 m/s, LOS rate: -0.234849 deg/s, cmd update: -0.939398 deg/s, cmd heading: 188.155198 deg, new cmd heading: 187.696228 deg. 2021-02-18T05:46:03.144Z,1613627163.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:46:03.905Z,1613627163.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:46:04.369Z,1613627164.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:05.151Z,1613627165.151 [Micromodem](INFO): Nmea in: $SNTTA,0.072998,,,,054603.90*40 2021-02-18T05:46:05.191Z,1613627165.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.320000 m, bearing: 176.739696 deg, deltaT: 4.530768 s, approachRate: -0.794569 m/s, LOS rate: 0.084336 deg/s, posRepo size: 4 2021-02-18T05:46:05.193Z,1613627165.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.320000 m, bearing: 176.739696 deg, approachRate: -0.794569 m/s, LOS rate: 0.084336 deg/s, cmd update: 0.337345 deg/s, cmd heading: 183.908023 deg, new cmd heading: 183.536841 deg. 2021-02-18T05:46:07.562Z,1613627167.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:46:08.410Z,1613627168.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:46:08.779Z,1613627168.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:09.600Z,1613627169.600 [Micromodem](INFO): Nmea in: $SNTTA,0.070470,,,,054608.41*4E 2021-02-18T05:46:09.628Z,1613627169.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.480003 m, bearing: 176.944752 deg, deltaT: 4.434021 s, approachRate: -0.866030 m/s, LOS rate: 0.046246 deg/s, posRepo size: 4 2021-02-18T05:46:09.629Z,1613627169.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.480003 m, bearing: 176.944752 deg, approachRate: -0.866030 m/s, LOS rate: 0.046246 deg/s, cmd update: 0.184984 deg/s, cmd heading: 185.405746 deg, new cmd heading: 185.538001 deg. 2021-02-18T05:46:12.025Z,1613627172.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:46:12.808Z,1613627172.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:46:13.190Z,1613627173.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:14.024Z,1613627174.024 [Micromodem](INFO): Nmea in: $SNTTA,0.068109,,,,054612.81*4B 2021-02-18T05:46:14.073Z,1613627174.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.059998 m, bearing: 178.084519 deg, deltaT: 4.386538 s, approachRate: -0.779659 m/s, LOS rate: 0.259833 deg/s, posRepo size: 4 2021-02-18T05:46:14.075Z,1613627174.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.059998 m, bearing: 178.084519 deg, approachRate: -0.779659 m/s, LOS rate: 0.259833 deg/s, cmd update: 1.039332 deg/s, cmd heading: 186.217900 deg, new cmd heading: 186.300585 deg. 2021-02-18T05:46:16.451Z,1613627176.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:46:17.230Z,1613627177.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:46:17.717Z,1613627177.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:18.492Z,1613627178.492 [Micromodem](INFO): Nmea in: $SNTTA,0.065803,,0.082503,,054617.23*5A 2021-02-18T05:46:18.514Z,1613627178.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.520004 m, bearing: 176.427256 deg, deltaT: 4.498965 s, approachRate: -0.786846 m/s, LOS rate: -0.368365 deg/s, posRepo size: 4 2021-02-18T05:46:18.536Z,1613627178.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.520004 m, bearing: 176.427256 deg, approachRate: -0.786846 m/s, LOS rate: -0.368365 deg/s, cmd update: -1.473462 deg/s, cmd heading: 190.889609 deg, new cmd heading: 191.298348 deg. 2021-02-18T05:46:20.929Z,1613627180.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:46:21.737Z,1613627181.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:46:22.105Z,1613627182.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:22.946Z,1613627182.946 [Micromodem](INFO): Nmea in: $SNTTA,0.063551,,,,054621.74*43 2021-02-18T05:46:23.013Z,1613627183.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.160004 m, bearing: 175.015278 deg, deltaT: 4.393416 s, approachRate: -0.764781 m/s, LOS rate: -0.321385 deg/s, posRepo size: 4 2021-02-18T05:46:23.027Z,1613627183.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.160004 m, bearing: 175.015278 deg, approachRate: -0.764781 m/s, LOS rate: -0.321385 deg/s, cmd update: -1.285540 deg/s, cmd heading: 184.409836 deg, new cmd heading: 183.681272 deg. 2021-02-18T05:46:25.323Z,1613627185.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:46:26.120Z,1613627186.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:46:26.522Z,1613627186.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:27.348Z,1613627187.348 [Micromodem](INFO): Nmea in: $SNTTA,0.061381,,,,054626.12*4D 2021-02-18T05:46:27.393Z,1613627187.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.920006 m, bearing: 176.861533 deg, deltaT: 4.475197 s, approachRate: -0.723990 m/s, LOS rate: 0.412553 deg/s, posRepo size: 4 2021-02-18T05:46:27.395Z,1613627187.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.920006 m, bearing: 176.861533 deg, approachRate: -0.723990 m/s, LOS rate: 0.412553 deg/s, cmd update: 1.650211 deg/s, cmd heading: 178.661966 deg, new cmd heading: 178.143149 deg. 2021-02-18T05:46:29.819Z,1613627189.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:46:30.560Z,1613627190.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:46:31.032Z,1613627191.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:31.841Z,1613627191.841 [Micromodem](INFO): Nmea in: $SNTTA,0.059093,,,,054630.56*41 2021-02-18T05:46:31.912Z,1613627191.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.380005 m, bearing: 176.567876 deg, deltaT: 4.407546 s, approachRate: -0.803168 m/s, LOS rate: -0.066626 deg/s, posRepo size: 4 2021-02-18T05:46:31.914Z,1613627191.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.380005 m, bearing: 176.567876 deg, approachRate: -0.803168 m/s, LOS rate: -0.066626 deg/s, cmd update: -0.266504 deg/s, cmd heading: 185.941767 deg, new cmd heading: 186.784365 deg. 2021-02-18T05:46:34.258Z,1613627194.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:46:35.006Z,1613627195.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:46:35.475Z,1613627195.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:36.252Z,1613627196.252 [Micromodem](INFO): Nmea in: $SNTTA,0.056709,,,,054635.01*4D 2021-02-18T05:46:36.296Z,1613627196.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.020004 m, bearing: 177.225924 deg, deltaT: 4.487909 s, approachRate: -0.748678 m/s, LOS rate: 0.146627 deg/s, posRepo size: 4 2021-02-18T05:46:36.298Z,1613627196.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.020004 m, bearing: 177.225924 deg, approachRate: -0.748678 m/s, LOS rate: 0.146627 deg/s, cmd update: 0.586507 deg/s, cmd heading: 184.754830 deg, new cmd heading: 184.637152 deg. 2021-02-18T05:46:38.655Z,1613627198.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:46:39.449Z,1613627199.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:46:39.889Z,1613627199.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:40.680Z,1613627200.680 [Micromodem](INFO): Nmea in: $SNTTA,0.054426,,,,054639.45*4D 2021-02-18T05:46:40.702Z,1613627200.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.419998 m, bearing: 174.884139 deg, deltaT: 4.387071 s, approachRate: -0.820594 m/s, LOS rate: -0.533792 deg/s, posRepo size: 4 2021-02-18T05:46:40.704Z,1613627200.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.419998 m, bearing: 174.884139 deg, approachRate: -0.820594 m/s, LOS rate: -0.533792 deg/s, cmd update: -2.135169 deg/s, cmd heading: 187.347882 deg, new cmd heading: 187.597732 deg. 2021-02-18T05:46:43.168Z,1613627203.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:46:43.912Z,1613627203.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:46:44.298Z,1613627204.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:45.144Z,1613627205.144 [Micromodem](INFO): Nmea in: $SNTTA,0.052030,,0.067492,,054643.91*5C 2021-02-18T05:46:45.218Z,1613627205.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.820000 m, bearing: 174.661748 deg, deltaT: 4.555274 s, approachRate: -0.790292 m/s, LOS rate: -0.048821 deg/s, posRepo size: 4 2021-02-18T05:46:45.225Z,1613627205.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.820000 m, bearing: 174.661748 deg, approachRate: -0.790292 m/s, LOS rate: -0.048821 deg/s, cmd update: -0.195282 deg/s, cmd heading: 177.631504 deg, new cmd heading: 176.797835 deg. 2021-02-18T05:46:47.549Z,1613627207.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:46:48.424Z,1613627208.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:46:48.771Z,1613627208.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:49.605Z,1613627209.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.340004 m, bearing: 176.006940 deg, deltaT: 4.372156 s, approachRate: -0.795945 m/s, LOS rate: 0.307672 deg/s, posRepo size: 4 2021-02-18T05:46:49.607Z,1613627209.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.340004 m, bearing: 176.006940 deg, approachRate: -0.795945 m/s, LOS rate: 0.307672 deg/s, cmd update: 1.230690 deg/s, cmd heading: 176.776739 deg, new cmd heading: 176.698325 deg. 2021-02-18T05:46:49.967Z,1613627209.967 [Micromodem](INFO): Nmea in: $SNTTA,0.049692,,,,054648.45*4A 2021-02-18T05:46:52.026Z,1613627212.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:46:52.804Z,1613627212.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:46:53.200Z,1613627213.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:54.020Z,1613627214.020 [Micromodem](INFO): Nmea in: $SNTTA,0.047339,,,0.054777,054652.80*5A 2021-02-18T05:46:54.074Z,1613627214.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.860008 m, bearing: 176.739300 deg, deltaT: 4.436036 s, approachRate: -0.784483 m/s, LOS rate: 0.165093 deg/s, posRepo size: 4 2021-02-18T05:46:54.076Z,1613627214.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.860008 m, bearing: 176.739300 deg, approachRate: -0.784483 m/s, LOS rate: 0.165093 deg/s, cmd update: 0.660374 deg/s, cmd heading: 182.211438 deg, new cmd heading: 182.770543 deg. 2021-02-18T05:46:56.432Z,1613627216.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:46:57.224Z,1613627217.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:46:57.692Z,1613627217.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:46:58.046Z,1613627218.046 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-02-18T05:46:58.048Z,1613627218.048 [BPC1](INFO): Received data from all battery sticks. 2021-02-18T05:46:58.455Z,1613627218.455 [Micromodem](INFO): Nmea in: $SNTTA,0.044909,,,,054657.22*45 2021-02-18T05:46:58.474Z,1613627218.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.199997 m, bearing: 175.782227 deg, deltaT: 4.465656 s, approachRate: -0.819591 m/s, LOS rate: -0.214319 deg/s, posRepo size: 4 2021-02-18T05:46:58.476Z,1613627218.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.199997 m, bearing: 175.782227 deg, approachRate: -0.819591 m/s, LOS rate: -0.214319 deg/s, cmd update: -0.857275 deg/s, cmd heading: 185.170972 deg, new cmd heading: 185.417207 deg. 2021-02-18T05:47:00.933Z,1613627220.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:01.674Z,1613627221.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:47:02.082Z,1613627222.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:47:02.915Z,1613627222.915 [Micromodem](INFO): Nmea in: $SNTTA,0.042697,,,,054701.67*48 2021-02-18T05:47:02.949Z,1613627222.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.840004 m, bearing: 174.771058 deg, deltaT: 4.400732 s, approachRate: -0.763508 m/s, LOS rate: -0.229773 deg/s, posRepo size: 4 2021-02-18T05:47:02.951Z,1613627222.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.840004 m, bearing: 174.771058 deg, approachRate: -0.763508 m/s, LOS rate: -0.229773 deg/s, cmd update: -0.919091 deg/s, cmd heading: 181.408667 deg, new cmd heading: 181.014834 deg. 2021-02-18T05:47:05.337Z,1613627225.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:06.112Z,1613627226.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:47:06.518Z,1613627226.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:47:07.340Z,1613627227.340 [Micromodem](INFO): Nmea in: $SNTTA,0.040386,,,,054706.11*49 2021-02-18T05:47:07.382Z,1613627227.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.360008 m, bearing: 175.356378 deg, deltaT: 4.471233 s, approachRate: -0.778308 m/s, LOS rate: 0.130908 deg/s, posRepo size: 4 2021-02-18T05:47:07.388Z,1613627227.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.360008 m, bearing: 175.356378 deg, approachRate: -0.778308 m/s, LOS rate: 0.130908 deg/s, cmd update: 0.523632 deg/s, cmd heading: 177.288111 deg, new cmd heading: 176.912465 deg. 2021-02-18T05:47:09.806Z,1613627229.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:10.556Z,1613627230.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:47:10.971Z,1613627230.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:47:11.807Z,1613627231.807 [Micromodem](INFO): Nmea in: $SNTTA,0.038115,,0.064108,,054710.56*5F 2021-02-18T05:47:12.604Z,1613627232.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:14.190Z,1613627234.190 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:47:15.420Z,1613627235.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:16.212Z,1613627236.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:47:16.623Z,1613627236.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:47:17.452Z,1613627237.452 [Micromodem](INFO): Nmea in: $SNTTA,0.035164,,,,054716.21*47 2021-02-18T05:47:17.474Z,1613627237.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.680004 m, bearing: 180.177945 deg, deltaT: 10.141830 s, approachRate: -0.757260 m/s, LOS rate: 0.475414 deg/s, posRepo size: 4 2021-02-18T05:47:17.477Z,1613627237.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.680004 m, bearing: 180.177945 deg, approachRate: -0.757260 m/s, LOS rate: 0.475414 deg/s, cmd update: 1.901656 deg/s, cmd heading: 182.592502 deg, new cmd heading: 182.786710 deg. 2021-02-18T05:47:19.930Z,1613627239.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:20.660Z,1613627240.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:47:21.062Z,1613627241.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:47:21.904Z,1613627241.904 [Micromodem](INFO): Nmea in: $SNTTA,0.032721,,,,054720.66*41 2021-02-18T05:47:21.958Z,1613627241.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.900002 m, bearing: 174.511825 deg, deltaT: 4.360413 s, approachRate: -0.866891 m/s, LOS rate: -1.299446 deg/s, posRepo size: 4 2021-02-18T05:47:21.960Z,1613627241.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.900002 m, bearing: 174.511825 deg, approachRate: -0.866891 m/s, LOS rate: -1.299446 deg/s, cmd update: -5.197783 deg/s, cmd heading: 190.914467 deg, new cmd heading: 191.824487 deg. 2021-02-18T05:47:24.313Z,1613627244.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:25.101Z,1613627245.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:47:25.519Z,1613627245.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:47:26.339Z,1613627246.339 [Micromodem](INFO): Nmea in: $SNTTA,0.030698,,,,054725.10*44 2021-02-18T05:47:26.354Z,1613627246.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.599998 m, bearing: 171.777714 deg, deltaT: 4.474871 s, approachRate: -0.737452 m/s, LOS rate: -0.610992 deg/s, posRepo size: 4 2021-02-18T05:47:26.356Z,1613627246.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.599998 m, bearing: 171.777714 deg, approachRate: -0.737452 m/s, LOS rate: -0.610992 deg/s, cmd update: -2.443969 deg/s, cmd heading: 167.654892 deg, new cmd heading: 165.574849 deg. 2021-02-18T05:47:28.772Z,1613627248.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:29.546Z,1613627249.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:47:29.963Z,1613627249.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:47:30.797Z,1613627250.797 [Micromodem](INFO): Nmea in: $SNTTA,0.028585,,,,054729.55*4F 2021-02-18T05:47:30.901Z,1613627250.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.599998 m, bearing: 175.905949 deg, deltaT: 4.427834 s, approachRate: -0.677532 m/s, LOS rate: 0.932337 deg/s, posRepo size: 4 2021-02-18T05:47:30.907Z,1613627250.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.599998 m, bearing: 175.905949 deg, approachRate: -0.677532 m/s, LOS rate: 0.932337 deg/s, cmd update: 3.729349 deg/s, cmd heading: 156.842841 deg, new cmd heading: 155.565151 deg. 2021-02-18T05:47:32.908Z,1613627252.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:33.586Z,1613627253.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:47:34.002Z,1613627254.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:47:34.824Z,1613627254.824 [Micromodem](INFO): Nmea in: $SNTTA,0.026301,,,,054733.59*4C 2021-02-18T05:47:34.906Z,1613627254.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.599998 m, bearing: 176.966841 deg, deltaT: 4.031741 s, approachRate: -0.744095 m/s, LOS rate: 0.263135 deg/s, posRepo size: 4 2021-02-18T05:47:34.906Z,1613627254.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.60 m. 2021-02-18T05:47:34.916Z,1613627254.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.599998 m, bearing: 176.966841 deg, approachRate: -0.744095 m/s, LOS rate: 0.263135 deg/s, cmd update: 1.052540 deg/s, cmd heading: 171.893345 deg, new cmd heading: 173.727103 deg. 2021-02-18T05:47:35.214Z,1613627255.214 [PowerOnly](INFO): Powering up loadControl 2021-02-18T05:47:37.249Z,1613627257.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:38.034Z,1613627258.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:47:38.435Z,1613627258.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:47:39.267Z,1613627259.267 [Micromodem](INFO): Nmea in: $SNTTA,0.024410,,,,054738.03*4D 2021-02-18T05:47:39.295Z,1613627259.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.880001 m, bearing: 178.361975 deg, deltaT: 4.529290 s, approachRate: -0.821320 m/s, LOS rate: 0.308025 deg/s, posRepo size: 4 2021-02-18T05:47:39.296Z,1613627259.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.88 m. 2021-02-18T05:47:39.297Z,1613627259.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.88 m. 2021-02-18T05:47:39.297Z,1613627259.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T05:47:39.300Z,1613627259.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.880001 m, bearing: 178.361975 deg, approachRate: -0.821320 m/s, LOS rate: 0.308025 deg/s, cmd update: 1.232100 deg/s, cmd heading: 176.656370 deg, new cmd heading: 177.030702 deg. 2021-02-18T05:47:41.685Z,1613627261.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:42.479Z,1613627262.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:47:42.894Z,1613627262.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:47:43.711Z,1613627263.711 [Micromodem](INFO): Nmea in: $SNTTA,0.021772,,,,054742.48*4D 2021-02-18T05:47:43.730Z,1613627263.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.520000 m, bearing: 177.685240 deg, deltaT: 4.367293 s, approachRate: -0.769355 m/s, LOS rate: -0.154955 deg/s, posRepo size: 4 2021-02-18T05:47:43.732Z,1613627263.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.520000 m, bearing: 177.685240 deg, approachRate: -0.769355 m/s, LOS rate: -0.154955 deg/s, cmd update: -0.619821 deg/s, cmd heading: 182.042275 deg, new cmd heading: 182.559066 deg. 2021-02-18T05:47:46.154Z,1613627266.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:46.921Z,1613627266.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:47:47.322Z,1613627267.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:47:48.164Z,1613627268.164 [Micromodem](INFO): Nmea in: $SNTTA,0.019490,,,,054746.92*4A 2021-02-18T05:47:48.228Z,1613627268.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.040001 m, bearing: 176.082318 deg, deltaT: 4.451920 s, approachRate: -0.781685 m/s, LOS rate: -0.360052 deg/s, posRepo size: 4 2021-02-18T05:47:48.229Z,1613627268.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.040001 m, bearing: 176.082318 deg, approachRate: -0.781685 m/s, LOS rate: -0.360052 deg/s, cmd update: -1.440208 deg/s, cmd heading: 179.297740 deg, new cmd heading: 178.994685 deg. 2021-02-18T05:47:50.569Z,1613627270.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:51.360Z,1613627271.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:47:51.781Z,1613627271.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:47:52.592Z,1613627272.592 [Micromodem](INFO): Nmea in: $SNTTA,0.017191,,,,054751.36*48 2021-02-18T05:47:52.617Z,1613627272.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.619999 m, bearing: 177.485102 deg, deltaT: 4.436485 s, approachRate: -0.770881 m/s, LOS rate: 0.316193 deg/s, posRepo size: 4 2021-02-18T05:47:52.643Z,1613627272.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.619999 m, bearing: 177.485102 deg, approachRate: -0.770881 m/s, LOS rate: 0.316193 deg/s, cmd update: 1.264771 deg/s, cmd heading: 172.873975 deg, new cmd heading: 172.271162 deg. 2021-02-18T05:47:55.034Z,1613627275.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:47:55.814Z,1613627275.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:47:56.210Z,1613627276.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:47:57.044Z,1613627277.044 [Micromodem](INFO): Nmea in: $SNTTA,0.014911,,,0.017904,054755.81*56 2021-02-18T05:47:57.102Z,1613627277.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.140001 m, bearing: 179.431255 deg, deltaT: 4.429188 s, approachRate: -0.785697 m/s, LOS rate: 0.439393 deg/s, posRepo size: 4 2021-02-18T05:47:57.109Z,1613627277.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.140001 m, bearing: 179.431255 deg, approachRate: -0.785697 m/s, LOS rate: 0.439393 deg/s, cmd update: 1.757571 deg/s, cmd heading: 178.475797 deg, new cmd heading: 179.076005 deg. 2021-02-18T05:47:59.473Z,1613627279.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:00.248Z,1613627280.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:00.654Z,1613627280.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:48:01.476Z,1613627281.476 [Micromodem](INFO): Nmea in: $SNTTA,0.012652,,,,054800.25*4C 2021-02-18T05:48:01.492Z,1613627281.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.719999 m, bearing: 179.392009 deg, deltaT: 4.467174 s, approachRate: -0.765585 m/s, LOS rate: -0.008785 deg/s, posRepo size: 4 2021-02-18T05:48:01.493Z,1613627281.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.719999 m, bearing: 179.392009 deg, approachRate: -0.765585 m/s, LOS rate: -0.008785 deg/s, cmd update: -0.035142 deg/s, cmd heading: 186.327624 deg, new cmd heading: 187.023672 deg. 2021-02-18T05:48:03.945Z,1613627283.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:04.702Z,1613627284.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:05.103Z,1613627285.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:48:05.924Z,1613627285.924 [Micromodem](INFO): Nmea in: $SNTTA,0.010388,,,,054804.70*48 2021-02-18T05:48:05.990Z,1613627285.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.299999 m, bearing: 174.810810 deg, deltaT: 4.419090 s, approachRate: -0.773915 m/s, LOS rate: -1.036684 deg/s, posRepo size: 4 2021-02-18T05:48:05.996Z,1613627285.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.299999 m, bearing: 174.810810 deg, approachRate: -0.773915 m/s, LOS rate: -1.036684 deg/s, cmd update: -4.146735 deg/s, cmd heading: 186.172331 deg, new cmd heading: 186.155610 deg. 2021-02-18T05:48:08.355Z,1613627288.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:09.137Z,1613627289.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:09.542Z,1613627289.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:48:10.368Z,1613627290.368 [Micromodem](INFO): Nmea in: $SNTTA,0.008181,,,,054809.14*45 2021-02-18T05:48:10.406Z,1613627290.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 175.510344 deg, deltaT: 4.488727 s, approachRate: -0.721809 m/s, LOS rate: 0.155842 deg/s, posRepo size: 4 2021-02-18T05:48:10.408Z,1613627290.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.059997 m, bearing: 175.510344 deg, approachRate: -0.721809 m/s, LOS rate: 0.155842 deg/s, cmd update: 0.623370 deg/s, cmd heading: 167.558730 deg, new cmd heading: 165.888297 deg. 2021-02-18T05:48:12.851Z,1613627292.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:13.590Z,1613627293.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:13.986Z,1613627293.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:48:14.824Z,1613627294.824 [Micromodem](INFO): Nmea in: $SNTTA,0.005989,,,,054813.59*4A 2021-02-18T05:48:14.901Z,1613627294.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.759999 m, bearing: 179.450352 deg, deltaT: 4.405292 s, approachRate: -0.749098 m/s, LOS rate: 0.894381 deg/s, posRepo size: 4 2021-02-18T05:48:14.907Z,1613627294.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.759999 m, bearing: 179.450352 deg, approachRate: -0.749098 m/s, LOS rate: 0.894381 deg/s, cmd update: 3.577523 deg/s, cmd heading: 170.304876 deg, new cmd heading: 170.612192 deg. 2021-02-18T05:48:17.250Z,1613627297.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:18.030Z,1613627298.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:18.429Z,1613627298.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:48:19.256Z,1613627299.256 [Micromodem](INFO): Nmea in: $SNTTA,0.003958,0.014608,,,054818.03*51 2021-02-18T05:48:19.293Z,1613627299.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.639998 m, bearing: 179.551972 deg, deltaT: 4.532878 s, approachRate: -0.688305 m/s, LOS rate: 0.022418 deg/s, posRepo size: 4 2021-02-18T05:48:19.295Z,1613627299.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.639998 m, bearing: 179.551972 deg, approachRate: -0.688305 m/s, LOS rate: 0.022418 deg/s, cmd update: 0.089673 deg/s, cmd heading: 186.521397 deg, new cmd heading: 187.780281 deg. 2021-02-18T05:48:21.705Z,1613627301.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:22.474Z,1613627302.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:22.900Z,1613627302.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:48:23.716Z,1613627303.716 [Micromodem](INFO): Nmea in: $SNTTA,0.002482,,,,054822.47*46 2021-02-18T05:48:23.737Z,1613627303.737 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T05:48:23.737Z,1613627303.737 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T05:48:23.737Z,1613627303.737 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T05:48:23.737Z,1613627303.737 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:48:23.737Z,1613627303.737 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T05:48:23.738Z,1613627303.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.599999 m 2021-02-18T05:48:23.738Z,1613627303.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T05:48:23.738Z,1613627303.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T05:48:23.738Z,1613627303.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T05:48:23.740Z,1613627303.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.599999 m, bearing: 185.005810 deg, deltaT: 4.374727 s, approachRate: -0.466315 m/s, LOS rate: 1.246669 deg/s, posRepo size: 4 2021-02-18T05:48:23.746Z,1613627303.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.599999 m, bearing: 185.005810 deg, approachRate: -0.466315 m/s, LOS rate: 1.246669 deg/s, cmd update: 4.986677 deg/s, cmd heading: 186.911882 deg, new cmd heading: 186.951746 deg. 2021-02-18T05:48:24.141Z,1613627304.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T054824: (41.552319, -70.708603) 2021-02-18T05:48:24.141Z,1613627304.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T05:48:24.141Z,1613627304.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T05:48:24.141Z,1613627304.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:48:24.141Z,1613627304.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T05:48:24.141Z,1613627304.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:48:24.141Z,1613627304.141 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T05:48:24.142Z,1613627304.142 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T05:48:24.142Z,1613627304.142 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T05:48:26.172Z,1613627306.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:26.929Z,1613627306.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:27.325Z,1613627307.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:48:28.173Z,1613627308.173 [Micromodem](INFO): Nmea in: $SNTTA,0.002630,,0.005373,,054826.93*5C 2021-02-18T05:48:28.206Z,1613627308.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 187.012424 deg, deltaT: 4.452682 s, approachRate: 0.080850 m/s, LOS rate: 0.450653 deg/s, posRepo size: 4 2021-02-18T05:48:28.208Z,1613627308.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.959999 m, bearing: 187.012424 deg, approachRate: 0.080850 m/s, LOS rate: 0.450653 deg/s, cmd update: 1.802612 deg/s, cmd heading: 209.075737 deg, new cmd heading: 211.398696 deg. 2021-02-18T05:48:30.569Z,1613627310.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:31.356Z,1613627311.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:31.795Z,1613627311.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:48:32.599Z,1613627312.599 [Micromodem](INFO): Nmea in: $SNTTA,0.005672,,0.111947,,054831.36*5D 2021-02-18T05:48:32.618Z,1613627312.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.579998 m, bearing: 215.164851 deg, deltaT: 4.435337 s, approachRate: 1.041634 m/s, LOS rate: 6.347303 deg/s, posRepo size: 4 2021-02-18T05:48:32.620Z,1613627312.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.579998 m, bearing: 215.164851 deg, approachRate: 1.041634 m/s, LOS rate: 6.347303 deg/s, cmd update: 12.000000 deg/s, cmd heading: 217.121507 deg, new cmd heading: 217.868127 deg. 2021-02-18T05:48:35.076Z,1613627315.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:35.813Z,1613627315.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:36.207Z,1613627316.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:48:37.020Z,1613627317.020 [Micromodem](INFO): Nmea in: $SNTTA,,,,,054835.81*58 2021-02-18T05:48:37.899Z,1613627317.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:39.436Z,1613627319.436 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T05:48:40.669Z,1613627320.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:41.461Z,1613627321.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:41.892Z,1613627321.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:48:42.692Z,1613627322.692 [Micromodem](INFO): Nmea in: $SNTTA,0.009049,,,,054841.46*4A 2021-02-18T05:48:42.707Z,1613627322.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.619998 m, bearing: 225.127734 deg, deltaT: 10.085737 s, approachRate: 0.499716 m/s, LOS rate: 0.987819 deg/s, posRepo size: 4 2021-02-18T05:48:42.709Z,1613627322.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.619998 m, bearing: 225.127734 deg, approachRate: 0.499716 m/s, LOS rate: 0.987819 deg/s, cmd update: 3.951276 deg/s, cmd heading: 338.152945 deg, new cmd heading: 343.160125 deg. 2021-02-18T05:48:45.136Z,1613627325.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:45.902Z,1613627325.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:46.313Z,1613627326.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:48:47.146Z,1613627327.146 [Micromodem](INFO): Nmea in: $SNTTA,0.010515,,,,054845.90*41 2021-02-18T05:48:47.209Z,1613627327.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.779997 m, bearing: 288.123552 deg, deltaT: 4.476287 s, approachRate: 0.482543 m/s, LOS rate: 14.073230 deg/s, posRepo size: 4 2021-02-18T05:48:47.210Z,1613627327.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.073230 deg/s. Setting heading cmd to target bearing of 288.123552deg and heading rate command to 0 deg/s. 2021-02-18T05:48:49.551Z,1613627329.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:50.353Z,1613627330.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:50.755Z,1613627330.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:48:51.576Z,1613627331.576 [Micromodem](INFO): Nmea in: $SNTTA,0.011981,,0.045295,,054850.35*5B 2021-02-18T05:48:51.598Z,1613627331.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.059998 m, bearing: 295.208043 deg, deltaT: 4.423337 s, approachRate: 0.515448 m/s, LOS rate: 1.601617 deg/s, posRepo size: 4 2021-02-18T05:48:51.598Z,1613627331.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.06 m. Rolling out. 2021-02-18T05:48:51.598Z,1613627331.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T05:48:54.026Z,1613627334.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:54.808Z,1613627334.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:55.204Z,1613627335.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:48:56.024Z,1613627336.024 [Micromodem](INFO): Nmea in: $SNTTA,0.013089,,,,054854.81*42 2021-02-18T05:48:56.084Z,1613627336.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.680002 m, bearing: 313.929701 deg, deltaT: 4.449824 s, approachRate: 0.364060 m/s, LOS rate: 4.207280 deg/s, posRepo size: 4 2021-02-18T05:48:58.451Z,1613627338.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:48:59.229Z,1613627339.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:48:59.640Z,1613627339.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:00.462Z,1613627340.462 [Micromodem](INFO): Nmea in: $SNTTA,0.014154,,,,054859.23*41 2021-02-18T05:49:00.501Z,1613627340.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.239996 m, bearing: 312.548145 deg, deltaT: 4.470321 s, approachRate: 0.348967 m/s, LOS rate: -0.309051 deg/s, posRepo size: 4 2021-02-18T05:49:02.942Z,1613627342.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:49:03.674Z,1613627343.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:49:04.079Z,1613627344.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:04.908Z,1613627344.908 [Micromodem](INFO): Nmea in: $SNTTA,0.015583,,,,054903.67*40 2021-02-18T05:49:04.975Z,1613627344.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.459999 m, bearing: 294.709986 deg, deltaT: 4.384599 s, approachRate: 0.506318 m/s, LOS rate: -4.068367 deg/s, posRepo size: 4 2021-02-18T05:49:07.349Z,1613627347.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:49:08.121Z,1613627348.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:49:08.536Z,1613627348.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:09.348Z,1613627349.348 [Micromodem](INFO): Nmea in: $SNTTA,0.028884,,,,054908.12*4D 2021-02-18T05:49:09.390Z,1613627349.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.460001 m, bearing: 299.719957 deg, deltaT: 4.485563 s, approachRate: 0.668813 m/s, LOS rate: 1.116910 deg/s, posRepo size: 4 2021-02-18T05:49:09.747Z,1613627349.747 [PowerOnly](INFO): Powering down loadControl 2021-02-18T05:49:11.819Z,1613627351.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:49:12.565Z,1613627352.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:49:12.977Z,1613627352.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:13.816Z,1613627353.816 [Micromodem](INFO): Nmea in: $SNTTA,0.019779,,,,054912.56*49 2021-02-18T05:49:13.853Z,1613627353.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.000002 m, bearing: 316.596507 deg, deltaT: 4.427697 s, approachRate: 0.799513 m/s, LOS rate: 3.811587 deg/s, posRepo size: 4 2021-02-18T05:49:16.229Z,1613627356.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:49:17.010Z,1613627357.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:49:17.409Z,1613627357.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:18.236Z,1613627358.236 [Micromodem](INFO): Nmea in: $SNTTA,0.051445,,,,054917.01*4E 2021-02-18T05:49:18.274Z,1613627358.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.040001 m, bearing: 277.548616 deg, deltaT: 4.499293 s, approachRate: 0.453404 m/s, LOS rate: -8.678672 deg/s, posRepo size: 4 2021-02-18T05:49:20.667Z,1613627360.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:49:21.448Z,1613627361.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:49:21.887Z,1613627361.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:22.676Z,1613627362.676 [Micromodem](INFO): Nmea in: $SNTTA,0.023930,0.049932,,,054921.45*5A 2021-02-18T05:49:22.713Z,1613627362.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.220001 m, bearing: 275.100076 deg, deltaT: 4.383066 s, approachRate: 0.725520 m/s, LOS rate: -0.558637 deg/s, posRepo size: 4 2021-02-18T05:49:25.126Z,1613627365.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:49:25.901Z,1613627365.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:49:26.297Z,1613627366.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:27.124Z,1613627367.124 [Micromodem](INFO): Nmea in: $SNTTA,0.025531,,,,054925.90*46 2021-02-18T05:49:27.186Z,1613627367.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.399998 m, bearing: 269.160488 deg, deltaT: 4.446025 s, approachRate: 0.715245 m/s, LOS rate: -1.335932 deg/s, posRepo size: 4 2021-02-18T05:49:29.565Z,1613627369.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:49:30.338Z,1613627370.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:49:30.747Z,1613627370.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:31.572Z,1613627371.572 [Micromodem](INFO): Nmea in: $SNTTA,0.027653,,,,054930.34*49 2021-02-18T05:49:31.594Z,1613627371.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.640003 m, bearing: 265.815827 deg, deltaT: 4.456016 s, approachRate: 0.727108 m/s, LOS rate: -0.750595 deg/s, posRepo size: 4 2021-02-18T05:49:34.027Z,1613627374.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:49:34.809Z,1613627374.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:49:35.203Z,1613627375.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:36.028Z,1613627376.028 [Micromodem](INFO): Nmea in: $SNTTA,0.029748,,,,054934.81*46 2021-02-18T05:49:36.086Z,1613627376.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.759998 m, bearing: 267.211945 deg, deltaT: 4.431588 s, approachRate: 0.704035 m/s, LOS rate: 0.315038 deg/s, posRepo size: 4 2021-02-18T05:49:38.432Z,1613627378.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:49:39.224Z,1613627379.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:49:39.636Z,1613627379.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:40.452Z,1613627380.452 [Micromodem](INFO): Nmea in: $SNTTA,0.031817,,,,054939.22*4E 2021-02-18T05:49:40.488Z,1613627380.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.880001 m, bearing: 269.120327 deg, deltaT: 4.462785 s, approachRate: 0.699116 m/s, LOS rate: 0.427621 deg/s, posRepo size: 4 2021-02-18T05:49:42.936Z,1613627382.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:49:43.674Z,1613627383.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:49:44.074Z,1613627384.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:44.908Z,1613627384.908 [Micromodem](INFO): Nmea in: $SNTTA,0.034008,,,,054943.67*41 2021-02-18T05:49:44.957Z,1613627384.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.059994 m, bearing: 265.376509 deg, deltaT: 4.403499 s, approachRate: 0.722151 m/s, LOS rate: -0.850192 deg/s, posRepo size: 4 2021-02-18T05:49:47.335Z,1613627387.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:49:48.113Z,1613627388.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:49:48.530Z,1613627388.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:49.340Z,1613627389.340 [Micromodem](INFO): Nmea in: $SNTTA,0.036406,,,,054948.11*43 2021-02-18T05:49:49.382Z,1613627389.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.359993 m, bearing: 262.784124 deg, deltaT: 4.482686 s, approachRate: 0.736166 m/s, LOS rate: -0.578311 deg/s, posRepo size: 4 2021-02-18T05:49:51.841Z,1613627391.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:49:52.556Z,1613627392.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:49:52.973Z,1613627392.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:53.816Z,1613627393.816 [Micromodem](INFO): Nmea in: $SNTTA,,,,,054952.55*51 2021-02-18T05:49:53.889Z,1613627393.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.360001 m, bearing: 266.551192 deg, deltaT: 4.438627 s, approachRate: 0.675886 m/s, LOS rate: 0.848701 deg/s, posRepo size: 4 2021-02-18T05:49:56.222Z,1613627396.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:49:57.010Z,1613627397.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:49:57.418Z,1613627397.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:49:58.232Z,1613627398.232 [Micromodem](INFO): Nmea in: $SNTTA,,,,,054957.01*55 2021-02-18T05:49:58.272Z,1613627398.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.660000 m, bearing: 272.733033 deg, deltaT: 4.483831 s, approachRate: 0.735978 m/s, LOS rate: 1.378696 deg/s, posRepo size: 4 2021-02-18T05:50:00.675Z,1613627400.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:01.448Z,1613627401.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:01.886Z,1613627401.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:50:02.676Z,1613627402.676 [Micromodem](INFO): Nmea in: $SNTTA,0.042512,,,,055001.45*40 2021-02-18T05:50:02.718Z,1613627402.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.780003 m, bearing: 344.638341 deg, deltaT: 4.375430 s, approachRate: 0.713073 m/s, LOS rate: 16.433884 deg/s, posRepo size: 4 2021-02-18T05:50:05.241Z,1613627405.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:05.903Z,1613627405.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:06.297Z,1613627406.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:50:07.128Z,1613627407.128 [Micromodem](INFO): Nmea in: $SNTTA,0.044916,,,,055005.90*42 2021-02-18T05:50:07.187Z,1613627407.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.380005 m, bearing: 322.031262 deg, deltaT: 4.511547 s, approachRate: 0.797953 m/s, LOS rate: -5.010937 deg/s, posRepo size: 4 2021-02-18T05:50:09.148Z,1613627409.148 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T05:50:09.547Z,1613627409.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:10.350Z,1613627410.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:10.750Z,1613627410.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:50:11.572Z,1613627411.572 [Micromodem](INFO): Nmea in: $SNTTA,0.046863,,0.069433,,055010.35*5D 2021-02-18T05:50:11.609Z,1613627411.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.260010 m, bearing: 279.374818 deg, deltaT: 4.427031 s, approachRate: 0.650550 m/s, LOS rate: -9.635452 deg/s, posRepo size: 4 2021-02-18T05:50:14.018Z,1613627414.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:14.805Z,1613627414.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:15.195Z,1613627415.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:50:16.023Z,1613627416.023 [Micromodem](INFO): Nmea in: $SNTTA,0.049140,,,,055014.81*44 2021-02-18T05:50:16.057Z,1613627416.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.440002 m, bearing: 282.967661 deg, deltaT: 4.414325 s, approachRate: 0.720380 m/s, LOS rate: 0.813906 deg/s, posRepo size: 4 2021-02-18T05:50:18.436Z,1613627418.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:19.224Z,1613627419.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:19.641Z,1613627419.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:50:20.457Z,1613627420.457 [Micromodem](INFO): Nmea in: $SNTTA,0.057213,,,,055019.22*4A 2021-02-18T05:50:20.495Z,1613627420.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.919998 m, bearing: 288.737122 deg, deltaT: 4.478037 s, approachRate: 0.777125 m/s, LOS rate: 1.288391 deg/s, posRepo size: 4 2021-02-18T05:50:22.945Z,1613627422.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:23.686Z,1613627423.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:24.081Z,1613627424.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:50:24.911Z,1613627424.911 [Micromodem](INFO): Nmea in: $SNTTA,0.053520,,,,055023.69*4F 2021-02-18T05:50:24.945Z,1613627424.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.220001 m, bearing: 283.113554 deg, deltaT: 4.404555 s, approachRate: 0.749225 m/s, LOS rate: -1.276762 deg/s, posRepo size: 4 2021-02-18T05:50:27.331Z,1613627427.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:28.117Z,1613627428.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:28.517Z,1613627428.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:50:29.344Z,1613627429.344 [Micromodem](INFO): Nmea in: $SNTTA,0.055879,,,,055028.12*4F 2021-02-18T05:50:29.386Z,1613627429.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.760002 m, bearing: 284.038526 deg, deltaT: 4.480701 s, approachRate: 0.790055 m/s, LOS rate: 0.206435 deg/s, posRepo size: 4 2021-02-18T05:50:31.815Z,1613627431.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:32.562Z,1613627432.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:32.961Z,1613627432.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:50:33.809Z,1613627433.809 [Micromodem](INFO): Nmea in: $SNTTA,0.058299,,0.063379,,055032.56*5B 2021-02-18T05:50:33.838Z,1613627433.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.180008 m, bearing: 333.853472 deg, deltaT: 4.417233 s, approachRate: 0.774242 m/s, LOS rate: 11.277410 deg/s, posRepo size: 4 2021-02-18T05:50:35.915Z,1613627435.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:36.596Z,1613627436.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:37.002Z,1613627437.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:50:37.831Z,1613627437.831 [Micromodem](INFO): Nmea in: $SNTTA,0.060225,,,,055036.59*4A 2021-02-18T05:50:37.931Z,1613627437.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.240005 m, bearing: 329.089251 deg, deltaT: 4.047365 s, approachRate: 0.756047 m/s, LOS rate: -1.177117 deg/s, posRepo size: 4 2021-02-18T05:50:40.268Z,1613627440.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:41.042Z,1613627441.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:41.445Z,1613627441.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:50:42.291Z,1613627442.291 [Micromodem](INFO): Nmea in: $SNTTA,0.091681,,,,055041.04*46 2021-02-18T05:50:42.310Z,1613627442.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.599998 m, bearing: 325.845567 deg, deltaT: 4.488700 s, approachRate: 0.748545 m/s, LOS rate: -0.722633 deg/s, posRepo size: 4 2021-02-18T05:50:44.703Z,1613627444.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:45.486Z,1613627445.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:45.908Z,1613627445.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:50:46.712Z,1613627446.712 [Micromodem](INFO): Nmea in: $SNTTA,,,,,055045.48*53 2021-02-18T05:50:46.784Z,1613627446.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.600006 m, bearing: 325.754043 deg, deltaT: 4.365737 s, approachRate: 0.687171 m/s, LOS rate: -0.020964 deg/s, posRepo size: 4 2021-02-18T05:50:49.163Z,1613627449.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:49.928Z,1613627449.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:50.335Z,1613627450.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:50:51.163Z,1613627451.163 [Micromodem](INFO): Nmea in: $SNTTA,0.066522,,,,055049.93*42 2021-02-18T05:50:51.232Z,1613627451.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.900002 m, bearing: 279.150678 deg, deltaT: 4.491503 s, approachRate: 0.734720 m/s, LOS rate: -10.375895 deg/s, posRepo size: 4 2021-02-18T05:50:53.592Z,1613627453.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:54.383Z,1613627454.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:54.807Z,1613627454.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:50:55.611Z,1613627455.611 [Micromodem](INFO): Nmea in: $SNTTA,0.069098,,,,055054.38*44 2021-02-18T05:50:55.634Z,1613627455.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.440002 m, bearing: 330.060149 deg, deltaT: 4.421668 s, approachRate: 0.800603 m/s, LOS rate: 11.513635 deg/s, posRepo size: 4 2021-02-18T05:50:58.044Z,1613627458.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:50:58.822Z,1613627458.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:50:59.222Z,1613627459.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:00.048Z,1613627460.048 [Micromodem](INFO): Nmea in: $SNTTA,0.070997,,,,055058.82*47 2021-02-18T05:51:00.082Z,1613627460.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.680000 m, bearing: 323.919017 deg, deltaT: 4.430263 s, approachRate: 0.731333 m/s, LOS rate: -1.386178 deg/s, posRepo size: 4 2021-02-18T05:51:02.468Z,1613627462.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:51:03.260Z,1613627463.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:51:03.666Z,1613627463.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:04.491Z,1613627464.491 [Micromodem](INFO): Nmea in: $SNTTA,0.073366,,,,055103.26*41 2021-02-18T05:51:04.510Z,1613627464.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.280006 m, bearing: 320.261095 deg, deltaT: 4.460974 s, approachRate: 0.807000 m/s, LOS rate: -0.819983 deg/s, posRepo size: 4 2021-02-18T05:51:06.959Z,1613627466.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:51:07.704Z,1613627467.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:51:08.112Z,1613627468.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:08.932Z,1613627468.932 [Micromodem](INFO): Nmea in: $SNTTA,0.075606,,,,055107.70*43 2021-02-18T05:51:08.986Z,1613627468.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.580009 m, bearing: 284.347851 deg, deltaT: 4.415801 s, approachRate: 0.747317 m/s, LOS rate: -8.132895 deg/s, posRepo size: 4 2021-02-18T05:51:11.370Z,1613627471.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:51:12.148Z,1613627472.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:51:12.560Z,1613627472.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:13.376Z,1613627473.376 [Micromodem](INFO): Nmea in: $SNTTA,0.077889,,,,055112.15*4F 2021-02-18T05:51:13.422Z,1613627473.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.940002 m, bearing: 280.874919 deg, deltaT: 4.481773 s, approachRate: 0.749702 m/s, LOS rate: -0.774902 deg/s, posRepo size: 4 2021-02-18T05:51:15.892Z,1613627475.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:51:16.596Z,1613627476.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:51:17.001Z,1613627477.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:17.836Z,1613627477.836 [Micromodem](INFO): Nmea in: $SNTTA,0.080120,,,,055116.59*41 2021-02-18T05:51:17.903Z,1613627477.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.300003 m, bearing: 330.780597 deg, deltaT: 4.427259 s, approachRate: 0.758935 m/s, LOS rate: 11.272365 deg/s, posRepo size: 4 2021-02-18T05:51:20.254Z,1613627480.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:51:21.037Z,1613627481.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:51:21.453Z,1613627481.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:22.264Z,1613627482.264 [Micromodem](INFO): Nmea in: $SNTTA,0.082236,,,,055121.03*4C 2021-02-18T05:51:22.302Z,1613627482.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.480003 m, bearing: 286.746586 deg, deltaT: 4.511397 s, approachRate: 0.704881 m/s, LOS rate: -9.760615 deg/s, posRepo size: 4 2021-02-18T05:51:24.688Z,1613627484.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:51:25.486Z,1613627485.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:51:25.902Z,1613627485.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:26.712Z,1613627486.712 [Micromodem](INFO): Nmea in: $SNTTA,0.084478,,,,055125.49*4C 2021-02-18T05:51:26.754Z,1613627486.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.140007 m, bearing: 324.140752 deg, deltaT: 4.356588 s, approachRate: 0.840108 m/s, LOS rate: 8.583360 deg/s, posRepo size: 4 2021-02-18T05:51:28.821Z,1613627488.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:51:29.526Z,1613627489.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:51:29.932Z,1613627489.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:30.752Z,1613627490.752 [Micromodem](INFO): Nmea in: $SNTTA,0.086512,,,,055129.52*45 2021-02-18T05:51:30.814Z,1613627490.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.139999 m, bearing: 321.232922 deg, deltaT: 4.056550 s, approachRate: 0.739543 m/s, LOS rate: -0.716823 deg/s, posRepo size: 4 2021-02-18T05:51:33.195Z,1613627493.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:51:33.966Z,1613627493.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:51:34.369Z,1613627494.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:35.192Z,1613627495.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,055133.96*50 2021-02-18T05:51:35.230Z,1613627495.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.320007 m, bearing: 327.130626 deg, deltaT: 4.465351 s, approachRate: 0.712152 m/s, LOS rate: 1.320771 deg/s, posRepo size: 4 2021-02-18T05:51:37.627Z,1613627497.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:51:38.408Z,1613627498.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:51:38.819Z,1613627498.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:39.636Z,1613627499.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,055138.41*51 2021-02-18T05:51:39.672Z,1613627499.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.740005 m, bearing: 324.869752 deg, deltaT: 4.436781 s, approachRate: 0.770829 m/s, LOS rate: -0.509575 deg/s, posRepo size: 4 2021-02-18T05:51:42.123Z,1613627502.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:51:42.870Z,1613627502.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:51:43.266Z,1613627503.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:44.088Z,1613627504.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,055142.87*56 2021-02-18T05:51:44.136Z,1613627504.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.160004 m, bearing: 326.118201 deg, deltaT: 4.437820 s, approachRate: 0.770648 m/s, LOS rate: 0.281320 deg/s, posRepo size: 4 2021-02-18T05:51:46.517Z,1613627506.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:51:47.296Z,1613627507.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:51:47.703Z,1613627507.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:48.524Z,1613627508.524 [Micromodem](INFO): Nmea in: $SNTTA,0.095761,,,,055147.30*4D 2021-02-18T05:51:48.563Z,1613627508.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.520004 m, bearing: 326.772888 deg, deltaT: 4.458921 s, approachRate: 0.753546 m/s, LOS rate: 0.146826 deg/s, posRepo size: 4 2021-02-18T05:51:50.996Z,1613627510.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:51:51.740Z,1613627511.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:51:52.150Z,1613627512.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:52.972Z,1613627512.972 [Micromodem](INFO): Nmea in: $SNTTA,0.097798,,,,055151.74*4E 2021-02-18T05:51:53.025Z,1613627513.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.880005 m, bearing: 324.544279 deg, deltaT: 4.430279 s, approachRate: 0.758417 m/s, LOS rate: -0.503040 deg/s, posRepo size: 4 2021-02-18T05:51:55.407Z,1613627515.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:51:56.190Z,1613627516.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:51:56.590Z,1613627516.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:51:57.416Z,1613627517.416 [Micromodem](INFO): Nmea in: $SNTTA,0.100021,,,,055156.19*48 2021-02-18T05:51:57.454Z,1613627517.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.239990 m, bearing: 325.094492 deg, deltaT: 4.457408 s, approachRate: 0.753798 m/s, LOS rate: 0.123438 deg/s, posRepo size: 4 2021-02-18T05:51:57.454Z,1613627517.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.24 m. Resuming terminal guidance. 2021-02-18T05:51:57.454Z,1613627517.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T05:51:59.896Z,1613627519.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:00.634Z,1613627520.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:52:01.034Z,1613627521.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:52:01.888Z,1613627521.888 [Micromodem](INFO): Nmea in: $SNTTA,0.102287,,,,055200.63*49 2021-02-18T05:52:01.944Z,1613627521.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.660004 m, bearing: 324.698724 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T05:52:01.944Z,1613627521.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 324.698724deg and heading rate command to 0 deg/s. 2021-02-18T05:52:04.300Z,1613627524.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:05.098Z,1613627525.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:52:05.492Z,1613627525.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:52:06.308Z,1613627526.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,055205.10*58 2021-02-18T05:52:06.346Z,1613627526.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.960007 m, bearing: 284.351594 deg, deltaT: 4.475229 s, approachRate: 0.737393 m/s, LOS rate: -9.015657 deg/s, posRepo size: 2 2021-02-18T05:52:06.348Z,1613627526.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.960007 m, bearing: 284.351594 deg, approachRate: 0.737393 m/s, LOS rate: -9.015657 deg/s, cmd update: -12.000000 deg/s, cmd heading: 324.698724 deg, new cmd heading: 324.698724 deg. 2021-02-18T05:52:08.730Z,1613627528.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:09.129Z,1613627529.129 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T05:52:09.522Z,1613627529.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:52:09.921Z,1613627529.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:52:10.748Z,1613627530.748 [Micromodem](INFO): Nmea in: $SNTTA,0.106574,,,,055209.52*4D 2021-02-18T05:52:10.822Z,1613627530.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.960007 m, bearing: 295.526030 deg, deltaT: 4.413712 s, approachRate: 0.679700 m/s, LOS rate: 2.531755 deg/s, posRepo size: 3 2021-02-18T05:52:10.828Z,1613627530.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.960007 m, bearing: 295.526030 deg, approachRate: 0.679700 m/s, LOS rate: 2.531755 deg/s, cmd update: 10.127018 deg/s, cmd heading: 271.933679 deg, new cmd heading: 266.210242 deg. 2021-02-18T05:52:13.192Z,1613627533.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:13.966Z,1613627533.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:52:14.371Z,1613627534.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:52:15.192Z,1613627535.192 [Micromodem](INFO): Nmea in: $SNTTA,0.108526,,,,055213.97*46 2021-02-18T05:52:15.222Z,1613627535.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.840012 m, bearing: 305.160312 deg, deltaT: 4.527129 s, approachRate: 0.636166 m/s, LOS rate: 2.128122 deg/s, posRepo size: 4 2021-02-18T05:52:15.224Z,1613627535.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.840012 m, bearing: 305.160312 deg, approachRate: 0.636166 m/s, LOS rate: 2.128122 deg/s, cmd update: 8.512488 deg/s, cmd heading: 317.719629 deg, new cmd heading: 321.324281 deg. 2021-02-18T05:52:17.623Z,1613627537.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:18.410Z,1613627538.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:52:18.817Z,1613627538.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:52:19.636Z,1613627539.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,055218.41*50 2021-02-18T05:52:19.679Z,1613627539.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.840012 m, bearing: 255.690263 deg, deltaT: 4.361884 s, approachRate: 0.000000 m/s, LOS rate: -11.341441 deg/s, posRepo size: 4 2021-02-18T05:52:19.681Z,1613627539.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.840012 m, bearing: 255.690263 deg, approachRate: 0.000000 m/s, LOS rate: -11.341441 deg/s, cmd update: -12.000000 deg/s, cmd heading: 354.902772 deg, new cmd heading: 358.692438 deg. 2021-02-18T05:52:22.092Z,1613627542.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:22.866Z,1613627542.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:52:23.269Z,1613627543.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:52:24.088Z,1613627544.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,055222.87*53 2021-02-18T05:52:24.141Z,1613627544.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.840012 m, bearing: 305.940948 deg, deltaT: 4.477170 s, approachRate: 0.000000 m/s, LOS rate: 11.223760 deg/s, posRepo size: 4 2021-02-18T05:52:24.144Z,1613627544.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.840012 m, bearing: 305.940948 deg, approachRate: 0.000000 m/s, LOS rate: 11.223760 deg/s, cmd update: 12.000000 deg/s, cmd heading: 301.032646 deg, new cmd heading: 296.012890 deg. 2021-02-18T05:52:26.520Z,1613627546.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:27.298Z,1613627547.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:52:27.700Z,1613627547.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:52:28.524Z,1613627548.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,055227.30*5A 2021-02-18T05:52:28.561Z,1613627548.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.840012 m, bearing: 330.839118 deg, deltaT: 4.435664 s, approachRate: 0.000000 m/s, LOS rate: 5.613178 deg/s, posRepo size: 4 2021-02-18T05:52:28.563Z,1613627548.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.840012 m, bearing: 330.839118 deg, approachRate: 0.000000 m/s, LOS rate: 5.613178 deg/s, cmd update: 12.000000 deg/s, cmd heading: 354.313308 deg, new cmd heading: 359.090700 deg. 2021-02-18T05:52:30.972Z,1613627550.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:31.736Z,1613627551.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:52:32.144Z,1613627552.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:52:32.969Z,1613627552.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,055231.73*5A 2021-02-18T05:52:33.022Z,1613627553.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.840012 m, bearing: 351.384519 deg, deltaT: 4.419205 s, approachRate: 0.000000 m/s, LOS rate: 4.649117 deg/s, posRepo size: 4 2021-02-18T05:52:33.024Z,1613627553.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.840012 m, bearing: 351.384519 deg, approachRate: 0.000000 m/s, LOS rate: 4.649117 deg/s, cmd update: 12.000000 deg/s, cmd heading: 47.142697 deg, new cmd heading: 52.613401 deg. 2021-02-18T05:52:35.409Z,1613627555.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:36.222Z,1613627556.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:52:36.585Z,1613627556.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:52:37.413Z,1613627557.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,055236.22*59 2021-02-18T05:52:37.890Z,1613627557.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.639999 m, bearing: 345.921925 deg, deltaT: 4.850005 s, approachRate: 2.845355 m/s, LOS rate: -1.126307 deg/s, posRepo size: 4 2021-02-18T05:52:37.896Z,1613627557.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.639999 m, bearing: 345.921925 deg, approachRate: 2.845355 m/s, LOS rate: -1.126307 deg/s, cmd update: -4.505227 deg/s, cmd heading: 105.544011 deg, new cmd heading: 111.032787 deg. 2021-02-18T05:52:40.244Z,1613627560.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:41.039Z,1613627561.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:52:41.440Z,1613627561.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:52:42.253Z,1613627562.253 [Micromodem](INFO): Nmea in: $SNTTA,0.118523,,,,055241.04*4F 2021-02-18T05:52:42.674Z,1613627562.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 54.802805 deg, deltaT: 4.844679 s, approachRate: 0.222925 m/s, LOS rate: 14.217844 deg/s, posRepo size: 4 2021-02-18T05:52:42.675Z,1613627562.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.217844 deg/s. Setting heading cmd to target bearing of 54.802805deg and heading rate command to 0 deg/s. 2021-02-18T05:52:45.108Z,1613627565.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:45.899Z,1613627565.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:52:46.282Z,1613627566.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:52:47.106Z,1613627567.106 [Micromodem](INFO): Nmea in: $SNTTA,0.118933,,,,055245.90*4B 2021-02-18T05:52:47.538Z,1613627567.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.319992 m, bearing: 341.401050 deg, deltaT: 4.887583 s, approachRate: 0.122758 m/s, LOS rate: -15.018008 deg/s, posRepo size: 4 2021-02-18T05:52:47.538Z,1613627567.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.018008 deg/s. Setting heading cmd to target bearing of 341.401050deg and heading rate command to 0 deg/s. 2021-02-18T05:52:49.137Z,1613627569.137 [RDI_Pathfinder](ERROR): only read 1 of 4 data items 2021-02-18T05:52:49.984Z,1613627569.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:50.724Z,1613627570.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:52:51.135Z,1613627571.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:52:51.956Z,1613627571.956 [Micromodem](INFO): Nmea in: $SNTTA,0.118824,,,,055250.72*44 2021-02-18T05:52:51.990Z,1613627571.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.319992 m, bearing: 89.479330 deg, deltaT: 4.392038 s, approachRate: 0.000000 m/s, LOS rate: 24.607775 deg/s, posRepo size: 4 2021-02-18T05:52:51.991Z,1613627571.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.607775 deg/s. Setting heading cmd to target bearing of 89.479330deg and heading rate command to 0 deg/s. 2021-02-18T05:52:54.376Z,1613627574.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:55.191Z,1613627575.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:52:55.579Z,1613627575.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:52:56.401Z,1613627576.401 [Micromodem](INFO): Nmea in: $SNTTA,0.118163,,,,055255.19*46 2021-02-18T05:52:56.895Z,1613627576.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.180008 m, bearing: 68.407691 deg, deltaT: 4.858982 s, approachRate: -0.234614 m/s, LOS rate: -4.336637 deg/s, posRepo size: 4 2021-02-18T05:52:56.897Z,1613627576.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.180008 m, bearing: 68.407691 deg, approachRate: -0.234614 m/s, LOS rate: -4.336637 deg/s, cmd update: -12.000000 deg/s, cmd heading: 89.479330 deg, new cmd heading: 89.479330 deg. 2021-02-18T05:52:58.919Z,1613627578.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:52:59.612Z,1613627579.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:00.026Z,1613627580.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:00.861Z,1613627580.861 [Micromodem](INFO): Nmea in: $SNTTA,0.118029,0.126248,,,055259.61*5F 2021-02-18T05:53:00.921Z,1613627580.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.180008 m, bearing: 337.717857 deg, deltaT: 4.034284 s, approachRate: 0.000000 m/s, LOS rate: -22.479788 deg/s, posRepo size: 4 2021-02-18T05:53:00.921Z,1613627580.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.479788 deg/s. Setting heading cmd to target bearing of 337.717857deg and heading rate command to 0 deg/s. 2021-02-18T05:53:03.262Z,1613627583.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:53:04.056Z,1613627584.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:04.108Z,1613627584.108 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T05:53:04.468Z,1613627584.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:05.284Z,1613627585.284 [Micromodem](INFO): Nmea in: $SNTTA,0.117967,,,,055304.05*4D 2021-02-18T05:53:05.322Z,1613627585.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.819992 m, bearing: 81.748724 deg, deltaT: 4.506719 s, approachRate: -0.079884 m/s, LOS rate: 23.083505 deg/s, posRepo size: 4 2021-02-18T05:53:05.322Z,1613627585.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.083505 deg/s. Setting heading cmd to target bearing of 81.748724deg and heading rate command to 0 deg/s. 2021-02-18T05:53:07.707Z,1613627587.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:53:08.506Z,1613627588.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:08.923Z,1613627588.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:09.724Z,1613627589.724 [Micromodem](INFO): Nmea in: $SNTTA,0.117476,,,,055308.51*4D 2021-02-18T05:53:10.169Z,1613627590.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.099991 m, bearing: 70.777637 deg, deltaT: 4.786127 s, approachRate: -0.150435 m/s, LOS rate: -2.292268 deg/s, posRepo size: 4 2021-02-18T05:53:10.171Z,1613627590.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.099991 m, bearing: 70.777637 deg, approachRate: -0.150435 m/s, LOS rate: -2.292268 deg/s, cmd update: -9.169073 deg/s, cmd heading: 81.748724 deg, new cmd heading: 81.748724 deg. 2021-02-18T05:53:12.570Z,1613627592.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:53:13.354Z,1613627593.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:13.758Z,1613627593.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:14.571Z,1613627594.571 [Micromodem](INFO): Nmea in: $SNTTA,0.117133,,,,055313.35*41 2021-02-18T05:53:15.053Z,1613627595.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.680008 m, bearing: 351.363154 deg, deltaT: 4.842646 s, approachRate: -0.086726 m/s, LOS rate: -16.398987 deg/s, posRepo size: 4 2021-02-18T05:53:15.054Z,1613627595.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.398987 deg/s. Setting heading cmd to target bearing of 351.363154deg and heading rate command to 0 deg/s. 2021-02-18T05:53:17.403Z,1613627597.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:53:18.196Z,1613627598.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:18.607Z,1613627598.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:19.424Z,1613627599.424 [Micromodem](INFO): Nmea in: $SNTTA,0.116756,,,,055318.20*4A 2021-02-18T05:53:19.462Z,1613627599.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.680008 m, bearing: 94.890937 deg, deltaT: 4.494545 s, approachRate: 0.000000 m/s, LOS rate: 23.034098 deg/s, posRepo size: 4 2021-02-18T05:53:19.463Z,1613627599.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.034098 deg/s. Setting heading cmd to target bearing of 94.890937deg and heading rate command to 0 deg/s. 2021-02-18T05:53:21.913Z,1613627601.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:53:22.640Z,1613627602.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:23.060Z,1613627603.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:23.904Z,1613627603.904 [Micromodem](INFO): Nmea in: $SNTTA,0.116457,,,,055322.64*41 2021-02-18T05:53:23.951Z,1613627603.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.599991 m, bearing: 94.860939 deg, deltaT: 4.442088 s, approachRate: -0.243133 m/s, LOS rate: -0.006753 deg/s, posRepo size: 4 2021-02-18T05:53:23.953Z,1613627603.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.599991 m, bearing: 94.860939 deg, approachRate: -0.243133 m/s, LOS rate: -0.006753 deg/s, cmd update: -0.027013 deg/s, cmd heading: 94.890937 deg, new cmd heading: 94.890937 deg. 2021-02-18T05:53:26.296Z,1613627606.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:53:27.090Z,1613627607.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:27.489Z,1613627607.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:28.320Z,1613627608.320 [Micromodem](INFO): Nmea in: $SNTTA,0.116441,,,,055327.09*48 2021-02-18T05:53:28.354Z,1613627608.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.599991 m, bearing: 78.712760 deg, deltaT: 4.433242 s, approachRate: 0.000000 m/s, LOS rate: -3.642522 deg/s, posRepo size: 4 2021-02-18T05:53:28.356Z,1613627608.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.599991 m, bearing: 78.712760 deg, approachRate: 0.000000 m/s, LOS rate: -3.642522 deg/s, cmd update: -12.000000 deg/s, cmd heading: 94.771183 deg, new cmd heading: 94.760410 deg. 2021-02-18T05:53:30.735Z,1613627610.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:53:31.531Z,1613627611.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:31.933Z,1613627611.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:32.768Z,1613627612.768 [Micromodem](INFO): Nmea in: $SNTTA,0.116565,,,,055331.53*47 2021-02-18T05:53:32.853Z,1613627612.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.599991 m, bearing: 351.537515 deg, deltaT: 4.430164 s, approachRate: 0.000000 m/s, LOS rate: -19.677657 deg/s, posRepo size: 4 2021-02-18T05:53:32.855Z,1613627612.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.677657 deg/s. Setting heading cmd to target bearing of 351.537515deg and heading rate command to 0 deg/s. 2021-02-18T05:53:34.944Z,1613627614.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:53:35.573Z,1613627615.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:35.985Z,1613627615.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:36.836Z,1613627616.836 [Micromodem](INFO): Nmea in: $SNTTA,0.116307,,,,055335.57*45 2021-02-18T05:53:36.925Z,1613627616.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.599991 m, bearing: 98.535417 deg, deltaT: 4.042993 s, approachRate: 0.000000 m/s, LOS rate: 26.465024 deg/s, posRepo size: 4 2021-02-18T05:53:36.925Z,1613627616.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 26.465024 deg/s. Setting heading cmd to target bearing of 98.535417deg and heading rate command to 0 deg/s. 2021-02-18T05:53:39.232Z,1613627619.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:53:40.014Z,1613627620.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:40.430Z,1613627620.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:41.240Z,1613627621.240 [Micromodem](INFO): Nmea in: $SNTTA,0.115599,,,,055340.01*46 2021-02-18T05:53:41.286Z,1613627621.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.599991 m, bearing: 79.232865 deg, deltaT: 4.486534 s, approachRate: 0.000000 m/s, LOS rate: -4.302331 deg/s, posRepo size: 4 2021-02-18T05:53:41.292Z,1613627621.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.599991 m, bearing: 79.232865 deg, approachRate: 0.000000 m/s, LOS rate: -4.302331 deg/s, cmd update: -12.000000 deg/s, cmd heading: 98.535417 deg, new cmd heading: 98.535417 deg. 2021-02-18T05:53:43.663Z,1613627623.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:53:44.461Z,1613627624.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:44.893Z,1613627624.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:45.692Z,1613627625.692 [Micromodem](INFO): Nmea in: $SNTTA,0.115201,,,,055344.46*47 2021-02-18T05:53:45.714Z,1613627625.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.599991 m, bearing: 355.467524 deg, deltaT: 4.371437 s, approachRate: 0.000000 m/s, LOS rate: -19.161971 deg/s, posRepo size: 4 2021-02-18T05:53:45.715Z,1613627625.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.161971 deg/s. Setting heading cmd to target bearing of 355.467524deg and heading rate command to 0 deg/s. 2021-02-18T05:53:48.147Z,1613627628.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:53:48.943Z,1613627628.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:49.310Z,1613627629.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:50.528Z,1613627630.528 [Micromodem](INFO): Nmea in: $SNTTA,0.114792,,,,055348.97*49 2021-02-18T05:53:50.550Z,1613627630.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.079987 m, bearing: 95.181343 deg, deltaT: 4.913781 s, approachRate: -0.512844 m/s, LOS rate: 20.292685 deg/s, posRepo size: 4 2021-02-18T05:53:50.551Z,1613627630.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.292685 deg/s. Setting heading cmd to target bearing of 95.181343deg and heading rate command to 0 deg/s. 2021-02-18T05:53:52.999Z,1613627632.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:53:53.754Z,1613627633.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:54.154Z,1613627634.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:54.182Z,1613627634.182 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T05:53:54.996Z,1613627634.996 [Micromodem](INFO): Nmea in: $SNTTA,0.114298,,,,055353.75*40 2021-02-18T05:53:55.070Z,1613627635.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.079987 m, bearing: 54.637477 deg, deltaT: 4.391147 s, approachRate: 0.000000 m/s, LOS rate: -9.233092 deg/s, posRepo size: 4 2021-02-18T05:53:55.088Z,1613627635.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.079987 m, bearing: 54.637477 deg, approachRate: 0.000000 m/s, LOS rate: -9.233092 deg/s, cmd update: -12.000000 deg/s, cmd heading: 95.181343 deg, new cmd heading: 95.181343 deg. 2021-02-18T05:53:57.400Z,1613627637.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:53:58.198Z,1613627638.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:53:58.603Z,1613627638.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:53:59.424Z,1613627639.424 [Micromodem](INFO): Nmea in: $SNTTA,0.114171,,,,055358.20*4F 2021-02-18T05:53:59.449Z,1613627639.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.240005 m, bearing: 34.103896 deg, deltaT: 4.480780 s, approachRate: -0.187463 m/s, LOS rate: -4.582591 deg/s, posRepo size: 4 2021-02-18T05:53:59.451Z,1613627639.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.240005 m, bearing: 34.103896 deg, approachRate: -0.187463 m/s, LOS rate: -4.582591 deg/s, cmd update: -12.000000 deg/s, cmd heading: 41.389589 deg, new cmd heading: 36.863225 deg. 2021-02-18T05:54:01.913Z,1613627641.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:54:02.641Z,1613627642.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:54:03.050Z,1613627643.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:54:03.944Z,1613627643.944 [Micromodem](INFO): Nmea in: $SNTTA,0.114117,,,,055402.64*47 2021-02-18T05:54:03.984Z,1613627643.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.240005 m, bearing: 79.156483 deg, deltaT: 4.410183 s, approachRate: 0.000000 m/s, LOS rate: 10.215582 deg/s, posRepo size: 4 2021-02-18T05:54:03.986Z,1613627643.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.240005 m, bearing: 79.156483 deg, approachRate: 0.000000 m/s, LOS rate: 10.215582 deg/s, cmd update: 12.000000 deg/s, cmd heading: 348.665464 deg, new cmd heading: 342.446608 deg. 2021-02-18T05:54:06.291Z,1613627646.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:54:07.086Z,1613627647.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:54:07.486Z,1613627647.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:54:08.316Z,1613627648.316 [Micromodem](INFO): Nmea in: $SNTTA,0.113735,,,,055407.08*49 2021-02-18T05:54:08.365Z,1613627648.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.519989 m, bearing: 5.930044 deg, deltaT: 4.466675 s, approachRate: -0.161197 m/s, LOS rate: -16.393948 deg/s, posRepo size: 4 2021-02-18T05:54:08.366Z,1613627648.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.393948 deg/s. Setting heading cmd to target bearing of 5.930044deg and heading rate command to 0 deg/s. 2021-02-18T05:54:10.745Z,1613627650.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:54:11.535Z,1613627651.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:54:11.944Z,1613627651.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:54:12.764Z,1613627652.764 [Micromodem](INFO): Nmea in: $SNTTA,0.113741,,,,055411.53*43 2021-02-18T05:54:12.841Z,1613627652.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.519989 m, bearing: 25.478229 deg, deltaT: 4.419719 s, approachRate: 0.000000 m/s, LOS rate: 4.422947 deg/s, posRepo size: 4 2021-02-18T05:54:12.842Z,1613627652.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.519989 m, bearing: 25.478229 deg, approachRate: 0.000000 m/s, LOS rate: 4.422947 deg/s, cmd update: 12.000000 deg/s, cmd heading: 5.930044 deg, new cmd heading: 5.930044 deg. 2021-02-18T05:54:15.210Z,1613627655.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:54:15.974Z,1613627655.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:54:16.374Z,1613627656.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:54:17.204Z,1613627657.204 [Micromodem](INFO): Nmea in: $SNTTA,0.114385,,,,055415.97*44 2021-02-18T05:54:17.228Z,1613627657.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.600006 m, bearing: 48.828466 deg, deltaT: 4.534815 s, approachRate: 0.238161 m/s, LOS rate: 5.149105 deg/s, posRepo size: 4 2021-02-18T05:54:17.230Z,1613627657.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.600006 m, bearing: 48.828466 deg, approachRate: 0.238161 m/s, LOS rate: 5.149105 deg/s, cmd update: 12.000000 deg/s, cmd heading: 60.504341 deg, new cmd heading: 64.446353 deg. 2021-02-18T05:54:19.635Z,1613627659.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:54:20.418Z,1613627660.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:54:20.817Z,1613627660.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:54:21.644Z,1613627661.644 [Micromodem](INFO): Nmea in: $SNTTA,0.115299,,,,055420.42*47 2021-02-18T05:54:21.694Z,1613627661.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.600006 m, bearing: 70.876292 deg, deltaT: 4.367221 s, approachRate: 0.000000 m/s, LOS rate: 5.048480 deg/s, posRepo size: 4 2021-02-18T05:54:21.702Z,1613627661.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.600006 m, bearing: 70.876292 deg, approachRate: 0.000000 m/s, LOS rate: 5.048480 deg/s, cmd update: 12.000000 deg/s, cmd heading: 112.909758 deg, new cmd heading: 118.042770 deg. 2021-02-18T05:54:22.058Z,1613627662.058 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T05:54:24.096Z,1613627664.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:54:24.879Z,1613627664.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:54:25.262Z,1613627665.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:54:26.088Z,1613627666.088 [Micromodem](INFO): Nmea in: $SNTTA,0.115733,,,,055424.88*40 2021-02-18T05:54:26.502Z,1613627666.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.699997 m, bearing: 4.727388 deg, deltaT: 4.882849 s, approachRate: 0.430075 m/s, LOS rate: -13.547194 deg/s, posRepo size: 4 2021-02-18T05:54:26.503Z,1613627666.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.547194 deg/s. Setting heading cmd to target bearing of 4.727388deg and heading rate command to 0 deg/s. 2021-02-18T05:54:28.921Z,1613627668.921 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T05:54:28.956Z,1613627668.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:54:29.717Z,1613627669.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:54:30.115Z,1613627670.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:54:30.931Z,1613627670.931 [Micromodem](INFO): Nmea in: $SNTTA,0.115548,,,,055429.72*46 2021-02-18T05:54:31.362Z,1613627671.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.220001 m, bearing: 104.231863 deg, deltaT: 4.831262 s, approachRate: -0.099352 m/s, LOS rate: 20.595959 deg/s, posRepo size: 4 2021-02-18T05:54:31.363Z,1613627671.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.595959 deg/s. Setting heading cmd to target bearing of 104.231863deg and heading rate command to 0 deg/s. 2021-02-18T05:54:33.824Z,1613627673.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:54:34.231Z,1613627674.231 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T05:54:34.558Z,1613627674.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:54:34.958Z,1613627674.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:54:35.812Z,1613627675.812 [Micromodem](INFO): Nmea in: $SNTTA,0.114607,,,,055434.56*45 2021-02-18T05:54:35.901Z,1613627675.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.220001 m, bearing: 138.744925 deg, deltaT: 4.401268 s, approachRate: 0.000000 m/s, LOS rate: 7.841618 deg/s, posRepo size: 4 2021-02-18T05:54:35.908Z,1613627675.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.220001 m, bearing: 138.744925 deg, approachRate: 0.000000 m/s, LOS rate: 7.841618 deg/s, cmd update: 12.000000 deg/s, cmd heading: 104.231863 deg, new cmd heading: 104.231863 deg. 2021-02-18T05:54:37.893Z,1613627677.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:54:38.598Z,1613627678.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:54:39.010Z,1613627679.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:54:39.824Z,1613627679.824 [Micromodem](INFO): Nmea in: $SNTTA,0.113500,,,,055438.60*4F 2021-02-18T05:54:39.923Z,1613627679.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.220001 m, bearing: 126.977342 deg, deltaT: 4.066796 s, approachRate: 0.000000 m/s, LOS rate: -2.893576 deg/s, posRepo size: 4 2021-02-18T05:54:39.925Z,1613627679.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 173.220001 m, bearing: 126.977342 deg, approachRate: 0.000000 m/s, LOS rate: -2.893576 deg/s, cmd update: -11.574304 deg/s, cmd heading: 152.999240 deg, new cmd heading: 158.689136 deg. 2021-02-18T05:54:42.276Z,1613627682.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:54:43.043Z,1613627683.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:54:43.446Z,1613627683.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:54:44.272Z,1613627684.272 [Micromodem](INFO): Nmea in: $SNTTA,0.111799,,,,055443.04*41 2021-02-18T05:54:44.314Z,1613627684.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.459991 m, bearing: 130.052840 deg, deltaT: 4.502503 s, approachRate: -1.279291 m/s, LOS rate: 0.683064 deg/s, posRepo size: 4 2021-02-18T05:54:44.320Z,1613627684.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.459991 m, bearing: 130.052840 deg, approachRate: -1.279291 m/s, LOS rate: 0.683064 deg/s, cmd update: 2.732256 deg/s, cmd heading: 100.842256 deg, new cmd heading: 96.690982 deg. 2021-02-18T05:54:46.693Z,1613627686.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:54:47.485Z,1613627687.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:54:47.903Z,1613627687.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:54:48.712Z,1613627688.712 [Micromodem](INFO): Nmea in: $SNTTA,0.109915,,,,055447.48*4E 2021-02-18T05:54:48.753Z,1613627688.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.459991 m, bearing: 128.644072 deg, deltaT: 4.373599 s, approachRate: 0.000000 m/s, LOS rate: -0.322107 deg/s, posRepo size: 4 2021-02-18T05:54:48.754Z,1613627688.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.459991 m, bearing: 128.644072 deg, approachRate: 0.000000 m/s, LOS rate: -0.322107 deg/s, cmd update: -1.288429 deg/s, cmd heading: 112.781668 deg, new cmd heading: 113.950046 deg. 2021-02-18T05:54:49.203Z,1613627689.203 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout 2021-02-18T05:54:49.203Z,1613627689.203 [RDI_PathfinderUp] Communications Fault, FailCount= 1 2021-02-18T05:54:49.203Z,1613627689.203 [RDI_PathfinderUp](ERROR): Communications Fault 2021-02-18T05:54:49.315Z,1613627689.315 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp 2021-02-18T05:54:49.580Z,1613627689.580 [RDI_PathfinderUp](INFO): Powering down 2021-02-18T05:54:50.420Z,1613627690.420 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp 2021-02-18T05:54:50.420Z,1613627690.420 [RDI_PathfinderUp] No Fault, FailCount= 1 2021-02-18T05:54:51.141Z,1613627691.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:54:51.924Z,1613627691.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:54:52.335Z,1613627692.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:54:53.159Z,1613627693.159 [Micromodem](INFO): Nmea in: $SNTTA,0.107833,,,,055451.92*45 2021-02-18T05:54:53.184Z,1613627693.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.520004 m, bearing: 126.768830 deg, deltaT: 4.478224 s, approachRate: -1.326416 m/s, LOS rate: -0.418747 deg/s, posRepo size: 4 2021-02-18T05:54:53.186Z,1613627693.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.520004 m, bearing: 126.768830 deg, approachRate: -1.326416 m/s, LOS rate: -0.418747 deg/s, cmd update: -1.674987 deg/s, cmd heading: 107.011880 deg, new cmd heading: 106.521247 deg. 2021-02-18T05:54:55.576Z,1613627695.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:54:56.374Z,1613627696.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:54:56.812Z,1613627696.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:54:57.600Z,1613627697.600 [Micromodem](INFO): Nmea in: $SNTTA,0.105817,,,,055456.37*49 2021-02-18T05:54:57.615Z,1613627697.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.519989 m, bearing: 126.965826 deg, deltaT: 4.392396 s, approachRate: -0.683002 m/s, LOS rate: 0.044849 deg/s, posRepo size: 4 2021-02-18T05:54:57.617Z,1613627697.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 158.519989 m, bearing: 126.965826 deg, approachRate: -0.683002 m/s, LOS rate: 0.044849 deg/s, cmd update: 0.179398 deg/s, cmd heading: 99.649181 deg, new cmd heading: 98.952211 deg. 2021-02-18T05:55:00.031Z,1613627700.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:00.821Z,1613627700.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:01.227Z,1613627701.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:02.039Z,1613627702.039 [Micromodem](INFO): Nmea in: $SNTTA,0.103970,,,,055500.86*47 2021-02-18T05:55:02.486Z,1613627702.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.759995 m, bearing: 129.282326 deg, deltaT: 4.909851 s, approachRate: -0.562134 m/s, LOS rate: 0.471807 deg/s, posRepo size: 4 2021-02-18T05:55:02.488Z,1613627702.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.759995 m, bearing: 129.282326 deg, approachRate: -0.562134 m/s, LOS rate: 0.471807 deg/s, cmd update: 1.887226 deg/s, cmd heading: 100.530143 deg, new cmd heading: 100.597663 deg. 2021-02-18T05:55:04.902Z,1613627704.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:05.662Z,1613627705.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:06.066Z,1613627706.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:06.888Z,1613627706.888 [Micromodem](INFO): Nmea in: $SNTTA,0.102031,,,,055505.66*41 2021-02-18T05:55:06.936Z,1613627706.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.880005 m, bearing: 128.890164 deg, deltaT: 4.402819 s, approachRate: -0.654124 m/s, LOS rate: -0.089071 deg/s, posRepo size: 4 2021-02-18T05:55:06.938Z,1613627706.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.880005 m, bearing: 128.890164 deg, approachRate: -0.654124 m/s, LOS rate: -0.089071 deg/s, cmd update: -0.356283 deg/s, cmd heading: 108.823349 deg, new cmd heading: 109.638038 deg. 2021-02-18T05:55:09.026Z,1613627709.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:09.701Z,1613627709.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:10.123Z,1613627710.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:10.933Z,1613627710.933 [Micromodem](INFO): Nmea in: $SNTTA,0.100397,,,,055509.70*47 2021-02-18T05:55:10.994Z,1613627710.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.419998 m, bearing: 130.771089 deg, deltaT: 4.038250 s, approachRate: -0.609176 m/s, LOS rate: 0.465777 deg/s, posRepo size: 4 2021-02-18T05:55:10.996Z,1613627710.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.419998 m, bearing: 130.771089 deg, approachRate: -0.609176 m/s, LOS rate: 0.465777 deg/s, cmd update: 1.863109 deg/s, cmd heading: 107.383733 deg, new cmd heading: 107.223598 deg. 2021-02-18T05:55:13.367Z,1613627713.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:14.144Z,1613627714.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:14.571Z,1613627714.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:15.376Z,1613627715.376 [Micromodem](INFO): Nmea in: $SNTTA,0.098339,,,,055514.14*4D 2021-02-18T05:55:15.414Z,1613627715.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.300003 m, bearing: 131.156762 deg, deltaT: 4.583654 s, approachRate: -0.680679 m/s, LOS rate: 0.084141 deg/s, posRepo size: 4 2021-02-18T05:55:15.416Z,1613627715.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.300003 m, bearing: 131.156762 deg, approachRate: -0.680679 m/s, LOS rate: 0.084141 deg/s, cmd update: 0.336564 deg/s, cmd heading: 115.899752 deg, new cmd heading: 116.456104 deg. 2021-02-18T05:55:17.855Z,1613627717.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:18.615Z,1613627718.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:18.995Z,1613627718.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:19.848Z,1613627719.848 [Micromodem](INFO): Nmea in: $SNTTA,0.096343,,,,055518.61*40 2021-02-18T05:55:19.898Z,1613627719.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.360001 m, bearing: 132.611183 deg, deltaT: 4.291575 s, approachRate: -0.685064 m/s, LOS rate: 0.338901 deg/s, posRepo size: 4 2021-02-18T05:55:19.900Z,1613627719.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.360001 m, bearing: 132.611183 deg, approachRate: -0.685064 m/s, LOS rate: 0.338901 deg/s, cmd update: 1.355605 deg/s, cmd heading: 117.350477 deg, new cmd heading: 117.509233 deg. 2021-02-18T05:55:22.239Z,1613627722.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:23.032Z,1613627723.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:23.437Z,1613627723.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:24.264Z,1613627724.264 [Micromodem](INFO): Nmea in: $SNTTA,0.094263,,,,055523.03*4D 2021-02-18T05:55:24.286Z,1613627724.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.180008 m, bearing: 132.700235 deg, deltaT: 4.493898 s, approachRate: -0.707625 m/s, LOS rate: 0.019816 deg/s, posRepo size: 4 2021-02-18T05:55:24.308Z,1613627724.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.180008 m, bearing: 132.700235 deg, approachRate: -0.707625 m/s, LOS rate: 0.019816 deg/s, cmd update: 0.079265 deg/s, cmd heading: 123.436999 deg, new cmd heading: 123.939116 deg. 2021-02-18T05:55:26.695Z,1613627726.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:27.482Z,1613627727.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:27.899Z,1613627727.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:28.708Z,1613627728.708 [Micromodem](INFO): Nmea in: $SNTTA,0.092192,,,,055527.48*4D 2021-02-18T05:55:28.754Z,1613627728.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.059998 m, bearing: 132.983865 deg, deltaT: 4.397114 s, approachRate: -0.709559 m/s, LOS rate: 0.064504 deg/s, posRepo size: 4 2021-02-18T05:55:28.757Z,1613627728.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.059998 m, bearing: 132.983865 deg, approachRate: -0.709559 m/s, LOS rate: 0.064504 deg/s, cmd update: 0.258015 deg/s, cmd heading: 123.785536 deg, new cmd heading: 123.820539 deg. 2021-02-18T05:55:31.145Z,1613627731.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:31.920Z,1613627731.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:32.332Z,1613627732.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:33.161Z,1613627733.161 [Micromodem](INFO): Nmea in: $SNTTA,0.090047,,,,055531.92*46 2021-02-18T05:55:33.214Z,1613627733.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.820007 m, bearing: 132.261655 deg, deltaT: 4.500902 s, approachRate: -0.719854 m/s, LOS rate: -0.160459 deg/s, posRepo size: 4 2021-02-18T05:55:33.220Z,1613627733.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.820007 m, bearing: 132.261655 deg, approachRate: -0.719854 m/s, LOS rate: -0.160459 deg/s, cmd update: -0.641836 deg/s, cmd heading: 124.946832 deg, new cmd heading: 125.050017 deg. 2021-02-18T05:55:35.620Z,1613627735.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:36.372Z,1613627736.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:36.803Z,1613627736.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:37.627Z,1613627737.627 [Micromodem](INFO): Nmea in: $SNTTA,0.087872,,,,055536.37*46 2021-02-18T05:55:37.651Z,1613627737.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.580002 m, bearing: 132.236929 deg, deltaT: 4.370745 s, approachRate: -0.741294 m/s, LOS rate: -0.005657 deg/s, posRepo size: 4 2021-02-18T05:55:37.653Z,1613627737.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.580002 m, bearing: 132.236929 deg, approachRate: -0.741294 m/s, LOS rate: -0.005657 deg/s, cmd update: -0.022628 deg/s, cmd heading: 122.139325 deg, new cmd heading: 121.842244 deg. 2021-02-18T05:55:40.028Z,1613627740.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:40.813Z,1613627740.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:41.217Z,1613627741.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:42.056Z,1613627742.056 [Micromodem](INFO): Nmea in: $SNTTA,0.085597,,,,055540.81*4E 2021-02-18T05:55:42.080Z,1613627742.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.160004 m, bearing: 132.900059 deg, deltaT: 4.482491 s, approachRate: -0.762968 m/s, LOS rate: 0.147938 deg/s, posRepo size: 4 2021-02-18T05:55:42.082Z,1613627742.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.160004 m, bearing: 132.900059 deg, approachRate: -0.762968 m/s, LOS rate: 0.147938 deg/s, cmd update: 0.591751 deg/s, cmd heading: 122.037929 deg, new cmd heading: 122.028626 deg. 2021-02-18T05:55:44.459Z,1613627744.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:45.254Z,1613627745.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:45.658Z,1613627745.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:46.488Z,1613627746.488 [Micromodem](INFO): Nmea in: $SNTTA,0.083414,,,0.085933,055545.25*53 2021-02-18T05:55:46.527Z,1613627746.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.860001 m, bearing: 133.378910 deg, deltaT: 4.432685 s, approachRate: -0.744470 m/s, LOS rate: 0.108027 deg/s, posRepo size: 4 2021-02-18T05:55:46.529Z,1613627746.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.860001 m, bearing: 133.378910 deg, approachRate: -0.744470 m/s, LOS rate: 0.108027 deg/s, cmd update: 0.432109 deg/s, cmd heading: 124.662182 deg, new cmd heading: 124.912607 deg. 2021-02-18T05:55:48.964Z,1613627748.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:49.716Z,1613627749.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:50.112Z,1613627750.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:50.940Z,1613627750.940 [Micromodem](INFO): Nmea in: $SNTTA,0.081222,,,,055549.71*45 2021-02-18T05:55:50.993Z,1613627750.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.680000 m, bearing: 133.409645 deg, deltaT: 4.422167 s, approachRate: -0.719105 m/s, LOS rate: 0.006950 deg/s, posRepo size: 4 2021-02-18T05:55:50.995Z,1613627750.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.680000 m, bearing: 133.409645 deg, approachRate: -0.719105 m/s, LOS rate: 0.006950 deg/s, cmd update: 0.027802 deg/s, cmd heading: 126.573057 deg, new cmd heading: 126.774813 deg. 2021-02-18T05:55:53.355Z,1613627753.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:54.140Z,1613627754.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:54.545Z,1613627754.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:55.384Z,1613627755.384 [Micromodem](INFO): Nmea in: $SNTTA,0.079025,,,,055554.14*48 2021-02-18T05:55:55.423Z,1613627755.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.320007 m, bearing: 133.908563 deg, deltaT: 4.479466 s, approachRate: -0.750088 m/s, LOS rate: 0.111379 deg/s, posRepo size: 4 2021-02-18T05:55:55.425Z,1613627755.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.320007 m, bearing: 133.908563 deg, approachRate: -0.750088 m/s, LOS rate: 0.111379 deg/s, cmd update: 0.445516 deg/s, cmd heading: 126.697480 deg, new cmd heading: 126.709186 deg. 2021-02-18T05:55:57.860Z,1613627757.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:55:58.628Z,1613627758.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:55:58.999Z,1613627758.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:55:59.836Z,1613627759.836 [Micromodem](INFO): Nmea in: $SNTTA,0.076818,,,,055558.63*4D 2021-02-18T05:55:59.894Z,1613627759.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.080002 m, bearing: 134.552855 deg, deltaT: 4.415599 s, approachRate: -0.733764 m/s, LOS rate: 0.145913 deg/s, posRepo size: 4 2021-02-18T05:55:59.900Z,1613627759.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.080002 m, bearing: 134.552855 deg, approachRate: -0.733764 m/s, LOS rate: 0.145913 deg/s, cmd update: 0.583651 deg/s, cmd heading: 128.666530 deg, new cmd heading: 128.877270 deg. 2021-02-18T05:56:02.241Z,1613627762.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:56:03.034Z,1613627763.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:56:03.435Z,1613627763.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:56:04.260Z,1613627764.260 [Micromodem](INFO): Nmea in: $SNTTA,0.074741,,,,055603.03*47 2021-02-18T05:56:04.301Z,1613627764.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.840004 m, bearing: 134.315424 deg, deltaT: 4.468705 s, approachRate: -0.725042 m/s, LOS rate: -0.053132 deg/s, posRepo size: 4 2021-02-18T05:56:04.303Z,1613627764.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.840004 m, bearing: 134.315424 deg, approachRate: -0.725042 m/s, LOS rate: -0.053132 deg/s, cmd update: -0.212528 deg/s, cmd heading: 131.273221 deg, new cmd heading: 131.514923 deg. 2021-02-18T05:56:06.691Z,1613627766.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:56:07.478Z,1613627767.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:56:07.879Z,1613627767.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:56:08.703Z,1613627768.703 [Micromodem](INFO): Nmea in: $SNTTA,0.072489,,,,055607.47*42 2021-02-18T05:56:08.727Z,1613627768.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.479996 m, bearing: 134.456672 deg, deltaT: 4.418862 s, approachRate: -0.760379 m/s, LOS rate: 0.031965 deg/s, posRepo size: 4 2021-02-18T05:56:08.729Z,1613627768.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.479996 m, bearing: 134.456672 deg, approachRate: -0.760379 m/s, LOS rate: 0.031965 deg/s, cmd update: 0.127859 deg/s, cmd heading: 130.333562 deg, new cmd heading: 130.244578 deg. 2021-02-18T05:56:11.132Z,1613627771.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:56:11.916Z,1613627771.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:56:12.322Z,1613627772.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:56:13.148Z,1613627773.148 [Micromodem](INFO): Nmea in: $SNTTA,0.070264,,0.180264,,055611.91*5E 2021-02-18T05:56:13.173Z,1613627773.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.120010 m, bearing: 133.593378 deg, deltaT: 4.496894 s, approachRate: -0.747179 m/s, LOS rate: -0.191976 deg/s, posRepo size: 4 2021-02-18T05:56:13.175Z,1613627773.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.120010 m, bearing: 133.593378 deg, approachRate: -0.747179 m/s, LOS rate: -0.191976 deg/s, cmd update: -0.767903 deg/s, cmd heading: 130.908018 deg, new cmd heading: 130.955529 deg. 2021-02-18T05:56:15.625Z,1613627775.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:56:16.361Z,1613627776.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:56:16.797Z,1613627776.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:56:17.624Z,1613627777.624 [Micromodem](INFO): Nmea in: $SNTTA,0.068149,,,,055616.36*46 2021-02-18T05:56:17.685Z,1613627777.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.059998 m, bearing: 134.452369 deg, deltaT: 4.398857 s, approachRate: -0.695638 m/s, LOS rate: 0.195276 deg/s, posRepo size: 4 2021-02-18T05:56:17.692Z,1613627777.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.059998 m, bearing: 134.452369 deg, approachRate: -0.695638 m/s, LOS rate: 0.195276 deg/s, cmd update: 0.781105 deg/s, cmd heading: 127.527211 deg, new cmd heading: 127.158247 deg. 2021-02-18T05:56:20.032Z,1613627780.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:56:20.812Z,1613627780.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:56:21.210Z,1613627781.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:56:22.036Z,1613627782.036 [Micromodem](INFO): Nmea in: $SNTTA,0.065783,,,,055620.81*42 2021-02-18T05:56:22.080Z,1613627782.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.460007 m, bearing: 134.140107 deg, deltaT: 4.457464 s, approachRate: -0.807632 m/s, LOS rate: -0.070054 deg/s, posRepo size: 4 2021-02-18T05:56:22.081Z,1613627782.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.460007 m, bearing: 134.140107 deg, approachRate: -0.807632 m/s, LOS rate: -0.070054 deg/s, cmd update: -0.280215 deg/s, cmd heading: 131.009131 deg, new cmd heading: 131.335429 deg. 2021-02-18T05:56:24.476Z,1613627784.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:56:25.255Z,1613627785.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:56:25.658Z,1613627785.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:56:26.480Z,1613627786.480 [Micromodem](INFO): Nmea in: $SNTTA,0.063622,,,,055625.25*45 2021-02-18T05:56:26.523Z,1613627786.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.279999 m, bearing: 135.522045 deg, deltaT: 4.447033 s, approachRate: -0.715085 m/s, LOS rate: 0.310755 deg/s, posRepo size: 4 2021-02-18T05:56:26.525Z,1613627786.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.279999 m, bearing: 135.522045 deg, approachRate: -0.715085 m/s, LOS rate: 0.310755 deg/s, cmd update: 1.243021 deg/s, cmd heading: 129.764144 deg, new cmd heading: 129.646880 deg. 2021-02-18T05:56:28.946Z,1613627788.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:56:29.692Z,1613627789.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:56:30.097Z,1613627790.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:56:30.936Z,1613627790.936 [Micromodem](INFO): Nmea in: $SNTTA,0.061420,0.079728,,,055629.69*5E 2021-02-18T05:56:30.990Z,1613627790.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.920006 m, bearing: 134.770151 deg, deltaT: 4.405645 s, approachRate: -0.762656 m/s, LOS rate: -0.170666 deg/s, posRepo size: 4 2021-02-18T05:56:30.996Z,1613627790.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.920006 m, bearing: 134.770151 deg, approachRate: -0.762656 m/s, LOS rate: -0.170666 deg/s, cmd update: -0.682665 deg/s, cmd heading: 135.245384 deg, new cmd heading: 135.836605 deg. 2021-02-18T05:56:33.349Z,1613627793.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:56:34.138Z,1613627794.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:56:34.544Z,1613627794.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:56:35.367Z,1613627795.367 [Micromodem](INFO): Nmea in: $SNTTA,0.059191,,,,055634.14*41 2021-02-18T05:56:35.386Z,1613627795.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.560005 m, bearing: 135.095609 deg, deltaT: 4.470510 s, approachRate: -0.751592 m/s, LOS rate: 0.072801 deg/s, posRepo size: 4 2021-02-18T05:56:35.388Z,1613627795.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.560005 m, bearing: 135.095609 deg, approachRate: -0.751592 m/s, LOS rate: 0.072801 deg/s, cmd update: 0.291205 deg/s, cmd heading: 132.193436 deg, new cmd heading: 131.919645 deg. 2021-02-18T05:56:37.869Z,1613627797.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:56:38.616Z,1613627798.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:56:38.994Z,1613627798.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:56:39.832Z,1613627799.832 [Micromodem](INFO): Nmea in: $SNTTA,0.057024,,,,055638.61*4E 2021-02-18T05:56:39.886Z,1613627799.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.260002 m, bearing: 134.574876 deg, deltaT: 4.429743 s, approachRate: -0.744965 m/s, LOS rate: -0.117554 deg/s, posRepo size: 4 2021-02-18T05:56:39.892Z,1613627799.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.260002 m, bearing: 134.574876 deg, approachRate: -0.744965 m/s, LOS rate: -0.117554 deg/s, cmd update: -0.470216 deg/s, cmd heading: 133.483358 deg, new cmd heading: 133.620656 deg. 2021-02-18T05:56:42.260Z,1613627802.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:56:43.024Z,1613627803.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:56:43.438Z,1613627803.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:56:44.252Z,1613627804.252 [Micromodem](INFO): Nmea in: $SNTTA,0.054805,,,,055643.02*4F 2021-02-18T05:56:44.293Z,1613627804.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.020004 m, bearing: 134.709758 deg, deltaT: 4.466652 s, approachRate: -0.725375 m/s, LOS rate: 0.030198 deg/s, posRepo size: 4 2021-02-18T05:56:44.295Z,1613627804.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.020004 m, bearing: 134.709758 deg, approachRate: -0.725375 m/s, LOS rate: 0.030198 deg/s, cmd update: 0.120791 deg/s, cmd heading: 131.383006 deg, new cmd heading: 131.189300 deg. 2021-02-18T05:56:46.688Z,1613627806.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:56:47.468Z,1613627807.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:56:47.883Z,1613627807.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:56:48.696Z,1613627808.696 [Micromodem](INFO): Nmea in: $SNTTA,0.052557,,0.055350,,055647.47*5E 2021-02-18T05:56:48.757Z,1613627808.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.720009 m, bearing: 136.467917 deg, deltaT: 4.424949 s, approachRate: -0.745770 m/s, LOS rate: 0.397329 deg/s, posRepo size: 4 2021-02-18T05:56:48.773Z,1613627808.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.720009 m, bearing: 136.467917 deg, approachRate: -0.745770 m/s, LOS rate: 0.397329 deg/s, cmd update: 1.589315 deg/s, cmd heading: 131.916994 deg, new cmd heading: 131.971952 deg. 2021-02-18T05:56:51.137Z,1613627811.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:56:51.930Z,1613627811.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:56:52.323Z,1613627812.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:56:53.156Z,1613627813.156 [Micromodem](INFO): Nmea in: $SNTTA,0.050385,,,,055651.93*43 2021-02-18T05:56:53.181Z,1613627813.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.360001 m, bearing: 135.954205 deg, deltaT: 4.452798 s, approachRate: -0.754584 m/s, LOS rate: -0.115368 deg/s, posRepo size: 4 2021-02-18T05:56:53.183Z,1613627813.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.360001 m, bearing: 135.954205 deg, approachRate: -0.754584 m/s, LOS rate: -0.115368 deg/s, cmd update: -0.461474 deg/s, cmd heading: 138.994333 deg, new cmd heading: 139.671403 deg. 2021-02-18T05:56:55.615Z,1613627815.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:56:56.356Z,1613627816.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:56:56.802Z,1613627816.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:56:57.616Z,1613627817.616 [Micromodem](INFO): Nmea in: $SNTTA,0.048142,,,,055656.36*4B 2021-02-18T05:56:57.641Z,1613627817.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.000000 m, bearing: 134.941848 deg, deltaT: 4.446354 s, approachRate: -0.755675 m/s, LOS rate: -0.227682 deg/s, posRepo size: 4 2021-02-18T05:56:57.642Z,1613627817.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.000000 m, bearing: 134.941848 deg, approachRate: -0.755675 m/s, LOS rate: -0.227682 deg/s, cmd update: -0.910730 deg/s, cmd heading: 136.942584 deg, new cmd heading: 136.739833 deg. 2021-02-18T05:57:00.045Z,1613627820.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:00.813Z,1613627820.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:01.206Z,1613627821.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:02.036Z,1613627822.036 [Micromodem](INFO): Nmea in: $SNTTA,0.045942,,,,055700.81*40 2021-02-18T05:57:02.085Z,1613627822.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.820007 m, bearing: 136.186158 deg, deltaT: 4.427266 s, approachRate: -0.718275 m/s, LOS rate: 0.281056 deg/s, posRepo size: 4 2021-02-18T05:57:02.086Z,1613627822.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.820007 m, bearing: 136.186158 deg, approachRate: -0.718275 m/s, LOS rate: 0.281056 deg/s, cmd update: 1.124224 deg/s, cmd heading: 132.906730 deg, new cmd heading: 132.495148 deg. 2021-02-18T05:57:04.472Z,1613627824.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:05.250Z,1613627825.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:05.649Z,1613627825.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:06.484Z,1613627826.484 [Micromodem](INFO): Nmea in: $SNTTA,0.043757,,,,055705.25*47 2021-02-18T05:57:06.525Z,1613627826.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.400002 m, bearing: 136.097981 deg, deltaT: 4.460829 s, approachRate: -0.766675 m/s, LOS rate: -0.019767 deg/s, posRepo size: 4 2021-02-18T05:57:06.527Z,1613627826.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.400002 m, bearing: 136.097981 deg, approachRate: -0.766675 m/s, LOS rate: -0.019767 deg/s, cmd update: -0.079068 deg/s, cmd heading: 137.903737 deg, new cmd heading: 138.407314 deg. 2021-02-18T05:57:08.955Z,1613627828.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:09.694Z,1613627829.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:10.094Z,1613627830.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:10.920Z,1613627830.920 [Micromodem](INFO): Nmea in: $SNTTA,0.041369,,,,055709.69*48 2021-02-18T05:57:10.985Z,1613627830.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.860001 m, bearing: 134.959251 deg, deltaT: 4.416842 s, approachRate: -0.801478 m/s, LOS rate: -0.257815 deg/s, posRepo size: 4 2021-02-18T05:57:10.987Z,1613627830.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.860001 m, bearing: 134.959251 deg, approachRate: -0.801478 m/s, LOS rate: -0.257815 deg/s, cmd update: -1.031261 deg/s, cmd heading: 137.553242 deg, new cmd heading: 137.515689 deg. 2021-02-18T05:57:13.365Z,1613627833.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:14.140Z,1613627834.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:14.543Z,1613627834.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:15.368Z,1613627835.368 [Micromodem](INFO): Nmea in: $SNTTA,0.039162,,,,055714.14*48 2021-02-18T05:57:15.410Z,1613627835.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.620003 m, bearing: 137.224853 deg, deltaT: 4.499106 s, approachRate: -0.720143 m/s, LOS rate: 0.503567 deg/s, posRepo size: 4 2021-02-18T05:57:15.412Z,1613627835.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.620003 m, bearing: 137.224853 deg, approachRate: -0.720143 m/s, LOS rate: 0.503567 deg/s, cmd update: 2.014268 deg/s, cmd heading: 132.917583 deg, new cmd heading: 132.500387 deg. 2021-02-18T05:57:17.847Z,1613627837.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:18.607Z,1613627838.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:18.997Z,1613627838.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:19.828Z,1613627839.828 [Micromodem](INFO): Nmea in: $SNTTA,0.036850,,,,055718.60*40 2021-02-18T05:57:19.891Z,1613627839.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.019997 m, bearing: 135.303520 deg, deltaT: 4.390215 s, approachRate: -0.820007 m/s, LOS rate: -0.437640 deg/s, posRepo size: 4 2021-02-18T05:57:19.897Z,1613627839.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.019997 m, bearing: 135.303520 deg, approachRate: -0.820007 m/s, LOS rate: -0.437640 deg/s, cmd update: -1.750559 deg/s, cmd heading: 141.768715 deg, new cmd heading: 142.757501 deg. 2021-02-18T05:57:22.228Z,1613627842.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:23.020Z,1613627843.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:23.442Z,1613627843.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:24.252Z,1613627844.252 [Micromodem](INFO): Nmea in: $SNTTA,0.034550,,,,055723.02*43 2021-02-18T05:57:24.293Z,1613627844.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.959999 m, bearing: 133.290254 deg, deltaT: 4.481066 s, approachRate: -0.682873 m/s, LOS rate: -0.449283 deg/s, posRepo size: 4 2021-02-18T05:57:24.295Z,1613627844.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.959999 m, bearing: 133.290254 deg, approachRate: -0.682873 m/s, LOS rate: -0.449283 deg/s, cmd update: -1.797132 deg/s, cmd heading: 133.924316 deg, new cmd heading: 133.202269 deg. 2021-02-18T05:57:26.693Z,1613627846.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:27.466Z,1613627847.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:27.870Z,1613627847.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:28.697Z,1613627848.697 [Micromodem](INFO): Nmea in: $SNTTA,0.032220,,,0.118446,055727.46*51 2021-02-18T05:57:28.759Z,1613627848.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.120003 m, bearing: 135.322413 deg, deltaT: 4.405585 s, approachRate: -0.871620 m/s, LOS rate: 0.461269 deg/s, posRepo size: 4 2021-02-18T05:57:28.779Z,1613627848.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.120003 m, bearing: 135.322413 deg, approachRate: -0.871620 m/s, LOS rate: 0.461269 deg/s, cmd update: 1.845075 deg/s, cmd heading: 126.006980 deg, new cmd heading: 125.158511 deg. 2021-02-18T05:57:31.138Z,1613627851.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:31.915Z,1613627851.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:32.314Z,1613627852.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:33.148Z,1613627853.148 [Micromodem](INFO): Nmea in: $SNTTA,0.029991,,0.057866,,055731.91*53 2021-02-18T05:57:33.201Z,1613627853.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.759998 m, bearing: 136.342952 deg, deltaT: 4.496729 s, approachRate: -0.747211 m/s, LOS rate: 0.226952 deg/s, posRepo size: 4 2021-02-18T05:57:33.203Z,1613627853.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.759998 m, bearing: 136.342952 deg, approachRate: -0.747211 m/s, LOS rate: 0.226952 deg/s, cmd update: 0.907806 deg/s, cmd heading: 134.239188 deg, new cmd heading: 135.074762 deg. 2021-02-18T05:57:35.620Z,1613627855.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:36.362Z,1613627856.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:36.800Z,1613627856.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:37.592Z,1613627857.592 [Micromodem](INFO): Nmea in: $SNTTA,0.027853,,,,055736.36*4C 2021-02-18T05:57:37.658Z,1613627857.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.579998 m, bearing: 136.940047 deg, deltaT: 4.430283 s, approachRate: -0.717787 m/s, LOS rate: 0.134776 deg/s, posRepo size: 4 2021-02-18T05:57:37.664Z,1613627857.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.579998 m, bearing: 136.940047 deg, approachRate: -0.717787 m/s, LOS rate: 0.134776 deg/s, cmd update: 0.539103 deg/s, cmd heading: 138.283778 deg, new cmd heading: 138.696191 deg. 2021-02-18T05:57:40.029Z,1613627860.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:40.812Z,1613627860.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:41.202Z,1613627861.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:42.032Z,1613627862.032 [Micromodem](INFO): Nmea in: $SNTTA,0.025649,,,0.028162,055740.81*57 2021-02-18T05:57:42.071Z,1613627862.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.279999 m, bearing: 136.916538 deg, deltaT: 4.440564 s, approachRate: -0.743149 m/s, LOS rate: -0.005294 deg/s, posRepo size: 4 2021-02-18T05:57:42.072Z,1613627862.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.28 m. 2021-02-18T05:57:42.074Z,1613627862.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.279999 m, bearing: 136.916538 deg, approachRate: -0.743149 m/s, LOS rate: -0.005294 deg/s, cmd update: -0.021177 deg/s, cmd heading: 140.683069 deg, new cmd heading: 140.908049 deg. 2021-02-18T05:57:42.437Z,1613627862.437 [PowerOnly](INFO): Powering up loadControl 2021-02-18T05:57:44.467Z,1613627864.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:45.242Z,1613627865.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:45.660Z,1613627865.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:46.468Z,1613627866.468 [Micromodem](INFO): Nmea in: $SNTTA,0.023812,,,,055745.24*4A 2021-02-18T05:57:46.505Z,1613627866.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.980000 m, bearing: 136.491386 deg, deltaT: 4.439822 s, approachRate: -0.743273 m/s, LOS rate: -0.095759 deg/s, posRepo size: 4 2021-02-18T05:57:46.506Z,1613627866.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.98 m. 2021-02-18T05:57:46.506Z,1613627866.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.98 m. 2021-02-18T05:57:46.506Z,1613627866.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T05:57:46.508Z,1613627866.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.980000 m, bearing: 136.491386 deg, approachRate: -0.743273 m/s, LOS rate: -0.095759 deg/s, cmd update: -0.383035 deg/s, cmd heading: 140.589046 deg, new cmd heading: 140.580328 deg. 2021-02-18T05:57:48.931Z,1613627868.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:49.690Z,1613627869.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:50.095Z,1613627870.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:50.916Z,1613627870.916 [Micromodem](INFO): Nmea in: $SNTTA,0.021228,,,,055749.69*4E 2021-02-18T05:57:50.985Z,1613627870.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.679998 m, bearing: 134.966218 deg, deltaT: 4.418554 s, approachRate: -0.746851 m/s, LOS rate: -0.345173 deg/s, posRepo size: 4 2021-02-18T05:57:50.991Z,1613627870.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.679998 m, bearing: 134.966218 deg, approachRate: -0.746851 m/s, LOS rate: -0.345173 deg/s, cmd update: -1.380694 deg/s, cmd heading: 138.896667 deg, new cmd heading: 138.717519 deg. 2021-02-18T05:57:53.341Z,1613627873.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:54.144Z,1613627874.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:54.539Z,1613627874.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:55.364Z,1613627875.364 [Micromodem](INFO): Nmea in: $SNTTA,0.018960,,,,055754.14*45 2021-02-18T05:57:55.406Z,1613627875.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.259996 m, bearing: 134.421497 deg, deltaT: 4.477465 s, approachRate: -0.763826 m/s, LOS rate: -0.121658 deg/s, posRepo size: 4 2021-02-18T05:57:55.412Z,1613627875.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.259996 m, bearing: 134.421497 deg, approachRate: -0.763826 m/s, LOS rate: -0.121658 deg/s, cmd update: -0.486634 deg/s, cmd heading: 132.719899 deg, new cmd heading: 132.139657 deg. 2021-02-18T05:57:57.844Z,1613627877.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:57:58.613Z,1613627878.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:57:58.977Z,1613627878.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:57:59.828Z,1613627879.828 [Micromodem](INFO): Nmea in: $SNTTA,0.016943,,,,055758.61*44 2021-02-18T05:57:59.887Z,1613627879.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.199999 m, bearing: 135.716651 deg, deltaT: 4.407964 s, approachRate: -0.694197 m/s, LOS rate: 0.293821 deg/s, posRepo size: 4 2021-02-18T05:57:59.889Z,1613627879.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.199999 m, bearing: 135.716651 deg, approachRate: -0.694197 m/s, LOS rate: 0.293821 deg/s, cmd update: 1.175286 deg/s, cmd heading: 130.572939 deg, new cmd heading: 130.334984 deg. 2021-02-18T05:58:02.226Z,1613627882.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:58:03.016Z,1613627883.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:58:03.431Z,1613627883.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:58:04.244Z,1613627884.244 [Micromodem](INFO): Nmea in: $SNTTA,0.014725,,,,055803.01*4F 2021-02-18T05:58:04.287Z,1613627884.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.900000 m, bearing: 137.332305 deg, deltaT: 4.495108 s, approachRate: -0.734131 m/s, LOS rate: 0.359425 deg/s, posRepo size: 4 2021-02-18T05:58:04.289Z,1613627884.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.900000 m, bearing: 137.332305 deg, approachRate: -0.734131 m/s, LOS rate: 0.359425 deg/s, cmd update: 1.437700 deg/s, cmd heading: 135.837352 deg, new cmd heading: 136.319621 deg. 2021-02-18T05:58:06.683Z,1613627886.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:58:07.466Z,1613627887.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:58:07.874Z,1613627887.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:58:08.696Z,1613627888.696 [Micromodem](INFO): Nmea in: $SNTTA,0.012411,,,,055807.46*4A 2021-02-18T05:58:08.721Z,1613627888.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.420000 m, bearing: 136.215105 deg, deltaT: 4.401558 s, approachRate: -0.790629 m/s, LOS rate: -0.253819 deg/s, posRepo size: 4 2021-02-18T05:58:08.723Z,1613627888.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.420000 m, bearing: 136.215105 deg, approachRate: -0.790629 m/s, LOS rate: -0.253819 deg/s, cmd update: -1.015277 deg/s, cmd heading: 142.188366 deg, new cmd heading: 142.802141 deg. 2021-02-18T05:58:11.154Z,1613627891.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:58:11.910Z,1613627891.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:58:12.316Z,1613627892.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:58:13.140Z,1613627893.140 [Micromodem](INFO): Nmea in: $SNTTA,0.010169,,,0.027037,055811.91*50 2021-02-18T05:58:13.164Z,1613627893.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.059998 m, bearing: 134.060194 deg, deltaT: 4.464878 s, approachRate: -0.752541 m/s, LOS rate: -0.482636 deg/s, posRepo size: 4 2021-02-18T05:58:13.166Z,1613627893.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.059998 m, bearing: 134.060194 deg, approachRate: -0.752541 m/s, LOS rate: -0.482636 deg/s, cmd update: -1.930544 deg/s, cmd heading: 137.659548 deg, new cmd heading: 137.244201 deg. 2021-02-18T05:58:15.307Z,1613627895.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:58:15.950Z,1613627895.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:58:16.350Z,1613627896.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:58:17.176Z,1613627897.176 [Micromodem](INFO): Nmea in: $SNTTA,0.008258,,0.057001,,055815.95*5A 2021-02-18T05:58:17.218Z,1613627897.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.120000 m, bearing: 134.182864 deg, deltaT: 4.086248 s, approachRate: -0.719486 m/s, LOS rate: 0.030020 deg/s, posRepo size: 4 2021-02-18T05:58:17.224Z,1613627897.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.120000 m, bearing: 134.182864 deg, approachRate: -0.719486 m/s, LOS rate: 0.030020 deg/s, cmd update: 0.120081 deg/s, cmd heading: 129.762732 deg, new cmd heading: 129.043410 deg. 2021-02-18T05:58:19.653Z,1613627899.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:58:20.388Z,1613627900.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:58:20.811Z,1613627900.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:58:21.632Z,1613627901.632 [Micromodem](INFO): Nmea in: $SNTTA,0.006247,0.034991,,,055820.39*5F 2021-02-18T05:58:21.662Z,1613627901.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.180000 m, bearing: 135.591631 deg, deltaT: 4.367832 s, approachRate: -0.673103 m/s, LOS rate: 0.322532 deg/s, posRepo size: 4 2021-02-18T05:58:21.685Z,1613627901.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.180000 m, bearing: 135.591631 deg, approachRate: -0.673103 m/s, LOS rate: 0.322532 deg/s, cmd update: 1.290130 deg/s, cmd heading: 130.287227 deg, new cmd heading: 130.341099 deg. 2021-02-18T05:58:24.094Z,1613627904.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:58:24.837Z,1613627904.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:58:25.247Z,1613627905.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:58:26.064Z,1613627906.064 [Micromodem](INFO): Nmea in: $SNTTA,0.004232,,,,055824.83*42 2021-02-18T05:58:26.106Z,1613627906.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.119999 m, bearing: 130.995460 deg, deltaT: 4.480524 s, approachRate: -0.682956 m/s, LOS rate: -1.025811 deg/s, posRepo size: 4 2021-02-18T05:58:26.108Z,1613627906.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.119999 m, bearing: 130.995460 deg, approachRate: -0.682956 m/s, LOS rate: -1.025811 deg/s, cmd update: -4.103244 deg/s, cmd heading: 136.062537 deg, new cmd heading: 136.599408 deg. 2021-02-18T05:58:28.500Z,1613627908.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:58:29.277Z,1613627909.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:58:29.682Z,1613627909.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:58:30.504Z,1613627910.504 [Micromodem](INFO): Nmea in: $SNTTA,0.002939,,,,055829.27*47 2021-02-18T05:58:30.524Z,1613627910.524 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T05:58:30.524Z,1613627910.524 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T05:58:30.524Z,1613627910.524 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T05:58:30.524Z,1613627910.524 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:58:30.525Z,1613627910.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T05:58:30.525Z,1613627910.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.899999 m 2021-02-18T05:58:30.525Z,1613627910.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T05:58:30.525Z,1613627910.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T05:58:30.525Z,1613627910.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T05:58:30.528Z,1613627910.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 136.999852 deg, deltaT: 4.430422 s, approachRate: -0.501081 m/s, LOS rate: 1.355264 deg/s, posRepo size: 4 2021-02-18T05:58:30.529Z,1613627910.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.899999 m, bearing: 136.999852 deg, approachRate: -0.501081 m/s, LOS rate: 1.355264 deg/s, cmd update: 5.421057 deg/s, cmd heading: 117.933936 deg, new cmd heading: 116.212387 deg. 2021-02-18T05:58:30.945Z,1613627910.945 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T055830: (41.552319, -70.708603) 2021-02-18T05:58:30.946Z,1613627910.946 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T05:58:30.946Z,1613627910.946 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T05:58:30.946Z,1613627910.946 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:58:30.946Z,1613627910.946 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T05:58:30.946Z,1613627910.946 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T05:58:30.946Z,1613627910.946 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T05:58:30.946Z,1613627910.946 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T05:58:30.946Z,1613627910.946 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T05:58:32.964Z,1613627912.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:58:33.726Z,1613627913.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:58:34.131Z,1613627914.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:58:34.964Z,1613627914.964 [Micromodem](INFO): Nmea in: $SNTTA,0.002672,,,,055833.72*4C 2021-02-18T05:58:35.018Z,1613627915.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 120.770449 deg, deltaT: 4.420701 s, approachRate: 0.000000 m/s, LOS rate: -3.671228 deg/s, posRepo size: 4 2021-02-18T05:58:35.024Z,1613627915.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.899999 m, bearing: 120.770449 deg, approachRate: 0.000000 m/s, LOS rate: -3.671228 deg/s, cmd update: -12.000000 deg/s, cmd heading: 141.987267 deg, new cmd heading: 144.553400 deg. 2021-02-18T05:58:37.381Z,1613627917.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:58:38.182Z,1613627918.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:58:38.598Z,1613627918.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:58:39.408Z,1613627919.408 [Micromodem](INFO): Nmea in: $SNTTA,0.005490,,,,055838.18*42 2021-02-18T05:58:39.430Z,1613627919.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.279999 m, bearing: 123.007554 deg, deltaT: 4.474059 s, approachRate: 0.978977 m/s, LOS rate: 0.500017 deg/s, posRepo size: 4 2021-02-18T05:58:39.432Z,1613627919.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.279999 m, bearing: 123.007554 deg, approachRate: 0.978977 m/s, LOS rate: 0.500017 deg/s, cmd update: 2.000068 deg/s, cmd heading: 88.298786 deg, new cmd heading: 83.368885 deg. 2021-02-18T05:58:41.877Z,1613627921.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:58:42.620Z,1613627922.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:58:43.022Z,1613627923.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:58:43.860Z,1613627923.860 [Micromodem](INFO): Nmea in: $SNTTA,0.007158,,,,055842.62*41 2021-02-18T05:58:43.894Z,1613627923.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.739998 m, bearing: 126.114430 deg, deltaT: 4.423362 s, approachRate: 0.556138 m/s, LOS rate: 0.702379 deg/s, posRepo size: 4 2021-02-18T05:58:43.916Z,1613627923.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.739998 m, bearing: 126.114430 deg, approachRate: 0.556138 m/s, LOS rate: 0.702379 deg/s, cmd update: 2.809515 deg/s, cmd heading: 97.137699 deg, new cmd heading: 98.049300 deg. 2021-02-18T05:58:46.265Z,1613627926.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:58:47.052Z,1613627927.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:58:47.459Z,1613627927.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:58:48.284Z,1613627928.284 [Micromodem](INFO): Nmea in: $SNTTA,0.008217,,,,055847.05*42 2021-02-18T05:58:48.299Z,1613627928.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.419999 m, bearing: 109.377953 deg, deltaT: 4.460006 s, approachRate: 0.376681 m/s, LOS rate: -3.752568 deg/s, posRepo size: 4 2021-02-18T05:58:48.301Z,1613627928.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.419999 m, bearing: 109.377953 deg, approachRate: 0.376681 m/s, LOS rate: -3.752568 deg/s, cmd update: -12.000000 deg/s, cmd heading: 109.679484 deg, new cmd heading: 110.793842 deg. 2021-02-18T05:58:50.737Z,1613627930.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:58:51.502Z,1613627931.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:58:51.907Z,1613627931.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:58:52.732Z,1613627932.732 [Micromodem](INFO): Nmea in: $SNTTA,0.010254,,,,055851.50*4B 2021-02-18T05:58:52.787Z,1613627932.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.619999 m, bearing: 90.078509 deg, deltaT: 4.422105 s, approachRate: 0.949774 m/s, LOS rate: -4.364312 deg/s, posRepo size: 4 2021-02-18T05:58:52.789Z,1613627932.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.62 m. Rolling out. 2021-02-18T05:58:52.790Z,1613627932.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T05:58:55.187Z,1613627935.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:58:55.947Z,1613627935.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:58:56.348Z,1613627936.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:58:57.181Z,1613627937.181 [Micromodem](INFO): Nmea in: $SNTTA,0.012108,,,,055855.94*4F 2021-02-18T05:58:57.225Z,1613627937.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 110.475359 deg, deltaT: 4.512674 s, approachRate: 0.372285 m/s, LOS rate: 4.519903 deg/s, posRepo size: 4 2021-02-18T05:58:59.648Z,1613627939.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:00.390Z,1613627940.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:00.813Z,1613627940.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:01.631Z,1613627941.631 [Micromodem](INFO): Nmea in: $SNTTA,0.013801,,,,055900.39*48 2021-02-18T05:59:01.656Z,1613627941.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.759998 m, bearing: 87.936350 deg, deltaT: 4.385766 s, approachRate: 0.560905 m/s, LOS rate: -5.139127 deg/s, posRepo size: 4 2021-02-18T05:59:04.056Z,1613627944.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:04.834Z,1613627944.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:05.249Z,1613627945.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:06.060Z,1613627946.060 [Micromodem](INFO): Nmea in: $SNTTA,0.015008,,,,055904.83*4A 2021-02-18T05:59:06.105Z,1613627946.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 27.753845 deg, deltaT: 4.466530 s, approachRate: 0.402998 m/s, LOS rate: -13.474107 deg/s, posRepo size: 4 2021-02-18T05:59:08.496Z,1613627948.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:09.273Z,1613627949.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:09.686Z,1613627949.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:10.505Z,1613627950.505 [Micromodem](INFO): Nmea in: $SNTTA,0.016198,,,,055909.27*42 2021-02-18T05:59:10.547Z,1613627950.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.359999 m, bearing: 36.634976 deg, deltaT: 4.438851 s, approachRate: 0.405510 m/s, LOS rate: 2.000772 deg/s, posRepo size: 4 2021-02-18T05:59:12.955Z,1613627952.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:13.716Z,1613627953.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:14.133Z,1613627954.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:14.948Z,1613627954.948 [Micromodem](INFO): Nmea in: $SNTTA,0.017500,,,,055913.72*4D 2021-02-18T05:59:14.998Z,1613627954.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.119997 m, bearing: 70.911666 deg, deltaT: 4.446104 s, approachRate: 0.620768 m/s, LOS rate: 7.709376 deg/s, posRepo size: 4 2021-02-18T05:59:16.965Z,1613627956.965 [PowerOnly](INFO): Powering down loadControl 2021-02-18T05:59:17.369Z,1613627957.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:18.166Z,1613627958.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:18.579Z,1613627958.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:19.392Z,1613627959.392 [Micromodem](INFO): Nmea in: $SNTTA,0.019042,,,,055918.16*49 2021-02-18T05:59:19.425Z,1613627959.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.280003 m, bearing: 73.942993 deg, deltaT: 4.451997 s, approachRate: 0.485177 m/s, LOS rate: 0.680891 deg/s, posRepo size: 4 2021-02-18T05:59:21.871Z,1613627961.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:22.618Z,1613627962.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:23.010Z,1613627963.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:23.840Z,1613627963.840 [Micromodem](INFO): Nmea in: $SNTTA,0.020718,,,,055922.62*41 2021-02-18T05:59:23.888Z,1613627963.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.740002 m, bearing: 80.242196 deg, deltaT: 4.411722 s, approachRate: 0.557605 m/s, LOS rate: 1.427833 deg/s, posRepo size: 4 2021-02-18T05:59:26.263Z,1613627966.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:27.048Z,1613627967.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:27.473Z,1613627967.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:28.276Z,1613627968.276 [Micromodem](INFO): Nmea in: $SNTTA,0.022679,,,,055927.05*41 2021-02-18T05:59:28.322Z,1613627968.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.139996 m, bearing: 71.709555 deg, deltaT: 4.475064 s, approachRate: 0.536304 m/s, LOS rate: -1.906708 deg/s, posRepo size: 4 2021-02-18T05:59:30.717Z,1613627970.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:31.492Z,1613627971.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:31.915Z,1613627971.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:32.725Z,1613627972.725 [Micromodem](INFO): Nmea in: $SNTTA,0.024115,0.040034,,,055931.49*58 2021-02-18T05:59:32.803Z,1613627972.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.299995 m, bearing: 65.471509 deg, deltaT: 4.402067 s, approachRate: 0.490679 m/s, LOS rate: -1.417072 deg/s, posRepo size: 4 2021-02-18T05:59:35.153Z,1613627975.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:35.946Z,1613627975.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:36.348Z,1613627976.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:37.173Z,1613627977.173 [Micromodem](INFO): Nmea in: $SNTTA,0.025982,,,,055935.95*47 2021-02-18T05:59:37.212Z,1613627977.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.119999 m, bearing: 11.799385 deg, deltaT: 4.514521 s, approachRate: 0.624652 m/s, LOS rate: -11.888775 deg/s, posRepo size: 4 2021-02-18T05:59:39.646Z,1613627979.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:40.386Z,1613627980.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:40.810Z,1613627980.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:41.632Z,1613627981.632 [Micromodem](INFO): Nmea in: $SNTTA,0.027708,,,,055940.38*4C 2021-02-18T05:59:41.662Z,1613627981.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.179996 m, bearing: 62.956108 deg, deltaT: 4.416489 s, approachRate: 0.692858 m/s, LOS rate: 11.583121 deg/s, posRepo size: 4 2021-02-18T05:59:44.046Z,1613627984.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:44.830Z,1613627984.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:45.230Z,1613627985.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:46.056Z,1613627986.056 [Micromodem](INFO): Nmea in: $SNTTA,0.029505,,,,055944.83*49 2021-02-18T05:59:46.100Z,1613627986.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.400002 m, bearing: 18.875491 deg, deltaT: 4.437155 s, approachRate: 0.500322 m/s, LOS rate: -9.934432 deg/s, posRepo size: 4 2021-02-18T05:59:48.494Z,1613627988.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:49.268Z,1613627989.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:49.685Z,1613627989.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:50.504Z,1613627990.504 [Micromodem](INFO): Nmea in: $SNTTA,0.031480,,,,055949.27*4F 2021-02-18T05:59:50.541Z,1613627990.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.759995 m, bearing: 12.763898 deg, deltaT: 4.449311 s, approachRate: 0.755172 m/s, LOS rate: -1.373604 deg/s, posRepo size: 4 2021-02-18T05:59:52.949Z,1613627992.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:53.712Z,1613627993.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:54.148Z,1613627994.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:54.948Z,1613627994.948 [Micromodem](INFO): Nmea in: $SNTTA,0.033291,,,0.035809,055953.71*5A 2021-02-18T05:59:55.009Z,1613627995.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.400005 m, bearing: 66.639635 deg, deltaT: 4.416431 s, approachRate: 0.597770 m/s, LOS rate: 12.198930 deg/s, posRepo size: 4 2021-02-18T05:59:57.365Z,1613627997.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T05:59:58.162Z,1613627998.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T05:59:58.566Z,1613627998.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T05:59:59.388Z,1613627999.388 [Micromodem](INFO): Nmea in: $SNTTA,0.035348,,,,055958.16*4A 2021-02-18T05:59:59.410Z,1613627999.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.519993 m, bearing: 10.969528 deg, deltaT: 4.449639 s, approachRate: 0.701178 m/s, LOS rate: -12.511151 deg/s, posRepo size: 4 2021-02-18T06:00:01.853Z,1613628001.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:02.619Z,1613628002.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:00:03.006Z,1613628003.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:00:03.840Z,1613628003.840 [Micromodem](INFO): Nmea in: $SNTTA,0.037564,,,,060002.62*43 2021-02-18T06:00:03.894Z,1613628003.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.820004 m, bearing: 13.633099 deg, deltaT: 4.428633 s, approachRate: 0.745153 m/s, LOS rate: 0.601443 deg/s, posRepo size: 4 2021-02-18T06:00:06.267Z,1613628006.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:07.050Z,1613628007.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:00:07.449Z,1613628007.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:00:08.276Z,1613628008.276 [Micromodem](INFO): Nmea in: $SNTTA,0.039320,,,,060007.05*4F 2021-02-18T06:00:08.312Z,1613628008.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.460003 m, bearing: 19.778898 deg, deltaT: 4.490247 s, approachRate: 0.587941 m/s, LOS rate: 1.368700 deg/s, posRepo size: 4 2021-02-18T06:00:10.712Z,1613628010.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:11.488Z,1613628011.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:00:11.912Z,1613628011.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:00:12.716Z,1613628012.716 [Micromodem](INFO): Nmea in: $SNTTA,0.041348,,,,060011.49*41 2021-02-18T06:00:12.767Z,1613628012.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.279999 m, bearing: 13.486936 deg, deltaT: 4.417931 s, approachRate: 0.638307 m/s, LOS rate: -1.424187 deg/s, posRepo size: 4 2021-02-18T06:00:15.169Z,1613628015.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:15.932Z,1613628015.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:00:16.339Z,1613628016.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:00:17.167Z,1613628017.167 [Micromodem](INFO): Nmea in: $SNTTA,0.043145,,,,060015.93*4F 2021-02-18T06:00:17.192Z,1613628017.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.159996 m, bearing: 17.610789 deg, deltaT: 4.501967 s, approachRate: 0.639720 m/s, LOS rate: 0.916011 deg/s, posRepo size: 4 2021-02-18T06:00:19.638Z,1613628019.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:20.376Z,1613628020.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:00:20.809Z,1613628020.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:00:21.622Z,1613628021.622 [Micromodem](INFO): Nmea in: $SNTTA,0.045115,,,,060020.38*4B 2021-02-18T06:00:22.431Z,1613628022.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:24.015Z,1613628024.015 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T06:00:25.271Z,1613628025.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:26.034Z,1613628026.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:00:26.438Z,1613628026.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:00:27.260Z,1613628027.260 [Micromodem](INFO): Nmea in: $SNTTA,0.047797,,,,060026.03*4B 2021-02-18T06:00:27.304Z,1613628027.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.939995 m, bearing: 76.682349 deg, deltaT: 10.068281 s, approachRate: 0.673402 m/s, LOS rate: 5.867095 deg/s, posRepo size: 4 2021-02-18T06:00:29.701Z,1613628029.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:30.482Z,1613628030.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:00:30.882Z,1613628030.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:00:31.708Z,1613628031.708 [Micromodem](INFO): Nmea in: $SNTTA,0.049564,,,,060030.48*43 2021-02-18T06:00:31.751Z,1613628031.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.700005 m, bearing: 77.250635 deg, deltaT: 4.400391 s, approachRate: 0.627219 m/s, LOS rate: 0.129144 deg/s, posRepo size: 4 2021-02-18T06:00:34.188Z,1613628034.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:34.920Z,1613628034.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:00:35.332Z,1613628035.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:00:36.155Z,1613628036.155 [Micromodem](INFO): Nmea in: $SNTTA,0.051597,,,,060034.92*45 2021-02-18T06:00:36.180Z,1613628036.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.880005 m, bearing: 26.970899 deg, deltaT: 4.503728 s, approachRate: 0.706082 m/s, LOS rate: -11.164025 deg/s, posRepo size: 4 2021-02-18T06:00:38.609Z,1613628038.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:39.370Z,1613628039.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:00:39.803Z,1613628039.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:00:40.624Z,1613628040.624 [Micromodem](INFO): Nmea in: $SNTTA,0.053563,,,,060039.37*4E 2021-02-18T06:00:40.648Z,1613628040.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.459999 m, bearing: 61.860354 deg, deltaT: 4.375656 s, approachRate: 0.589625 m/s, LOS rate: 7.973536 deg/s, posRepo size: 4 2021-02-18T06:00:42.720Z,1613628042.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:43.410Z,1613628043.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:00:43.821Z,1613628043.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:00:44.640Z,1613628044.640 [Micromodem](INFO): Nmea in: $SNTTA,0.055380,,,0.065743,060043.41*52 2021-02-18T06:00:44.678Z,1613628044.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.460007 m, bearing: 76.968029 deg, deltaT: 4.048947 s, approachRate: 0.740935 m/s, LOS rate: 3.731260 deg/s, posRepo size: 4 2021-02-18T06:00:47.072Z,1613628047.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:47.849Z,1613628047.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:00:48.261Z,1613628048.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:00:49.094Z,1613628049.094 [Micromodem](INFO): Nmea in: $SNTTA,0.057340,,0.081728,,060047.85*57 2021-02-18T06:00:49.129Z,1613628049.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.159996 m, bearing: 20.216984 deg, deltaT: 4.462996 s, approachRate: 0.604972 m/s, LOS rate: -12.715907 deg/s, posRepo size: 4 2021-02-18T06:00:51.511Z,1613628051.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:52.294Z,1613628052.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:00:52.703Z,1613628052.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:00:53.522Z,1613628053.522 [Micromodem](INFO): Nmea in: $SNTTA,0.059511,,,,060052.34*4F 2021-02-18T06:00:53.581Z,1613628053.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.459999 m, bearing: 21.666569 deg, deltaT: 4.428331 s, approachRate: 0.745202 m/s, LOS rate: 0.327343 deg/s, posRepo size: 4 2021-02-18T06:00:55.988Z,1613628055.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:00:56.756Z,1613628056.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:00:57.141Z,1613628057.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:00:57.980Z,1613628057.980 [Micromodem](INFO): Nmea in: $SNTTA,0.061346,,,,060056.75*41 2021-02-18T06:00:58.033Z,1613628058.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.220001 m, bearing: 28.760847 deg, deltaT: 4.503593 s, approachRate: 0.612844 m/s, LOS rate: 1.575249 deg/s, posRepo size: 4 2021-02-18T06:01:00.387Z,1613628060.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:01.184Z,1613628061.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:01.617Z,1613628061.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:01:02.428Z,1613628062.428 [Micromodem](INFO): Nmea in: $SNTTA,0.063387,,,,060101.18*46 2021-02-18T06:01:02.443Z,1613628062.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.459999 m, bearing: 42.979560 deg, deltaT: 4.401955 s, approachRate: 0.736036 m/s, LOS rate: 3.230090 deg/s, posRepo size: 4 2021-02-18T06:01:04.861Z,1613628064.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:05.630Z,1613628065.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:06.040Z,1613628066.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:01:06.863Z,1613628066.863 [Micromodem](INFO): Nmea in: $SNTTA,0.065415,,,,060105.63*44 2021-02-18T06:01:06.897Z,1613628066.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.280006 m, bearing: 70.118626 deg, deltaT: 4.432814 s, approachRate: 0.636166 m/s, LOS rate: 6.122311 deg/s, posRepo size: 4 2021-02-18T06:01:09.277Z,1613628069.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:10.068Z,1613628070.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:10.475Z,1613628070.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:01:11.296Z,1613628071.296 [Micromodem](INFO): Nmea in: $SNTTA,0.067538,,,,060110.06*4F 2021-02-18T06:01:11.347Z,1613628071.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.580002 m, bearing: 33.361455 deg, deltaT: 4.459791 s, approachRate: 0.739944 m/s, LOS rate: -8.241905 deg/s, posRepo size: 4 2021-02-18T06:01:13.729Z,1613628073.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:14.518Z,1613628074.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:14.923Z,1613628074.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:01:15.752Z,1613628075.752 [Micromodem](INFO): Nmea in: $SNTTA,0.069626,,,,060114.52*48 2021-02-18T06:01:15.818Z,1613628075.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.640007 m, bearing: 37.014581 deg, deltaT: 4.430156 s, approachRate: 0.690722 m/s, LOS rate: 0.824605 deg/s, posRepo size: 4 2021-02-18T06:01:18.176Z,1613628078.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:18.961Z,1613628078.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:19.363Z,1613628079.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:01:20.191Z,1613628080.191 [Micromodem](INFO): Nmea in: $SNTTA,0.071690,,,,060118.96*48 2021-02-18T06:01:20.210Z,1613628080.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.700005 m, bearing: 34.799886 deg, deltaT: 4.507379 s, approachRate: 0.678886 m/s, LOS rate: -0.491349 deg/s, posRepo size: 4 2021-02-18T06:01:22.652Z,1613628082.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:23.400Z,1613628083.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:23.834Z,1613628083.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:01:24.637Z,1613628084.637 [Micromodem](INFO): Nmea in: $SNTTA,0.073737,,0.089621,,060123.40*5F 2021-02-18T06:01:24.690Z,1613628084.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.880005 m, bearing: 38.394904 deg, deltaT: 4.379625 s, approachRate: 0.726090 m/s, LOS rate: 0.820851 deg/s, posRepo size: 4 2021-02-18T06:01:27.061Z,1613628087.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:27.857Z,1613628087.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:28.255Z,1613628088.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:01:29.080Z,1613628089.080 [Micromodem](INFO): Nmea in: $SNTTA,0.075908,,,,060127.85*4C 2021-02-18T06:01:29.137Z,1613628089.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.059998 m, bearing: 40.446960 deg, deltaT: 4.459874 s, approachRate: 0.713023 m/s, LOS rate: 0.460115 deg/s, posRepo size: 4 2021-02-18T06:01:31.528Z,1613628091.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:32.295Z,1613628092.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:32.705Z,1613628092.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:01:33.520Z,1613628093.520 [Micromodem](INFO): Nmea in: $SNTTA,0.078060,,,,060132.29*44 2021-02-18T06:01:33.563Z,1613628093.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.360001 m, bearing: 44.682175 deg, deltaT: 4.436718 s, approachRate: 0.743794 m/s, LOS rate: 0.954583 deg/s, posRepo size: 4 2021-02-18T06:01:35.972Z,1613628095.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:36.732Z,1613628096.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:37.137Z,1613628097.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:01:37.960Z,1613628097.960 [Micromodem](INFO): Nmea in: $SNTTA,0.080091,,,,060136.73*46 2021-02-18T06:01:38.029Z,1613628098.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.300003 m, bearing: 37.610389 deg, deltaT: 4.420869 s, approachRate: 0.665028 m/s, LOS rate: -1.599637 deg/s, posRepo size: 4 2021-02-18T06:01:40.383Z,1613628100.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:41.186Z,1613628101.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:41.614Z,1613628101.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:01:42.408Z,1613628102.408 [Micromodem](INFO): Nmea in: $SNTTA,0.082186,,,,060141.18*4E 2021-02-18T06:01:42.445Z,1613628102.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.420006 m, bearing: 29.350976 deg, deltaT: 4.473404 s, approachRate: 0.697456 m/s, LOS rate: -1.846337 deg/s, posRepo size: 4 2021-02-18T06:01:44.885Z,1613628104.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:45.627Z,1613628105.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:46.026Z,1613628106.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:01:46.868Z,1613628106.868 [Micromodem](INFO): Nmea in: $SNTTA,0.084108,,,,060145.62*47 2021-02-18T06:01:46.902Z,1613628106.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.419998 m, bearing: 42.171774 deg, deltaT: 4.426242 s, approachRate: 0.677774 m/s, LOS rate: 2.896542 deg/s, posRepo size: 4 2021-02-18T06:01:49.276Z,1613628109.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:50.064Z,1613628110.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:50.476Z,1613628110.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:01:51.296Z,1613628111.296 [Micromodem](INFO): Nmea in: $SNTTA,0.086086,,,,060150.06*44 2021-02-18T06:01:51.311Z,1613628111.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.300003 m, bearing: 37.999044 deg, deltaT: 4.450274 s, approachRate: 0.647152 m/s, LOS rate: -0.937634 deg/s, posRepo size: 4 2021-02-18T06:01:53.756Z,1613628113.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:54.508Z,1613628114.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:54.914Z,1613628114.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:01:55.736Z,1613628115.736 [Micromodem](INFO): Nmea in: $SNTTA,0.088062,,,,060154.51*46 2021-02-18T06:01:55.805Z,1613628115.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.240005 m, bearing: 41.156247 deg, deltaT: 4.458259 s, approachRate: 0.659451 m/s, LOS rate: 0.708170 deg/s, posRepo size: 4 2021-02-18T06:01:58.185Z,1613628118.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:01:58.957Z,1613628118.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:01:59.358Z,1613628119.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:00.184Z,1613628120.184 [Micromodem](INFO): Nmea in: $SNTTA,0.090191,,,,060158.96*45 2021-02-18T06:02:00.217Z,1613628120.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.419998 m, bearing: 44.714062 deg, deltaT: 4.490892 s, approachRate: 0.708098 m/s, LOS rate: 0.792229 deg/s, posRepo size: 4 2021-02-18T06:02:02.663Z,1613628122.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:02:03.396Z,1613628123.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:02:03.836Z,1613628123.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:04.656Z,1613628124.656 [Micromodem](INFO): Nmea in: $SNTTA,0.092192,,,,060203.39*4C 2021-02-18T06:02:04.705Z,1613628124.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.419998 m, bearing: 41.578561 deg, deltaT: 4.413080 s, approachRate: 0.679797 m/s, LOS rate: -0.710502 deg/s, posRepo size: 4 2021-02-18T06:02:07.063Z,1613628127.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:02:07.846Z,1613628127.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:02:08.247Z,1613628128.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:09.080Z,1613628129.080 [Micromodem](INFO): Nmea in: $SNTTA,0.093966,,,,060207.84*4C 2021-02-18T06:02:09.104Z,1613628129.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.180008 m, bearing: 41.612934 deg, deltaT: 4.416067 s, approachRate: 0.624993 m/s, LOS rate: 0.007784 deg/s, posRepo size: 4 2021-02-18T06:02:11.494Z,1613628131.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:02:12.284Z,1613628132.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:02:12.690Z,1613628132.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:13.516Z,1613628133.516 [Micromodem](INFO): Nmea in: $SNTTA,0.095953,,,,060212.28*4E 2021-02-18T06:02:13.538Z,1613628133.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.240005 m, bearing: 52.527375 deg, deltaT: 4.433961 s, approachRate: 0.690127 m/s, LOS rate: 2.461555 deg/s, posRepo size: 4 2021-02-18T06:02:15.986Z,1613628135.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:02:16.730Z,1613628136.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:02:17.139Z,1613628137.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:17.965Z,1613628137.965 [Micromodem](INFO): Nmea in: $SNTTA,0.097993,0.108481,0.115723,,060216.73*4D 2021-02-18T06:02:18.031Z,1613628138.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.119995 m, bearing: 38.211282 deg, deltaT: 4.438619 s, approachRate: 0.648848 m/s, LOS rate: -3.225349 deg/s, posRepo size: 4 2021-02-18T06:02:20.395Z,1613628140.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:02:21.173Z,1613628141.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:02:21.617Z,1613628141.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:22.404Z,1613628142.404 [Micromodem](INFO): Nmea in: $SNTTA,0.100077,,,,060221.17*40 2021-02-18T06:02:22.446Z,1613628142.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.360001 m, bearing: 54.010568 deg, deltaT: 4.464177 s, approachRate: 0.725779 m/s, LOS rate: 3.539126 deg/s, posRepo size: 4 2021-02-18T06:02:22.446Z,1613628142.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.36 m. Resuming terminal guidance. 2021-02-18T06:02:22.447Z,1613628142.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T06:02:24.859Z,1613628144.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:02:25.623Z,1613628145.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:02:26.040Z,1613628146.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:26.864Z,1613628146.864 [Micromodem](INFO): Nmea in: $SNTTA,0.102074,,,,060225.62*47 2021-02-18T06:02:26.897Z,1613628146.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.419998 m, bearing: 40.091148 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T06:02:26.898Z,1613628146.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 40.091148deg and heading rate command to 0 deg/s. 2021-02-18T06:02:29.302Z,1613628149.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:02:30.060Z,1613628150.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:02:30.467Z,1613628150.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:31.295Z,1613628151.295 [Micromodem](INFO): Nmea in: $SNTTA,0.103952,,,,060230.06*4D 2021-02-18T06:02:31.319Z,1613628151.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.119995 m, bearing: 34.766513 deg, deltaT: 4.458692 s, approachRate: 0.605558 m/s, LOS rate: -1.194215 deg/s, posRepo size: 2 2021-02-18T06:02:31.320Z,1613628151.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.119995 m, bearing: 34.766513 deg, approachRate: 0.605558 m/s, LOS rate: -1.194215 deg/s, cmd update: -4.776858 deg/s, cmd heading: 40.091148 deg, new cmd heading: 40.091148 deg. 2021-02-18T06:02:33.729Z,1613628153.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:02:34.504Z,1613628154.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:02:34.929Z,1613628154.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:35.736Z,1613628155.736 [Micromodem](INFO): Nmea in: $SNTTA,0.106099,,,,060234.50*41 2021-02-18T06:02:35.812Z,1613628155.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.300003 m, bearing: 13.624492 deg, deltaT: 4.417565 s, approachRate: 0.719855 m/s, LOS rate: -4.785899 deg/s, posRepo size: 3 2021-02-18T06:02:35.814Z,1613628155.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.300003 m, bearing: 13.624492 deg, approachRate: 0.719855 m/s, LOS rate: -4.785899 deg/s, cmd update: -12.000000 deg/s, cmd heading: 18.987051 deg, new cmd heading: 16.763238 deg. 2021-02-18T06:02:38.173Z,1613628158.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:02:38.948Z,1613628158.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:02:39.365Z,1613628159.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:40.180Z,1613628160.180 [Micromodem](INFO): Nmea in: $SNTTA,0.107602,,,,060238.95*41 2021-02-18T06:02:40.204Z,1613628160.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.579987 m, bearing: 8.010022 deg, deltaT: 4.501710 s, approachRate: 0.506471 m/s, LOS rate: -1.247186 deg/s, posRepo size: 4 2021-02-18T06:02:40.206Z,1613628160.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.579987 m, bearing: 8.010022 deg, approachRate: 0.506471 m/s, LOS rate: -1.247186 deg/s, cmd update: -4.988745 deg/s, cmd heading: 324.966866 deg, new cmd heading: 320.542069 deg. 2021-02-18T06:02:42.654Z,1613628162.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:02:43.392Z,1613628163.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:02:43.815Z,1613628163.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:44.643Z,1613628164.643 [Micromodem](INFO): Nmea in: $SNTTA,0.109060,,,,060243.39*47 2021-02-18T06:02:44.671Z,1613628164.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.680008 m, bearing: 340.832915 deg, deltaT: 4.438396 s, approachRate: 0.473149 m/s, LOS rate: -6.123179 deg/s, posRepo size: 4 2021-02-18T06:02:44.673Z,1613628164.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.680008 m, bearing: 340.832915 deg, approachRate: 0.473149 m/s, LOS rate: -6.123179 deg/s, cmd update: -12.000000 deg/s, cmd heading: 302.977228 deg, new cmd heading: 300.845532 deg. 2021-02-18T06:02:47.068Z,1613628167.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:02:47.843Z,1613628167.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:02:48.241Z,1613628168.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:49.068Z,1613628169.068 [Micromodem](INFO): Nmea in: $SNTTA,0.109638,,,,060247.84*4E 2021-02-18T06:02:49.121Z,1613628169.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.680008 m, bearing: 5.172168 deg, deltaT: 4.420666 s, approachRate: 0.000000 m/s, LOS rate: 5.505790 deg/s, posRepo size: 4 2021-02-18T06:02:49.122Z,1613628169.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.680008 m, bearing: 5.172168 deg, approachRate: 0.000000 m/s, LOS rate: 5.505790 deg/s, cmd update: 12.000000 deg/s, cmd heading: 249.609375 deg, new cmd heading: 244.452651 deg. 2021-02-18T06:02:51.495Z,1613628171.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:02:52.281Z,1613628172.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:02:52.686Z,1613628172.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:53.512Z,1613628173.512 [Micromodem](INFO): Nmea in: $SNTTA,0.109683,,,,060252.28*4C 2021-02-18T06:02:53.564Z,1613628173.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.520004 m, bearing: 348.136409 deg, deltaT: 4.464855 s, approachRate: 0.188135 m/s, LOS rate: -3.815525 deg/s, posRepo size: 4 2021-02-18T06:02:53.566Z,1613628173.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.520004 m, bearing: 348.136409 deg, approachRate: 0.188135 m/s, LOS rate: -3.815525 deg/s, cmd update: -12.000000 deg/s, cmd heading: 303.235085 deg, new cmd heading: 308.091821 deg. 2021-02-18T06:02:55.963Z,1613628175.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:02:56.733Z,1613628176.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:02:57.129Z,1613628177.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:02:57.956Z,1613628177.956 [Micromodem](INFO): Nmea in: $SNTTA,0.109356,,,,060256.73*4B 2021-02-18T06:02:58.006Z,1613628178.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.520004 m, bearing: 304.774843 deg, deltaT: 4.431903 s, approachRate: 0.000000 m/s, LOS rate: -9.783961 deg/s, posRepo size: 4 2021-02-18T06:02:58.008Z,1613628178.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.520004 m, bearing: 304.774843 deg, approachRate: 0.000000 m/s, LOS rate: -9.783961 deg/s, cmd update: -12.000000 deg/s, cmd heading: 250.393911 deg, new cmd heading: 245.084271 deg. 2021-02-18T06:03:00.375Z,1613628180.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:01.170Z,1613628181.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:03:01.610Z,1613628181.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:03:02.396Z,1613628182.396 [Micromodem](INFO): Nmea in: $SNTTA,0.108421,,,,060301.17*4C 2021-02-18T06:03:02.439Z,1613628182.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.480011 m, bearing: 227.212048 deg, deltaT: 4.435069 s, approachRate: -0.459969 m/s, LOS rate: -17.488520 deg/s, posRepo size: 4 2021-02-18T06:03:02.440Z,1613628182.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.488520 deg/s. Setting heading cmd to target bearing of 227.212048deg and heading rate command to 0 deg/s. 2021-02-18T06:03:04.851Z,1613628184.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:05.626Z,1613628185.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:03:06.025Z,1613628186.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:03:06.859Z,1613628186.859 [Micromodem](INFO): Nmea in: $SNTTA,0.106933,,,,060305.62*4A 2021-02-18T06:03:06.924Z,1613628186.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.480011 m, bearing: 227.333530 deg, deltaT: 4.439521 s, approachRate: 0.000000 m/s, LOS rate: 0.027364 deg/s, posRepo size: 4 2021-02-18T06:03:06.926Z,1613628186.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.480011 m, bearing: 227.333530 deg, approachRate: 0.000000 m/s, LOS rate: 0.027364 deg/s, cmd update: 0.109455 deg/s, cmd heading: 227.212048 deg, new cmd heading: 227.212048 deg. 2021-02-18T06:03:09.264Z,1613628189.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:10.081Z,1613628190.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:03:10.462Z,1613628190.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:03:11.303Z,1613628191.303 [Micromodem](INFO): Nmea in: $SNTTA,0.105051,,,,060310.08*4C 2021-02-18T06:03:11.346Z,1613628191.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.480011 m, bearing: 224.506023 deg, deltaT: 4.468521 s, approachRate: 0.000000 m/s, LOS rate: -0.632761 deg/s, posRepo size: 4 2021-02-18T06:03:11.352Z,1613628191.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.480011 m, bearing: 224.506023 deg, approachRate: 0.000000 m/s, LOS rate: -0.632761 deg/s, cmd update: -2.531045 deg/s, cmd heading: 227.701114 deg, new cmd heading: 227.746596 deg. 2021-02-18T06:03:13.734Z,1613628193.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:14.507Z,1613628194.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:03:14.912Z,1613628194.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:03:15.742Z,1613628195.742 [Micromodem](INFO): Nmea in: $SNTTA,0.102783,,,,060314.50*4A 2021-02-18T06:03:15.814Z,1613628195.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.020004 m, bearing: 224.543207 deg, deltaT: 4.415616 s, approachRate: -1.915929 m/s, LOS rate: 0.008421 deg/s, posRepo size: 4 2021-02-18T06:03:15.820Z,1613628195.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.020004 m, bearing: 224.543207 deg, approachRate: -1.915929 m/s, LOS rate: 0.008421 deg/s, cmd update: 0.033684 deg/s, cmd heading: 216.522045 deg, new cmd heading: 215.339500 deg. 2021-02-18T06:03:18.169Z,1613628198.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:18.949Z,1613628198.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:03:19.368Z,1613628199.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:03:20.176Z,1613628200.176 [Micromodem](INFO): Nmea in: $SNTTA,0.100866,,,,060318.95*49 2021-02-18T06:03:20.214Z,1613628200.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.079987 m, bearing: 227.044326 deg, deltaT: 4.490201 s, approachRate: -0.654763 m/s, LOS rate: 0.557017 deg/s, posRepo size: 4 2021-02-18T06:03:20.216Z,1613628200.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.079987 m, bearing: 227.044326 deg, approachRate: -0.654763 m/s, LOS rate: 0.557017 deg/s, cmd update: 2.228069 deg/s, cmd heading: 216.673391 deg, new cmd heading: 216.685994 deg. 2021-02-18T06:03:22.660Z,1613628202.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:23.388Z,1613628203.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:03:23.814Z,1613628203.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:03:24.632Z,1613628204.632 [Micromodem](INFO): Nmea in: $SNTTA,0.098573,,,,060323.38*4F 2021-02-18T06:03:24.657Z,1613628204.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.660004 m, bearing: 227.733301 deg, deltaT: 4.389111 s, approachRate: -0.779197 m/s, LOS rate: 0.156974 deg/s, posRepo size: 4 2021-02-18T06:03:24.658Z,1613628204.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.660004 m, bearing: 227.733301 deg, approachRate: -0.779197 m/s, LOS rate: 0.156974 deg/s, cmd update: 0.627895 deg/s, cmd heading: 226.451883 deg, new cmd heading: 227.404500 deg. 2021-02-18T06:03:27.081Z,1613628207.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:27.835Z,1613628207.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:03:28.239Z,1613628208.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:03:29.064Z,1613628209.064 [Micromodem](INFO): Nmea in: $SNTTA,0.096190,,,,060327.83*4C 2021-02-18T06:03:29.109Z,1613628209.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.179993 m, bearing: 228.826746 deg, deltaT: 4.453303 s, approachRate: -0.781445 m/s, LOS rate: 0.245536 deg/s, posRepo size: 4 2021-02-18T06:03:29.110Z,1613628209.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.179993 m, bearing: 228.826746 deg, approachRate: -0.781445 m/s, LOS rate: 0.245536 deg/s, cmd update: 0.982143 deg/s, cmd heading: 229.238412 deg, new cmd heading: 229.515673 deg. 2021-02-18T06:03:31.489Z,1613628211.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:32.284Z,1613628212.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:03:32.682Z,1613628212.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:03:33.512Z,1613628213.512 [Micromodem](INFO): Nmea in: $SNTTA,0.093862,,,,060332.28*48 2021-02-18T06:03:33.565Z,1613628213.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.580002 m, bearing: 228.067830 deg, deltaT: 4.447997 s, approachRate: -0.809351 m/s, LOS rate: -0.170620 deg/s, posRepo size: 4 2021-02-18T06:03:33.566Z,1613628213.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.580002 m, bearing: 228.067830 deg, approachRate: -0.809351 m/s, LOS rate: -0.170620 deg/s, cmd update: -0.682479 deg/s, cmd heading: 233.603057 deg, new cmd heading: 234.048787 deg. 2021-02-18T06:03:33.971Z,1613628213.971 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-02-18T06:03:33.971Z,1613628213.971 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-02-18T06:03:33.971Z,1613628213.971 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-02-18T06:03:33.971Z,1613628213.971 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T06:03:33.971Z,1613628213.971 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-02-18T06:03:34.409Z,1613628214.409 [Micromodem](INFO): Outgoing frame #1, 64 bytes: E15A2D606F0000005D000004003E0000000000000000151D80030C5669BF92F9E566C1EBB03889AE0D0A264546D9EA334B18F22F0CB5F513738D2928F9060397 2021-02-18T06:03:34.409Z,1613628214.409 [Micromodem](INFO): Outgoing frame #2, 17 bytes: E20813AB3F186A2606E324C5AF43966100 2021-02-18T06:03:34.409Z,1613628214.409 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-02-18T06:03:34.767Z,1613628214.767 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-02-18T06:03:35.205Z,1613628215.205 [Micromodem](INFO): Nmea in: $CADRQ,060334,1,10,0,64,1*74 2021-02-18T06:03:35.205Z,1613628215.205 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E15A2D606F0000005D000004003E0000000000000000151D80030C5669BF92F9E566C1EBB03889AE0D0A264546D9EA334B18F22F0CB5F513738D2928F9060397*3A 2021-02-18T06:03:35.565Z,1613628215.565 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-02-18T06:03:35.638Z,1613628215.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:35.958Z,1613628215.958 [Micromodem](INFO): Nmea in: $CADRQ,060335,1,10,0,64,2*76 2021-02-18T06:03:35.977Z,1613628215.977 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E20813AB3F186A2606E324C5AF43966100*30 2021-02-18T06:03:36.361Z,1613628216.361 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D 2021-02-18T06:03:36.362Z,1613628216.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:03:36.782Z,1613628216.782 [Micromodem](INFO): Nmea in: $CATXP,81*7B 2021-02-18T06:03:36.783Z,1613628216.783 [Micromodem](ERROR): Response from modem unexpected: $CATXP,81*7B 2021-02-18T06:03:38.394Z,1613628218.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:39.184Z,1613628219.184 [Micromodem](INFO): Nmea in: $CATXF,81*6D 2021-02-18T06:03:39.184Z,1613628219.184 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D 2021-02-18T06:03:39.617Z,1613628219.617 [Micromodem](INFO): Nmea in: $CAXST,6,20210218,060335.963015,3,0,200,4000,14500,1,1,10,1,2,2,3,81*4B 2021-02-18T06:03:39.617Z,1613628219.617 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210218,060335.963015,3,0,200,4000,14500,1,1,10,1,2,2,3,81*4B 2021-02-18T06:03:41.219Z,1613628221.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:42.028Z,1613628222.028 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-02-18T06:03:42.416Z,1613628222.416 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-02-18T06:03:42.417Z,1613628222.417 [Micromodem](INFO): Sent 73 bytes from file Logs/20210217T180521/Courier0111.lzma.parts 2021-02-18T06:03:42.417Z,1613628222.417 [Micromodem](INFO): Packets left to send: 0 2021-02-18T06:03:42.841Z,1613628222.841 [Micromodem](INFO): Nmea in: $CACST,6,0,20210218060340.738674,06,5151,37,0252,0150,37,02,02,00,03,1,010,001,0,4,1,0,150,19.8,10.00,19,-7.00,-01,1.06,32,14500,4000*65 2021-02-18T06:03:42.841Z,1613628222.841 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210218060340.738674,06,5151,37,0252,0150,37,02,02,00,03,1,010,001,0,4,1,0,150,19.8,10.00,19,-7.00,-01,1.06,32,14500,4000*65 2021-02-18T06:03:42.982Z,1613628222.982 [lineCaptureDepth:MicromodemComms] Stopped 2021-02-18T06:03:42.983Z,1613628222.983 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-02-18T06:03:42.983Z,1613628222.983 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-02-18T06:03:42.983Z,1613628222.983 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-02-18T06:03:42.983Z,1613628222.983 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-02-18T06:03:44.076Z,1613628224.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:46.900Z,1613628226.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:47.667Z,1613628227.667 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:03:48.083Z,1613628228.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:03:48.896Z,1613628228.896 [Micromodem](INFO): Nmea in: $SNTTA,0.086072,,,,060347.66*4D 2021-02-18T06:03:48.944Z,1613628228.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.880005 m, bearing: 226.785653 deg, deltaT: 15.379665 s, approachRate: -0.760745 m/s, LOS rate: -0.083368 deg/s, posRepo size: 4 2021-02-18T06:03:48.946Z,1613628228.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.880005 m, bearing: 226.785653 deg, approachRate: -0.760745 m/s, LOS rate: -0.083368 deg/s, cmd update: -0.333473 deg/s, cmd heading: 223.095856 deg, new cmd heading: 222.797335 deg. 2021-02-18T06:03:51.334Z,1613628231.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:52.112Z,1613628232.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:03:52.518Z,1613628232.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:03:53.340Z,1613628233.340 [Micromodem](INFO): Nmea in: $SNTTA,0.083898,,,,060352.11*40 2021-02-18T06:03:53.384Z,1613628233.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.520004 m, bearing: 227.132067 deg, deltaT: 4.475232 s, approachRate: -0.750799 m/s, LOS rate: 0.077407 deg/s, posRepo size: 4 2021-02-18T06:03:53.386Z,1613628233.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.520004 m, bearing: 227.132067 deg, approachRate: -0.750799 m/s, LOS rate: 0.077407 deg/s, cmd update: 0.309627 deg/s, cmd heading: 221.603476 deg, new cmd heading: 221.469518 deg. 2021-02-18T06:03:55.833Z,1613628235.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:03:56.560Z,1613628236.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:03:56.964Z,1613628236.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:03:57.816Z,1613628237.816 [Micromodem](INFO): Nmea in: $SNTTA,0.081596,,,,060356.56*46 2021-02-18T06:03:57.871Z,1613628237.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.160004 m, bearing: 228.930319 deg, deltaT: 4.405395 s, approachRate: -0.762701 m/s, LOS rate: 0.408193 deg/s, posRepo size: 4 2021-02-18T06:03:57.873Z,1613628237.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.160004 m, bearing: 228.930319 deg, approachRate: -0.762701 m/s, LOS rate: 0.408193 deg/s, cmd update: 1.632773 deg/s, cmd heading: 222.968736 deg, new cmd heading: 223.117179 deg. 2021-02-18T06:04:00.228Z,1613628240.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:01.000Z,1613628241.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:01.408Z,1613628241.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:04:02.228Z,1613628242.228 [Micromodem](INFO): Nmea in: $SNTTA,0.079210,,,,060401.00*4E 2021-02-18T06:04:02.264Z,1613628242.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.680000 m, bearing: 229.424169 deg, deltaT: 4.470459 s, approachRate: -0.778444 m/s, LOS rate: 0.110470 deg/s, posRepo size: 4 2021-02-18T06:04:02.266Z,1613628242.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.680000 m, bearing: 229.424169 deg, approachRate: -0.778444 m/s, LOS rate: 0.110470 deg/s, cmd update: 0.441879 deg/s, cmd heading: 230.268051 deg, new cmd heading: 230.924844 deg. 2021-02-18T06:04:04.662Z,1613628244.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:05.450Z,1613628245.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:05.872Z,1613628245.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:04:06.676Z,1613628246.676 [Micromodem](INFO): Nmea in: $SNTTA,0.076810,,,,060405.45*4E 2021-02-18T06:04:06.721Z,1613628246.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.020004 m, bearing: 229.703770 deg, deltaT: 4.417874 s, approachRate: -0.828452 m/s, LOS rate: 0.063288 deg/s, posRepo size: 4 2021-02-18T06:04:06.722Z,1613628246.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.020004 m, bearing: 229.703770 deg, approachRate: -0.828452 m/s, LOS rate: 0.063288 deg/s, cmd update: 0.253154 deg/s, cmd heading: 232.219840 deg, new cmd heading: 232.415146 deg. 2021-02-18T06:04:09.135Z,1613628249.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:09.893Z,1613628249.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:10.300Z,1613628250.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:04:11.136Z,1613628251.136 [Micromodem](INFO): Nmea in: $SNTTA,0.074568,,,,060409.89*42 2021-02-18T06:04:11.161Z,1613628251.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.720009 m, bearing: 229.924084 deg, deltaT: 4.451082 s, approachRate: -0.741392 m/s, LOS rate: 0.049497 deg/s, posRepo size: 4 2021-02-18T06:04:11.163Z,1613628251.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.720009 m, bearing: 229.924084 deg, approachRate: -0.741392 m/s, LOS rate: 0.049497 deg/s, cmd update: 0.197987 deg/s, cmd heading: 233.346864 deg, new cmd heading: 233.455762 deg. 2021-02-18T06:04:13.539Z,1613628253.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:13.943Z,1613628253.943 [NAL9602](INFO): Not Powering down - fast GPS 2021-02-18T06:04:14.360Z,1613628254.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:14.748Z,1613628254.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:04:15.580Z,1613628255.580 [Micromodem](INFO): Nmea in: $SNTTA,0.072106,,,,060414.36*40 2021-02-18T06:04:15.632Z,1613628255.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.000008 m, bearing: 229.508672 deg, deltaT: 4.435237 s, approachRate: -0.838738 m/s, LOS rate: -0.093662 deg/s, posRepo size: 4 2021-02-18T06:04:15.634Z,1613628255.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.000008 m, bearing: 229.508672 deg, approachRate: -0.838738 m/s, LOS rate: -0.093662 deg/s, cmd update: -0.374647 deg/s, cmd heading: 234.224984 deg, new cmd heading: 234.317177 deg. 2021-02-18T06:04:18.013Z,1613628258.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:18.809Z,1613628258.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:19.199Z,1613628259.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:04:20.021Z,1613628260.021 [Micromodem](INFO): Nmea in: $SNTTA,0.069719,,,,060418.80*43 2021-02-18T06:04:20.084Z,1613628260.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.400002 m, bearing: 228.171622 deg, deltaT: 4.488924 s, approachRate: -0.801975 m/s, LOS rate: -0.297855 deg/s, posRepo size: 4 2021-02-18T06:04:20.086Z,1613628260.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.400002 m, bearing: 228.171622 deg, approachRate: -0.801975 m/s, LOS rate: -0.297855 deg/s, cmd update: -1.191422 deg/s, cmd heading: 232.543220 deg, new cmd heading: 232.384124 deg. 2021-02-18T06:04:22.429Z,1613628262.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:23.229Z,1613628263.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:23.629Z,1613628263.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:04:24.456Z,1613628264.456 [Micromodem](INFO): Nmea in: $SNTTA,0.067355,,,,060423.23*40 2021-02-18T06:04:24.498Z,1613628264.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.800011 m, bearing: 228.778375 deg, deltaT: 4.418736 s, approachRate: -0.814711 m/s, LOS rate: 0.137314 deg/s, posRepo size: 4 2021-02-18T06:04:24.504Z,1613628264.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.800011 m, bearing: 228.778375 deg, approachRate: -0.814711 m/s, LOS rate: 0.137314 deg/s, cmd update: 0.549255 deg/s, cmd heading: 227.297783 deg, new cmd heading: 226.773109 deg. 2021-02-18T06:04:26.928Z,1613628266.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:27.670Z,1613628267.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:28.077Z,1613628268.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:04:28.896Z,1613628268.896 [Micromodem](INFO): Nmea in: $SNTTA,0.065077,,,,060427.67*45 2021-02-18T06:04:28.944Z,1613628268.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.440002 m, bearing: 229.280708 deg, deltaT: 4.448626 s, approachRate: -0.755291 m/s, LOS rate: 0.112919 deg/s, posRepo size: 4 2021-02-18T06:04:28.946Z,1613628268.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.440002 m, bearing: 229.280708 deg, approachRate: -0.755291 m/s, LOS rate: 0.112919 deg/s, cmd update: 0.451675 deg/s, cmd heading: 229.744468 deg, new cmd heading: 229.981590 deg. 2021-02-18T06:04:31.331Z,1613628271.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:32.118Z,1613628272.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:32.514Z,1613628272.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:04:33.340Z,1613628273.340 [Micromodem](INFO): Nmea in: $SNTTA,0.062672,,,,060432.11*44 2021-02-18T06:04:33.374Z,1613628273.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.900002 m, bearing: 231.724167 deg, deltaT: 4.459856 s, approachRate: -0.793748 m/s, LOS rate: 0.547879 deg/s, posRepo size: 4 2021-02-18T06:04:33.376Z,1613628273.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.900002 m, bearing: 231.724167 deg, approachRate: -0.793748 m/s, LOS rate: 0.547879 deg/s, cmd update: 2.191514 deg/s, cmd heading: 231.761584 deg, new cmd heading: 231.940468 deg. 2021-02-18T06:04:35.817Z,1613628275.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:36.552Z,1613628276.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:36.977Z,1613628276.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:04:37.804Z,1613628277.804 [Micromodem](INFO): Nmea in: $SNTTA,0.060435,,,,060436.55*43 2021-02-18T06:04:37.853Z,1613628277.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.540001 m, bearing: 230.802665 deg, deltaT: 4.393265 s, approachRate: -0.764807 m/s, LOS rate: -0.209753 deg/s, posRepo size: 4 2021-02-18T06:04:37.854Z,1613628277.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 90.540001 m, bearing: 230.802665 deg, approachRate: -0.764807 m/s, LOS rate: -0.209753 deg/s, cmd update: -0.839013 deg/s, cmd heading: 241.398504 deg, new cmd heading: 242.444503 deg. 2021-02-18T06:04:40.212Z,1613628280.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:41.007Z,1613628281.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:41.402Z,1613628281.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:04:42.232Z,1613628282.232 [Micromodem](INFO): Nmea in: $SNTTA,0.058221,,,,060441.00*4B 2021-02-18T06:04:42.254Z,1613628282.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.180008 m, bearing: 228.903326 deg, deltaT: 4.493711 s, approachRate: -0.747710 m/s, LOS rate: -0.422666 deg/s, posRepo size: 4 2021-02-18T06:04:42.274Z,1613628282.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.180008 m, bearing: 228.903326 deg, approachRate: -0.747710 m/s, LOS rate: -0.422666 deg/s, cmd update: -1.690664 deg/s, cmd heading: 237.628289 deg, new cmd heading: 237.305104 deg. 2021-02-18T06:04:44.677Z,1613628284.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:45.446Z,1613628285.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:45.846Z,1613628285.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:04:46.677Z,1613628286.677 [Micromodem](INFO): Nmea in: $SNTTA,0.055986,,0.140330,0.058505,060445.44*4C 2021-02-18T06:04:46.725Z,1613628286.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.760002 m, bearing: 229.296554 deg, deltaT: 4.398766 s, approachRate: -0.777492 m/s, LOS rate: 0.089395 deg/s, posRepo size: 4 2021-02-18T06:04:46.733Z,1613628286.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.760002 m, bearing: 229.296554 deg, approachRate: -0.777492 m/s, LOS rate: 0.089395 deg/s, cmd update: 0.357580 deg/s, cmd heading: 230.191306 deg, new cmd heading: 229.418434 deg. 2021-02-18T06:04:49.103Z,1613628289.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:49.884Z,1613628289.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:50.297Z,1613628290.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:04:51.116Z,1613628291.116 [Micromodem](INFO): Nmea in: $SNTTA,0.053671,,,,060449.88*49 2021-02-18T06:04:51.162Z,1613628291.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.459999 m, bearing: 232.018056 deg, deltaT: 4.465733 s, approachRate: -0.738961 m/s, LOS rate: 0.609419 deg/s, posRepo size: 4 2021-02-18T06:04:51.164Z,1613628291.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.459999 m, bearing: 232.018056 deg, approachRate: -0.738961 m/s, LOS rate: 0.609419 deg/s, cmd update: 2.437676 deg/s, cmd heading: 231.788138 deg, new cmd heading: 231.941206 deg. 2021-02-18T06:04:53.556Z,1613628293.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:54.333Z,1613628294.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:54.740Z,1613628294.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:04:55.568Z,1613628295.568 [Micromodem](INFO): Nmea in: $SNTTA,0.051191,,,,060454.34*49 2021-02-18T06:04:55.630Z,1613628295.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.560005 m, bearing: 231.165949 deg, deltaT: 4.441928 s, approachRate: -0.877996 m/s, LOS rate: -0.191833 deg/s, posRepo size: 4 2021-02-18T06:04:55.636Z,1613628295.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.560005 m, bearing: 231.165949 deg, approachRate: -0.877996 m/s, LOS rate: -0.191833 deg/s, cmd update: -0.767331 deg/s, cmd heading: 242.616309 deg, new cmd heading: 243.724384 deg. 2021-02-18T06:04:58.000Z,1613628298.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:04:58.809Z,1613628298.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:04:59.187Z,1613628299.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:00.024Z,1613628300.024 [Micromodem](INFO): Nmea in: $SNTTA,0.048751,,0.079145,,060458.81*59 2021-02-18T06:05:00.065Z,1613628300.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.080002 m, bearing: 229.122903 deg, deltaT: 4.480353 s, approachRate: -0.776725 m/s, LOS rate: -0.456001 deg/s, posRepo size: 4 2021-02-18T06:05:00.067Z,1613628300.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.080002 m, bearing: 229.122903 deg, approachRate: -0.776725 m/s, LOS rate: -0.456001 deg/s, cmd update: -1.824005 deg/s, cmd heading: 239.181458 deg, new cmd heading: 238.864565 deg. 2021-02-18T06:05:02.450Z,1613628302.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:05:03.216Z,1613628303.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:05:03.635Z,1613628303.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:04.473Z,1613628304.473 [Micromodem](INFO): Nmea in: $SNTTA,0.046371,,0.068402,,060503.21*52 2021-02-18T06:05:04.494Z,1613628304.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.360001 m, bearing: 228.528923 deg, deltaT: 4.410228 s, approachRate: -0.843494 m/s, LOS rate: -0.134683 deg/s, posRepo size: 4 2021-02-18T06:05:04.496Z,1613628304.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.360001 m, bearing: 228.528923 deg, approachRate: -0.843494 m/s, LOS rate: -0.134683 deg/s, cmd update: -0.538730 deg/s, cmd heading: 231.130222 deg, new cmd heading: 230.349327 deg. 2021-02-18T06:05:06.896Z,1613628306.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:05:07.660Z,1613628307.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:05:08.083Z,1613628308.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:08.888Z,1613628308.888 [Micromodem](INFO): Nmea in: $SNTTA,0.043945,,,,060507.66*4B 2021-02-18T06:05:08.942Z,1613628308.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 230.218138 deg, deltaT: 4.416446 s, approachRate: -0.828720 m/s, LOS rate: 0.382483 deg/s, posRepo size: 4 2021-02-18T06:05:08.944Z,1613628308.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.700005 m, bearing: 230.218138 deg, approachRate: -0.828720 m/s, LOS rate: 0.382483 deg/s, cmd update: 1.529932 deg/s, cmd heading: 228.750863 deg, new cmd heading: 228.503556 deg. 2021-02-18T06:05:11.333Z,1613628311.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:05:12.106Z,1613628312.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:05:12.518Z,1613628312.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:13.332Z,1613628313.332 [Micromodem](INFO): Nmea in: $SNTTA,0.041645,,,,060512.10*43 2021-02-18T06:05:13.373Z,1613628313.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.279999 m, bearing: 230.034870 deg, deltaT: 4.477781 s, approachRate: -0.763772 m/s, LOS rate: -0.040928 deg/s, posRepo size: 4 2021-02-18T06:05:13.376Z,1613628313.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.279999 m, bearing: 230.034870 deg, approachRate: -0.763772 m/s, LOS rate: -0.040928 deg/s, cmd update: -0.163713 deg/s, cmd heading: 235.601257 deg, new cmd heading: 236.233578 deg. 2021-02-18T06:05:15.822Z,1613628315.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:05:16.548Z,1613628316.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:05:16.954Z,1613628316.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:17.805Z,1613628317.805 [Micromodem](INFO): Nmea in: $SNTTA,0.039179,,,,060516.54*40 2021-02-18T06:05:17.839Z,1613628317.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.500008 m, bearing: 230.425611 deg, deltaT: 4.409671 s, approachRate: -0.857205 m/s, LOS rate: 0.088610 deg/s, posRepo size: 4 2021-02-18T06:05:17.841Z,1613628317.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.500008 m, bearing: 230.425611 deg, approachRate: -0.857205 m/s, LOS rate: 0.088610 deg/s, cmd update: 0.354440 deg/s, cmd heading: 234.879307 deg, new cmd heading: 234.802491 deg. 2021-02-18T06:05:20.211Z,1613628320.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:05:20.992Z,1613628320.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:05:21.405Z,1613628321.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:22.224Z,1613628322.224 [Micromodem](INFO): Nmea in: $SNTTA,0.037111,,0.045449,,060520.99*52 2021-02-18T06:05:22.258Z,1613628322.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.859997 m, bearing: 230.237945 deg, deltaT: 4.483551 s, approachRate: -0.588821 m/s, LOS rate: -0.041857 deg/s, posRepo size: 4 2021-02-18T06:05:22.260Z,1613628322.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.859997 m, bearing: 230.237945 deg, approachRate: -0.588821 m/s, LOS rate: -0.041857 deg/s, cmd update: -0.167426 deg/s, cmd heading: 236.468470 deg, new cmd heading: 236.611850 deg. 2021-02-18T06:05:24.670Z,1613628324.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:05:25.459Z,1613628325.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:05:25.842Z,1613628325.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:26.680Z,1613628326.680 [Micromodem](INFO): Nmea in: $SNTTA,0.034718,,,,060525.46*4F 2021-02-18T06:05:26.724Z,1613628326.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.840004 m, bearing: 229.330841 deg, deltaT: 4.415429 s, approachRate: -0.910442 m/s, LOS rate: -0.205440 deg/s, posRepo size: 4 2021-02-18T06:05:26.726Z,1613628326.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.840004 m, bearing: 229.330841 deg, approachRate: -0.910442 m/s, LOS rate: -0.205440 deg/s, cmd update: -0.821758 deg/s, cmd heading: 235.729209 deg, new cmd heading: 235.652966 deg. 2021-02-18T06:05:29.099Z,1613628329.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:05:29.880Z,1613628329.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:05:30.286Z,1613628330.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:31.120Z,1613628331.120 [Micromodem](INFO): Nmea in: $SNTTA,0.032338,,,,060529.88*41 2021-02-18T06:05:31.145Z,1613628331.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.360004 m, bearing: 230.710130 deg, deltaT: 4.444464 s, approachRate: -0.782996 m/s, LOS rate: 0.310339 deg/s, posRepo size: 4 2021-02-18T06:05:31.146Z,1613628331.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.360004 m, bearing: 230.710130 deg, approachRate: -0.782996 m/s, LOS rate: 0.310339 deg/s, cmd update: 1.241354 deg/s, cmd heading: 232.076904 deg, new cmd heading: 231.722533 deg. 2021-02-18T06:05:33.545Z,1613628333.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:05:34.330Z,1613628334.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:05:34.735Z,1613628334.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:35.559Z,1613628335.559 [Micromodem](INFO): Nmea in: $SNTTA,0.030182,,,,060534.33*4C 2021-02-18T06:05:35.621Z,1613628335.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.059998 m, bearing: 231.456014 deg, deltaT: 4.452326 s, approachRate: -0.741187 m/s, LOS rate: 0.167527 deg/s, posRepo size: 4 2021-02-18T06:05:35.627Z,1613628335.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.059998 m, bearing: 231.456014 deg, approachRate: -0.741187 m/s, LOS rate: 0.167527 deg/s, cmd update: 0.670107 deg/s, cmd heading: 237.603749 deg, new cmd heading: 238.169042 deg. 2021-02-18T06:05:38.008Z,1613628338.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:05:38.793Z,1613628338.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:05:39.180Z,1613628339.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:40.008Z,1613628340.008 [Micromodem](INFO): Nmea in: $SNTTA,0.027700,,,,060538.79*44 2021-02-18T06:05:40.033Z,1613628340.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.340000 m, bearing: 232.315497 deg, deltaT: 4.487880 s, approachRate: -0.828899 m/s, LOS rate: 0.191512 deg/s, posRepo size: 4 2021-02-18T06:05:40.035Z,1613628340.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.340000 m, bearing: 232.315497 deg, approachRate: -0.828899 m/s, LOS rate: 0.191512 deg/s, cmd update: 0.766049 deg/s, cmd heading: 240.608433 deg, new cmd heading: 240.865428 deg. 2021-02-18T06:05:42.422Z,1613628342.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:05:43.217Z,1613628343.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:05:43.628Z,1613628343.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:44.472Z,1613628344.472 [Micromodem](INFO): Nmea in: $SNTTA,0.025329,,0.065386,,060543.21*58 2021-02-18T06:05:44.494Z,1613628344.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.799999 m, bearing: 229.848515 deg, deltaT: 4.417471 s, approachRate: -0.801364 m/s, LOS rate: -0.558460 deg/s, posRepo size: 4 2021-02-18T06:05:44.494Z,1613628344.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.80 m. 2021-02-18T06:05:44.516Z,1613628344.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.799999 m, bearing: 229.848515 deg, approachRate: -0.801364 m/s, LOS rate: -0.558460 deg/s, cmd update: -2.233841 deg/s, cmd heading: 243.992378 deg, new cmd heading: 244.319567 deg. 2021-02-18T06:05:44.851Z,1613628344.851 [PowerOnly](INFO): Powering up loadControl 2021-02-18T06:05:46.884Z,1613628346.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:05:47.656Z,1613628347.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:05:48.074Z,1613628348.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:48.884Z,1613628348.884 [Micromodem](INFO): Nmea in: $SNTTA,0.023067,,,,060547.65*43 2021-02-18T06:05:48.938Z,1613628348.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.439999 m, bearing: 230.223547 deg, deltaT: 4.407888 s, approachRate: -0.762270 m/s, LOS rate: 0.085082 deg/s, posRepo size: 4 2021-02-18T06:05:48.939Z,1613628348.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.44 m. 2021-02-18T06:05:48.939Z,1613628348.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.44 m. 2021-02-18T06:05:48.940Z,1613628348.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-02-18T06:05:48.941Z,1613628348.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.439999 m, bearing: 230.223547 deg, approachRate: -0.762270 m/s, LOS rate: 0.085082 deg/s, cmd update: 0.340328 deg/s, cmd heading: 234.136813 deg, new cmd heading: 233.110343 deg. 2021-02-18T06:05:51.313Z,1613628351.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:05:52.106Z,1613628352.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:05:52.506Z,1613628352.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:53.337Z,1613628353.337 [Micromodem](INFO): Nmea in: $SNTTA,0.021197,,,,060552.10*49 2021-02-18T06:05:53.373Z,1613628353.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.959999 m, bearing: 232.663127 deg, deltaT: 4.483235 s, approachRate: -0.776225 m/s, LOS rate: 0.544156 deg/s, posRepo size: 4 2021-02-18T06:05:53.375Z,1613628353.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.959999 m, bearing: 232.663127 deg, approachRate: -0.776225 m/s, LOS rate: 0.544156 deg/s, cmd update: 2.176624 deg/s, cmd heading: 235.662591 deg, new cmd heading: 235.802333 deg. 2021-02-18T06:05:55.822Z,1613628355.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:05:56.556Z,1613628356.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:05:56.967Z,1613628356.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:05:57.802Z,1613628357.802 [Micromodem](INFO): Nmea in: $SNTTA,0.018307,,,,060556.55*4D 2021-02-18T06:05:57.852Z,1613628357.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.239998 m, bearing: 232.450517 deg, deltaT: 4.406048 s, approachRate: -0.844294 m/s, LOS rate: -0.048254 deg/s, posRepo size: 4 2021-02-18T06:05:57.854Z,1613628357.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.239998 m, bearing: 232.450517 deg, approachRate: -0.844294 m/s, LOS rate: -0.048254 deg/s, cmd update: -0.193017 deg/s, cmd heading: 245.252310 deg, new cmd heading: 246.304871 deg. 2021-02-18T06:05:59.874Z,1613628359.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:00.617Z,1613628360.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:01.007Z,1613628361.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:01.844Z,1613628361.844 [Micromodem](INFO): Nmea in: $SNTTA,0.016319,,,,060600.61*4B 2021-02-18T06:06:01.915Z,1613628361.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.120003 m, bearing: 226.064126 deg, deltaT: 4.045088 s, approachRate: -0.771305 m/s, LOS rate: -1.578801 deg/s, posRepo size: 4 2021-02-18T06:06:01.917Z,1613628361.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.120003 m, bearing: 226.064126 deg, approachRate: -0.771305 m/s, LOS rate: -1.578801 deg/s, cmd update: -6.315206 deg/s, cmd heading: 244.471489 deg, new cmd heading: 244.375429 deg. 2021-02-18T06:06:04.247Z,1613628364.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:05.028Z,1613628365.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:05.437Z,1613628365.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:06.256Z,1613628366.256 [Micromodem](INFO): Nmea in: $SNTTA,0.013942,,,,060605.02*4A 2021-02-18T06:06:06.290Z,1613628366.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.639997 m, bearing: 229.538151 deg, deltaT: 4.469624 s, approachRate: -0.778590 m/s, LOS rate: 0.777252 deg/s, posRepo size: 4 2021-02-18T06:06:06.292Z,1613628366.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.639997 m, bearing: 229.538151 deg, approachRate: -0.778590 m/s, LOS rate: 0.777252 deg/s, cmd update: 3.109009 deg/s, cmd heading: 216.244976 deg, new cmd heading: 213.673216 deg. 2021-02-18T06:06:08.694Z,1613628368.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:09.474Z,1613628369.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:09.879Z,1613628369.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:10.704Z,1613628370.704 [Micromodem](INFO): Nmea in: $SNTTA,0.011738,,,,060609.47*46 2021-02-18T06:06:10.729Z,1613628370.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.400002 m, bearing: 232.388990 deg, deltaT: 4.429387 s, approachRate: -0.731477 m/s, LOS rate: 0.643619 deg/s, posRepo size: 4 2021-02-18T06:06:10.730Z,1613628370.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.400002 m, bearing: 232.388990 deg, approachRate: -0.731477 m/s, LOS rate: 0.643619 deg/s, cmd update: 2.574477 deg/s, cmd heading: 230.015293 deg, new cmd heading: 231.310410 deg. 2021-02-18T06:06:13.134Z,1613628373.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:13.918Z,1613628373.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:14.324Z,1613628374.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:15.151Z,1613628375.151 [Micromodem](INFO): Nmea in: $SNTTA,0.009466,,,0.052103,060613.92*5F 2021-02-18T06:06:15.177Z,1613628375.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.919997 m, bearing: 236.714740 deg, deltaT: 4.487029 s, approachRate: -0.775570 m/s, LOS rate: 0.964057 deg/s, posRepo size: 4 2021-02-18T06:06:15.178Z,1613628375.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.919997 m, bearing: 236.714740 deg, approachRate: -0.775570 m/s, LOS rate: 0.964057 deg/s, cmd update: 3.856227 deg/s, cmd heading: 241.511425 deg, new cmd heading: 242.538567 deg. 2021-02-18T06:06:17.622Z,1613628377.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:18.360Z,1613628378.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:18.800Z,1613628378.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:19.624Z,1613628379.624 [Micromodem](INFO): Nmea in: $SNTTA,0.007278,,,,060618.36*46 2021-02-18T06:06:19.671Z,1613628379.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.500002 m, bearing: 235.195679 deg, deltaT: 4.395337 s, approachRate: -0.778096 m/s, LOS rate: -0.345607 deg/s, posRepo size: 4 2021-02-18T06:06:19.673Z,1613628379.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.500002 m, bearing: 235.195679 deg, approachRate: -0.778096 m/s, LOS rate: -0.345607 deg/s, cmd update: -1.382430 deg/s, cmd heading: 258.529493 deg, new cmd heading: 260.380713 deg. 2021-02-18T06:06:22.023Z,1613628382.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:22.812Z,1613628382.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:23.215Z,1613628383.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:24.045Z,1613628384.045 [Micromodem](INFO): Nmea in: $SNTTA,0.006261,,,,060622.81*4A 2021-02-18T06:06:24.080Z,1613628384.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.559999 m, bearing: 232.562395 deg, deltaT: 4.456896 s, approachRate: -0.659653 m/s, LOS rate: -0.590834 deg/s, posRepo size: 4 2021-02-18T06:06:24.082Z,1613628384.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.559999 m, bearing: 232.562395 deg, approachRate: -0.659653 m/s, LOS rate: -0.590834 deg/s, cmd update: -2.363334 deg/s, cmd heading: 252.362577 deg, new cmd heading: 251.772390 deg. 2021-02-18T06:06:26.471Z,1613628386.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:27.271Z,1613628387.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:27.654Z,1613628387.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:28.488Z,1613628388.488 [Micromodem](INFO): Nmea in: $SNTTA,0.003467,,0.025133,,060627.27*5E 2021-02-18T06:06:28.524Z,1613628388.524 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-02-18T06:06:28.524Z,1613628388.524 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-02-18T06:06:28.524Z,1613628388.524 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-02-18T06:06:28.525Z,1613628388.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T06:06:28.525Z,1613628388.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-02-18T06:06:28.525Z,1613628388.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 2021-02-18T06:06:28.525Z,1613628388.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-02-18T06:06:28.525Z,1613628388.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-02-18T06:06:28.525Z,1613628388.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-02-18T06:06:28.528Z,1613628388.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 233.834859 deg, deltaT: 4.454717 s, approachRate: -0.606099 m/s, LOS rate: 0.285644 deg/s, posRepo size: 4 2021-02-18T06:06:28.530Z,1613628388.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.860001 m, bearing: 233.834859 deg, approachRate: -0.606099 m/s, LOS rate: 0.285644 deg/s, cmd update: 1.142577 deg/s, cmd heading: 241.834915 deg, new cmd heading: 240.838819 deg. 2021-02-18T06:06:28.911Z,1613628388.911 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210218T060628: (41.552319, -70.708603) 2021-02-18T06:06:28.911Z,1613628388.911 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-02-18T06:06:28.911Z,1613628388.911 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-02-18T06:06:28.911Z,1613628388.911 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T06:06:28.911Z,1613628388.911 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-02-18T06:06:28.912Z,1613628388.912 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-02-18T06:06:28.912Z,1613628388.912 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-02-18T06:06:28.912Z,1613628388.912 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-02-18T06:06:28.912Z,1613628388.912 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-02-18T06:06:30.934Z,1613628390.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:31.703Z,1613628391.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:32.103Z,1613628392.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:32.928Z,1613628392.928 [Micromodem](INFO): Nmea in: $SNTTA,0.002732,,,,060631.70*41 2021-02-18T06:06:32.988Z,1613628392.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 231.007216 deg, deltaT: 4.414938 s, approachRate: -0.176673 m/s, LOS rate: -0.640472 deg/s, posRepo size: 4 2021-02-18T06:06:32.990Z,1613628392.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.080000 m, bearing: 231.007216 deg, approachRate: -0.176673 m/s, LOS rate: -0.640472 deg/s, cmd update: -2.561888 deg/s, cmd heading: 246.876835 deg, new cmd heading: 247.412462 deg. 2021-02-18T06:06:35.348Z,1613628395.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:36.142Z,1613628396.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:36.546Z,1613628396.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:37.369Z,1613628397.369 [Micromodem](INFO): Nmea in: $SNTTA,0.003795,,,,060636.14*48 2021-02-18T06:06:37.405Z,1613628397.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.699999 m, bearing: 241.907515 deg, deltaT: 4.497795 s, approachRate: 0.360176 m/s, LOS rate: 2.423476 deg/s, posRepo size: 4 2021-02-18T06:06:37.407Z,1613628397.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.699999 m, bearing: 241.907515 deg, approachRate: 0.360176 m/s, LOS rate: 2.423476 deg/s, cmd update: 9.693905 deg/s, cmd heading: 235.358345 deg, new cmd heading: 234.358943 deg. 2021-02-18T06:06:39.842Z,1613628399.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:40.612Z,1613628400.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:40.986Z,1613628400.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:41.832Z,1613628401.832 [Micromodem](INFO): Nmea in: $SNTTA,0.005650,,,,060640.61*45 2021-02-18T06:06:41.887Z,1613628401.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.579998 m, bearing: 252.267901 deg, deltaT: 4.384356 s, approachRate: 0.656881 m/s, LOS rate: 2.363035 deg/s, posRepo size: 4 2021-02-18T06:06:41.889Z,1613628401.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.579998 m, bearing: 252.267901 deg, approachRate: 0.656881 m/s, LOS rate: 2.363035 deg/s, cmd update: 9.452139 deg/s, cmd heading: 277.899067 deg, new cmd heading: 282.583181 deg. 2021-02-18T06:06:44.243Z,1613628404.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:45.029Z,1613628405.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:45.436Z,1613628405.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:46.260Z,1613628406.260 [Micromodem](INFO): Nmea in: $SNTTA,0.009454,,,,060645.03*4E 2021-02-18T06:06:46.282Z,1613628406.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.960001 m, bearing: 252.219925 deg, deltaT: 4.475607 s, approachRate: 0.978639 m/s, LOS rate: -0.010719 deg/s, posRepo size: 4 2021-02-18T06:06:46.284Z,1613628406.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.960001 m, bearing: 252.219925 deg, approachRate: 0.978639 m/s, LOS rate: -0.010719 deg/s, cmd update: -0.042877 deg/s, cmd heading: 320.202834 deg, new cmd heading: 324.010987 deg. 2021-02-18T06:06:48.719Z,1613628408.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:49.502Z,1613628409.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:49.874Z,1613628409.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:50.706Z,1613628410.706 [Micromodem](INFO): Nmea in: $SNTTA,0.010636,,,,060649.50*4A 2021-02-18T06:06:50.750Z,1613628410.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.179998 m, bearing: 308.584586 deg, deltaT: 4.427498 s, approachRate: 0.501411 m/s, LOS rate: 12.730590 deg/s, posRepo size: 4 2021-02-18T06:06:50.750Z,1613628410.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.18 m. Rolling out. 2021-02-18T06:06:50.751Z,1613628410.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-02-18T06:06:53.138Z,1613628413.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:53.918Z,1613628413.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:54.318Z,1613628414.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:55.144Z,1613628415.144 [Micromodem](INFO): Nmea in: $SNTTA,0.012126,,,,060653.91*48 2021-02-18T06:06:55.186Z,1613628415.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.879999 m, bearing: 267.558782 deg, deltaT: 4.524753 s, approachRate: 0.596718 m/s, LOS rate: -9.066971 deg/s, posRepo size: 4 2021-02-18T06:06:57.618Z,1613628417.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:06:58.356Z,1613628418.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:06:58.801Z,1613628418.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:06:59.612Z,1613628419.612 [Micromodem](INFO): Nmea in: $SNTTA,0.013702,,,,060658.35*4C 2021-02-18T06:06:59.637Z,1613628419.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.580000 m, bearing: 341.162977 deg, deltaT: 4.369581 s, approachRate: 0.617908 m/s, LOS rate: 16.844681 deg/s, posRepo size: 4 2021-02-18T06:07:02.022Z,1613628422.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:07:02.820Z,1613628422.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:07:03.211Z,1613628423.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:07:04.040Z,1613628424.040 [Micromodem](INFO): Nmea in: $SNTTA,0.015177,,,0.047371,060702.82*54 2021-02-18T06:07:04.089Z,1613628424.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.799997 m, bearing: 335.756226 deg, deltaT: 4.466847 s, approachRate: 0.496994 m/s, LOS rate: -1.210418 deg/s, posRepo size: 4 2021-02-18T06:07:06.505Z,1613628426.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:07:07.262Z,1613628427.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:07:07.674Z,1613628427.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:07:08.488Z,1613628428.488 [Micromodem](INFO): Nmea in: $SNTTA,0.016614,,,,060707.26*46 2021-02-18T06:07:08.525Z,1613628428.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.020000 m, bearing: 312.647757 deg, deltaT: 4.429217 s, approachRate: 0.501218 m/s, LOS rate: -5.217281 deg/s, posRepo size: 4 2021-02-18T06:07:10.934Z,1613628430.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:07:11.693Z,1613628431.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:07:12.094Z,1613628432.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:07:12.924Z,1613628432.924 [Micromodem](INFO): Nmea in: $SNTTA,0.018157,,,0.051307,060711.69*5A 2021-02-18T06:07:12.982Z,1613628432.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.359999 m, bearing: 335.493592 deg, deltaT: 4.415929 s, approachRate: 0.529899 m/s, LOS rate: 5.173506 deg/s, posRepo size: 4 2021-02-18T06:07:15.339Z,1613628435.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:07:16.134Z,1613628436.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:07:16.538Z,1613628436.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:07:17.364Z,1613628437.364 [Micromodem](INFO): Nmea in: $SNTTA,0.020246,,0.024064,,060716.13*5C 2021-02-18T06:07:17.401Z,1613628437.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.900002 m, bearing: 347.448472 deg, deltaT: 4.492610 s, approachRate: 0.787961 m/s, LOS rate: 2.661010 deg/s, posRepo size: 4 2021-02-18T06:07:19.381Z,1613628439.381 [PowerOnly](INFO): Powering down loadControl 2021-02-18T06:07:19.853Z,1613628439.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:07:20.596Z,1613628440.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:07:20.982Z,1613628440.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:07:21.820Z,1613628441.820 [Micromodem](INFO): Nmea in: $SNTTA,0.022395,,,,060720.59*40 2021-02-18T06:07:21.882Z,1613628441.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.600002 m, bearing: 295.930131 deg, deltaT: 4.392826 s, approachRate: 0.614639 m/s, LOS rate: -11.727835 deg/s, posRepo size: 4 2021-02-18T06:07:24.227Z,1613628444.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:07:25.021Z,1613628445.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:07:25.425Z,1613628445.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:07:26.248Z,1613628446.248 [Micromodem](INFO): Nmea in: $SNTTA,0.023577,,,,060725.02*40 2021-02-18T06:07:26.294Z,1613628446.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.099998 m, bearing: 340.076567 deg, deltaT: 4.503681 s, approachRate: 0.333060 m/s, LOS rate: 9.802301 deg/s, posRepo size: 4 2021-02-18T06:07:28.688Z,1613628448.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:07:29.464Z,1613628449.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:07:29.891Z,1613628449.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:07:30.696Z,1613628450.696 [Micromodem](INFO): Nmea in: $SNTTA,0.025556,0.035036,,,060729.46*54 2021-02-18T06:07:30.742Z,1613628450.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.920002 m, bearing: 326.862227 deg, deltaT: 4.384190 s, approachRate: 0.643221 m/s, LOS rate: -3.014089 deg/s, posRepo size: 4 2021-02-18T06:07:33.141Z,1613628453.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:07:33.918Z,1613628453.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:07:34.316Z,1613628454.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:07:35.160Z,1613628455.160 [Micromodem](INFO): Nmea in: $SNTTA,0.027304,,,0.035306,060733.91*56 2021-02-18T06:07:35.185Z,1613628455.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.039997 m, bearing: 305.758145 deg, deltaT: 4.465100 s, approachRate: 0.698751 m/s, LOS rate: -4.726452 deg/s, posRepo size: 4 2021-02-18T06:07:37.565Z,1613628457.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:07:38.352Z,1613628458.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:07:38.778Z,1613628458.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:07:39.583Z,1613628459.583 [Micromodem](INFO): Nmea in: $SNTTA,,,,,060738.35*52 2021-02-18T06:07:39.642Z,1613628459.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.039997 m, bearing: 301.153040 deg, deltaT: 4.449845 s, approachRate: 0.674181 m/s, LOS rate: -1.034891 deg/s, posRepo size: 4 2021-02-18T06:07:42.020Z,1613628462.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:07:42.824Z,1613628462.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:07:43.219Z,1613628463.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:07:44.040Z,1613628464.040 [Micromodem](INFO): Nmea in: $SNTTA,0.031714,,,,060742.82*4D 2021-02-18T06:07:44.084Z,1613628464.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.159996 m, bearing: 304.455218 deg, deltaT: 4.468541 s, approachRate: 0.698214 m/s, LOS rate: 0.738983 deg/s, posRepo size: 4 2021-02-18T06:07:46.456Z,1613628466.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:07:47.240Z,1613628467.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:07:47.664Z,1613628467.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:07:48.468Z,1613628468.468 [Micromodem](INFO): Nmea in: $SNTTA,0.033248,,,,060747.24*4A 2021-02-18T06:07:48.490Z,1613628468.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.980003 m, bearing: 301.889225 deg, deltaT: 4.403841 s, approachRate: 0.640352 m/s, LOS rate: -0.582672 deg/s, posRepo size: 4 2021-02-18T06:07:50.940Z,1613628470.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:07:51.689Z,1613628471.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:07:52.104Z,1613628472.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:07:52.931Z,1613628472.931 [Micromodem](INFO): Nmea in: $SNTTA,0.035653,,,,060751.69*4C 2021-02-18T06:07:52.965Z,1613628472.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.280003 m, bearing: 304.275966 deg, deltaT: 4.452136 s, approachRate: 0.741217 m/s, LOS rate: 0.536089 deg/s, posRepo size: 4 2021-02-18T06:07:55.345Z,1613628475.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:07:56.136Z,1613628476.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:07:56.551Z,1613628476.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:07:57.383Z,1613628477.383 [Micromodem](INFO): Nmea in: $SNTTA,0.037349,0.050337,0.073414,,060756.13*4D 2021-02-18T06:07:57.402Z,1613628477.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.160004 m, bearing: 299.361563 deg, deltaT: 4.471208 s, approachRate: 0.644121 m/s, LOS rate: -1.099122 deg/s, posRepo size: 4 2021-02-18T06:07:59.850Z,1613628479.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:00.598Z,1613628480.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:01.003Z,1613628481.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:01.820Z,1613628481.820 [Micromodem](INFO): Nmea in: $SNTTA,0.039300,,,,060800.60*41 2021-02-18T06:08:01.870Z,1613628481.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.100006 m, bearing: 303.586008 deg, deltaT: 4.405129 s, approachRate: 0.667404 m/s, LOS rate: 0.958983 deg/s, posRepo size: 4 2021-02-18T06:08:04.245Z,1613628484.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:05.024Z,1613628485.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:05.431Z,1613628485.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:06.263Z,1613628486.263 [Micromodem](INFO): Nmea in: $SNTTA,0.041382,,,,060805.02*45 2021-02-18T06:08:06.282Z,1613628486.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.220009 m, bearing: 296.095777 deg, deltaT: 4.501872 s, approachRate: 0.693046 m/s, LOS rate: -1.663804 deg/s, posRepo size: 4 2021-02-18T06:08:08.690Z,1613628488.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:09.469Z,1613628489.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:09.873Z,1613628489.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:10.704Z,1613628490.704 [Micromodem](INFO): Nmea in: $SNTTA,0.043543,,,,060809.46*40 2021-02-18T06:08:10.734Z,1613628490.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.460007 m, bearing: 302.898836 deg, deltaT: 4.391987 s, approachRate: 0.737707 m/s, LOS rate: 1.548971 deg/s, posRepo size: 4 2021-02-18T06:08:13.145Z,1613628493.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:13.914Z,1613628493.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:14.325Z,1613628494.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:15.140Z,1613628495.140 [Micromodem](INFO): Nmea in: $SNTTA,0.045826,,,,060813.91*49 2021-02-18T06:08:15.195Z,1613628495.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.340004 m, bearing: 7.226058 deg, deltaT: 4.510954 s, approachRate: 0.638445 m/s, LOS rate: 14.260228 deg/s, posRepo size: 4 2021-02-18T06:08:17.627Z,1613628497.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:18.369Z,1613628498.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:18.804Z,1613628498.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:19.641Z,1613628499.641 [Micromodem](INFO): Nmea in: $SNTTA,0.047509,,,,060818.36*4D 2021-02-18T06:08:19.680Z,1613628499.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.280006 m, bearing: 315.531107 deg, deltaT: 4.392867 s, approachRate: 0.669267 m/s, LOS rate: -11.767932 deg/s, posRepo size: 4 2021-02-18T06:08:22.028Z,1613628502.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:22.831Z,1613628502.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:23.207Z,1613628503.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:24.048Z,1613628504.048 [Micromodem](INFO): Nmea in: $SNTTA,0.049670,,,,060822.83*49 2021-02-18T06:08:24.072Z,1613628504.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.520004 m, bearing: 317.500879 deg, deltaT: 4.449392 s, approachRate: 0.728189 m/s, LOS rate: 0.442706 deg/s, posRepo size: 4 2021-02-18T06:08:26.451Z,1613628506.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:27.244Z,1613628507.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:27.650Z,1613628507.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:28.476Z,1613628508.476 [Micromodem](INFO): Nmea in: $SNTTA,0.052196,,,,060827.24*44 2021-02-18T06:08:28.498Z,1613628508.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.939995 m, bearing: 6.247217 deg, deltaT: 4.457010 s, approachRate: 0.767328 m/s, LOS rate: 10.937005 deg/s, posRepo size: 4 2021-02-18T06:08:30.929Z,1613628510.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:31.689Z,1613628511.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:32.094Z,1613628512.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:32.916Z,1613628512.916 [Micromodem](INFO): Nmea in: $SNTTA,0.054031,,,,060831.68*41 2021-02-18T06:08:32.975Z,1613628512.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.880005 m, bearing: 304.018113 deg, deltaT: 4.409488 s, approachRate: 0.666746 m/s, LOS rate: -14.112547 deg/s, posRepo size: 4 2021-02-18T06:08:35.355Z,1613628515.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:36.133Z,1613628516.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:36.537Z,1613628516.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:37.360Z,1613628517.360 [Micromodem](INFO): Nmea in: $SNTTA,0.055989,,,,060836.13*41 2021-02-18T06:08:37.406Z,1613628517.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.300011 m, bearing: 2.283182 deg, deltaT: 4.486266 s, approachRate: 0.762328 m/s, LOS rate: 12.987434 deg/s, posRepo size: 4 2021-02-18T06:08:39.816Z,1613628519.816 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-02-18T06:08:39.852Z,1613628519.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:40.595Z,1613628520.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:40.982Z,1613628520.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:41.820Z,1613628521.820 [Micromodem](INFO): Nmea in: $SNTTA,0.058164,,,,060840.59*48 2021-02-18T06:08:41.910Z,1613628521.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.120003 m, bearing: 311.493509 deg, deltaT: 4.396534 s, approachRate: 0.641413 m/s, LOS rate: -11.552211 deg/s, posRepo size: 4 2021-02-18T06:08:44.242Z,1613628524.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:44.653Z,1613628524.653 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-02-18T06:08:45.028Z,1613628525.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:45.426Z,1613628525.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:46.252Z,1613628526.252 [Micromodem](INFO): Nmea in: $SNTTA,0.060169,,,,060845.03*44 2021-02-18T06:08:46.296Z,1613628526.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.240005 m, bearing: 330.341935 deg, deltaT: 4.488022 s, approachRate: 0.695184 m/s, LOS rate: 4.199718 deg/s, posRepo size: 4 2021-02-18T06:08:48.708Z,1613628528.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:49.470Z,1613628529.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:49.870Z,1613628529.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:50.715Z,1613628530.715 [Micromodem](INFO): Nmea in: $SNTTA,0.062266,,,,060849.47*46 2021-02-18T06:08:50.739Z,1613628530.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.300003 m, bearing: 320.756885 deg, deltaT: 4.404749 s, approachRate: 0.694704 m/s, LOS rate: -2.176072 deg/s, posRepo size: 4 2021-02-18T06:08:52.800Z,1613628532.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:53.508Z,1613628533.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:53.916Z,1613628533.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:54.736Z,1613628534.736 [Micromodem](INFO): Nmea in: $SNTTA,0.064131,,,,060853.50*4C 2021-02-18T06:08:54.812Z,1613628534.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 321.161751 deg, deltaT: 4.054977 s, approachRate: 0.725036 m/s, LOS rate: 0.099844 deg/s, posRepo size: 4 2021-02-18T06:08:57.170Z,1613628537.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:08:57.954Z,1613628537.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:08:58.362Z,1613628538.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:08:59.180Z,1613628539.180 [Micromodem](INFO): Nmea in: $SNTTA,0.066282,,,,060857.95*48 2021-02-18T06:08:59.225Z,1613628539.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.599998 m, bearing: 317.806052 deg, deltaT: 4.511277 s, approachRate: 0.744799 m/s, LOS rate: -0.743847 deg/s, posRepo size: 4 2021-02-18T06:09:01.660Z,1613628541.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:09:02.392Z,1613628542.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:09:02.814Z,1613628542.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:09:03.636Z,1613628543.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,060902.39*59 2021-02-18T06:09:03.676Z,1613628543.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.720001 m, bearing: 313.736625 deg, deltaT: 4.356835 s, approachRate: 0.716117 m/s, LOS rate: -0.934033 deg/s, posRepo size: 4 2021-02-18T06:09:04.857Z,1613628544.856 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T06:09:06.063Z,1613628546.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:09:06.836Z,1613628546.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:09:07.250Z,1613628547.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:09:08.064Z,1613628548.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,060906.83*5C 2021-02-18T06:09:08.117Z,1613628548.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.960007 m, bearing: 8.579883 deg, deltaT: 4.471704 s, approachRate: 0.724557 m/s, LOS rate: 12.264512 deg/s, posRepo size: 4 2021-02-18T06:09:10.512Z,1613628550.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:09:11.280Z,1613628551.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:09:11.691Z,1613628551.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:09:12.508Z,1613628552.508 [Micromodem](INFO): Nmea in: $SNTTA,0.077566,,,,060911.28*40 2021-02-18T06:09:12.542Z,1613628552.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.020004 m, bearing: 15.243708 deg, deltaT: 4.454849 s, approachRate: 0.686891 m/s, LOS rate: 1.495859 deg/s, posRepo size: 4 2021-02-18T06:09:14.985Z,1613628554.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:09:15.738Z,1613628555.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:09:16.130Z,1613628556.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:09:16.960Z,1613628556.960 [Micromodem](INFO): Nmea in: $SNTTA,0.074792,,,,060915.73*40 2021-02-18T06:09:17.014Z,1613628557.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.379997 m, bearing: 7.694487 deg, deltaT: 4.411720 s, approachRate: 0.761606 m/s, LOS rate: -1.711174 deg/s, posRepo size: 4 2021-02-18T06:09:19.391Z,1613628559.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:09:20.169Z,1613628560.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:09:20.604Z,1613628560.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:09:21.396Z,1613628561.396 [Micromodem](INFO): Nmea in: $SNTTA,,,,,060920.16*54 2021-02-18T06:09:21.438Z,1613628561.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.320000 m, bearing: 315.817292 deg, deltaT: 4.461614 s, approachRate: 0.658955 m/s, LOS rate: -11.627449 deg/s, posRepo size: 4 2021-02-18T06:09:23.874Z,1613628563.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:09:24.649Z,1613628564.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:09:24.696Z,1613628564.696 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T06:09:25.035Z,1613628565.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:09:25.856Z,1613628565.856 [Micromodem](INFO): Nmea in: $SNTTA,0.078992,,,,060924.64*46 2021-02-18T06:09:25.912Z,1613628565.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.680000 m, bearing: 5.308748 deg, deltaT: 4.431562 s, approachRate: 0.758198 m/s, LOS rate: 11.167949 deg/s, posRepo size: 4 2021-02-18T06:09:27.054Z,1613628567.054 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T06:09:28.262Z,1613628568.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:09:29.056Z,1613628569.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:09:29.462Z,1613628569.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:09:30.288Z,1613628570.288 [Micromodem](INFO): Nmea in: $SNTTA,0.080983,,,,060929.05*4B 2021-02-18T06:09:30.310Z,1613628570.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.620010 m, bearing: 320.836224 deg, deltaT: 4.467933 s, approachRate: 0.658025 m/s, LOS rate: -9.953714 deg/s, posRepo size: 4 2021-02-18T06:09:32.733Z,1613628572.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:09:33.501Z,1613628573.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:09:33.911Z,1613628573.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:09:34.732Z,1613628574.732 [Micromodem](INFO): Nmea in: $SNTTA,0.083005,,,,060933.50*44 2021-02-18T06:09:34.820Z,1613628574.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.739998 m, bearing: 318.013143 deg, deltaT: 4.413925 s, approachRate: 0.706851 m/s, LOS rate: -0.639585 deg/s, posRepo size: 4 2021-02-18T06:09:37.176Z,1613628577.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:09:37.962Z,1613628577.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:09:38.355Z,1613628578.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:09:39.180Z,1613628579.180 [Micromodem](INFO): Nmea in: $SNTTA,0.085109,,,,060937.96*41 2021-02-18T06:09:39.204Z,1613628579.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.800003 m, bearing: 319.870900 deg, deltaT: 4.504243 s, approachRate: 0.679361 m/s, LOS rate: 0.412446 deg/s, posRepo size: 4 2021-02-18T06:09:41.643Z,1613628581.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:09:42.388Z,1613628582.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:09:42.813Z,1613628582.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:09:43.632Z,1613628583.632 [Micromodem](INFO): Nmea in: $SNTTA,0.087252,,,,060942.39*49 2021-02-18T06:09:43.656Z,1613628583.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.979996 m, bearing: 322.796434 deg, deltaT: 4.392794 s, approachRate: 0.723911 m/s, LOS rate: 0.665985 deg/s, posRepo size: 4 2021-02-18T06:09:46.050Z,1613628586.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:09:46.833Z,1613628586.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:09:47.244Z,1613628587.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:09:48.067Z,1613628588.067 [Micromodem](INFO): Nmea in: $SNTTA,0.089376,,,,060946.83*45 2021-02-18T06:09:48.092Z,1613628588.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.220001 m, bearing: 323.901695 deg, deltaT: 4.453974 s, approachRate: 0.727441 m/s, LOS rate: 0.248152 deg/s, posRepo size: 4 2021-02-18T06:09:50.485Z,1613628590.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:09:51.295Z,1613628591.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:09:51.681Z,1613628591.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:09:52.516Z,1613628592.516 [Micromodem](INFO): Nmea in: $SNTTA,0.091548,,,,060951.29*41 2021-02-18T06:09:52.538Z,1613628592.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.460007 m, bearing: 318.549477 deg, deltaT: 4.435841 s, approachRate: 0.730415 m/s, LOS rate: -1.206585 deg/s, posRepo size: 4 2021-02-18T06:09:54.948Z,1613628594.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:09:55.720Z,1613628595.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:09:56.129Z,1613628596.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:09:56.948Z,1613628596.948 [Micromodem](INFO): Nmea in: $SNTTA,0.093651,,,,060955.72*42 2021-02-18T06:09:57.002Z,1613628597.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.639999 m, bearing: 317.115711 deg, deltaT: 4.451202 s, approachRate: 0.714412 m/s, LOS rate: -0.322108 deg/s, posRepo size: 4 2021-02-18T06:09:59.379Z,1613628599.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:00.169Z,1613628600.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:00.590Z,1613628600.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:01.409Z,1613628601.409 [Micromodem](INFO): Nmea in: $SNTTA,0.095836,,,,061000.16*41 2021-02-18T06:10:01.430Z,1613628601.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.940002 m, bearing: 317.681278 deg, deltaT: 4.443838 s, approachRate: 0.742602 m/s, LOS rate: 0.127270 deg/s, posRepo size: 4 2021-02-18T06:10:03.861Z,1613628603.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:04.624Z,1613628604.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:05.114Z,1613628605.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:05.848Z,1613628605.848 [Micromodem](INFO): Nmea in: $SNTTA,0.097920,,,,061004.63*43 2021-02-18T06:10:05.900Z,1613628605.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.059998 m, bearing: 6.903851 deg, deltaT: 4.429119 s, approachRate: 0.704428 m/s, LOS rate: 11.113399 deg/s, posRepo size: 4 2021-02-18T06:10:08.277Z,1613628608.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:09.052Z,1613628609.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:09.458Z,1613628609.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:10.280Z,1613628610.280 [Micromodem](INFO): Nmea in: $SNTTA,0.100059,,,,061009.05*46 2021-02-18T06:10:10.316Z,1613628610.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.239990 m, bearing: 318.549860 deg, deltaT: 4.497746 s, approachRate: 0.707019 m/s, LOS rate: -10.750715 deg/s, posRepo size: 4 2021-02-18T06:10:10.317Z,1613628610.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.24 m. Resuming terminal guidance. 2021-02-18T06:10:10.317Z,1613628610.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-02-18T06:10:12.714Z,1613628612.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:13.498Z,1613628613.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:13.910Z,1613628613.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:14.728Z,1613628614.728 [Micromodem](INFO): Nmea in: $SNTTA,0.102239,,,,061013.49*43 2021-02-18T06:10:14.814Z,1613628614.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.480011 m, bearing: 314.612447 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-02-18T06:10:14.819Z,1613628614.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 314.612447deg and heading rate command to 0 deg/s. 2021-02-18T06:10:17.172Z,1613628617.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:17.941Z,1613628617.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:18.365Z,1613628618.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:19.168Z,1613628619.168 [Micromodem](INFO): Nmea in: $SNTTA,0.104377,,,,061017.94*4A 2021-02-18T06:10:19.192Z,1613628619.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.720001 m, bearing: 353.895651 deg, deltaT: 4.487670 s, approachRate: 0.721976 m/s, LOS rate: 8.753586 deg/s, posRepo size: 2 2021-02-18T06:10:19.194Z,1613628619.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.720001 m, bearing: 353.895651 deg, approachRate: 0.721976 m/s, LOS rate: 8.753586 deg/s, cmd update: 12.000000 deg/s, cmd heading: 314.612447 deg, new cmd heading: 314.612447 deg. 2021-02-18T06:10:21.656Z,1613628621.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:22.384Z,1613628622.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:22.811Z,1613628622.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:23.637Z,1613628623.637 [Micromodem](INFO): Nmea in: $SNTTA,0.106581,,,,061022.38*47 2021-02-18T06:10:23.689Z,1613628623.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.080017 m, bearing: 352.244057 deg, deltaT: 4.394798 s, approachRate: 0.764544 m/s, LOS rate: -0.375807 deg/s, posRepo size: 3 2021-02-18T06:10:23.695Z,1613628623.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.080017 m, bearing: 352.244057 deg, approachRate: 0.764544 m/s, LOS rate: -0.375807 deg/s, cmd update: -1.503227 deg/s, cmd heading: 7.397904 deg, new cmd heading: 12.966876 deg. 2021-02-18T06:10:26.056Z,1613628626.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:26.836Z,1613628626.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:27.234Z,1613628627.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:28.060Z,1613628628.060 [Micromodem](INFO): Nmea in: $SNTTA,0.108585,,,,061026.83*49 2021-02-18T06:10:28.100Z,1613628628.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.080017 m, bearing: 13.665482 deg, deltaT: 4.461313 s, approachRate: 0.000000 m/s, LOS rate: 4.801598 deg/s, posRepo size: 4 2021-02-18T06:10:28.105Z,1613628628.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.080017 m, bearing: 13.665482 deg, approachRate: 0.000000 m/s, LOS rate: 4.801598 deg/s, cmd update: 12.000000 deg/s, cmd heading: 0.697725 deg, new cmd heading: 0.070245 deg. 2021-02-18T06:10:30.487Z,1613628630.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:31.272Z,1613628631.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:31.678Z,1613628631.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:32.501Z,1613628632.501 [Micromodem](INFO): Nmea in: $SNTTA,0.110204,,,,061031.27*46 2021-02-18T06:10:32.537Z,1613628632.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.419998 m, bearing: 0.367877 deg, deltaT: 4.471507 s, approachRate: 1.194224 m/s, LOS rate: -2.973853 deg/s, posRepo size: 4 2021-02-18T06:10:32.539Z,1613628632.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.419998 m, bearing: 0.367877 deg, approachRate: 1.194224 m/s, LOS rate: -2.973853 deg/s, cmd update: -11.895413 deg/s, cmd heading: 54.404123 deg, new cmd heading: 58.955207 deg. 2021-02-18T06:10:34.954Z,1613628634.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:35.716Z,1613628635.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:36.122Z,1613628636.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:36.948Z,1613628636.948 [Micromodem](INFO): Nmea in: $SNTTA,0.111524,,,,061035.71*45 2021-02-18T06:10:37.010Z,1613628637.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.419998 m, bearing: 16.546557 deg, deltaT: 4.388310 s, approachRate: 0.000000 m/s, LOS rate: 3.686767 deg/s, posRepo size: 4 2021-02-18T06:10:37.016Z,1613628637.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 165.419998 m, bearing: 16.546557 deg, approachRate: 0.000000 m/s, LOS rate: 3.686767 deg/s, cmd update: 12.000000 deg/s, cmd heading: 2.213688 deg, new cmd heading: 356.692563 deg. 2021-02-18T06:10:39.367Z,1613628639.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:40.166Z,1613628640.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:40.594Z,1613628640.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:41.392Z,1613628641.392 [Micromodem](INFO): Nmea in: $SNTTA,0.112515,,,,061040.16*47 2021-02-18T06:10:41.414Z,1613628641.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.419998 m, bearing: 83.743194 deg, deltaT: 4.473789 s, approachRate: 0.000000 m/s, LOS rate: 15.020073 deg/s, posRepo size: 4 2021-02-18T06:10:41.414Z,1613628641.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.020073 deg/s. Setting heading cmd to target bearing of 83.743194deg and heading rate command to 0 deg/s. 2021-02-18T06:10:43.860Z,1613628643.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:44.627Z,1613628644.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:45.027Z,1613628645.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:45.836Z,1613628645.836 [Micromodem](INFO): Nmea in: $SNTTA,0.113431,,,,061044.62*46 2021-02-18T06:10:46.262Z,1613628646.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.219986 m, bearing: 82.520911 deg, deltaT: 4.865955 s, approachRate: 0.986443 m/s, LOS rate: -0.251191 deg/s, posRepo size: 4 2021-02-18T06:10:46.264Z,1613628646.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.219986 m, bearing: 82.520911 deg, approachRate: 0.986443 m/s, LOS rate: -0.251191 deg/s, cmd update: -1.004763 deg/s, cmd heading: 83.743194 deg, new cmd heading: 83.743194 deg. 2021-02-18T06:10:48.669Z,1613628648.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:49.457Z,1613628649.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:49.860Z,1613628649.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:50.691Z,1613628650.691 [Micromodem](INFO): Nmea in: $SNTTA,0.113761,,,,061049.45*48 2021-02-18T06:10:50.715Z,1613628650.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.219986 m, bearing: 16.972014 deg, deltaT: 4.411854 s, approachRate: 0.000000 m/s, LOS rate: -14.857449 deg/s, posRepo size: 4 2021-02-18T06:10:50.716Z,1613628650.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.857449 deg/s. Setting heading cmd to target bearing of 16.972014deg and heading rate command to 0 deg/s. 2021-02-18T06:10:53.118Z,1613628653.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:53.902Z,1613628653.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:54.304Z,1613628654.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:55.139Z,1613628655.139 [Micromodem](INFO): Nmea in: $SNTTA,0.113603,,,,061053.90*4E 2021-02-18T06:10:55.164Z,1613628655.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.219986 m, bearing: 109.015058 deg, deltaT: 4.497578 s, approachRate: 0.000000 m/s, LOS rate: 20.465024 deg/s, posRepo size: 4 2021-02-18T06:10:55.165Z,1613628655.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.465024 deg/s. Setting heading cmd to target bearing of 109.015058deg and heading rate command to 0 deg/s. 2021-02-18T06:10:57.616Z,1613628657.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:10:58.346Z,1613628658.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:10:58.750Z,1613628658.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:10:59.580Z,1613628659.580 [Micromodem](INFO): Nmea in: $SNTTA,0.113154,,,,061058.34*4E 2021-02-18T06:10:59.636Z,1613628659.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.219986 m, bearing: 36.829951 deg, deltaT: 4.407274 s, approachRate: 0.000000 m/s, LOS rate: -16.378630 deg/s, posRepo size: 4 2021-02-18T06:10:59.637Z,1613628659.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.378630 deg/s. Setting heading cmd to target bearing of 36.829951deg and heading rate command to 0 deg/s. 2021-02-18T06:11:02.016Z,1613628662.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:02.808Z,1613628662.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:11:03.191Z,1613628663.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:11:04.028Z,1613628664.028 [Micromodem](INFO): Nmea in: $SNTTA,0.112903,,,,061102.80*44 2021-02-18T06:11:04.081Z,1613628664.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.380020 m, bearing: 49.456877 deg, deltaT: 4.480007 s, approachRate: -0.187492 m/s, LOS rate: 2.818506 deg/s, posRepo size: 4 2021-02-18T06:11:04.082Z,1613628664.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.380020 m, bearing: 49.456877 deg, approachRate: -0.187492 m/s, LOS rate: 2.818506 deg/s, cmd update: 11.274024 deg/s, cmd heading: 36.829951 deg, new cmd heading: 36.829951 deg. 2021-02-18T06:11:06.469Z,1613628666.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:07.237Z,1613628667.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:11:07.659Z,1613628667.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:11:08.468Z,1613628668.468 [Micromodem](INFO): Nmea in: $SNTTA,0.113165,,,,061107.23*41 2021-02-18T06:11:08.502Z,1613628668.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.380020 m, bearing: 106.222959 deg, deltaT: 4.405990 s, approachRate: 0.000000 m/s, LOS rate: 12.883842 deg/s, posRepo size: 4 2021-02-18T06:11:08.503Z,1613628668.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.883842 deg/s. Setting heading cmd to target bearing of 106.222959deg and heading rate command to 0 deg/s. 2021-02-18T06:11:10.906Z,1613628670.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:11.672Z,1613628671.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:11:12.078Z,1613628672.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:11:12.900Z,1613628672.900 [Micromodem](INFO): Nmea in: $SNTTA,0.113415,,,,061111.67*44 2021-02-18T06:11:12.958Z,1613628672.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.380020 m, bearing: 74.734414 deg, deltaT: 4.412346 s, approachRate: 0.000000 m/s, LOS rate: -7.136463 deg/s, posRepo size: 4 2021-02-18T06:11:12.960Z,1613628672.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.380020 m, bearing: 74.734414 deg, approachRate: 0.000000 m/s, LOS rate: -7.136463 deg/s, cmd update: -12.000000 deg/s, cmd heading: 106.222959 deg, new cmd heading: 106.222959 deg. 2021-02-18T06:11:15.340Z,1613628675.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:16.118Z,1613628676.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:11:16.522Z,1613628676.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:11:17.337Z,1613628677.337 [Micromodem](INFO): Nmea in: $SNTTA,0.113196,,,,061116.11*4C 2021-02-18T06:11:18.168Z,1613628678.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:19.787Z,1613628679.787 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-02-18T06:11:20.999Z,1613628680.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:21.824Z,1613628681.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:11:22.179Z,1613628682.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:11:23.400Z,1613628683.400 [Micromodem](INFO): Nmea in: $SNTTA,0.112581,,,,061121.85*46 2021-02-18T06:11:23.444Z,1613628683.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.900009 m, bearing: 36.932045 deg, deltaT: 10.575059 s, approachRate: -0.045391 m/s, LOS rate: -3.574672 deg/s, posRepo size: 4 2021-02-18T06:11:23.445Z,1613628683.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.900009 m, bearing: 36.932045 deg, approachRate: -0.045391 m/s, LOS rate: -3.574672 deg/s, cmd update: -12.000000 deg/s, cmd heading: 339.408803 deg, new cmd heading: 334.905119 deg. 2021-02-18T06:11:25.858Z,1613628685.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:26.667Z,1613628686.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:11:27.043Z,1613628687.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:11:28.252Z,1613628688.252 [Micromodem](INFO): Nmea in: $SNTTA,0.112408,,,,061126.70*4B 2021-02-18T06:11:28.297Z,1613628688.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.660004 m, bearing: 100.745844 deg, deltaT: 4.847912 s, approachRate: -0.049507 m/s, LOS rate: 13.163152 deg/s, posRepo size: 4 2021-02-18T06:11:28.298Z,1613628688.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.163152 deg/s. Setting heading cmd to target bearing of 100.745844deg and heading rate command to 0 deg/s. 2021-02-18T06:11:30.686Z,1613628690.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:31.476Z,1613628691.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:11:31.874Z,1613628691.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:11:32.700Z,1613628692.700 [Micromodem](INFO): Nmea in: $SNTTA,0.113035,,,,061131.47*42 2021-02-18T06:11:32.738Z,1613628692.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.660004 m, bearing: 67.926928 deg, deltaT: 4.394731 s, approachRate: 0.000000 m/s, LOS rate: -7.467787 deg/s, posRepo size: 4 2021-02-18T06:11:32.740Z,1613628692.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.660004 m, bearing: 67.926928 deg, approachRate: 0.000000 m/s, LOS rate: -7.467787 deg/s, cmd update: -12.000000 deg/s, cmd heading: 100.745844 deg, new cmd heading: 100.745844 deg. 2021-02-18T06:11:35.137Z,1613628695.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:35.914Z,1613628695.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:11:36.318Z,1613628696.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:11:37.160Z,1613628697.160 [Micromodem](INFO): Nmea in: $SNTTA,0.114032,,,,061135.91*4D 2021-02-18T06:11:37.204Z,1613628697.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.660004 m, bearing: 33.796172 deg, deltaT: 4.497742 s, approachRate: 0.000000 m/s, LOS rate: -7.588420 deg/s, posRepo size: 4 2021-02-18T06:11:37.206Z,1613628697.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.660004 m, bearing: 33.796172 deg, approachRate: 0.000000 m/s, LOS rate: -7.588420 deg/s, cmd update: -12.000000 deg/s, cmd heading: 46.838350 deg, new cmd heading: 42.065866 deg. 2021-02-18T06:11:39.598Z,1613628699.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:40.361Z,1613628700.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:11:40.801Z,1613628700.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:11:41.628Z,1613628701.628 [Micromodem](INFO): Nmea in: $SNTTA,0.115711,,,,061140.36*45 2021-02-18T06:11:41.666Z,1613628701.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.660004 m, bearing: 60.758064 deg, deltaT: 4.404877 s, approachRate: 0.000000 m/s, LOS rate: 6.120918 deg/s, posRepo size: 4 2021-02-18T06:11:41.668Z,1613628701.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.660004 m, bearing: 60.758064 deg, approachRate: 0.000000 m/s, LOS rate: 6.120918 deg/s, cmd update: 12.000000 deg/s, cmd heading: 353.967705 deg, new cmd heading: 348.513249 deg. 2021-02-18T06:11:44.028Z,1613628704.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:44.807Z,1613628704.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:11:45.217Z,1613628705.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:11:46.032Z,1613628706.032 [Micromodem](INFO): Nmea in: $SNTTA,0.117247,,,,061144.80*48 2021-02-18T06:11:46.071Z,1613628706.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.980011 m, bearing: 23.626657 deg, deltaT: 4.471943 s, approachRate: 1.636874 m/s, LOS rate: -8.303194 deg/s, posRepo size: 4 2021-02-18T06:11:46.073Z,1613628706.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.980011 m, bearing: 23.626657 deg, approachRate: 1.636874 m/s, LOS rate: -8.303194 deg/s, cmd update: -12.000000 deg/s, cmd heading: 47.508310 deg, new cmd heading: 52.272886 deg. 2021-02-18T06:11:48.474Z,1613628708.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:49.250Z,1613628709.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:11:49.652Z,1613628709.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:11:50.483Z,1613628710.483 [Micromodem](INFO): Nmea in: $SNTTA,0.118643,,,,061149.24*44 2021-02-18T06:11:50.506Z,1613628710.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.980011 m, bearing: 29.772631 deg, deltaT: 4.407003 s, approachRate: 0.000000 m/s, LOS rate: 1.394593 deg/s, posRepo size: 4 2021-02-18T06:11:50.508Z,1613628710.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.980011 m, bearing: 29.772631 deg, approachRate: 0.000000 m/s, LOS rate: 1.394593 deg/s, cmd update: 5.578370 deg/s, cmd heading: 354.395708 deg, new cmd heading: 349.518440 deg. 2021-02-18T06:11:52.944Z,1613628712.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:53.690Z,1613628713.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:11:54.099Z,1613628714.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:11:54.908Z,1613628714.908 [Micromodem](INFO): Nmea in: $SNTTA,0.119721,,,,061153.69*42 2021-02-18T06:11:55.350Z,1613628715.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.639999 m, bearing: 54.879832 deg, deltaT: 4.861441 s, approachRate: 0.752861 m/s, LOS rate: 5.164560 deg/s, posRepo size: 4 2021-02-18T06:11:55.352Z,1613628715.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.639999 m, bearing: 54.879832 deg, approachRate: 0.752861 m/s, LOS rate: 5.164560 deg/s, cmd update: 12.000000 deg/s, cmd heading: 21.406053 deg, new cmd heading: 23.683902 deg. 2021-02-18T06:11:57.805Z,1613628717.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:11:58.541Z,1613628718.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:11:58.943Z,1613628718.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:11:59.803Z,1613628719.803 [Micromodem](INFO): Nmea in: $SNTTA,0.121366,,,,061158.54*4B 2021-02-18T06:12:00.182Z,1613628720.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.100006 m, bearing: 28.521810 deg, deltaT: 4.898701 s, approachRate: 0.502175 m/s, LOS rate: -5.380615 deg/s, posRepo size: 4 2021-02-18T06:12:00.204Z,1613628720.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.100006 m, bearing: 28.521810 deg, approachRate: 0.502175 m/s, LOS rate: -5.380615 deg/s, cmd update: -12.000000 deg/s, cmd heading: 80.435171 deg, new cmd heading: 84.290423 deg. 2021-02-18T06:12:02.653Z,1613628722.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:12:03.384Z,1613628723.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:12:03.812Z,1613628723.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:12:04.624Z,1613628724.624 [Micromodem](INFO): Nmea in: $SNTTA,0.122846,,,,061203.38*46 2021-02-18T06:12:05.022Z,1613628725.022 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T06:12:05.035Z,1613628725.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.380005 m, bearing: 32.603549 deg, deltaT: 4.786604 s, approachRate: 0.476329 m/s, LOS rate: 0.852742 deg/s, posRepo size: 4 2021-02-18T06:12:05.037Z,1613628725.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.380005 m, bearing: 32.603549 deg, approachRate: 0.476329 m/s, LOS rate: 0.852742 deg/s, cmd update: 3.410969 deg/s, cmd heading: 22.998586 deg, new cmd heading: 18.342814 deg. 2021-02-18T06:12:07.452Z,1613628727.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:12:08.237Z,1613628728.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:12:08.639Z,1613628728.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:12:09.453Z,1613628729.453 [Micromodem](INFO): Nmea in: $SNTTA,0.123716,,,,061208.23*4C 2021-02-18T06:12:09.894Z,1613628729.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.460007 m, bearing: 101.300434 deg, deltaT: 4.819749 s, approachRate: 0.224078 m/s, LOS rate: 14.253207 deg/s, posRepo size: 4 2021-02-18T06:12:09.894Z,1613628729.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.253207 deg/s. Setting heading cmd to target bearing of 101.300434deg and heading rate command to 0 deg/s. 2021-02-18T06:12:12.309Z,1613628732.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:12:13.087Z,1613628733.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:12:13.485Z,1613628733.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:12:14.302Z,1613628734.302 [Micromodem](INFO): Nmea in: $SNTTA,0.124390,,,,061213.08*42 2021-02-18T06:12:14.801Z,1613628734.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.599991 m, bearing: 98.220238 deg, deltaT: 4.854464 s, approachRate: 0.234832 m/s, LOS rate: -0.634508 deg/s, posRepo size: 4 2021-02-18T06:12:14.807Z,1613628734.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.599991 m, bearing: 98.220238 deg, approachRate: 0.234832 m/s, LOS rate: -0.634508 deg/s, cmd update: -2.538032 deg/s, cmd heading: 101.300434 deg, new cmd heading: 101.300434 deg. 2021-02-18T06:12:17.166Z,1613628737.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:12:17.936Z,1613628737.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:12:18.335Z,1613628738.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:12:19.150Z,1613628739.150 [Micromodem](INFO): Nmea in: $SNTTA,0.124803,,,,061217.93*45 2021-02-18T06:12:19.624Z,1613628739.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.259995 m, bearing: 33.326344 deg, deltaT: 4.895134 s, approachRate: 0.134829 m/s, LOS rate: -13.256817 deg/s, posRepo size: 4 2021-02-18T06:12:19.624Z,1613628739.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.256817 deg/s. Setting heading cmd to target bearing of 33.326344deg and heading rate command to 0 deg/s. 2021-02-18T06:12:22.019Z,1613628742.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:12:22.806Z,1613628742.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:12:23.187Z,1613628743.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:12:24.010Z,1613628744.010 [Micromodem](INFO): Nmea in: $SNTTA,0.124492,,,,061222.80*45 2021-02-18T06:12:24.430Z,1613628744.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.660004 m, bearing: 122.622086 deg, deltaT: 4.818495 s, approachRate: -0.124518 m/s, LOS rate: 18.531874 deg/s, posRepo size: 4 2021-02-18T06:12:24.431Z,1613628744.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.531874 deg/s. Setting heading cmd to target bearing of 122.622086deg and heading rate command to 0 deg/s. 2021-02-18T06:12:26.884Z,1613628746.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:12:27.630Z,1613628747.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:12:28.039Z,1613628748.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:12:28.847Z,1613628748.847 [Micromodem](INFO): Nmea in: $SNTTA,0.123917,,,,061227.63*4A 2021-02-18T06:12:29.298Z,1613628749.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.820007 m, bearing: 127.184338 deg, deltaT: 4.867695 s, approachRate: -0.172566 m/s, LOS rate: 0.937251 deg/s, posRepo size: 4 2021-02-18T06:12:29.300Z,1613628749.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.820007 m, bearing: 127.184338 deg, approachRate: -0.172566 m/s, LOS rate: 0.937251 deg/s, cmd update: 3.749004 deg/s, cmd heading: 122.622086 deg, new cmd heading: 122.622086 deg. 2021-02-18T06:12:31.706Z,1613628751.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:12:32.478Z,1613628752.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:12:32.882Z,1613628752.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:12:33.695Z,1613628753.695 [Micromodem](INFO): Nmea in: $SNTTA,0.124066,,,,061232.47*40 2021-02-18T06:12:34.132Z,1613628754.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.119995 m, bearing: 123.467772 deg, deltaT: 4.846750 s, approachRate: 0.061895 m/s, LOS rate: -0.766816 deg/s, posRepo size: 4 2021-02-18T06:12:34.134Z,1613628754.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 186.119995 m, bearing: 123.467772 deg, approachRate: 0.061895 m/s, LOS rate: -0.766816 deg/s, cmd update: -3.067264 deg/s, cmd heading: 140.677736 deg, new cmd heading: 142.225932 deg. 2021-02-18T06:12:34.921Z,1613628754.921 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-02-18T06:12:36.533Z,1613628756.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:12:37.324Z,1613628757.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:12:37.735Z,1613628757.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:12:38.541Z,1613628758.541 [Micromodem](INFO): Nmea in: $SNTTA,0.123970,,,,061237.32*4E 2021-02-18T06:12:39.001Z,1613628759.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.880005 m, bearing: 53.772010 deg, deltaT: 4.862173 s, approachRate: -0.049359 m/s, LOS rate: -14.334282 deg/s, posRepo size: 4 2021-02-18T06:12:39.002Z,1613628759.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.334282 deg/s. Setting heading cmd to target bearing of 53.772010deg and heading rate command to 0 deg/s. 2021-02-18T06:12:39.821Z,1613628759.821 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-02-18T06:12:41.388Z,1613628761.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:12:42.172Z,1613628762.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:12:42.601Z,1613628762.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:12:43.407Z,1613628763.407 [Micromodem](INFO): Nmea in: $SNTTA,0.123138,,,,061242.17*4F 2021-02-18T06:12:43.426Z,1613628763.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.880005 m, bearing: 107.972696 deg, deltaT: 4.411794 s, approachRate: 0.000000 m/s, LOS rate: 12.285407 deg/s, posRepo size: 4 2021-02-18T06:12:43.427Z,1613628763.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.285407 deg/s. Setting heading cmd to target bearing of 107.972696deg and heading rate command to 0 deg/s. 2021-02-18T06:12:45.850Z,1613628765.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:12:46.626Z,1613628766.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:12:47.024Z,1613628767.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:12:47.845Z,1613628767.845 [Micromodem](INFO): Nmea in: $SNTTA,0.121933,,,,061246.62*48 2021-02-18T06:12:48.266Z,1613628768.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.760010 m, bearing: 106.620701 deg, deltaT: 4.897046 s, approachRate: -0.637118 m/s, LOS rate: -0.276084 deg/s, posRepo size: 4 2021-02-18T06:12:48.284Z,1613628768.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.760010 m, bearing: 106.620701 deg, approachRate: -0.637118 m/s, LOS rate: -0.276084 deg/s, cmd update: -1.104335 deg/s, cmd heading: 107.972696 deg, new cmd heading: 107.972696 deg. 2021-02-18T06:12:50.709Z,1613628770.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:12:51.470Z,1613628771.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:12:51.870Z,1613628771.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:12:52.686Z,1613628772.686 [Micromodem](INFO): Nmea in: $SNTTA,0.120826,,,,061251.46*4C 2021-02-18T06:12:53.129Z,1613628773.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.260010 m, bearing: 121.803433 deg, deltaT: 4.789999 s, approachRate: -0.313152 m/s, LOS rate: 3.169673 deg/s, posRepo size: 4 2021-02-18T06:12:53.131Z,1613628773.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 181.260010 m, bearing: 121.803433 deg, approachRate: -0.313152 m/s, LOS rate: 3.169673 deg/s, cmd update: 12.000000 deg/s, cmd heading: 102.678526 deg, new cmd heading: 102.218189 deg. 2021-02-18T06:12:55.521Z,1613628775.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:12:56.319Z,1613628776.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:12:56.729Z,1613628776.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:12:57.533Z,1613628777.533 [Micromodem](INFO): Nmea in: $SNTTA,0.119672,,,,061256.31*4E 2021-02-18T06:12:57.973Z,1613628777.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.339996 m, bearing: 169.947715 deg, deltaT: 4.836972 s, approachRate: -0.396945 m/s, LOS rate: 9.953393 deg/s, posRepo size: 4 2021-02-18T06:12:57.974Z,1613628777.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.339996 m, bearing: 169.947715 deg, approachRate: -0.396945 m/s, LOS rate: 9.953393 deg/s, cmd update: 12.000000 deg/s, cmd heading: 160.721964 deg, new cmd heading: 165.823872 deg. 2021-02-18T06:12:59.967Z,1613628779.967 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-02-18T06:13:00.368Z,1613628780.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:01.166Z,1613628781.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:01.583Z,1613628781.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:13:02.380Z,1613628782.380 [Micromodem](INFO): Nmea in: $SNTTA,0.118013,,,,061301.16*48 2021-02-18T06:13:02.852Z,1613628782.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 158.677602 deg, deltaT: 4.875477 s, approachRate: -0.504564 m/s, LOS rate: -2.311592 deg/s, posRepo size: 4 2021-02-18T06:13:02.854Z,1613628782.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 158.677602 deg, approachRate: -0.504564 m/s, LOS rate: -2.311592 deg/s, cmd update: -9.246367 deg/s, cmd heading: 219.179437 deg, new cmd heading: 224.373122 deg. 2021-02-18T06:13:05.259Z,1613628785.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:06.010Z,1613628786.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:06.414Z,1613628786.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:13:07.236Z,1613628787.236 [Micromodem](INFO): Nmea in: $SNTTA,0.116047,,,,061306.00*47 2021-02-18T06:13:07.278Z,1613628787.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 158.231004 deg, deltaT: 4.481857 s, approachRate: 0.000000 m/s, LOS rate: -0.099646 deg/s, posRepo size: 4 2021-02-18T06:13:07.280Z,1613628787.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 158.231004 deg, approachRate: 0.000000 m/s, LOS rate: -0.099646 deg/s, cmd update: -0.398584 deg/s, cmd heading: 177.758691 deg, new cmd heading: 174.249667 deg. 2021-02-18T06:13:09.677Z,1613628789.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:10.452Z,1613628790.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:10.875Z,1613628790.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:13:10.906Z,1613628790.906 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-02-18T06:13:11.680Z,1613628791.680 [Micromodem](INFO): Nmea in: $SNTTA,0.113973,,,,061310.45*4A 2021-02-18T06:13:11.729Z,1613628791.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 157.005914 deg, deltaT: 4.396457 s, approachRate: 0.000000 m/s, LOS rate: -0.278654 deg/s, posRepo size: 4 2021-02-18T06:13:11.735Z,1613628791.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 157.005914 deg, approachRate: 0.000000 m/s, LOS rate: -0.278654 deg/s, cmd update: -1.114616 deg/s, cmd heading: 176.005609 deg, new cmd heading: 175.833246 deg. 2021-02-18T06:13:14.135Z,1613628794.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:14.901Z,1613628794.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:15.307Z,1613628795.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:13:16.128Z,1613628796.128 [Micromodem](INFO): Nmea in: $SNTTA,0.111671,,,,061314.90*49 2021-02-18T06:13:16.166Z,1613628796.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 156.274182 deg, deltaT: 4.499435 s, approachRate: -2.106930 m/s, LOS rate: -0.162627 deg/s, posRepo size: 4 2021-02-18T06:13:16.168Z,1613628796.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.400009 m, bearing: 156.274182 deg, approachRate: -2.106930 m/s, LOS rate: -0.162627 deg/s, cmd update: -0.650510 deg/s, cmd heading: 171.025914 deg, new cmd heading: 170.578685 deg. 2021-02-18T06:13:18.598Z,1613628798.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:19.346Z,1613628799.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:19.750Z,1613628799.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:13:20.580Z,1613628800.580 [Micromodem](INFO): Nmea in: $SNTTA,0.109697,,,,061319.34*4B 2021-02-18T06:13:20.694Z,1613628800.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.520004 m, bearing: 154.989369 deg, deltaT: 4.400417 s, approachRate: -0.654485 m/s, LOS rate: -0.291975 deg/s, posRepo size: 4 2021-02-18T06:13:20.697Z,1613628800.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.520004 m, bearing: 154.989369 deg, approachRate: -0.654485 m/s, LOS rate: -0.291975 deg/s, cmd update: -1.167901 deg/s, cmd heading: 168.142604 deg, new cmd heading: 167.819261 deg. 2021-02-18T06:13:21.824Z,1613628801.824 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-02-18T06:13:23.017Z,1613628803.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:23.808Z,1613628803.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:24.197Z,1613628804.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:13:25.028Z,1613628805.028 [Micromodem](INFO): Nmea in: $SNTTA,0.107271,,,,061323.80*4F 2021-02-18T06:13:25.059Z,1613628805.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.739990 m, bearing: 156.297760 deg, deltaT: 4.476003 s, approachRate: -0.844507 m/s, LOS rate: 0.292312 deg/s, posRepo size: 4 2021-02-18T06:13:25.061Z,1613628805.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.739990 m, bearing: 156.297760 deg, approachRate: -0.844507 m/s, LOS rate: 0.292312 deg/s, cmd update: 1.169250 deg/s, cmd heading: 162.914781 deg, new cmd heading: 162.464735 deg. 2021-02-18T06:13:27.456Z,1613628807.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:28.233Z,1613628808.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:28.634Z,1613628808.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:13:29.460Z,1613628809.460 [Micromodem](INFO): Nmea in: $SNTTA,0.104997,,,,061328.23*4D 2021-02-18T06:13:29.497Z,1613628809.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.260010 m, bearing: 156.679472 deg, deltaT: 4.404857 s, approachRate: -0.790033 m/s, LOS rate: 0.086657 deg/s, posRepo size: 4 2021-02-18T06:13:29.499Z,1613628809.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.260010 m, bearing: 156.679472 deg, approachRate: -0.790033 m/s, LOS rate: 0.086657 deg/s, cmd update: 0.346628 deg/s, cmd heading: 168.069823 deg, new cmd heading: 168.555310 deg. 2021-02-18T06:13:31.906Z,1613628811.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:32.673Z,1613628812.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:33.086Z,1613628813.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:13:33.908Z,1613628813.908 [Micromodem](INFO): Nmea in: $SNTTA,0.102698,,0.112673,,061332.67*5E 2021-02-18T06:13:33.956Z,1613628813.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.840012 m, bearing: 156.642083 deg, deltaT: 4.434410 s, approachRate: -0.771241 m/s, LOS rate: -0.008431 deg/s, posRepo size: 4 2021-02-18T06:13:33.958Z,1613628813.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.840012 m, bearing: 156.642083 deg, approachRate: -0.771241 m/s, LOS rate: -0.008431 deg/s, cmd update: -0.033726 deg/s, cmd heading: 169.606913 deg, new cmd heading: 169.759299 deg. 2021-02-18T06:13:36.329Z,1613628816.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:37.122Z,1613628817.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:37.527Z,1613628817.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:13:38.348Z,1613628818.348 [Micromodem](INFO): Nmea in: $SNTTA,0.100227,,,,061337.12*45 2021-02-18T06:13:38.394Z,1613628818.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.180008 m, bearing: 155.521973 deg, deltaT: 4.469804 s, approachRate: -0.818829 m/s, LOS rate: -0.250595 deg/s, posRepo size: 4 2021-02-18T06:13:38.400Z,1613628818.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.180008 m, bearing: 155.521973 deg, approachRate: -0.818829 m/s, LOS rate: -0.250595 deg/s, cmd update: -1.002380 deg/s, cmd heading: 169.456167 deg, new cmd heading: 169.442414 deg. 2021-02-18T06:13:40.855Z,1613628820.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:41.564Z,1613628821.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:41.966Z,1613628821.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:13:42.822Z,1613628822.822 [Micromodem](INFO): Nmea in: $SNTTA,0.098048,,,,061341.56*4F 2021-02-18T06:13:42.856Z,1613628822.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.880005 m, bearing: 155.447251 deg, deltaT: 4.400496 s, approachRate: -0.749916 m/s, LOS rate: -0.016980 deg/s, posRepo size: 4 2021-02-18T06:13:42.858Z,1613628822.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 146.880005 m, bearing: 155.447251 deg, approachRate: -0.749916 m/s, LOS rate: -0.016980 deg/s, cmd update: -0.067922 deg/s, cmd heading: 165.045377 deg, new cmd heading: 164.575277 deg. 2021-02-18T06:13:45.220Z,1613628825.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:46.010Z,1613628826.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:46.418Z,1613628826.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:13:47.236Z,1613628827.236 [Micromodem](INFO): Nmea in: $SNTTA,0.095685,,,,061346.00*41 2021-02-18T06:13:47.270Z,1613628827.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.400009 m, bearing: 155.860819 deg, deltaT: 4.478370 s, approachRate: -0.777067 m/s, LOS rate: 0.092348 deg/s, posRepo size: 4 2021-02-18T06:13:47.272Z,1613628827.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.400009 m, bearing: 155.860819 deg, approachRate: -0.777067 m/s, LOS rate: 0.092348 deg/s, cmd update: 0.369391 deg/s, cmd heading: 164.741198 deg, new cmd heading: 164.713673 deg. 2021-02-18T06:13:49.673Z,1613628829.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:50.448Z,1613628830.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:50.855Z,1613628830.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:13:51.676Z,1613628831.676 [Micromodem](INFO): Nmea in: $SNTTA,0.093527,,,,061350.44*4B 2021-02-18T06:13:51.725Z,1613628831.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.160004 m, bearing: 155.370466 deg, deltaT: 4.407245 s, approachRate: -0.735154 m/s, LOS rate: -0.111261 deg/s, posRepo size: 4 2021-02-18T06:13:51.732Z,1613628831.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.160004 m, bearing: 155.370466 deg, approachRate: -0.735154 m/s, LOS rate: -0.111261 deg/s, cmd update: -0.445043 deg/s, cmd heading: 166.369004 deg, new cmd heading: 166.536525 deg. 2021-02-18T06:13:54.111Z,1613628834.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:54.897Z,1613628834.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:55.304Z,1613628835.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:13:56.132Z,1613628836.132 [Micromodem](INFO): Nmea in: $SNTTA,0.091210,,,,061354.89*4F 2021-02-18T06:13:56.156Z,1613628836.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.620010 m, bearing: 155.286851 deg, deltaT: 4.473551 s, approachRate: -0.791316 m/s, LOS rate: -0.018691 deg/s, posRepo size: 4 2021-02-18T06:13:56.158Z,1613628836.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.620010 m, bearing: 155.286851 deg, approachRate: -0.791316 m/s, LOS rate: -0.018691 deg/s, cmd update: -0.074764 deg/s, cmd heading: 164.377883 deg, new cmd heading: 164.195079 deg. 2021-02-18T06:13:58.566Z,1613628838.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:13:59.346Z,1613628839.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:13:59.753Z,1613628839.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:14:00.576Z,1613628840.576 [Micromodem](INFO): Nmea in: $SNTTA,0.088728,,,,061359.34*42 2021-02-18T06:14:00.650Z,1613628840.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.900009 m, bearing: 154.635374 deg, deltaT: 4.444271 s, approachRate: -0.837033 m/s, LOS rate: -0.146588 deg/s, posRepo size: 4 2021-02-18T06:14:00.656Z,1613628840.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.900009 m, bearing: 154.635374 deg, approachRate: -0.837033 m/s, LOS rate: -0.146588 deg/s, cmd update: -0.586352 deg/s, cmd heading: 164.045892 deg, new cmd heading: 164.011212 deg. 2021-02-18T06:14:02.997Z,1613628842.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:14:03.806Z,1613628843.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:14:04.200Z,1613628844.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:14:05.020Z,1613628845.020 [Micromodem](INFO): Nmea in: $SNTTA,0.086236,,,,061403.80*41 2021-02-18T06:14:05.045Z,1613628845.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.180008 m, bearing: 154.966378 deg, deltaT: 4.467750 s, approachRate: -0.832634 m/s, LOS rate: 0.074088 deg/s, posRepo size: 4 2021-02-18T06:14:05.067Z,1613628845.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.180008 m, bearing: 154.966378 deg, approachRate: -0.832634 m/s, LOS rate: 0.074088 deg/s, cmd update: 0.296350 deg/s, cmd heading: 161.423853 deg, new cmd heading: 161.196782 deg. 2021-02-18T06:14:07.432Z,1613628847.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:14:08.232Z,1613628848.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:14:08.632Z,1613628848.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:14:09.461Z,1613628849.461 [Micromodem](INFO): Nmea in: $SNTTA,0.083892,,,,061408.23*42 2021-02-18T06:14:09.508Z,1613628849.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.639999 m, bearing: 154.532579 deg, deltaT: 4.397761 s, approachRate: -0.804957 m/s, LOS rate: -0.098641 deg/s, posRepo size: 4 2021-02-18T06:14:09.510Z,1613628849.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.639999 m, bearing: 154.532579 deg, approachRate: -0.804957 m/s, LOS rate: -0.098641 deg/s, cmd update: -0.394563 deg/s, cmd heading: 162.727134 deg, new cmd heading: 162.861305 deg. 2021-02-18T06:14:11.913Z,1613628851.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-02-18T06:14:12.678Z,1613628852.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:14:13.074Z,1613628853.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:14:13.904Z,1613628853.904 [Micromodem](INFO): Nmea in: $SNTTA,0.081447,,0.082597,,061412.67*50 2021-02-18T06:14:13.950Z,1613628853.950 [lineCaptureDepth](INFO): Timed out from 2021-02-17T18:14:13.7Z 2021-02-18T06:14:13.950Z,1613628853.950 [MissionManager](INFO): lineCaptureDepth is completed. 2021-02-18T06:14:13.950Z,1613628853.950 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth 2021-02-18T06:14:13.950Z,1613628853.950 [lineCaptureDepth] Stopped 2021-02-18T06:14:13.950Z,1613628853.950 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth 2021-02-18T06:14:13.950Z,1613628853.950 [lineCaptureDepth:Science] Stopped 2021-02-18T06:14:13.951Z,1613628853.951 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science 2021-02-18T06:14:13.951Z,1613628853.951 [lineCaptureDepth:Science:Read_Oil] Stopped 2021-02-18T06:14:13.951Z,1613628853.951 [lineCaptureDepth:Science:OceanCurrent] Stopped 2021-02-18T06:14:13.951Z,1613628853.951 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent 2021-02-18T06:14:13.951Z,1613628853.951 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped 2021-02-18T06:14:13.951Z,1613628853.951 [lineCaptureDepth:StandardEnvelopes] Stopped 2021-02-18T06:14:13.951Z,1613628853.951 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes 2021-02-18T06:14:13.951Z,1613628853.951 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2021-02-18T06:14:13.951Z,1613628853.951 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2021-02-18T06:14:13.952Z,1613628853.952 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped 2021-02-18T06:14:13.952Z,1613628853.952 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2021-02-18T06:14:13.952Z,1613628853.952 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2021-02-18T06:14:13.952Z,1613628853.952 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2021-02-18T06:14:13.952Z,1613628853.952 [lineCaptureDepth:J.] Stopped 2021-02-18T06:14:13.952Z,1613628853.952 [lineCaptureDepth:LineCapture] Stopped 2021-02-18T06:14:13.952Z,1613628853.952 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture 2021-02-18T06:14:13.952Z,1613628853.952 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped 2021-02-18T06:14:13.952Z,1613628853.952 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-02-18T06:14:13.952Z,1613628853.952 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2021-02-18T06:14:13.952Z,1613628853.952 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2021-02-18T06:14:13.952Z,1613628853.952 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2021-02-18T06:14:13.952Z,1613628853.952 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:G] Stopped 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:H] Stopped 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:HomingSequence] Stopped 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence 2021-02-18T06:14:13.953Z,1613628853.953 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped 2021-02-18T06:14:13.954Z,1613628853.954 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-02-18T06:14:13.954Z,1613628853.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-02-18T06:14:13.954Z,1613628853.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-02-18T06:14:13.954Z,1613628853.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-02-18T06:14:13.954Z,1613628853.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-02-18T06:14:13.954Z,1613628853.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-02-18T06:14:13.954Z,1613628853.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-02-18T06:14:13.954Z,1613628853.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-02-18T06:14:13.954Z,1613628853.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped 2021-02-18T06:14:13.954Z,1613628853.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-02-18T06:14:13.954Z,1613628853.954 [lineCaptureDepth:Lap] Stopped 2021-02-18T06:14:13.955Z,1613628853.955 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap 2021-02-18T06:14:13.955Z,1613628853.955 [lineCaptureDepth:Lap:B] Stopped 2021-02-18T06:14:13.955Z,1613628853.955 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B 2021-02-18T06:14:14.207Z,1613628854.207 [WetLabsSeaOWL_UV_A](INFO): Powering down 2021-02-18T06:14:14.303Z,1613628854.303 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-02-18T06:14:14.303Z,1613628854.303 [DefaultWithUndock] Running Loop=1 2021-02-18T06:14:14.303Z,1613628854.303 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2021-02-18T06:14:14.304Z,1613628854.304 [DefaultWithUndock:A.Wait] Running Loop=1 2021-02-18T06:14:14.304Z,1613628854.304 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2021-02-18T06:14:44.622Z,1613628884.622 [DefaultWithUndock:A.Wait](INFO): Done Waiting. 2021-02-18T06:14:44.622Z,1613628884.622 [DefaultWithUndock:A.Wait] Stopped 2021-02-18T06:14:44.622Z,1613628884.622 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2021-02-18T06:14:44.623Z,1613628884.623 [DefaultWithUndock:LeaveDock] Running Loop=1 2021-02-18T06:14:44.623Z,1613628884.623 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock 2021-02-18T06:14:44.623Z,1613628884.623 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2021-02-18T06:14:44.623Z,1613628884.623 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact. 2021-02-18T06:14:44.623Z,1613628884.623 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1 2021-02-18T06:14:44.623Z,1613628884.623 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2021-02-18T06:14:44.624Z,1613628884.624 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2021-02-18T06:14:45.028Z,1613628885.028 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T06:14:45.394Z,1613628885.394 [PowerOnly](INFO): Powering up loadControl 2021-02-18T06:14:45.441Z,1613628885.441 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T06:14:45.850Z,1613628885.850 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T06:14:46.212Z,1613628886.212 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T06:14:46.212Z,1613628886.212 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock. 2021-02-18T06:14:46.647Z,1613628886.647 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage. 2021-02-18T06:14:47.048Z,1613628887.048 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off. 2021-02-18T06:14:47.429Z,1613628887.429 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer. 2021-02-18T06:14:47.429Z,1613628887.429 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-02-18T06:14:48.220Z,1613628888.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:14:48.635Z,1613628888.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:14:49.452Z,1613628889.452 [Micromodem](INFO): Nmea in: $SNTTA,0.072592,,,,061448.21*47 2021-02-18T06:14:51.915Z,1613628891.915 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-02-18T06:14:52.670Z,1613628892.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:14:53.075Z,1613628893.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:14:53.904Z,1613628893.904 [Micromodem](INFO): Nmea in: $SNTTA,0.071993,,,,061452.67*40 2021-02-18T06:14:56.317Z,1613628896.317 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-02-18T06:14:57.114Z,1613628897.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:14:57.516Z,1613628897.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:14:58.343Z,1613628898.343 [Micromodem](INFO): Nmea in: $SNTTA,0.071310,,,,061457.11*45 2021-02-18T06:15:00.817Z,1613628900.817 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-02-18T06:15:01.552Z,1613628901.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:15:01.958Z,1613628901.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:15:02.814Z,1613628902.814 [Micromodem](INFO): Nmea in: $SNTTA,0.070836,,,0.073323,061501.55*51 2021-02-18T06:15:05.224Z,1613628905.224 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-02-18T06:15:06.014Z,1613628906.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-02-18T06:15:06.414Z,1613628906.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-02-18T06:15:07.232Z,1613628907.232 [Micromodem](INFO): Nmea in: $SNTTA,0.070335,,,,061506.01*47 2021-02-18T06:15:07.677Z,1613628907.677 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 105.36 m. Transitioning DDM to standby. 2021-02-18T06:15:08.061Z,1613628908.061 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request. 2021-02-18T06:15:08.061Z,1613628908.061 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby. 2021-02-18T06:15:08.454Z,1613628908.454 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-02-18T06:15:08.454Z,1613628908.454 [DefaultWithUndock:LeaveDock:B.Undock] Stopped 2021-02-18T06:15:08.455Z,1613628908.455 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock 2021-02-18T06:15:08.455Z,1613628908.455 [DefaultWithUndock:LeaveDock] Stopped 2021-02-18T06:15:08.455Z,1613628908.455 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock 2021-02-18T06:15:08.455Z,1613628908.455 [DefaultWithUndock:LeaveDock:A.] Stopped 2021-02-18T06:15:08.455Z,1613628908.455 [DefaultWithUndock:SurfaceDefault] Running Loop=1 2021-02-18T06:15:08.456Z,1613628908.456 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault 2021-02-18T06:15:08.456Z,1613628908.456 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1 2021-02-18T06:15:08.456Z,1613628908.456 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen 2021-02-18T06:15:08.456Z,1613628908.456 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1 2021-02-18T06:15:08.456Z,1613628908.456 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1 2021-02-18T06:15:08.456Z,1613628908.456 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1 2021-02-18T06:15:08.456Z,1613628908.456 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-02-18T06:15:08.456Z,1613628908.456 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2021-02-18T06:15:08.457Z,1613628908.457 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2021-02-18T06:15:08.457Z,1613628908.457 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2021-02-18T06:15:08.457Z,1613628908.457 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-02-18T06:15:08.458Z,1613628908.458 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-02-18T06:15:09.252Z,1613628909.252 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -25.00 mm (2 active estimators). 2021-02-18T06:15:09.499Z,1613628909.499 [Radio_Surface](INFO): Powering up 2021-02-18T06:15:15.527Z,1613628915.527 [DataOverHttps](INFO): Radio surface powered ON. 2021-02-18T06:15:45.647Z,1613628945.647 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T06:16:16.697Z,1613628976.697 [PowerOnly](INFO): Powering down loadControl 2021-02-18T06:16:20.793Z,1613628980.793 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T06:16:27.221Z,1613628987.221 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,061627,COPROC,0*44 expected 59 2021-02-18T06:16:55.948Z,1613629015.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T06:17:29.883Z,1613629049.883 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1 2021-02-18T06:17:29.883Z,1613629049.883 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-02-18T06:17:29.885Z,1613629049.885 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2021-02-18T06:17:29.885Z,1613629049.885 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped 2021-02-18T06:17:29.886Z,1613629049.886 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen 2021-02-18T06:17:29.886Z,1613629049.886 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped 2021-02-18T06:17:29.886Z,1613629049.886 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped 2021-02-18T06:17:31.087Z,1613629051.087 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-02-18T06:17:50.841Z,1613629070.841 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=13677, MT Status=1, MTMSN=542 2021-02-18T06:17:50.841Z,1613629070.841 [NAL9602](INFO): Data available in MT queue 2021-02-18T06:17:51.352Z,1613629071.352 [NAL9602](INFO): Received command:schedule resume;schedule list 2021-02-18T06:17:51.444Z,1613629071.444 [CommandLine](IMPORTANT): got command schedule resume 2021-02-18T06:17:51.444Z,1613629071.444 [CommandLine](IMPORTANT): Scheduling is resumed 2021-02-18T06:17:51.444Z,1613629071.444 [CommandLine](IMPORTANT): got command schedule list 2021-02-18T06:17:51.451Z,1613629071.451 [CommandLine](IMPORTANT): Scheduled #9: "configSet LineCapture.navigationGain NaN none persist; configSet LineCapture.rolloutSpeed 0 m/s persist; restart logs" 2021-02-18T06:17:51.452Z,1613629071.452 [CommandLine](IMPORTANT): Scheduled #10 (#1 of 2 with id='3witv'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 12 hour;set lineCaptureDepth.NeedCommsTime 90 minute;set lineCaptureDepth.MicromodemCommsInterval 30 minute;set lineCaptureDepth.Repeat 100 count" 2021-02-18T06:17:51.453Z,1613629071.453 [CommandLine](IMPORTANT): Scheduled #11 (#2 of 2 with id='3witv'): "set lineCaptureDepth.WaitOnDockTimeout 0.01 minute;set lineCaptureDepth.MinAltitude 3 meter;set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run"